A method, device, equipment and medium for generating simulated postoperative CBCT images

Abstract

An embodiment of the present invention discloses a method, device, equipment and medium for generating a simulated postoperative CBCT image. The method includes: before implanting the implant, obtaining a preoperative tomographic image collected by a cone beam tomography system, and after implanting the implant, obtaining the implant position and pose data of the implant collected by a surgical navigation system; determining the position data between the implant model and the preoperative tomographic image based on a transformation matrix and the implant position and pose data; wherein the transformation matrix is used to represent the transformation relationship between the coordinate system of the cone beam tomography system and the coordinate system of the surgical navigation system; performing a pixel filling operation on the preoperative tomographic image based on the position data and the three-dimensional model data corresponding to the implant model to obtain a simulated postoperative CBCT image. The embodiment of the present invention omits the step of collecting the postoperative CBCT image by using a cone beam tomography system after the operation, and reduces the radiation dose and economic pressure received by the patient.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of oral implantology, and in particular, to a method, device, equipment and medium for generating simulated postoperative CBCT images. Background Art

[0002] Cone-Bean Computerized Tomography (CBCT) systems provide important imaging data for auxiliary diagnosis in stomatology, and are used to assist doctors in judging the intraoral anatomical conditions of patients, with significant characteristics such as high spatial resolution, short acquisition time, and high ray utilization rate.

[0003] In the surgery of oral implants, CBCT examinations are usually performed both before and after the surgery. The postoperative CBCT examination can assist doctors in confirming the three-dimensional position information of the implant in the oral cavity. However, the two CBCT examinations will increase the radiation dose received by the patient and the economic burden on the patient. Summary of the Invention

[0004] The embodiments of the present invention provide a method, device, equipment and medium for generating simulated postoperative CBCT images, so as to reduce the radiation dose received by the patient and the economic burden on the patient.

[0005] In a first aspect, the embodiments of the present invention provide a method for generating a simulated postoperative CBCT image, the method comprising:

[0006] Before implanting the implant, obtaining the preoperative tomographic image collected by the cone-beam tomography system, and after implanting the implant, obtaining the implant pose data of the implant collected by the implant navigation system;

[0007] Based on the transformation matrix and the implant pose data, determining the position data between the implant model and the preoperative tomographic image; wherein, the transformation matrix is used to represent the transformation relationship between the coordinate system of the cone-beam tomography system and the coordinate system of the implant navigation system;

[0008] Based on the position data and the three-dimensional model data corresponding to the implant model, performing a pixel filling operation on the preoperative tomographic image to obtain a simulated postoperative CBCT image.

[0009] In a second aspect, the embodiments of the present invention further provide a device for generating a simulated postoperative CBCT image, the device comprising:

[0010] A preoperative tomographic image acquisition module, configured to obtain the preoperative tomographic image collected by the cone-beam tomography system before implanting the implant, and the implant pose data of the implant collected by the implant navigation system after implanting the implant;

[0011] A position data determination module, configured to determine position data between the implant model and the preoperative tomographic image based on the transformation matrix and the implant body pose data; wherein, the transformation matrix is used to represent the transformation relationship between the coordinate system of the cone beam tomography system and the coordinate system of the implant navigation system;

[0012] A simulated postoperative CBCT image determination module, configured to perform a pixel filling operation on the preoperative tomographic image based on the position data and the three-dimensional model data corresponding to the implant model, to obtain a simulated postoperative CBCT image.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, which includes:

[0014] One or more processors;

[0015] A memory, configured to store one or more programs;

[0016] When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement any one of the above-mentioned methods for generating a simulated postoperative CBCT image.

[0017] In a fourth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute any one of the above-mentioned methods for generating a simulated postoperative CBCT image when executed by a computer processor.

[0018] In the embodiment of the present invention, by collecting the preoperative tomographic image and the postoperative implant body pose data, based on the transformation matrix and the implant body pose data, the position data between the implant model and the preoperative tomographic image is determined, and based on the position data and the three-dimensional model data corresponding to the implant model, a pixel filling operation is performed on the preoperative tomographic image to obtain a simulated postoperative CBCT image, which solves the problem of performing CBCT examination on the patient after surgery, omits the postoperative CBCT examination step, thereby reducing the radiation dose received by the patient and reducing the economic pressure on the patient. Description of the Drawings

[0019] Figure 1 is a flowchart of a method for generating a simulated postoperative CBCT image provided in Embodiment 1 of the present invention;

[0020] Figure 2 is a flowchart of a method for generating a simulated postoperative CBCT image provided in Embodiment 2 of the present invention;

[0021] Figure 3 is a schematic diagram of a segmented axial plane provided in Embodiment 2 of the present invention;

[0022] Figure 4 It is a schematic diagram of a device for generating simulated postoperative CBCT images provided in Embodiment 3 of the present invention;

[0023] Figure 5 It is a schematic structural diagram of an electronic device provided in Embodiment 4 of the present invention. Specific embodiments

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the present invention, rather than limiting the present invention. In addition, it should be noted that, for the sake of convenience of description, only parts related to the present invention are shown in the drawings, rather than all the structures.

[0025] Embodiment 1

[0026] Figure 1 It is a flowchart of a method for generating simulated postoperative CBCT images provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of generating cone beam tomography images of implants after surgery. This method can be executed by a device for generating simulated postoperative CBCT images. The device can be implemented in software and / or hardware, and the device can be configured in a terminal device. Exemplarily, the terminal device can be an intelligent terminal such as a mobile terminal, a laptop computer, a desktop computer, and a tablet computer. The specific steps are as follows:

[0027] S110. Before implanting the implant, obtain the preoperative tomographic images collected by the cone beam tomography imaging system, and after implanting the implant, obtain the implant position and orientation data of the implant collected by the implant navigation system.

[0028] Specifically, the implant implantation surgery is a tooth defect repair method that supports and retains the upper dental prosthesis based on the lower structure implanted in the bone tissue. The dental implant in the implant implantation surgery includes two parts: the implant that plays a supporting and fixing role at the lower part and the dental prosthesis that undertakes the chewing role at the upper part.

[0029] Among them, the implant navigation system is a navigation system that uses spatial positioning technology and an optical positioning and tracking system to determine the relative position relationship between the implant and the patient during the surgery. The implant navigation system can assist the doctor to accurately position, determine the depth, and determine the direction of the implant, and optimize the implant position of the implant.

[0030] Among them, the implant position and orientation data can be used to describe the posture of the implant at the implant position. Exemplarily, the implant position and orientation data include, but are not limited to, position coordinate data, rotation angle data, etc.

[0031] S120. Based on the transformation matrix and the implant position and orientation data, determine the position data between the implant model and the preoperative tomographic images.

[0032] In one embodiment, optionally, the implant pose data includes the position coordinate data of a preset acquisition point in the implant. Based on the transformation matrix and the implant pose data, the position data between the implant model and the preoperative tomographic image is determined, including: based on the position coordinate data, determining the first position data between the implant model and the coordinate system of the implant navigation system; based on the first position data and the transformation matrix, determining the position data between the implant model and the preoperative tomographic image.

[0033] Specifically, the preset acquisition point can be any point on the implant. Exemplarily, the preset acquisition point can be the vertex or the center point of the implant. The setting of the preset acquisition point is not limited herein.

[0034] The implant model is a three-dimensional solid model with an outer contour corresponding to the real implant. Specifically, based on the position coordinate data of the preset acquisition point on the real implant in the coordinate system of the implant navigation system, the model point on the implant model corresponding to the preset acquisition point is aligned to the preset acquisition point, and the first position data between the implant model and the coordinate system of the implant navigation system is obtained. The first position data can be used to describe the position of the implant model in the coordinate system of the implant navigation system.

[0035] In this embodiment, the transformation matrix is used to represent the transformation relationship between the coordinate system of the cone beam tomography system and the coordinate system of the implant navigation system. In one embodiment, optionally, the method further includes: obtaining the first coordinate data and the second coordinate data of the registration points in the cone beam tomography and the implant navigation system respectively, and determining the transformation matrix based on the first coordinate data and the second coordinate data. Exemplarily, the first coordinate data is represented by P1, the second coordinate data is represented by P2, and the transformation matrix is represented by M, then the formula is satisfied: P2 = P1 * M.

[0036] Specifically, based on the transformation matrix, the first position data is transformed into the coordinate system of the cone beam tomography system, and the position data between the implant model and the preoperative tomographic image is obtained. The position data can be used to describe the position of the implant model in the coordinate system of the cone beam tomography system.

[0037] S130. Perform a pixel filling operation on the preoperative tomographic image based on the position data and the three-dimensional model data corresponding to the implant model to obtain a simulated postoperative CBCT image.

[0038] Among them, the three-dimensional model data can be used to describe the three-dimensional outer contour of the implant model. Specifically, based on the position data, the coordinate data of the current filling point is obtained. If the coordinate data is within the three-dimensional space range corresponding to the three-dimensional model data, a pixel filling operation is performed on the image pixel point corresponding to the current filling point in the preoperative tomographic image based on a preset pixel value; if the coordinate data of the current filling point is not within the three-dimensional space range corresponding to the three-dimensional model data, the coordinate data of the next filling point is obtained based on the position data.

[0039] Among them, specifically, the doctor can analyze the spatial position of the implant in the oral jawbone and the positional relationship between the implant and important anatomical tissues such as the oral nerve canal based on the simulated postoperative CBCT image.

[0040] The technical solution of this embodiment collects the preoperative tomographic image and the postoperative implant pose data, determines the position data between the implant model and the preoperative tomographic image based on the transformation matrix and the implant pose data, and performs a pixel filling operation on the preoperative tomographic image based on the position data and the three-dimensional model data corresponding to the implant model to obtain a simulated postoperative CBCT image, solving the problem of performing CBCT examination on the patient after surgery, eliminating the postoperative CBCT examination step, thereby reducing the radiation dose received by the patient and reducing the economic pressure on the patient.

[0041] Embodiment 2

[0042] Figure 2 FIG. is a flowchart of a method for generating a simulated postoperative CBCT image provided by Embodiment 2 of the present invention. The technical solution of this embodiment is a further refinement based on the above embodiment. Optionally, the implant pose data includes the first axial data of the implant. Performing a pixel filling operation on the preoperative tomographic image based on the position data and the three-dimensional model data corresponding to the implant model to obtain a simulated postoperative CBCT image includes: determining the second axial data in the coordinate system of the cone beam tomographic imaging system based on the first axial data and the transformation matrix; performing a slicing operation on the implant model based on the second axial data and a preset sampling step size to obtain at least one axial plane; performing a pixel filling operation on the preoperative tomographic image based on the position data, the three-dimensional model data corresponding to the implant model, and at least one axial data to obtain a simulated postoperative CBCT image.

[0043] The specific implementation steps of this embodiment include:

[0044] S210. Before implanting the implant, obtain the preoperative tomographic image collected by the cone beam tomographic imaging system, and after implanting the implant, obtain the implant pose data of the implant collected by the implant navigation system.

[0045] S220. Determine the position data between the implant model and the preoperative tomographic image based on the transformation matrix and the implant pose data.

[0046] In this embodiment, the implant pose data includes the first axial data of the implant. Generally, the shape of the implant is similar to a cylinder. When the shape of the implant is a cylinder, the first axial data can be the central axial data of the implant, and the first axial data can be used to characterize the offset angle of the real implant in the coordinate system of the implant navigation system. Of course, if the shape of the implant is other shapes, the first axial data can be any axial data of the implant.

[0047] In one embodiment, optionally, the method further includes: obtaining the axial length corresponding to at least one candidate axial data, and using the candidate axial data with the longest axial length as the first axial data. Exemplarily, assume that the shape of the implant is a cylinder, candidate axial data 1 is the data corresponding to the central axis of the cylinder, candidate axial data 2 is the data corresponding to the central radius of the cylinder, the axial length corresponding to candidate axial data 1 is the height of the implant, the axial length corresponding to candidate axial data 2 is the diameter of the implant. Assume that the height of the implant is 10 cm and the diameter of the implant is 5 cm, then the first axial data is candidate axial data 1.

[0048] The advantage of such a setting is that in the subsequent steps, when using the same preset sampling step, the number of axial planes obtained by slicing based on the candidate axial data with the longest axial length is the largest, so as to improve the filling effect of the implant model in the simulated postoperative CBCT image.

[0049] S230. Determine the second axial data in the coordinate system of the cone beam tomography system based on the first axial data and the transformation matrix.

[0050] Specifically, based on the transformation matrix, the first axial data is transformed into the coordinate system of the cone beam tomography system to obtain the second axial data. Among them, the second axial data can be used to describe the offset angle of the real implant in the coordinate system of the cone beam tomography system. Exemplarily, assume that the transformation matrix is M and the first axial data is V1, then the second axial data V2 = M * V1.

[0051] S240. Perform a slicing operation on the implant model based on the second axial data and the preset sampling step to obtain at least one axial plane.

[0052] Specifically, the preset sampling step can be used to characterize the number of samples of the axial plane. Exemplarily, the length of the implant model is 10 cm and the preset sampling step is 5 cm, then 2 axial planes can be obtained.

[0053] S250. Perform a pixel filling operation on the preoperative tomographic image based on the position data, the three-dimensional model data corresponding to the implant model, and at least one axial data to obtain a simulated postoperative CBCT image.

[0054] In one embodiment, optionally, performing a pixel filling operation on the preoperative tomographic image based on the position data, the three-dimensional model data corresponding to the implant model, and at least one axial data to obtain a simulated postoperative CBCT image includes: for each axial plane, determining a contour constraint curve corresponding to the axial plane based on the three-dimensional model data, and determining plane position data corresponding to the axial plane in the preoperative tomographic image based on the position data; performing a pixel filling operation on the plane image corresponding to the axial plane in the preoperative tomographic image based on the contour constraint curve and the plane position data; and determining the simulated postoperative CBCT image based on at least one plane image after the pixel filling operation.

[0055] Specifically, the three-dimensional model data can be used to describe the three-dimensional outer contour of the implant model, the contour constraint curve can be used to describe the plane contour range corresponding to the axial plane, and the plane position data can be used to describe the position of the axial plane in the preoperative tomographic image.

[0056] Figure 3 It is a schematic diagram of a segmented axial plane provided in the second embodiment of the present invention. Specifically, the left figure shows an implant model, V2 represents the segmentation direction corresponding to the second axial data, and the right figure shows the axial plane obtained by the segmentation operation.

[0057] In one embodiment, optionally, performing a pixel filling operation on the plane image corresponding to the axial plane in the preoperative tomographic image based on the contour constraint curve and the plane position data includes: obtaining coordinate data of the current filling point based on the plane position data, and determining whether the coordinate data is within the contour range corresponding to the contour constraint curve; if so, performing a pixel filling operation on the image pixel point corresponding to the current filling point in the plane image based on a preset pixel value; if not, obtaining coordinate data of the next filling point based on the plane position data.

[0058] The preset pixel value can be used to ensure the gray pixel value. Exemplarily, the preset pixel value can be 0, 100, or 255.

[0059] In one embodiment, optionally, determining the simulated postoperative CBCT image based on at least one plane image after the pixel filling operation includes: for each plane image, obtaining image pixel points located on the contour constraint curve in the plane image and neighborhood pixel points corresponding to the image pixel points; performing pixel interpolation processing on the plane image based on the image pixel points and the neighborhood pixel points to obtain a corrected plane image; and determining the simulated postoperative CBCT image based on at least one corrected plane image.

[0060] Among them, interpolation refers to a method of predicting unknown data points based on known data points. Exemplarily, methods of interpolation processing include, but are not limited to, linear interpolation method, bilinear interpolation method, trilinear interpolation method, B-spline interpolation method, Taylor interpolation method, and so on.

[0061] In one embodiment, optionally, the method of pixel interpolation processing includes trilinear interpolation method or B-spline interpolation method. Among them, the trilinear interpolation method is a method of performing linear interpolation on the tensor product grid of three-dimensional discrete sampling data, and linearly approximates the value of point (x, y, z) by calculating on the local rectangular prism of the data points on the grid. The B-spline interpolation method is to inversely calculate the control points from the given shape value points, so as to fit the required curve, and then the shape of the curve can be locally changed by changing the calculated control points.

[0062] The advantage of such a setting is that it can improve the boundary smoothness of the corrected simulated postoperative CBCT image, making the generated simulated postoperative CBCT image closer to the real postoperative CBCT image.

[0063] The technical solution of this embodiment determines the second axial data in the coordinate system of the cone beam tomography system based on the first axial data and the transformation matrix, performs a slicing operation on the implant model based on the second axial data and the preset sampling step size to obtain at least one axial plane, and performs a pixel filling operation on the preoperative tomographic image based on the position data, the three-dimensional model data corresponding to the implant model, and at least one axial data to obtain a simulated postoperative CBCT image, which solves the problem of large errors in direct three-dimensional space filling, improves the accuracy of the simulated postoperative CBCT image, and thus ensures that the generated simulated postoperative CBCT image can play a role in assisting doctors in diagnosis similar to that of the real postoperative CBCT image.

[0064] Embodiment III

[0065] Figure 4 It is a schematic diagram of a device for generating a simulated postoperative CBCT image provided by Embodiment III of the present invention. This embodiment is applicable to the situation of constructing a cone beam tomographic image of a postoperative implant. The device can be implemented in a software and / or hardware manner, and the device can be configured in a terminal device. The device for generating a simulated postoperative CBCT image includes: a preoperative tomographic image acquisition module 310, a position data determination module 320, and a simulated postoperative CBCT image determination module 330.

[0066] Among them, the preoperative tomographic image acquisition module 310 is used to acquire the preoperative tomographic image collected by the cone beam tomography system before implanting the implant, and acquire the implant position and pose data of the implant collected by the implant navigation system after implanting the implant;

[0067] A position data determination module 320 is configured to determine position data between an implant model and a preoperative tomographic image based on a transformation matrix and implant pose data, wherein the transformation matrix is used to represent the transformation relationship between the coordinate system of the cone beam tomographic imaging system and the coordinate system of the implant navigation system.

[0068] A simulated postoperative CBCT image determination module 330 is configured to perform a pixel filling operation on the preoperative tomographic image based on the position data and the three-dimensional model data corresponding to the implant model to obtain a simulated postoperative CBCT image.

[0069] The technical solution of this embodiment solves the problem of performing CBCT examination on patients after surgery by collecting preoperative tomographic images and postoperative implant pose data, determining the position data between the implant model and the preoperative tomographic image based on the transformation matrix and the implant pose data, and performing a pixel filling operation on the preoperative tomographic image based on the position data and the three-dimensional model data corresponding to the implant model to obtain a simulated postoperative CBCT image, eliminating the postoperative CBCT examination step, thereby reducing the radiation dose received by the patient and the economic pressure on the patient.

[0070] On the basis of the above technical solution, optionally, the implant pose data includes first axial data of the implant, and the simulated postoperative CBCT image determination module 330 includes:

[0071] A second axial data determination unit is configured to determine second axial data in the coordinate system of the cone beam tomographic imaging system based on the first axial data and the transformation matrix.

[0072] An axial plane determination unit is configured to perform a slicing operation on the implant model based on the second axial data and a preset sampling step size to obtain at least one axial plane.

[0073] A simulated postoperative CBCT image determination unit is configured to perform a pixel filling operation on the preoperative tomographic image based on the position data, the three-dimensional model data corresponding to the implant model, and at least one axial data to obtain a simulated postoperative CBCT image.

[0074] On the basis of the above technical solution, optionally, the simulated postoperative CBCT image determination unit includes:

[0075] A plane position data determination subunit is configured to, for each axial plane, determine a contour constraint curve corresponding to the axial plane based on the three-dimensional model data, and determine plane position data corresponding to the axial plane in the preoperative tomographic image based on the position data.

[0076] A pixel filling subunit is configured to perform a pixel filling operation on the plane image corresponding to the axial plane in the preoperative tomographic image based on the contour constraint curve and the plane position data.

[0077] The simulated postoperative CBCT image determination subunit is used to determine the simulated postoperative CBCT image based on at least one planar image after performing a pixel filling operation.

[0078] Based on the above technical solution, optionally, the pixel filling subunit is specifically configured to:

[0079] Based on the planar position data, obtain the coordinate data of the current filling point, and determine whether the coordinate data is within the contour range corresponding to the contour constraint curve;

[0080] If so, perform a pixel filling operation on the image pixel point corresponding to the current filling point in the planar image based on a preset pixel value;

[0081] If not, obtain the coordinate data of the next filling point based on the planar position data.

[0082] Based on the above technical solution, optionally, the simulated postoperative CBCT image determination subunit is specifically configured to:

[0083] For each planar image, obtain the image pixel points located on the contour constraint curve in the planar image and the neighborhood pixel points corresponding to the image pixel points;

[0084] Based on the image pixel points and the neighborhood pixel points, perform pixel interpolation processing on the planar image to obtain a corrected planar image;

[0085] Based on at least one corrected planar image, determine the simulated postoperative CBCT image.

[0086] Based on the above technical solution, optionally, the method of pixel interpolation processing includes trilinear interpolation method or B-spline interpolation method.

[0087] Based on the above technical solution, optionally, the implant pose data includes the position coordinate data of a preset acquisition point in the implant, and the position data determination module 320 is specifically configured to:

[0088] Based on the position coordinate data, determine the first position data between the implant model and the coordinate system of the implant navigation system;

[0089] Based on the first position data and the transformation matrix, determine the position data between the implant model and the preoperative tomographic image.

[0090] The simulated postoperative CBCT image generation device provided by the embodiments of the present invention can be used to execute the simulated postoperative CBCT image generation method provided by the embodiments of the present invention, and has the corresponding functions and beneficial effects of executing the method.

[0091] It should be noted that in the embodiments of the above-described generating device for simulated postoperative CBCT images, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0092] Embodiment 4

[0093] Figure 5 FIG. is a schematic structural diagram of an electronic device provided in Embodiment 4 of the present invention. The embodiments of the present invention provide services for implementing the above-described method for generating simulated postoperative CBCT images, and the generating device for simulated postoperative CBCT images in the above embodiments can be configured. Figure 5 FIG. shows a block diagram of an exemplary electronic device 12 suitable for use in implementing the embodiments of the present invention. Figure 5 The electronic device 12 shown is merely an example and should not impose any limitation on the functions and scope of use of the embodiments of the present invention.

[0094] As Figure 5 shown, the electronic device 12 is presented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0095] The bus 18 represents one or more of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the multiple bus architectures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0096] The electronic device 12 typically includes a variety of computer system-readable media. These media can be any available media accessible by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0097] The system memory 28 may include computer system-readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used for reading and writing non-removable, non-volatile magnetic media ( Figure 5 not shown, commonly referred to as a "hard disk drive"). AlthoughFigure 5 not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (such as a "floppy disk") and an optical disk drive for reading and writing a removable non-volatile optical disk (such as a CD-ROM, DVD-ROM or other optical medium) can be provided. In these cases, each drive can be connected to the bus 18 through one or more data medium interfaces. The memory 28 may include at least one program product having a set (such as at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0098] A program / utility 40 having a set (at least one) of program modules 42 can be stored in, for example, the memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment. The program modules 42 generally perform the functions and / or methods in the embodiments described in the present invention.

[0099] The electronic device 12 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 22. In addition, the electronic device 12 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 20. As Figure 5 shown, the network adapter 20 communicates with other modules of the electronic device 12 through the bus 18. It should be understood that although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0100] The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, such as implementing the method for generating simulated postoperative CBCT images provided by the embodiments of the present invention.

[0101] Through the above-mentioned electronic device, the problem of performing CBCT examination on patients after surgery is solved, the postoperative CBCT examination step is omitted, thereby reducing the radiation dose ingested by the patient and reducing the economic pressure on the patient.

[0102] Embodiment Five

[0103] Embodiment 5 of the present invention also provides a storage medium containing computer-executable instructions. The computer-executable instructions are used to execute a method for generating simulated postoperative CBCT images when executed by a computer processor. The method includes:

[0104] Before implanting the implant, obtain the preoperative tomographic images collected by the cone beam tomography system, and after implanting the implant, obtain the implant position and orientation data of the implant collected by the implant navigation system;

[0105] Based on the transformation matrix and the implant position and orientation data, determine the position data between the implant model and the preoperative tomographic images; wherein, the transformation matrix is used to represent the transformation relationship between the coordinate system of the cone beam tomography system and the coordinate system of the implant navigation system;

[0106] Based on the position data and the three-dimensional model data corresponding to the implant model, perform a pixel filling operation on the preoperative tomographic images to obtain simulated postoperative CBCT images.

[0107] The computer storage medium of the embodiments of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0108] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0109] The program code contained on a computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the above.

[0110] The computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0111] Certainly, a storage medium containing computer-executable instructions provided by an embodiment of the present invention, the computer-executable instructions are not limited to the above method operations, and can also execute related operations in the method for generating simulated postoperative CBCT images provided by any embodiment of the present invention. Note that the above is only a preferred embodiment of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A generating device for simulating postoperative CBCT images, characterized in that Including: A preoperative tomographic image acquisition module, configured to acquire preoperative tomographic images collected by a cone beam tomographic imaging system before implanting an implant, and to acquire the implant position and pose data of the implant collected by a surgical navigation system after implanting the implant; A position data determination module, configured to determine the position data between the implant model and the preoperative tomographic images based on a transformation matrix and the implant position and pose data; wherein, the transformation matrix is used to represent the transformation relationship between the coordinate system of the cone beam tomographic imaging system and the coordinate system of the surgical navigation system; A simulated postoperative CBCT image determination module, configured to perform a pixel filling operation on the preoperative tomographic images based on the position data and the three-dimensional model data corresponding to the implant model to obtain a simulated postoperative CBCT image; The implant position and pose data includes the first axial data of the implant, and the simulated postoperative CBCT image determination module includes: A second axial data determination unit, configured to determine the second axial data in the coordinate system of the cone beam tomographic imaging system based on the first axial data and the transformation matrix; An axial plane determination unit, configured to perform a slicing operation on the implant model based on the second axial data and a preset sampling step to obtain at least one axial plane; A simulated postoperative CBCT image determination unit, configured to perform a pixel filling operation on the preoperative tomographic images based on the position data, the three-dimensional model data corresponding to the implant model, and at least one axial plane to obtain a simulated postoperative CBCT image.

2. The device according to claim 1, characterized in that The simulated postoperative CBCT image determination unit includes: A plane position data determination subunit, configured to, for each axial plane, determine a contour constraint curve corresponding to the axial plane based on the three-dimensional model data, and determine the plane position data corresponding to the axial plane in the preoperative tomographic images based on the position data; A pixel filling subunit, configured to perform a pixel filling operation on the plane image corresponding to the axial plane in the preoperative tomographic images based on the contour constraint curve and the plane position data; A simulated postoperative CBCT image determination subunit, configured to determine a simulated postoperative CBCT image based on at least one plane image after the pixel filling operation is performed.

3. The device according to claim 2, characterized in that, The pixel filling subunit is specifically configured to: Based on the plane position data, obtain the coordinate data of the current filling point, and determine whether the coordinate data is within the contour range corresponding to the contour constraint curve; If so, perform a pixel filling operation on the image pixel point corresponding to the current filling point in the plane image based on a preset pixel value; If not, obtain the coordinate data of the next filling point based on the plane position data.

4. The device according to claim 3, characterized in that, The simulated postoperative CBCT image determination subunit is specifically configured to: For each plane image, obtain the image pixel points located on the contour constraint curve in the plane image and the neighborhood pixel points corresponding to the image pixel points; Perform pixel interpolation processing on the plane image based on the image pixel points and the neighborhood pixel points to obtain a corrected plane image. Based on at least one corrected planar image, a simulated postoperative CBCT image is determined.

5. The device according to claim 4, characterized in that, The method of pixel interpolation processing includes trilinear interpolation method or B-spline interpolation method.

6. The device according to claim 1, wherein The implant pose data includes position coordinate data of a preset acquisition point in the implant, and the position data determination module is specifically configured to: Based on the position coordinate data, determine first position data between the implant model and the coordinate system of the implant navigation system; Based on the first position data and the transformation matrix, determine the position data between the implant model and the preoperative tomographic image.

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