Registration system and method for oral implant surgery

Abstract

This invention discloses a registration system and method for oral implant surgery, characterized by comprising: a registration instrument and a navigation device communicatively connected to the registration instrument; the registration instrument includes an instrument acquisition unit and a control circuit, the tip of the instrument acquisition unit is provided with a tip contact sensor, and the control circuit is connected to the tip contact sensor; wherein, the tip contact sensor is used to generate a tip sensing signal when it detects that the tip of the instrument acquisition unit contacts the target acquisition object; the control circuit is used to acquire the tip sensing signal and send the tip sensing signal to the navigation device; and registers the actual position of the registration instrument and the instrument navigation position of the registration instrument according to the contact position information, thereby optimizing the way the operator collects registration points in the patient's mouth, achieving the technical effect of safely and quickly completing the collection of registration points, thereby improving registration efficiency and shortening registration time.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a registration system and method for dental implant surgery. Background Technology

[0002] In current dynamic navigation for dental implant surgery, a binocular visual positioning navigator is typically used to identify the position of the patient and surgical instruments. Based on the pre-operative surgical plan, it provides the surgeon with real-time guidance on the drilling location, angle, and depth, thereby achieving the purpose of implant surgery navigation.

[0003] One method currently used in this field to obtain patient registration points is to first rigidly connect a reference plate to the patient's teeth or jaws. The doctor then uses a registration instrument tip with a position locator to make close contact with the teeth or jaws, or to keep it stationary or slide it close to the tooth surface. The assistant operating software collects the position of the instrument tip and the reference plate position through a navigation device, which is used for subsequent registration algorithms.

[0004] The current methods for collecting patient registration points in the industry have the following problems: The registration process requires two people, including a doctor and an assistant; the process of collecting registration points requires repeated communication and confirmation between the doctor and assistant, which is cumbersome and time-consuming, usually taking about 5 minutes; during the doctor's collection of registration points, the tip of the registration instrument may detach from the teeth, jaws, or the registration device worn on the jaws, resulting in inaccurate positioning, large configuration errors, and registration failure. Summary of the Invention

[0005] This invention provides a registration system and method for oral implant surgery to solve the problem that the registration point acquisition process is cumbersome and time-consuming due to repeated communication between the operator and assistant during the registration point acquisition process.

[0006] According to one aspect of the present invention, a registration system for dental implant surgery is provided, comprising: a registration instrument and a navigation device communicatively connected to the registration instrument; the registration instrument includes an instrument acquisition unit and a control circuit, wherein a tip contact sensor is disposed at the tip of the instrument acquisition unit, and the control circuit is connected to the tip contact sensor; wherein...

[0007] The tip contact sensor is used to generate a tip sensing signal when it detects that the tip of the instrument acquisition unit is in contact with the target acquisition object.

[0008] The control circuit is used to acquire the tip sensing signal and send the tip sensing signal to the navigation device;

[0009] The navigation device is used to collect the contact position information of the tip of the registration instrument based on the tip sensing signal, and to register the actual position of the registration instrument and the navigation position of the registration instrument based on the contact position information.

[0010] According to another aspect of the present invention, a registration method for oral implant surgery is provided, comprising:

[0011] The control circuit of the registration instrument acquires the tip sensor signal of the registration instrument and sends the tip sensor signal to the navigation device. The registration instrument includes an instrument acquisition unit, and the tip of the instrument acquisition unit is provided with a tip contact sensor. The tip sensor signal is used to generate a tip sensor signal when the tip of the instrument acquisition unit contacts the target acquisition object.

[0012] The navigation device acquires the contact position information of the tip of the registration instrument based on the tip sensing signal, and registers the actual position of the registration instrument and the navigation position of the registration instrument based on the contact position information.

[0013] The technical solution of this invention uses a tip contact sensor to generate a tip sensing signal when the tip of the instrument acquisition unit contacts the target acquisition object; a control circuit to acquire the tip sensing signal and send it to a navigation device; and a navigation device to acquire the contact position information of the tip of the registration instrument based on the tip sensing signal, and to register the actual position of the registration instrument with its navigation position in the navigation device based on the contact position information. This optimizes the steps for operators to collect registration points inside the patient's mouth, and solves the problem that repeated communication between operators and assistants is required during the registration point collection process, resulting in a cumbersome and time-consuming process. It enables safe and quick completion of registration point collection, and the technical solution of this invention supports single-person operation, saving human resources and communication costs, improving registration efficiency, and shortening registration time.

[0014] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a registration system for oral implant surgery provided according to Embodiment 1 of the present invention;

[0017] Figure 2 This is a schematic diagram of a registration system for oral implant surgery provided according to Embodiment 2 of the present invention;

[0018] Figure 3 This is a schematic diagram of a registration device for oral implant surgery provided according to Embodiment 2 of the present invention;

[0019] Figure 4 This is a flowchart of a registration method for oral implant surgery provided according to Embodiment 3 of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0021] Example 1

[0022] Figure 1 This is a schematic diagram of a registration system for oral implant surgery provided in Embodiment 1 of the present invention. Figure 1 As shown, the registration system for oral implant surgery may specifically include: a registration instrument 100 and a navigation device 200.

[0023] The system includes a registration device 100 and a navigation device 200 communicatively connected to the registration device 100. The registration device 100 includes an instrument acquisition unit 110 and a control circuit 120. The tip of the instrument acquisition unit 110 is provided with a tip contact sensor 111, and the control circuit 120 is connected to the tip contact sensor 111. The tip contact sensor 111 generates a tip sensing signal when it detects that the tip of the instrument acquisition unit 110 contacts the target acquisition object. The control circuit 120 acquires the tip sensing signal and sends it to the navigation device 200. The navigation device 200 acquires the contact position information of the tip of the registration device 100 based on the tip sensing signal, and registers the actual position of the registration device 100 with the instrument navigation position of the registration device 100 in the navigation device 200 based on the contact position information.

[0024] The registration device 100 can be understood as a medical device used by an operator to collect registration points inside a patient's mouth. The registration device 100 may include: a device acquisition unit 110 and a control circuit 120.

[0025] Specifically, the instrument acquisition unit 110 can be understood as the front end of the registration instrument 100 used by the operator when acquiring registration points inside the patient's mouth. The tip contact sensor 111 is a contact sensor located at the tip of the instrument acquisition unit 110 to sense whether the tip of the instrument acquisition unit 110 has contacted the target object. When the control circuit 120 receives the tip sensing signal sent by the tip contact sensor 111, it sends the tip sensing signal to the navigation device 200 in the registration system of the oral implant surgery, so that the navigation device 200 can acquire and record the contact position information of the tip of the instrument acquisition unit 110, and then perform registration calculations based on the acquired contact position information to obtain the registration result.

[0026] The control circuit 120 is connected to the tip contact sensor 111 in the instrument acquisition unit 110, and the control circuit 120 is also connected to the navigation device 200.

[0027] For example, an operator can use the registration instrument 100 to collect registration points inside a patient's mouth. When the tip of the instrument collection unit 110 contacts the target object inside the patient's mouth, the tip contact sensor 111 located at the tip of the instrument collection unit 110 generates a tip sensing signal. The control circuit 120 can obtain the tip sensing signal from the tip contact sensor 111 and send the obtained tip sensing signal to the navigation device 200. The navigation device 200 can collect the contact position information of the tip of the registration instrument 100 based on the received tip sensing signal and perform registration based on the contact position information collected by the navigation device 200.

[0028] The registration device 100 also includes a power supply module 130; the power supply module 130 includes a built-in battery and / or an external power supply line, and the power supply module 130 can be understood as being used to provide power to the various sensors and control circuits 120.

[0029] In a specific example, an operator can use the registration instrument 100 to acquire registration points inside the patient's mouth. When the tip of the instrument acquisition unit 110, equipped with a tip contact sensor 111, comes into contact with an object surface, the tip contact sensor 111 generates a tip sensing signal. This signal is then transmitted to the control circuit 120, which in turn transmits the tip sensing signal to the navigation device 200.

[0030] In an optional embodiment, the registration device 100 further includes a device gripping part 140 connected to the device acquisition part 110, the device gripping part 140 being provided with a gripping contact sensor 141; wherein, the gripping contact sensor 141 is used to generate a gripping sensing signal when the device gripping part 140 is detected to be gripped; the control circuit 120 is also used to acquire the gripping sensing signal and transmit the gripping sensing signal to the navigation device 200; the navigation device 200 is used to acquire the contact position information of the tip of the registration device 100 based on the gripping sensing signal and the tip sensing signal, and record the contact position information.

[0031] The instrument grip portion 140 can be understood as the part of the instrument held by the operator's hand, and a grip contact sensor 141 is provided on the instrument grip portion 140. The grip contact sensor 141 can be understood as a contact sensor used to sense whether the instrument grip portion 140 is being held by the operator's hand. Considering individual differences in gripping methods, optionally, two or more grip contact sensors 141 can be provided at different positions on the instrument grip portion 140.

[0032] It should be noted that the power supply module 130 can specifically be used to power the tip contact sensor 111, the grip contact sensor 141, and the control circuit 120.

[0033] Specifically, when the grip contact sensor 141 located on the grip part 140 detects that the grip part 140 is being gripped, the grip contact sensor 141 generates a grip sensing signal and transmits the information that the grip part 140 is being gripped by a hand to the control circuit 120 in the form of a grip sensing signal. The control circuit 120 then transmits the received grip sensing signal to the navigation device 200. The navigation device 200 can simultaneously acquire the grip sensing signal and the tip sensing signal, collect the contact position information of the tip of the registration instrument 100, and record the contact position information in the navigation device 200 for registration based on the contact position information.

[0034] In the registration device 100, the device gripping part 140 is connected to the device acquisition part 110, and the device gripping part 140 and the device acquisition part 110 can be an integrally formed structure; the control circuit 120 is connected to the tip contact sensor 111, the grip contact sensor 141 and the navigation device 200 respectively.

[0035] In an optional embodiment, the instrument acquisition unit 110 is further provided with a position locator 112, which has multiple positioning elements; wherein the positioning elements are used to emit positioning signals during operation; the navigation device 200 is also used to acquire the positioning signals emitted by the multiple positioning elements and determine the spatial position information of the registration instrument 100 based on the positioning signals. The positional relationship between the positioning elements and the instrument tip has been pre-calibrated.

[0036] The position locator 112 can be positioned by a navigator, and therefore, the position locator 112 can be used to assist the navigator in locating the position of the registration device 100 in space. The registration device 100 is provided with a device acquisition unit 110, and the position locator 112 is disposed in the device acquisition unit 110, and the position locator 112 is located at the tail end of the registration device 100.

[0037] The positioning element can be understood as a device in the position locator 112 that emits positioning signals. Multiple positioning elements can be provided in the position locator 112. The positioning element can be a component that actively emits positioning signals or a component equipped with passive recognition signals. For example, the positioning element can be an infrared light-emitting element; alternatively, a preset pattern can be provided on the positioning element, and the navigation device 200 positions the positioning element by recognizing the preset pattern. It is understood that the arrangement of multiple positioning elements in the position locator 112 can be determined according to actual needs and is not specifically limited here. Spatial position information can be understood as the specific position information of the registration instrument 100 within the three-dimensional space of the patient's oral cavity.

[0038] Specifically, the instrument acquisition unit 110 also includes a position locator 112, wherein the position locator 112 is provided with multiple positioning elements; wherein the positioning elements can be used to emit positioning signals during operation; the navigation device 200 can also be used to acquire the positioning signals emitted by the multiple positioning elements, and determine the spatial position information of the registration instrument 100 based on the acquired positioning signals.

[0039] For example, an operator can use the registration device 100 to collect registration points inside the patient's mouth. When the navigation device 200 receives the grip contact sensor 141 set in the device grip section 140 being held by the operator's hand, and the navigation device 200 receives the positioning signal sent from the position locator 112 in the device acquisition section 110 of the registration device 100, the navigation device 200 can automatically enter the registration interface and prepare for registration.

[0040] The navigation device 200 can identify the specific position information of the positioning element on the registration device 100 in space. Since the positions of the positioning element and the tip of the registration device 100 are pre-calibrated, the specific position information of the tip of the registration device 100 in space, i.e., the contact position information, can be deduced based on the specific position information of the positioning element.

[0041] In a specific example, the operator can use the registration device 100 to collect registration points inside the patient's mouth. The device acquisition section 110 of the registration device 100 has a position locator 112, which has multiple positioning elements. The positioning elements can emit positioning signals. When the navigation device 200 receives the positioning signals emitted by the positioning elements, the navigation device 200 can determine the spatial position information of the registration device 100 based on the positioning signals.

[0042] Considering that the position of the target acquisition object may change during the actual registration process, the registration system may optionally include a reference plate, which is rigidly connected to the target acquisition object, and a plurality of reference components are provided on the reference plate; wherein, the reference components are used to emit reference signals during operation; the navigation device is also used to collect the reference signals emitted by the plurality of reference components, and to register the actual position of the registration instrument and the navigation position of the registration instrument according to the positioning signal and the reference signal.

[0043] It should be noted that rigidly connecting the reference plate to the target acquisition object aims to maintain a fixed relative position between the reference plate and the target acquisition object. In this way, the navigation device can register the actual instrument position and the instrument navigation position using the calibration data between the position locator and the instrument tip, as well as the relative positional relationship between the reference plate and the target acquisition object.

[0044] In an optional embodiment, the navigation device 200 is specifically configured to acquire contact position information of the tip of the registration instrument 100 when the grip sensing signal, the positioning signal, and the tip sensing signal are acquired. The advantage of this configuration is that it can accurately acquire registration point data, reduce the acquisition of invalid data, avoid data redundancy, save data acquisition and processing resources, thereby improving registration efficiency.

[0045] For example, when the tip contact sensor 111 in the registration device 100 generates a tip sensing signal and sends it to the control circuit 120, the control circuit 120 sends the acquired tip sensing signal to the navigation device 200; when the grip contact sensor 141 in the registration device 100 generates a grip sensing signal and sends it to the control circuit 120, the control circuit 120 sends the acquired grip sensing signal to the navigation device 200; when the positioning element in the positioner 112 of the registration device 100 generates a positioning signal, it sends the positioning signal to the navigation device 200; when the navigation device 200 acquires the grip sensing signal, tip sensing signal, and positioning signal from the registration device 100, the navigation device 200 can collect the contact position information of the tip of the registration device 100.

[0046] In an optional embodiment, the navigation device 200 is configured to stop acquiring contact position information of the tip of the registration device 100 when the grip sensing signal, the positioning signal, or the tip sensing signal is not acquired.

[0047] For example, when the tip contact sensor 111 in the registration device 100 generates a tip sensing signal and sends it to the control circuit 120, the control circuit 120 sends the acquired tip sensing signal to the navigation device 200; when the grip contact sensor 141 in the registration device 100 generates a grip sensing signal and sends it to the control circuit 120, the control circuit 120 sends the acquired grip sensing signal to the navigation device 200; when the positioning element in the position locator 112 of the registration device 100 generates a positioning signal, it sends the positioning signal to the navigation device 200. If the navigation device 200 obtains the three signals—grip sensing signal, tip sensing signal, and positioning signal—from the registration device 100, the navigation device 200 can collect the contact position information of the tip of the registration device 100; if the navigation device 200 fails to successfully obtain any one of the three signals—grip sensing signal, tip sensing signal, and positioning signal—from the registration device 100, the operation of the navigation device 200 in collecting the contact position information of the tip of the registration device 100 will be immediately stopped.

[0048] The technical solution of this embodiment uses a registration instrument 100 to collect registration points inside the patient's mouth. When the operator picks up the registration instrument 100, the navigation device 200 can receive the grip sensing signal and determine the spatial position information of the registration instrument 100. The navigation device 200 automatically enters the registration interface to prepare for registration. When the navigation device 200 obtains the grip sensing signal, the tip sensing signal, and the positioning signal, it can automatically start collecting the contact position information of the tip of the registration instrument 100 and record it in the navigation device 200. Based on the contact position information, the actual position of the registration instrument 100 and the instrument navigation position of the registration instrument 100 in the navigation device 200 are registered. This solves the problem that repeated communication between the operator and assistant is required during the registration point collection process, which makes the registration point collection process cumbersome and time-consuming. It achieves the effect of safely and quickly completing the registration point collection with only one operator, thus optimizing the steps of the operator to collect registration points inside the patient's mouth.

[0049] Example 2

[0050] Figure 2 This is a schematic diagram of a registration system for oral implant surgery provided in Embodiment 2 of the present invention. Based on the above technical solution, this embodiment further refines the technical solution. Optionally, in addition to any optional technical solution in the embodiments of the present invention, the registration system for oral implant surgery may also include a display module 300.

[0051] In an optional embodiment, the navigation device 200 is configured to determine the collected contact position information as valid position information when the collection time for continuously collecting contact position information of the tip of the registration device 100 reaches a preset collection time, or to determine the collected contact position information as valid position information when the number of continuously collected contact position information reaches a preset number.

[0052] The contact position information can be understood as the position information of the tip of the instrument acquisition section 110 of the registered instrument 100 contacting a certain part of the patient's mouth. Specifically, if the time spent by the tip of the instrument acquisition section 110 of the registered instrument 100 acquiring the registration point at a certain part of the patient's mouth reaches a preset acquisition time threshold, the registration point at that part of the patient's mouth can be considered successfully acquired, and the acquired contact position information is determined as valid position information. Alternatively, when the number of contact position information continuously acquired by the tip of the instrument acquisition section 110 of the registered instrument 100 at a certain part of the patient's mouth reaches a preset number threshold, the acquisition at that part of the patient's mouth can be considered successful, and the acquired contact position information is determined as valid position information.

[0053] For example, the navigation device 200 determines the collected contact position information as valid position information only when the collection time of continuously collected contact position information reaches a preset collection time. If the collection process of the registration device 100 is interrupted, and the interruption time is within the preset time threshold range, it is considered that the registration device 100 continues to collect contact position information at that point. Optionally, the preset time threshold can be set according to actual needs and is not specifically limited here. For example, it can be 0.5 milliseconds.

[0054] If the navigation device 200 detects that the acquisition time of continuously collected contact position information has not reached the preset acquisition time, or the number of continuously collected contact position information has not reached the preset number, the acquisition process of the registration device 100 is interrupted and the interruption time exceeds the preset time threshold range. The navigation device 200 can automatically store the collected contact position information. When the navigation device 200 detects that the distance between newly collected contact position information and the stored contact position information is less than or equal to a preset distance threshold, the navigation device 200 can retrieve the stored contact position information and combine it with the collected contact position information to form a contact position information set. If the navigation device 200 detects that the acquisition time of the contact position information set reaches the preset acquisition time, or the number of collected contact position information reaches the preset number, the navigation device 200 can determine that the contact position information in the collected contact position information set is valid position information.

[0055] In a specific example, firstly, the registration point or plane of the CT image is selected in the navigation device's software. Then, the operator picks up the registration instrument 100. When the navigation device 200 receives the signal that the registration instrument 100 is being held and receives the positioning signal of the registration instrument 100, the navigation device 200 automatically enters the registration interface and prepares to begin registration. Further, when the operator places the tip of the registration instrument 100 into a certain part of the patient's mouth, the control circuit 120 of the registration instrument 100 receives the tip sensing signal sent by the tip contact sensor 111 and sends it to the navigation device 200. At this time, the navigation device 200 can automatically begin to collect contact position information and record it. Finally, when the navigation device 200 detects that the continuous collection time of contact position information of the tip of the registration instrument 100 has reached a preset collection time, or that the number of continuously collected contact position information has reached a preset number, the navigation device 200 will determine the collected contact position information as valid position information and store the valid position information.

[0056] In an optional embodiment, the navigation device 200 is further configured to perform registration calculations based on the effective location information and a preset registration algorithm to obtain a registration result when the collected effective location information is detected to meet preset conditions.

[0057] The navigation device 200 is used to establish a mapping relationship between the three-dimensional space in the computer software and the patient space by obtaining the transformation of the patient space coordinate system, the image coordinate system and the tracker coordinate system. This ensures that the actual position of the registration instrument 100 displayed in the display module 300 is consistent with the instrument navigation position of the registration instrument 100 in the navigation device 200, thus realizing the registration of the oral implant surgery navigation system.

[0058] Understandably, registration requires multiple registration points located at different positions in space. Generally, there are at least three registration points, and these points are spaced apart. In practice, to achieve high-precision registration, multiple contact position information is often collected for a single registration point. For example, a preset condition could be that the number of collected registration points reaches a preset threshold.

[0059] If the navigation device 200 detects that the number of registered points collected reaches a preset threshold, where the preset threshold is no less than 3, it automatically performs registration calculations based on the valid position information corresponding to the registered points and a preset registration algorithm to obtain the registration result. Optionally, the preset threshold can be set according to actual needs and is not specifically limited here. For example, it can be 3 or 5.

[0060] If the navigation device 200 detects that the distance between two contact position information points is less than or equal to a preset distance threshold, it determines that the two contact position information points collected by the registration device 100 are for the same registration point; if the navigation device 200 detects that the distance between two contact position information points is greater than the preset distance threshold, it determines that the two contact position information points collected by the registration device 100 are for different registration points. Optionally, the preset distance threshold can be set according to actual needs, and is not specifically limited here. For example, it can be 0.5 cm or 1 cm.

[0061] In an optional embodiment, it further includes a display module 300 connected to the navigation device 200; wherein the display module 300 is used to display the registration result.

[0062] The display module 300 can be understood as the part used to display the registration results. Specifically, the display module 300 is connected to the navigation device 200.

[0063] For example, when the registration system for oral implant surgery determines that enough registration points have been collected, the navigation device 200 automatically runs the registration algorithm, and the display module 300 can display the registration results. The operator can decide whether to continue collecting registration points and performing registration calculations based on the registration results displayed by the display module 300.

[0064] In an optional embodiment, the control circuit 120 is configured to generate and send a notification signal to the navigation device 200 indicating that the registration device 100 has been released from the grip when the grip sensing signal is detected to be finished. The navigation device 200 is further configured to end the registration operation and enter response logic following the registration operation when it receives the notification signal.

[0065] The response logic can be an interface used to remind users that the registration operation is complete, or it can be an interface for other operation steps after the registration operation.

[0066] For example, the operator can determine whether to continue acquiring registration points based on the registration accuracy displayed by the display module 300 in the registration system for dental implant surgery. If it is necessary to continue acquiring registration points, the registration instrument 100 does not need to be put down; the navigation device 200 will automatically add the newly acquired registration points to the registration algorithm and re-register. If it is not necessary to continue acquiring registration points, the registration instrument 100 can be put down to end the registration. Specifically, if it is not necessary to continue acquiring registration points, after the operator puts down the registration instrument 100, the control circuit 120 will detect that the grip contact sensor 141 has stopped sending grip sensing signals to the control circuit 120. At this time, the control circuit 120 can generate and send a notification signal that the registration instrument 100 has been released from the grip to the navigation device 200. When the navigation device 200 receives the notification signal sent by the control circuit 120, the navigation device 200 will end the registration operation and enter the response logic following the registration operation.

[0067] like Figure 3 The diagram shows a schematic of a registration device for dental implant surgery, which includes a tip contact sensor 111, a grip contact sensor 141, a position locator 112, and a data cable 400.

[0068] The registration device 100 includes a tip contact sensor 111 located at its tip to sense whether the tip has contacted the surface of the target object. A grip contact sensor 141 is located near the handheld position of the registration device 100 to detect whether it is being held by a hand. A position locator 112 is located at the tail of the registration device 100 for the navigation device to determine its position in space. A data cable 400 powers the registration device and transmits signals to the navigation device.

[0069] Based on the registration equipment described above, registration is performed as follows: First, when the operator picks up the registration instrument 100, the navigation device 200 receives a grip sensing signal from the grip contact sensor 141 indicating that the registration instrument 100 is being held by a hand. When the registration instrument 100 is positioned by the position locator 112, the navigation device 200 receives a positioning signal from the position locator 112 indicating the location of the registration instrument 100. Once the navigation device 200 has received both the positioning signal and the grip sensing signal, it can automatically enter the registration interface and prepare to begin registration.

[0070] At this time, when the operator touches a certain part of the patient's mouth with the tip of the registration instrument 100, the tip contact sensor 111 located at the tip of the registration instrument 100 receives the tip sensing signal and sends the tip sensing signal to the navigation device 200. The navigation device 200 automatically starts to collect contact position information and records it in the navigation device 200. The navigation device 200 determines whether the collected contact position information is valid position information and stores the valid position information.

[0071] Finally, the operator can determine whether to continue collecting registration points based on the registration accuracy displayed by the display module 300 in the registration system for oral implant surgery. If it is necessary to continue collecting registration points, the registration instrument 100 does not need to be put down, and the registration point collection can continue. At this time, the navigation device 200 will automatically add the newly collected registration points to the registration algorithm and re-register. If it is not necessary to continue collecting registration points, the registration instrument 100 can be put down, the registration can be ended, and the response logic after the registration operation can be entered.

[0072] The technical solution of this embodiment uses a registration instrument 100 to collect registration points in the patient's mouth. When the navigation device 200 acquires the grip sensing signal, the tip sensing signal, and the positioning signal, the navigation device 200 can automatically start collecting data. When the collected effective position information is detected to meet preset conditions, a registration operation is performed based on the effective position information and a preset registration algorithm to obtain the registration result. The registration result displayed by the display module 300 determines whether to continue collecting registration points. When the grip sensing signal is detected to have ended, a notification signal indicating that the registration instrument 100 has been released from the grip is generated and sent to the navigation device 200. When the navigation device 200 receives the notification signal, the registration operation ends, and the response logic following the registration operation is entered. This achieves the effect of automatic perception of the operator's actions in collecting registration points throughout the registration system of oral implant surgery, improving the success rate of data collection, avoiding the need for re-collection due to the tip of the registration instrument detaching from the object surface during data collection, saving manpower, shortening the operation time, and improving the user experience.

[0073] Example 3

[0074] Figure 4 This is a flowchart illustrating a registration method for oral implant surgery provided in Embodiment 3 of the present invention. This embodiment is applicable to situations where repeated communication between the operator and assistant is required during the registration point acquisition process for the patient, resulting in a cumbersome and time-consuming registration point acquisition process. This method can be executed by a registration system for oral implant surgery, which can be implemented by software and / or hardware and can be configured in a terminal and / or server to implement the registration method for oral implant surgery in this embodiment of the present invention.

[0075] S310. The tip sensing signal of the registration instrument is acquired by the control circuit of the registration instrument and the tip sensing signal is sent to the navigation device. The registration instrument includes an instrument acquisition unit. The tip of the instrument acquisition unit is provided with a tip contact sensor. The tip sensing signal generator is used to generate a tip sensing signal when the tip of the instrument acquisition unit is detected to be in contact with the target acquisition object.

[0076] The registration instrument includes a control circuit and an instrument acquisition unit. Specifically, the instrument acquisition unit is equipped with a tip contact sensor. When the tip of the instrument acquisition unit contacts the target object, the tip contact sensor generates a tip sensing signal. The control circuit can acquire the tip sensing signal generated by the tip contact sensor in the registration instrument. When the control circuit acquires the tip sensing signal, it can send the acquired tip sensing signal to the navigation device.

[0077] For example, when an operator picks up the registration instrument, and the navigation device receives a gripping sensor signal indicating that the registration instrument is being held by a person, and the navigation device can locate the registration instrument, the navigation device can automatically enter the registration interface and prepare to start registration. At this time, when the operator touches the tip of the registration instrument to a certain part of the patient's mouth, the tip contact sensor of the registration instrument generates a contact sensing signal and sends it to the navigation device through the control circuit. At this time, the navigation device begins to collect the contact position signal of the tip of the registration instrument and records it in the navigation device.

[0078] S320. The navigation device collects the contact position information of the tip of the registration instrument based on the tip sensing signal, and registers the actual position of the registration instrument and the navigation position of the registration instrument based on the contact position information.

[0079] Based on the tip sensing signals received by the navigation device, the navigation device can collect the contact position information of the registration instrument's tip and register the actual position of the registration instrument with its navigation position in the navigation device. Specifically, when the tip of the registration instrument leaves the object surface, its tip contact sensor receives a signal and sends it to the navigation device, which automatically pauses the acquisition of registration points. When it determines that enough registration points have been collected, it automatically runs the registration algorithm and displays the registration result. Based on the registration accuracy displayed in the navigation device's software, the operator can either put down the registration instrument to end the registration or continue collecting registration points. In this case, the navigation device adds the newly collected registration points to the registration algorithm and re-registers. When the operator puts down the registration instrument, the tip contact sensor of the gripping part of the registration instrument senses that the hand is no longer gripping it and sends this signal to the navigation device, which automatically ends the registration operation and enters the next software interface.

[0080] Optionally, a grip contact sensor provided on the instrument gripping part connected to the instrument acquisition unit generates a grip sensing signal when the instrument gripping part is detected to be gripped; the control circuit acquires the grip sensing signal and transmits the grip sensing signal to the navigation device; the navigation device acquires the contact position information of the tip of the registration instrument based on the grip sensing signal and the tip sensing signal, and records the contact position information.

[0081] Optionally, multiple positioning elements on the position locator of the instrument acquisition unit emit positioning signals during operation; the navigation device acquires the positioning signals emitted by the multiple positioning elements, and registers the actual position of the registration instrument and the navigation position of the registration instrument according to the positioning signals.

[0082] Optionally, a reference signal is emitted during operation via a reference component, wherein the reference plate is rigidly connected to the target acquisition object, and multiple reference components are provided on the reference plate; the navigation device acquires the reference signals emitted by the multiple reference components, and registers the actual position of the registration device with the navigation position of the registration device based on the positioning signal and the reference signal.

[0083] Optionally, when the navigation device acquires the grip sensing signal, the positioning signal, and the tip sensing signal, it collects the contact position information of the tip of the registration instrument; and when the navigation device does not acquire the grip sensing signal, the positioning signal, or the tip sensing signal, it stops collecting the contact position information of the tip of the registration instrument.

[0084] Optionally, when the navigation device detects that the acquisition time for continuously acquiring contact position information of the tip of the registration instrument reaches a preset acquisition time, or when the number of continuously acquired contact position information reaches a preset number, the acquired contact position information is determined as valid position information.

[0085] Optionally, when the navigation device detects that the collected valid location information meets the preset conditions, it performs a registration operation based on the valid location information and a preset registration algorithm to obtain the registration result.

[0086] Optionally, the registration result can be displayed via a display module connected to the navigation device.

[0087] Optionally, when the control circuit detects the end of the grip sensing signal, it generates and sends a notification signal to the navigation device that the registration device has been released from the grip. The navigation device is also used to end the registration operation and enter the response logic located after the registration operation when it receives the notification signal.

[0088] The technical solution of this invention employs a registration method for oral implant surgery. It acquires the tip sensing signal of the registration instrument through a control circuit located in the registration instrument and sends this signal to a navigation device. The navigation device collects the contact position information of the tip of the registration instrument based on the tip sensing signal and registers the actual position of the registration instrument with its navigation position in the navigation device. This optimizes the steps for the operator to collect registration points in the patient's mouth, solving the problem of cumbersome and time-consuming registration point collection process caused by repeated communication between the operator and assistant. It achieves a safe and fast registration point collection, thereby improving registration efficiency and shortening registration time. It should be understood that various forms of the process described above can be used, with steps rearranged, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention is achieved. This is not limited herein.

[0089] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A registration system for oral implant surgery, characterized in that, include: A registration instrument and a navigation device communicatively connected to the registration instrument; the registration instrument includes an instrument acquisition unit and a control circuit, wherein a tip contact sensor is provided at the tip of the instrument acquisition unit, and the control circuit is connected to the tip contact sensor; wherein... The tip contact sensor is used to generate a tip sensing signal when it detects that the tip of the instrument acquisition unit is in contact with the target acquisition object. The control circuit is used to acquire the tip sensing signal and send the tip sensing signal to the navigation device; The navigation device is used to collect the contact position information of the tip of the registration instrument based on the tip sensing signal, and to register the actual position of the registration instrument and the navigation position of the registration instrument based on the contact position information. The navigation device is used to determine the collected contact position information as valid position information when it detects that the collection time for continuously collecting contact position information of the tip of the registration instrument has reached a preset collection time, or when the number of continuously collected contact position information has reached a preset number. The navigation device is also used to perform registration calculations based on the effective location information and a preset registration algorithm when it detects that the collected effective location information meets the preset conditions, and to obtain the registration result. The instrument acquisition unit is further equipped with a position locator, which contains multiple positioning components; wherein... The positioning element is used to emit a positioning signal during operation; The navigation device is also used to collect positioning signals emitted by the plurality of positioning components, and to register the actual position of the registration device and the navigation position of the registration device according to the positioning signals. The registration system further includes a reference plate, which is rigidly connected to the target acquisition object, and the reference plate is provided with multiple reference components; wherein... The reference component is used to emit a reference signal during operation; The navigation device is also used to collect reference signals emitted by multiple reference components, and to register the actual position of the registration device and the navigation position of the registration device according to the positioning signal and the reference signal. The registration device further includes a device gripping part connected to the device acquisition unit, and the device gripping part is provided with a gripping contact sensor; wherein... The grip contact sensor is used to generate a grip sensing signal when it detects that the grip part of the device is being gripped. The control circuit is also used to acquire the grip sensing signal and transmit the grip sensing signal to the navigation device; The navigation device is used to collect the contact position information of the tip of the registration instrument based on the grip sensing signal and the tip sensing signal, and to record the contact position information. The navigation device is configured to acquire contact position information of the tip of the registration instrument when the grip sensing signal, the positioning signal, and the tip sensing signal are acquired; and to stop acquiring contact position information of the tip of the registration instrument when the grip sensing signal, the positioning signal, or the tip sensing signal is not acquired.

2. The registration system of claim 1, wherein, Also includes: A display module connected to the navigation device; wherein the display module is used to display the registration result.

3. The registration system of claim 1, wherein, The control circuit is configured to generate and send a notification signal to the navigation device indicating that the registration device has been released from the grip when the grip sensing signal is detected to be finished. The navigation device is also configured to end the registration operation and enter the response logic following the registration operation when it receives the notification signal.

4. A registration method for oral implant surgery, characterized in that, include: The registration instrument acquires a tip sensing signal by means of a control circuit located in the registration instrument and sends the tip sensing signal to the navigation device. The registration instrument includes an instrument acquisition unit, and the tip of the instrument acquisition unit is provided with a tip contact sensor. The tip contact sensor is used to generate a tip sensing signal when it detects that the tip of the instrument acquisition unit contacts the target acquisition object. The navigation device collects the contact position information of the tip of the registration instrument based on the tip sensing signal, and registers the actual position of the registration instrument and the navigation position of the registration instrument based on the contact position information. The step of acquiring the contact position information of the tip of the registration instrument through the navigation device based on the tip sensing signal, and registering the actual position of the registration instrument and the navigation position of the registration instrument based on the contact position information, includes: When the navigation device detects that the acquisition time for continuously acquiring contact position information of the tip of the registration instrument has reached a preset acquisition time, or that the number of continuously acquired contact position information has reached a preset number, the acquired contact position information is determined as valid position information. When the navigation device detects that the collected valid location information meets the preset conditions, it performs a registration operation based on the valid location information and a preset registration algorithm to obtain the registration result. The instrument acquisition unit is also equipped with a position locator, which has multiple positioning components. The positioning components emit positioning signals during operation. The navigation device also collects the positioning signals emitted by the multiple positioning components and registers the actual position of the registration instrument with the navigation position of the registration instrument based on the positioning signals. During operation, multiple reference components set on the reference plate emit reference signals; the navigation device also collects the reference signals emitted by the multiple reference components, and registers the actual position of the registration device and the navigation position of the registration device according to the positioning signal and the reference signals, wherein the reference plate is rigidly connected to the target acquisition object; When the grip contact sensor installed in the grip part of the registration device detects that the grip part of the device is being gripped, it generates a grip sensing signal. The grip sensing signal is acquired by the control circuit and transmitted to the navigation device; the navigation device collects the contact position information of the tip of the registration instrument based on the grip sensing signal and the tip sensing signal, and records the contact position information. When the navigation device acquires the grip sensing signal, the positioning signal, and the tip sensing signal, it collects the contact position information of the tip of the registration instrument; and when it does not acquire the grip sensing signal, the positioning signal, or the tip sensing signal, it stops collecting the contact position information of the tip of the registration instrument.

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