A method, system, and surgical robot for postoperative verification of apical surgery

Abstract

An embodiment of the present invention provides a method, a system, and a surgical robot for verifying after root apex surgery. The method for verifying after root apex surgery includes: based on the CBCT of the jawbone before surgery, establishing a preoperative planned jawbone model carrying a preoperative planned implant model, where the preoperative planned implant model is used to create a root apex surgery pore on the preoperative jawbone; placing a plug gauge in the created root apex surgery pore, and scanning the jawbone after surgery based on an intraoral scanner to establish a postoperative jawbone model carrying a postoperative plug gauge model; registering the preoperative planned jawbone model and the postoperative jawbone model to respectively determine the central axes of the preoperative planned implant model and the postoperative plug gauge model; generating a verification result for after root apex surgery based on the central axes of the preoperative planned implant model and the postoperative plug gauge model, reducing the radiation dose received by the patient and avoiding the influence of artifacts on the verification.

Description

Technical Field

[0001] The present invention relates to the field of digital control, and particularly to a method and system for postoperative verification of apical surgery and a surgical robot. Background Art

[0002] In endodontic surgery, generally, the root tip with a length of 3 mm needs to be resected, and at the same time, the resection plane should be perpendicular to the long axis of the tooth to better control infection, reduce the exposure of dentinal tubules, minimize the possibility of microleakage as much as possible, and preserve the remaining tooth tissue. However, in the surgery, accurate root tip resection is often difficult to achieve due to factors such as limited field of view, perspective error, and intraoperative bleeding, resulting in more complications after the surgery, including but not limited to nerve injury, adjacent tooth injury, infection, incision dehiscence, and surgical site infection. Among them, the most harmful ones are nerve injury and adjacent tooth injury. Especially when performing root tip resection in the posterior tooth area and near important anatomical structures, the complexity of the surgery will be greatly increased.

[0003] With the introduction of CBCT, static and dynamic navigation technologies, and robots, digital means for apical surgery have been realized, improving the positioning accuracy and operation precision of apical surgery, thus ensuring higher surgical precision, less trauma, and avoiding nerve injury, adjacent tooth injury, bleeding, incision dehiscence, and surgical site infection as much as possible.

[0004] After apical surgery, in order to verify the surgical effect, postoperative verification is required. However, in the existing verification schemes, one is to perform two CBCT (Cone beam CT) scans on the patient, which will increase the radiation dose received by the patient; the other is to perform verification on a jaw model. However, when this method is applied clinically, due to the differences between the cortical bone and cancellous bone of the patient, there will be many artifacts at the position of the root tip surgery pore after CBCT scanning, which will seriously interfere with postoperative verification.

[0005] Therefore, there is an urgent need to provide a postoperative verification scheme for apical surgery, which can both reduce the radiation dose received by the patient and avoid the influence of artifacts on verification. Summary of the Invention

[0006] The embodiments of the present invention provide a method and system for postoperative verification of apical surgery and a surgical robot, which can both reduce the radiation dose received by the patient and avoid the influence of artifacts on verification.

[0007] The technical solution adopted by the present invention is as follows:

[0008] A method for postoperative verification of apical surgery, which includes:

[0009] Based on the CBCT of the jawbone before surgery, a preoperative planned jawbone model with a preoperative planned implant model is established, and the preoperative planned implant model is used to create an apical surgery pore on the preoperative jawbone;

[0010] Place a plug gauge in the created apical surgery pore, and scan the jawbone after surgery based on an intraoral scanner to establish a postoperative jawbone model with a postoperative plug gauge model;

[0011] Register the preoperative planned jawbone model and the postoperative jawbone model to respectively determine the central axes of the preoperative planned implant model and the postoperative plug gauge model;

[0012] Generate a verification result after apical surgery based on the central axes of the preoperative planned implant model and the postoperative plug gauge model.

[0013] Optionally, both the plug gauge and the implant model are arranged along the opening direction of the apical surgery pore.

[0014] Optionally, before placing a plug gauge in the created apical surgery pore, it further includes: disinfecting the plug gauge.

[0015] Optionally, the method further includes:

[0016] Save the preoperative planned implant model and the preoperative planned jawbone model as a first 3D model description file and a second 3D model description file respectively;

[0017] Save the postoperative jawbone model with the postoperative plug gauge model as a third 3D model description file;

[0018] Load the first 3D model description file, the second 3D model description file, and the third 3D model description file into a 3D analysis tool in real time to register the preoperative planned jawbone model and the postoperative jawbone model.

[0019] Optionally, the step of respectively determining the central axis of the preoperative planned implant model includes:

[0020] Hide the second 3D model description file and the third 3D model description file in the 3D analysis tool to hide the registered postoperative jawbone model and the preoperative planned jawbone model;

[0021] Load the first 3D model description file in the 3D analysis tool in real time to display the preoperative planned implant model;

[0022] Based on the 3D analysis tool capturing a marking action on the preoperative planned implant model, trigger the step of determining the central axis of the preoperative planned implant model.

[0023] Optionally, determining the central axis of the postoperative plug size model includes:

[0024] Hiding the first 3D model description file and the second 3D model description file in the 3D analysis tool to hide the registered preoperative planned jaw model and the preoperative planned implant model;

[0025] Loading the third 3D model description file in real time in the 3D analysis tool to display the postoperative plug size model in the postoperative jaw model;

[0026] Based on the 3D analysis tool, capturing the marking action on the postoperative plug size model to trigger the step of determining the central axis of the postoperative plug size model.

[0027] Optionally, generating the postoperative verification result of the apical surgery based on the central axes of the preoperative planned implant model and the postoperative plug size model includes:

[0028] Based on the central axis of the preoperative planned implant model, determining the upper vertex and the lower vertex of the preoperative planned implant model;

[0029] Based on the central axis of the postoperative plug size model, determining the upper vertex and the lower vertex of the postoperative plug size model;

[0030] Generating the postoperative verification result of the apical surgery according to the distance between the upper vertices of the preoperative planned implant model and the postoperative plug size model, the distance between the lower vertices, and the angle between the central axes of the preoperative planned implant model and the postoperative plug size model.

[0031] Optionally, determining the upper vertex and the lower vertex of the preoperative planned implant model based on the central axis of the preoperative planned implant model includes:

[0032] Based on the 3D analysis tool, determining the upper end face of the preoperative planned implant model;

[0033] Projecting the upper end point of the central axis of the preoperative planned implant model onto the upper end face to form the upper vertex of the preoperative planned implant model;

[0034] Based on the upper vertex of the preoperative planned implant model and the length of the preoperative planned implant model, determining the lower vertex of the preoperative planned implant model.

[0035] Optionally, the method further includes:

[0036] Compensating the upper vertex and the lower vertex of the preoperative planned implant model according to the machining error of the apical surgery pore.

[0037] Optionally, based on the central axis of the postoperative plug size model, determine the upper vertex and the lower vertex of the postoperative plug size model;

[0038] Based on the three-dimensional analysis tool, determine the upper end face of the postoperative plug size model;

[0039] Based on the upper end face of the postoperative plug size model, remove the part of the postoperative plug size model that adheres to the jawbone;

[0040] Project the upper end point of the central axis of the preoperative planned implant model onto the upper end face to form the upper vertex of the preoperative planned implant model;

[0041] Based on the upper vertex of the preoperative planned implant model and the length of the postoperative plug size model, determine the lower vertex of the postoperative plug size model.

[0042] Optionally, based on the central axes of the preoperative planned implant model and the postoperative plug size model, generate a postoperative verification result for the apical surgery, including:

[0043] According to the central axis of the preoperative planned implant model, determine the planned position of the preoperative planned implant model in the apical surgery pore;

[0044] Based on the central axis of the postoperative plug size model, determine the actual position of the plug gauge in the apical surgery pore;

[0045] According to the planned position of the preoperative planned implant model in the apical surgery pore and the actual position of the plug gauge in the apical surgery pore, generate a postoperative verification result for the apical surgery.

[0046] A postoperative verification device for apical surgery, comprising:

[0047] A first model establishment unit, configured to establish a preoperative planned jaw model carrying a preoperative planned implant model based on the CBCT of the preoperative jaw, where the preoperative planned implant model is used to create an apical surgery pore on the preoperative jaw;

[0048] A second model establishment unit, configured to establish a postoperative jaw model carrying a postoperative plug size model, where a plug gauge is placed in the created apical surgery pore;

[0049] A model registration unit, configured to register the preoperative planned jaw model and the postoperative jaw model to respectively determine the central axes of the preoperative planned implant model and the postoperative plug size model;

[0050] A postoperative verification unit for generating a postoperative verification result of apical surgery based on the central axes of the preoperative planned implant model and the postoperative plug gauge model.

[0051] An apical surgery postoperative verification device, comprising a memory and a processor, wherein computer-executable instructions are stored on the memory, and the processor runs the computer-executable instructions to perform the following steps:

[0052] Based on the CBCT of the preoperative jawbone, establish a preoperative planned jawbone model carrying a preoperative planned implant model, and the preoperative planned implant model is used to create an apical surgery pore on the preoperative jawbone;

[0053] For establishing a postoperative jawbone model carrying a postoperative plug gauge model, wherein a plug gauge is placed in the created apical surgery pore;

[0054] Register the preoperative planned jawbone model and the postoperative jawbone model to respectively determine the central axes of the preoperative planned implant model and the postoperative plug gauge model;

[0055] Generate a postoperative verification result of apical surgery based on the central axes of the preoperative planned implant model and the postoperative plug gauge model.

[0056] An apical surgery postoperative verification system, comprising a plug gauge and a verification host, wherein the plug gauge is placed in the created apical surgery pore; the verification host is used to perform the following steps:

[0057] Based on the CBCT of the preoperative jawbone, establish a preoperative planned jawbone model carrying a preoperative planned implant model, and the preoperative planned implant model is used to create the apical surgery pore on the preoperative jawbone;

[0058] Register the preoperative planned jawbone model and the postoperative jawbone model to respectively determine the central axes of the preoperative planned implant model and the postoperative plug gauge model;

[0059] Generate a postoperative verification result of apical surgery based on the central axes of the preoperative planned implant model and the postoperative plug gauge model.

[0060] An apical surgery robot, comprising: a robotic arm, a host, a drill bit, and a plug gauge, the drill bit is assembled on the robotic arm, and the host controls the movement of the robotic arm according to the position of the preoperative planned implant model on the preoperative jawbone, so that the drill bit creates an apical surgery pore on the preoperative jawbone, and implements the verification method described in any embodiment of the present application, and places the plug gauge in the created apical surgery pore.

[0061] The root apex surgery postoperative verification method provided by the embodiments of the present invention, based on the CBCT of the jawbone before surgery, establishes a preoperative planned jawbone model carrying a preoperative planned implant model, and the preoperative planned implant model is used to create a root apex surgery pore in the preoperative jawbone; a plug gauge is placed in the created root apex surgery pore, and the jawbone after surgery is scanned based on an intraoral scanner to establish a postoperative jawbone model carrying a postoperative plug gauge model; the preoperative planned jawbone model and the postoperative jawbone model are registered to respectively determine the central axes of the preoperative planned implant model and the postoperative plug gauge model; based on the central axes of the preoperative planned implant model and the postoperative plug gauge model, a root apex surgery postoperative verification result is generated, reducing the radiation dose received by the patient and avoiding the influence of artifacts on the verification. Description of the Drawings

[0062] Figure 1 It is a schematic diagram of a root apex surgery robot according to an embodiment of the present application.

[0063] Figure 2 It is a schematic flow diagram of a root apex surgery postoperative verification method provided by an embodiment of the present application.

[0064] Figure 3 It is a schematic diagram showing the registered postoperative jawbone model and the preoperative planned implant model in 3-matic.

[0065] Figure 4 It is a schematic diagram showing only the preoperative planned implant model with the registered postoperative jawbone model hidden.

[0066] Figure 5 It is a schematic diagram of the upper vertex and the lower vertex of the preoperative planned implant model.

[0067] Figure 6 It is a schematic diagram of the upper vertex and the lower vertex of the postoperative plug gauge model.

[0068] Figure 7 It is one of the schematic diagrams of the verification interface obtained by performing the above verification method.

[0069] Figure 8 It is one of the schematic diagrams of the verification interface obtained by performing the above verification method;

[0070] Figure 9 It is a schematic structural diagram of a root apex surgery postoperative verification device provided by an embodiment of the present application.

[0071] Figure 10 It is a schematic structural diagram of a root apex surgery postoperative verification device provided by an embodiment of the present application. Detailed Embodiments

[0072] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0073] Figure 1 Schematic diagram of a apical surgery robot according to an embodiment of the present application. Figure 1 As shown, it includes: a robotic arm 101, a host 102, a drill needle 103, and a plug gauge (not shown), wherein the drill needle is mounted on the robotic arm, and the host controls the movement of the robotic arm according to the preoperative position of the implant model in the preoperative jaw, so that the drill needle opens an apical surgical hole on the preoperative jaw, and implements the verification method described in any embodiment of the present application, and places the plug gauge in the opened apical surgical hole.

[0074] For example, the host can establish a preoperative jaw model based on the preoperative CBCT of the jaw, and perform preoperative planning based on the preoperative jaw model to determine the preoperative planning implant model, which reflects the apical surgical aperture position, depth, surgical aperture size, etc. during the apical surgery of the jaw. To this end, the length and thickness of the preoperative planning implant model are determined to adapt to the tooth tissue to ensure high surgical accuracy and less trauma, and to avoid nerve damage, adjacent tooth damage, bleeding, incision cracking, surgical area infection, etc. as much as possible.

[0075] For example, the plug gauge may be called a pin gauge, which may be a hole plug gauge or a thread plug gauge. The specification of the plug gauge may be determined according to the specific requirements of the application scenario.

[0076] For example, the hole plug gauge is made into a cylindrical shape, with a through end and a stop end at both ends. The thread plug gauge can be divided into three types: ordinary coarse pitch, fine pitch and pipe thread.

[0077] After completing the verification method of the embodiment of the present application, the plug gauge can be removed from the apical surgical aperture and the incision can be sutured.

[0078] The following examples are for the above Figure 1 It should be noted that the following verification method of the present application can be applied not only to the above-mentioned scenario of apical surgery based on surgical robots, but also to the scenario of traditional fully manual apical surgery.

[0079] Figure 2 The present invention provides a schematic diagram of a postoperative verification method for apical surgery. Figure 2 As shown, it includes:

[0080] S201. Based on the CBCT of the preoperative jawbone, establish a preoperative planned jawbone model carrying a preoperative planned implant model, where the preoperative planned implant model is used to create an apical surgical pore on the preoperative jawbone;

[0081] Exemplarily, the CBCT of the preoperative jawbone is saved as a file in DICOM (Digital Imaging and Communications in Medicine) format and imported into modeling software for modeling. The specific modeling software can be determined according to the scenario, such as Geomagic Wrap software.

[0082] S202. Place a plug gauge in the created apical surgical pore, and scan the postoperative jawbone based on an intraoral scanner to establish a postoperative jawbone model carrying a postoperative plug gauge model;

[0083] In this embodiment, the intraoral scanner can collect the three-dimensional data point cloud of the jawbone based on image scanning, and then superimpose these three-dimensional point cloud data on the modeling software to establish a postoperative jawbone model carrying a postoperative plug gauge model. Based on the intraoral scanner, the operation of repeated CT scans can be avoided, thereby reducing the radiation dose received by the patient and ensuring the health of the patient.

[0084] In step S202, specifically, after the apical resection is completed based on the created apical surgical pore, place a plug gauge in the created apical surgical pore, and the plug gauge is placed, for example, by a robotic arm.

[0085] In this embodiment, placing the apical surgical pore through the plug gauge can well replace the area of the actual operation, and it can be directly operated beside the dental chair, avoiding the risk of infection. In addition, the plug gauge can well represent the size of the actual apical surgical drill hole, and by extracting the axis corresponding to the plug gauge model, the central axis of the apical surgical pore can be accurately represented, thereby reducing the error in determining the apical surgical pore and ensuring the reliability of the verification.

[0086] S203. Register the preoperative planned jawbone model and the postoperative jawbone model to respectively determine the central axes of the preoperative planned implant model and the postoperative plug gauge model;

[0087] S204. Generate a verification result after the apical surgery based on the central axes of the preoperative planned implant model and the postoperative plug gauge model.

[0088] Optionally, both the plug gauge and the implant model are arranged along the opening direction of the apical surgical pore. Exemplarily, the opening direction is, for example, towards the long axis direction of the tooth, and specifically can be perpendicular to ensure accurate positioning to the root tip.

[0089] Optionally, before placing a plug gauge in the well - opened apical surgery pore, it further includes: disinfecting the plug gauge. Through the disinfection treatment, secondary infection caused by placing the plug gauge can be avoided.

[0090] Optionally, the method further includes:

[0091] Saving the preoperative planned implant model and the preoperative planned jaw model as a first 3D model description file and a second 3D model description file respectively;

[0092] Saving the postoperative jaw model with the postoperative plug gauge model as a third 3D model description file;

[0093] Loading the first 3D model description file, the second 3D model description file, and the third 3D model description file into a 3D analysis tool in real - time to register the preoperative planned jaw model and the postoperative jaw model.

[0094] Exemplarily, the preoperative planned implant model and the preoperative planned jaw model can be saved as a first 3D model description file and a second 3D model description file respectively, and the postoperative jaw model with the postoperative plug gauge model can be saved as a third 3D model description file by exporting files from the modeling software.

[0095] Exemplarily, the specific formats of the first 3D model description file, the second 3D model description file, and the third 3D model description file are not particularly limited. For example, specifically in the STL (STereoLithography) format.

[0096] In this embodiment, the above registration is achieved by loading the first 3D model description file, the second 3D model description file, and the third 3D model description file into the 3D analysis tool 3 - matic. Through the above registration, the postoperative jaw model and the preoperative planned jaw model can be aligned, so as to facilitate postoperative verification based on the preoperative planned implant model and the postoperative plug gauge model.

[0097] Optionally, the respectively determining the central axis of the preoperative planned implant model includes:

[0098] Hiding the second 3D model description file and the third 3D model description file in the 3D analysis tool to hide the registered postoperative jaw model and the preoperative planned jaw model;

[0099] Loading the first 3D model description file in the 3D analysis tool in real - time to display the preoperative planned implant model;

[0100] Based on the three-dimensional analysis tool, capturing the marking action on the pre-operative planned implant model triggers the step of determining the central axis of the pre-operative planned implant model.

[0101] Optionally, determining the central axis of the post-operative plug model includes:

[0102] Hiding the first three-dimensional model description file and the second three-dimensional model description file in the three-dimensional analysis tool to hide the registered pre-operative planned jaw model and the pre-operative planned implant model;

[0103] In the three-dimensional analysis tool, the third three-dimensional model description file is loaded in real time to display the post-operative plug model in the post-operative jaw model;

[0104] Based on the three-dimensional analysis tool, capturing the marking action on the post-operative plug model triggers the step of determining the central axis of the post-operative plug model.

[0105] In this embodiment, there is no strict time sequence requirement for the steps of hiding the registered post-operative jaw model and the pre-operative planned jaw model, and hiding the registered pre-operative planned jaw model and the pre-operative planned implant model, which is specifically determined according to the scenario.

[0106] In this embodiment, by hiding the registered post-operative jaw model and the pre-operative planned jaw model, and hiding the registered pre-operative planned jaw model and the pre-operative planned implant model, the steps of determining the central axis of the pre-operative planned implant model and the central axis of the post-operative plug model are respectively triggered, thus avoiding the mutual entanglement in the process of determining the central axes of the pre-operative planned implant model and the post-operative plug model, and facilitating the accurate and rapid determination of the central axes of different models.

[0107] Hiding the second three-dimensional model description file and the third three-dimensional model description file in the three-dimensional analysis tool, and hiding the first three-dimensional model description file and the second three-dimensional model description file in the three-dimensional analysis tool can be achieved by modifying the display attributes of the second three-dimensional model description file and the third three-dimensional model description file, and the first three-dimensional model description file.

[0108] Specifically, in the above-mentioned 3-matic, the display attributes of the second three-dimensional model description file and the third three-dimensional model description file, and the first three-dimensional model description file can be modified. Exemplarily, see Figure 3 For the schematic diagrams of the registered post-operative jaw model and the pre-operative planned implant model displayed in 3-matic. Figure 4Schematic diagram for hiding the post-operative jaw model after registration and only showing the pre-operative planned implant model.

[0109] Exemplarily, the marking interaction component provided by 3-matic can be used to capture the marking action on the post-operative plug model, so as to call the central axis determination component (such as Fit inertia axes) provided by 3-matic to quickly determine the central axis of the post-operative plug model and the central axis of the pre-operative planned implant model.

[0110] Optionally, generating the post-operative verification result of the apical surgery based on the central axes of the pre-operative planned implant model and the post-operative plug model includes:

[0111] Based on the central axis of the pre-operative planned implant model, determining the upper vertex and the lower vertex of the pre-operative planned implant model;

[0112] Based on the central axis of the post-operative plug model, determining the upper vertex and the lower vertex of the post-operative plug model;

[0113] Generating the post-operative verification result of the apical surgery according to the distance between the upper vertices of the pre-operative planned implant model and the post-operative plug model, the distance between the lower vertices, and the angle between the central axes of the pre-operative planned implant model and the post-operative plug model.

[0114] Optionally, determining the upper vertex and the lower vertex of the pre-operative planned implant model based on the central axis of the pre-operative planned implant model includes:

[0115] Based on the three-dimensional analysis tool, determining the upper end face of the pre-operative planned implant model;

[0116] Projecting the upper end point of the central axis of the pre-operative planned implant model onto the upper end face to form the upper vertex of the pre-operative planned implant model;

[0117] Based on the upper vertex of the pre-operative planned implant model and the length of the pre-operative planned implant model, determining the lower vertex of the pre-operative planned implant model.

[0118] Exemplarily, for example, based on the sketch command in 3-matic, locate the top end face of the pre-operative planned implant model (i.e., the end face facing the outside of the dental tissue), create a plane based on this top end face to form the upper end face, and then based on the sketch command, project the upper end point of the central axis of the pre-operative planned implant model onto the upper end face to obtain a projection point, and use this projection point as the upper vertex of the pre-operative planned implant model. Extend the length of the pre-operative planned implant model from this upper vertex along the central axis towards the inside of the dental tissue to obtain the lower vertex of the pre-operative planned implant model.Figure 5 As shown, it is a schematic diagram of the upper vertex and the lower vertex of the preoperative planned implant model. Specifically, for example, by using the Create Line in the analyze command in 3-matic and selecting the Direction and length method, the length of the preoperative planned implant model is extended along the central axis in the direction of the dental tissue interior based on this upper vertex.

[0119] Here, the way to determine the upper vertex of the preoperative planned implant model by creating the upper end face through the above sketch command is only an example and not a unique limitation.

[0120] For example, it can also be determined in the following way:

[0121] In 3-matic, select the preoperative planned implant through the marking interaction component operation. At this time, select Create Line in the analyze command and the line created by selecting the Fit ruled surface direction method is the central axis. The upper vertex and the lower vertex of this central axis are respectively the upper vertex and the lower vertex of the preoperative planned implant, thus omitting the above processes of determining the upper end face and projection, improving the convenience. Similarly, the central axis of the postoperative plug gauge is also determined by this method.

[0122] Optionally, the method further includes:

[0123] Compensate the upper vertex and the lower vertex of the preoperative planned implant model according to the processing error of the apical surgery pore. The processing error can be compensated according to the processing error. For example, specifically compensate according to the depth of the pointed position when the drill bit opens the apical surgery pore, so as to ensure that the preoperative planned implant model can accurately reflect the position of the apical surgery pore.

[0124] Optionally, determining the upper vertex and the lower vertex of the postoperative plug gauge model based on the central axis of the postoperative plug gauge model includes:

[0125] Based on the three-dimensional analysis tool, determine the upper end face of the postoperative plug gauge model;

[0126] Based on the upper end face of the postoperative plug gauge model, cut off the part of the postoperative plug gauge model adhered to the jawbone;

[0127] Project the upper end point of the central axis of the postoperative plug gauge model onto the upper end face to form the upper vertex of the postoperative plug gauge model;

[0128] Based on the upper vertex of the postoperative plug gauge model and the length of the postoperative plug gauge model, determine the lower vertex of the postoperative plug gauge model.

[0129] Different from the above determination of the upper vertex and the lower vertex of the preoperative planned implant model, considering that after the plug gauge is placed in the apical surgery pore, the plug gauge will adhere to the dental tissue, resulting in partial embedding of the plug gauge into the dental tissue. Therefore, in the embodiments of the present application, based on the upper end face of the postoperative plug gauge model, the part of the postoperative plug gauge model adhered to the jawbone can be accurately removed, and the height of the removal can be determined according to the application scenario, as long as it does not affect the determination of the central axis of the postoperative plug gauge model. For example, based on the trim command in 3-matic, the part of the postoperative plug gauge model adhered to the jawbone can be accurately removed.

[0130] Exemplarily, for example, based on the sketch command in 3-matic, locate the top end face of the postoperative plug gauge model (i.e., the end face facing the outside of the dental tissue), create a plane based on this top end face to form the upper end face, and then based on the sketch command, project the upper end point of the central axis of the postoperative plug gauge model onto the upper end face to obtain a projection point, and use this projection point as the upper vertex of the postoperative plug gauge model. Based on this upper vertex, extend the length of the postoperative plug gauge model along the central axis in the direction of the inside of the dental tissue to obtain the lower vertex of the postoperative plug gauge model, as Figure 6 shown, which is a schematic diagram of the upper vertex and the lower vertex of the postoperative plug gauge model. Specifically, for example, through the Create Line in the analyze command in 3-matic, select the Direction and length method, and extend the length of the postoperative plug gauge model along the central axis in the direction of the inside of the dental tissue based on this upper vertex to obtain the lower vertex of the postoperative plug gauge model.

[0131] Here, it should be noted that the top end face of the above postoperative plug gauge model and the top end face of the preoperative planned implant model are, for example, the end faces close to the outside of the jawbone.

[0132] Optionally, based on the central axes of the preoperative planned implant model and the postoperative plug gauge model, a postoperative verification result of the apical surgery is generated, including:

[0133] According to the central axis of the preoperative planned implant model, determine the planned position of the preoperative planned implant model in the apical surgery pore;

[0134] Based on the central axis of the postoperative plug gauge model, determine the actual position of the plug gauge in the apical surgery pore;

[0135] According to the planned position of the preoperative planned implant model in the apical surgery pore and the actual position of the plug gauge in the apical surgery pore, generate a postoperative verification result of the apical surgery.

[0136] Exemplarily, determining the planned position of the pre-operative planning implant model in the apical surgery pore according to the central axis of the pre-operative planning implant model includes:

[0137] Determining the upper vertex and the lower vertex of the pre-operative planning implant model according to the central axis of the pre-operative planning implant model;

[0138] Based on the upper vertex and the lower vertex of the pre-operative planning implant model, determining the planned position of the pre-operative planning implant model in the apical surgery pore.

[0139] Among them, determining the upper vertex and the lower vertex of the pre-operative planning implant model according to the central axis of the pre-operative planning implant model can refer to the description in the above embodiments. When determining the planned position of the pre-operative planning implant model in the apical surgery pore based on the upper vertex and the lower vertex of the pre-operative planning implant model, the planned position of the pre-operative planning implant model in the apical surgery pore can be determined according to the connection line of the upper vertex and the lower vertex of the pre-operative planning implant model.

[0140] Exemplarily, determining the planned position of the post-operative plug model in the apical surgery pore according to the central axis of the post-operative plug model includes:

[0141] Determining the upper vertex and the lower vertex of the post-operative plug model according to the central axis of the post-operative plug model;

[0142] Based on the upper vertex and the lower vertex of the post-operative plug model, determining the planned position of the post-operative plug model in the apical surgery pore.

[0143] Among them, determining the upper vertex and the lower vertex of the post-operative plug model according to the central axis of the post-operative plug model can refer to the description in the above embodiments. When determining the planned position of the post-operative plug model in the apical surgery pore based on the upper vertex and the lower vertex of the post-operative plug model, the planned position of the post-operative plug model in the apical surgery pore can be determined according to the connection line of the upper vertex and the lower vertex of the post-operative plug model.

[0144] The diameter size of the post-operative plug model can be measured during placement. The diameter size of the pre-operative planning implant model can be calculated during pre-operative planning.

[0145] In summary, since the verification is based on the central axes of the post-operative plug model and the pre-operative implant model, it avoids the influence of many artifacts in the position of the apical surgery pore on locating the apical surgery pore when directly verifying based on the jaw model, thereby improving the accuracy and reliability of the verification.

[0146] Figure 7 One of the schematic diagrams of the verification interface obtained by performing the above verification method; Figure 8 One of the schematic diagrams of the verification interface obtained by performing the above verification method; Figure 7 It shows the central axes of the preoperative planned implant model and the postoperative plug model, as well as the upper vertices and lower vertices of the preoperative planned implant model and the postoperative plug model. Figure 8 In Figure 7 On this basis, the preoperative planned implant model and the postoperative plug model are loaded. Thus, the distance between the upper vertices of the preoperative planned implant model and the postoperative plug model (also known as the starting point deviation), the distance between the lower vertices (also known as the ending point deviation), and the included angle between the central axes (angle deviation) can be calculated, so as to verify whether the apical surgical pore after apical surgery meets the expected surgical plan.

[0147] Corresponding to the above verification method, the following embodiments provide corresponding devices, systems, etc.

[0148] Figure 9 Schematic diagram of the structure of an apical surgery postoperative verification device provided by an embodiment of the present application. As Figure 9 shown, it includes:

[0149] The first model establishment unit 901 is used to establish a preoperative planned jaw model carrying a preoperative planned implant model based on the CBCT of the preoperative jaw, and the preoperative planned implant model is used to create an apical surgical pore on the preoperative jaw;

[0150] The second model establishment unit 902 is used to establish a postoperative jaw model carrying a postoperative plug model, wherein a plug gauge is placed in the opened apical surgical pore;

[0151] The model registration unit 903 is used to register the preoperative planned jaw model and the postoperative jaw model to respectively determine the central axes of the preoperative planned implant model and the postoperative plug model;

[0152] The postoperative verification unit 904 is used to generate an apical surgery postoperative verification result based on the central axes of the preoperative planned implant model and the postoperative plug model.

[0153] Exemplary explanations of the above units can be found in the embodiments of the above verification method.

[0154] Figure 10 Schematic diagram of the structure of an apical surgery postoperative verification device provided by an embodiment of the present application. As Figure 10As shown, it includes a memory 1001 and a processor 1002. Computer-executable instructions are stored on the memory, and the processor runs the computer-executable instructions to perform the following steps:

[0155] Based on the CBCT of the preoperative jawbone, establish a preoperative planned jawbone model carrying a preoperative planned implant model, and the preoperative planned implant model is used to create an apical surgery pore on the preoperative jawbone;

[0156] For establishing a postoperative jawbone model carrying a postoperative plug gauge model, wherein a plug gauge is placed in the created apical surgery pore;

[0157] Register the preoperative planned jawbone model and the postoperative jawbone model to respectively determine the central axes of the preoperative planned implant model and the postoperative plug gauge model;

[0158] Generate a verification result after apical surgery based on the central axes of the preoperative planned implant model and the postoperative plug gauge model.

[0159] For each step of the device for verifying the result after apical surgery, exemplary explanations can be found in the embodiments of the above verification method.

[0160] A system for verifying the result after apical surgery provided by an embodiment of the present application includes a plug gauge and a verification host. The plug gauge is placed in the created apical surgery pore; the verification host is used to perform the following steps:

[0161] Based on the CBCT of the preoperative jawbone, establish a preoperative planned jawbone model carrying a preoperative planned implant model, and the preoperative planned implant model is used to create the apical surgery pore on the preoperative jawbone;

[0162] Register the preoperative planned jawbone model and the postoperative jawbone model to respectively determine the central axes of the preoperative planned implant model and the postoperative plug gauge model;

[0163] Generate a verification result after apical surgery based on the central axes of the preoperative planned implant model and the postoperative plug gauge model.

[0164] For each step of the system for verifying the result after apical surgery, its exemplary explanations can be found in the embodiments of the above verification method.

[0165] The above-described embodiments are merely specific implementation manners of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: Any person skilled in the technical field can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A method for verifying after root apex surgery, characterized in that, Including: Based on the CBCT of the preoperative jawbone, a preoperative planned jawbone model carrying a preoperative planned implant model is established, and the preoperative planned implant model is used to create an apical surgery pore on the preoperative jawbone; Place a plug gauge in the created apical surgery pore, and scan the postoperative jawbone based on an intraoral scanner to establish a postoperative jawbone model carrying a postoperative plug gauge model; Register the preoperative planned jawbone model and the postoperative jawbone model to respectively determine the central axes of the preoperative planned implant model and the postoperative plug gauge model; Generate a verification result after apical surgery based on the central axes of the preoperative planned implant model and the postoperative plug gauge model.

2. The method according to claim 1, wherein The method further includes: Save the preoperative planned implant model and the preoperative planned jawbone model as a first 3D model description file and a second 3D model description file respectively; Save the postoperative jawbone model carrying the postoperative plug gauge model as a third 3D model description file; Load the first 3D model description file, the second 3D model description file, and the third 3D model description file into a 3D analysis tool in real time to register the preoperative planned jawbone model and the postoperative jawbone model.

3. The method according to claim 2, wherein The step of respectively determining the central axis of the preoperative planned implant model includes: Hide the second 3D model description file and the third 3D model description file in the 3D analysis tool to hide the registered postoperative jawbone model and the preoperative planned jawbone model; Load the first 3D model description file into the 3D analysis tool in real time to display the preoperative planned implant model; Based on the 3D analysis tool, capture the marking action on the preoperative planned implant model to trigger the step of determining the central axis of the preoperative planned implant model.

4. The method according to claim 2, wherein The step of determining the central axis of the postoperative plug gauge model includes: Hide the first 3D model description file and the second 3D model description file in the 3D analysis tool to hide the registered preoperative planned jawbone model and the preoperative planned implant model; Load the third 3D model description file into the 3D analysis tool in real time to display the postoperative plug gauge model in the postoperative jawbone model; Based on the 3D analysis tool, capture the marking action on the postoperative plug gauge model to trigger the step of determining the central axis of the postoperative plug gauge model.

5. The method according to any one of claims 2 to 4, characterized in that, The step of generating a verification result after apical surgery based on the central axes of the preoperative planned implant model and the postoperative plug gauge model includes: Based on the central axis of the preoperative planned implant model, determine the upper vertex and the lower vertex of the preoperative planned implant model; Based on the central axis of the postoperative plug gauge model, determine the upper vertex and the lower vertex of the postoperative plug gauge model; Generate a verification result after apical surgery according to the distance between the upper vertices of the preoperative planned implant model and the postoperative plug gauge model, the distance between the lower vertices, and the angle between the central axes of the preoperative planned implant model and the postoperative plug gauge model.

6. The method according to claim 5, wherein Determining the upper vertex and lower vertex of the pre-operative planned implant model based on the central axis of the pre-operative planned implant model includes: Determining the upper end face of the pre-operative planned implant model based on the three-dimensional analysis tool; Projecting the upper end point of the central axis of the pre-operative planned implant model onto the upper end face to form the upper vertex of the pre-operative planned implant model; Determining the lower vertex of the pre-operative planned implant model based on the upper vertex of the pre-operative planned implant model and the length of the pre-operative planned implant model.

7. The method according to claim 5, characterized in that, Determining the upper vertex and lower vertex of the post-operative plug gauge model based on the central axis of the post-operative plug gauge model includes: Determining the upper end face of the post-operative plug gauge model based on the three-dimensional analysis tool; Based on the upper end face of the post-operative plug gauge model, removing the part of the post-operative plug gauge model adhered to the jawbone; Projecting the upper end point of the central axis of the pre-operative planned implant model onto the upper end face to form the upper vertex of the pre-operative planned implant model; Determining the lower vertex of the post-operative plug gauge model based on the upper vertex of the pre-operative planned implant model and the length of the post-operative plug gauge model.

8. The method according to any one of claims 1 to 4, characterized in that, Generating a verification result after root apex surgery based on the central axes of the pre-operative planned implant model and the post-operative plug gauge model includes: Determining the planned position of the pre-operative planned implant model in the root apex surgery pore according to the central axis of the pre-operative planned implant model; Based on the central axis of the post-operative plug gauge model, determining the actual position of the plug gauge in the root apex surgery pore; Generating a verification result after root apex surgery according to the planned position of the pre-operative planned implant model in the root apex surgery pore and the actual position of the plug gauge in the root apex surgery pore.

9. An apical surgery postoperative verification system, characterized in that, It includes a plug gauge and a verification host. The plug gauge is placed in the root apex surgery pore that has been opened. The verification host is used to perform the following steps: Based on the CBCT of the pre-operative jawbone, establishing a pre-operative planned jawbone model carrying the pre-operative planned implant model, and the pre-operative planned implant model is used to open the root apex surgery pore on the pre-operative jawbone; Placing a plug gauge in the opened root apex surgery pore, and scanning the post-operative jawbone based on an intraoral scanner to establish a post-operative jawbone model carrying the post-operative plug gauge model; Registering the pre-operative planned jawbone model and the post-operative jawbone model to respectively determine the central axes of the pre-operative planned implant model and the post-operative plug gauge model; Generating a verification result after root apex surgery based on the central axes of the pre-operative planned implant model and the post-operative plug gauge model.

10. An apical surgery robot, characterized in that, It includes: A robotic arm, a host, a drill bit, and a plug gauge. The drill bit is assembled on the robotic arm. The host controls the movement of the robotic arm according to the position of the pre-operative planned implant model on the pre-operative jawbone, so that the drill bit opens a root apex surgery pore on the pre-operative jawbone, and implements the verification method according to any one of claims 1-8. Place the plug gauge in the opened root apex surgery pore.

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