Dental implant planning method, device, electronic device and computer storage medium

Abstract

The present application provides a method, device, electronic device and computer storage medium for planning dental implants, the method comprising: obtaining dental image data of an implant object; segmenting the dental image data through a pre-trained multi-task model to obtain a first oral model of the implant object; determining implant information according to the first oral model, wherein the implant information includes at least one of a dental implant position, a dental implant angle and a dental implant depth; generating a second oral model including an implanted dental model according to the implant information and the first oral model. The dental implant planning method provided by the present application can improve the efficiency of dental implant planning, and therefore has high practicality.

Description

Technical Field

[0001] The present application relates to the technical field of preoperative planning, and in particular to a method, device, electronic device and computer storage medium for dental implant planning. Background Art

[0002] Preoperative implant planning is one of the key steps in oral implant surgery. Implant planning not only needs to consider the spatial position relationship between the implant and adjacent teeth, neural canal, maxillary sinus and other key oral anatomical structures, but also the morphology of the restoration, taking into account both biological and restorative guidance needs.

[0003] At present, the planning and design of dental implants for clinical applications requires doctors to process the patient's CBCT, design the implant site, and accurately place the implant.

[0004] However, the existing implant design software is cumbersome to operate. Doctors are required to manually adjust the threshold and draw structures such as the mandibular nerve canal and mental foramen, and then design the implant position based on the drawn structures. The entire design process is complex and time-consuming. Some young doctors with insufficient experience often fail to take both into account or make design errors, which cannot meet clinical needs. Therefore, the existing dental implant planning methods are less practical. Summary of the invention

[0005] In view of this, the present application provides a dental implant planning method, device, electronic device and computer storage medium to at least partially solve the above problems.

[0006] According to a first aspect of the present application, a dental implant planning method is provided, the method comprising: acquiring dental image data of an implant object; segmenting the dental image data through a pre-trained multi-task model to obtain a first oral model of the implant object; determining implant information based on the first oral model, wherein the implant information includes at least one of a dental implant position, a dental implant angle, and a dental implant depth; and generating a second oral model including an implanted dental model based on the implant information and the first oral model.

[0007] In a possible implementation, the determining of implantation information according to the first oral model includes: determining at least one tooth to be implanted according to the first oral model; determining the adjacent tooth distance corresponding to each tooth to be implanted, wherein the adjacent tooth distance is the distance between the left adjacent tooth and the right adjacent tooth of the tooth position corresponding to the tooth to be implanted; determining the first implantation information corresponding to the tooth to be implanted according to the adjacent tooth distance, wherein the first implantation information includes the tooth implantation position, the tooth implantation angle and the occlusal relationship; determining the hole preparation information according to the first oral model, wherein the hole preparation information includes the depth and direction of the hole preparation, and the hole preparation is used to implant the tooth to be implanted; determining the implantation information according to the adjacent tooth distance, the first implantation information and the hole preparation information.

[0008] In a possible implementation, determining the adjacent tooth distance corresponding to each tooth to be implanted includes: determining the positions of the left adjacent tooth and the right adjacent tooth corresponding to the tooth to be implanted according to the first oral model; and determining the distance between the center of mass of the left adjacent tooth and the center of mass of the right adjacent tooth as the distance between the adjacent teeth.

[0009] In a possible implementation, the implant information is determined based on the adjacent tooth distance, the first implant information and the hole preparation information, including: determining oral bone information based on the first oral model, wherein the oral bone information includes the length, width and thickness of the oral bone; determining the implant information based on a pre-set weight coefficient, the oral bone information, the adjacent tooth distance, the first implant information and the hole preparation information.

[0010] In a possible implementation, the method further includes: obtaining manual correction information, wherein the manual correction information is used to indicate a correction rule for the first oral model; and training the multi-task model using the first oral model, the dental image data and the manual correction information.

[0011] In a possible implementation, the method further includes: obtaining a first manual evaluation result of the second oral model; determining a second evaluation result based on the first evaluation result and the implantation information, wherein the second evaluation result is used to indicate a correction rule for the second oral model.

[0012] According to a second aspect of the present application, a dental implant planning device is provided, which includes: an acquisition module for acquiring dental image data of an implant object; a segmentation module for segmenting the dental image data through a pre-trained multi-task model to obtain a first oral model of the implant object; a determination module for determining implant information based on the first oral model, wherein the implant information includes at least one of a dental implant position, a dental implant angle and a dental implant depth; and a generation module for generating a second oral model including an implanted dental model based on the implant information and the first oral model.

[0013] According to the third aspect of the present application, an electronic device is provided, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method described in the first aspect.

[0014] According to a fourth aspect of the present application, a computer storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method described in the first aspect is implemented.

[0015] According to a fifth aspect of the present application, a computer program product is provided, comprising computer instructions, wherein the computer instructions instruct a computing device to execute the method as described in the first aspect.

[0016] According to the dental implant planning method provided by the present application, the first oral model of the implant object can be determined based on the dental image data of the implant object, and the dental implant information can be determined based on the first oral model, and finally the second oral model including the implanted tooth model can be determined. This process does not require human participation, so the doctor does not need to manually draw the patient's oral model based on the image data. Since the system automatically confirms the dental implant information based on the oral model, the doctor does not need to determine the dental implant position based on the model, which reduces the intensity of manual labor and avoids the possibility of design errors due to the doctor's lack of experience. In addition, the method generates a second oral model including the implanted tooth model, which can intuitively display the dental implant effect and improve the efficiency of preoperative implant planning. Therefore, the dental implant planning method has high practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0018] Figure 1 is a flow chart of a dental implant planning method provided in an embodiment of the present application;

[0019] Figure 2 is a flowchart of a multi-task model training method provided in an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a second oral cavity model provided in an embodiment of the present application;

[0021] Figure 4 is a flow chart of a method for determining planting information provided by an embodiment of the present application;

[0022] Figure 5 is a schematic diagram of an adjacent tooth distance provided in an embodiment of the present application;

[0023] Figure 6 It is a schematic diagram of a prepared hole provided in an embodiment of the present application;

[0024] Figure 7 is a schematic diagram of a dental implant planning device provided in an embodiment of the present application;

[0025] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0027] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0028] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0029] Figure 1 is a flow chart of a dental implant planning method provided in an embodiment of the present application, such as Figure 1 As shown, the method includes the following steps 101 to 104:

[0030] Step 101: Acquire tooth image data of an implant object.

[0031] Acquire dental image data of an implant object, where the implant object is a patient who needs dental implantation. The dental image data includes but is not limited to cone beam CT (CBCT) of the oral cavity of the implant object. The specific image data type is not limited in this application.

[0032] Step 102: Segment the tooth image data using a pre-trained multi-task model to obtain a first oral cavity model of the implant object.

[0033] The multi-task model includes but is not limited to a multi-task learning model based on 3D U-Net 3+, through which important oral anatomical structures such as teeth, alveolar bones, maxillary sinuses and neural canals in dental image data can be segmented, and then a first oral model is generated, which is a virtual three-dimensional oral model.

[0034] For example, Figure 2 is a flowchart of a multi-task model training method provided in an embodiment of the present application, such as Figure 2 As shown, the method includes the following steps 201 to 204:

[0035] Step 201: Acquire oral data of the implant object.

[0036] Obtain oral data of a large number of implant recipients of different genders, ages, missing teeth, jaw lesions, jaw bone quality and jaw bone volume. After unified sorting and desensitization of the data, data labeling is performed.

[0037] Step 202: pre-process the oral cavity data.

[0038] To enhance the detectability of key information in oral data and to simplify the data to the greatest extent, the data preprocessing process includes data trimming, resampling, standardization, contrast enhancement and other steps.

[0039] Step 203: perform data enhancement on the preprocessed oral data.

[0040] Data enhancement is performed on oral data, including rotation, scaling, mirroring, Gaussian noise, Gaussian blur, brightness and contrast transformation, etc. Data enhancement can expand the diversity of the data set, improve sample quality, increase noise data, and help improve the robustness of the model.

[0041] Step 204: Train the multi-task model to be trained using the oral data after data enhancement.

[0042] The multi-task model to be trained is trained by using the oral data after preprocessing and data enhancement to obtain a pre-trained multi-task model.

[0043] It should be understood that the above multi-task model training method is only an example and does not limit the present application in any way.

[0044] Step 103: Determine implant information according to the first oral model.

[0045] The implantation information of the tooth to be implanted is determined according to the spatial position information of the first oral model. The implantation information includes at least one of the tooth implantation position, the tooth implantation angle and the tooth implantation depth. The implantation information can guide the doctor to perform tooth implantation.

[0046] Step 104: Generate a second oral cavity model including an implanted tooth model according to the implant information and the first oral cavity model.

[0047] The second oral model is generated by simulating the implantation of the tooth model into the first oral model according to the implantation information, including a three-dimensional oral model of the implanted tooth model, which can intuitively display the position of the implanted tooth and the relative position relationship between the implanted tooth and other tissues such as oral bones.

[0048] For example, Figure 3 301 is a schematic diagram of a second oral cavity model provided in an embodiment of the present application, which shows a part of the second oral cavity model including an implanted tooth model, and 301 in the figure is the implanted tooth model.

[0049] In an embodiment of the present application, a first oral model of the implant object can be determined based on the dental image data of the implant object, and the dental implant information can be determined based on the first oral model, and finally a second oral model including the implanted dental model can be determined. This process does not require human participation, so there is no need for the doctor to manually draw the patient's oral model based on the image data. Since the system automatically confirms the dental implant information based on the oral model, there is no need for the doctor to determine the dental implant position based on the model, which reduces the intensity of manual labor and avoids the possibility of design errors due to the doctor's lack of experience. In addition, the method generates a second oral model including the implanted dental model, which can intuitively display the dental implant effect and improve the efficiency of preoperative implant planning. Therefore, the dental implant planning method has high practicality.

[0050] Figure 4 is a flow chart of a method for determining planting information provided by an embodiment of the present application, such as Figure 4 As shown, the method includes the following steps 401 to 405:

[0051] Step 401: Determine at least one tooth to be implanted according to the first oral cavity model.

[0052] According to the first oral model, the position of the missing teeth, that is, the position of the teeth to be implanted, is determined.

[0053] Step 402: Determine the adjacent tooth distance corresponding to each tooth to be implanted.

[0054] The distance between the left and right adjacent teeth of each tooth to be implanted is determined as the adjacent tooth distance.

[0055] For example, Figure 5 is a schematic diagram of the distance between adjacent teeth provided in an embodiment of the present application, such as Figure 5 As shown, according to the first oral model, it is determined that the distance between the left adjacent tooth and the right adjacent tooth of the tooth to be implanted is 9.3 mm.

[0056] Step 403: Determine first implant information corresponding to the tooth to be implanted according to the distance between adjacent teeth.

[0057] According to the tooth distance between the left and right adjacent teeth of each tooth to be implanted, the first implantation information is determined, and the first implantation information includes the tooth implantation position, the tooth implantation angle and the occlusal relationship. The occlusal relationship is the occlusal relationship between the tooth to be implanted and the upper or lower teeth.

[0058] Step 404: Determine hole preparation information according to the first oral cavity model.

[0059] The hole preparation information includes the depth and direction of the hole. When performing dental implantation, the hole is used to accommodate the tooth to be implanted. The hole is generally located in the oral bone, and the tooth to be implanted can be implanted into the hole.

[0060] For example, Figure 6 is a schematic diagram of a prepared hole provided in an embodiment of the present application, such as Figure 6 As shown, the hole depth determined according to the first oral model is 10.7 mm, and the direction is perpendicular to the bone surface.

[0061] Step 405: Determine the implant information according to the adjacent tooth distance, the first implant information and the hole preparation information.

[0062] In an embodiment of the present application, the adjacent tooth distance, the first implant information and the hole preparation information are determined according to the first oral model, and the implant information is determined according to the adjacent tooth distance, the first implant information and the hole preparation information. This can make the implant information more accurate and appropriate, so that the teeth implanted according to the implant information better meet the needs of the patient, and the system automatically confirms the implant information according to the spatial position of the model, so there is no need for manual determination, avoiding the possibility of errors due to manual determination by the doctor, thereby improving the efficiency and practicality of dental implant planning.

[0063] In one possible implementation, when determining the adjacent tooth distance corresponding to each tooth to be implanted, the positions of the left adjacent tooth and the right adjacent tooth corresponding to the tooth to be implanted can be determined respectively according to the first oral model, and then the distance between the center of mass of the left adjacent tooth and the center of mass of the right adjacent tooth can be determined as the distance between the adjacent teeth.

[0064] Specifically, the missing tooth position and the left adjacent tooth and the right adjacent tooth of the missing tooth position can be determined according to the preset tooth position number corresponding to each tooth. The specific method will not be described in detail here.

[0065] Through the first oral model, the tooth position corresponding to the tooth to be implanted, that is, the position of the missing tooth in the mouth, is determined, and the positions of the left adjacent tooth and the right adjacent tooth are determined according to the position, and the center of mass of the left adjacent tooth and the center of mass of the right adjacent tooth are determined respectively, and the distance between the two centers of mass is determined as the adjacent tooth distance.

[0066] It should be understood that the adjacent tooth distance may also be the distance between the axes where the axis of the left adjacent tooth and the axis of the right adjacent tooth are located, which will not be elaborated here.

[0067] In an embodiment of the present application, the distance between the center of mass of the left adjacent tooth and the right adjacent tooth is determined as the adjacent tooth distance, thereby avoiding the possibility of the adjacent tooth distance being unable to be determined or being determined incorrectly due to the irregularity of the tooth surface, thereby making the implant information more accurate and improving the practicality of the dental implant planning method.

[0068] In a possible implementation, when the implant information is determined according to the adjacent tooth distance, the first implant information and the hole preparation information, the oral bone information can be determined according to the first oral model, wherein the oral bone information includes the length, width and thickness of the oral bone. The implant information is determined according to a preset weight coefficient, the oral bone information, the adjacent tooth distance, the first implant information and the hole preparation information.

[0069] The oral cavity bone information is determined according to the first oral cavity model. For example, the buccolingual width of the alveolar ridge is calculated according to the model spatial position information of the first oral cavity model, and the positional relationship between the implanted tooth and the alveolar bone (the thickness of the buccal and lingual bone walls of the implant, the height relationship between the implant platform and the alveolar ridge bone plane, etc.) is calculated. According to a pre-set formula and weight coefficient, the oral cavity bone information, the adjacent tooth distance, the first implant information and the hole preparation information are combined to obtain the implant information.

[0070] For example, based on the distance between adjacent teeth, the implant space of the missing tooth can be determined. The two tooth skeletons included in the oral skeletal information can be used to deduce the approximate skeleton of the missing tooth. Specifically, the mean between the two skeletons can be calculated. Based on the predicted missing tooth skeleton, the angle of the missing tooth can be known, which can be used as the angle for implant placement. Based on the relationship between the jawbone and the two adjacent teeth included in the oral skeletal information, the length of the two teeth under the bone can be deduced. The mean value can be used to obtain the length under the bone of the missing tooth, which is the implant depth.

[0071] Calculate the closest distance between the two adjacent teeth and the neural canal, and then calculate whether the implant depth and the distance to the neural canal are greater than the preset distance threshold. If not, shorten the implant depth until the distance to the neural canal is greater than the closest distance. If the missing tooth is located in the upper teeth, do not calculate the distance to the neural canal, and calculate the distance to the maxillary sinus instead. Based on the distance between the two adjacent teeth on the bone plane and the bone edge, including the oral skeletal information, deduce the relationship between the missing tooth and the bone edge (the mean of the distance), and obtain the missing tooth diameter on the bone surface, which is the implant diameter.

[0072] The information such as the implant placement angle, implant depth and implant diameter is used as implant information.

[0073] It should be noted that the above examples are only used for illustration and do not impose any limitation on the present application.

[0074] In an embodiment of the present application, oral bone information is determined through a first oral model, and implant information is solved through a pre-set formula and weight coefficient, so that relatively accurate implant information can be obtained, and the teeth implanted according to the implant information can meet the needs, avoiding the doctor manually designing the implant position of the implant according to the depicted structure, improving the efficiency of preoperative planning of dental implants, and thus improving the practicality of the dental implant planning method.

[0075] In a possible implementation, the dental implant planning method can also obtain manual correction information, and then train the multi-task model through the first oral model, dental image data and manual correction information.

[0076] Obtaining manual correction information, which is used to indicate the correction rules of the first oral cavity model, including but not limited to fine-tuning of the segmentation results of the tooth image data by a senior implant doctor, that is, fine-tuning of the first oral cavity model. The first oral cavity model, the tooth image data and the manual correction information are used as input data of the multi-task model, and then the multi-task model is retrained through the input data to achieve the purpose of fine-tuning the neural network and improve the accuracy of the multi-task model.

[0077] In an embodiment of the present application, manual correction information of the first oral model is obtained, and the multi-task model is trained based on the manual correction information, the first oral model and the dental image data. The accuracy of the multi-task model can be improved through training, so that the three-dimensional model output by the multi-task model can better meet the implant planning requirements. The manual correction information can enable the model to continuously improve, thereby improving the efficiency of dental implant planning.

[0078] In a possible implementation, the dental implant planning method may also obtain a first manual evaluation result of the second oral model, and then determine a second evaluation result based on the first evaluation result and the implant information.

[0079] Based on the proper mathematical relationship between the missing tooth position (the position to be implanted) and the surrounding teeth included in the implant information, and the first evaluation result of a senior implant doctor, a second evaluation result of the planned implant position at the missing tooth site is given with a restoration and aesthetics orientation. The second evaluation result is used to indicate the correction rules of the second oral model.

[0080] In an embodiment of the present application, the second oral model including the implanted tooth model can be corrected according to the second evaluation result, so that the result of the dental implant planning can be more accurate, thereby meeting the needs of patients, reducing the manual labor intensity of doctors, and improving the efficiency of dental implant planning.

[0081] Figure 7 is a schematic diagram of a dental implant planning device provided in an embodiment of the present application, such as Figure 7 As shown, the device 700 includes:

[0082] The acquisition module 701 is used to acquire the tooth image data of the implant object.

[0083] The segmentation module 702 is used to segment the tooth image data using a pre-trained multi-task model to obtain a first oral cavity model of the implant object.

[0084] The determination module 703 is used to determine implantation information according to the first oral cavity model, wherein the implantation information includes at least one of a tooth implantation position, a tooth implantation angle and a tooth implantation depth.

[0085] The generating module 704 is used to generate a second oral cavity model including an implanted tooth model according to the implant information and the first oral cavity model.

[0086] In an embodiment of the present application, the acquisition module 701 can be used to execute step 101 in the above method embodiment, the segmentation module 702 can be used to execute step 102 in the above method embodiment, the determination module 703 can be used to execute step 103 in the above method embodiment, and the generation module 704 can be used to execute step 104 in the above method embodiment.

[0087] In one possible implementation, the determination module 703 can be used to determine at least one tooth to be implanted based on the first oral model; determine the adjacent tooth distance corresponding to each tooth to be implanted, wherein the adjacent tooth distance is the distance between the left adjacent tooth and the right adjacent tooth of the tooth position corresponding to the tooth to be implanted; determine the first implantation information corresponding to the tooth to be implanted based on the adjacent tooth distance, wherein the first implantation information includes the tooth implantation position, the tooth implantation angle and the occlusal relationship; determine the hole preparation information based on the first oral model, wherein the hole preparation information includes the depth and direction of the hole preparation, and the hole preparation is used to implant the tooth to be implanted; determine the implantation information based on the adjacent tooth distance, the first implantation information and the hole preparation information.

[0088] In a possible implementation, the determination module 703 can be used to determine the positions of the left adjacent tooth and the right adjacent tooth corresponding to the tooth to be implanted according to the first oral model; and determine the distance between the center of mass of the left adjacent tooth and the center of mass of the right adjacent tooth as the distance between the adjacent teeth.

[0089] In one possible implementation, the determination module 703 can be used to determine oral bone information based on the first oral model, wherein the oral bone information includes the length, width and thickness of the oral bone; and determine the implant information based on a pre-set weight coefficient, oral bone information, adjacent tooth distance, first implant information and hole preparation information.

[0090] In a possible implementation, the dental implant planning device 700 can be used to obtain manual correction information, wherein the manual correction information is used to indicate the correction rules of the first oral model; and the multi-task model is trained through the first oral model, dental image data and manual correction information.

[0091] In a possible implementation, the dental implant planning device 700 can be used to obtain a first manual evaluation result of the second oral model; determine a second evaluation result based on the first evaluation result and the implant information, wherein the second evaluation result is used to indicate a correction rule for the second oral model.

[0092] It should be noted that the information interaction, execution process, etc. between the modules in the above-mentioned dental implant planning device are based on the same concept as the above-mentioned dental implant planning method embodiment. The specific contents can be found in the description in the above-mentioned dental implant planning method embodiment and will not be repeated here.

[0093] Reference Figure 8 , shows a schematic diagram of the structure of an electronic device according to an embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device.

[0094] like Figure 8 As shown, the electronic device may include: a processor (processor) 802 , a communication interface (Communications Interface) 804 , a memory (memory) 806 , and a communication bus 808 .

[0095] in:

[0096] The processor 802 , the communication interface 804 , and the memory 806 communicate with each other via a communication bus 808 .

[0097] The communication interface 804 is used to communicate with other electronic devices or servers.

[0098] The processor 802 is used to execute the program 810, and specifically can execute the relevant steps in the above-mentioned embodiment of the dental implant planning method.

[0099] Specifically, the program 810 may include program codes, which include computer operation instructions.

[0100] The processor 802 may be a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; one or more GPUs; or different types of processors, such as one or more CPUs, one or more GPUs, and one or more ASICs.

[0101] The memory 806 is used to store the program 810. The memory 806 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0102] The program 810 can be specifically used to enable the processor 802 to execute the dental implant planning method in any of the aforementioned embodiments.

[0103] The specific implementation of each step in program 810 can refer to the corresponding description of the corresponding steps and units in any of the above-mentioned dental implant planning method embodiments, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the above-mentioned method embodiments, which will not be repeated here.

[0104] In an embodiment of the present application, the oral model of the implant object can be determined based on the dental image data of the implant object, and the dental implant information can be determined based on the oral model. Finally, the oral model including the implanted dental model can be determined. This process does not require human participation, so the doctor does not need to manually draw the patient's oral model based on the impact data. And because the system automatically confirms the dental implant information based on the oral model, the doctor does not need to determine the dental implant position based on the model, which reduces manual labor and avoids the possibility of design errors due to the doctor's lack of experience. Finally, a second oral model including the implanted dental model is generated, which can intuitively display the dental implant effect and improve the efficiency of preoperative implant planning. Therefore, the dental implant planning method has high practicality.

[0105] An embodiment of the present application also provides a computer program product, including computer instructions, which instruct a computing device to execute operations corresponding to any one of the above-mentioned multiple method embodiments.

[0106] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0107] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor or programmable or dedicated hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the dental implant planning method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the dental implant planning method shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the dental implant planning method shown herein.

[0108] Those of ordinary skill in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present application.

[0109] The above implementation methods are only used to illustrate the embodiments of the present application, and are not limitations on the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The scope of patent protection of the embodiments of the present application should be limited by the claims.

Claims

1. A dental implant planning method, characterized in that: include: Acquire dental imaging data of the implant object; Segmenting the tooth image data using a pre-trained multi-task model to obtain a first oral cavity model of the implant object; Determining implantation information according to the first oral cavity model, wherein the implantation information includes at least one of a tooth implantation position, a tooth implantation angle, and a tooth implantation depth; generating a second oral cavity model including an implanted tooth model according to the implant information and the first oral cavity model; The pre-training of the multi-task model includes: Acquire oral data of the implant object; Preprocess the oral data; Perform data enhancement on the preprocessed oral data; The multi-task model to be trained is trained using oral data after data enhancement; The determining of the implant information according to the first oral cavity model includes: Determining the implantation information of the tooth to be implanted according to the spatial position information of the first oral cavity model; Wherein, determining the implant information according to the first oral cavity model includes: Determining at least one tooth to be implanted according to the first oral cavity model; Determine the adjacent tooth distance corresponding to each tooth to be implanted, wherein the adjacent tooth distance is the distance between the left adjacent tooth and the right adjacent tooth of the tooth position corresponding to the tooth to be implanted; Determining first implantation information corresponding to the tooth to be implanted according to the adjacent tooth distance, wherein the first implantation information includes a tooth implantation position, a tooth implantation angle, and an occlusal relationship; Determining hole preparation information according to the first oral cavity model, wherein the hole preparation information includes the depth and direction of the hole, and the hole is used to implant the tooth to be implanted; Determining the implant information according to the adjacent tooth distance, the first implant information and the hole preparation information; Wherein, determining the implant information according to the adjacent tooth distance, the first implant information and the hole preparation information includes: Determine oral bone information according to the first oral model, wherein the oral bone information includes the length, width and thickness of the oral bone; Determining the implant information according to a preset weight coefficient, the oral bone information, the adjacent tooth distance, the first implant information and the hole preparation information; Among them, the implant space of the missing tooth is determined according to the distance between adjacent teeth, the approximate skeleton of the missing tooth is deduced through the two tooth skeletons included in the oral bone information, the mean between the two skeletons is calculated, and the angle of the missing tooth is obtained according to the predicted missing tooth skeleton as the angle for implant placement; According to the oral bone information including the relationship between the jaw bone and the two adjacent teeth, the length of the two teeth under the bone is deduced, and the average value is the length under the bone of the missing tooth, which is the implant depth. Calculate the closest distance between the two adjacent teeth and the neural canal, and then calculate whether the implant depth and the distance between the neural canal are greater than a preset distance threshold. If not, shorten the implant depth until the distance between the implant and the neural canal is greater than the closest distance. If the missing tooth is located at the upper teeth, do not calculate the distance to the neural canal, but calculate the distance to the maxillary sinus instead. Based on the distance between the two adjacent teeth on the bone plane and the bone edge included in the oral skeletal information, deduce the relationship between the missing tooth and the bone edge, and obtain the missing tooth diameter on the bone surface, which is the implant diameter. The angle of implant placement, implant depth, and implant diameter were used as implant information; Wherein, determining the adjacent tooth distance corresponding to each tooth to be implanted includes: Determine the positions of the left adjacent tooth and the right adjacent tooth of the tooth position corresponding to the tooth to be implanted according to the first oral cavity model; The distance between the centroid of the left adjacent tooth and the centroid of the right adjacent tooth is determined as the distance between the adjacent teeth.

2. The method according to claim 1, characterized in that The method further comprises: Acquiring manual correction information, wherein the manual correction information is used to indicate a correction rule of the first oral cavity model; The multi-task model is trained using the first oral model, the tooth image data and the manual correction information.

3. The method according to claim 1, characterized in that The method further comprises: Obtaining a first manual evaluation result of the second oral cavity model; A second evaluation result is determined according to the first evaluation result and the implantation information, wherein the second evaluation result is used to indicate a correction rule for the second oral model.

4. A dental implant planning device, characterized in that: include: An acquisition module, used for acquiring tooth image data of an implant object; A segmentation module, used to segment the tooth image data using a pre-trained multi-task model to obtain a first oral cavity model of the implant object; A determination module, configured to determine implantation information according to the first oral cavity model, wherein the implantation information includes at least one of a tooth implantation position, a tooth implantation angle, and a tooth implantation depth; A generating module, configured to generate a second oral cavity model including an implanted tooth model according to the implant information and the first oral cavity model; The pre-training of the multi-task model includes: Acquire oral data of the implant object; Preprocess the oral data; Perform data enhancement on the preprocessed oral data; The multi-task model to be trained is trained using oral data after data enhancement; The determining of the implant information according to the first oral cavity model includes: Determining the implantation information of the tooth to be implanted according to the spatial position information of the first oral cavity model; Wherein, determining the implant information according to the first oral cavity model includes: Determining at least one tooth to be implanted according to the first oral cavity model; Determine the adjacent tooth distance corresponding to each tooth to be implanted, wherein the adjacent tooth distance is the distance between the left adjacent tooth and the right adjacent tooth of the tooth position corresponding to the tooth to be implanted; Determining first implantation information corresponding to the tooth to be implanted according to the adjacent tooth distance, wherein the first implantation information includes a tooth implantation position, a tooth implantation angle, and an occlusal relationship; Determining hole preparation information according to the first oral cavity model, wherein the hole preparation information includes the depth and direction of the hole, and the hole is used to implant the tooth to be implanted; Determining the implant information according to the adjacent tooth distance, the first implant information and the hole preparation information; Wherein, determining the implant information according to the adjacent tooth distance, the first implant information and the hole preparation information includes: Determine oral bone information according to the first oral model, wherein the oral bone information includes the length, width and thickness of the oral bone; Determining the implant information according to a preset weight coefficient, the oral bone information, the adjacent tooth distance, the first implant information and the hole preparation information; Among them, the implant space of the missing tooth is determined according to the distance between adjacent teeth, the approximate skeleton of the missing tooth is deduced through the two tooth skeletons included in the oral bone information, the mean between the two skeletons is calculated, and the angle of the missing tooth is obtained according to the predicted missing tooth skeleton as the angle for implant placement; According to the oral bone information including the relationship between the jaw bone and the two adjacent teeth, the length of the two teeth under the bone is deduced, and the average value is the length under the bone of the missing tooth, which is the implant depth. Calculate the closest distance between the two adjacent teeth and the neural canal, and then calculate whether the implant depth and the distance between the neural canal are greater than a preset distance threshold. If not, shorten the implant depth until the distance between the implant and the neural canal is greater than the closest distance. If the missing tooth is located at the upper teeth, do not calculate the distance to the neural canal, but calculate the distance to the maxillary sinus instead. Based on the distance between the two adjacent teeth on the bone plane and the bone edge included in the oral skeletal information, deduce the relationship between the missing tooth and the bone edge, and obtain the missing tooth diameter on the bone surface, which is the implant diameter. The angle of implant placement, implant depth, and implant diameter were used as implant information; Wherein, determining the adjacent tooth distance corresponding to each tooth to be implanted includes: Determine the positions of the left adjacent tooth and the right adjacent tooth of the tooth position corresponding to the tooth to be implanted according to the first oral cavity model; The distance between the centroid of the left adjacent tooth and the centroid of the right adjacent tooth is determined as the distance between the adjacent teeth.

5. An electronic device, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the dental implant planning method as described in any one of claims 1-3.

6. A computer storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the dental implant planning method as described in any one of claims 1-3 is implemented.

7. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions instruct a computing device to execute the dental implant planning method as described in any one of claims 1 to 3.

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