Planting cavity detector, method, device, computer equipment and storage medium

Abstract

The application relates to the field of medical detection, and discloses a planting cavity detector, a method, a device, computer equipment and a storage medium, the planting cavity detector comprises a detection rod, a first optical marker and a connecting rod; the detection rod and the first optical marker are connected through the connecting rod; the first optical marker comprises at least three reflective balls, is used for camera positioning identification, and a tool coordinate system is established; the detection rod body is a cylinder, and the top end is a hemisphere; scale lines are marked on the detection rod body. The planting cavity detector can be combined with a navigation system to perform detection; in the case of maintaining a traditional detection mode, the angle and the depth of the detection rod can be acquired by means of the navigation system, the detection result is more accurate and reliable, and the interference of human factors is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical automation detection, and in particular to a dental implant cavity detector, method, device, computer equipment and storage medium. BACKGROUND

[0002] In dental implant surgery, the accuracy of implant cavity preparation directly affects the success of the surgery. The axial direction (angle) of the implant cavity and the depth of the implant cavity are two important evaluation indicators. In traditional dental implant surgery, after the implant cavity is prepared, the doctor inserts a probe rod with scales into the cavity, reads the depth of the cavity with the naked eye, and roughly judges the angle of the cavity through the orientation of the probe rod. The depth of the implant cavity can be directly obtained using the traditional probe rod, but the judgment of the direction of the cavity cannot be quantified and is highly dependent on the experience of the doctor. SUMMARY

[0003] In a first aspect, the present application provides a dental implant cavity detector, comprising: a probe rod, a first optical marker and a connecting rod;

[0004] The probe rod and the first optical marker are connected through the connecting rod, and the first optical marker comprises at least three reflective balls for positioning and recognition by a camera device and establishing a tool coordinate system;

[0005] The probe rod body is cylindrical, and the top end is a hemisphere;

[0006] The probe rod body is marked with scale lines.

[0007] In a second aspect, the present application provides a dental implant cavity detection method using the dental implant cavity detector;

[0008] Obtain a scanning image of the implant cavity, and determine the planning data of the implant in the implant cavity in an image coordinate system of the scanning image;

[0009] Obtain a first conversion matrix of a reference coordinate system of the implant cavity to the image coordinate system through image registration by a camera device, obtain a second conversion matrix of a camera coordinate system to a tool coordinate system of the probe rod through camera data of the camera device, and obtain a third conversion matrix of the camera coordinate system to the reference coordinate system;

[0010] According to the first conversion matrix, the second conversion matrix and the third conversion matrix, the coordinates of the end of the probe rod in the image coordinate system and the representation of the axial direction vector of the probe rod in the image coordinate system are calculated respectively;

[0011] According to the coordinates of the end of the probe rod in the image coordinate system and the planning data of the implant, the distance between the planning end of the implant and the end of the probe rod is obtained.

[0012] According to the representation of the probe rod axis direction vector in the image coordinate system and the planning data of the implant, an included angle between the probe rod axis direction and the implant axis direction vector is obtained.

[0013] Further, the coordinate calculation expression of the probe rod tip in the image coordinate system is:

[0014]

[0015] In the formula, S' is the coordinate of the probe rod tip in the image coordinate system, S is the coordinate of the probe rod tip in the tool coordinate system, T1 is the first conversion matrix, T2 is the second conversion matrix, and T3 is the third conversion matrix.

[0016] Further, the distance between the planning tip of the implant and the probe rod tip is obtained according to the coordinate of the probe rod tip in the image coordinate system and the planning data of the implant, and the distance between the planning tip of the implant and the probe rod tip comprises:

[0017] The planning data comprises the coordinate of the planning tip of the implant in the image coordinate system when the implant is planned in the scanning image.

[0018] The distance calculation expression between the planning tip of the implant and the probe rod tip is:

[0019] d = |p-s'|

[0020] In the formula, d is the distance between the planning tip of the implant and the probe rod tip, and p is the coordinate of the planning tip in the image coordinate system.

[0021] Further, the representation of the probe rod axis direction vector in the image coordinate system is obtained, so as to obtain the included angle between the probe rod axis direction and the planning implant planning tip, and the included angle between the probe rod axis direction and the planning implant planning tip comprises:

[0022] The coordinate calculation expression of the probe rod axis direction vector in the image coordinate system is:

[0023]

[0024] In the formula, g' is the representation of the probe rod axis direction vector in the image coordinate system, g is the representation of the probe rod axis direction vector in the tool coordinate system, T1 is the first conversion matrix, T2 is the second conversion matrix, and T3 is the third conversion matrix.

[0025] The included angle calculation expression between the probe rod axis direction and the planning implant planning tip is:

[0026]

[0027] θ is the included angle between the direction of the probe rod axis and the planned implant planned tip, and a is the direction vector of the axis of the planned implant.

[0028] Further, the method further comprises:

[0029] The depth of the implant hole is obtained by reading data from the implant hole probe inserted into the implant hole.

[0030] Further, the method further comprises calibrating the implant hole probe by a calibration block to obtain the coordinates of the direction vector of the probe rod axis in the tool coordinate system and the coordinates of the tip of the probe rod in the tool coordinate system.

[0031] The calibration block comprises a probe rod combination hole, a plurality of probe rod tip combination grooves and a third optical marker, and the third optical marker comprises a plurality of reflective balls.

[0032] In a third aspect, the application also provides an implant hole detection device, comprising:

[0033] The scanning module is configured to obtain a scanning image of the implant hole and determine planning data of an implant in the implant hole in an image coordinate system of the scanning image.

[0034] The registration module is configured to perform image registration by the camera device to obtain a first conversion matrix from a reference coordinate system of the implant hole to the image coordinate system, and obtain a second conversion matrix from a camera coordinate system to a tool coordinate system of the probe rod and a third conversion matrix from the camera coordinate system to the reference coordinate system by camera data of the camera device.

[0035] The first calculation module is configured to calculate coordinates of the tip of the probe rod in the image coordinate system and a representation of the direction vector of the axis of the probe rod in the image coordinate system according to the first conversion matrix, the second conversion matrix and the third conversion matrix.

[0036] The second calculation module is configured to obtain a distance between a planned tip of the implant and the tip of the probe rod according to the coordinates of the tip of the probe rod in the image coordinate system and the planning data of the implant.

[0037] The third module is configured to obtain an included angle between the direction of the axis of the probe rod and the direction vector of the axis of the implant according to the representation of the direction vector of the axis of the probe rod in the image coordinate system and the planning data of the implant.

[0038] In a fourth aspect, the present application provides a computer terminal comprising a processor and a memory, wherein the memory stores a computer program, and the computer program performs the planting cavity detection method when running on the processor.

[0039] In a fifth aspect, the present application provides a readable storage medium storing a computer program, and the computer program performs the planting cavity detection method when running on a processor.

[0040] The present application relates to the field of medical detection, and discloses a planting cavity detector comprising a detection rod, a first optical marker and a connecting rod, wherein the detection rod and the positioning block are connected through the connecting rod, the first optical marker comprises at least three reflective balls for positioning and recognition by a camera and establishing a tool coordinate system, the detection rod is cylindrical in shape and has a hemispherical top end, and scale lines are marked on the detection rod. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope of protection of the present application. In the various drawings, similar components are denoted by similar reference numerals.

[0042] Figure 1 Fig. 1 shows a structure schematic diagram of a planting cavity detector according to an embodiment of the present application;

[0043] Figure 2 Fig. 2 shows a flow schematic diagram of a planting cavity detection method according to an embodiment of the present application;

[0044] Figure 3 Fig. 3 shows a scene schematic diagram of a planting cavity detection according to an embodiment of the present application;

[0045] Figure 4 Fig. 4 shows a schematic diagram of a planting cavity according to an embodiment of the present application;

[0046] Figure 5 Fig. 5 shows a schematic diagram of a calibration block according to an embodiment of the present application;

[0047] Figure 6 Fig. 6 shows a structure schematic diagram of a planting cavity detection device according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0049] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0050] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0051] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0052] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0053] The technical solution of this application is applied to dental implant surgery. After the doctor has created the implant cavity, the implant cavity detector of this application is inserted into the cavity to measure the depth and angle of the cavity.

[0054] Among them, the planting hole detector 100 of this application Figure 1 As shown, it includes a detection rod 110, a first optical marker 120, and a connecting rod 130. The detection rod 110 is connected to the first optical marker 120 via the connecting rod 130, allowing the camera device to capture the planting hole detector through the first optical marker and then calculate the angle and depth using an algorithm. The first optical marker 120 includes at least three reflective spheres, through which the tool coordinate system of the planting hole detector can be established.

[0055] Next, the technical solutions of the present application are described in specific embodiments.

[0056] Embodiment 1

[0057] As shown in the figure, the implant cavity detection method of the present application comprises the following steps: Figure 2

[0058] Step S100, acquire the scanning image of the implant cavity, and determine the planning data of the implant in the implant cavity in the image coordinate system of the scanning image.

[0059] Before the implant surgery, CBCT will be taken for the implant cavity to acquire the scanning image. The doctor will plan the implant on the scanning image, and there will be planning data after planning, which includes the depth and angle of the implant. It can be understood that the implant is a rod-shaped rigid body, and its depth is related to the position of the implant tip, and the angle is related to the axial vector of the implant, so the planned depth and angle can be represented by the planning tip coordinates of the implant and the axial vector of the implant. At the same time, because the planning is carried out on the scanning image, the values of the above coordinates and vectors are all in the image coordinate system.

[0060] Step S200, acquire the first conversion matrix of the reference coordinate system of the implant cavity to the image coordinate system, acquire the second conversion matrix of the camera coordinate system to the tool coordinate system of the detection rod, and acquire the third conversion matrix of the camera coordinate system to the reference coordinate system.

[0061] After planning the implant, the doctor will open the cavity on the patient's oral cavity according to the planning, and whether the actual opened cavity meets the planning needs to be measured. The present application uses the implant cavity detector 100 as shown in the figure to detect the depth and angle of the cavity. Figure 1

[0062] As shown in the figure, it is a schematic diagram of the implant cavity measurement scene of the present application. Figure 3

[0063] The camera 200 is used to shoot the implant cavity detector 100 in the surgery scene, and another second optical marker 300 arranged on the patient's teeth, the second optical marker 300 comprises at least three reflective balls, and it can be understood that the second optical marker 300 is also used to be shot and captured by the camera 200 to determine the position of the patient's oral cavity.

[0064] It can be understood that the camera 200 itself has a coordinate system, i.e. the camera coordinate system, the implant cavity detector 100 can establish a tool coordinate system according to the reflective balls on its first optical marker 120, and similarly, the second optical marker 300 also establishes a reference coordinate system of the implant cavity according to its reflective balls.​​​

[0065] The coordinate system of the first optical marker 120 and the second optical marker 300 is established in a similar manner. Taking three reflective spheres as an example, the line connecting any two reflective spheres is taken as the X axis, the normal vector of the plane on which the three reflective spheres are located is taken as the Y axis, and then the cross product of the X axis and Y axis vectors is calculated to obtain the Z axis, so as to form the corresponding coordinate system.

[0066] The scanning image is an image obtained after CBCT scanning of the oral cavity. The scaling, size, and coordinate system of the scanning image are different from the size and position of the oral cavity photographed by the camera 200. That is, there is a difference in orientation and rotation between the reference coordinate system and the image coordinate system. This difference makes the expression of the same spatial coordinate point in the above two coordinate systems different. Through image registration, the mathematical relationship, i.e., the first conversion matrix of the reference coordinate system of the implant cavity to the image coordinate system, can be obtained. The first conversion matrix can convert the coordinate point in the camera coordinate system into the coordinate point in the image coordinate system.

[0067] The specific registration method is not the focus of the present application and will not be described here.

[0068] Because the camera 200 can directly photograph the positions of the first optical marker 120 and the second optical marker 300, and the tool coordinate system and the reference coordinate system are also established on the basis of the first optical marker 120 and the second optical marker 300, image registration is not needed, but the corresponding conversion relationship can be directly obtained by photographing the positions of the two markers by the camera 200, so as to obtain the second conversion matrix of the camera coordinate system to the tool coordinate system of the probe rod and the third conversion matrix of the camera coordinate system to the reference coordinate system.

[0069] After the above three conversion matrices are obtained, the coordinates in any coordinate system can be converted into the image coordinate system, so that all coordinates are uniformly displayed in one coordinate system, facilitating subsequent calculation and measurement.

[0070] In step S300, the coordinates of the end of the probe rod in the image coordinate system and the representation of the direction vector of the axis of the probe rod in the image coordinate system are calculated according to the first conversion matrix, the second conversion matrix, and the third conversion matrix.

[0071] As Figure 3As shown, during measurement, the probe 110 of the implantation cavity detector 100 needs to be inserted into the cavity. The probe 110 has graduations, so the depth can be obtained by reading the graduations in a traditional manner. However, because the oral cavity is often obscured by blood and flesh, the depth reading may not be accurate. Therefore, calculating the coordinates of the probe tip in the image coordinate system, as well as the representation of the probe axis direction vector in the image coordinate system, can help determine the depth and the angle of the implantation cavity.

[0072] Specifically, the coordinate calculation expression for the tip of the probe in the image coordinate system is as follows:

[0073]

[0074] In the formula, S' is the coordinate of the probe tip in the image coordinate system, S is the coordinate of the probe tip in the tool coordinate system, T1 is the first transformation matrix, T2 is the second transformation matrix, and T3 is the third transformation matrix.

[0075] S, S', g, and g' mentioned above are all coordinates. Among them, the coordinates of S and the vector of g are known because the burrow detector 100 needs to be calibrated before use. After calibration, the coordinates of the probe tip in the tool coordinate system and the vector representation of the probe axis direction vector in the tool coordinate system can be obtained.

[0076] In addition to the calibration method, since the tooling data of the burrow detector 100 is known, such as the length of the detector rod 110, the data of the first optical mark 120, and the length of the connecting rod 130, etc., the coordinates and vector data mentioned above can also be directly calculated through this method after the camera device 200 captures the first optical mark 120.

[0077] Therefore, in a similar manner, the coordinate calculation expression for the probe axis direction vector in the image coordinate system is as follows:

[0078]

[0079] In the formula, g' is the representation of the direction vector of the probe axis in the image coordinate system, and g is the representation of the direction vector of the probe axis in the tool coordinate system.

[0080] Step S400: Based on the coordinates of the end of the probe rod in the image coordinate system and the planning data of the implant, the distance between the planned end of the implant and the end of the probe rod is obtained.

[0081] After the calculation in step S300, the coordinates of the end of the probe rod 110 in the image coordinate system are obtained, and the planning of the implant is also in the image coordinate system, and the position of the end of the probe rod is equivalent to the bottom of the cavity, so by comparing the coordinates of the end of the probe rod and the end of the planning of the implant, the depth deviation of the cavity can be determined.

[0082] It can be understood that the above-mentioned implant refers to the planned implant, that is, the virtual implant in the image coordinate system, which is an ideal planning form rather than an actual implant. Therefore, the end coordinate of the planning of the implant is known, so the distance calculation expression between the end of the planning of the implant and the end of the probe rod is:

[0083] d = |p-s'|;

[0084] In the formula, d is the distance between the end of the planning of the implant and the end of the probe rod, and p is the coordinate of the end of the planning in the image coordinate system.

[0085] Specifically, as shown in Figure 4 , the solid line represents the posture of the planned implant, and the dashed line represents the posture of the probe rod after extending into the cavity, Figure 4 It can be seen that there is an unknown offset between the end S' of the probe rod and the end p of the planning of the implant, and the offset can be obtained by the above formula.

[0086] The value of d can be directly calculated by the distance formula between two points. It can be understood that the smaller d is, the more consistent the bottom of the cavity and the end of the planning of the implant are, and the closer the depth of the cavity is to the planning depth. The larger d is, the less consistent the bottom of the cavity and the end of the planning of the implant are, and the greater the difference between the depth of the cavity and the planning depth.

[0087] In step S500, the included angle between the axis direction vector of the probe rod and the axis direction vector of the implant is obtained according to the representation of the axis direction vector of the probe rod in the image coordinate system and the planning data of the implant.

[0088] After the probe rod extends into the cavity, the inclination angle of the probe rod is the same as that of the cavity, so the inclination angle of the cavity is the inclination angle of the probe rod, that is, the axis direction vector of the probe rod is consistent with the direction of the cavity. At the same time, the planning data of the implant is known, so the axis direction vector of the implant is also known, and as shown in Figure 4 , there is an angle deviation between the a vector representing the axis direction vector of the implant and the g' vector representing the axis direction vector of the probe rod, and according to the above description, the two vectors are known. In the space, the included angle between the two vectors can be directly obtained when the directions of the two vectors are known, so there is a calculation expression for the included angle between the axis direction of the probe rod and the end of the planning of the implant.

[0089]

[0090] θ is the angle between the axis direction of the probe rod and the planned implant planned tip, and a is the axis direction vector of the planned implant.

[0091] By means of the inverse trigonometric function, the above θ angle can be obtained, which is the inclination angle between the hole and the implant, and represents the difference between the hole and the planning.

[0092] It can be understood that the d and θ obtained in the above calculation are the two main data of depth and angle required for measuring the hole, wherein the depth can be indirectly obtained by the calculated d in addition to being directly read by the scale on the probe rod, so as to determine the difference between the hole depth and the planning data from two aspects. The angle θ can be calculated with the assistance of the camera device 200, and compared with the prior art which can only be determined by the experience of the doctor, the accurate hole angle can be calculated, which can provide more useful help for the actual operation.

[0093] In addition, when the implant hole probe of the present application is calibrated, a calibration block needs to be used. The calibration block 400, as shown in Figure 5 , includes a probe rod combination hole 410, a plurality of probe rod end combination grooves 430 and an optical third optical mark 420. The third optical mark 420 can establish a calibration block coordinate system.

[0094] When the implant hole probe is calibrated, the camera device 200 also needs to participate in the calibration. First, the probe rod of the implant hole probe is inserted into the probe rod combination hole 410 and rotated to obtain a plurality of postures, at which time a plurality of conversion matrices T ai from the camera coordinate system to the tool coordinate system and a conversion matrix T bi from the camera coordinate system to the calibration block coordinate system can be recorded.

[0095] Then the end of the probe rod is placed on the probe rod end combination groove 430 in turn, and the above conversion matrix is continuously obtained.

[0096] For the convenience of description, three probe rod end combination grooves 430 are taken as an example, a total of 10 conversion matrices are obtained for description, that is, i = 1, 2, 3, …, 10. Among them, when i = 8, 9, 10, each conversion matrix obtained is the conversion matrix when the end of the probe rod is placed on the probe rod end combination groove 430.

[0097] Then, the conversion matrix T bai from the calibration block coordinate system to the tool coordinate system can be calculated according to the following formula.

[0098]

[0099] pi is the coordinate value of the origin of the calibration block coordinate system in the tool coordinate system when i = 1, 2, 3, …, 7.

[0100] where T bai (1, 4), T bai (2, 4), T bai (3, 4) respectively represent the elements in the 4th column of the 1st, 2nd, 3rd row of the matrix T bai

[0101] A space circle is fitted using the least square method for pi (i = 1, 2, 3, …, 7), and the axial direction vector of the circle is obtained, denoted as The center of the circle is obtained, denoted as o.

[0102] is the expression of the axial direction vector of the probe rod combination hole in the calibration block coordinate system; when the probe rod is combined with the probe rod combination hole, is also the expression of the direction vector of the probe rod in the calibration block coordinate system; the expression of the direction vector of the probe rod in the tool coordinate system is calculated using (i = 1, 2, 3, …, 7).

[0103] where the numbers in the parentheses represent the first element of the vector.

[0104] Because the navigation probe rod is a rigid structure as a whole, the direction vector of the probe rod in the tool coordinate system is theoretically a constant value, so (i = 1, 2, 3, …, 7) will only have a small difference due to measurement errors, and the average value of all is calculated as the final expression of the axial direction vector of the probe rod in the tool coordinate system

[0105]

[0106] After obtaining the axial direction vector of the probe rod, the coordinates of the end of the probe rod in the tool coordinate system are further calculated.

[0107] In the above steps, the center of the space circle in the calibration block coordinate system is o, and when the probe rod is combined with the probe rod combination hole, the coordinates of o are converted to the tool coordinate system, and a certain fixed point c i in the tool coordinate system is obtained (i = 1, 2, 3, …, 7); because there are multiple sets of coordinate conversion data, c i ​​In theory, it should be a constant value, so still take its average value for subsequent use.

[0108] Where the number in the parentheses represents the first element of the vector.

[0109]

[0110] Set in the tool coordinate system, the spherical center point coordinate of the probe rod hemispherical tip is q.

[0111] 2.3.3. Denote R8, R9, R10 as the 3x3 rotation matrix part of the matrix Tba8, Tba9, Tba10 respectively; denote t8, t9, t10 as the 3x1 translation vector part of Tba8, Tba9, Tba10 respectively; when the probe rod is placed in the probe rod tip joint groove p1, p2, p3 respectively, the spherical center of the probe rod hemispherical tip respectively coincides with the spherical crown center of the groove p1, p2, p3, and at the above time, q is converted to the calibration block coordinate system to obtain the spherical crown center point coordinates P1, P2, P3 of the grooves 1, 2, 3 in the calibration block coordinate system.

[0112] P1 = R8 q + t8

[0113] P2 = R9 q + t9

[0114] P3 = R 10 q + t 10

[0115] 2.3.4. Because P2 is located at the midpoint of the line connecting P1 and P3 (I-2.2), there is

[0116] P2 = (P1 + P2) / 2.

[0117] 2.3.5. Integrating (2.3.3), (2.3.4) can be solved

[0118] q = (2R9 - R8 - R 10 ) -1 .(t8 + t 10 - 2t9).

[0119] 2.3.6. After the point coordinates q and c have been obtained, because q, c and the probe rod tip point all fall on the axis of the probe rod, the radius r of the probe rod tip sphere is used to calculate the point coordinate value s of the probe rod tip point in the tool coordinate system.

[0120] s = a + a (q - c) / |q - c|

[0121] Example 2

[0122] As Figure 6As shown, the application also provides a dental implant cavity detection device, comprising:

[0123] a scanning module 10, configured to acquire a scanning image of a dental implant cavity, and determine planning data of an implant in the dental implant cavity in an image coordinate system of the scanning image;

[0124] a registration module 20, configured to acquire a first conversion matrix of a reference coordinate system of the dental implant cavity to the image coordinate system, acquire a second conversion matrix of a camera coordinate system to a tool coordinate system of the detection rod, and acquire a third conversion matrix of the camera coordinate system to the reference coordinate system;

[0125] a first calculation module 30, configured to calculate coordinates of an end of the detection rod in the image coordinate system and a representation of a direction vector of an axis of the detection rod in the image coordinate system according to the first conversion matrix, the second conversion matrix and the third conversion matrix;

[0126] a second calculation module 40, configured to acquire a distance between a planned end of the implant and the end of the detection rod according to the coordinates of the end of the detection rod in the image coordinate system and the planning data of the implant;

[0127] a third module 50, configured to acquire an included angle between a direction of the axis of the detection rod and a direction of an axis of the implant according to the representation of the direction vector of the axis of the detection rod in the image coordinate system and the planning data of the implant.

[0128] The application also provides a computer terminal, comprising a processor and a memory, wherein the memory stores a computer program, and the computer program performs the dental implant cavity detection method when running on the processor.

[0129] The application also provides a readable storage medium, which stores a computer program, and the computer program performs the dental implant cavity detection method when running on a processor.

[0130] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and structural diagrams in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that in alternative implementation manners, the functions noted in the blocks can also occur in different order from that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the structural diagram and / or flowchart, and the combination of blocks in the structural diagram and / or flowchart, can be implemented by a dedicated hardware-based system for executing the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0131] In addition, each functional module or unit in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0132] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part of the prior art that contributes to the technical solutions or the part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0133] The above description is merely a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application.

Claims

1. A method for detecting planting holes, characterized in that, An application is made to a planting hole detector, the planting hole detector comprising: a detection rod, a first optical marker, and a connecting rod; The probe rod and the first optical mark are connected by the connecting rod. The first optical mark includes at least three reflective spheres for positioning and identification by the camera device and for establishing a tool coordinate system. The probe rod has a cylindrical body and a hemispherical top. The probe rod is marked with scale lines; The method includes: Obtain a scanned image of the planting hole and determine the planning data of the implant in the planting hole under the image coordinate system of the scanned image; Obtain a first transformation matrix from the reference coordinate system of the planting hole to the image coordinate system, obtain a second transformation matrix from the camera coordinate system to the tool coordinate system of the probe, and obtain a third transformation matrix from the camera coordinate system to the reference coordinate system; Based on the first transformation matrix, the second transformation matrix, and the third transformation matrix, calculate the coordinates of the end of the probe rod in the image coordinate system, and the vector representation of the probe rod axis direction vector in the image coordinate system, respectively. Based on the coordinates of the probe tip in the image coordinate system and the planning data of the implant, the distance between the planned end of the implant and the probe tip is obtained; Based on the representation of the probe axis direction vector in the image coordinate system and the planning data of the implant, the angle between the probe axis direction and the implant axis direction vector is obtained; The coordinate calculation expression for the tip of the probe in the image coordinate system is as follows: ； In the formula, S' is the coordinate of the probe tip in the image coordinate system, S is the coordinate of the probe tip in the tool coordinate system, T1 is the first transformation matrix, T2 is the second transformation matrix, and T3 is the third transformation matrix; The planting hole detector is calibrated by a calibration block to obtain the coordinates of the probe axis direction vector in the tool coordinate system, and the coordinates of the probe tip in the tool coordinate system. Insert the probe of the planting hole detector into the probe coupling hole and rotate it to obtain multiple postures. Based on the multiple postures, calculate the second transformation matrix and the fourth transformation matrix from the camera coordinate system to the calibration block coordinate system. The calibration block includes a probe rod connection hole, multiple probe rod end connection grooves, and a third optical mark, the third optical mark including multiple reflective spheres.

2. The planting hole detection method according to claim 1, characterized in that, The step of obtaining the distance between the planned end of the implant and the end of the probe based on the coordinates of the probe tip in the image coordinate system and the implant planning data includes: The planning data includes the coordinates of the planned end point in the image coordinate system when the implant is planned in the scanned image; The expression for calculating the distance between the planned end of the implant and the end of the probe is: ； In the formula, d is the distance between the planned end of the implant and the end of the probe, and p is the coordinate of the planned end in the image coordinate system.

3. The planting hole detection method according to claim 1, characterized in that, The step of obtaining the angle between the probe axis direction vector and the implant axis direction vector based on the representation of the probe axis direction vector in the image coordinate system and the implant planning data includes: The coordinate calculation expression for the direction vector of the probe axis in the image coordinate system is as follows: ； In the formula, g' is the representation of the direction vector of the probe axis in the image coordinate system, g is the representation of the direction vector of the probe axis in the tool coordinate system, T1 is the first transformation matrix, T2 is the second transformation matrix, and T3 is the third transformation matrix; The expression for calculating the angle between the axis of the probe and the planned tip of the implant is as follows: ； α is the angle between the axial direction of the probe rod and the planned tip of the implant, and α is the axial direction vector of the implant.

4. The planting hole detection method according to claim 1, characterized in that, Also includes: The depth of the planting hole is obtained by reading data from the planting hole detector inserted into the planting hole.

5. A device for detecting planting holes, characterized in that, An application is made to a planting hole detector, the planting hole detector comprising: a detection rod, a first optical marker, and a connecting rod; The probe rod and the first optical mark are connected by the connecting rod. The first optical mark includes at least three reflective spheres for positioning and identification by the camera device and for establishing a tool coordinate system. The probe rod has a cylindrical body and a hemispherical top. The probe rod is marked with scale lines; The device includes: The scanning module is used to acquire scanned images of planting holes and determine the planning data of the implants in the planting holes in the image coordinate system of the scanned images; The registration module is used to obtain a first transformation matrix from the reference coordinate system of the planting hole to the image coordinate system, a second transformation matrix from the camera coordinate system to the tool coordinate system of the probe, and a third transformation matrix from the camera coordinate system to the reference coordinate system. The first calculation module is used to calculate the coordinates of the end of the probe rod in the image coordinate system and the representation of the probe rod axis direction vector in the image coordinate system according to the first transformation matrix, the second transformation matrix and the third transformation matrix, respectively. The second calculation module is used to obtain the distance between the planned end of the implant and the end of the probe based on the coordinates of the end of the probe in the image coordinate system and the planning data of the implant. The third module is used to obtain the angle between the direction of the probe axis and the direction of the implant axis based on the representation of the probe axis direction vector in the image coordinate system and the planning data of the implant. The coordinate calculation expression for the tip of the probe in the image coordinate system is as follows: ； In the formula, S' is the coordinate of the probe tip in the image coordinate system, S is the coordinate of the probe tip in the tool coordinate system, T1 is the first transformation matrix, T2 is the second transformation matrix, and T3 is the third transformation matrix; It also includes: calibrating the planting hole detector using a calibration block to obtain the coordinates of the probe axis direction vector in the tool coordinate system, and the coordinates of the probe tip in the tool coordinate system; Insert the probe of the planting hole detector into the probe coupling hole and rotate it to obtain multiple postures. Based on the multiple postures, calculate the second transformation matrix and the fourth transformation matrix from the camera coordinate system to the calibration block coordinate system. The calibration block includes a probe rod connection hole, multiple probe rod end connection grooves, and a third optical mark, the third optical mark including multiple reflective spheres.

6. A computer terminal, characterized in that, It includes a processor and a memory, the memory storing a computer program that, when run on the processor, executes the planting hole detection method according to any one of claims 1 to 4.

7. A readable storage medium, characterized in that, It stores a computer program that, when run on a processor, executes the planting hole detection method according to any one of claims 1 to 4.

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