A guided dental restoration method, system, and storage medium

Abstract

The application provides a guided tooth repair method, system and storage medium, which realizes the conversion and unification of the coordinate systems among multiple systems through technical steps such as CBCT data acquisition, CT three-dimensional model creation, robot calibration, matrix conversion relationship analysis, and the like, and then, after a tooth repair scheme is formulated based on the CT three-dimensional model, the matrix conversion relationship among the coordinate systems of the oral cavity reference plate, the CT and the optical positioner is obtained, the cutting tool and the repair tool on the robot are guided through the optical positioner, the real-time pose of the patient is judged in the assistance of the optical positioner by combining the running track data of the cutting tool and the running track data of the repair tool, the cutting and repair are guided in real time, human errors are avoided, the operation precision is improved, and the tooth repair effect is ensured.

Description

Technical Field

[0001] This invention relates to the field of medical technology, and to a method, system, and storage medium for guided dental restoration based on a navigation system during dental restoration. Background Technology

[0002] When a tooth experiences partial chipping or cracking, the simplest and most effective treatment to restore its integrity and prevent further damage is dental restoration. Dental restoration involves filling the missing tooth with a material similar to that of the tooth itself. From a procedural perspective, dental restoration includes at least two steps: cutting and repair. Cutting reshapes the existing gap to create a smoother surface, ensuring better fixation. Repairing involves applying restorative material to the repaired area to restore the tooth's structural integrity.

[0003] In existing technologies, dental restoration, whether cutting or repairing, is mostly based on manual operation by the operator. The operator needs to manually cut and grind according to personal experience and the condition of the teeth, and then manually fill the cutting and grinding area to stack up a rough outline. Finally, the tooth shape is refined with a grinding machine. The whole process depends entirely on personal experience and skill level.

[0004] Existing dental restoration techniques have the following drawbacks: both the cutting and repair processes rely excessively on the doctor's experience and real-time observation, inevitably introducing human error, making precise control difficult, and resulting in generally poor restorative effects. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a guided tooth restoration method, system and storage medium that can improve the accuracy of cutting and repair, thereby effectively ensuring the tooth restoration effect, in view of the above-mentioned defects of the prior art.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows:

[0007] A guided dental restoration method includes the following steps:

[0008] S1. CBCT data is acquired from the patient's oral cavity to establish a 3D CT model of the patient's oral cavity; an oral reference plate is fixedly worn in the patient's oral cavity, and at least 4 registration balls are set on the oral reference plate;

[0009] S2. Calibrate the robot and obtain the matrix transformation relationship between the robot base coordinate system and the optical positioning instrument coordinate system;

[0010] S3. Register the dental reference plate, CT, and optical locator, obtain the three-dimensional coordinates of the registration ball in the dental reference plate coordinate system, the three-dimensional coordinates of the registration ball in the CT coordinate system, and the three-dimensional coordinates of the registration ball in the optical locator coordinate system, and obtain the matrix transformation relationship between the dental reference plate coordinate system, the CT coordinate system, and the optical locator coordinate system based on the coordinates of the registration ball;

[0011] S4. Calibrate the cutting tool and obtain the matrix transformation relationship between the three-dimensional coordinate system of the cutting tool, the coordinate system of the robot base, and the coordinate system of the optical locator; calibrate the repair tool and obtain the matrix transformation relationship between the three-dimensional coordinate system of the repair tool, the coordinate system of the robot base, and the coordinate system of the optical locator.

[0012] S5. Obtain a dental restoration plan based on a CT three-dimensional model. The dental restoration plan includes cutting three-dimensional data and repair three-dimensional data. The cutting three-dimensional data is converted into cutting tool trajectory data, and the repair three-dimensional data is converted into repair tool trajectory data.

[0013] S6. Obtain real-time pose data of the oral cavity reference plate through an optical locator, and guide the cutting tool to run according to the cutting tool's running trajectory data to cut the patient's teeth until the cutting is completed;

[0014] S7. The real-time pose data of the oral reference plate is obtained through the optical locator. Based on the real-time pose data of the oral reference plate, the repair tool is guided to run according to the running trajectory data of the repair tool to repair the patient's teeth until the repair is completed.

[0015] Compared with existing technologies, the beneficial effects of this technical solution are: after formulating a dental restoration plan based on a CT 3D model, the matrix transformation relationship between the oral reference plate coordinate system, the CT coordinate system, and the optical positioning instrument coordinate system is obtained. The cutting and repair are guided in real time by the optical positioning instrument, avoiding the introduction of human error, thereby improving the accuracy of operation and ensuring the dental restoration effect.

[0016] Correspondingly, a guided dental restoration system includes:

[0017] The CT construction module is used to acquire CBCT data from the patient's oral cavity and establish a CT three-dimensional model of the patient's oral cavity; an oral reference plate is fixedly worn in the patient's oral cavity, and the oral reference plate is equipped with at least 4 registration balls;

[0018] The robot calibration module is used to calibrate the robot and obtain the matrix transformation relationship between the robot base coordinate system and the optical positioning instrument coordinate system;

[0019] The registration module is used to register the dental reference plate, CT, and optical locator. It obtains the three-dimensional coordinates of the registration ball in the dental reference plate coordinate system, the three-dimensional coordinates of the registration ball in the CT coordinate system, and the three-dimensional coordinates of the registration ball in the optical locator coordinate system. Based on the coordinates of the registration ball, it obtains the matrix transformation relationship between the dental reference plate coordinate system, the CT coordinate system, and the optical locator coordinate system.

[0020] The tool calibration module is used to calibrate cutting tools and obtain the matrix transformation relationship between the cutting tool's 3D coordinate system, the robot base coordinate system, and the optical locator coordinate system; it is also used to calibrate repair tools and obtain the matrix transformation relationship between the repair tool's 3D coordinate system, the robot base coordinate system, and the optical locator coordinate system.

[0021] The restoration model acquisition module is used to acquire a tooth restoration plan based on a CT three-dimensional model. The tooth restoration plan includes cutting three-dimensional data and repair three-dimensional data. The cutting three-dimensional data is converted into cutting tool trajectory data and repair three-dimensional data is converted into repair tool trajectory data.

[0022] The cutting execution module is used to acquire real-time pose data of the oral reference plate through an optical locator, and guide the cutting tool to run according to the cutting tool's running trajectory data to cut the patient's teeth until the cutting is completed.

[0023] The repair execution module is used to acquire real-time pose data of the oral reference plate through an optical locator. Based on the real-time pose data of the oral reference plate, the repair tool is guided to run according to the tool's running trajectory data to repair the patient's teeth until the repair is completed.

[0024] Correspondingly, a storage medium stores a computer program, the computer program including program instructions, which, when executed by a processor, execute the guided dental restoration method as described above. Attached Figure Description

[0025] Figure 1 This is a flowchart illustrating the guided tooth restoration method of the present invention.

[0026] Figure 2 This is a schematic diagram of the structure of the guided dental restoration system of the present invention.

[0027] The components represented by each number in the diagram are listed below:

[0028] CT construction module 1, robot calibration module 2, registration module 3, tool calibration module 4, repair model acquisition module 5, cutting execution module 6, repair execution module 7. Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0030] In the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," and "right," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. When a component is referred to as being "fixed to" or "set on" another element, it can be directly on the other component or there may be an intervening component. When a component is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening component. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] When a tooth experiences partial chipping or cracking, the simplest and most effective treatment to restore its integrity and prevent further damage is dental restoration. Dental restoration involves filling the missing tooth with a material similar to that of the tooth itself. From a procedural perspective, dental restoration includes at least two steps: cutting and repair. Cutting reshapes the existing gap to create a smoother surface, ensuring better fixation. Repairing involves applying restorative material to the repaired area to restore the tooth's structural integrity.

[0033] In existing technologies, dental restoration, whether cutting or repairing, is mostly based on manual operation by the operator. The operator needs to manually cut and grind according to personal experience and the condition of the teeth, and then manually fill and stack materials in the cut and ground area to form a rough outline. Finally, the tooth shape is refined with a grinding machine. The whole process depends entirely on the operator's personal skill level.

[0034] Existing dental restoration techniques have the following drawbacks: both the cutting and repair processes rely excessively on the doctor's experience and real-time observation, inevitably introducing human error, making precise control difficult, and the restoration effect hard to guarantee.

[0035] like Figure 1 As shown, a guided dental restoration method includes the following steps:

[0036] S1. CBCT data is acquired from the patient's oral cavity to create a 3D CT model of the patient's oral cavity. An oral reference plate is fixedly worn in the patient's oral cavity, and the oral reference plate has at least four registration balls. Before dental restoration, an oral reference plate needs to be worn in the patient's oral cavity. The oral reference plate has at least four registration balls and at least four reflective markers. The purpose of the oral reference plate is to provide a reference for registration and real-time positioning. In step S1, CBCT data is acquired from the patient's oral cavity, and CT data of the registration balls is acquired simultaneously. The CT data of the registration balls, together with the CT data of the patient's oral cavity, are used to create a 3D CT model of the patient's oral cavity.

[0037] S2. Calibrate the robot to obtain the matrix transformation relationship between the robot base coordinate system and the optical positioning instrument coordinate system. In step S2, the robot base coordinate system can be understood as the coordinate system inherent to the surgical robot. The surgical robot controls the robotic arm through the robot base coordinate system, thereby indirectly controlling the cutting and repair tools. The optical positioning instrument coordinate system can be obtained by using the optical positioning instrument in conjunction with the calibration plate fixed on the robot. Further calculations can reveal the matrix transformation relationship between the robot base coordinate system and the optical positioning instrument coordinate system.

[0038] S3. Register the dental reference plate, CT scanner, and optical locator, obtaining the three-dimensional coordinates of the registration ball in the dental reference plate coordinate system, the CT coordinate system, and the optical locator coordinate system. Based on the coordinates of the registration ball, obtain the matrix transformation relationship between the dental reference plate coordinate system, the CT coordinate system, and the optical locator coordinate system. In step S3, based on the registration ball, obtain the three-dimensional coordinates of the registration ball in the dental reference plate coordinate system, the CT coordinate system, and the optical locator coordinate system, respectively. The three-dimensional coordinates of the registration ball in the dental reference plate coordinate system can be obtained from the original structural data of the dental reference plate; the three-dimensional coordinates of the registration ball in the CT coordinate system can be obtained from a CT scan; and the three-dimensional coordinates of the registration ball in the optical locator coordinate system can be obtained by the optical locator emitting and receiving infrared light from the reflective marker. Based on these coordinates, obtain the matrix transformation relationship between the dental reference plate coordinate system, the CT coordinate system, and the optical locator coordinate system.

[0039] S4. Calibrate the cutting tool and obtain the matrix transformation relationship between the three-dimensional coordinate system of the cutting tool, the coordinate system of the robot base, and the coordinate system of the optical locator; calibrate the repair tool and obtain the matrix transformation relationship between the three-dimensional coordinate system of the repair tool, the coordinate system of the robot base, and the coordinate system of the optical locator. In step S2, the robot base coordinate system has already been obtained. In step S4, the cutting tool and repair tool set on the robot arm are further calibrated. Thus, the operation of the cutting tool and repair tool can be guided by the data collected by the optical locator, thereby achieving navigation.

[0040] S5. Obtain a dental restoration plan based on the CT 3D model. The dental restoration plan includes cutting 3D data and repair 3D data. The cutting 3D data is converted into cutting tool trajectory data, and the repair 3D data is converted into repair tool trajectory data. In step S5, the operator designs a dental restoration plan based on the patient's oral condition, identifies the parts that need to be cut and repaired, generates corresponding cutting 3D data and repair 3D data, and converts the cutting 3D data and repair 3D data into cutting tool trajectory data and repair tool trajectory data, respectively.

[0041] S6. Real-time pose data of the oral cavity reference plate is acquired through an optical locator. Based on the real-time pose data of the oral cavity reference plate, the cutting tool is guided to run according to the cutting tool's trajectory data to cut the patient's teeth until the cutting is completed. In step S6, the cutting operation is performed according to the cutting tool's trajectory data and the patient's real-time position, and the robot is controlled to operate the cutting tool to perform the cutting.

[0042] S7. Real-time pose data of the oral cavity reference plate is acquired through an optical locator. Based on the real-time pose data of the oral cavity reference plate, the repair tool is guided to operate according to the tool's trajectory data to repair the patient's teeth until the repair is completed. In step S7, the repair operation is performed based on the tool's trajectory data and the patient's real-time position, and the robot is controlled to operate the repair tool to perform the repair.

[0043] Based on the above technical solution, compared with the existing technology, the beneficial effects of this technical solution are as follows: After formulating a dental restoration plan based on the CT three-dimensional model, the matrix transformation relationship between the oral reference plate coordinate system, the CT coordinate system and the optical positioning instrument coordinate system is obtained, so as to guide the cutting tool and repair tool on the robot through the optical positioning instrument. Then, combined with the running trajectory data of the cutting tool and the running trajectory data of the repair tool, the optical positioning instrument determines the real-time posture of the patient, thereby providing real-time guidance for cutting and repair, avoiding the introduction of human error, thereby improving the accuracy of operation and ensuring the dental restoration effect.

[0044] Preferably, to obtain the matrix transformation relationship between the robot base coordinate system and the optical positioning instrument coordinate system more efficiently and conveniently, step S2 specifically includes the following steps:

[0045] S201. Control the optical positioning device to collect data from the calibration board on the robot, acquiring the robot's pose data in different states. In step S201, the optical positioning device emits infrared light towards the reflective marker. After the infrared light hits the reflective marker, it is reflected back to the optical positioning device. The optical positioning device can determine the robot's pose data based on the reflected infrared light. In this step, it is necessary to collect data on the robot in different states.

[0046] S202. Obtain the three-dimensional coordinates [Ax, Ay, Az] of the calibration plate in the optical positioning system under each pose data, and obtain the three-dimensional coordinates [Bx, By, Bz] of the calibration plate in the robot base coordinate system under each pose data. In step S202, the three-dimensional coordinates of the calibration plate in the optical positioning system are obtained by analyzing the reflected infrared light, and the three-dimensional coordinates of the calibration plate in the robot base coordinate system are obtained by directly reading from the robot control system.

[0047] S203. Pair the three-dimensional coordinates of the calibration board in the optical positioning system with the three-dimensional coordinates of the robot base coordinate system, which are in the same state, to obtain multiple sets of coordinate transformation data. The relevant three-dimensional coordinate values ​​have already been obtained in step S202, and reflective markers are set on the calibration board. The purpose of this pairing step is to determine the three-dimensional coordinates of the same reflective marker in the optical positioning system and the three-dimensional coordinates of the robot base coordinate system.

[0048] S204. Calculate the transformation matrix based on the coordinate transformation data obtained from the pairing, and analyze the matrix transformation relationship between the robot base coordinate system and the optical positioning system.

[0049] Specifically, step S204 includes:

[0050] S2041. Analyze the translation vector [t_x, t_y, t_z] based on [Ax, Ay, Az] and [Bx, By, Bz], and calculate the translation transformation matrix T, where,

[0051] T = | 1 0 0 t_x |

[0052] | 0 1 0 t_y |

[0053] | 0 0 1 t_z |

[0054] | 0 0 0 1 |;

[0055] S2042. Analyze the rotation matrix R based on [Ax, Ay, Az] and [Bx, By, Bz], where elements r11, r12, r13, etc., represent the elements of the rotation matrix.

[0056] R=| r11 r12 r13 |

[0057] | r21 r22 r23 |

[0058] | r31 r32 r33 |;

[0059] S2043. Analyze the scaling factor s based on [Ax, Ay, Az] and [Bx, By, Bz], where,

[0060] S = |s 0 0 0 |

[0061] | 0 s 0 0 |

[0062] | 0 0 s 0 |

[0063] | 0 0 0 1 |

[0064] S2044. Based on the translation transformation matrix T, the rotation matrix R, and the scaling factor s, obtain the matrix transformation relationship between the robot base coordinate system and the optical positioner coordinate system.

[0065] By analyzing and processing the data of different reflective marking points on the calibration plate through the above steps, a matrix transformation relationship can be established between the robot base coordinate system and the optical positioning instrument coordinate system.

[0066] Preferably, step S3 specifically includes:

[0067] S301. Based on the original design data of the reference plate, obtain the three-dimensional coordinates of the registration ball in the dental reference plate coordinate system. In step S301, the position of the registration ball on the reference plate is already determined at the beginning of the design and fabrication of the reference plate. It is only necessary to call the structural data of the reference plate to obtain the three-dimensional coordinates of the registration ball in the dental reference plate coordinate system.

[0068] S302. Perform CBCT data acquisition on the patient's oral cavity to obtain the three-dimensional coordinates of the registration ball in the CT coordinate system. In step S302, since the patient wears a reference plate before CBCT data acquisition, the three-dimensional coordinates of the registration ball in the CT coordinate system can be obtained through CBCT data acquisition.

[0069] S303. Control the optical positioning device to emit infrared light towards the reflective markers on the dental reference plate. Obtain the three-dimensional coordinates of the registration ball in the optical positioning device's coordinate system using the infrared light reflected back from the markers. In step S303, the three-dimensional coordinates of the registration ball in the optical positioning device's coordinate system can be obtained using the reflected infrared light from the optical positioning device.

[0070] S304. Based on the three-dimensional coordinates of the registration ball in the dental reference plate coordinate system and the three-dimensional coordinates in the CT coordinate system, obtain the matrix transformation relationship between the dental reference plate coordinate system and the CT coordinate system; based on the three-dimensional coordinates of the registration ball in the dental reference plate coordinate system and the three-dimensional coordinates in the optical locator coordinate system, obtain the matrix transformation relationship between the dental reference plate coordinate system and the optical locator coordinate system; based on the three-dimensional coordinates of the registration ball in the CT coordinate system and the three-dimensional coordinates in the optical locator coordinate system, obtain the matrix transformation relationship between the CT coordinate system and the optical locator coordinate system.

[0071] Based on the above technical solution, the coordinates of the registration ball in different coordinate systems are used as intermediate values. A matrix transformation relationship is established between the dental reference plate coordinate system, the CT coordinate system and the optical positioning instrument coordinate system. Thus, the robot can be controlled to perform relevant operations based on the information collected by the optical positioning instrument.

[0072] Preferably, in step S4, obtaining the matrix transformation relationship between the three-dimensional coordinate system of the cutting tool, the coordinate system of the robot base, and the coordinate system of the optical positioning device specifically includes:

[0073] S401. Control the optical positioning instrument to collect data from the calibration plate on the cutting tool and obtain the position and pose data of the cutting tool in different states;

[0074] S402. Obtain the three-dimensional coordinates of the cutting tool in the three-dimensional coordinate system of the cutting tool, the coordinate system of the robot base, and the coordinate system of the optical positioner under various pose data;

[0075] S403. Based on the three-dimensional coordinates of the cutting tool in the three-dimensional coordinate system of the cutting tool, the three-dimensional coordinates of the cutting tool in the coordinate system of the robot base, and the three-dimensional coordinates of the cutting tool in the coordinate system of the optical positioner, the transformation matrix is ​​calculated, and the matrix transformation relationship between the three-dimensional coordinate system of the cutting tool, the coordinate system of the robot base, and the coordinate system of the optical positioner is analyzed.

[0076] Preferably, in step S4, obtaining the matrix transformation relationship between the three-dimensional coordinate system of the repair tool, the coordinate system of the robot base, and the coordinate system of the optical locator specifically includes:

[0077] S411. Control the optical positioning device to collect data from the calibration plate on the repair tool and obtain the position and pose data of the repair tool in different states;

[0078] S412. Obtain the three-dimensional coordinates of the repair tool in the three-dimensional coordinate system of the cutting tool, the coordinate system of the robot base, and the coordinate system of the optical locator under various pose data;

[0079] S413. Based on the three-dimensional coordinates of the repair tool in the three-dimensional coordinate system of the repair tool, the three-dimensional coordinates of the repair tool in the robot base coordinate system, and the three-dimensional coordinates of the repair tool in the optical positioning system, the transformation matrix is ​​calculated, and the matrix transformation relationship between the three-dimensional coordinate system of the repair tool, the robot base coordinate system, and the optical positioning system is analyzed.

[0080] In step S3, matrix transformation relationships have been established between the dental reference plate coordinate system, the CT coordinate system, and the optical positioning instrument coordinate system. The cutting and repair tools on the robot end effector are directly executed, respectively. Therefore, in step S4, the three-dimensional coordinate system of the cutting tool and the three-dimensional coordinate system of the repair tool are unified to enable the cutting tool and the repair tool to perform relevant operations based on the information collected by the optical positioning instrument.

[0081] Preferably, in step S5, converting the three-dimensional cutting data into cutting tool trajectory data specifically includes:

[0082] S501. Obtain cutting 3D data from the CT 3D model;

[0083] S502. Convert the cutting 3D data into 3D data in the 3D coordinate system of the cutting tool, and establish a cutting 3D model;

[0084] S503. Divide the 3D model into multiple cutting layers and generate cutting path data on each cutting layer;

[0085] S504. Arrange all cutting path data from top to bottom to generate cutting tool trajectory data.

[0086] The cutting process is the process of removing excess material layer by layer from the teeth. In steps S501 to S504, after the three-dimensional data conversion, the cutting is planned based on the three-dimensional cutting model. It is divided into multiple cutting layers and the travel path of each cutting layer is determined. Since the cutting is from top to bottom, the cutting path data of each cutting layer is arranged and connected from top to bottom to obtain the cutting tool's running trajectory data.

[0087] Preferably, in step S5, converting the 3D repair data into repair tool trajectory data specifically includes:

[0088] S511. Obtain the repaired 3D data from the CT 3D model;

[0089] S512. Convert the 3D repair data into 3D data in the 3D coordinate system of the repair tool, and establish a stacked repair model;

[0090] S513. Slice the stacked patch model and generate patch path data on each slice layer;

[0091] S514. Arrange all repair path data from bottom to top to generate repair tool trajectory data.

[0092] The repair process involves stacking repair materials layer by layer on the tooth. In steps S511 to S504, after three-dimensional data conversion, the cutting plan is made based on the three-dimensional repair model, which is divided into multiple slice layers and the travel path of each slice layer is determined. Since the repair is from bottom to top, the repair path data of each slice layer is arranged and connected from bottom to top to obtain the running trajectory data of the repair tool.

[0093] like Figure 2 As shown, correspondingly, a guided dental restoration system includes a CT construction module 1, a robot calibration module 2, a registration module 3, a tool calibration module 4, a restoration model acquisition module 5, a cutting execution module 6, and a repair execution module 7.

[0094] The CT construction module is used to acquire CBCT data from the patient's oral cavity and establish a 3D CT model of the patient's oral cavity. An oral reference plate is fixedly worn in the patient's oral cavity, and at least four registration balls are set on the oral reference plate. The robot calibration module is used to calibrate the robot and obtain the matrix transformation relationship between the robot base coordinate system and the optical locator coordinate system. The registration module is used to register the oral reference plate, CT, and optical locator, obtaining the 3D coordinate values ​​of the registration balls in the oral reference plate coordinate system, the CT coordinate system, and the optical locator coordinate system, and obtaining the matrix transformation relationship between the oral reference plate coordinate system, the CT coordinate system, and the optical locator coordinate system based on the coordinate values ​​of the registration balls. The tool calibration module is used to calibrate the cutting tool and obtain the matrix transformation relationship between the cutting tool coordinate system, the robot base coordinate system, and the optical locator coordinate system. The matrix transformation relationship is used to calibrate the repair tool and obtain the matrix transformation relationship between the repair tool's 3D coordinate system, the robot base coordinate system, and the optical locator coordinate system. The repair model acquisition module is used to obtain a tooth repair plan based on the CT 3D model. The tooth repair plan includes cutting 3D data and repair 3D data. The cutting 3D data is converted into cutting tool trajectory data, and the repair 3D data is converted into repair tool trajectory data. The cutting execution module is used to obtain the real-time pose data of the oral reference plate through the optical locator. Based on the real-time pose data of the oral reference plate, the cutting tool is guided to run according to the cutting tool trajectory data to cut the patient's tooth until the cutting is completed. The repair execution module is used to obtain the real-time pose data of the oral reference plate through the optical locator. Based on the real-time pose data of the oral reference plate, the repair tool is guided to run according to the repair tool trajectory data to repair the patient's tooth until the repair is completed.

[0095] The robot calibration module specifically includes a calibration data acquisition unit, a three-dimensional coordinate acquisition unit, a coordinate pairing unit, and a matrix analysis unit.

[0096] The calibration data acquisition unit is used to control the optical positioning instrument to acquire data from the calibration board on the robot, obtaining the robot's pose data in different states. The three-dimensional coordinate acquisition unit is used to acquire the three-dimensional coordinate values ​​[Ax, Ay, Az] of the calibration board in the optical positioning instrument coordinate system and the three-dimensional coordinate values ​​[Bx, By, Bz] of the calibration board in the robot base coordinate system under each pose data. The coordinate pairing unit is used to pair the three-dimensional coordinate values ​​of the calibration board in the optical positioning instrument coordinate system and the three-dimensional coordinate values ​​in the robot base coordinate system one by one under the same state to obtain multiple sets of coordinate transformation data. The matrix analysis unit is used to calculate the transformation matrix based on the paired coordinate transformation data and analyze the matrix transformation relationship between the robot base coordinate system and the optical positioning instrument coordinate system.

[0097] Specifically, the matrix analysis unit includes:

[0098] The translation transformation matrix calculation component is used to analyze the translation vector [t_x, t_y, t_z] based on [Ax, Ay, Az] and [Bx, By, Bz], and calculate the translation transformation matrix T, where,

[0099] T = | 1 0 0 t_x |

[0100] | 0 1 0 t_y |

[0101] | 0 0 1 t_z |

[0102] | 0 0 0 1 |;

[0103] The rotation matrix calculation component is used to analyze the rotation matrix R based on [Ax, Ay, Az] and [Bx, By, Bz], where elements r11, r12, r13, etc., represent the individual elements of the rotation matrix.

[0104] R=| r11 r12 r13 |

[0105] | r21 r22 r23 |

[0106] | r31 r32 r33 |;

[0107] A scaling factor calculation component is used to analyze the scaling factor s based on [Ax, Ay, Az] and [Bx, By, Bz], where,

[0108] S = |s 0 0 0 |

[0109] | 0 s 0 0 |

[0110] | 0 0 s 0 |

[0111] | 0 0 0 1 |

[0112] The transformation matrix analysis component is used to obtain the matrix transformation relationship between the robot base coordinate system and the optical positioner coordinate system based on the translation transformation matrix T, the rotation matrix R, and the scaling factor s.

[0113] Preferably, the registration module specifically includes a reference plate data acquisition unit, a reference plate CT scanning unit, a reference plate coordinate acquisition unit, and a reference plate coordinate transformation unit.

[0114] The reference plate data acquisition unit is used to acquire the three-dimensional coordinates of the registration ball in the dental reference plate coordinate system based on the original design data of the reference plate; the reference plate CT scanning unit is used to acquire CBCT data of the patient's oral cavity and acquire the three-dimensional coordinates of the registration ball in the CT coordinate system; the reference plate coordinate acquisition unit is used to control the optical positioning instrument to emit infrared light to the reflective markers on the dental reference plate, and acquire the three-dimensional coordinates of the registration ball in the optical positioning instrument coordinate system through the infrared light reflected back from the reflective markers; the reference plate coordinate transformation unit is used to acquire the matrix transformation relationship between the dental reference plate coordinate system and the CT coordinate system based on the three-dimensional coordinates of the registration ball in the dental reference plate coordinate system and the three-dimensional coordinates of the optical positioning instrument; and to acquire the matrix transformation relationship between the CT coordinate system and the optical positioning instrument coordinate system based on the three-dimensional coordinates of the registration ball in the dental reference plate coordinate system and the three-dimensional coordinates of the optical positioning instrument.

[0115] Preferably, the tool calibration module specifically includes a cutting tool data acquisition unit, a cutting tool coordinate acquisition unit, and a cutting tool matrix analysis unit.

[0116] The cutting tool data acquisition unit controls the optical positioning device to acquire data from the calibration plate on the cutting tool, obtaining the pose data of the cutting tool in different states. The cutting tool coordinate acquisition unit acquires the three-dimensional coordinate values ​​of the cutting tool in the three-dimensional coordinate system of the cutting tool, the robot base coordinate system, and the optical positioning device coordinate system under each pose data. The cutting tool matrix analysis unit performs transformation matrix calculations based on the three-dimensional coordinate values ​​of the cutting tool in the three-dimensional coordinate system, the three-dimensional coordinate values ​​of the cutting tool in the robot base coordinate system, and the three-dimensional coordinate values ​​of the cutting tool in the optical positioning device coordinate system, and analyzes the matrix transformation relationship between the three-dimensional coordinate system of the cutting tool, the robot base coordinate system, and the optical positioning device coordinate system.

[0117] Preferably, the tool calibration module specifically includes a repair tool data acquisition unit, a repair tool coordinate acquisition unit, and a repair tool matrix analysis unit.

[0118] The repair tool data acquisition unit controls the optical positioning device to acquire data from the calibration plate on the repair tool, obtaining the pose data of the repair tool in different states. The repair tool coordinate acquisition unit acquires the three-dimensional coordinate values ​​of the repair tool in the three-dimensional coordinate system of the cutting tool, the robot base coordinate system, and the optical positioning device coordinate system under each pose data. The repair tool matrix analysis unit performs transformation matrix calculation based on the three-dimensional coordinate values ​​of the repair tool in the three-dimensional coordinate system of the repair tool, the three-dimensional coordinate values ​​of the repair tool in the robot base coordinate system, and the three-dimensional coordinate values ​​of the repair tool in the optical positioning device coordinate system, and analyzes the matrix transformation relationship between the three-dimensional coordinate system of the repair tool, the robot base coordinate system, and the optical positioning device coordinate system.

[0119] Preferably, the repair model acquisition module specifically includes a cutting 3D data acquisition unit, a cutting 3D model construction unit, a cutting model layering unit, and a cutting trajectory generation unit.

[0120] The cutting 3D data acquisition unit is used to acquire cutting 3D data from the CT 3D model; the cutting 3D model construction unit is used to convert the cutting 3D data into 3D data in the 3D coordinate system of the cutting tool and establish the cutting 3D model; the cutting model layering unit is used to divide the cutting 3D model into multiple cutting layers and generate cutting path data on each cutting layer; the cutting trajectory generation unit is used to arrange all cutting path data from top to bottom to generate cutting tool running trajectory data.

[0121] The repair model acquisition module specifically includes a repair 3D data acquisition unit, a repair 3D model construction unit, a repair model layering unit, and a repair trajectory generation unit.

[0122] The repair 3D data acquisition unit is used to acquire repair 3D data from the CT 3D model; the repair 3D model construction unit is used to convert the repair 3D data into 3D data in the 3D coordinate system of the repair tool and establish a stacked repair model; the repair model layering unit is used to slice the stacked repair model and generate repair path data on each slice layer; the repair trajectory generation unit is used to arrange all repair path data from bottom to top to generate repair tool running trajectory data.

[0123] Correspondingly, a storage medium stores a computer program, the computer program including program instructions, which, when executed by a processor, execute the guided dental restoration method as described above.

[0124] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A guided dental restoration system, characterized in that, include: The CT construction module is used to acquire CBCT data from the patient's oral cavity and establish a CT three-dimensional model of the patient's oral cavity; an oral reference plate is fixedly worn in the patient's oral cavity, and the oral reference plate is equipped with at least 4 registration balls; The robot calibration module is used to calibrate the robot and obtain the matrix transformation relationship between the robot base coordinate system and the optical positioning system; The registration module is used to register the dental reference plate, CT, and optical locator. It obtains the three-dimensional coordinates of the registration ball in the dental reference plate coordinate system, the three-dimensional coordinates of the registration ball in the CT coordinate system, and the three-dimensional coordinates of the registration ball in the optical locator coordinate system. Based on the coordinates of the registration ball, it obtains the matrix transformation relationship between the dental reference plate coordinate system, the CT coordinate system, and the optical locator coordinate system. The tool calibration module is used to calibrate cutting tools and obtain the matrix transformation relationship between the cutting tool's 3D coordinate system, the robot base coordinate system, and the optical locator coordinate system; it is also used to calibrate repair tools and obtain the matrix transformation relationship between the repair tool's 3D coordinate system, the robot base coordinate system, and the optical locator coordinate system. The restoration model acquisition module is used to acquire a tooth restoration plan based on a CT three-dimensional model. The tooth restoration plan includes cutting three-dimensional data and repair three-dimensional data. The cutting three-dimensional data is converted into cutting tool trajectory data and repair three-dimensional data is converted into repair tool trajectory data. The cutting execution module is used to acquire real-time pose data of the oral reference plate through an optical locator, and guide the cutting tool to run according to the cutting tool's running trajectory data to cut the patient's teeth until the cutting is completed. The repair execution module is used to acquire real-time pose data of the oral reference plate through an optical locator. Based on the real-time pose data of the oral reference plate, the repair tool is guided to run according to the tool's running trajectory data to repair the patient's teeth until the repair is completed. The repair model acquisition module specifically includes: The cutting 3D data acquisition unit is used to acquire cutting 3D data from the CT 3D model; The cutting 3D model building unit is used to convert cutting 3D data into 3D data in the 3D coordinate system of the cutting tool and to build a cutting 3D model. The cutting model layering unit is used to divide the cutting 3D model into multiple cutting layers and generate cutting path data on each cutting layer; The cutting trajectory generation unit is used to arrange all cutting path data from top to bottom and generate cutting tool trajectory data. The repair model acquisition module specifically includes: The repair 3D data acquisition unit is used to acquire repair 3D data from the CT 3D model; The 3D model building unit is used to convert 3D repair data into 3D data in the 3D coordinate system of the repair tool and to build a stacked repair model. The patch model layering unit is used to slice the stacked patch model and generate patch path data on each slice layer; The repair trajectory generation unit is used to arrange all repair path data from bottom to top to generate repair tool running trajectory data.

2. The guided dental restoration system according to claim 1, characterized in that, The robot calibration module specifically includes: The calibration data acquisition unit is used to control the optical positioning instrument to acquire data from the calibration board on the robot and obtain the robot's pose data in different states. The three-dimensional coordinate acquisition unit is used to acquire the three-dimensional coordinate values ​​[Ax, Ay, Az] of the calibration plate in the coordinate system of the optical positioner under each pose data, and to acquire the three-dimensional coordinate values ​​[Bx, By, Bz] of the calibration plate in the coordinate system of the robot base under each pose data; The coordinate pairing unit is used to pair the three-dimensional coordinate values ​​of the calibration plate in the coordinate system of the optical positioner with the three-dimensional coordinate values ​​in the coordinate system of the robot base to obtain multiple sets of coordinate transformation data. The matrix analysis unit is used to calculate the transformation matrix based on the coordinate transformation data obtained from the pairing, and to analyze the matrix transformation relationship between the robot base coordinate system and the optical positioner coordinate system. Specifically, the matrix analysis unit includes: The translation transformation matrix calculation component is used to analyze the translation vector [t_x,t_y,t_z] based on [Ax, Ay, Az] and [Bx, By, Bz], and calculate the translation transformation matrix T, where, T = | 1 0 0 t_x | | 0 1 0 t_y | | 0 0 1 t_z | | 0 0 0 1 |； The rotation matrix calculation component is used to analyze the rotation matrix R based on [Ax, Ay, Az] and [Bx, By, Bz], where elements r11, r12, r13, etc., represent the individual elements of the rotation matrix. R = | r11 r12 r13 | | r21 r22 r23 | | r31 r32 r33 |； A scaling factor calculation component is used to analyze the scaling factor s based on [Ax, Ay, Az] and [Bx, By, Bz], where, S = | s 0 0 0 | | 0 s 0 0 | | 0 0 s 0 | | 0 0 0 1 | The transformation matrix analysis component is used to obtain the matrix transformation relationship between the robot base coordinate system and the optical positioner coordinate system based on the translation transformation matrix T, the rotation matrix R, and the scaling factor s.

3. The guided dental restoration system according to claim 1, characterized in that, The tool calibration module specifically includes: The cutting tool data acquisition unit is used to control the optical positioning instrument to acquire data from the calibration plate on the cutting tool and obtain the position and pose data of the cutting tool in different states. The cutting tool coordinate acquisition unit is used to acquire the three-dimensional coordinate values ​​of the cutting tool in the three-dimensional coordinate system of the cutting tool, the coordinate system of the robot base, and the coordinate system of the optical positioner under various pose data. The cutting tool matrix analysis unit is used to calculate the transformation matrix based on the three-dimensional coordinates of the cutting tool in the three-dimensional coordinate system, the three-dimensional coordinates of the cutting tool in the robot base coordinate system, and the three-dimensional coordinates of the cutting tool in the optical positioner coordinate system, and to analyze the matrix transformation relationship between the three-dimensional coordinate system of the cutting tool, the robot base coordinate system, and the optical positioner coordinate system. The tool calibration module specifically includes: The repair tool data acquisition unit is used to control the optical positioning instrument to acquire data from the calibration plate on the repair tool and obtain the position and pose data of the repair tool in different states. The repair tool coordinate acquisition unit is used to acquire the three-dimensional coordinate values ​​of the repair tool in the three-dimensional coordinate system of the cutting tool, the coordinate system of the robot base, and the coordinate system of the optical locator under various pose data. The repair tool matrix analysis unit is used to calculate the transformation matrix based on the three-dimensional coordinates of the repair tool in the three-dimensional coordinate system, the three-dimensional coordinates of the repair tool in the robot base coordinate system, and the three-dimensional coordinates of the repair tool in the optical locator coordinate system, and to analyze the matrix transformation relationship between the three-dimensional coordinate system of the repair tool, the robot base coordinate system, and the optical locator coordinate system.

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