An oral scanning and navigation system for designing dental implants

Abstract

The present invention relates to the technical field of oral surgery navigation systems, and provides an oral scanning and navigation system for designing dental implants, including an oral scanning terminal, an oral data processing terminal, an oral three-dimensional model terminal, a sensing data acquisition terminal, a sensing data processing terminal, and a navigation information prompt terminal; the oral scanning terminal is used for a dentist to perform an oral scan on a patient's oral cavity to generate oral scan information of the patient; the oral data processing terminal is used for performing oral data processing on the oral scan information; the oral three-dimensional model terminal is used for constructing and displaying an oral three-dimensional model according to the processed oral scan information; the sensing data acquisition terminal is used for acquiring sensing data of a dentist's handheld tool; the sensing data processing terminal is used for performing sensing data processing on the sensing data; the navigation information prompt terminal is used for generating and displaying corresponding navigation information according to the processed sensing data. The present invention has the effect of improving the oral navigation efficiency of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of oral surgery navigation systems, and particularly to an oral scanning and navigation system for designing dental implants. Background Art

[0002] The design of dental implants not only needs to consider the size, shape and material of the implants, but also the matching degree and aesthetics with the surrounding teeth. Therefore, oral scanning is required to take a mold. Oral scanning is a process of using specific scanning equipment to obtain detailed three-dimensional images of a patient's oral cavity during dental treatment. This kind of scanning can accurately measure the size, shape and relative position of teeth, providing necessary data support for subsequent implant design. The oral scanning and navigation system for designing dental implants refers to an auxiliary prompting system that integrates oral scanning technology and is used to guide doctors in real time during dental implant surgery.

[0003] Now, many oral navigation systems have been developed. After a large amount of retrieval and reference by us, it is found that the existing oral navigation systems include the oral navigation systems disclosed in publication numbers CN114366144A, CN108836751A, CN108742898A, EP3939538A1, US20140272773A1, JP2016536098A. These oral navigation systems generally include: an image acquisition terminal, an image processing terminal and an oral three-dimensional model generation terminal. The image acquisition terminal is used to acquire oral images of patients; the image processing terminal is used to perform image processing on oral images; the oral three-dimensional model generation terminal is used to generate corresponding oral three-dimensional models according to the processed oral images for doctors to observe and achieve the navigation function. Due to the single working mode of the above-mentioned oral navigation systems, it is not conducive to meeting the requirements in the scenarios of designing and installing dental implants, resulting in a long time-consuming for the oral scanning process and the oral surgery process, and causing the defect of reduced oral navigation efficiency. Summary of the Invention

[0004] The purpose of the present invention is to propose an oral scanning and navigation system for designing dental implants in view of the deficiencies of the above-mentioned oral navigation systems.

[0005] The present invention adopts the following technical solutions:

[0006] An oral scanning and navigation system for designing dental implants, comprising an oral scanning terminal, an oral data processing terminal, an oral three-dimensional model terminal, a sensing data acquisition terminal, a sensing data processing terminal, and a navigation information prompt terminal; the oral scanning terminal is used for a dentist to perform an oral scan on a patient to generate the patient's oral scan information; the oral data processing terminal is used for processing the patient's oral scan information; the oral three-dimensional model terminal is used to construct and display the patient's oral three-dimensional model according to the processed oral scan information; the sensing data acquisition terminal is used to acquire the sensing data of the dentist's handheld tool when the dentist performs an oral surgery or takes a dental implant mold on the patient; the sensing data processing terminal is used for processing the sensing data; the navigation information prompt terminal is used to generate and display corresponding navigation information according to the processed sensing data.

[0007] The oral scanning terminal includes an oral scanning gun module and an oral scanning digitization module; the oral scanning gun module is used for a dentist to hold and perform an oral scan on the patient to obtain the patient's oral data; the oral scanning digitization module is used to collect the oral data and process it into corresponding oral scan information.

[0008] Optionally, the sensing data acquisition terminal includes a position sensing module and a pressure sensing module; the position sensing module is used to monitor the position of the dentist's handheld tool in the patient's oral cavity and generate corresponding position sensing data; the pressure sensing module is used to monitor the pressure on the dentist's handheld tool and generate corresponding pressure sensing data.

[0009] Optionally, the navigation information prompt terminal includes an image navigation module, an oral closure prompt module, an offset warning module, an item drop risk warning module, and a navigation information generation module; the image navigation module is used to generate corresponding image navigation information according to the position sensing data and the oral three-dimensional model; the oral closure prompt module is used to generate the patient's oral closure prompt information according to the patient status information; the offset warning module is used to generate the tool offset warning information according to the position sensing data and the dentist status information; the item drop risk warning module is used to generate the corresponding item drop risk warning information according to the operation monitoring information and the dentist status information; the navigation information generation module is used to integrate the image navigation information, the oral closure prompt information, the offset warning information, and the item drop risk warning information into navigation information for display to the dentist.

[0010] Optionally, the oral closure prompt module includes a patient information acquisition sub-module, a patient status analysis sub-module, an oral closure prompt index calculation sub-module, and an oral closure prompt information generation sub-module; the patient information acquisition sub-module is used to acquire patient image information from on-site monitoring, heart rate information from a heart rate monitoring device, and respiratory information from a respiratory monitoring device; the patient status analysis sub-module is used to analyze based on the patient image information, heart rate information, and respiratory information, and extract corresponding patient expression information, average closure interval information, mouth opening amplitude change information, heart rate value, and respiratory amplitude value; the oral closure prompt index calculation sub-module is used to calculate the patient's oral closure prompt index based on the patient expression information, average closure interval information, mouth opening amplitude change information, heart rate value, and respiratory amplitude value; the oral closure prompt information generation sub-module is used to generate oral closure prompt information indicating that the patient has a risk of sudden oral closure when the calculation result of the oral closure prompt index calculation sub-module reaches the prompt condition.

[0011] Optionally, the offset warning module includes a position sensing data reading sub-module, a dentist information acquisition sub-module, a dentist status analysis sub-module, an offset warning index calculation sub-module, and an offset warning information generation sub-module; the position sensing data reading sub-module is used to read position sensing data from the position sensing module; the dentist information acquisition sub-module is used to acquire dentist image information from on-site monitoring; the dentist status analysis sub-module is used to analyze based on the dentist image information and extract the dentist's action information; the offset warning index calculation sub-module is used to calculate the corresponding offset warning index based on the patient's average closure interval information, mouth opening amplitude change information, tool type information, and the dentist's action information; the offset warning information generation sub-module is used to generate offset warning information indicating that the dentist has a risk of tool offset when the calculation result of the offset warning index calculation sub-module reaches the warning condition.

[0012] Optionally, the item drop risk warning module includes a risk data reading sub-module, an item drop risk index calculation sub-module, and an item drop risk warning information generation sub-module; the risk data reading sub-module is used to read tool type information, dental chair information, and the dentist's action information; the item drop risk index calculation sub-module is used to calculate the corresponding item drop risk index based on the tool type information, dental chair information, and the dentist's action information; the item drop risk warning information generation sub-module is used to generate item drop risk warning information when the calculation result of the item drop risk index calculation sub-module reaches the condition.

[0013] An oral scanning and navigation method for designing dental implants, which is applied to an oral scanning and navigation system for designing dental implants as described above. The oral scanning and navigation method includes:

[0014] S1. The dentist performs an oral scan on the patient's oral cavity to generate oral scan information of the patient;

[0015] S2. Process the oral scan information of the patient;

[0016] S3. Construct and display a three-dimensional oral model of the patient based on the processed oral scan information;

[0017] S4. Obtain the sensing data of the dentist's hand-held tool when the dentist performs an oral surgery or takes a mold of a dental implant on the patient;

[0018] S5. Process the sensing data;

[0019] S6. Generate and display corresponding navigation information based on the processed sensing data.

[0020] The beneficial effects achieved by the present invention are as follows:

[0021] 1. The settings of the oral scan terminal, oral data processing terminal, three-dimensional oral model terminal, sensing data acquisition terminal, sensing data processing terminal, and navigation information prompt terminal. By constructing a three-dimensional oral model of the patient through oral scan information and then generating corresponding navigation information in combination with sensing data, the navigation mode is optimized and the working mode of the system is increased, improving the adaptability of the system to facilitate meeting the scenarios of designing and installing dental implants, thereby improving the oral navigation efficiency of the system;

[0022] 2. The settings of the oral scan gun module and the oral scan digitization module. By first obtaining the oral data of the patient and then collecting and processing the oral data into corresponding oral scan information, the generation efficiency of the oral scan information is improved, which is beneficial to improving the oral navigation efficiency of the system;

[0023] 3. The settings of the position sensing module and the pressure sensing module. By monitoring the position of the dentist's hand-held tool in the patient's oral cavity and generating corresponding position sensing data, and by monitoring the pressure on the dentist's hand-held tool and generating corresponding pressure sensing data, different sensing data are provided for the system at the same time, improving the acquisition efficiency and accuracy of the sensing data, which is beneficial to improving the oral navigation efficiency of the system;

[0024] 4. The settings of the image navigation module, oral closure prompt module, offset warning module, item drop risk warning module, and navigation information generation module. By integrating image navigation information, oral closure prompt information, offset warning information, and item drop risk warning information into corresponding navigation information, the working mode of the system is enriched, the accuracy and adaptability of the navigation information are improved, so that the system is applicable to more scenarios, which is beneficial to improving the oral navigation efficiency of the system;

[0025] 5. The settings of the patient information acquisition sub-module, patient status analysis sub-module, oral closure prompt index calculation sub-module, and oral closure prompt information generation sub-module, in conjunction with the oral closure prompt index algorithm, calculate the patient's oral closure prompt index through the patient's facial expression information, mouth opening amplitude change information, heart rate value, and breathing amplitude value, which is beneficial to improving the accuracy of the oral closure prompt index, further improving the navigation quality, and thus conducive to further improving the oral navigation efficiency of the system;

[0026] 6. The settings of the position sensing data reading sub-module, dentist information acquisition sub-module, dentist status analysis sub-module, offset warning index calculation sub-module, and offset warning information generation sub-module, in conjunction with the offset warning index algorithm, calculate the corresponding offset warning index through the patient's average closure interval information, mouth opening amplitude change information, tool type information, and position sensing data, which is beneficial to improving the calculation accuracy and calculation efficiency of the offset warning index, and then improving the accuracy and generation efficiency of the navigation information, and thus conducive to improving the oral navigation efficiency of the system;

[0027] 7. The settings of the risk data reading sub-module, item dropping risk index calculation sub-module, and item dropping risk warning information generation sub-module, and the setting that the item dropping risk index calculation sub-module includes a tool risk value calculation unit, a dental chair risk value calculation unit, a dentist risk value calculation unit, and an item dropping risk index integration unit, in conjunction with the item dropping risk index algorithm, are beneficial to more efficiently integrating a more accurate item dropping risk index through the tool risk value, dental chair risk value, and dentist risk value, and thus conducive to improving the oral navigation efficiency of the system.

[0028] To enable a further understanding of the features and technical content of the present invention, please refer to the following detailed description of the present invention and the accompanying drawings. However, the provided drawings are only for reference and illustration, and are not used to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 is a schematic diagram of the structure of the oral closure prompt module in the present invention;

[0031] Figure 3 is a schematic diagram of the structure of the offset warning module in the present invention;

[0032] Figure 4 is a schematic diagram of the structure of the item dropping risk warning module in the present invention;

[0033] Figure 5 is a schematic diagram of the method flow of an oral scanning and navigation method for designing dental implants in the present invention;

[0034] Figure 6 This is a schematic structural diagram of the item drop risk index calculation sub-module in another embodiment of the present invention. Specific embodiments

[0035] The following are specific embodiments to illustrate the implementation manners of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention. Additionally, the drawings of the present invention are only for simple schematic illustration and are not drawn according to actual dimensions, hereby declared in advance. The following embodiments will further detail the relevant technical content of the present invention, but the disclosed content is not intended to limit the protection scope of the present invention.

[0036] Embodiment 1: This embodiment provides an oral scanning and navigation system for designing dental implants. In combination with Figure 1 As shown, an oral scanning and navigation system for designing dental implants includes an oral scanning terminal, an oral data processing terminal, an oral three-dimensional model terminal, a sensing data acquisition terminal, a sensing data processing terminal, and a navigation information prompt terminal; the oral scanning terminal is used for a dentist to perform an oral scan on a patient to generate the patient's oral scan information; the oral data processing terminal is used for processing the patient's oral scan information; the oral three-dimensional model terminal is used to construct and display the patient's oral three-dimensional model according to the processed oral scan information; the sensing data acquisition terminal is used to acquire the sensing data of the dentist's handheld tool when the dentist performs an oral surgery or a dental implant impression-taking operation on the patient; the sensing data processing terminal is used for processing the sensing data; the navigation information prompt terminal is used to generate and display corresponding navigation information according to the processed sensing data.

[0037] The oral scanning terminal includes an oral scanning gun module and an oral scanning digitization module; the oral scanning gun module is used for a dentist to hold and perform an oral scan on the patient to obtain the patient's oral data; the oral scanning digitization module is used to collect the oral data and process it into corresponding oral scan information.

[0038] Optionally, the sensing data acquisition terminal includes a position sensing module and a pressure sensing module; the position sensing module is used to monitor the position of the dentist's handheld tool in the patient's oral cavity and generate corresponding position sensing data; the pressure sensing module is used to monitor the pressure received by the dentist's handheld tool and generate corresponding pressure sensing data.

[0039] Optionally, the navigation information prompt terminal includes an image navigation module, an oral cavity closure prompt module, an offset warning module, an item dropping risk warning module, and a navigation information generation module; the image navigation module is configured to generate corresponding image navigation information based on position sensing data and an oral cavity three-dimensional model; the oral cavity closure prompt module is configured to generate an oral cavity closure prompt message for the patient according to the patient status information; the offset warning module is configured to generate an offset warning message for the tool according to the position sensing data and the dentist status information; the item dropping risk warning module is configured to generate a corresponding item dropping risk warning message according to the operation monitoring information and the dentist status information; the navigation information generation module is configured to integrate the image navigation information, the oral cavity closure prompt information, the offset warning information, and the item dropping risk warning information into navigation information for display to the dentist. The dentist status information is the dentist action status information.

[0040] Optionally, as shown in Figure 2 the oral cavity closure prompt module includes a patient information acquisition sub-module, a patient status analysis sub-module, an oral cavity closure prompt index calculation sub-module, and an oral cavity closure prompt information generation sub-module; the patient information acquisition sub-module is configured to acquire patient image information from on-site monitoring, heart rate information from a heart rate monitoring device, and respiratory information from a respiratory monitoring device; the patient status analysis sub-module is configured to analyze according to the patient image information, heart rate information, and respiratory information, and extract corresponding patient expression information, mouth opening amplitude change information, heart rate value, and respiratory amplitude value; the oral cavity closure prompt index calculation sub-module is configured to calculate an oral cavity closure prompt index for the patient according to the patient expression information, mouth opening amplitude change information, heart rate value, and respiratory amplitude value.

[0041] Specifically, when the dentist performs an oral surgery or a dental implant impression-taking operation on the patient, the system continuously monitors the patient and provides an oral cavity closure prompt function to optimize the navigation effect during the oral surgery and prompt the dentist to pay attention to the patient's oral cavity closure situation in advance. When the oral cavity closure prompt index calculation sub-module works, it performs periodic calculations with a period of T time. T represents the calculation period, which is set by the administrator according to experience. Generally, T can be, but is not limited to: 10000s, 20000s, 30000s, etc. When calculating, the following formula is satisfied:

[0042] C = 210g,H×(B + E(G) + M)

[0043]

[0044] M = m 1 -m 2 ;

[0045] Wherein, C represents the oral closure prompt index; H represents the heart rate prompt value; B represents the breathing amplitude prompt value; E(G) represents the expression prompt value; M represents the mouth opening amplitude prompt value; h max and h min respectively represent the maximum and minimum heart rate values of the patient within the period T; the period T represents the duration of one period; b i represents the maximum breathing amplitude value of the patient's i-th breath within the period T; I represents the total number of breaths of the patient within the period T; β represents the amplitude comparison reference value, which is set by the administrator according to experience. Specifically, the larger the maximum breathing amplitude value of all patients in the previous week, the larger β can be, for example, but not limited to: 60% of the maximum breathing amplitude value in the previous week. e g represents the duration of the patient's g-th frowning expression within the period T; G represents the total number of times the patient shows a frowning expression within the period T; f(e g ) represents a multiple selection function based on the duration of the frowning expression; m 1 and m 2 respectively represent the initial mouth opening amplitude and the final mouth opening amplitude in the mouth opening amplitude change information within the period T; the initial mouth opening amplitude represents the mouth opening area value of the patient at the first second within the period T; the final mouth opening amplitude represents the mouth opening area value of the patient at the last second within the period T;

[0046] When C≥c ref , the oral closure prompt information generation sub-module generates oral closure prompt information for indicating that the patient has a risk of sudden oral closure.

[0047] Optionally, as shown in Figure 3 , the offset warning module includes a position sensing data reading sub-module, a dentist information acquisition sub-module, a dentist status analysis sub-module, an offset warning index calculation sub-module, and an offset warning information generation sub-module; the position sensing data reading sub-module is used to read the position sensing data from the position sensing module; the dentist information acquisition sub-module is used to acquire the dentist image information from the on-site monitoring; the dentist status analysis sub-module is used to analyze according to the dentist image information and extract the action information of the dentist; the offset warning index calculation sub-module is used to calculate the corresponding offset warning index according to the patient's average closure interval information, mouth opening amplitude change information, tool type information, and position sensing data.

[0048] When the offset warning index calculation sub-module works, the following formula is satisfied:

[0049]

[0050] Wherein, P represents the offset warning index; Q(kind) represents the selection function based on the tool type; kind represents the tool type in the tool type information; kind = 1 represents the tool type is a manual tool type, such as: probe, mirror, forceps, engraver, scaler, extraction tool, cotton swab. kind = 2 represents the tool type is a syringe tool type;

[0051] kind = 3 represents the tool type is an electric tool type, such as: dental drill, ultrasonic scaler, curing light, electric grinder, root canal treatment instrument, oral scanner. μ 1 and μ 2 respectively represent the length transformation coefficient and the volume transformation coefficient, both of which are set by the administrator according to experience. Preferably, the more patients the dentist sees, the smaller the transformation coefficient. For example, if the number of patients the dentist sees is 1000, the length transformation coefficient is 0.6 and the volume transformation coefficient is 0.4; if the number of patients the dentist sees is 5000, the length transformation coefficient is 0.3 and the volume transformation coefficient is 0.1. L q and V q respectively represent the needle length value and the tool operating head volume value; the tool operating head represents the working part of the electric tool in the patient's oral cavity; δ represents the index value transformation coefficient, which is set by the administrator according to experience. Preferably, the larger the tooth position number of the patient's diseased tooth, the larger the index value transformation coefficient. For example, if the tooth position number is 7, the index transformation coefficient is 2; if the tooth position number is 4, the index transformation coefficient is 1.5; M represents the mouth opening amplitude prompt value; t c represents the average closing interval value in the average closing interval information, that is, the time length between two adjacent closings on average; L max and L ref respectively represent the maximum movement amplitude and the reference movement amplitude of the tool within the period T in the position sensing data; the tooth position number preferably uses the tooth position representation method, and the first digit represents the quadrant where the tooth is located. In permanent teeth, 1 represents the upper right, 2 represents the upper left, 3 represents the lower left, 4 represents the lower right; in deciduous teeth, 5 represents the upper right, 6 represents the upper left, 7 represents the lower left, 8 represents the lower right, and the second digit represents the position of the tooth, from the central incisor to the third molar is 1-8;

[0052] When P≥p ref the offset warning information generation sub-module generates offset warning information for indicating that the dentist has a risk of tool offset during use.

[0053] The above length unit is preferably centimeter, the volume unit is preferably cubic centimeter, the time unit is preferably millisecond, the mouth opening amplitude unit is preferably centimeter, and the area unit is preferably square centimeter. If the data is from the corresponding measuring device, the unit is the unit displayed in the corresponding measuring device. Of course, the above units are just an example, and those skilled in the art can set different units according to actual needs when implementing this solution.

[0054] Optionally, in combination with Figure 4 As shown, the article dropping risk warning module includes a risk data reading sub-module, an article dropping risk index calculation sub-module, and an article dropping risk warning information generation sub-module; the risk data reading sub-module is used to read tool type information, dental chair information, and the action information of the dentist; the article dropping risk index calculation sub-module is used to calculate the corresponding article dropping risk index according to the tool type information, dental chair information, and the action information of the dentist; the article dropping risk warning information generation sub-module is used to generate article dropping risk warning information according to the article dropping risk index.

[0055] An oral scanning and navigation method for designing dental implants, applied to an oral scanning and navigation system for designing dental implants as described above, in combination with Figure 5 As shown, the oral scanning and navigation method includes:

[0056] S1. The dentist performs an oral scan on the patient's oral cavity to generate oral scan information of the patient.

[0057] S2. Process the oral scan information of the patient.

[0058] S3. Construct and display a three-dimensional model of the patient's oral cavity according to the processed oral scan information.

[0059] S4. Obtain the sensing data of the tool held by the dentist when the dentist performs an oral surgery or a dental implant impression-taking operation on the patient.

[0060] S5. Process the sensing data.

[0061] S6. Generate and display corresponding navigation information according to the processed sensing data.

[0062] In summary, the above settings construct a three-dimensional oral model of the patient through oral scan information, and then generate corresponding navigation information in combination with sensing data, optimizing the navigation mode and adding working modes to the system, improving the adaptability of the system to facilitate meeting the scenarios of designing and installing dental implants; by first obtaining the patient's oral data and then collecting and processing the oral data into corresponding oral scan information, the generation efficiency of the oral scan information is improved; by monitoring the position of the dentist's handheld tool in the patient's oral cavity and generating corresponding position sensing data, and by monitoring the pressure on the dentist's handheld tool and generating corresponding pressure sensing data, different sensing data are provided for the system, improving the acquisition efficiency and accuracy of the sensing data; by integrating the image navigation information, oral closure prompt information, offset warning information, and item drop risk warning information into corresponding navigation information, the working mode of the system is enriched, and the accuracy and adaptability of the navigation information are improved to facilitate the system's application in more scenarios; by calculating the oral closure prompt index based on the patient's facial expression information, mouth opening amplitude change information, heart rate value, and breathing amplitude value, it is beneficial to improve the accuracy of the oral closure prompt index and further improve the navigation quality; by calculating the corresponding offset warning index based on the patient's average closure interval information, mouth opening amplitude change information, tool information, and position sensing data, it is beneficial to improve the calculation accuracy and calculation efficiency of the offset warning index, and then improve the accuracy and generation efficiency of the navigation information, thus facilitating the improvement of the oral navigation efficiency of the system.

[0063] Embodiment 2: This embodiment includes all the contents of Embodiment 1 and provides an oral scan and navigation system for designing dental implants. In combination Figure 6 As shown, the item drop risk index calculation sub-module includes a tool risk value calculation unit, a dental chair risk value calculation unit, a dentist risk value calculation unit, and an item drop risk index integration unit; the tool risk value calculation unit is used to calculate the tool risk value according to the tool type information and tooth position information; the dental chair risk value calculation unit is used to calculate the dental chair risk value according to the dental chair information and the patient's body information; the dentist risk value is used to calculate the dentist risk value according to the dentist's action information; the item drop risk index integration unit is used to integrate the tool risk value, the dental chair risk value, and the dentist risk value into an item drop risk index.

[0064] When the tool risk value calculation unit works, the following formula is satisfied:

[0065]

[0066] Wherein, R 1 represents the tool risk value, num 1 represents the tooth position number; f(y 1 &y 2) represents a value selection function based on tool type information and the usage of auxiliary materials; y 1 = 1 represents an integrally formed type of tool; y 1 = 0 represents a split-assembly type of tool; y 2 = 0 represents that no auxiliary materials are used in the patient's oral cavity; y 2 = 1 represents that auxiliary materials have been used in the patient's oral cavity;

[0067] When the dental chair risk value calculation unit is working, the following formula is satisfied:

[0068]

[0069] Among them, R 2 represents the dental chair risk value; num 2 represents the number of dental chair tilt positions; in the above application scenario, the larger the dental chair tilt position, the closer the patient's head is to the ground; x 1 and x 2 respectively represent the patient's weight and height;

[0070] The preferred setting rule for the tilt position of the dental chair is:

[0071] At the first gear, the dental chair is in the initial state, and the angle of the dental chair in the initial state is used as the original tilt angle. The tilt angle of the dental chair gradually increases from the first gear to the fourth gear. The larger the tilt angle of the dental chair, the greater the risk of items falling.

[0072] Different dental chairs may have different gear settings and adjustment methods. When applying, according to the above gear setting rule, substitute the corresponding gear value into the above formula to obtain the dental chair risk value.

[0073] When the dentist risk value calculation unit is working, the following formula is satisfied:

[0074] R 3 = (S 1 - s 1ref ) + (S 2 - s 2ref );

[0075] Among them, R 3 represents the dentist risk value; S 1 and S 2 respectively represent the horizontal movement amplitude and vertical movement amplitude of the dentist in the dentist movement information; s 1ref and s 2ref respectively represent the horizontal reference amplitude and vertical reference amplitude in the dentist movement information;

[0076] When the item drop risk index integration unit is working, the following formula is satisfied:

[0077]

[0078] Among them, risk represents the risk index of item dropping; when risk≥o ref the item dropping risk warning information generation sub-module generates item dropping risk warning information for indicating the existence of item dropping risk.

[0079] Preferably, the above length unit is centimeter, the volume unit is cubic centimeter, the time unit is millisecond, the opening amplitude unit is centimeter, and the area unit is square centimeter. If the data is from the corresponding measuring device, the unit is the unit displayed in the corresponding measuring device. Of course, the above units are examples, and those skilled in the art can set different units according to actual needs when implementing this solution.

[0080] In summary, the settings of the risk data reading sub-module, the item dropping risk index calculation sub-module, and the item dropping risk warning information generation sub-module, and the setting that the item dropping risk index calculation sub-module includes a tool risk value calculation unit, a dental chair risk value calculation unit, a dentist risk value calculation unit, and an item dropping risk index integration unit, in cooperation with the item dropping risk index algorithm, are beneficial to more efficiently integrate a more accurate item dropping risk index through the tool risk value, the dental chair risk value, and the dentist risk value, thereby being beneficial to improving the oral navigation efficiency of the system.

[0081] The content disclosed above is only the preferred feasible embodiment of the present invention, and does not limit the protection scope of the present invention. Therefore, all equivalent technical changes made by using the content of the specification and drawings of the present invention are included in the protection scope of the present invention. In addition, the elements therein can be updated with the development of technology.

Claims

1. An oral scanning and navigation system for designing dental implants, characterized in that: It includes an oral scanning terminal, an oral data processing terminal, an oral three-dimensional model terminal, a sensor data acquisition terminal, a sensor data processing terminal and a navigation information prompt terminal; the oral scanning terminal is used for the dentist to perform an oral scan on the patient's oral cavity and generate the patient's oral scanning information; the oral data processing terminal is used to perform oral data processing on the patient's oral scanning information; The oral cavity three-dimensional model terminal is used to construct and display the patient's oral cavity three-dimensional model according to the processed oral cavity scanning information; the sensor data acquisition terminal is used to obtain the sensor data of the dentist's hand-held tools when the dentist performs oral surgery or dental implant impression operation on the patient; the sensor data processing terminal is used to perform sensor data processing on the sensor data; The navigation information prompt terminal is used to generate and display corresponding navigation information according to the processed sensor data; The oral scanning terminal includes an oral scanning gun module and an oral scanning digitization module; The oral scanner module is used for the dentist to hold and scan the patient's oral cavity to obtain the patient's oral data; the oral scanning digitization module is used to collect the oral data and process it into corresponding oral scanning information; The navigation information prompt terminal includes an image navigation module, an oral closure prompt module, a deviation warning module, an item falling risk warning module and a navigation information generation module; the image navigation module is used to generate corresponding image navigation information according to the position sensing data and the oral three-dimensional model; the oral closure prompt module is used to generate the patient's oral closure prompt information according to the patient's status information; The deviation warning module is used to generate deviation warning information of the tool based on the position sensing data and the dentist's status information; The object drop risk warning module is used to generate corresponding object drop risk warning information according to the operation monitoring information and the dentist status information; The navigation information generation module is used to integrate the image navigation information, the oral closure prompt information, the deviation warning information and the object falling risk warning information into navigation information for display to the dentist; The oral closure prompt module includes a patient information acquisition submodule, a patient status analysis submodule, an oral closure prompt index calculation submodule and an oral closure prompt information generation submodule; The patient information acquisition submodule is used to acquire patient image information from on-site monitoring, heart rate information from a heart rate monitoring device, and respiration information from a respiration monitoring device; The patient status analysis submodule is used to analyze the patient's image information, heart rate information and breathing information, and extract the corresponding patient's expression information, average closure interval information, mouth opening amplitude change information, heart rate value and breathing amplitude value; the oral closure prompt index calculation submodule is used to calculate the patient's oral closure prompt index according to the patient's expression information, average closure interval information, mouth opening amplitude change information, heart rate value and breathing amplitude value; The oral closure prompt information generation submodule is used to generate oral closure prompt information indicating that the patient has a risk of sudden oral closure when the calculation result of the oral closure prompt index calculation submodule reaches the prompt condition; The displacement warning module includes a position sensing data reading submodule, a dentist information acquisition submodule, a dentist status analysis submodule, a displacement warning index calculation submodule and a displacement warning information generation submodule; The position sensing data reading submodule is used to read the position sensing data from the position sensing module; The dentist information acquisition submodule is used to acquire dentist image information from on-site monitoring; The dentist status analysis submodule is used to analyze the dentist image information and extract the dentist's action information; the deviation warning index calculation submodule is used to calculate the corresponding deviation warning index according to the patient's average closure interval information, mouth opening amplitude change information, tool type information and dentist's action information; The displacement warning information generating submodule is used to generate displacement warning information indicating that there is a risk of displacement of the tool used by the dentist when the calculation result of the displacement warning index calculating submodule reaches the warning condition; The item drop risk warning module includes a risk data reading submodule, an item drop risk index calculation submodule and an item drop risk warning information generation submodule; The risk data reading submodule is used to read tool type information, dental chair information and dentist's action information; the item drop risk index calculation submodule is used to calculate the corresponding item drop risk index according to the tool type information, dental chair information and dentist's action information; The item drop risk warning information generation submodule is used to generate item drop risk warning information when the calculation result of the item drop risk index calculation submodule meets the conditions.

2. An oral scanning and navigation system for designing dental implants according to claim 1, characterized in that: The sensor data acquisition terminal includes a position sensing module and a pressure sensing module; the position sensing module is used to monitor the position of the dentist's hand-held tool in the patient's mouth and generate corresponding position sensing data; the pressure sensing module is used to monitor the pressure exerted on the dentist's hand-held tool and generate corresponding pressure sensing data.

3. An oral scanning and navigation method for designing a dental implant, applied to an oral scanning and navigation system for designing a dental implant as claimed in claim 2, characterized in that: The oral scanning and navigation method comprises: S1, for the dentist to perform an oral scan on the patient's oral cavity and generate the patient's oral scan information; S2, performing oral data processing on the patient's oral scan information; S3, constructing and displaying the patient's oral three-dimensional model based on the processed oral scan information; S4, obtaining sensor data of a dentist's handheld tool when the dentist performs oral surgery or dental implant impression taking on a patient; S5, performing sensor data processing on the sensor data; S6, generating and displaying corresponding navigation information according to the processed sensor data.

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