Postoperative evaluation method, device, electronic equipment and storage medium for apicoectomy

Abstract

The application provides a method and device for postoperative evaluation of apicoectomy, electronic equipment and storage medium, wherein the method comprises: obtaining preoperative evaluation parameters based on a preoperative reconstruction model of teeth in an oral cavity, wherein the preoperative reconstruction model comprises a planned surgical path of apicoectomy; obtaining a postoperative reconstruction model of teeth in the oral cavity, and determining an actual surgical path of the apicoectomy in the postoperative reconstruction model; registering the preoperative reconstruction model and the postoperative reconstruction model, and obtaining postoperative evaluation parameters based on the registered postoperative reconstruction model; and determining a surgical accuracy evaluation result based on the preoperative evaluation parameters, the postoperative evaluation parameters, the planned surgical path and the actual surgical path. The method, device, electronic equipment and storage medium provided by the application can accurately evaluate the accuracy of apicoectomy, and provide a basis for subsequent treatment schemes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer-aided medical treatment, and in particular to a postoperative evaluation method and device for apicoectomy, an electronic device and a storage medium. BACKGROUND

[0002] Apicoectomy is a kind of oral surgery performed around the root of a tooth, aiming to treat infection or damage around the root tip. Apicoectomy is usually performed in special cases, such as when there is inflammation in the root tip after perfect root canal treatment or when the root canal is overfilled or the foreign matter in the root tip cannot be removed. The operation process of this surgery mainly involves turning up the root tip tissue flap to expose the bone, removing part of the bone through high-speed grinding head, ultrasonic bone knife, etc., or exposing the root tip tissue and scraping off the inflamed tissue, and if necessary, part of the root tip can be removed. Through apicoectomy, inflammation, foreign matter or filling in the root tip area can be effectively removed, thereby restoring the health of the tooth.

[0003] In the study of apicoectomy methods and efficacy, postoperative evaluation is a crucial link. Through postoperative evaluation of apicoectomy, the accuracy of apicoectomy can be determined, and the relationship between the location of apicoectomy, accuracy and surgical efficacy can be further established, which is of great significance for guiding future apicoectomy planning. However, there is currently no effective method to evaluate the accuracy of apicoectomy after surgery. SUMMARY

[0004] The present application provides a postoperative evaluation method and device for apicoectomy, an electronic device and a storage medium to solve the defect that the accuracy of apicoectomy after surgery cannot be effectively evaluated in the prior art.

[0005] The present application provides a postoperative evaluation method for apicoectomy, comprising:

[0006] Based on the preoperative reconstruction model of the teeth in the oral cavity, obtain preoperative evaluation parameters, and the preoperative reconstruction model includes the planned surgical path of apicoectomy;

[0007] Obtain a postoperative reconstruction model of the teeth in the oral cavity, and determine the actual surgical path of apicoectomy in the postoperative reconstruction model;

[0008] Register the preoperative reconstruction model and the postoperative reconstruction model, and based on the registered postoperative reconstruction model, obtain postoperative evaluation parameters;

[0009] Based on the preoperative evaluation parameters, the postoperative evaluation parameters, the planned surgical path and the actual surgical path, determine the surgical accuracy evaluation result.

[0010] According to the application, a method for postoperative evaluation of apicoectomy is provided, which is based on a preoperative reconstruction model of teeth in the oral cavity, and includes the following steps:

[0011] Obtaining preoperative body data of teeth in the oral cavity, and reconstructing based on the preoperative body data to obtain the preoperative reconstruction model; determining a planned surgery path of the apicoectomy, a root direction, a lingual contour line of the root, and a buccal contour line of the root in the preoperative reconstruction model;

[0012] Determining a planned apicoectomy point based on the intersection of the root direction and the planned surgery path;

[0013] Determining a planned root resection end point based on the intersection of the lingual contour line of the root and the planned surgery path;

[0014] Determining a planned root resection start point based on the intersection of the buccal contour line of the root and the planned surgery path;

[0015] Taking the planned apicoectomy point, the planned root resection end point, and the planned root resection start point as the preoperative evaluation parameters.

[0016] According to the application, a method for postoperative evaluation of apicoectomy is provided, which includes the following steps:

[0017] Obtaining a postoperative reconstruction model of teeth with markers in the oral cavity, and determining the actual surgery path of the apicoectomy in the postoperative reconstruction model based on the markers;

[0018] The marker is placed in a drill hole corresponding to the apicoectomy after the apicoectomy, and the size of the marker matches the size of the drill hole.

[0019] According to the application, a method for postoperative evaluation of apicoectomy is provided, which includes the following steps:

[0020] Obtaining postoperative body data of teeth with markers in the oral cavity, and reconstructing based on the postoperative body data to obtain the postoperative reconstruction model;

[0021] Determining the actual surgery path based on the region with different CT values formed by the markers in the postoperative reconstruction model.

[0022] The application provides a method for postoperative evaluation of apicoectomy, which comprises the following steps: acquiring a postoperative reconstruction model of teeth with markers in an oral cavity, and determining an actual operation path of the apicoectomy in the postoperative reconstruction model based on the markers.

[0023] Based on an oral digital scanning device, a scanning model of teeth with markers in the postoperative oral cavity is acquired as the postoperative reconstruction model.

[0024] The standard model of the markers is registered with the postoperative reconstruction model, and the actual operation path is determined based on the registered postoperative reconstruction model.

[0025] The application provides a method for postoperative evaluation of apicoectomy, which comprises the following steps: registering the preoperative reconstruction model with the postoperative reconstruction model, and acquiring postoperative evaluation parameters based on the registered postoperative reconstruction model.

[0026] The preoperative reconstruction model is registered with the postoperative reconstruction model to obtain a registered postoperative reconstruction model, and the registered postoperative reconstruction model comprises a planned operation path, an actual operation path, a tooth root direction, a lingual contour line of a tooth root and a buccal contour line of a tooth root.

[0027] An actual apicoectomy point is determined based on the intersection of the tooth root direction and the actual operation path.

[0028] An actual root resection end point is determined based on the intersection of the lingual contour line of the tooth root and the actual operation path.

[0029] An actual root resection start point is determined based on the intersection of the buccal contour line of the tooth root and the actual operation path.

[0030] The actual apicoectomy point, the actual root resection end point and the actual root resection start point are taken as the postoperative evaluation parameters.

[0031] The application provides a method for postoperative evaluation of apicoectomy, which comprises the following steps: based on the preoperative evaluation parameters, the postoperative evaluation parameters, the planned operation path and the actual operation path, a surgical accuracy evaluation result is determined, and the surgical accuracy evaluation result comprises a root resection length deviation which is determined based on the distance between a planned apicoectomy point in the preoperative evaluation parameters and an actual apicoectomy point in the postoperative evaluation parameters.

[0032] A root resection end point deviation is determined based on the distance between a planned root resection end point in the preoperative evaluation parameters and an actual root resection end point in the postoperative evaluation parameters.

[0033] A root resection start point deviation is determined based on the distance between a planned root resection start point in the preoperative evaluation parameters and an actual root resection start point in the postoperative evaluation parameters.

[0034] determine a resection angle deviation based on an included angle between a first straight line and a second straight line, the first straight line being determined based on the planned resection start point and the planned resection end point, the second straight line being determined based on the actual resection start point and the actual resection end point;

[0035] determine a surgical path angle deviation based on the planned surgical path and the actual surgical path;

[0036] determine a surgical accuracy evaluation result based on at least one of the resection length deviation, the resection end point deviation, the resection start point deviation, the resection angle deviation, and the surgical path angle deviation.

[0037] The application further provides a root resection surgery postoperative evaluation device, comprising:

[0038] an preoperative parameter acquisition unit, configured to acquire preoperative evaluation parameters based on a preoperative reconstruction model of teeth in an oral cavity, the preoperative reconstruction model comprising a planned surgical path of root resection;

[0039] a postoperative model acquisition unit, configured to acquire a postoperative reconstruction model of teeth in the oral cavity, and determine an actual surgical path of the root resection in the postoperative reconstruction model;

[0040] a postoperative parameter acquisition unit, configured to register the preoperative reconstruction model and the postoperative reconstruction model, and acquire postoperative evaluation parameters based on the registered postoperative reconstruction model;

[0041] an evaluation result determination unit, configured to determine a surgical accuracy evaluation result based on the preoperative evaluation parameters, the postoperative evaluation parameters, the planned surgical path, and the actual surgical path.

[0042] The application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the above-mentioned root resection surgery postoperative evaluation method when executing the program.

[0043] The application further provides a non-transitory computer readable storage medium, having a computer program stored thereon, the computer program being executable by a processor to implement the above-mentioned root resection surgery postoperative evaluation method.

[0044] The application further provides a computer program product, comprising a computer program, the computer program being executable by a processor to implement the above-mentioned root resection surgery postoperative evaluation method.

[0045] The present invention provides a method, device, electronic device, and storage medium for postoperative evaluation of apexification surgery. By determining the planned surgical path and the actual surgical path in the preoperative and postoperative reconstruction models respectively, and registering the preoperative and postoperative reconstruction models, the planned and actual surgical paths can be simultaneously displayed in the registered postoperative reconstruction model, facilitating the evaluation of the accuracy of the apexification surgery. Furthermore, the preoperative and postoperative evaluation parameters comprehensively reflect the effect of the apexification surgery. Through these parameters, the planned and actual surgical paths, the accuracy of the surgery can be accurately evaluated, providing a basis for subsequent treatment plans and offering important guidance for future apexification surgery planning. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 This is a flowchart illustrating the postoperative evaluation method for apexification surgery provided by the present invention;

[0048] Figure 2 This is a schematic diagram of the planned surgical path in the three-dimensional reconstruction model provided by the present invention;

[0049] Figure 3 This is a schematic diagram of the planned surgical path in the multi-plane reconstruction model provided by the present invention;

[0050] Figure 4 This is a schematic diagram of the planned surgical path and preoperative evaluation parameters in the multi-planar reconstruction model provided by the present invention;

[0051] Figure 5 This is a schematic diagram of the planned surgical path and the actual surgical path in the three-dimensional reconstruction model provided by the present invention;

[0052] Figure 6 This is a schematic diagram of the evaluation parameters for the planned surgical path and the actual surgical path in the multi-plane reconstruction model provided by this invention;

[0053] Figure 7 This is a schematic diagram of the postoperative evaluation device for apexification surgery provided by the present invention;

[0054] Figure 8 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0055] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below in conjunction with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0056] Apicoectomy is a complex and delicate treatment in oral surgery, mainly aiming at the infection, damage or filling problems of the root of the tooth, i.e. the apical region. The success of apicoectomy depends largely on the accuracy of the operation. Accurate apicoectomy not only can effectively treat diseases, but also can avoid excessive damage to the surrounding healthy tissues. Therefore, establishing the relationship between the apicoectomy position, accuracy and curative effect is of great significance for guiding future apicoectomy planning.

[0057] Although apicoectomy plays an important role in oral surgery, there are still obvious defects in the current evaluation methods for its postoperative accuracy. First, most of the existing evaluation methods are based on clinical observation and patient's subjective feedback. These methods are often disturbed by various factors, such as patient individual differences, postoperative recovery, etc., resulting in inaccurate and objective evaluation results. Second, there is no uniform standard for quantitative evaluation of postoperative accuracy of apicoectomy. Different medical institutions and doctors may use different evaluation methods and standards, which leads to inconsistency and poor comparability of evaluation results.

[0058] To this end, the present application provides a simple and easy apicoectomy postoperative evaluation method, which compares the differences between the actual operation path and the planned operation path to evaluate the accuracy and precision of apicoectomy, thereby overcoming the above-mentioned defects. First, the abbreviations and key terms involved in the embodiments of the present application will be explained, which will facilitate the understanding of the technical features, technical means and technical effects of the present application.

[0059] Model: i.e. three-dimensional model, is a polygonal surface representation of an object, which is usually displayed by a computer or other video equipment. The displayed object can be a real-world entity or a fictional object. It can be obtained by oral digital scanning equipment.

[0060] Volume data: a set of data obtained by CT (Computed Tomography, Computed Tomography), MRI (Magnetic Resonance Imaging, Magnetic Resonance Imaging) and other tomographic scanning methods at certain intervals. All images in the volume data can be arranged in order to form a cubic data, which can be displayed as a three-dimensional image by three-dimensional reconstruction algorithm.

[0061] CT value: is a measure of the density of a local tissue or organ in the human body, usually referred to as Hounsfield unit (HU), the CT value of air is-1000, and the CT value of dense bone is +1000.

[0062] Model registration: refers to the matching and superimposing of two or more models obtained at different times, by different imaging devices or under different conditions (such as weather, light, camera position and angle, etc.).

[0063] Surgical path: the direction and position information of the drill bit in three-dimensional space during apicoectomy surgery. The key parameters are the diameter, length and end position of the drill bit.

[0064] Planned surgical path: the expected surgical path set in the computer software according to the preoperative body data of the patient, which can be represented by a cylinder with a specified diameter and length.

[0065] Actual surgical path: after the surgery is completed, the postoperative body data or scan model data of the patient with markers is obtained by placing markers on the postoperative drill path, and the surgical path is virtually extracted by extracting the features of the markers in the computer software.

[0066] Figure 1 is a flowchart of the postoperative evaluation method for apicoectomy surgery provided by the present application, as shown in Figure 1 The method comprises the following steps:

[0067] Step 110, based on the preoperative reconstruction model of the teeth in the oral cavity, obtaining the preoperative evaluation parameter, the preoperative reconstruction model including the planned surgical path of the apicoectomy;

[0068] Specifically, the preoperative reconstruction model of the teeth in the oral cavity refers to an image model reconstructed based on the medical image data (such as CT scan, MRI, oral digital scan, etc.) of the teeth, jaw and other related oral structures of the patient. This model provides detailed structural information of the teeth and apical region, so that the user can plan the surgery in a virtual environment, including the planned surgical path of the apicoectomy.

[0069] It can be understood that the preoperative reconstruction model can include a three-dimensional reconstruction model, which refers to a mathematical model suitable for computer representation and processing of a three-dimensional object. By obtaining the preoperative body data of the patient's oral cavity, the body data can be reconstructed into a three-dimensional image, thereby obtaining the three-dimensional reconstruction model before the operation, so as to observe the internal tissue structure of the patient's oral cavity from any angle. Figure 2 is a schematic diagram of the planned surgical path in the three-dimensional reconstruction model provided by the present application, as shown in Figure 2As shown in the figure, the cylinder in the figure represents the planned surgical path, which shows the spatial positional relationship between the planned surgical path and the dental root in the three-dimensional reconstruction model. The arrow in the figure represents the drilling direction of the planned surgical path, which is approximately perpendicular to the direction of the pulp cavity. The user can also adjust the planned surgical path to the desired position.

[0070] The preoperative reconstruction model can also include a multiplanar reconstruction (MPR) model. MPR is a three-dimensional reconstruction technique in medical imaging. Specifically, the MPR technique can convert three-dimensional medical image data obtained by CT, MRI, or other tomographic scanning methods into two-dimensional images displayed on different planes. These two-dimensional images can be images displayed on multiple planes such as the coronal plane, the sagittal plane, and the axial plane, thereby helping the user to more comprehensively and accurately observe the internal tissue structure of the patient's oral cavity. Figure 3 is a schematic diagram of a planned surgical path in a multiplanar reconstruction model provided by the present application, as Figure 3 As shown in the figure, the rectangular box in the figure represents the planned surgical path, which shows the positional relationship between the planned surgical path and the dental root in the multiplanar reconstruction model. It should be understood that the above-mentioned three-dimensional reconstruction model and multiplanar reconstruction model are image models obtained from volume data using a three-dimensional reconstruction algorithm.

[0071] According to the preoperative reconstruction model of the teeth in the oral cavity, preoperative evaluation parameters can be obtained. Here, the preoperative evaluation parameters refer to a series of quantitative or directional data derived based on the preoperative reconstruction model, which are used to provide a benchmark for surgical planning. For example, the preoperative evaluation parameters can include the apical resection point, length, and depth of the planned surgical path. It should be understood that when extracting the preoperative evaluation parameters from the preoperative reconstruction model, a corresponding measurement tool or AI (Artificial Intelligence) algorithm can be used to achieve this.

[0072] For example, to obtain the preoperative evaluation parameters, the direction of the dental root and the contour line of the dental root can be marked in the preoperative multiplanar reconstruction model. Thus, the preoperative evaluation parameters can be determined according to the intersection of the direction of the dental root and the contour line of the dental root with the planned surgical path. It should be noted that the specific implementation of obtaining the preoperative evaluation parameters based on the preoperative reconstruction model of the teeth in the oral cavity will be described in detail in the following embodiments.

[0073] Step 120, obtaining a postoperative reconstruction model of the teeth in the oral cavity, and determining the actual surgical path of the apical resection in the postoperative reconstruction model;

[0074] Specifically, the postoperative reconstruction model refers to an image model reconstructed based on medical image data of the patient's teeth, jaw bones and other related oral structures after the apicoectomy surgery. This model can accurately reflect the changes in the position, shape of the teeth and the apical region after the surgery. In order to obtain the postoperative reconstruction model of the oral teeth, detailed image data of the patient's oral cavity after the surgery can be collected by medical imaging techniques such as CT scanning equipment, nuclear magnetic resonance equipment, oral digital scanning equipment, etc., and the postoperative reconstruction model can be constructed by applying these image data. It should be understood that the postoperative reconstruction model can also include a three-dimensional reconstruction model and a multi-planar reconstruction model.

[0075] After obtaining the postoperative reconstruction model, the actual surgical path of the apicoectomy can be identified and marked in the postoperative reconstruction model. After the apicoectomy, neither the CT scanning image data nor the oral digital scanning image data can identify and determine the actual drilling path, i.e., the actual surgical path cannot be obtained. Therefore, in order to determine the actual surgical path in the postoperative reconstruction model, a marker with a shape and size suitable for the drill hole can be placed on the actual surgical path after the apicoectomy surgery is completed; subsequently, by obtaining image data of the patient's oral cavity after the surgery with the marker, and reconstructing the postoperative reconstruction model based on these image data, the contour and direction of the marker can be identified in the postoperative reconstruction model, i.e., the actual surgical path of the apicoectomy is obtained.

[0076] Step 130, registering the preoperative reconstruction model and the postoperative reconstruction model, and obtaining postoperative evaluation parameters based on the registered postoperative reconstruction model;

[0077] It should be noted that after obtaining the preoperative reconstruction model and the postoperative reconstruction model, the two models can be registered so that the two models are aligned for comparison in the same spatial coordinate system. Here, for the two models to be registered, the registration process is as follows: first, feature extraction is performed on the two models to obtain feature points; then, matching feature point pairs are found by similarity measurement; subsequently, model spatial coordinate transformation parameters are obtained through the matching feature point pairs; finally, model registration is performed based on the coordinate transformation parameters.

[0078] Specifically, when registering the preoperative reconstruction model and the postoperative reconstruction model, three feature points can be randomly selected in the models for coarse registration, and then point cloud precision can be performed through the ICP (Iterative Closest Point) algorithm. Specifically, the following steps can be used to achieve this: First, three feature points on the teeth in the two models can be selected respectively, and based on the above registration process, the two models are coarsely registered so that the distance between the two models is less than a first preset threshold. Subsequently, based on the ICP algorithm, the two models are precisely registered so that the distance between the two models is less than a second preset threshold. Here, the second preset threshold is less than the first preset threshold, and the first preset threshold and the second preset threshold are set according to the specific scene, and the embodiments of the present application do not make specific limitations. The ICP algorithm is a point set to point set registration method.

[0079] After model registration, the postoperative reconstruction model can include both the planned surgical path and the actual surgical path. By using the three-dimensional reconstruction model in the postoperative reconstruction model, the user can intuitively see the changes before and after the apicoectomy surgery, as well as the comparison between the planned surgical path and the actual surgical path, thereby helping the user better understand the surgical process and results, and also helping to evaluate the accuracy of the surgery.

[0080] After obtaining the registered postoperative reconstruction model, the postoperative evaluation parameters can be extracted therefrom. Here, the postoperative evaluation parameters refer to a series of quantitative or directional data obtained based on the postoperative reconstruction model, which are used to evaluate the accuracy of the surgery. For example, the postoperative evaluation parameters can include the actual apicoectomy point, the apicoectomy length, and the depth, etc. It should be understood that when extracting the postoperative evaluation parameters from the registered postoperative reconstruction model, appropriate measurement tools or AI algorithms can be used.

[0081] For example, to obtain the postoperative evaluation parameters, the tooth root direction and the tooth root contour line can be marked in the postoperative multi-planar reconstruction model, and thus the postoperative evaluation parameters can be determined according to the intersection of the tooth root direction and the tooth root contour line with the actual surgical path. It should be noted that the specific implementation of obtaining the postoperative evaluation parameters based on the registered postoperative reconstruction model will be described in detail in the following embodiments.

[0082] Step 140, based on the preoperative evaluation parameters, the postoperative evaluation parameters, the planned surgical path and the actual surgical path, determining the surgical accuracy evaluation result.

[0083] Specifically, in determining the surgical accuracy evaluation result, the preoperative evaluation parameters, the postoperative evaluation parameters, the planned surgical path and the actual surgical path can be comprehensively considered. Specifically, the preoperative evaluation parameters and the postoperative evaluation parameters can be compared, including the positional change of the apical resection point, the length of the apical resection, the difference in depth, etc. The changes in these parameters can reflect the influence of the surgery on the target area. At the same time, by comparing the planned surgical path and the actual surgical path, the accuracy of drilling, the drilling path and the accuracy of the resection area can be judged. According to the differences in parameter comparison and path comparison, the surgical accuracy can be evaluated. For example, the accuracy of the surgery can be judged according to one or more indicators in the difference comparison result. The indicators can also be integrated into a comprehensive score or grade according to different weights and scoring systems to more intuitively reflect the overall accuracy of the surgery.

[0084] It can be understood that according to the surgical accuracy evaluation result, the effect of the surgery and possible problems can be interpreted. If the surgical accuracy is high, it indicates that the surgery has achieved the expected goal. If the surgical accuracy is low, further analysis of the reasons and corresponding measures should be taken to improve it, thereby providing guidance for future apical resection surgery.

[0085] The method provided by the embodiments of the present application can determine the planned surgical path and the actual surgical path in the preoperative reconstruction model and the postoperative reconstruction model respectively, and register the preoperative reconstruction model and the postoperative reconstruction model. Thus, the planned surgical path and the actual surgical path can be simultaneously displayed in the registered postoperative reconstruction model, thereby facilitating the evaluation of the accuracy of the apical resection surgery. In addition, the preoperative evaluation parameters and the postoperative evaluation parameters can comprehensively reflect the effect of the apical resection surgery. By the preoperative evaluation parameters, the postoperative evaluation parameters, the planned surgical path and the actual surgical path, the accuracy of the surgery can be accurately evaluated to provide a basis for subsequent treatment plans and important guidance for future apical surgery planning.

[0086] Based on the above embodiments, step 110 specifically includes:

[0087] Step 111, obtaining preoperative body data of teeth in the oral cavity, and reconstructing based on the preoperative body data to obtain the preoperative reconstruction model;

[0088] Specifically, in order to perform postoperative evaluation of the apical resection surgery, detailed image data (i.e. preoperative body data) of the patient's oral cavity can be obtained by medical imaging technology (such as CT scanning, MRI or oral digital scanning, etc.) before the apical resection surgery is performed, and the collected image data can be processed using a special medical image processing software to construct a preoperative reconstruction model (including a three-dimensional reconstruction model and a multi-planar reconstruction model). This process involves image segmentation, smoothing, threshold setting, etc. to highlight the structure of the teeth and the apical region.

[0089] Step 112, determining a planned surgical path of the apicoectomy in the preoperative reconstruction model, and determining a tooth root direction, a tooth root lingual contour line and a tooth root buccal contour line;

[0090] Specifically, after the preoperative reconstruction model is constructed, the planned surgical path of the apicoectomy can be determined in the preoperative reconstruction model. For example, the three-dimensional reconstruction model can be a virtual and interactive three-dimensional environment, in which a user can perform surgical planning, i.e., according to the surgical requirements, selecting and marking key feature points such as the surgical entry point and the target resection area on the three-dimensional reconstruction model, so as to manually draw the planned surgical path in the three-dimensional reconstruction model. In addition, the user can also adjust and optimize the planned surgical path as needed to obtain the optimal planned surgical path. For another example, the planned surgical path can also be automatically marked in the preoperative reconstruction model by an artificial intelligence algorithm. Specifically, a large amount of surgical data and images can be used to train the artificial intelligence algorithm, and the trained algorithm can automatically identify and segment key structures and regions in the preoperative reconstruction model, such as identifying tooth, bone, apical tissue and other structures, and determining their positions and shapes. Based on the results of identification and segmentation, the algorithm can automatically plan a path that meets the surgical requirements. It should be understood that the user can verify the planned surgical path generated by the algorithm to determine whether it meets the surgical requirements, and adjust and optimize the generated planned surgical path according to the specific circumstances of the patient and the surgical requirements.

[0091] After the planned surgical path is determined, in order to obtain the preoperative evaluation parameters, the tooth root direction and the tooth root contour line, including the tooth root lingual contour line and the tooth root buccal contour line, can be further determined in the preoperative reconstruction model. Here, the tooth root refers to the part of the tooth fixed in the alveolar bone, which is below the tooth crown, and the tooth root direction refers to the extension direction of the tooth root from the tooth crown to the root tip. The direction of the tooth root can generally correspond to the direction of the pulp cavity. The tooth root lingual contour line refers to the outer surface contour line of the tooth root close to the tongue side. The tooth root buccal contour line refers to the outer surface contour line of the tooth root close to the cheek side. It should be understood that when the tooth root lingual contour line and the tooth root buccal contour line are determined in the preoperative reconstruction model, they can be manually drawn by the user according to the gray scale of the CT image, or they can be determined by the tooth root automatically identified by the AI algorithm. The present embodiment does not make specific limitations thereto.

[0092] Step 113, determining a planned apicoectomy point based on the intersection of the tooth root direction and the planned surgical path;

[0093] Step 114, determining a planned root resection end point based on the intersection of the tooth root lingual contour line and the planned surgical path;

[0094] Step 115, determining a planned root cutting starting point based on the intersection of the buccal root contour line and the planned surgical path;

[0095] The planned apical resection point, the planned root cutting end point and the planned root cutting starting point are taken as the preoperative evaluation parameters.

[0096] Specifically, the planned apical resection point refers to the specific location of the root apex that needs to be resected before the operation, ensuring that the diseased tissue can be accurately resected during the operation. The planned root cutting end point refers to the specific end point position of the root that is to be cut off before the operation, and the planned root cutting starting point refers to the specific position of the root that is to be cut off before the operation. The planned surgical path usually completely contains the diseased root apex area to ensure that all infected or diseased root tissues are resected. The width of the planned surgical path should not be too wide, and an appropriate drill diameter should be selected to ensure that the diseased tissue is resected while avoiding damage to the surrounding healthy tissue.

[0097] Figure 4 is a schematic diagram of the planned surgical path and the preoperative evaluation parameters in the multi-planar reconstruction model provided by the present application, as shown in Figure 4 The rectangular area in the figure represents the planned surgical path, and the vector P0→P1 represents the direction of the root, which can be drawn by the dentist according to experience. The direction of the root is generally the direction of the pulp cavity. Curve l1 is the lingual root contour line drawn according to the root contour, which can be obtained according to the gray scale of the CT or determined by the AI algorithm automatically recognized root. Curve l2 is the buccal root contour line drawn according to the root contour. Here, curves l1 and l2 need to be drawn on the plane where P0 and P1 are located. The position of the planned surgical path can be determined according to the CT image first, and then the root direction P0→P1, the lingual root contour line l1 and the buccal root contour line l2 are drawn. Experienced doctors can also directly place the position of the planned surgical path according to the information of the pulp cavity direction, l1 and l2 in the CT image, and then draw the above-mentioned P0→P1, l1 and l2 curves for finding the planned root cutting starting point and the planned root cutting end point.

[0098] After marking the root direction, the lingual root contour line and the buccal root contour line in the multi-planar reconstruction model, the planned apical resection point P1 can be determined by the intersection of the root direction and the planned surgical path. The planned root cutting end point P2 can be determined by the intersection of the lingual root contour line l1 and the planned surgical path. The planned root cutting starting point P3 can be determined by the intersection of the buccal root contour line l2 and the planned surgical path.

[0099] Based on any of the above embodiments, step 120 specifically includes:

[0100] In step 121, a postoperative reconstruction model of teeth with an identifier in the oral cavity is obtained, and an actual operation path of the apicoectomy is determined in the postoperative reconstruction model based on the identifier.

[0101] The identifier is placed in a drill hole corresponding to the apicoectomy after the apicoectomy, and the size of the identifier matches the size of the drill hole.

[0102] Specifically, after the apicoectomy operation is completed, an identifier that matches the diameter, shape and size of the drill hole can be placed on the actual drilling path to obtain image data of the oral cavity after the operation with the identifier, so as to create a postoperative reconstruction model with the identifier. After obtaining the postoperative reconstruction model, the actual operation path of the apicoectomy can be determined by identifying the contour and direction of the identifier in the model. It should be understood that the identifier can be a cylindrical metal rod made of titanium alloy, or a titanium alloy protrusion, a ceramic protrusion or an implant with an abutment, and the embodiments of the present application do not make specific limitations.

[0103] The method provided by the embodiments of the present application can accurately determine the actual operation path of the apicoectomy in the postoperative reconstruction model by placing an identifier that matches the drill hole in the drill hole after the apicoectomy, so that the accuracy of the apicoectomy operation can be accurately evaluated by comparing the difference between the actual operation path and the planned operation path.

[0104] Based on any of the above embodiments, step 121 specifically includes:

[0105] Obtaining postoperative body data of teeth with an identifier in the oral cavity, and reconstructing based on the postoperative body data to obtain the postoperative reconstruction model;

[0106] Based on the region with different CT values formed by the identifier in the postoperative reconstruction model, the actual operation path is determined.

[0107] Specifically, the postoperative reconstruction model can be obtained in various ways. For example, after the apicoectomy operation, a cylindrical metal rod (made of titanium alloy or the like) that matches the diameter, size and shape of the drill hole can be placed on the actual drilling path, and postoperative CT body data can be obtained by a CT scanning device. Since the CT value of the metal is large, the cylindrical metal rod will form a high-brightness region in the postoperative CT image data. Therefore, in the postoperative reconstruction model, the actual operation path can be determined by identifying the high-brightness region formed by the identifier.

[0108] Based on any of the above embodiments, step 121 specifically includes:

[0109] Based on the digital scanning device of the oral cavity, a scanning model of teeth with an identifier in the postoperative oral cavity is obtained as the postoperative reconstruction model.

[0110] The standard model of the marker and the postoperative reconstruction model are registered, and the actual surgical path is determined based on the registered postoperative reconstruction model.

[0111] Specifically, in order to determine the actual surgical path in the postoperative reconstruction model, a titanium alloy or ceramic protrusion (for example, an implant with a base) with identifiable contour features can also be placed on the actual drilling path after the apicoectomy surgery, and a postoperative oral scanning model is obtained by the oral digital scanning device; subsequently, the actual surgical path can be determined by registering the standard model of the marker with the postoperative oral scanning model. The registration process is generally to register the standard model of the marker with the protruding part (for example, the base part of the implant) of the marker in the postoperative reconstruction model. It should be understood that the method of registering the standard model of the marker with the oral scanning model can refer to the model registration process in the above-mentioned embodiments, which will not be described here.

[0112] Based on any of the above-mentioned embodiments, step 130 specifically comprises:

[0113] Step 131, registering the preoperative reconstruction model and the postoperative reconstruction model to obtain a registered postoperative reconstruction model, wherein the registered postoperative reconstruction model comprises a planned surgical path, an actual surgical path, a root direction, a lingual root contour line and a buccal root contour line;

[0114] Specifically, by referring to the model registration method in the above-mentioned embodiments, the preoperative reconstruction model and the postoperative reconstruction model can be registered, that is, three feature points are randomly selected in the model for coarse registration, and then the ICP algorithm is used for point cloud fine registration. Since the planned surgical path, the root direction, the lingual root contour line and the buccal root contour line have been drawn in the preoperative reconstruction model, the registered postoperative reconstruction model can include the planned surgical path, the root direction, the lingual root contour line, the buccal root contour line before surgery and the actual surgical path represented by the marker after surgery. The contour and direction of the marker are identified in the registered postoperative reconstruction model, and the actual surgical path can be virtually determined.

[0115] Figure 5 is a schematic diagram of the planned surgical path and the actual surgical path in the three-dimensional reconstruction model provided by the present application, as Figure 5As shown, the three-dimensional reconstruction model after model registration shows the spatial relationship between the planned path and the actual surgical path. The cylinder corresponding to the arrow marked as "actual" (the center of the cylinder is pointed by the arrow) represents the actual surgical path, and the arrow represents the drilling direction of the actual surgical path. The cylinder corresponding to the arrow marked as "planned" (the center of the cylinder is pointed by the arrow) represents the planned surgical path, and the arrow represents the drilling direction of the planned surgical path.

[0116] Step 132, determining the actual apicoectomy point based on the intersection of the root direction and the actual surgical path;

[0117] Step 133, determining the actual root amputation end point based on the intersection of the lingual root contour line and the actual surgical path;

[0118] Step 134, determining the actual root amputation start point based on the intersection of the buccal root contour line and the actual surgical path;

[0119] The actual apicoectomy point, the actual root amputation end point and the actual root amputation start point are taken as the postoperative evaluation parameters.

[0120] Specifically, the actual apicoectomy point refers to the specific position of the actual resected root apex determined after surgery; the actual root amputation end point refers to the actual end point position of the resected root determined after surgery; and the actual root amputation start point refers to the actual position of the resected root determined after surgery.

[0121] Figure 6 is a schematic diagram of the evaluation parameters of the planned surgical path and the actual surgical path in the multi-planar reconstruction model provided by the present application, as shown in Figure 6 As shown in the multi-planar reconstruction model after registration, the postoperative evaluation parameters corresponding to the actual surgical path can be calculated by computer software. Since the preoperative reconstruction model and the postoperative reconstruction model have been registered, the root direction, the lingual root contour line and the buccal root contour line have been marked in the model, and this step only needs to mark the actual surgical path. Specifically, the high-lighted rectangular area (black frame) in the figure represents the actual surgical path, the gray rectangular frame represents the planned surgical path, the directional vector P0→P1 represents the root direction, the curve l1 is the lingual root contour line drawn according to the root contour, the curve l2 is the buccal root contour line drawn according to the root contour, P1 represents the planned apicoectomy point, P2 represents the planned root amputation end point, and P3 represents the planned root amputation start point.

[0122] In the registered multi-planar reconstruction model, the actual apicoectomy point P4 can be determined by the intersection of the tooth root direction (or the extension of P0→P1) and the actual surgical path; the actual root cutting end point P5 can be determined by the intersection of the tooth root lingual contour line l1 and the actual surgical path; and the actual root cutting start point P6 can be determined by the intersection of the tooth root buccal contour line l2 and the actual surgical path.

[0123] Based on any of the above embodiments, step 140 specifically comprises:

[0124] Step 141, determining the root cutting length deviation based on the distance between the planned apicoectomy point in the preoperative evaluation parameters and the actual apicoectomy point in the postoperative evaluation parameters;

[0125] Specifically, according to the three-dimensional space coordinates of the planned apicoectomy point and the actual apicoectomy point in the registered multi-planar reconstruction model, the distance between the planned apicoectomy point and the actual apicoectomy point can be calculated using the calculation formula of the distance between two points in three-dimensional space (such as Euclidean distance), i.e. the root cutting length deviation (unit: millimeter) is obtained. In addition, in order to determine the position of the actual apicoectomy point relative to the planned apicoectomy point, the positive and negative values of the distance can be determined by the projection of the line connecting the actual apicoectomy point to the planned apicoectomy point (P4→P1) along the tooth root direction (i.e. P0→P1), and by determining the positive and negative values of the distance, the user can more accurately evaluate the surgical effect and make subsequent treatment decisions accordingly.

[0126] Step 142, determining the root cutting end point deviation based on the distance between the planned root cutting end point in the preoperative evaluation parameters and the actual root cutting end point in the postoperative evaluation parameters;

[0127] Specifically, according to the three-dimensional space coordinates of the planned root cutting end point and the actual root cutting end point in the registered multi-planar reconstruction model, the distance between the actual root cutting end point and the planned root cutting end point can be calculated, i.e. the root cutting end point deviation (unit: millimeter) is obtained. The positive and negative values of the root cutting end point deviation can be determined by the projection of the line connecting the two root cutting end points (P5→P2) along the tooth root direction.

[0128] Step 143, determining the root cutting start point deviation based on the distance between the planned root cutting start point in the preoperative evaluation parameters and the actual root cutting start point in the postoperative evaluation parameters;

[0129] Specifically, according to the three-dimensional space coordinates of the planned root cutting start point and the actual root cutting start point in the registered multi-planar reconstruction model, the distance between the actual root cutting start point and the planned root cutting start point can be calculated, i.e. the root cutting start point deviation (unit: millimeter) is obtained. The positive and negative values of the root cutting start point deviation can be determined by the projection of the line connecting the two root cutting start points (P6→P3) along the tooth root direction.

[0130] Step 144, determining a stump angle deviation based on an included angle between a first straight line and a second straight line, the first straight line being determined based on the planned stump starting point and the planned stump ending point, the second straight line being determined based on the actual stump starting point and the actual stump ending point;

[0131] Specifically, according to the three-dimensional spatial coordinates of the planned stump ending point and the planned stump starting point in the registered multi-planar reconstruction model, the direction vector of the first straight line can be calculated; according to the three-dimensional spatial coordinates of the actual stump ending point and the actual stump starting point in the registered multi-planar reconstruction model, the direction vector of the second straight line can be calculated. The included angle between the two direction vectors can be calculated using the dot product and the vector length, and thus the stump angle deviation (in degrees) can be obtained.

[0132] Step 145, determining a surgical path angle deviation based on the planned surgical path and the actual surgical path;

[0133] Specifically, according to the three-dimensional spatial directions of the planned surgical path and the actual surgical path in the registered multi-planar reconstruction model, the surgical angle deviation (in degrees) can be calculated. That is, in the registered multi-planar reconstruction model, the straight lines where the axes of the planned surgical path and the actual surgical path are located, i.e., the axes of the two cylindrical bodies, are determined, and the surgical path angle deviation can be determined by calculating the included angle between the two straight lines.

[0134] Step 146, determining a surgical accuracy evaluation result based on at least one of the stump length deviation, the stump ending point deviation, the stump starting point deviation, the stump angle deviation, and the surgical path angle deviation.

[0135] Specifically, in the postoperative evaluation of the root tip surgery, the user can select one or more of the stump length deviation, the stump ending point deviation, the stump starting point deviation, the stump angle deviation, and the surgical path angle deviation according to the needs, and evaluate the accuracy of the surgery for each deviation result respectively. The user can also consider these deviation results comprehensively to achieve an accurate evaluation of the surgery. For example, according to the importance of each deviation result to the surgical result, a corresponding weight can be assigned to it, each deviation result is multiplied by its corresponding weight, and then the results are added to obtain a comprehensive deviation value, and the comprehensive deviation value is compared with a set threshold to determine the accuracy of the surgery. Here, one or more thresholds for the comprehensive deviation value can be set in advance according to clinical experience or expert opinion, and these thresholds can be used to judge the accuracy of the surgery.

[0136] According to the determined surgical accuracy evaluation result, the user can understand the success degree of the surgery and provide guidance for subsequent treatment or further evaluation. For example, if the surgical accuracy evaluation result shows that there is a large deviation in the surgery, the user can further analyze the reason and take corresponding measures to improve it to improve the accuracy of future surgery.

[0137] Based on any of the above embodiments, the application provides a method for postoperative evaluation of apicoectomy surgery, which comprises the following steps: S1, obtaining preoperative body data of a patient's oral cavity, and reconstructing based on the preoperative body data to obtain a preoperative three-dimensional reconstruction model and a multiplanar reconstruction model.

[0138] Step S2, determine the planned surgical path in the preoperative three-dimensional reconstruction model and the multiplanar reconstruction model.

[0139] Step S3, calculate the preoperative evaluation parameters according to the preoperative multiplanar reconstruction model.

[0140] Specifically, the tooth root direction, the tooth root lingual contour line and the tooth root buccal contour line are set in the preoperative multiplanar reconstruction model, and the intersection of the tooth root direction and the planned surgical path is determined as the planned apicoectomy point, the intersection of the tooth root lingual contour line and the planned surgical path is determined as the planned root amputation endpoint, and the intersection of the tooth root buccal contour line and the planned surgical path is determined as the planned root amputation starting point.

[0141] Step S4, after completing the apicoectomy surgery, placing a marker with a diameter, shape and size matching the drill hole on the actual surgical path, or placing a titanium alloy or ceramic protrusion with identifiable contour features on the actual surgical path, obtaining image data of the patient's oral cavity with the marker, and reconstructing to obtain a postoperative three-dimensional reconstruction model and a multiplanar reconstruction model.

[0142] Step S5, register the preoperative reconstruction model and the postoperative reconstruction model to obtain a registered postoperative reconstruction model including the planned surgical path and the actual surgical path.

[0143] Step S6, calculate the postoperative evaluation parameters according to the registered multiplanar reconstruction model.

[0144] Specifically, the intersection of the tooth root direction and the actual surgical path is determined as the actual apicoectomy point, the intersection of the tooth root lingual contour line and the actual surgical path is determined as the actual root amputation endpoint, and the intersection of the tooth root buccal contour line and the actual surgical path is determined as the actual root amputation starting point.

[0145] Step S7, calculate the surgical accuracy evaluation result according to the preoperative evaluation parameters and the postoperative evaluation parameters.

[0146] Specifically, in the registered multi-planar reconstruction model, the distance between the actual root resection point and the planned root resection point is calculated to obtain the root resection length deviation; the distance between the actual root resection end point and the planned root resection end point is calculated to obtain the root resection end point deviation; the distance between the actual root resection start point and the planned root resection start point is calculated to obtain the root resection start point deviation; according to the straight line determined by the actual root resection start point and the actual root resection end point, and the straight line determined by the planned root resection start point and the planned root resection end point, the included angle of the two straight lines is calculated to obtain the root resection angle deviation; according to the three-dimensional space direction of the planned surgical path and the actual surgical path, the surgical path angle deviation can be calculated.

[0147] The method provided by the embodiment of the application can determine the actual surgical path by setting the planned surgical path and the characteristics (such as direction, contour line, etc.) of the resected object before surgery, and through the postoperative image model with actual path identification characteristics, so that the accuracy of the surgery can be accurately evaluated, and a basis for subsequent treatment plans can be provided.

[0148] Based on any of the above embodiments, Figure 7 is a structural schematic diagram of a root resection surgery postoperative evaluation device provided by the application, as Figure 7 shown, the device comprises:

[0149] The preoperative parameter acquisition unit 710 is configured to acquire preoperative evaluation parameters based on a preoperative reconstruction model of teeth in the oral cavity, wherein the preoperative reconstruction model includes a planned surgical path of root resection;

[0150] The postoperative model acquisition unit 720 is configured to acquire a postoperative reconstruction model of teeth in the oral cavity, and determine an actual surgical path of root resection in the postoperative reconstruction model;

[0151] The postoperative parameter acquisition unit 730 is configured to register the preoperative reconstruction model and the postoperative reconstruction model, and acquire postoperative evaluation parameters based on the registered postoperative reconstruction model;

[0152] The evaluation result determination unit 740 is configured to determine a surgical accuracy evaluation result based on the preoperative evaluation parameters, the postoperative evaluation parameters, the planned surgical path and the actual surgical path.

[0153] The device provided by the embodiment of the present application can determine the planned operation path and the actual operation path in the preoperative reconstruction model and the postoperative reconstruction model respectively, and register the preoperative reconstruction model and the postoperative reconstruction model, so that the planned operation path and the actual operation path can be simultaneously displayed in the registered postoperative reconstruction model, thereby facilitating the evaluation of the accuracy of the apicoectomy operation. In addition, the preoperative evaluation parameters and the postoperative evaluation parameters can comprehensively reflect the effect of the apicoectomy operation, and the preoperative evaluation parameters, the postoperative evaluation parameters, the planned operation path and the actual operation path can be used to accurately evaluate the accuracy of the operation, thereby providing a basis for subsequent treatment plans and important guidance for future apicoectomy planning.

[0154] According to any one of the above embodiments, the preoperative parameter acquisition unit 710 is specifically configured to:

[0155] acquire preoperative body data of teeth in the oral cavity, and reconstruct based on the preoperative body data to obtain the preoperative reconstruction model; determine the planned operation path of the apicoectomy in the preoperative reconstruction model, and determine the tooth root direction, the tooth root lingual contour line and the tooth root buccal contour line;

[0156] determine the planned apicoectomy point based on the intersection of the tooth root direction and the planned operation path;

[0157] determine the planned root cutting end point based on the intersection of the tooth root lingual contour line and the planned operation path;

[0158] determine the planned root cutting start point based on the intersection of the tooth root buccal contour line and the planned operation path;

[0159] take the planned apicoectomy point, the planned root cutting end point and the planned root cutting start point as the preoperative evaluation parameters.

[0160] According to any one of the above embodiments, the postoperative model acquisition unit 720 includes:

[0161] an actual operation path determination sub-unit, configured to acquire a postoperative reconstruction model of teeth with markers in the oral cavity, and determine the actual operation path of the apicoectomy in the postoperative reconstruction model based on the markers;

[0162] The marker is placed in the drill hole corresponding to the apicoectomy after the apicoectomy, and the size of the marker matches the size of the drill hole.

[0163] According to any one of the above embodiments, the actual operation path determination sub-unit is specifically configured to:

[0164] acquire postoperative body data of teeth with markers in the oral cavity, and reconstruct based on the postoperative body data to obtain the postoperative reconstruction model;

[0165] The actual operation path is determined based on regions in which the markers form different CT values in the post-operation reconstruction model.

[0166] According to any one of the above embodiments, the actual operation path determination subunit is specifically configured to:

[0167] Based on the oral cavity digitization scanning device, a scanning model of teeth with markers in the post-operation oral cavity is obtained as the post-operation reconstruction model.

[0168] The standard model of the markers is registered with the post-operation reconstruction model, and the actual operation path is determined based on the registered post-operation reconstruction model.

[0169] According to any one of the above embodiments, the post-operation parameter acquisition unit 730 is specifically configured to:

[0170] The pre-operation reconstruction model and the post-operation reconstruction model are registered to obtain a registered post-operation reconstruction model, and the registered post-operation reconstruction model includes a planned operation path, an actual operation path, a tooth root direction, a tooth root lingual contour line, and a tooth root buccal contour line.

[0171] An actual root resection point is determined based on an intersection of the tooth root direction and the actual operation path.

[0172] An actual root resection end point is determined based on an intersection of the tooth root lingual contour line and the actual operation path.

[0173] An actual root resection start point is determined based on an intersection of the tooth root buccal contour line and the actual operation path.

[0174] The actual root resection point, the actual root resection end point, and the actual root resection start point are taken as the post-operation evaluation parameters.

[0175] According to any one of the above embodiments, the evaluation result determination unit 740 is specifically configured to:

[0176] A root resection length deviation is determined based on a distance between a planned root resection point in the pre-operation evaluation parameters and an actual root resection point in the post-operation evaluation parameters.

[0177] A root resection end point deviation is determined based on a distance between a planned root resection end point in the pre-operation evaluation parameters and an actual root resection end point in the post-operation evaluation parameters.

[0178] A root resection start point deviation is determined based on a distance between a planned root resection start point in the pre-operation evaluation parameters and an actual root resection start point in the post-operation evaluation parameters.

[0179] The truncated angle deviation is determined based on the angle between the first straight line and the second straight line. The first straight line is determined based on the planned truncated starting point and the planned truncated ending point, and the second straight line is determined based on the actual truncated starting point and the actual truncated ending point.

[0180] Based on the planned surgical path and the actual surgical path, the surgical path angle deviation is determined;

[0181] The surgical accuracy assessment result is determined based on at least one of the following: the root resection length deviation, the root resection end point deviation, the root resection start point deviation, the root resection angle deviation, and the surgical path angle deviation.

[0182] Figure 8 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 8 As shown, the electronic device may include a processor 810, a communications interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute a postoperative evaluation method for apicotomy. This method includes: obtaining preoperative evaluation parameters based on a preoperative reconstruction model of the teeth in the oral cavity, wherein the preoperative reconstruction model includes a planned surgical path for apicotomy; obtaining a postoperative reconstruction model of the teeth in the oral cavity and determining the actual surgical path for apicotomy in the postoperative reconstruction model; registering the preoperative reconstruction model and the postoperative reconstruction model, and obtaining postoperative evaluation parameters based on the registered postoperative reconstruction model; and determining a surgical accuracy evaluation result based on the preoperative evaluation parameters, the postoperative evaluation parameters, the planned surgical path, and the actual surgical path.

[0183] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0184] In another aspect, the present application also provides a computer program product comprising a computer program, which can be stored on a non-transitory computer readable storage medium, and the computer program is executable by a processor to perform the postoperative evaluation method of apicoectomy provided by the above-mentioned methods, the method comprising: obtaining preoperative evaluation parameters based on a preoperative reconstruction model of teeth in an oral cavity, the preoperative reconstruction model comprising a planned surgical path of apicoectomy; obtaining a postoperative reconstruction model of teeth in the oral cavity, and determining an actual surgical path of the apicoectomy in the postoperative reconstruction model; registering the preoperative reconstruction model and the postoperative reconstruction model, and obtaining postoperative evaluation parameters based on the registered postoperative reconstruction model; and determining a surgical accuracy evaluation result based on the preoperative evaluation parameters, the postoperative evaluation parameters, the planned surgical path and the actual surgical path.

[0185] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, and the computer program is executable by a processor to perform the postoperative evaluation method of apicoectomy provided by the above-mentioned methods, the method comprising: obtaining preoperative evaluation parameters based on a preoperative reconstruction model of teeth in an oral cavity, the preoperative reconstruction model comprising a planned surgical path of apicoectomy; obtaining a postoperative reconstruction model of teeth in the oral cavity, and determining an actual surgical path of the apicoectomy in the postoperative reconstruction model; registering the preoperative reconstruction model and the postoperative reconstruction model, and obtaining postoperative evaluation parameters based on the registered postoperative reconstruction model; and determining a surgical accuracy evaluation result based on the preoperative evaluation parameters, the postoperative evaluation parameters, the planned surgical path and the actual surgical path.

[0186] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0187] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0188] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for postoperative evaluation after apexification surgery, characterized in that, include: Preoperative body data of teeth in the oral cavity are obtained and reconstructed based on the preoperative body data to obtain a preoperative reconstruction model; the planned surgical path for the apexification is determined in the preoperative reconstruction model, as well as the root direction, the lingual contour line of the root, and the buccal contour line of the root. The planned apical resection point is determined based on the intersection of the root direction and the planned surgical path; the planned root resection endpoint is determined based on the intersection of the lingual contour of the root and the planned surgical path. Based on the intersection of the buccal contour of the tooth root and the planned surgical path, the planned root resection starting point is determined, and the planned apical resection point, the planned root resection ending point, and the planned root resection starting point are used as preoperative evaluation parameters. Obtain a postoperative reconstruction model of the teeth in the oral cavity, and determine the actual surgical path of the apex resection in the postoperative reconstruction model; The preoperative reconstruction model and the postoperative reconstruction model are registered, and based on the intersections of the root direction, lingual contour line, and buccal contour line of the root in the registered postoperative reconstruction model with the actual surgical path, postoperative evaluation parameters including the actual apex resection point, the actual root resection endpoint, and the actual root resection start point are determined. Based on the preoperative assessment parameters, the postoperative assessment parameters, the planned surgical path, and the actual surgical path, at least one deviation is calculated, including the deviation of the resection length, the deviation of the resection start point, the deviation of the resection end point, and the deviation of the resection angle. Based on the at least one deviation, the surgical accuracy assessment result is determined.

2. The postoperative evaluation method for apexification surgery according to claim 1, characterized in that, The process of obtaining a postoperative reconstruction model of the teeth in the oral cavity and determining the actual surgical path for the apex resection within the postoperative reconstruction model includes: Obtain a postoperative reconstruction model of the teeth with markers in the oral cavity, and determine the actual surgical path of the apex resection in the postoperative reconstruction model based on the markers; The marker is placed in the borehole corresponding to the apical resection after the apical resection, and the size of the marker matches the size of the borehole.

3. The postoperative evaluation method for apexification surgery according to claim 2, characterized in that, The process of obtaining a postoperative reconstruction model of teeth with markers in the oral cavity, and determining the actual surgical path for the apex resection based on the markers in the postoperative reconstruction model, includes: Postoperative body data of dental markers in the oral cavity are obtained, and reconstruction is performed based on the postoperative body data to obtain the postoperative reconstruction model; The actual surgical path is determined based on the regions with different CT values ​​formed by the markers in the postoperative reconstruction model.

4. The postoperative evaluation method for apexification surgery according to claim 2, characterized in that, The process of obtaining a postoperative reconstruction model of teeth with markers in the oral cavity, and determining the actual surgical path for the apex resection based on the markers in the postoperative reconstruction model, includes: Based on a digital oral scanning device, a scanned model of teeth with markers in the oral cavity after surgery is obtained as the postoperative reconstruction model; The standard model of the marker and the postoperative reconstruction model are registered, and the actual surgical path is determined based on the registered postoperative reconstruction model.

5. The postoperative evaluation method for apexification surgery according to any one of claims 1 to 4, characterized in that, The preoperative reconstruction model and the postoperative reconstruction model are registered, and based on the intersections of the root direction, lingual root contour, and buccal root contour in the registered postoperative reconstruction model with the actual surgical path, postoperative evaluation parameters including the actual apex resection point, the actual root resection endpoint, and the actual root resection starting point are determined, including: The preoperative reconstruction model and the postoperative reconstruction model are registered to obtain the registered postoperative reconstruction model, which includes the planned surgical path, the actual surgical path, the root direction, the lingual contour line of the root, and the buccal contour line of the root. The actual apical resection point is determined based on the intersection of the root direction and the actual surgical path. The actual root resection endpoint is determined based on the intersection of the lingual contour of the tooth root and the actual surgical path. The actual root resection starting point is determined based on the intersection of the buccal contour of the tooth root and the actual surgical path. The actual apical resection point, the actual root resection endpoint, and the actual root resection starting point are used as the postoperative evaluation parameters.

6. The postoperative evaluation method for apexification surgery according to claim 5, characterized in that, Based on the preoperative assessment parameters, the postoperative assessment parameters, the planned surgical path, and the actual surgical path, the procedure calculates at least one deviation, including deviations in resection length, resection start point, resection end point, and resection angle, and determines the surgical accuracy assessment result based on these deviations, including: The deviation in root resection length is determined based on the distance between the planned apex resection point in the preoperative assessment parameters and the actual apex resection point in the postoperative assessment parameters. The deviation of the resection endpoint is determined based on the distance between the planned resection endpoint in the preoperative assessment parameters and the actual resection endpoint in the postoperative assessment parameters. The deviation of the resection starting point is determined based on the distance between the planned resection starting point in the preoperative assessment parameters and the actual resection starting point in the postoperative assessment parameters. The truncated angle deviation is determined based on the angle between the first straight line and the second straight line. The first straight line is determined based on the planned truncated starting point and the planned truncated ending point, and the second straight line is determined based on the actual truncated starting point and the actual truncated ending point. Based on the planned surgical path and the actual surgical path, the surgical path angle deviation is determined; The surgical accuracy assessment result is determined based on at least one of the following deviations: root resection length deviation, root resection end point deviation, root resection start point deviation, root resection angle deviation, and surgical path angle deviation.

7. A postoperative assessment device for apexification surgery, characterized in that, include: The preoperative parameter acquisition unit is used to acquire preoperative body data of teeth in the oral cavity, and to reconstruct the preoperative body data to obtain a preoperative reconstruction model; the preoperative reconstruction model determines the planned surgical path for the apex resection, as well as the root direction, the lingual contour line of the root, and the buccal contour line of the root. The planned apical resection point is determined based on the intersection of the root direction and the planned surgical path; the planned root resection endpoint is determined based on the intersection of the lingual contour of the root and the planned surgical path. Based on the intersection of the buccal contour of the tooth root and the planned surgical path, the planned root resection starting point is determined, and the planned apical resection point, the planned root resection ending point, and the planned root resection starting point are used as preoperative evaluation parameters. The postoperative model acquisition unit is used to acquire a postoperative reconstruction model of the teeth in the oral cavity and determine the actual surgical path of the apex resection in the postoperative reconstruction model. The postoperative parameter acquisition unit is used to register the preoperative reconstruction model and the postoperative reconstruction model, and based on the intersections of the root direction, lingual contour line, and buccal contour line of the root in the registered postoperative reconstruction model with the actual surgical path, determine the postoperative evaluation parameters including the actual apex resection point, the actual root resection endpoint, and the actual root resection start point. The evaluation result determination unit is used to calculate at least one deviation, including root resection length deviation, root resection start point deviation, root resection end point deviation, and root resection angle deviation, based on the preoperative evaluation parameters, the postoperative evaluation parameters, the planned surgical path, and the actual surgical path, and to determine the surgical accuracy evaluation result based on the at least one deviation.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the postoperative evaluation method for apexification surgery as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the postoperative evaluation method for apexification surgery as described in any one of claims 1 to 6.

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