Preparation parameter processing method and related device for implant cavity on alveolar bone

Abstract

The present disclosure provides a preparation parameter processing method and related device for implant cavities on alveolar bones. It relates to the field of computer technology. The method includes: obtaining a planned implant area of ​​an implant in the alveolar bone; dividing the planned implant area into a plurality of slice layers along the implant direction; wherein the upper and lower planes of each slice layer are perpendicular to the implant direction, and each slice layer is divided into a plurality of fan-shaped regions; based on the CT value data of each slice layer, determining the bone type of each fan-shaped region in each slice layer; based on the correspondence between the bone type and the level difference of the implant, determining the level difference of each fan-shaped region in each slice layer; based on the implant radius of each fan-shaped region in the implant and the level difference of each fan-shaped region, determining the cavity radius of each fan-shaped region in each slice layer, wherein the cavity radius supports the preparation of a cavity based on one drill needle. This method can provide a good cavity radius as a reference for initial stability.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a method for processing preparation parameters of an implant cavity on an alveolar bone and a related device. Background Art

[0002] When a person is missing a tooth, or a tooth cannot be restored due to severe tooth decay, damage, or other reasons, dental implants can be placed. During the implant placement process, necrotic, disintegrated, and bacterially infected tooth tissue should be completely removed to eliminate infection and stop the caries process. The restoration should also be kept close to the cavity wall to prevent secondary caries. The preparation of the implant cavity is crucial for subsequent treatment, so the relevant personnel must perform precise operations when preparing the cavity to ensure the removal of diseased tissue and the protection of healthy dentin.

[0003] During oral implant surgery, manual preparation of tooth holes using hand tools can lead to problems such as insufficient precision, excessive hole size, and extensive trauma. Preparation of the implant cavity by gradually enlarging the hole with a drill needle is inefficient, and the resulting cavity is often cylindrical, making it difficult to accommodate the diverse needs of implant morphology. This also results in a loose fit with the implant, impacting initial implant stability. Summary of the Invention

[0004] The present invention provides a method for processing parameters of an implant cavity on an alveolar bone and a related device.

[0005] According to one aspect of the present disclosure, a method for processing parameters for preparing an implant cavity on an alveolar bone is provided, comprising:

[0006] Obtain the planned implant area in the alveolar bone;

[0007] Dividing the planned planting area into a plurality of slice layers along the planting direction; wherein the upper and lower planes of each slice layer are perpendicular to the planting direction, and each slice layer is divided into a plurality of fan-shaped areas;

[0008] Based on the CT value data of each slice layer, the bone type of each fan-shaped area in each slice layer is determined;

[0009] Determining the level difference of each sector region in each slice layer based on the correspondence between the bone type and the level difference of the implant;

[0010] Based on the implant radius of each sector area in the implant and the level difference of each sector area, the cavity radius of each sector area in each slice layer is determined, wherein the cavity radius supports preparing the cavity based on a single drill needle.

[0011] According to another aspect of the present disclosure, a data processing device for an implant cavity on an alveolar bone is provided, comprising:

[0012] An acquisition module, used for acquiring a planned implantation area of ​​an implant in the alveolar bone;

[0013] a segmentation module, configured to segment the planned planting area into a plurality of slice layers along a planting direction; wherein the upper and lower planes of each slice layer are perpendicular to the planting direction, and each slice layer is divided into a plurality of sector-shaped regions;

[0014] A bone classification determination module is used to determine the bone classification of each sector region in each slice layer based on the CT value data of each slice layer;

[0015] A level difference determination module is used to determine the level difference of each sector region in each slice layer based on the correspondence between the bone type and the level difference of the implant;

[0016] A parameter determination module is used to determine the cavity radius of each sector area in each slice layer based on the implant radius of each sector area in the implant and the level difference of each sector area, wherein the cavity radius supports the preparation of the cavity based on a drill needle.

[0017] According to another aspect of the present disclosure, there is provided an electronic device, comprising:

[0018] at least one processor; and

[0019] a memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform any method in the embodiments of the present disclosure.

[0021] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute any method according to the embodiments of the present disclosure.

[0022] According to another aspect of the present disclosure, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the computer program implements any method according to the embodiments of the present disclosure.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0025] Figure 1 1 is a flow chart of a method for processing parameters for preparing an implant cavity on an alveolar bone according to an embodiment of the present disclosure;

[0026] Figure 2 is a schematic diagram of a planned planting area after envelope processing according to an embodiment of the present disclosure;

[0027] Figure 3 This is a schematic diagram of obtaining the cavity radius according to an embodiment of the present disclosure;

[0028] Figure 4 is a schematic diagram of an abnormal slice layer according to an embodiment of the present disclosure;

[0029] Figure 5 1 is a schematic diagram of a grinding area in a calculation mode of a circular motion trajectory with a fixed radius according to an embodiment of the present disclosure;

[0030] Figure 6 Schematic diagram of the grinding area of ​​the divergent arc motion trajectory calculation mode of the stepwise hole expansion according to one embodiment of the present disclosure;

[0031] Figure 7 2 is a schematic structural diagram of a data processing device for an implant cavity on an alveolar bone according to an embodiment of the present disclosure;

[0032] Figure 8 It is a block diagram of an electronic device used to implement the method for processing parameters of the preparation of the implant cavity on the alveolar bone according to the embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be appreciated by those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0034] In dental implant surgery, manual tooth preparation and the use of hand tools can lead to problems such as insufficient precision, excessive cavity size, and extensive trauma. Therefore, robotic implant technology can be used to create implant cavities. Robotic implant technology is a cutting-edge technology in the dental field, designed to improve the precision, efficiency, and minimal invasiveness of dental implant surgery.

[0035] Currently, different implants have different shapes, some are close to cylindrical, and some are close to conical. In order to achieve good initial stability after implantation, a cavity with a single shape cannot meet the requirements. It is necessary to plan a cavity with a shape that better fits the implant shape and leaves a reasonable gradient based on the specific implant shape and the bone density at the intended cavity preparation site. Based on this, the present embodiment proposes a method for processing the preparation parameters of an implant cavity on the alveolar bone.

[0036] For ease of understanding, the key words involved in this method include the following:

[0037] CT value: The CT value is calculated based on the attenuation coefficient of X-ray absorption by different tissues and organs in the human body, reflecting their ability to block X-rays. Generally, the CT value of various tissues in the human body ranges from -1000 to +1000, with higher density areas having higher CT values. CT values ​​are often expressed as Hounsfield units (HU), with the CT value of air being -1000 and that of dense bone being +1000.

[0038] Initial stability refers to the immediate properties of an implant when it is placed in place. It is generally reflected by the mechanical anchoring force of the implant-bone interface. It is also the mechanical locking phenomenon of the implant-bone interface caused by the mismatch between the implant and the bone implant cavity. During the initial implant placement in bone tissue, the mobility between the implant and the bone interface is within a certain range and cannot be too large. Otherwise, a fibrous coating will form on the implant surface. Initial stability is related to alveolar bone density, surgeon operation, implant shape, etc. It can be achieved through a high fit between the implant and the implant bed, osseointegration, and progressive loading.

[0039] Gradient: When implanting a tooth, the cavity is usually smaller than the radius of the implant. This difference is called the gradient. The purpose of setting the gradient is to enable the implant to obtain good initial stability.

[0040] In the method provided by the embodiment of the present disclosure, the planned implantation area of ​​the implant in the alveolar bone can be obtained first. On this basis, the bone density distribution in the planned implantation area is considered to determine the key data of the implantation cavity, namely the radius. Figure 1 FIG. 1 is a flow chart of a method for processing parameters for preparing an implant cavity on an alveolar bone according to an embodiment of the present disclosure, including the following contents:

[0041] S101, obtaining the planned implantation area of ​​the implant in the alveolar bone;

[0042] In the disclosed embodiments, when planning implants, the desired implant model can be determined based on the patient's specific condition and the physician's clinical experience, and the implant site and orientation can be planned in the planning software. During implementation, the implant model can be placed at the planned implant location as shown in the patient's alveolar bone CT image in the planning software to determine the planned implant area within the alveolar bone.

[0043] Since the bone density of the alveolar bone is not uniform, in order to obtain better initial stability, in the implementation of the present disclosure, the radius of the implant cavity is determined by taking into account the bone density distribution of the planned implant area.

[0044] S102, dividing the planned planting area into a plurality of slice layers along the planting direction; wherein the upper and lower planes of each slice layer are perpendicular to the planting direction, and each slice layer is divided into a plurality of sector-shaped regions;

[0045] In the disclosed embodiment, the segmentation process can be completed in a multi-planar reconstructed CT image.

[0046] Specifically, when dividing the planned planting area, Figure 2 As shown, the planned implant area can be enveloping first. For ease of implementation, the thread gaps of the implant can be filled to obtain a planned implant area with a smooth surface and no threads. The enveloping planned implant area is divided and then approximated to obtain multiple slice layers, and the center of each slice layer is used as the center of the polar coordinates to divide the entire slice layer into regions to form multiple fan-shaped regions. Among them, different slice layers can be divided into multiple fan-shaped regions in the same way. For example Figure 3 As shown, each slice layer can be evenly divided into 12 sector-shaped regions.

[0047] S103, determining the bone type of each fan-shaped area in each slice layer based on the CT value data of each slice layer;

[0048] S104, determining the level difference of each sector region in each slice layer based on the correspondence between the bone type and the level difference of the implant;

[0049] In the disclosed embodiment, the differential data of different implants under different bone conditions can be obtained based on the data provided by the implant manufacturer.

[0050] The step difference in the embodiment of the present disclosure is the distance ε compensated from the implant radius to the center of the circle. Generally, when the bone in this range is hard, ε is small, and when the bone in this range is soft, ε is large.

[0051] It's important to note that implant manufacturers typically recommend a reference gap size based on the implant's shape and self-tapping properties. For cancellous bone, this gap can be as large as 3mm, while for dense bone, it can be as small as 0.3mm.

[0052] S105 , determining the cavity radius of each sector-shaped area in each slice layer based on the implant radius of each sector-shaped area in the implant and the level difference of each sector-shaped area, wherein the cavity radius supports preparing the cavity based on a single drill needle.

[0053] According to the solution of the embodiment of the present disclosure, by dividing the planned implant area of ​​the implant into multiple slices and fan-shaped areas, it is possible to adapt to different bone qualities in the longitudinal direction through different slices in the implant direction, and to adapt to changes in bone quality on the same plane through fan-shaped areas of different radii within the slices, thereby better adapting to bone types in both the longitudinal and transverse dimensions. In order to facilitate the overall level difference of the planned implant area of ​​the implant to be refined into level difference data corresponding to multiple fan-shaped areas based on the level difference requirements of the implant itself, to ensure that the appropriate cavity radius is obtained, thereby improving the uniformity of the pressure on the implant at various locations to meet the initial stability.

[0054] In the disclosed embodiment, after obtaining the cavity radius of each sector area, a planned grinding trajectory when drilling with a drill needle can be planned accordingly, so as to realize automatic drilling and grinding.

[0055] In some possible implementations, dividing the planned implantation area into a plurality of slice layers along the implantation direction may be implemented by: determining a longitudinal sampling interval along the implantation direction based on the pitch of the implant; and dividing the pyramid-like envelope of the planned implantation area into a plurality of pyramid-like segments along the implantation direction based on the longitudinal sampling interval;

[0056] For each type of cone segment, a target surface is selected from the cone-like segment, and a cylinder is constructed based on the target surface to obtain a slice layer corresponding to the cone-like segment;

[0057] The target surface of the pyramid-like segment is preferably the larger surface between the upper and lower surfaces of the pyramid-like segment.

[0058] In the disclosed embodiment, the thread gaps of the implant are filled to obtain a planned implant area with a smooth surface and no threads, and the complexity of the planned implant area is reduced to a cone-like envelope. The longitudinal sampling interval can generally be set to the height of the slicing layer. The pitch of the implant can be directly selected as the longitudinal sampling interval, or a certain multiple of the pitch can be selected as the longitudinal sampling interval. The planned implant area is divided according to this longitudinal sampling interval, and several longitudinal sampling intervals are used to divide the area into several slicing layers.

[0059] When the implant is relatively cylindrical and the bone types above and below the implant are not significantly different, the pitch can be multiplied by a certain factor to serve as the longitudinal sampling interval. That is, the closer the implant is to a cylinder and the smaller the difference in bone types, the larger the longitudinal sampling interval can be. Furthermore, the height of each slice layer can also vary. When the implant is relatively cylindrical, appropriate adjustments can be made based on the bone type, such as having one slice layer three pitches high and another slice layer two pitches high.

[0060] The target surface includes the upper and lower surfaces of the pyramidal body segment and the plane between the upper and lower surfaces of the pyramidal body segment, and this plane is parallel to the upper and lower surfaces of the pyramidal body segment. Figure 2 By selecting the larger surface of the upper and lower surfaces of the pyramid-like body segment as the target surface, the segmented pyramid-like body is approximated as a cylinder with the radius of the larger surface as the radius to obtain the cylindrical slice layer corresponding to the pyramid-like body segment.

[0061] According to one solution of the embodiment of the present disclosure, the planned implant area is evenly divided directly according to the pitch, which reduces the input parameters and simplifies the calculation. In addition, the trajectory planned according to the cavity radius is also closer to the thread shape of the implant, thereby forming a better bonding tightness and enabling the implant to obtain better initial stability. Moreover, the time required to grind the planned implant area with multiple layers using only one drill bit is much shorter than the time required to grind the planned implant area using multiple drill bits in a step-by-step drill replacement method.

[0062] In some possible implementations, dividing the planned planting area into a plurality of slice layers and a plurality of sector-shaped areas along the planting direction includes:

[0063] On the same slice layer plane, the entire circumference is divided into regions at equal angles with the center of the slice layer plane as the center, and the same divided region is divided downward in the direction perpendicular to the slice layer plane with the longitudinal sampling interval as the depth. The resulting spatial region is used as a fan-shaped region on the slice layer.

[0064] According to the solution of the embodiment of the present disclosure, on the basis of dividing the planned implantation area into multiple slice layers, each slice layer is further divided into multiple fan-shaped areas, and the overall planned implantation area is refined into multiple fan-shaped areas, which is convenient for subsequent planning of adaptive cavity radius according to different bone types, so as to improve the initial stability and provide a good data basis for generating the planned grinding trajectory of the drill needle.

[0065] In some possible implementations, determining the bone type of each fan-shaped region in each slice layer based on the CT value data of each slice layer includes:

[0066] For each slice layer, perform the following operations:

[0067] Obtaining the CT value of each point on the slice layer from the CT image of the alveolar bone;

[0068] For each sector region in the slice layer, the bone type of the sector region is determined based on the CT value in the sector region.

[0069] In the disclosed embodiment, computed tomography (CT) images of bones at all points of the planned implant position are obtained, and the bone quality can be classified according to the CT value data.

[0070] Among them, since the CT value of any point in the multi-planar reconstructed CT image is known, as long as the outline of the planned implantation area is determined, the average CT value of the area can be calculated from the CT value corresponding to each point.

[0071] In addition, on the same slice layer, the CT value of each fan-shaped area on it is averaged to obtain the CT average value of the fan-shaped area on the slice layer, and the bone can be classified based on the CT average value of the fan-shaped area.

[0072] Specifically, for example, based on the average CT values ​​of each sector of the slice layer, bones are divided into four categories (class I bone, class II bone, class III bone, and class IV bone). The CT value cutoff points corresponding to the four bone categories can be obtained through experiments, so that the bone at any point in the reconstructed CT image can be classified; bone quality can also be classified based on the average CT value of bones in a certain area.

[0073] It should be noted that, in addition to the mean, bone density distribution can also be used to classify bones in the embodiments of the present disclosure. This embodiment of the present disclosure does not limit the bone classification method. Furthermore, in addition to the four bone types described above, the number of bone types can be set according to actual needs, and this embodiment of the present disclosure does not limit this.

[0074] According to the solution of the embodiment of the present disclosure, by obtaining the bone type of each fan-shaped area, the bone type on the surface of the planned implant area can be effectively refined, so that the bone type of each part of the planned implant area can be analyzed and processed, thereby clarifying the level difference of different bone areas, so as to accurately plan the cavity radius of different fan-shaped areas to improve the initial stability.

[0075] In a possible implementation, determining the cavity radius of each sector-shaped area in each slice layer based on the implant radius of each sector-shaped area in the implant and the level difference of each sector-shaped area can be implemented as follows:

[0076] For each sector area, the difference between the implant radius of the sector area and the level difference of the sector area in the implant is determined to obtain the cavity radius of the sector area.

[0077] In the embodiment of the present disclosure, Figure 3 As shown, the cavity radius of the sector area is obtained by subtracting the implant radius of the sector area from the level difference of the sector area, as shown in expression (1):

[0078] r C =r-ε (1)

[0079] Among them, r C is the cavity radius of the sector area, r is the implant radius of the sector area (the implant radius here can be represented by the radius of the cylinder obtained at this position after the cone-like envelope of the implant area is divided and approximated), and ε is the level difference of the sector area.

[0080] According to the solution of the embodiment of the present disclosure, the cavity radius of each sector area is obtained based on the level difference corresponding to each sector area, and then different radii of each part of the planned implantation area can be obtained to improve the initial stability.

[0081] In a possible implementation, the method of the embodiment of the present disclosure can also reasonably plan the drill needle grinding path according to the cavity radius of different slice layers, which can be specifically implemented as follows:

[0082] For each slice layer, the following steps are performed: for each sector region in the slice layer, a reference arc of the sector region is established based on the cavity radius of the sector region; the reference arcs of each sector region in the slice layer are sequentially connected to determine an initial reference curve of the slice layer;

[0083] When the variation trend of the cavity radius size in the same sector-shaped area in each slice layer along the implantation direction is consistent, a planned grinding trajectory of a drill needle is generated based on the initial reference curve of each slice layer.

[0084] Among them, the situation where the change trend along the implantation direction is consistent is generally a gradual decrease along the crown-root direction. The planned grinding trajectory is the planned drill grinding path, which is generally represented by the position of the drill center point. The way different slice layers divide the fan-shaped area is consistent, so the same fan-shaped area exists in different slice layers. The change trend of the cavity radius in the same fan-shaped area in the longitudinal direction should gradually increase or decrease. If the change trend is inconsistent, for example, it first increases and then decreases, and then continues to increase, it is not conducive to the preparation of the implant cavity. If the change trend is consistent, it is considered that the designed cavity radius is reasonable and is conducive to the preparation of the implant cavity.

[0085] In the embodiment of the present disclosure, in a case that is conducive to preparing the implant cavity, on a certain slice layer, the reference arcs of different sector-shaped areas may have different radii, and the connecting lines formed therein may include line segments along the radial direction. Connecting these connecting lines together is the boundary of the drill removal, that is, the initial reference curve.

[0086] According to the solution of the embodiment of the present disclosure, by generating a planned grinding trajectory of a drill needle, it can be ensured that the various parts of the implant in the cavity generated by grinding along the planned grinding trajectory are subjected to relatively uniform pressure at various positions, and the implant cavity can be prepared by using a drill needle.

[0087] In some possible implementations, when the change trends of the cavity radius of the same sector-shaped region in each slice layer along the implantation direction are inconsistent, the abnormal slice layer corresponding to the same sector-shaped region is determined;

[0088] Correct the cavity radius of the same sector-shaped area in the abnormal slice layer and the corresponding initial reference curve so that the change trend of the cavity radius of the same sector-shaped area in each slice layer along the implantation direction is consistent, and return to the step of generating a planned grinding trajectory of a drill needle based on the initial reference curve of each slice layer when the change trend of the cavity radius of the same sector-shaped area in each slice layer along the implantation direction is consistent.

[0089] Abnormal slices are defined as slices that violate the pre-defined trend. For example, in terms of implant orientation, the upper cavity radius should be greater than or equal to the lower cavity radius. However, if the upper cavity radius is smaller than the lower cavity radius, the upper slice is considered abnormal and requires correction.

[0090] According to the solution of the embodiment of the present disclosure, by processing the abnormal slice layers in which the change trend of the cavity radius of the same fan-shaped area in each slice layer along the implantation direction is inconsistent, abnormal situations when the robotic arm is grinding along the implantation direction can be effectively avoided. For example, there is a situation where the diameter of the upper cavity in the implantation direction is smaller than the diameter of the lower cavity in the implantation direction, thereby avoiding the problem that the robotic arm is not easy to perform the grinding work as much as possible.

[0091] For example, in the embodiment of the present disclosure, Figure 4As shown, the cone-like body is the envelope formed by the planned implant, and the crown-root direction from top to bottom is assumed to be the positive axial direction. The gray area shown in the figure is the alveolar bone edge of each slice layer of a fan-shaped area of ​​the planned implant area, and the central area is the position of each slice layer of the planned implant area. Traversing from bottom to top, that is, along the reverse axial direction, when traversing to the second layer, it is found that the cavity radius R2 of the fan-shaped area of ​​the second slice layer is smaller than the cavity radius R3 of the fan-shaped area of ​​the third slice layer. The R2 corresponding to the fan-shaped area is expanded to the cavity radius R3 of the adjacent fan-shaped area below it. After traversing the first layer and adjusting, the cavity radius of each slice layer of the entire fan-shaped area meets the trend of large at the top and small at the bottom, and then the traversal and adjustment of the next fan-shaped area are continued.

[0092] Specifically, when planning the drill path based on the calculated ideal step difference value, if there are fluctuations in the bone, for example, in the preparation planning of the lower alveolar bone implant cavity, the hardness of a certain section of bone is greater than the hardness of the cancellous bone above it, the cavity radius after the cancellous bone is reduced in step may be smaller than the cavity radius corresponding to the hard bone below. Such a "small on top and large on bottom" cavity robot arm is not easy to achieve and needs to be optimized and corrected.

[0093] The radius of the fan-shaped body where this situation occurs will be adjusted until the change trend of the cavity radius of the fan-shaped area in each slice layer along the implantation direction is consistent, ensuring that the phenomenon of "small at the top and large at the bottom" does not occur. The correction process is achieved by traversing the cavity radius of the fan-shaped body from bottom to top along the implantation direction. For example, if it is found that the cavity radius of a certain fan-shaped area in the third layer is smaller than the cavity radius of the area at the same position in the second layer, the cavity radius of the fan-shaped area in the third layer will be increased until the change trend of the cavity radius of the fan-shaped area in each slice layer along the implantation direction is consistent. When planning the implant cavity preparation for the lower alveolar bone, if the fan-shaped area of ​​a certain area in all layers satisfies the requirement that the radius of the upper fan-shaped area is greater than or equal to the radius of the lower fan-shaped area, the fan-shaped traversal of this area is completed, and the fan-shaped area traversal of other areas is similar to this order. Finally, the drill grinding boundary with the consistent change trend of the cavity radius of the fan-shaped area in each slice layer along the implantation direction is obtained.

[0094] According to the solution of the embodiment of the present disclosure, for example: when planning the preparation of the implant cavity for the lower alveolar bone, the embodiment of the present disclosure subdivides the level difference. When the alveolar bone is composed of an upper layer of hard bone and a lower layer of soft bone, the fan-shaped body within this angle range forms multiple steps from top to bottom, so that the upper layer of hard bone has enough space to avoid the risk of fracture, while leaving a larger level difference for the lower layer of soft bone, thereby providing a more stable combination and increasing the initial stability.

[0095] For another example: when the bone of the lower alveolar bone is composed of a top layer of hard bone, a middle layer of soft bone, and a bottom layer of hard bone, it ensures that the lower layer of hard bone has enough space to avoid the risk of fracture. In order to avoid being smaller at the top and larger at the bottom, the middle layer of soft bone will expand to the radius of the fan-shaped area corresponding to the lower layer of hard bone. Even if the level difference of this part of the soft bone is smaller than the recommended level difference, it still has a certain level difference. The level difference of the upper part of the hard bone is smaller, and it corresponds to a larger fan-shaped radius. This ensures that the upper hard bone does not have excessive stress when installing the implant, ensuring the safety of the implant. Therefore, the fan-shaped body within this angle range forms multiple steps from top to bottom. The level difference of the upper and lower hard bone areas of the fan-shaped area ensures the initial stability of the implant.

[0096] In some possible implementations, generating a planned grinding trajectory of a drill needle based on the initial reference curve of each slice layer includes: using a fixed-radius circular motion trajectory calculation mode or a gradually expanding divergent arc motion trajectory calculation mode to process the initial reference curve of each slice layer to generate a planned grinding trajectory of a drill needle.

[0097] In the disclosed embodiment, a fixed-radius circular motion trajectory calculation mode can be selected to process the initial reference curves of each slice layer to generate a planned grinding trajectory for a drill. Alternatively, a stepwise-expanding divergent arc motion trajectory calculation mode can be selected to process the initial reference curves of each slice layer to generate a planned grinding trajectory for a drill.

[0098] According to the solution of the embodiment of the present disclosure, different drill motion trajectories generated by calculation modes of different motion trajectories can better ensure the realization of implant diversity and grinding accuracy requirements.

[0099] In one possible implementation, a fixed-radius circular motion trajectory calculation mode is used to process the initial reference curve of each slice layer to generate a planned grinding trajectory for a drill bit, including: performing the following operations for each sector region of each slice layer:

[0100] determining a maximum quotient between a cavity radius and a drill diameter in the sector region;

[0101] generating a planned ablation trajectory of a drill needle for the sector-shaped area based on the maximum quotient and the cavity radius of the sector-shaped area;

[0102] Among them, in the planned grinding trajectory, the circular radius of the planned grinding trajectory is gradually increased with a preset step size to obtain multiple circles of fixed radius, and are sequentially connected to obtain a circular trajectory, and the fan-shaped area on the alveolar bone is drilled with the circular trajectory. When the cumulative number of preset step sizes is greater than the maximum quotient, the cavity radius of the fan-shaped area is used as the drilling boundary, and the preset step size is less than or equal to the drill needle diameter.

[0103] In the embodiment of the present disclosure, according to the radius r of the reference arc C and the drill diameter D, calculate r C The maximum quotient of / D is rounded down to get k, and the trajectory segment of the drill needle is obtained by traversing i∈[1,k+1] under each sector area, as shown in expression (2):

[0104]

[0105] The planned grinding trajectory of the drill bit can be obtained by sequentially connecting the obtained trajectory segments.

[0106] In this circular motion, for example: Figure 5 As shown, the preset step size can be selected as D. When the drill bit finishes grinding the first circle, that is, i=1, the circle radius is expanded to That is, the trajectory radius of the second circle of the drill needle is 3D / 2, and the step length is gradually preset until the outermost circle is ground, that is, when i=k+1=3, it may appear In the case of continuous use of circular trajectory drill, the planned range will be exceeded, i.e., the drilling and grinding boundary. Therefore, r C The outermost circle of the sector area is ground with a radius of -D / 2, which ensures that the grinding does not exceed the range and all the planned bones are ground.

[0107] According to the solution of the embodiment of the present disclosure, by adopting a circular motion trajectory calculation mode with a fixed radius, a trajectory segment along the radial direction line segment can appear at the next step progressive position, so that the connecting lines between the reference arc parts of each sector area in the planned grinding trajectory can be ground more accurately.

[0108] In one possible implementation, a divergent arc motion trajectory calculation mode of gradual hole expansion is used to process the initial reference curve of each slice layer to generate a planned grinding trajectory of a drill needle, including:

[0109] For each sector region of each slice layer, perform the following operations:

[0110] Determining the radius of the diverging arc in the sector-shaped area based on a preset step size and a rotation angle of a current position of the diverging arc track in the sector-shaped area;

[0111] When the radius of the diverging arc is less than or equal to a boundary threshold corresponding to the sector region, determining a grinding trajectory corresponding to a rotation angle of a current position of the diverging arc trajectory within the sector region based on the radius of the diverging arc; the boundary threshold being a difference between a reference arc radius corresponding to the sector region and a radius of the drill bit;

[0112] In a case where the radius of the diverging arc is greater than the boundary threshold corresponding to the sector area, determining a grinding track corresponding to a rotation angle of a current position of the diverging arc track within the sector area based on the boundary threshold;

[0113] The preset step size may be selected to be less than or equal to the drill bit diameter / 2π.

[0114] In the embodiment of the present disclosure, according to the radius r of each reference arc C Find the reference arc with the largest radius r max , using r max Divide by the preset step size to calculate the maximum angle γ that the divergent arc needs to rotate max The preset step size of the rotation angle γ can be selected as D / 4π. Based on the preset step size and the rotation angle γ of the current position, the grinding trajectory points are planned according to the following formula (3):

[0115]

[0116] The ratio of the radius of the divergent arc motion to the rotation angle, i.e. the preset step size, is a configurable value that determines the path of the divergent arc. The increasing speed can be set according to actual needs. For example: Figure 6 As shown, the drill can be set to rotate one circle, that is, 2π angles, and the arc radius increases from 0 to the radius of the drill, that is, D / 2, that is, the preset step size is D / 4π. According to this preset step size, the rotation angle γ is gradually increased to ensure that the drill can remove all bones in the planned area by running along the divergent arc. When the rotation reaches D / 4π×γ>r c When -D / 2, that is, grinding according to the divergent arc path will exceed the planned drill template boundary, then start to select the drill needle to grind along the outermost boundary of the sector, compare the radius of the current divergent arc with the radius of the boundary threshold, and select the trajectory corresponding to the minimum value of the two as the planned grinding trajectory. Decide whether to follow the divergent arc path or follow the drill needle along the edge of the trajectory to ensure that the bones in all planned areas are ground and the drill needle does not exceed the planned area.

[0117] According to the solution of the embodiment of the present disclosure, by adopting a divergent arc motion trajectory calculation mode of gradual hole expansion, when the divergent arc path grinding will exceed the actual planned area, the trajectory corresponding to the minimum value of the radius of the current divergent arc and the radius of the boundary threshold can be selected as the planned grinding trajectory, and the reference arc part in the planned grinding trajectory can be ground more accurately subsequently.

[0118] In practice, the drill bit planning grinding trajectory is discretely distributed according to the sampling points of the predetermined sampling density ξ. Since the trajectory mostly involves arcs, the sampling density can be evenly arranged according to the arc length corresponding to an arc of 1°. Figure 5 and Figure 6 The trajectory diagram is simply a connection of discrete sampling points for ease of understanding and does not represent a planned removal trajectory that can be recognized by a computer. Using these discrete sampling points, the robotic arm can perform motion control to complete cavity preparation.

[0119] Based on the same inventive concept, the present disclosure also provides a data processing device for implant cavities on alveolar bones, such as Figure 7 Shown, including:

[0120] An acquisition module 701 is used to acquire a planned implantation area of ​​an implant in the alveolar bone;

[0121] A segmentation module 702 is configured to segment the planned planting area into a plurality of slice layers along the planting direction; wherein the upper and lower planes of each slice layer are perpendicular to the planting direction, and each slice layer is divided into a plurality of sector-shaped regions;

[0122] A bone type determination module 703 is configured to determine the bone type of each sector region within each slice layer based on the CT value data of each slice layer;

[0123] A level difference determination module 704 is configured to determine the level difference of each sector region in each slice layer based on the correspondence between the bone type and the level difference of the implant;

[0124] The parameter determination module 705 is used to determine the cavity radius of each sector area in each slice layer based on the implant radius of each sector area in the implant and the level difference of each sector area, wherein the cavity radius supports the preparation of the cavity based on a drill needle.

[0125] In some embodiments, the segmentation module includes:

[0126] a sampling interval determining unit, configured to determine a longitudinal sampling interval along the implantation direction based on a thread pitch of the implant;

[0127] a segmentation unit, configured to segment the pyramid-like envelope of the planned planting area along the planting direction into a plurality of pyramid-like segments based on the longitudinal sampling interval;

[0128] For each type of cone segment, a target surface is selected from the cone-like segment, and a cylinder is constructed based on the target surface to obtain a slice layer corresponding to the cone-like segment;

[0129] The target surface of the pyramid-like segment is preferably the larger surface between the upper and lower surfaces of the pyramid-like segment.

[0130] In some embodiments, the bone type determination module is specifically configured to perform the following operations for each slice layer:

[0131] Obtaining the CT value of each point on the slice layer from the CT image of the alveolar bone;

[0132] For each sector region in the slice layer, the bone type of the sector region is determined based on the CT value in the sector region.

[0133] In some embodiments, the parameter determination module is specifically configured to:

[0134] For each sector area, the difference between the implant radius of the sector area and the level difference of the sector area in the implant is determined to obtain the cavity radius of the sector area.

[0135] In some embodiments, further comprising:

[0136] The curve determination module is configured to execute, for each slice layer, the following steps: establishing, for each sector-shaped region in the slice layer, a reference arc for the sector-shaped region based on the cavity radius of the sector-shaped region; and sequentially connecting the reference arcs of the sector-shaped regions in the slice layer to determine an initial reference curve for the slice layer;

[0137] The trajectory generation module is used to generate a planned grinding trajectory of a drill needle based on the initial reference curve of each slice layer when the change trend of the cavity radius size of the same sector-shaped area in each slice layer along the implantation direction is consistent.

[0138] In some embodiments, further comprising:

[0139] An abnormality identification module is used to determine the abnormal slice layer corresponding to the same sector-shaped area in each slice layer when the change trend of the cavity radius along the implantation direction is inconsistent;

[0140] The optimization module is used to correct the cavity radius of the same sector-shaped area in the abnormal slice layer and the corresponding initial reference curve so that the change trend of the cavity radius of the same sector-shaped area in each slice layer along the implantation direction is consistent, and trigger the trajectory generation module to return to execute the step of generating a planned grinding trajectory of a drill needle based on the initial reference curve of each slice layer when the change trend of the cavity radius of the same sector-shaped area in each slice layer along the implantation direction is consistent.

[0141] In some embodiments, the trajectory generation module is specifically configured to:

[0142] The initial reference curve of each slice layer is processed using a fixed radius circular motion trajectory calculation mode or a step-by-step hole expansion divergent arc motion trajectory calculation mode to generate a planned grinding trajectory of a drill needle.

[0143] In some embodiments, a fixed-radius circular motion trajectory calculation mode is used to process the initial reference curve of each slice layer to generate a planned grinding trajectory for a drill. The trajectory generation module is specifically configured to perform the following operations for each sector region of each slice layer:

[0144] determining a maximum quotient between a cavity radius and a drill diameter in the sector region;

[0145] generating a planned ablation trajectory for a drill needle in the sector-shaped area based on the maximum quotient and the cavity radius of the sector-shaped area;

[0146] Among them, in the planned grinding trajectory, the circular radius of the planned grinding trajectory is gradually increased with a preset step size to obtain multiple circles of fixed radius, and are sequentially connected to obtain a circular trajectory, and the fan-shaped area on the alveolar bone is drilled with the circular trajectory. When the cumulative number of preset step sizes is greater than the maximum quotient, the cavity radius of the fan-shaped area is used as the drilling boundary, and the preset step size is smaller than the drill needle diameter.

[0147] In some embodiments, a divergent arc motion trajectory calculation mode with stepwise hole expansion is used to process the initial reference curve of each slice layer to generate a planned grinding trajectory of a drill bit. The trajectory generation module is specifically configured to perform the following operations for each sector region of each slice layer:

[0148] Determining the radius of the diverging arc in the sector-shaped area based on a preset step size and a rotation angle of a current position of the diverging arc track in the sector-shaped area;

[0149] When the radius of the diverging arc is less than or equal to a boundary threshold corresponding to the sector region, determining a grinding trajectory corresponding to a rotation angle of a current position of the diverging arc trajectory within the sector region based on the radius of the diverging arc; the boundary threshold being a difference between a reference arc radius corresponding to the sector region and a radius of the drill bit;

[0150] In a case where the radius of the diverging arc is greater than the boundary threshold corresponding to the sector area, determining a grinding track corresponding to a rotation angle of a current position of the diverging arc track within the sector area based on the boundary threshold;

[0151] The preset step size may be selected to be less than or equal to the drill bit diameter / 2π.

[0152] For the description of specific functions and examples of each module, sub-module\unit of the device in the embodiment of the present disclosure, please refer to the relevant description of the corresponding steps in the above method embodiment, which will not be repeated here.

[0153] Figure 8FIG. 1 is a structural block diagram of an electronic device according to an embodiment of the present disclosure. Figure 8 As shown, the electronic device includes: a memory 810 and a processor 820. The memory 810 stores a computer program that can be executed on the processor 820. The number of memory 810 and processor 820 can be one or more. The memory 810 can store one or more computer programs. When the one or more computer programs are executed by the electronic device, the electronic device performs the method provided by the above method embodiment. The electronic device may also include: a communication interface 830 for communicating with external devices and performing data exchange.

[0154] If the memory 810, the processor 820, and the communication interface 830 are implemented independently, the memory 810, the processor 820, and the communication interface 830 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0155] Optionally, in a specific implementation, if the memory 810, the processor 820 and the communication interface 830 are integrated on a chip, the memory 810, the processor 820 and the communication interface 830 can communicate with each other through an internal interface.

[0156] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor that supports the Advanced Reduced Instruction Set Machine (ARM) architecture.

[0157] Furthermore, optionally, the above-mentioned memory may include a read-only memory and a random access memory, and may also include a non-volatile random access memory. The memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may include a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory (DR RAM).

[0158] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, data subscriber line (DSL)) or wireless (e.g., infrared, Bluetooth, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, or a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid-state drive (SSD)). It is worth noting that the computer-readable storage medium mentioned in the present disclosure may be a non-volatile storage medium, in other words, a non-transient storage medium.

[0159] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0160] In the description of the embodiments of the present disclosure, the reference terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0161] In the description of the embodiments of the present disclosure, unless otherwise specified, " / " means or. For example, A / B can mean A or B. "And / or" in this document is only a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0162] In the description of the embodiments of the present disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0163] The above description is merely an exemplary embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. A method for processing parameters for preparing an alveolar implant cavity, comprising: Obtain the planned implant area in the alveolar bone; Dividing the planned planting area into a plurality of slice layers along the planting direction; wherein the upper and lower planes of each slice layer are perpendicular to the planting direction, and each slice layer is divided into a plurality of fan-shaped areas; Based on the CT value data of each slice layer, the bone type of each fan-shaped area in each slice layer is determined; Determining the level difference of each sector region in each slice layer based on the correspondence between the bone type and the level difference of the implant; Determining the cavity radius of each sector region in each slice layer based on the implant radius of each sector region in the implant and the level difference of each sector region, wherein the cavity radius supports preparing the cavity based on a single drill needle; Also includes: For each slice layer, the following steps are performed: for each sector region in the slice layer, a reference arc of the sector region is established based on the cavity radius of the sector region; the reference arcs of each sector region in the slice layer are sequentially connected to determine an initial reference curve of the slice layer; When the change trends of the cavity radius of the same sector-shaped region in each slice layer along the implantation direction are inconsistent, determining the abnormal slice layer corresponding to the same sector-shaped region; Correct the cavity radius of the same fan-shaped area in the abnormal slice layer and the corresponding initial reference curve so that the change trend of the cavity radius of the same fan-shaped area in each slice layer along the implantation direction is consistent, and when the change trend of the cavity radius of the same fan-shaped area in each slice layer along the implantation direction is consistent, generate a planned grinding trajectory of a drill needle based on the initial reference curve of each slice layer.

2. The method according to claim 1, wherein The step of dividing the planned planting area into a plurality of slice layers along the planting direction includes: determining a longitudinal sampling interval along the implantation direction based on the thread pitch of the implant; Based on the longitudinal sampling interval, the pyramid-like envelope of the planned planting area is divided into a plurality of pyramid-like segments along the planting direction; For each type of cone segment, a target surface is selected from the cone-like segment, and a cylinder is constructed based on the target surface to obtain a slice layer corresponding to the cone-like segment; The target surface of the pyramid-like segment is the larger surface between the upper and lower surfaces of the pyramid-like segment.

3. The method according to claim 1, wherein Determining the bone type of each fan-shaped region in each slice layer based on the CT value data of each slice layer includes: For each slice layer, perform the following operations: Obtaining the CT value of each point on the slice layer from the CT image of the alveolar bone; For each sector region in the slice layer, the bone type of the sector region is determined based on the CT value in the sector region.

4. The method according to claim 1, wherein The step of determining the cavity radius of each sector-shaped region in each slice layer based on the implant radius of each sector-shaped region in the implant and the level difference of each sector-shaped region comprises: For each sector area, the difference between the implant radius of the sector area and the level difference of the sector area in the implant is determined to obtain the cavity radius of the sector area.

5. The method according to claim 1, further comprising: When the variation trend of the cavity radius size in the same sector-shaped area in each slice layer along the implantation direction is consistent, a planned grinding trajectory of a drill needle is generated based on the initial reference curve of each slice layer.

6. The method according to claim 1 or 5, wherein: The method of generating a planned grinding trajectory of a drill needle based on the initial reference curves of each slice layer includes: The initial reference curve of each slice layer is processed using a fixed radius circular motion trajectory calculation mode or a step-by-step hole expansion divergent arc motion trajectory calculation mode to generate a planned grinding trajectory of a drill needle.

7. The method according to claim 6, wherein: The initial reference curve of each slice layer is processed using a circular motion trajectory calculation mode with a fixed radius to generate a planned grinding trajectory for a drill needle, including: For each sector region of each slice layer, perform the following operations: determining a maximum quotient between a cavity radius and a drill diameter in the sector region; generating a planned ablation trajectory for a drill needle in the sector-shaped area based on the maximum quotient and the cavity radius of the sector-shaped area; Among them, in the planned grinding trajectory, the circular radius of the planned grinding trajectory is gradually increased with a preset step size to obtain multiple circles of fixed radius, and are sequentially connected to obtain a circular trajectory, and the fan-shaped area on the alveolar bone is drilled with the circular trajectory. When the cumulative number of preset step sizes is greater than the maximum quotient, the cavity radius of the fan-shaped area is used as the drilling boundary, and the preset step size is less than or equal to the drill needle diameter.

8. The method according to claim 6, wherein: The initial reference curve of each slice layer is processed using a divergent arc motion trajectory calculation mode of gradual hole expansion to generate a planned grinding trajectory of a drill needle, including: For each sector region of each slice layer, perform the following operations: Determining the radius of the diverging arc in the sector-shaped area based on a preset step size and a rotation angle of a current position of the diverging arc track in the sector-shaped area; When the radius of the diverging arc is less than or equal to a boundary threshold corresponding to the sector region, determining a grinding trajectory corresponding to a rotation angle of a current position of the diverging arc trajectory within the sector region based on the radius of the diverging arc; the boundary threshold being a difference between a reference arc radius corresponding to the sector region and a radius of the drill bit; In a case where the radius of the diverging arc is greater than the boundary threshold corresponding to the sector area, determining a grinding track corresponding to a rotation angle of a current position of the diverging arc track within the sector area based on the boundary threshold; The preset step size may be selected to be less than or equal to the drill bit diameter / 2π.

9. A data processing device for an implant cavity on an alveolar bone, comprising: An acquisition module, used for acquiring a planned implantation area of ​​an implant in the alveolar bone; a segmentation module, configured to segment the planned planting area into a plurality of slice layers along a planting direction; wherein the upper and lower planes of each slice layer are perpendicular to the planting direction, and each slice layer is divided into a plurality of sector-shaped regions; A bone classification determination module is used to determine the bone classification of each sector region in each slice layer based on the CT value data of each slice layer; A level difference determination module is used to determine the level difference of each sector region in each slice layer based on the correspondence between the bone type and the level difference of the implant; a parameter determination module, configured to determine a cavity radius of each sector-shaped region in each slice layer based on an implant radius of each sector-shaped region in the implant and a level difference of each sector-shaped region, wherein the cavity radius supports cavity preparation based on a single drill needle; include: The curve determination module is configured to perform, for each slice layer, the following operations: establishing, for each sector-shaped region within the slice layer, a reference arc for the sector-shaped region based on the cavity radius of the sector-shaped region; and sequentially connecting the reference arcs of the sector-shaped regions within the slice layer to determine an initial reference curve for the slice layer; An abnormality identification module is used to determine the abnormal slice layer corresponding to the same sector-shaped area in each slice layer when the change trend of the cavity radius along the implantation direction is inconsistent; An optimization module, configured to correct the cavity radius of the same sector-shaped region in the abnormal slice layer and the corresponding initial reference curve, so that the change trend of the cavity radius of the same sector-shaped region in each slice layer along the implantation direction is consistent; The trajectory generation module is used to generate a planned grinding trajectory of a drill needle based on the initial reference curve of each slice layer when the change trend of the cavity radius size of the same sector-shaped area in each slice layer along the implantation direction is consistent.

10. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 8.

11. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-8.

12. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 8.

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