An implant placement device

Abstract

The embodiment of the present application discloses a kind of implant placement device.It includes: for the target object to be carried out implant placement, obtain the maxillary sinus image of target object, and the target position image containing the placement position of implant in maxillary sinus image is segmented out;Based on target position image, the drilling safety depth of drilling hole in placement position is determined, based on target position image and implant length, the placement safety depth of implant in placement position is determined;Based on drilling safety depth, control the mechanical arm in robot to drill hole in placement position, obtain target hole, and based on placement safety depth, control the mechanical arm to deepen the hole depth of target hole by the maxillary sinus depth of maxillary sinus in placement position through target hole;Based on placement safety depth, control the mechanical arm to place implant in the target hole after depth deepening.The technical scheme of the embodiment of the present application can guarantee the safety of implant planting.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of computer vision, and in particular to an implant placement device. BACKGROUND

[0002] In the implantation process of an implant, for a patient whose alveolar bone length is less than the length of the implant, the maxillary sinus of the patient needs to be lifted to extend the implantable length of the implant, and then the implant is implanted.

[0003] However, the above operation is mainly performed by the doctor according to experience, and the safety is difficult to guarantee, which needs to be improved. SUMMARY

[0004] Embodiments of the present application provide an implant placement device to ensure the safety of implantation.

[0005] According to an aspect of the present application, an implant placement method is provided, which can include:

[0006] For a target object to be implanted, a maxillary sinus image of the target object is obtained, and a target position image containing a placement position of the implant in the maxillary sinus image is segmented;

[0007] Based on the target position image, a drilling safety depth of drilling a hole at the placement position is determined, and in the case that the length of the implant is greater than the drilling safety depth, a placement safety depth of placing the implant at the placement position is determined based on the target position image and the length of the implant, so that a controller in the robot executes the following two steps based on the drilling safety depth and the placement safety depth to realize the implant placement:

[0008] Based on the drilling safety depth, a mechanical arm in the robot is controlled to drill a hole at the placement position to obtain a target hole, and based on the placement safety depth, the mechanical arm is controlled to lift the maxillary sinus depth of the maxillary sinus at the placement position to deepen the hole depth of the target hole;

[0009] Based on the placement safety depth, the mechanical arm is controlled to place the implant in the target hole with the deepened depth.

[0010] According to another aspect of the present application, an implant placement device is provided, which can include:

[0011] A target position image segmentation module is configured to obtain a maxillary sinus image of a target object to be implanted, and segment a target position image containing a placement position of the implant in the maxillary sinus image;

[0012] The placing safety depth determination module is configured to determine a drilling safety depth of a drilling hole at the placing position based on the target position image, and determine a placing safety depth of the implant at the placing position based on the target position image and the implant length in a case where the implant length of the implant is greater than the drilling safety depth, so as to realize the implant placing by the following two modules.

[0013] The hole depth deepening module is configured to control a mechanical arm in the robot to drill a hole at the placing position to obtain a target hole based on the drilling safety depth, and control the mechanical arm to lift a maxillary sinus depth of the maxillary sinus at the placing position through the target hole to deepen a hole depth of the target hole based on the placing safety depth.

[0014] The implant placing module is configured to control the mechanical arm to place the implant in the target hole with the deepened depth based on the placing safety depth.

[0015] According to another aspect of the present application, an electronic device can include:

[0016] at least one processor; and

[0017] a memory connected with the at least one processor in communication; wherein,

[0018] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to cause the at least one processor to implement the implant placing method provided by any of the embodiments of the present application.

[0019] According to another aspect of the present application, a computer readable storage medium is provided, and the computer readable storage medium stores computer instructions for causing a processor to implement the implant placing method provided by any of the embodiments of the present application.

[0020] The technical solution in the embodiment of the application is that, for a target object to be placed with an implant, a maxillary sinus image of the target object is obtained, and a target position image containing a placement position of the implant in the maxillary sinus image is segmented out, so as to further determine an accurate drilling safety depth and a placement safety depth through the target position image; based on the target position image, a drilling safety depth of drilling at the placement position is determined, and in the case that an implant length of the implant is greater than the drilling safety depth, a placement safety depth of placing the implant at the placement position is determined based on the target position image and the implant length, so that a controller in the robot performs the following two steps based on the drilling safety depth and the placement safety depth to realize the implant placement: based on the drilling safety depth, a mechanical arm in the robot is controlled to drill at the placement position to obtain a target hole, and based on the placement safety depth, the mechanical arm is controlled to lift a maxillary sinus depth of the maxillary sinus at the placement position to deepen a hole depth of the target hole, and then based on the placement safety depth, the mechanical arm is controlled to place the implant in the target hole with the deepened depth, so as to realize the automation of the implant planting process through the operation of the mechanical arm and improve the precision. Through the target position image obtained, the drilling safety depth and the placement safety depth are determined, and the mechanical arm is used to plant the implant based on the drilling safety depth and the placement safety depth, so as to ensure the safety of the implant planting.

[0021] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the application, nor is it used to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0023] Figure 1 is a structural schematic diagram of an implant placement provided according to an embodiment of the application;

[0024] Figure 2 is a flowchart of an implant placement method provided according to an embodiment of the application;

[0025] Figure 3 is a flowchart of another implant placement method provided according to an embodiment of the application;

[0026] Figure 4 is a structural block diagram of an implant placement device provided according to an embodiment of the application;

[0027] Figure 5 Fig. 1 is a structural schematic diagram of an electronic device for implementing an implant placement method according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of 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 skilled in the art without creative labor should belong to the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The case of "target", "original" and the like is similar, and will not be described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] Before introducing the embodiments of the present application, the related content described in the background art will be exemplarily described, so as to better understand the implant placement method described in the embodiments of the present application.

[0031] At present, when implanting an implant, a target hole is punched in the alveolar bone, and the implant is implanted in the target hole. However, when the thickness of the alveolar bone is less than the length of the implant, as shown in FIG. 1, the implant 4 cannot be completely placed in the target hole. At this time, the maxillary sinus 1 needs to be lifted up by the target filler 2 to deepen the depth of the target hole, so that the implant 4 can be completely placed in the target hole and the maxillary sinus is not damaged. However, in the related art, the alveolar bone is punched, the target filler is filled, and the implant is placed only by the experience of the doctor, which is easy to cause damage to the maxillary sinus, and the safety is low. Figure 1

[0032] Figure 2 ​is a flow chart of a dental implant placement method provided in an embodiment of the present application. The embodiment can be applicable to the case of dental implant placement, especially the case of dental implant placement requiring maxillary sinus lifting. The method can be performed by a dental implant placement device provided in an embodiment of the present application, which can be implemented in the form of software and / or hardware, and can be integrated on an electronic device, which can be various user terminals or servers.

[0033] Referring to Figure 2 The method of the embodiment of the present application specifically includes the following steps:

[0034] S110, obtaining a maxillary sinus image of a target object to be placed with a dental implant, and segmenting a target position image containing a placement position of the dental implant in the maxillary sinus image.

[0035] The target object can be understood as a patient to be placed with a dental implant.

[0036] The target position image can be understood as an image at the placement position of the dental implant in the maxillary sinus image.

[0037] For the target object, optionally, a medical diagnostic instrument such as a computed tomography, magnetic resonance imaging, and positron emission tomography instrument can be used to scan or photograph the target object, and the maxillary sinus image of the target object can be obtained by processing, and the target position image containing the placement position of the dental implant can be segmented from the maxillary sinus image.

[0038] S120, determining a drilling safety depth of drilling a hole at the placement position based on the target position image, and in the case that a dental implant length of the dental implant is greater than the drilling safety depth, determining a placement safety depth of placing the dental implant at the placement position based on the target position image and the dental implant length, so that a controller in a robot performs the following S130 and S140 based on the drilling safety depth and the placement safety depth to realize the dental implant placement.

[0039] The drilling safety depth can be understood as a safety depth of drilling a hole at the placement position, and in order to ensure the safety of drilling a hole, the drilling depth should not exceed the drilling safety depth when drilling a hole so as not to drill through the maxillary sinus.

[0040] The placement safety depth can be understood as a safety depth of the implant beyond the alveolar bone when the implant is placed in the borehole. After the depth of the maxillary sinus is increased, in order to avoid damage to the maxillary sinus caused by the implant being placed too deeply when the implant is placed, the placement depth of the implant when placed cannot exceed the placement safety depth. Optionally, the alveolar bone thickness at the placement position can be determined based on the target position image; the implant length of the implant is subtracted from the alveolar bone thickness to obtain the placement safety depth of the implant at the placement position. In this way, the implant can be placed in the borehole just in the case of the least increase of the depth of the maxillary sinus.

[0041] The drilling safety depth of the borehole at the placement position can be determined based on the target position image. Optionally, the drilling safety depth can be determined according to each tissue image in the target position image. In the case that the implant length of the implant is greater than the drilling safety depth, the maxillary sinus needs to be increased. At this time, the placement safety depth of the implant at the placement position needs to be determined based on the target position image and the implant length, so as to avoid exceeding the increased depth of the maxillary sinus when the implant is placed, and causing damage to the maxillary sinus.

[0042] Further, the controller in the robot can control the mechanical arm in the robot to perform further placement work by obtaining the drilling safety depth and the placement safety depth. In other words, S110 and S120 can be performed by the electronic device, and S130 and S140 can be performed by the controller.

[0043] S130, based on the drilling safety depth, control the mechanical arm in the robot to drill a borehole at the placement position to obtain a target hole, and based on the placement safety depth, control the mechanical arm to increase the depth of the maxillary sinus at the placement position through the target hole to deepen the hole depth of the target hole.

[0044] The controller can control the mechanical arm in the robot to drill a borehole at the placement position to obtain a target hole according to the obtained drilling safety depth. In the case that the implant length of the implant is greater than the drilling safety depth, the controller can also control the mechanical arm to increase the depth of the maxillary sinus at the placement position through the target hole based on the placement safety depth to deepen the hole depth of the target hole.

[0045] S140, based on the placement safety depth, control the mechanical arm to place the implant in the target hole with the deepened depth.

[0046] After the target hole is deepened, the controller can control the mechanical arm to place the implant in the target hole with the deepened depth based on the placement safety depth. Optionally, the depth of the implant when placed beyond the alveolar bone is less than or equal to the placement safety depth, so as to avoid being placed too deeply and exceeding the depth of the deepened target hole, and causing damage to the maxillary sinus.

[0047] The technical solution in the embodiments of the present application, by aiming at the target object to be implanted, obtains the maxillary sinus image of the target object, and segments the target position image containing the placement position of the implant in the maxillary sinus image, to further determine the accurate drilling safety depth and placement safety depth through the target position image; based on the target position image, the drilling safety depth of drilling at the placement position is determined, and in the case that the implant length of the implant is greater than the drilling safety depth, the placement safety depth of placing the implant at the placement position is determined based on the target position image and the implant length, so that the controller in the robot performs the following two steps based on the drilling safety depth and the placement safety depth to realize the implant placement: based on the drilling safety depth, the mechanical arm in the robot is controlled to drill at the placement position to obtain the target hole, and based on the placement safety depth, the mechanical arm is controlled to lift the maxillary sinus depth of the maxillary sinus at the placement position to deepen the hole depth of the target hole, and then based on the placement safety depth, the mechanical arm is controlled to place the implant in the target hole with deepened depth, through the operation of the mechanical arm, the automation of the implant planting process is realized, and the precision is improved. The above technical solution determines the drilling safety depth and the placement safety depth through the obtained target position image, and plants the implant based on the drilling safety depth and the placement safety depth by using the mechanical arm, which ensures the safety of the implant planting.

[0048] An optional technical solution, aiming at the target object to be implanted, obtains the maxillary sinus image of the target object, comprising: obtaining the oral medical image of the target object aiming at the target object to be implanted; performing three-dimensional reconstruction on the oral medical image to obtain a reconstructed medical image; performing maxillary sinus segmentation on the reconstructed medical image to obtain the maxillary sinus image of the target object.

[0049] Among them, the oral medical image of the target object can be obtained by a medical diagnostic instrument, and the three-dimensional reconstructed medical image can be obtained by three-dimensional reconstruction of the oral medical image. Further, different oral parts of the patient can be segmented from the reconstructed medical image through threshold segmentation and / or machine learning algorithm, so as to obtain the maxillary sinus image of the target object.

[0050] The above technical solution can segment to obtain an accurate three-dimensional maxillary sinus image, which provides image basis for further quantization of the drilling safety depth and the placement safety depth.

[0051] In another optional technical solution, the target position image containing the placement position of the implant in the maxillary sinus image is segmented, including: determining the placement position of the implant based on at least one of the activity range of the mechanical arm, the alveolar bone width and depth of the target object, the bone density of the target object, and the volume of the implant by using the pre-trained implant planning algorithm; and determining the target position image from the maxillary sinus image based on the placement position.

[0052] The implant planning algorithm can be understood as a pre-trained automatic planning algorithm, which can automatically plan and place the implant. Optionally, it can be trained and generated by different maxillary sinus lifting planning schemes.

[0053] The implant planning algorithm can be used to automatically determine the placement position of the implant based on factors such as the activity range of the mechanical arm, the alveolar bone width and depth of the target object, the bone density of the target object, and the volume of the implant, and to determine the target position image by obtaining the image at the placement position in the maxillary sinus image.

[0054] The above technical solution can automatically determine the placement position of the implant, and realize rapid planning of implantation.

[0055] Figure 3 is a flowchart of another implant placement method provided in the embodiments of the present application. The present embodiment is optimized based on the above technical solutions. In the present embodiment, optionally, based on the target position image, the drilling safety depth of drilling a hole at the placement position is determined, including: determining the first vertical distance between the placement position and the target interface based on the target position image, wherein the target interface is the interface between the cartilage tissue at the placement position and the maxillary sinus; and obtaining the drilling safety depth of drilling a hole at the placement position based on the first vertical distance. Wherein, the explanations of the same or corresponding terms as in the above embodiments are not repeated here.

[0056] Referring to Figure 3 The method of the present embodiment can specifically include the following steps:

[0057] S210, for a target object to be implanted, obtaining a maxillary sinus image of the target object, and segmenting a target position image containing a placement position of the implant in the maxillary sinus image.

[0058] S220, based on the target position image, determining the first vertical distance between the placement position and the target interface, wherein the target interface is the interface between the alveolar bone at the placement position and the maxillary sinus.

[0059] The target interface can be understood as the interface between the alveolar bone and the maxillary sinus, and the alveolar bone is adjacent to the maxillary sinus in the maxillary sinus image. When implanting the implant, the alveolar bone should be avoided to be drilled through and the maxillary sinus should be avoided to be drilled when drilling a hole.

[0060] The first vertical distance can be understood as a vertical distance between the placement position and the target interface. Since the drilling is vertical, the vertical distance between the placement position and the target interface needs to be determined.

[0061] In S230, a drilling safety depth of drilling at the placement position is obtained based on the first vertical distance.

[0062] After the first vertical distance is obtained, the drilling safety depth of drilling at the placement position can be obtained based on the first vertical distance. Alternatively, the first vertical distance can be directly used as the drilling safety depth, or the first vertical distance can be reduced by a preset buffer distance to obtain the drilling safety depth. The preset buffer distance can be controlled and judged by a doctor, and after the judgment is completed, the first vertical distance is reduced by the preset buffer distance to obtain the drilling safety depth. In this way, the drilling of the maxillary sinus caused by errors can be avoided, and the safety of drilling can be further improved.

[0063] In S240, when the implant length of the implant is greater than the drilling safety depth, a placement safety depth of placing the implant at the placement position is determined based on the target position image and the implant length, so that a controller in the robot performs S250 and S260 based on the drilling safety depth and the placement safety depth to realize implant placement.

[0064] In S250, a mechanical arm in the robot is controlled to drill at the placement position based on the drilling safety depth to obtain a target hole, and the mechanical arm is controlled to lift a maxillary sinus depth of the maxillary sinus at the placement position through the target hole based on the placement safety depth to deepen a hole depth of the target hole.

[0065] In S260, the mechanical arm is controlled to place the implant in the target hole with the deepened depth based on the placement safety depth.

[0066] The technical scheme of the embodiment of the present application can quantize the drilling safety depth based on the first vertical distance between the placement position and the target interface in the target position image, and improve the safety of drilling.

[0067] An alternative technical scheme includes: controlling the mechanical arm to fill a target filler into the target hole and applying pressure to the target filler filled in the target hole, so that the target filler penetrates through the alveolar bone with a preset buffer distance and enters the target interface; and controlling the mechanical arm to continue filling the target filler into the target interface through the target hole based on the placement safety depth, so that the target filler lifts the maxillary sinus depth of the maxillary sinus at the placement position to deepen the hole depth of the target hole.

[0068] In the case that the implant length of the implant is greater than the drilling safety depth, the depth of the maxillary sinus needs to be first lifted, and the controller needs to control the mechanical arm to fill the target filling material into the target hole, and the target filling material can be bone powder, and the mechanical arm needs to apply pressure to the target filling material filled in the target hole to make the target filling material penetrate the alveolar bone of the preset buffer distance and enter the target junction, and the controller needs to control the mechanical arm to continue filling the target filling material into the target junction through the target hole based on the placement safety depth, so that the target filling material lifts the maxillary sinus to increase the maxillary sinus depth of the placement position, to deepen the hole depth of the target hole, so that the implant can be completely implanted in the target hole.

[0069] The above technical solution can more accurately and stably lift the depth of the maxillary sinus by controlling the mechanical arm to fill the target filling material into the target hole based on the placement safety depth.

[0070] In order to better understand the above technical solutions, the following will be exemplarily described in combination with specific examples, and the specific implanting steps are as follows:

[0071] S1, import the oral medical image of the target object into the image processing module.

[0072] S2, the image processing module performs three-dimensional reconstruction on the oral medical image of the target object.

[0073] S3, after three-dimensional reconstruction, the image processing module automatically segments the maxillary sinus image.

[0074] S4, in the case that the implant length of the implant is greater than the alveolar bone thickness, the maxillary sinus lifting operation is selected in the implanting operation.

[0075] S5, using the pre-trained implant planning algorithm, based on at least one of the activity range of the mechanical arm, the alveolar bone width and depth of the target object, the bone density of the target object, and the volume of the implant, the position optimization is automatically planned, and finally the implant position scheme is automatically generated.

[0076] S7, after the implant scheme is generated, the doctor will determine the final scheme, and after confirming the scheme, according to the target position image of the placement position, the image processing module will automatically generate the drilling safety depth and the placement safety depth according to the target position image, and automatically deploy it to the controller of the mechanical arm.

[0077] S8, the controller controls the mechanical arm to use the drilling safety depth in the drilling mode, if the mechanical arm drill needle drills the drilling safety depth to the drilling safety depth, the drilling is stopped, then the mode is switched to the implant placement mode, the mechanical arm switches the safety distance judgment to the placement safety depth at this time, fills the bone powder (i.e. target filling) into the target hole to improve the maxillary sinus depth, and places the implant, and the operation is completed.

[0078] The specific example automatically generates the safety depth and the placement safety depth through the image processing module, and controls the mechanical arm to complete the implantation of the implant based on the safety depth and the placement safety depth, thereby improving the safety of the implantation of the implant.

[0079] Figure 4 A structural block diagram of an implant placement device is provided for the embodiments of the present application, and the device is used to perform the implant placement method provided by any of the above embodiments. The device and the implant placement method of each embodiment belong to the same inventive concept, and the details not described in the embodiment of the implant placement device can be referred to the embodiment of the implant placement method. Referring to Figure 4 , the device can specifically include: a target position image segmentation module 310, a placement safety depth determination module 320, a hole depth deepening module 330, and an implant placement module 340.

[0080] The target position image segmentation module 310 is configured to obtain a maxillary sinus image of a target object to be implanted with an implant, and segment a target position image containing a placement position of the implant in the maxillary sinus image.

[0081] The placement safety depth determination module 320 is configured to determine a drilling safety depth of drilling at the placement position based on the target position image, and determine a placement safety depth of placing the implant at the placement position based on the target position image and the length of the implant in a case that the length of the implant is greater than the drilling safety depth, so that a controller in the robot realizes the implant placement through the hole depth deepening module 330 and the implant placement module 340 based on the drilling safety depth and the placement safety depth.

[0082] The hole depth deepening module 330 is configured to control a mechanical arm in the robot to drill at the placement position based on the drilling safety depth to obtain a target hole, and control the mechanical arm to lift a maxillary sinus depth of the maxillary sinus at the placement position through the target hole to deepen a hole depth of the target hole based on the placement safety depth.

[0083] The implant placement module 340 is configured to control the mechanical arm to place the implant in the target hole with the deepened depth based on the placement safety depth.

[0084] Optionally, the placement safety depth determination module 320 includes:

[0085] a first vertical distance determination sub-module, configured to determine a first vertical distance between the placement position and a target interface based on the target position image, wherein the target interface is an interface between the cartilage tissue at the placement position and the maxillary sinus;

[0086] a drilling safety depth obtaining sub-module, configured to obtain a drilling safety depth of drilling at the placement position based on the first vertical distance.

[0087] On this basis, optionally, the drilling safety depth obtaining sub-module comprises:

[0088] a drilling safety depth obtaining unit, configured to subtract a preset buffer distance from the first vertical distance to obtain the drilling safety depth of drilling at the placement position.

[0089] On this basis, optionally, the hole depth deepening module 330 comprises:

[0090] a target filler filling sub-module, configured to control the mechanical arm to fill the target filler into the target hole, and to apply pressure to the target filler filled in the target hole, so that the target filler penetrates the alveolar bone of the preset buffer distance and enters the target interface;

[0091] a hole depth deepening sub-module, configured to control the mechanical arm to continue filling the target filler through the target hole to the target interface based on the placement safety depth, so that the target filler lifts the maxillary sinus depth of the maxillary sinus at the placement position to deepen the hole depth of the target hole.

[0092] In another optional implementation, the placement safety depth determination module 320 comprises:

[0093] an alveolar bone thickness determination sub-module, configured to determine an alveolar bone thickness at the placement position based on the target position image;

[0094] a placement safety depth obtaining sub-module, configured to subtract the alveolar bone thickness from the implant length of the implant to obtain the placement safety depth of placing the implant at the placement position.

[0095] In yet another optional implementation, the target position image segmentation module 310 comprises:

[0096] an oral medical image acquisition sub-module, configured to acquire an oral medical image of a target object to be implanted with an implant;

[0097] a reconstructed medical image obtaining sub-module, configured to perform three-dimensional reconstruction on the oral medical image to obtain a reconstructed medical image;

[0098] a maxillary sinus image obtaining sub-module, configured to perform maxillary sinus segmentation on the reconstructed medical image to obtain a maxillary sinus image of the target object.

[0099] Still another optional target position image segmentation module 310 comprises:

[0100] The placement position determination submodule is configured to determine the placement position of the implant based on at least one of the range of motion of the robot arm, the alveolar bone width and depth of the target object, the bone density of the target object, and the volume of the implant, by using the pre-trained implant planning algorithm.

[0101] The target position image determination submodule is configured to determine the target position image from the maxillary sinus image based on the placement position.

[0102] The implant placement device in the embodiment of the present application obtains the maxillary sinus image of the target object to be implanted with the target position image segmentation module, and segments the target position image containing the placement position of the implant in the maxillary sinus image, so as to further determine the accurate drilling safety depth and placement safety depth through the target position image. The drilling safety depth of the drilling hole at the placement position is determined based on the target position image by the placement safety depth determination module, and the placement safety depth of the implant at the placement position is determined based on the target position image and the implant length in the case where the implant length of the implant is greater than the drilling safety depth, so as to quantify the implant operation through the two safety depths, guarantee the safety in the implantation process, and then make the controller in the robot realize the implantation of the implant by using the hole depth deepening module and the implant placement module as follows: the hole depth deepening module controls the robot arm to drill a hole at the placement position based on the drilling safety depth, so as to obtain a target hole, and controls the robot arm to deepen the hole depth of the target hole by lifting the maxillary sinus depth of the maxillary sinus at the placement position through the target hole based on the placement safety depth, and then the implant placement module controls the robot arm to place the implant in the target hole with the deepened depth based on the placement safety depth, so as to realize the automation of the implantation process through the operation of the robot arm, and improve the accuracy. The drilling safety depth and the placement safety depth are determined based on the obtained target position image, and the implant is implanted based on the drilling safety depth and the placement safety depth by using the robot arm, so as to guarantee the safety of the implantation.

[0103] The implant placement device provided in the embodiment of the present application can perform the implant placement method provided in any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0104] It is worth noting that the above-mentioned embodiments of the implant placement device are divided according to the functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for the convenience of mutual differentiation, and do not limit the protection scope of the present application.

[0105] Figure 5 A structural diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0106] As shown in Figure 5 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0107] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunications networks.

[0108] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, and the like. The processor 11 performs various methods and processes described above, such as the implant placement method.

[0109] In some embodiments, the implant placement method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the implant placement method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the implant placement method by any other suitable means, such as by means of firmware.

[0110] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0111] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a machine or entirely on a remote machine or server.

[0112] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0113] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0114] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0115] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0116] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0117] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An implant placement device, characterized in that, The method comprises the following steps: An object position image segmentation module is configured to obtain a maxillary sinus image of a target object to be implanted with an implant, and segment a target position image containing a placement position of the implant in the maxillary sinus image; A placement safety depth determination module is configured to determine a drilling safety depth of drilling a hole at the placement position based on the target position image, and determine a placement safety depth of placing the implant at the placement position based on the target position image and a length of the implant if the length of the implant is greater than the drilling safety depth, so that a controller in a robot implements implant placement through the following two modules based on the drilling safety depth and the placement safety depth; A hole depth deepening module is configured to control a mechanical arm in the robot to drill a hole at the placement position based on the drilling safety depth to obtain a target hole, and control the mechanical arm to lift a maxillary sinus depth of the maxillary sinus at the placement position through the target hole based on the placement safety depth to deepen a hole depth of the target hole; An implant placement module is configured to control the mechanical arm to place the implant in the target hole with the deepened depth based on the placement safety depth; The placement safety depth determination module comprises: A first vertical distance determination submodule is configured to determine a first vertical distance between the placement position and a target interface based on the target position image, wherein the target interface is an interface between alveolar bone at the placement position and the maxillary sinus; A drilling safety depth obtaining submodule is configured to obtain a drilling safety depth of drilling a hole at the placement position based on the first vertical distance; The drilling safety depth obtaining submodule comprises: A drilling safety depth obtaining unit is configured to subtract a preset buffer distance from the first vertical distance to obtain the drilling safety depth of drilling a hole at the placement position; The hole depth deepening module comprises: A target filler filling submodule is configured to control the mechanical arm to fill a target filler into the target hole, and apply pressure to the target filler filled in the target hole, so that the target filler penetrates the alveolar bone of the preset buffer distance and enters the target interface; A hole depth deepening submodule is configured to control the mechanical arm to continue filling the target filler to the target interface through the target hole based on the placement safety depth, so that the target filler lifts a maxillary sinus depth of the maxillary sinus at the placement position to deepen a hole depth of the target hole.

2. The implant placement device of claim 1, wherein, The placement safety depth determination module further comprises: An alveolar bone thickness determination submodule is configured to determine an alveolar bone thickness at the placement position based on the target position image; A placement safety depth obtaining submodule is configured to subtract the alveolar bone thickness from the length of the implant to obtain the placement safety depth of placing the implant at the placement position.

3. The implant placement device of claim 1, wherein, The target position image segmentation module comprises: The oral medical image acquisition submodule is configured to acquire an oral medical image of a target object to be implanted with an implant; The reconstructed medical image obtaining submodule is configured to perform three-dimensional reconstruction on the oral medical image to obtain a reconstructed medical image; The maxillary sinus image obtaining submodule is configured to perform maxillary sinus segmentation on the reconstructed medical image to obtain a maxillary sinus image of the target object.

4. The implant placement device of claim 1, wherein, The target position image segmentation module comprises: The placement position determining submodule is configured to determine a placement position of the implant by using a pre-trained implant planning algorithm based on at least one of an activity range of the mechanical arm, a width and a depth of alveolar bone of the target object, a bone density of the target object, and a volume of the implant; The target position image determining submodule is configured to determine a target position image from the maxillary sinus image based on the placement position.

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