Image processing method and device, equipment, medium and product

Abstract

The invention discloses an image processing method, device and equipment, a medium and a product, and belongs to the technical field of medical image processing. The method comprises the steps that oral scanning data of a target object wearing a positioning device is obtained, tooth surface data and positioning device surface data are extracted from the oral scanning data, and the positioning device is fixed to set teeth of the target object; acquiring a navigation CT image of the oral cavity of the target object wearing the positioning device, and determining a tooth surface model based on the navigation CT image; the tooth surface model and the tooth surface data are registered to obtain a first conversion matrix, the positioning device surface data and pre-stored positioning device surface design data are registered to obtain a second conversion matrix, and a coordinate system where the positioning device surface design data are located is a reference coordinate system; and converting the navigation CT image to the reference coordinate system according to the first conversion matrix and the second conversion matrix. According to the embodiment of the invention, the navigation CT image can be accurately mapped to the reference coordinate.

Description

Technical Field

[0001] The present invention relates to the field of medical image processing technology, and in particular to an image processing method, device, equipment, medium and product. Background Art

[0002] In the dental surgery navigation scenario, the accuracy of surgical navigation often depends on whether the intraoperative navigation CT image is accurately mapped to the reference coordinate system. The prior art usually maps the navigation CT image to the reference coordinate system based on the predefined position of the reference structure of the positioning device.

[0003] Since the reference structure of the positioning device in the navigation CT image is usually highlighted, and the highlight feature will reduce the accuracy of the reference structure position information extraction, it is often difficult to obtain a high-accuracy registration result when aligning the reference structure of the positioning device in the navigation CT image with the reference structure of the actual positioning device. Therefore, it is difficult to accurately map the navigation CT image to the reference coordinate system based on the registration results of the two. Summary of the invention

[0004] The present invention provides an image processing method, device, equipment, medium and product to solve the problem in the prior art that a large number of navigation CT images are taken, resulting in large radiation radiation.

[0005] According to one aspect of the present invention, there is provided an image processing method, comprising:

[0006] Acquire oral scan data of a target object wearing a positioning device, and extract tooth surface data and positioning device surface data from the oral scan data, wherein the positioning device is fixed on a set tooth of the target object, and the positioning device includes an asymmetric concave-convex structure;

[0007] Acquire a navigation CT image of the oral cavity of a target object wearing the positioning device, and determine a tooth surface model based on the navigation CT image;

[0008] The tooth surface model is registered with the tooth surface data to obtain a first transformation matrix, and the positioning device surface data is registered with the pre-stored positioning device surface design data to obtain a second transformation matrix, wherein the coordinate system of the positioning device surface design data is a reference coordinate system;

[0009] The navigation CT image is transformed into the reference coordinate system according to the first transformation matrix and the second transformation matrix to obtain a target navigation CT image.

[0010] According to another aspect of the present invention, there is provided an image processing apparatus, comprising:

[0011] An oral scan data module, used for acquiring oral scan data of a target object wearing a positioning device, and extracting tooth surface data and positioning device surface data from the oral scan data, wherein the positioning device is fixed on a set tooth of the target object, and the positioning device includes an asymmetric concave-convex structure;

[0012] A navigation CT image module, used to obtain a navigation CT image of the oral cavity of a target object wearing the positioning device, and determine a tooth surface model based on the navigation CT image;

[0013] a conversion matrix determination module, used for registering the tooth surface model with the tooth surface data to obtain a first conversion matrix, and for registering the positioning device surface data with pre-stored positioning device surface design data to obtain a second conversion matrix, wherein the coordinate system of the positioning device surface design data is a reference coordinate system;

[0014] The position information determination module is used to transform the navigation CT image into the reference coordinate system according to the first transformation matrix and the second transformation matrix to obtain a target navigation CT image.

[0015] According to another aspect of the present invention, a surgical navigation system is provided, the surgical navigation system comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; 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 so that the at least one processor can execute the image processing method described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the image processing method described in any embodiment of the present invention when executed.

[0020] According to another aspect of the present invention, a computer program product is provided. The computer program product comprises a computer program. When the computer program is executed by a processor, the image processing method according to any one of the embodiments is implemented.

[0021] According to the technical solution provided by the embodiment of the present invention, since the oral scan data has a high spatial resolution, an accurate first conversion matrix can be obtained by aligning the tooth surface data in the oral scan data with the tooth surface model in the navigation CT image; an accurate second conversion matrix can be obtained by aligning the positioning device surface data in the oral scan data with the pre-stored positioning device surface design data, so that the conversion matrix used to map the navigation CT image to the reference coordinate system where the positioning device surface design data is located, which is determined according to the first conversion matrix and the second conversion matrix, also has a high accuracy. Then, based on the conversion matrix, the navigation CT image including the positioning device surface model can be accurately mapped to the reference coordinate system to obtain the target navigation CT image, thereby achieving the technical effect of accurately mapping the navigation CT image including the positioning device to the reference coordinate system with the help of the oral scan data including the positioning device; after the target navigation CT image is determined, the user can determine the surgical planning path on the target navigation CT image; the consistency of the surgical planning path and the target navigation CT image is ensured, and the accuracy of the surgical planning path is improved; and the shooting of the navigation CT image can be reduced once, and the reduction in the number of navigation CT image shootings can reduce the damage of radiation to the target object and reduce the inspection cost of the target object.

[0022] 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 invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flowchart of an image processing method provided according to an embodiment of the present invention;

[0025] Figure 2 is another flow chart of an image processing method provided according to an embodiment of the present invention;

[0026] Figure 3A is a structural schematic diagram of an image processing device provided according to an embodiment of the present invention;

[0027] Figure 3B is another structural schematic diagram of an image processing device provided according to an embodiment of the present invention;

[0028] Figure 4Ais a schematic structural diagram of a surgical navigation system for implementing the image processing method of an embodiment of the present invention;

[0029] Figure 4B It is another structural schematic diagram of a surgical navigation system for implementing the image processing method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Figure 1 This is a flowchart of an image processing method provided by an embodiment of the present invention. This embodiment can be applied to the situation where the position information of the positioning device in the navigation CT image is determined by combining oral scan data with the navigation CT image during surgery. The method can be executed by an image processing device, which can be implemented in the form of hardware and / or software. The image processing device can be configured in the processor of the surgical navigation system. Figure 1 As shown, the method includes:

[0033] S110, obtaining oral scan data of a target object wearing a positioning device, and extracting tooth surface data and positioning device surface data from the oral scan data, wherein the positioning device is fixed on a set tooth of the target object.

[0034] The positioning device comprises an asymmetric concave-convex structure, and the asymmetric concave-convex structure is used to improve the accuracy of the image registration result.

[0035] In one embodiment, the asymmetric concave-convex structure includes concave-convex structures distributed in an asymmetric form. The concave-convex structure can be a spherical structure, a hole structure, etc.

[0036] In one embodiment, the asymmetric concave-convex structure is at least three holes distributed in an asymmetric manner. This embodiment can reduce the manufacturing difficulty and manufacturing cost of the positioning device while ensuring the accuracy of the image registration result.

[0037] In one embodiment, the positioning device includes a fixed structure and a guide structure rigidly connected to the fixed structure, wherein the fixed structure is fixed to a set number of teeth, one end of the guide structure is connected to the fixed structure, and the other end extends out of the oral cavity to provide a reference position. The other end may be provided with a spherical structure, a hole structure, or other asymmetrically distributed concave-convex structure.

[0038] During the oral surgery preparation stage, the positioning device is worn on the target object's set teeth, and the set teeth are selected so that the positional relationship between the positioning device and the set teeth does not change during the surgery.

[0039] Oral scan data can provide soft tissue information such as gum height that cannot be obtained by navigation CT images, and has a higher spatial resolution to accurately define the crown and occlusion, and can be obtained next to the dental chair in the clinic. To this end, this embodiment uses an intraoral scanner to scan the inside of the oral cavity of the target object to obtain oral scan data. Since the target object's set teeth are equipped with positioning devices, the oral scan data includes positioning device information and surface information of other teeth.

[0040] The coordinate system of the oral scan data is set to T0, and the coordinate system of the tooth surface information and the positioning device surface information extracted from the oral scan data is also T0. The tooth surface information includes three-dimensional information of the tooth surface, and the positioning device surface information includes three-dimensional information of the positioning device surface.

[0041] Based on the difference between the surface features of the positioning device and the surface features of the teeth, the oral scan data is segmented into the tooth surface data and the positioning device surface data. The surface features may be color features, texture features, and the like.

[0042] In one embodiment, the color of the surface of the positioning device is different from the color of the teeth, at least different from the color of the non-set teeth. After the oral scan data is acquired, the oral scan data is segmented based on the set color classification algorithm to obtain the tooth surface data and the positioning device surface data. The tooth surface data includes tooth surface morphology information, and the positioning device surface data includes positioning device surface morphology information. Among them, the set color classification algorithm can be selected as a trained color classification model. This embodiment can simply and quickly complete the segmentation of the tooth surface data and the positioning device surface data.

[0043] S120: Acquire a navigation CT image of the oral cavity of the target object wearing the positioning device, and determine a tooth surface model based on the navigation CT image.

[0044] The navigation CT image is a CT image used for clinical navigation, such as a CBCT image.

[0045] After the navigation CT image is determined, the tooth data is segmented from the navigation CT image, and the tooth surface model corresponding to the tooth data is determined. If the coordinate system of the navigation CT image is set to T1, then the coordinate system of the tooth surface model including the tooth surface morphology information is also T1.

[0046] S130, aligning the tooth surface model with the tooth surface data to obtain a first transformation matrix, and aligning the positioning device surface data with the pre-stored positioning device surface design data to obtain a second transformation matrix, wherein the coordinate system of the positioning device surface design data is a reference coordinate system.

[0047] The reference coordinate system is the coordinate system based on which the surgical robot performs surgical navigation, so the coordinate systems of all images and devices need to be set in this coordinate system or converted to this coordinate system. For example, the surface design data of the positioning device is set in this coordinate system, and the navigation CT image, the position information of the surgical instrument, etc. are converted to this coordinate system.

[0048] After the tooth surface data and the tooth surface model are determined, the tooth surface model and the tooth surface data are aligned to obtain a first transformation matrix, which is used to map the tooth surface model to the coordinate system where the tooth surface data is located, that is, the T0 coordinate system.

[0049] The positioning device surface data and the pre-stored positioning device surface design data are converted to obtain a second conversion matrix, which is used to map the positioning device surface data to the coordinate system where the positioning device surface design data is located, that is, mapped to the reference coordinate system (T2 coordinate system).

[0050] In one embodiment, the tooth surface model and the tooth surface data are registered based on the iterative closest point method to obtain a first transformation matrix, and the positioning device surface data and the pre-stored positioning device surface design data are registered based on the iterative closest point method to obtain a second transformation matrix. By registering the tooth surface model and the tooth surface data based on the iterative closest method, an accurate registration result of the two can be obtained, and an accurate registration result can ensure the accuracy of the first transformation matrix; similarly, an accurate second transformation matrix can be obtained.

[0051] S140. According to the first transformation matrix and the second transformation matrix, transform the navigation CT image to the reference coordinate system to obtain a target navigation CT image.

[0052] After the first conversion matrix and the second conversion matrix are determined, the third conversion matrix for mapping the navigation CT image to the reference coordinate system can be obtained by multiplying the two. The navigation CT image can be converted to the reference coordinate system according to the third conversion matrix.

[0053] Alternatively, first, according to the first transformation matrix between the tooth surface model and the tooth surface data, that is, the local transformation relationship between the navigation CT image and the oral scan data, the navigation CT image is converted to the coordinate system where the oral scan data is located to obtain a mapping result, and then according to the second transformation matrix between the positioning device surface data in the oral scan data and the positioning device surface design data, that is, according to the local transformation relationship between the oral scan data and the positioning internal device surface design data, the mapping result is converted to the reference coordinate system to obtain the target navigation CT image.

[0054] According to the technical solution provided by the embodiment of the present invention, since the oral scan data has a high spatial resolution, an accurate first conversion matrix can be obtained by aligning the tooth surface data in the oral scan data with the tooth surface model in the navigation CT image; an accurate second conversion matrix can be obtained by aligning the positioning device surface data in the oral scan data with the pre-stored positioning device surface design data, so that the conversion matrix used to map the navigation CT image to the reference coordinate system where the positioning device surface design data is located, which is determined according to the first conversion matrix and the second conversion matrix, also has a high accuracy. Then, based on the conversion matrix, the navigation CT image including the positioning device surface model can be accurately mapped to the reference coordinate system to obtain the target navigation CT image, thereby achieving the technical effect of accurately mapping the navigation CT image including the positioning device to the reference coordinate system with the help of the oral scan data including the positioning device; after the target navigation CT image is determined, the user can determine the surgical planning path on the target navigation CT image; the consistency of the surgical planning path and the target navigation CT image is ensured, and the accuracy of the surgical planning path is improved; and the shooting of the navigation CT image can be reduced once, and the reduction in the number of navigation CT image shootings can reduce the damage of radiation to the target object and reduce the inspection cost of the target object.

[0055] Figure 2 FIG. 4 is another flow chart of an image processing method provided by an embodiment of the present invention. This embodiment adds a step of outputting navigation information based on the above embodiment. Figure 2 As shown, the method includes:

[0056] S210, obtaining oral scan data of a target object wearing a positioning device, and extracting tooth surface data and positioning device surface data from the oral scan data, wherein the positioning device is fixed on a set tooth of the target object.

[0057] S220: Acquire a navigation CT image of the oral cavity of the target object wearing the positioning device, and determine a tooth surface model based on the navigation CT image.

[0058] S230, aligning the tooth surface model with the tooth surface data to obtain a first transformation matrix, and aligning the positioning device surface data with the pre-stored positioning device surface design data to obtain a second transformation matrix, wherein the coordinate system of the positioning device surface design data is a reference coordinate system.

[0059] S240: According to the first transformation matrix and the second transformation matrix, transform the navigation CT image into the reference coordinate system to obtain a target navigation CT image.

[0060] S250: Acquire a surgical planning path determined based on the target navigation CT image.

[0061] After the target navigation CT image is obtained, the surgical planning path determined based on the target navigation CT image is obtained, which ensures the consistency between the navigation CT image and the surgical planning path, that is, ensures the accuracy of the surgical navigation result. The prior art determines the surgical planning path in the preoperative navigation CT image, and then maps the surgical planning path to the intraoperative navigation CT image by image registration. It is easy to have poor accuracy of the image registration result due to changes in the patient's oral cavity during the acquisition of the preoperative navigation CT image and the intraoperative navigation CT image. The poor accuracy of the image registration result will lead to poor accuracy of the surgical planning path mapped to the intraoperative navigation CT image, and the poor accuracy of the surgical planning path will lead to poor accuracy of the navigation result.

[0062] S260: Determine the current position information of the surgical instrument in the reference coordinate system.

[0063] The existing technology can be used to determine the position information of the surgical instrument in the reference coordinate system, and this embodiment will not be described in detail here.

[0064] S270. Output navigation information for guiding the movement of the surgical instrument based on the position information and the surgical planning path.

[0065] After the current position information of the surgical instrument in the reference coordinate system is determined and the surgical planned path, the first navigation information is output to guide the surgical instrument to move to the surgical planned path. After the surgical instrument moves to the surgical planned path, the second navigation information is output to guide the surgical instrument to move along the surgical planned path until the operation is completed.

[0066] The embodiment of the present invention obtains a first transformation matrix by aligning the tooth surface data in the oral scan data with the tooth surface model in the navigation CT image, obtains a second transformation matrix by aligning the positioning device surface data in the oral scan data with the pre-stored positioning device surface design data, and then determines a transformation matrix for mapping the navigation CT image to the reference coordinate system where the positioning device surface design data is located based on the first transformation matrix and the second transformation matrix. Then, based on the transformation matrix, the navigation CT image including the positioning device surface model can be mapped to the reference coordinate system to obtain a target navigation CT image, and the user can determine the surgical planning path on the target navigation CT image; the consistency of the surgical planning path and the target navigation CT image is ensured, and the accuracy of the surgical planning path is improved; and the shooting of the navigation CT image can be reduced once, and the reduction in the number of navigation CT image shootings can reduce the damage of radiation to the target object and reduce the inspection cost of the target object.

[0067] Figure 3A Schematic diagram of the structure of a data processing device provided by an embodiment of the present invention. Figure 3A As shown, the device comprises:

[0068] An oral scan data module 31 is used to obtain oral scan data of a target object wearing a positioning device, and extract tooth surface data and positioning device surface data from the oral scan data, wherein the positioning device is fixed on a set tooth of the target object;

[0069] A navigation CT image module 32, used to obtain a navigation CT image of the oral cavity of a target object wearing the positioning device, and determine a tooth surface model based on the navigation CT image;

[0070] A transformation matrix determination module 33 is used to align the tooth surface model with the tooth surface data to obtain a first transformation matrix, and to align the positioning device surface data with the pre-stored positioning device surface design data to obtain a second transformation matrix, wherein the coordinate system of the positioning device surface design data is a reference coordinate system;

[0071] The position information determination module 34 is used to transform the navigation CT image into the reference coordinate system according to the first transformation matrix and the second transformation matrix to obtain a target navigation CT image.

[0072] In one embodiment, the color of the surface of the positioning device is different from the color of the non-set teeth;

[0073] The oral scan data module 31 is specifically used for:

[0074] The oral scan data is segmented based on a set color classification algorithm to obtain tooth surface data and positioning device surface data.

[0075] In one embodiment, the positioning device comprises an asymmetric concave-convex structure.

[0076] In one embodiment, the concave-convex structure includes at least three holes.

[0077] In one embodiment, Figure 3B As shown, the device further includes a guiding module 35, which is used to:

[0078] Acquiring a surgical planning path determined based on the target navigation CT image;

[0079] Determine the current position information of the surgical instrument in the reference coordinate system;

[0080] Navigation information for guiding the movement of the surgical instrument is output based on the position information and the surgical planning path.

[0081] In one embodiment, the conversion matrix determination module 33 is specifically used for:

[0082] The tooth surface model is registered with the tooth surface data based on an iterative closest point method to obtain a first transformation matrix, and the positioning device surface data is registered with the pre-stored positioning device surface design data based on an iterative closest point method to obtain a second transformation matrix.

[0083] According to the technical solution provided by the embodiment of the present invention, since the oral scan data has a high spatial resolution, an accurate first conversion matrix can be obtained by aligning the tooth surface data in the oral scan data with the tooth surface model in the navigation CT image; an accurate second conversion matrix can be obtained by aligning the positioning device surface data in the oral scan data with the pre-stored positioning device surface design data, so that the conversion matrix used to map the navigation CT image to the reference coordinate system where the positioning device surface design data is located, which is determined according to the first conversion matrix and the second conversion matrix, also has a high accuracy. Then, based on the conversion matrix, the navigation CT image including the positioning device surface model can be accurately mapped to the reference coordinate system to obtain the target navigation CT image, thereby achieving the technical effect of accurately mapping the navigation CT image including the positioning device to the reference coordinate system with the help of the oral scan data including the positioning device; after the target navigation CT image is determined, the user can determine the surgical planning path on the target navigation CT image; the consistency of the surgical planning path and the target navigation CT image is ensured, and the accuracy of the surgical planning path is improved; and the shooting of the navigation CT image can be reduced once, and the reduction in the number of navigation CT image shootings can reduce the damage of radiation to the target object and reduce the inspection cost of the target object.

[0084] The image processing device provided by the embodiment of the present invention can execute the image processing method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0085] Figure 4A The schematic diagram of the structure of the surgical navigation system 10 that can be used to implement the embodiment of the present invention is shown. The surgical navigation system 10 includes at least one processor 11, and a memory that is communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 13, a random access memory (RAM) 14, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 13 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 14. In the RAM 14, various programs and data required for the operation of the surgical navigation system 10 can also be stored. The processor 11, the ROM 13, and the RAM 14 are connected to each other through a bus 15. An input / output (I / O) interface 16 is also connected to the bus 15.

[0086] Multiple components in the surgical navigation system 10 are connected to the I / O interface 16, including: an input device 17, such as a keyboard, a mouse, etc.; a display device 12, such as various types of displays, speakers, etc.; a storage device 18, such as a disk, an optical disk, etc.; and a communication device 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication device 19 allows the surgical navigation system 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0087] The processor 11 may be a variety of general and / or special 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 special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as an image processing method.

[0088] In some embodiments, Figure 4B As shown, the surgical navigation system also includes a surgical instrument 101; a camera 102, used to capture a real-time navigation image that includes both the surgical instrument and the positioning device; a display device 12, used to display navigation information; the processor 11 is also used to: determine the current position information of the surgical instrument in the reference coordinate system based on the real-time navigation image; obtain a surgical planning path determined based on the target navigation CT image; determine navigation information for guiding the movement of the surgical instrument based on the position information and the surgical planning path, and output the navigation information to the display device.

[0089] In some embodiments, the image processing method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage device 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the surgical navigation system 10 via the ROM 13 and / or the communication device 19. When the computer program is loaded into the RAM 14 and executed by the processor 11, one or more steps of the image processing method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the image processing method in any other appropriate manner (e.g., by means of firmware).

[0090] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0091] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0092] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0093] To provide interaction with a user, the systems and techniques described herein may be implemented on a surgical navigation system 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the surgical navigation system. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0094] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may 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.

[0095] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may 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 difficult management and weak business scalability in traditional physical hosts and VPS services.

[0096] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the image processing method provided in any embodiment of the present application.

[0097] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0098] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0099] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An image processing method, It is characterized in that include: Acquire oral scan data of a target object wearing a positioning device, and extract tooth surface data and positioning device surface data from the oral scan data, wherein the positioning device is fixed on a set tooth of the target object; Acquire a navigation CT image of the oral cavity of a target object wearing the positioning device, and determine a tooth surface model based on the navigation CT image; The tooth surface model is registered with the tooth surface data to obtain a first transformation matrix, and the positioning device surface data is registered with the pre-stored positioning device surface design data to obtain a second transformation matrix, wherein the coordinate system of the positioning device surface design data is a reference coordinate system; The navigation CT image is transformed into the reference coordinate system according to the first transformation matrix and the second transformation matrix to obtain a target navigation CT image.

2. The method according to claim 1, It is characterized in that The color of the surface of the positioning device is different from the color of the non-set teeth; The step of extracting tooth surface data and positioning device surface data from the oral scan data comprises: The oral scan data is segmented based on a set color classification algorithm to obtain tooth surface data and positioning device surface data.

3. The method according to claim 2, It is characterized in that The positioning device comprises an asymmetric concave-convex structure.

4. The method according to claim 3, It is characterized in that The concave-convex structure includes at least three holes.

5. The method according to claim 1, It is characterized in that After obtaining the target navigation CT image, the method further includes: Acquiring a surgical planning path determined based on the target navigation CT image; Determine the current position information of the surgical instrument in the reference coordinate system; Navigation information for guiding the movement of the surgical instrument is output based on the position information and the surgical planning path.

6. An image processing device, It is characterized in that include: An oral scan data module, used for acquiring oral scan data of a target object wearing a positioning device, and extracting tooth surface data and positioning device surface data from the oral scan data, wherein the positioning device is fixed on a set tooth of the target object; A navigation CT image module, used to obtain a navigation CT image of the oral cavity of a target object wearing the positioning device, and determine a tooth surface model based on the navigation CT image; a conversion matrix determination module, used for registering the tooth surface model with the tooth surface data to obtain a first conversion matrix, and for registering the positioning device surface data with pre-stored positioning device surface design data to obtain a second conversion matrix, wherein the coordinate system of the positioning device surface design data is a reference coordinate system; The position information determination module is used to transform the navigation CT image into the reference coordinate system according to the first transformation matrix and the second transformation matrix to obtain a target navigation CT image.

7. A surgical navigation system, It is characterized in that The surgical navigation system comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, 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 so that the at least one processor can perform the image processing method according to any one of claims 1 to 5.

8. The system according to claim 7, It is characterized in that The system also includes: Surgical instruments; A camera device, used for capturing a real-time navigation image including both the surgical instrument and the positioning device; A display device, used for displaying navigation information; The processor is also used to: determine the current position information of the surgical instrument in the reference coordinate system based on the real-time navigation image; obtain the surgical planning path determined based on the target navigation CT image; determine the navigation information used to guide the movement of the surgical instrument based on the position information and the surgical planning path, and output the navigation information to the display device.

9. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the image processing method according to any one of claims 1 to 5 when executed.

10. A computer program product, It is characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the image processing method according to any one of claims 1 to 5.

Images