Image Processing Method, Apparatus, Device, Medium and Product

Abstract

The present invention discloses an image processing method, apparatus, device, medium and product, belonging to the technical field of medical image processing. The method includes: acquiring oral scan data of a target object wearing a positioning device, extracting tooth surface data and positioning device surface data from the oral scan data, where the positioning device is fixed to a set tooth 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; registering the tooth surface model and the tooth surface data to obtain a first transformation matrix, and registering the positioning device surface data and pre-stored positioning device surface design data to obtain a second transformation matrix, where the coordinate system where the positioning device surface design data is located is the reference coordinate system; and converting the navigation CT image to the reference coordinate system according to the first transformation matrix and the second transformation matrix. Embodiments of the present invention can accurately map the navigation CT image to the reference coordinate system.

Description

Technical Field

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

[0002] In the dental surgery navigation scenario, the accuracy of surgery 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 usually appears highlighted, and the highlighted feature will reduce the accuracy of extracting the position information of the reference structure, which results in it being difficult to obtain a registration result with high accuracy when registering the reference structure of the positioning device in the navigation CT image with the actual reference structure of the positioning device. Therefore, it is difficult to accurately map the navigation CT image to the reference coordinate system based on the registration result of the two. Summary of the Invention

[0004] The present invention provides an image processing method, apparatus, device, medium, and product to solve the problem in the prior art that the radiation is large due to the large number of times of taking navigation CT images.

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

[0006] 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 to a set tooth of the target object, and the positioning device includes an asymmetric concave-convex structure;

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

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

[0009] Converting the navigation CT image to 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, an image processing apparatus is provided, including:

[0011] An oral scan data module, configured 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 to a set tooth of the target object, and the positioning device includes an asymmetric concave-convex structure;

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

[0013] A transformation matrix determination module, configured to register the tooth surface model and the tooth surface data to obtain a first transformation matrix, and register the positioning device surface data and 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;

[0014] A position information determination module, configured to convert the navigation CT image to 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, there is provided a surgical navigation system, 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 according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the image processing method according to any embodiment of the present invention when executed.

[0020] According to another aspect of the present invention, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the image processing method according to any embodiment.

[0021] In the technical solution provided by the embodiment of the present invention, since the oral scan data has a high spatial resolution, an accurate first transformation matrix can be obtained by registering the tooth surface data in the oral scan data with the tooth surface model in the navigation CT image; registering the surface data of the positioning device in the oral scan data with the pre-stored surface design data of the positioning device can obtain an accurate second transformation matrix. In this way, the transformation matrix determined according to the first transformation matrix and the second transformation matrix for mapping the navigation CT image to the reference coordinate system where the surface design data of the positioning device is located also has high accuracy. Then, based on this transformation matrix, the navigation CT image including the surface model of the positioning device can be accurately mapped to the reference coordinate system to obtain the target navigation CT image, achieving the technical effect of accurately mapping the navigation CT image including the positioning device to the reference coordinate system by means 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; ensuring the consistency between the surgical planning path and the target navigation CT image and improving the accuracy of the surgical planning path; moreover, it can reduce the shooting of the navigation CT image once, and the reduction of the shooting times of the navigation CT image can reduce the harm of ray radiation to the target object and reduce the examination cost of the target object.

[0022] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used 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 will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[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 flowchart of an image processing method provided according to an embodiment of the present invention;

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

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

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

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

[0030] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope 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 do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances 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 "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

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

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

[0034] The positioning device includes an asymmetric concave-convex structure, which 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 structures can be spherical structures, hole structures, etc.

[0036] In one embodiment, the asymmetric concave-convex structure is at least three holes distributed in an asymmetric form. This embodiment can reduce the manufacturing difficulty and 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 guiding structure rigidly connected to the fixed structure. Among them, the fixed structure is fixed to a set number of teeth, one end of the guiding structure is connected to the fixed structure, and the other end extends out of the oral cavity for providing a reference position. The other end is optionally provided with concave-convex structures such as spherical structures and hole structures distributed in an asymmetric form.

[0038] In the oral surgery preparation stage, a positioning device is worn on the set teeth of the target object, and the selection of the set teeth should ensure that the positional relationship between the positioning device and the set teeth does not change during the surgical process.

[0039] The intraoral scan data can provide soft tissue information such as gingival height that cannot be obtained by the navigation CT image, and has a higher spatial resolution to precisely define the tooth crown and occlusion, and the intraoral scan data can be obtained beside the dental chair in the clinic. For this reason, in this embodiment, an intraoral scanner is used to scan the interior of the oral cavity of the target object to obtain the intraoral scan data. Since the set teeth of the target object are worn with a positioning device, the intraoral scan data includes the positioning device information and the surface information of other teeth.

[0040] Set the coordinate system of the intraoral scan data as T0, then the coordinate systems of the tooth surface information and the positioning device surface information extracted from the intraoral scan data are also T0. Among them, the tooth surface information includes the three-dimensional information of the tooth surface, and the positioning device surface information includes the three-dimensional information of the positioning device surface.

[0041] Based on the differences between the surface features of the positioning device and the tooth surface features, the intraoral scan data is segmented into tooth surface data and positioning device surface data. Among them, the surface features can be color features, texture features, etc.

[0042] In one embodiment, the color of the positioning device surface is different from that of the teeth, at least different from that of the non-set teeth. After the intraoral scan data is obtained, the intraoral 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 the tooth surface topography information, and the positioning device surface data includes the positioning device surface topography information. Among them, the set color classification algorithm can be an optionally 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. Obtain the navigation CT image of the oral cavity of the target object wearing the positioning device, and determine the tooth surface model based on the navigation CT image.

[0044] Among them, the navigation CT image is a CT image for clinical navigation, such as a CBCT image.

[0045] After the navigation CT image is determined, segment the tooth data from the navigation CT image, and determine the tooth surface model corresponding to the tooth data. Among them, if the coordinate system of the navigation CT image is set as T1, then the coordinate system of the tooth surface model including the tooth surface topography information is also T1.

[0046] S130. Register the tooth surface model and the tooth surface data to obtain the first transformation matrix, and register the surface data of the positioning device and the pre-stored surface design data of the positioning device to obtain the second transformation matrix. The coordinate system where the surface design data of the positioning device is located is the reference coordinate system.

[0047] The reference coordinate system is the coordinate system based on which the surgical robot performs surgical navigation. Therefore, it is necessary to set the coordinate systems of all images and devices in this coordinate system, or convert them 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, register the tooth surface model and the tooth surface data to obtain the first transformation matrix. This first transformation matrix 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] Convert the surface data of the positioning device and the pre-stored surface design data of the positioning device to obtain the second transformation matrix. This second transformation matrix is used to map the surface data of the positioning device to the coordinate system where the surface design data of the positioning device is located, that is, map it to the reference coordinate system (T2 coordinate system).

[0050] In one embodiment, register the tooth surface model and the tooth surface data based on the iterative closest point method to obtain the first transformation matrix, and register the surface data of the positioning device and the pre-stored surface design data of the positioning device based on the iterative closest point method to obtain the second transformation matrix. By registering the tooth surface model and the tooth surface data based on the iterative closest point method, accurate registration results of the two can be obtained, and the accurate registration results 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 transformation matrix and the second transformation matrix are determined, multiplying the two can obtain a third transformation matrix for mapping the navigation CT image to the reference coordinate system. According to this third transformation matrix, the navigation CT image can be transformed to the reference coordinate system.

[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 intraoral scan data, transform the navigation CT image to the coordinate system where the intraoral scan data is located to obtain a mapping result. Then, according to the second transformation matrix between the surface data of the positioning device in the intraoral scan data and the surface design data of the positioning device, that is, according to the local transformation relationship between the intraoral scan data and the surface design data of the positioning device inside the positioning device, transform the mapping result to the reference coordinate system to obtain a target navigation CT image.

[0054] In the technical solution provided by the embodiment of the present invention, since the intraoral scan data has a high spatial resolution, an accurate first transformation matrix can be obtained by registering the tooth surface data in the intraoral scan data with the tooth surface model in the navigation CT image; registering the surface data of the positioning device in the intraoral scan data with the pre-stored surface design data of the positioning device can obtain an accurate second transformation matrix. In this way, the transformation matrix determined according to the first transformation matrix and the second transformation matrix for mapping the navigation CT image to the reference coordinate system where the surface design data of the positioning device is located also has high accuracy. Then, based on this transformation matrix, the navigation CT image including the surface model of the positioning device can be accurately mapped to the reference coordinate system to obtain a target navigation CT image, 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 intraoral scan data including the positioning device; after the target navigation CT image is determined, the user can determine the surgical planning path on this target navigation CT image; ensuring the consistency between the surgical planning path and the target navigation CT image and improving the accuracy of the surgical planning path; and it can also reduce the shooting of the navigation CT image once, and reducing the number of times of shooting the navigation CT image can reduce the harm of ray radiation to the target object and reduce the examination cost of the target object.

[0055] Figure 2 This is another flowchart of the image processing method provided by the embodiment of the present invention. In this embodiment, a step of outputting navigation information is added on the basis of the foregoing embodiment. As Figure 2 shown, the method includes:

[0056] S210. Obtain the oral scan data of the target object wearing the positioning device, and extract the tooth surface data and the positioning device surface data from the oral scan data, where the positioning device is fixed on the set teeth of the target object.

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

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

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

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

[0061] After the target navigation CT image is obtained, obtaining the surgical planning path determined based on the target navigation CT image ensures the consistency between the navigation CT image and the surgical planning path, that is, it ensures the accuracy of the surgical navigation result. In the prior art, the surgical planning path is determined in the preoperative navigation CT image, and then the surgical planning path is mapped to the intraoperative navigation CT image through image registration. It is easy to occur that the accuracy of the image registration result is poor due to the change of 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 the 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 the poor accuracy of the navigation result.

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

[0063] The prior art can be used to determine the position information of the surgical instrument in the reference coordinate system, and this embodiment will not make specific descriptions here.

[0064] S270. According to the position information and the surgical planning path, output the navigation information for guiding the movement of the surgical instrument.

[0065] After the position information of the surgical instrument in the reference coordinate system and the surgical planning path are determined, the first navigation information for guiding the movement of the surgical instrument to the surgical planning path is output, and after the surgical instrument moves to the surgical planning path, the second navigation information for guiding the surgical instrument to move along the surgical planning path is output until the operation ends.

[0066] In the embodiment of the present invention, the tooth surface data in the oral scan data is registered with the tooth surface model in the navigation CT image to obtain the first transformation matrix, and the surface data of the positioning device in the oral scan data is registered with the pre-stored surface design data of the positioning device to obtain the second transformation matrix. Then, according to the first transformation matrix and the second transformation matrix, the transformation matrix for mapping the navigation CT image to the reference coordinate system where the surface design data of the positioning device is located is determined. Then, based on this transformation matrix, the navigation CT image including the surface model of the positioning device can be mapped to the reference coordinate system to obtain the target navigation CT image, and the user can determine the surgical planning path on the target navigation CT image; this ensures the consistency between the surgical planning path and the target navigation CT image, improving the accuracy of the surgical planning path; moreover, it can also reduce the shooting of the navigation CT image once, and the reduction of the shooting times of the navigation CT image can reduce the harm of ray radiation to the target object and reduce the inspection cost of the target object.

[0067] Figure 3A It is a schematic structural diagram of the data processing device provided by the embodiment of the present invention. As Figure 3A shown, the device includes:

[0068] An oral scan data module 31, configured to obtain the 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, where the positioning device is fixed on a set tooth of the target object;

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

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

[0071] A position information determination module 34, configured to convert the navigation CT image to 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 non-set teeth;

[0073] The oral scan data module 31 is specifically configured to:

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

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

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

[0077] In one embodiment, as Figure 3B shown, the device further includes a guiding module 35, and the guiding module 35 is configured to:

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

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

[0080] Output navigation information for guiding the movement of the surgical instrument according to the position information and the surgical planning path.

[0081] In one embodiment, the transformation matrix determination module 33 is specifically configured to:

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

[0083] In the technical solution provided by the embodiment of the present invention, since the oral scan data has a high spatial resolution, an accurate first transformation matrix can be obtained by registering the tooth surface data in the oral scan data with the tooth surface model in the navigation CT image; registering the surface data of the positioning device in the oral scan data with the pre-stored surface design data of the positioning device can obtain an accurate second transformation matrix. Thus, the transformation matrix determined based on the first transformation matrix and the second transformation matrix for mapping the navigation CT image to the reference coordinate system where the surface design data of the positioning device is located also has high accuracy. Then, based on this transformation matrix, the navigation CT image including the surface model of the positioning device can be accurately mapped to the reference coordinate system to obtain the target navigation CT image, 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; this ensures the consistency between the surgical planning path and the target navigation CT image and improves the accuracy of the surgical planning path; moreover, it can also reduce the shooting of a navigation CT image once, and the reduction of the number of navigation CT image shootings can reduce the harm of ray 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 for executing the method.

[0085] Figure 4A FIG. shows a schematic structural diagram of a surgical navigation system 10 that can be used to implement the embodiments of the present invention. The surgical navigation system 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 13, a random access memory (RAM) 14, etc. Among them, the memory stores a computer program executable 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) 13 or the computer program loaded from the storage unit 18 into 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 magnetic disk, an optical disc, 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 can be various general-purpose 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 dedicated 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 executes the various methods and processes described above, such as the image processing method.

[0088] In some embodiments, as Figure 4B shown, the surgical navigation system further includes a surgical instrument 101; a camera device 102 for capturing a real-time navigation image simultaneously including the surgical instrument and the positioning device; a display device 12 for displaying navigation information; and the processor 11 is further configured to: determine the current position information of the surgical instrument in the reference coordinate system according to 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 according to 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 can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage device 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto 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 can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the image processing method in any other appropriate manner (e.g., by means of firmware).

[0090] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0091] The computer programs for implementing the methods of the present invention 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, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0092] In the context of the present invention, 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. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, 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.

[0093] To provide interaction with a user, the systems and techniques described herein can be implemented on a surgical navigation system that has: 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 surgical navigation system. Other kinds of devices can also be used to provide interaction with the user; for example, the 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 input, voice input, or tactile input).

[0094] The systems and techniques described herein can 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 having a graphical user interface or a web browser through which the user can interact with an implementation 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 can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0095] The computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0096] An embodiment of the present invention also 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 implementing the computer program product, computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent 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, alternatively, can be connected to an external computer (e.g., by connecting through the Internet using an Internet service provider).

[0098] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0099] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. 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 substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An image processing method, 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, the tooth surface data includes tooth surface topography information, the positioning device surface data includes positioning device surface topography information, and the color of the positioning device surface is different from the color of non-set teeth; Acquire a navigation CT image of the oral cavity of a target object wearing a positioning device, and determine a tooth surface model based on the navigation CT image, wherein the tooth surface model includes tooth surface morphology information; 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 where the positioning device surface design data is located is a reference coordinate system, and the reference coordinate system is a coordinate system based on which the surgical robot performs surgical navigation; According to the first conversion matrix and the second conversion matrix, the navigation CT image is converted to the reference coordinate system to obtain a target navigation CT image; The step of extracting tooth surface data and positioning device surface data from the oral scan data includes: The oral scan data is segmented based on a set color classification algorithm to obtain tooth surface data and positioning device surface data.

2. The method according to claim 1, characterized in that The positioning device comprises an asymmetric concave-convex structure.

3. The method according to claim 2, characterized in that The concave-convex structure includes at least three holes.

4. The method according to claim 1, 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.

5. An image processing device, characterized in that: include: An oral scan data module 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, the tooth surface data includes tooth surface morphology information, the positioning device surface data includes positioning device surface morphology information, and the color of the positioning device surface is different from the color of non-set teeth; 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, wherein the tooth surface model includes tooth surface morphology information; 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; a position information determination module, configured 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, wherein the reference coordinate system is a coordinate system based on which the surgical robot performs surgical navigation; The step of extracting tooth surface data and positioning device surface data from the oral scan data includes: The oral scan data is segmented based on a set color classification algorithm to obtain tooth surface data and positioning device surface data.

6. A surgical navigation system, 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 4.

7. The system according to claim 6, 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.

8. A computer-readable storage medium, 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 4 when executed.

9. A computer program product, 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 4.

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