Dental implant three-dimensional scanning modeling method and system based on Internet of Things

Abstract

The invention discloses a dental implant three-dimensional scanning modeling method and system based on the Internet of Things, and the method comprises the steps: carrying out the preprocessing of an obtained multi-angle CT scanning image, recognizing and segmenting the images of each tooth and a potential implantation region, generating a first space image corresponding to at least one tooth and a second space image containing an alveolar bone structure; calculating a spatial relationship among a plurality of teeth and an interlayer position connection relationship of alveolar bones, and determining a target implantation position and an implantation direction of the dental implant in combination with the first spatial image; acquiring tooth characteristic parameters of the dental implant and spatial position parameters of a plurality of preset characteristic points; determining multi-layer target space parameters; generating a three-dimensional model containing the target planting position and the planting direction; acquiring feature point spatial position difference information between the dental implant and each feature point in the adjacent tooth and alveolar bone on the basis of the spatial position parameters; the invention provides a dental implant three-dimensional scanning modeling technology with high modeling precision.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional modeling technology, and in particular to a three-dimensional scanning modeling method and system for dental implants based on the Internet of Things. Background Art

[0002] In the field of stomatology, dental implants are a common restorative method, and their accurate 3D modeling is crucial for surgical planning, implant design, and postoperative effect evaluation. In recent years, with the rapid development of IoT technology, IoT-based dental implant 3D scanning and modeling technology has gradually emerged, providing new possibilities for the precise treatment of dental implants. However, although the existing technology has made significant progress in 3D scanning and modeling, there are still many deficiencies in detail capture and model accuracy.

[0003] Although existing 3D scanning equipment can achieve rapid scanning and preliminary modeling of the internal structure of the oral cavity, its performance is often inadequate when it comes to the high-precision requirements of dental implants. Specifically, existing equipment often has difficulty in accurately capturing the subtle structures of dental implants and their surrounding alveolar bone, such as trabeculae and bone density changes, during the scanning process. These subtle structures have an important impact on the stability and long-term effects of the implants. In addition, due to the limitations of scanning accuracy and resolution, existing technologies often have errors when constructing 3D models, resulting in deviations between the models and the actual situation, which in turn affects surgical planning and treatment outcomes.

[0004] In summary, providing a dental implant three-dimensional scanning modeling technology with high modeling accuracy has practical application value and significance. Summary of the invention

[0005] In order to provide a high-modeling accuracy three-dimensional scanning modeling technology for dental implants, the present application provides a three-dimensional scanning modeling method and system for dental implants based on the Internet of Things.

[0006] In the first aspect, the invention objective of the present application is achieved by adopting the following technical solutions: A three-dimensional scanning modeling method for dental implants based on the Internet of Things, the method comprising: Obtaining a multi-angle CT scan image of the tooth to be implanted and its surrounding oral structure based on the Internet of Things device, wherein the multi-angle CT scan image includes three-dimensional image information of a plurality of teeth and alveolar bones; Preprocessing the acquired multi-angle CT scan images, identifying and segmenting the images of each tooth and the potential implant area, and generating a first spatial image corresponding to at least one tooth and a second spatial image including the alveolar bone structure; Acquire the morphological feature data of the alveolar bone in the second spatial image to determine a potential position suitable for the dental implant; calculate the spatial relationship between a number of teeth and the inter-layer position connection relationship of the alveolar bone according to the relative position between the teeth and the continuity of the alveolar bone, and determine the target implantation position and implantation direction of the dental implant in combination with the corresponding first spatial image; Acquire tooth characteristic parameters of the dental implant and spatial position parameters of a plurality of preset characteristic points; determine multi-layer target spatial parameters corresponding to a target implantation position and implantation direction of the dental implant based on the tooth characteristic parameters; the plurality of preset characteristic points include characteristic points located at at least one position of the dental implant itself, adjacent teeth or corresponding alveolar bone; The dental implant and surrounding structures are three-dimensionally modeled to generate a three-dimensional model including the target implant position and implant direction; in the three-dimensional model, the spatial position difference between the dental implant and each feature point in the adjacent teeth and alveolar bone is obtained based on the spatial position parameters to obtain the spatial position difference information of the feature points.

[0007] By adopting the above technical solution, multi-angle CT scanning images can fully cover all the details of the teeth to be implanted and the surrounding oral structures, effectively improving the scanning accuracy. The multi-angle scanning method is conducive to reducing the information loss caused by a single perspective and improving the ability to capture details; at the same time, by identifying and segmenting the images of each tooth and potential implant area, it is conducive to ensuring the accuracy of subsequent three-dimensional modeling. By deeply analyzing the morphological characteristic data of the alveolar bone, the potential position of the dental implant can be accurately determined, and the calculated spatial relationship between teeth and the inter-layer position connection relationship of the alveolar bone provide a scientific basis for the precise positioning of the dental implant and the planning of the implantation direction, that is, to achieve precise positioning and planning of dental implants. In the next step, the multi-layer target spatial parameters are determined by obtaining the tooth characteristic parameters of the dental implant and the spatial position parameters of the preset feature points, so that the designed three-dimensional model of the tooth to be implanted is more in line with the patient's actual oral cavity. The structure of the three-dimensional model has higher construction accuracy and is conducive to the construction of a three-dimensional model of a personalized dental implant, thereby improving the stability and comfort of subsequent dental implants. Then, in order to further monitor and verify the health of the three-dimensional model and the actual dental implant model and the accuracy of model restoration, the present application also obtains the spatial position difference between the dental implant and each feature point in the adjacent teeth and alveolar bone based on the spatial position parameter, determines the spatial position difference between each dental implant and the adjacent teeth and alveolar bone based on the spatial position difference, and evaluates the accuracy of model restoration based on multiple comparisons of multiple feature points. The model accuracy effect evaluation data is more comprehensive and the data is more accurate, which not only provides favorable data support, but also enables the constructed three-dimensional dental implant model to effectively assist doctors in more accurate surgical planning and operation, reduce surgical risks, and thus realize the precision and intelligence of three-dimensional scanning modeling of dental implants.

[0008] In a preferred example of the present application: the tooth characteristic parameters include tooth morphology, size and defect characteristic information acquired based on the first spatial image; The method of determining the multi-layer target space parameters corresponding to the target implantation position and implantation direction of the dental implant based on the tooth characteristic parameters includes: Based on the tooth characteristic parameters and the corresponding second spatial image, analyzing the bone volume, density and morphology of the alveolar bone, and determining a target implantation position and implantation direction suitable for the dental implant; Calculating spatial relationship parameters of the tooth to be implanted and its adjacent teeth and key structures in the alveolar bone; the spatial relationship parameters include distance parameters and angle parameters; According to a preset intelligent evaluation algorithm, teeth and alveolar bone structures that meet preset conditions are determined as corresponding multi-layer target space parameters based on the spatial relationship parameters corresponding to the tooth feature parameters; the preset conditions are pre-set based on space size, morphological matching and bone adequacy.

[0009] By adopting the above technical solution, the information on tooth morphology, size and defect characteristics can be accurately obtained, and a comprehensive analysis can be performed in combination with the bone volume, density and morphology of the alveolar bone to more accurately determine the target implantation position and implantation direction of the dental implant. By calculating the spatial relationship parameters of the tooth to be implanted and its adjacent teeth and key structures in the alveolar bone, the perfect match between the dental implant and the surrounding structure can be effectively ensured, and refined spatial analysis can be achieved. The teeth and alveolar bone structures that meet the preset conditions can be screened out through an intelligent evaluation algorithm to improve the accuracy of the evaluation.

[0010] In a preferred example of the present application, in the three-dimensional model, the spatial position difference between the dental implant and each feature point in the adjacent teeth and alveolar bone is obtained based on the spatial position parameter, and after obtaining the spatial position difference information of the feature point, the present application further includes: When the spatial position difference of any feature point exceeds a preset difference range, a spatial position information collection instruction is triggered, and according to the spatial position information collection instruction, real-time data of the actual surgical environment is acquired, wherein the real-time data includes actual size changes of the patient's oral cavity and preliminary contact information between the dental implant and surrounding tissues; Based on the location of the feature points, the corresponding spatial position difference and the real-time data, determining the correction area and correction amount of the three-dimensional model that need to be corrected, the correction area includes but is not limited to the location, direction, depth of the dental implant and the morphology of adjacent teeth and alveolar bones; The three-dimensional model is corrected and optimized based on the correction area and the correction amount.

[0011] By adopting the above technical solution, the three-dimensional model evaluated and corrected and optimized based on the real-time data of the actual surgical environment and the actual preliminary contact information has a higher degree of model restoration; the three-dimensional model of the dental implant is more consistent with the actual situation of the surgical site, allowing the doctor to make dynamic adjustments according to the actual surgical environment, improving the accuracy and safety of the operation, and based on the spatial position difference corresponding to the location of the feature point and the correction area and correction amount determined by real-time data, the position of the dental implant, the morphology of the adjacent teeth and the alveolar bone can be accurately corrected, which is conducive to the comprehensive optimization of the surgical area.

[0012] In a preferred example of the present application, the preprocessing of the acquired multi-angle CT scan images includes: Adaptive threshold segmentation technology is used to segment the contours of teeth and alveolar bones according to the grayscale differences of teeth and alveolar bones in multi-angle CT scan images to obtain the initial dental implant image. Performing morphological operations on the initial dental implant image to remove noise and artifacts in the dental implant preprocessed image to obtain a denoised dental implant image; The denoised dental implant image is filled with holes using a preset flood filling algorithm to obtain a preprocessed multi-angle CT scan image.

[0013] By adopting the above technical scheme, the adaptive threshold segmentation technology can more accurately segment the contours of teeth and alveolar bones, improve the image segmentation accuracy, and use the flood filling algorithm to fill the holes in the denoised initial dental implant image, so as to facilitate an effective method of repairing holes or areas in the initial dental implant image caused by various reasons (such as tooth defects, scanning artifacts, etc.), so as to provide more comprehensive and accurate image information for subsequent unit modeling, thereby helping to construct a more accurate and realistic three-dimensional model of dental implants.

[0014] In a preferred example of the present application, the step of obtaining the tooth characteristic parameters of the dental implant and the spatial position parameters of a plurality of preset characteristic points includes: Acquire a multi-angle CT image of the dental implant under the irradiation of a multi-spectral light source, perform image preprocessing and morphological analysis based on the multi-angle CT image, and extract tooth characteristic parameters of the dental implant; the tooth characteristic parameters include product characteristics and design characteristics; Selecting a number of key feature points in the dental implant, the adjacent teeth and the corresponding alveolar bone as preset feature points, wherein the preset feature points can reflect the spatial position relationship between the dental implant and the surrounding structures; Based on several key feature points, the corresponding spatial position parameters are obtained one by one.

[0015] By adopting the above technical solution, the multi-angle CT images under the irradiation of multi-spectral light source can more comprehensively capture the subtle features of the dental implant and the surrounding environment, improve the accuracy of the extraction of tooth feature parameters, and through the preset method of several preset feature points, it can accurately determine the spatial position relationship between the dental implant and the surrounding structure, which is conducive to constructing a highly accurate and highly personalized three-dimensional dental implant model.

[0016] In the second aspect, the invention objective of the present application is achieved by adopting the following technical solutions: A dental implant three-dimensional scanning modeling system based on the Internet of Things, comprising: An Internet of Things data acquisition module, used to obtain a multi-angle CT scan image of the tooth to be implanted and its surrounding oral structure based on an Internet of Things device, wherein the multi-angle CT scan image includes three-dimensional image information of a plurality of teeth and alveolar bones; A CT image processing and segmentation module, used to pre-process the acquired multi-angle CT scan images, identify and segment the images of each tooth and potential implant area, and generate a first spatial image corresponding to at least one tooth and a second spatial image including the alveolar bone structure; a position and relationship calculation module, for obtaining the morphological feature data of the alveolar bone of the second spatial image, and determining a potential position suitable for the dental implant; calculating the spatial relationship between a number of teeth and the position connection relationship between the layers of the alveolar bone according to the relative position between the teeth and the continuity of the alveolar bone, and determining the target implantation position and implantation direction of the dental implant in combination with the corresponding first spatial image; A characteristic parameter acquisition module, used to acquire tooth characteristic parameters of the dental implant and spatial position parameters of a plurality of preset characteristic points; determine multi-layer target spatial parameters corresponding to the target implantation position and implantation direction of the dental implant based on the tooth characteristic parameters; the plurality of preset characteristic points include characteristic points located at at least one position of the dental implant itself, adjacent teeth or corresponding alveolar bone; The three-dimensional modeling and difference calculation module is used to perform three-dimensional modeling of the dental implant and the surrounding structures, and generate a three-dimensional model including the target implant position and implant direction; in the three-dimensional model, the spatial position difference between the dental implant and each feature point in the adjacent teeth and alveolar bone is obtained based on the spatial position parameters to obtain the spatial position difference information of the feature points.

[0017] By adopting the above technical solution, multi-angle CT scanning images can fully cover all the details of the teeth to be implanted and the surrounding oral structures, effectively improving the scanning accuracy. The multi-angle scanning method is conducive to reducing the information loss caused by a single perspective and improving the ability to capture details; at the same time, by identifying and segmenting the images of each tooth and potential implant area, it is conducive to ensuring the accuracy of subsequent three-dimensional modeling. By deeply analyzing the morphological characteristic data of the alveolar bone, the potential position of the dental implant can be accurately determined, and the calculated spatial relationship between teeth and the inter-layer position connection relationship of the alveolar bone provide a scientific basis for the precise positioning of the dental implant and the planning of the implantation direction, that is, to achieve precise positioning and planning of dental implants. In the next step, the multi-layer target spatial parameters are determined by obtaining the tooth characteristic parameters of the dental implant and the spatial position parameters of the preset feature points, so that the designed three-dimensional model of the tooth to be implanted is more in line with the patient's actual oral cavity. The structure of the three-dimensional model has higher construction accuracy and is conducive to the construction of a three-dimensional model of a personalized dental implant, thereby improving the stability and comfort of subsequent dental implants. Then, in order to further monitor and verify the health of the three-dimensional model and the actual dental implant model and the accuracy of model restoration, the present application also obtains the spatial position difference between the dental implant and each feature point in the adjacent teeth and alveolar bone based on the spatial position parameter, determines the spatial position difference between each dental implant and the adjacent teeth and alveolar bone based on the spatial position difference, and evaluates the accuracy of model restoration based on multiple comparisons of multiple feature points. The model accuracy effect evaluation data is more comprehensive and the data is more accurate, which not only provides favorable data support, but also enables the constructed three-dimensional dental implant model to effectively assist doctors in more accurate surgical planning and operation, reduce surgical risks, and thus realize the precision and intelligence of three-dimensional scanning modeling of dental implants.

[0018] In a preferred example of the present application, the tooth characteristic parameters include tooth morphology, size and defect characteristic information acquired based on the first spatial image; the characteristic parameter acquisition module includes: An implantation position and implantation direction determination unit, configured to analyze the bone mass, density and morphology of the alveolar bone based on the tooth characteristic parameters and the corresponding second spatial image, and determine a target implantation position and implantation direction suitable for the dental implant; A spatial relationship calculation unit, used to calculate spatial relationship parameters of the tooth to be implanted and its adjacent teeth and key structures in the alveolar bone; the spatial relationship parameters include distance parameters and angle parameters; An intelligent evaluation unit is used to determine the teeth and alveolar bone structures that meet preset conditions as corresponding multi-layer target space parameters based on the spatial relationship parameters corresponding to the tooth feature parameters according to a preset intelligent evaluation algorithm; the preset conditions are pre-set based on space size, morphological matching and bone adequacy.

[0019] In the third aspect, the invention objective of the present application is achieved by adopting the following technical solutions: A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned method for three-dimensional scanning and modeling of dental implants based on the Internet of Things are implemented.

[0020] In a fourth aspect, the invention objective of the present application is achieved by adopting the following technical solutions: A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for three-dimensional scanning and modeling of dental implants based on the Internet of Things.

[0021] In summary, the present application includes at least one of the following beneficial technical effects: 1. Multi-angle CT scanning images can fully cover all the details of the teeth to be implanted and the surrounding oral structures, effectively improving the scanning accuracy. The multi-angle scanning method is conducive to reducing the information loss caused by a single perspective and improving the ability to capture details. At the same time, by identifying and segmenting the images of each tooth and potential implant area, it is conducive to ensuring the accuracy of subsequent 3D modeling. By deeply analyzing the morphological characteristic data of the alveolar bone, the potential position of the dental implant can be accurately determined, and the calculated spatial relationship between teeth and the inter-layer position connection relationship of the alveolar bone provide a scientific basis for the precise positioning of the dental implant and the planning of the implant direction, that is, to achieve precise positioning and planning of dental implants. In the next step, the multi-layer target space parameters are determined by obtaining the tooth characteristic parameters of the dental implant and the spatial position parameters of the preset feature points, so that the designed 3D model of the tooth to be implanted is more in line with the actual oral structure of the patient, and the 3D The model construction accuracy is higher and is conducive to the realization of personalized dental implant three-dimensional model construction, improving the stability and comfort of subsequent dental implants. Then, in order to further monitor and verify the health of the three-dimensional model and the actual dental implant model and the accuracy of model restoration, the present application also obtains the spatial position difference between the dental implant and each feature point in the adjacent teeth and alveolar bone based on the spatial position parameter, determines the spatial position difference between each dental implant and the adjacent teeth and alveolar bone based on the spatial position difference, and evaluates the accuracy of model restoration based on multiple comparisons of multiple feature points. The model accuracy effect evaluation data is more comprehensive and the data is more accurate, which not only provides favorable data support, but also enables the constructed dental implant three-dimensional model to effectively assist doctors in more accurate surgical planning and operation, reduce surgical risks, and thus realize the precision and intelligence of dental implant three-dimensional scanning modeling; 2. The three-dimensional model is evaluated and corrected and optimized based on the real-time data of the actual surgical environment and the actual preliminary contact information, and the model restoration degree is higher; the three-dimensional model of the dental implant is more consistent with the actual situation of the surgical site, so that the doctor can make dynamic adjustments according to the actual surgical environment, improve the accuracy and safety of the operation, and the correction area and correction amount determined based on the spatial position difference corresponding to the location of the feature point and the real-time data can accurately correct the position of the dental implant, the shape of the adjacent teeth and the alveolar bone, which is conducive to the comprehensive optimization of the surgical area; 3. Multi-angle CT images under multi-spectral light source illumination can more comprehensively capture the subtle features of dental implants and the surrounding environment, improve the accuracy of tooth feature parameter extraction, and through the preset method of several preset feature points, it can accurately determine the spatial position relationship between dental implants and surrounding structures, which is conducive to constructing a highly accurate and highly personalized three-dimensional dental implant model. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a flow chart of a dental implant three-dimensional scanning modeling method based on the Internet of Things in one embodiment of the present application; Figure 2 It is a schematic diagram of a device in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The present application is further described in detail below in conjunction with the accompanying drawings.

[0024] In one embodiment, if Figure 1 As shown, the present application discloses a three-dimensional scanning modeling method of dental implants based on the Internet of Things, which specifically includes the following steps: S1: Obtain a multi-angle CT scan image of the tooth to be implanted and its surrounding oral structure based on the Internet of Things device. The multi-angle CT scan image includes three-dimensional image information of several teeth and alveolar bones.

[0025] In this embodiment, the multi-angle CT scanning images include images of the teeth to be implanted and the surrounding oral structures at different angles such as horizontal, vertical, oblique, and multi-angle rotation; they are transmitted in real time or offline to the data processing center of the dental implant three-dimensional scanning modeling system through the Internet of Things technology via Internet of Things devices (such as CT scanners).

[0026] S2: Preprocess the acquired multi-angle CT scan images, identify and segment the images of each tooth and potential implant area, and generate a first spatial image corresponding to at least one tooth and a second spatial image including the alveolar bone structure.

[0027] In this embodiment, image preprocessing includes image denoising, grayscale adjustment of histogram equalization, adaptive threshold segmentation, and morphological operations on the segmented image (wherein the morphological operations include erosion, dilation, opening operation, closing operation, etc.) to remove small objects, fill holes and smooth edges.

[0028] Specifically, based on the segmented and morphologically processed images, a first spatial image having a single tooth model and a second spatial image including a model of the alveolar bone and surrounding structures are reconstructed.

[0029] S3: Acquire the morphological feature data of the alveolar bone in the second spatial image to determine a potential position suitable for the dental implant; calculate the spatial relationship between several teeth and the inter-layer position connection relationship of the alveolar bone according to the relative position between the teeth and the continuity of the alveolar bone, and determine the target implantation position and implantation direction of the dental implant in combination with the corresponding first spatial image.

[0030] In this embodiment, the morphological feature data include height, width, and density, etc., to evaluate the health status and load-bearing capacity of the alveolar bone; three-dimensional image processing software is used to calculate the relative position between the teeth and the continuity of the alveolar bone, determine the potential position of the dental implant, and combine the precise morphology of the teeth in the first spatial image, comprehensively consider the occlusal relationship, aesthetic needs and patient comfort, and optimize the target implantation position and implantation direction of the dental implant.

[0031] S4: Obtain tooth characteristic parameters of the dental implant and spatial position parameters of several preset characteristic points; determine multi-layer target spatial parameters corresponding to the target implantation position and implantation direction of the dental implant based on the tooth characteristic parameters; the several preset characteristic points include characteristic points located at at least one position of the dental implant itself, adjacent teeth or corresponding alveolar bone.

[0032] In this embodiment, the tooth feature parameters include data such as crown morphology, root length, and diameter; several key feature points are selected from the dental implant itself, adjacent teeth, or corresponding alveolar bones as preset feature points, wherein the preset feature points accurately reflect the spatial position relationship between the dental implant and the surrounding structures; the spatial position parameter measurement is to use a three-dimensional measurement tool to accurately measure the spatial position parameters (such as X, Y, and Z coordinates) of each preset feature point; and the multi-layer target spatial parameters include the target spatial parameters of the dental implant in multi-layer cross sections and / or multi-layer longitudinal sections.

[0033] S5: Perform three-dimensional modeling of the dental implant and surrounding structures to generate a three-dimensional model including the target implant position and implant direction; in the three-dimensional model, obtain the spatial position difference between the dental implant and each feature point in the adjacent teeth and alveolar bone based on the spatial position parameters to obtain the spatial position difference information of the feature points.

[0034] Specifically, the spatial position difference is used to evaluate the adaptability and modeling accuracy of dental implants. The spatial position differences between each dental implant and the adjacent teeth and alveolar bone are determined based on the spatial position difference. The accuracy of model restoration is evaluated based on multiple comparisons of multiple feature points. The model accuracy effect evaluation data is more comprehensive and the data is more accurate. It not only provides favorable data support, but also enables the constructed three-dimensional dental implant model to effectively assist doctors in more accurate surgical planning and operation, reduce surgical risks, and thus realize the precision and intelligence of dental implant three-dimensional scanning modeling.

[0035] In one embodiment, the tooth characteristic parameters include tooth morphology, size and defect characteristic information acquired based on the first spatial image; in step S4, the multi-layer target spatial parameters corresponding to the target implantation position and implantation direction of the dental implant are determined based on the tooth characteristic parameters, including: S41: Based on the tooth characteristic parameters and the corresponding second spatial image, the bone volume, density and morphology of the alveolar bone are analyzed to determine a target implantation position and implantation direction suitable for the dental implant.

[0036] In this embodiment, tooth morphology includes crown shape and root morphology; tooth size includes crown width, height, and root length; defect feature information includes caries, defects, and wear; image processing technology (such as grayscale value analysis and texture analysis) is used to evaluate the health of bones to ensure that the selected location has sufficient bone mass to support the dental implant.

[0037] S42: Calculate the spatial relationship parameters of the tooth to be implanted and its adjacent teeth and key structures in the alveolar bone; the spatial relationship parameters include distance parameters and angle parameters.

[0038] In this embodiment, the tooth to be implanted, the adjacent teeth and the key structures in the alveolar bone include the root tip, the alveolar ridge top, the contact points of the adjacent teeth, etc.; a three-dimensional measurement tool is used to calculate the distance parameters between the tooth to be implanted and the adjacent teeth and the key structures in the alveolar bone, including the horizontal distance, vertical distance and straight-line distance in three-dimensional space, etc.; by calculating the angle parameters, the angular relationship between the implant and the adjacent teeth, such as the inclination angle, rotation angle, etc., is analyzed to ensure that the normal occlusion relationship and tooth arrangement can be restored after the implant is implanted.

[0039] Specifically, the calculated distance parameters and angle parameters are integrated to form a complete set of spatial relationship parameters to provide data support for subsequent intelligent evaluation.

[0040] S43: According to the preset intelligent evaluation algorithm, the teeth and alveolar bone structures that meet the preset conditions are determined as the corresponding multi-layer target space parameters based on the spatial relationship parameters corresponding to the tooth feature parameters; the preset conditions are pre-set based on the space size, morphological matching and bone adequacy.

[0041] In this embodiment, the preset conditions include but are not limited to space size (ensuring that there is enough space for the implant to be implanted), morphological matching (the implant is coordinated with the morphology of the surrounding teeth), bone sufficiency (the bone volume at the selected location is sufficient to support the implant), etc.

[0042] Specifically, a detailed surgical plan is generated based on the multi-layer target space parameters, and the plan is optimized and finally confirmed through communication with the patient, simulated surgery verification, etc., to ensure that the surgical plan meets both clinical requirements and the patient's personalized needs.

[0043] In one embodiment, after step S5, a dental implant three-dimensional scanning modeling method based on the Internet of Things further includes: S51: When the spatial position difference of any feature point exceeds a preset difference range, a spatial position information collection instruction is triggered. According to the spatial position information collection instruction, real-time data of the actual surgical environment is obtained. The real-time data includes actual size changes of the patient's oral cavity and initial contact information between the dental implant and surrounding tissues.

[0044] Specifically, the difference range is the spatial position difference range. During the three-dimensional modeling process, a reasonable spatial position difference range is set for each feature point based on clinical experience and the patient's specific conditions. The difference range should take into account the accuracy requirements of the implant, the patient's physiological variations, and the fault tolerance of the surgical operation.

[0045] S52: Based on the location of the feature points, the corresponding spatial position difference and the real-time data, determine the correction area and correction amount that need to be corrected in the three-dimensional model, and the correction area includes but is not limited to the position, direction, depth of the dental implant and the morphology of adjacent teeth and alveolar bones.

[0046] Specifically, the collected real-time data is integrated with the data in the 3D model to form a more accurate 3D model of the patient's oral environment. S53: Correct and optimize the three-dimensional model based on the correction area and the correction amount.

[0047] In this embodiment, the correction area may include the position, direction, depth of the dental implant, and the morphology of adjacent teeth and alveolar bones, etc.; the calculation of the correction amount should be accurate to millimeters or even smaller units.

[0048] Specifically, the three-dimensional model evaluated, corrected and optimized based on the real-time data of the actual surgical environment and the actual preliminary contact information has a higher degree of model restoration; the three-dimensional model of the dental implant is more in line with the actual situation at the surgical site, allowing the doctor to make dynamic adjustments based on the actual surgical environment, improving the accuracy and safety of the surgery, and based on the spatial position difference corresponding to the location of the feature point and the correction area and correction amount determined by real-time data, the position of the dental implant, the morphology of the adjacent teeth and the alveolar bone can be accurately corrected, which is conducive to the comprehensive optimization of the surgical area. In one embodiment, in step S2, a dental implant three-dimensional scanning modeling method based on the Internet of Things includes: S21: Adaptive threshold segmentation technology is used to segment the contours of the teeth and alveolar bones according to the grayscale differences of the teeth and alveolar bones in the multi-angle CT scan images to obtain the initial dental implant image.

[0049] In this embodiment, the grayscale distribution characteristics of teeth and alveolar bones in CT scan images are analyzed. Since the density of teeth and alveolar bones is different, they present different grayscale values ​​in the image; an adaptive threshold segmentation algorithm is used to dynamically calculate the segmentation threshold according to the local characteristics of the image; commonly used adaptive threshold algorithms include Otsu method, local threshold method, etc.

[0050] Specifically, the image is binarized using the calculated adaptive threshold to separate the teeth and alveolar bone from the background. Then, the contours of the teeth and alveolar bone are extracted using an edge detection algorithm (such as the Canny edge detector) to obtain an initial dental implant image.

[0051] S22: performing morphological operations on the initial dental implant image to remove noise and artifacts in the dental implant preprocessed image to obtain a denoised dental implant image.

[0052] Specifically, due to the equipment movement of the CT scanning equipment and the patient's movement, the initial dental implant image may have different noise characteristics, such as salt and pepper noise, Gaussian noise, etc. The morphological operation is performed through a morphological filter for denoising. Commonly used morphological filters include corrosion, dilation, opening and closing operations, etc.

[0053] S23: Filling holes in the denoised dental implant image using a preset flood filling algorithm to obtain a preprocessed multi-angle CT scan image.

[0054] Specifically, the selected morphological filter is applied to the initial dental implant image for denoising. The filter parameters are adjusted through multiple iterations to achieve the best denoising effect; the denoised image is evaluated to ensure that the noise of the final preprocessed multi-angle CT scan image is effectively removed, while the contours of the teeth and alveolar bone remain clear.

[0055] In one embodiment, in step S4, the tooth characteristic parameters of the dental implant and the spatial position parameters of several preset characteristic points are obtained, including: S41: Acquire a multi-angle CT image of the dental implant under the irradiation of a multi-spectral light source, perform image preprocessing and morphological analysis based on the multi-angle CT image, and extract tooth characteristic parameters of the dental implant; the tooth characteristic parameters include product characteristics and design characteristics.

[0056] In this embodiment, a morphological feature extraction algorithm (such as Hough transform, least square method, etc.) is used to extract specific characteristic parameters of teeth and dental implants; the product features of tooth characteristic parameters include diameter, length, and shape; and the design features include the model, size, and material of the dental implant.

[0057] Specifically, the acquired multi-angle CT images are preprocessed by grayscale, filtering, denoising and other operations to improve image quality; then, adaptive threshold segmentation, edge detection and other algorithms are applied to preliminarily separate the contours of teeth, alveolar bones and dental implants; the extracted tooth feature parameters are sorted to form a complete feature parameter set to provide data support for subsequent three-dimensional modeling and surgical planning.

[0058] S42: Selecting a number of key feature points from the dental implant, adjacent teeth, and corresponding alveolar bones as preset feature points, where the preset feature points can reflect the spatial positional relationship between the dental implant and surrounding structures.

[0059] Specifically, the preset feature points include the top and bottom of the implant, the contact points with adjacent teeth, specific bony landmarks of the alveolar bone, etc.; in the CT image, the image annotation tool is used to mark the selected preset feature points to ensure that each preset feature point has clear identification and location information; each preset feature point can be assigned a unique feature point identifier to facilitate subsequent data processing and analysis.

[0060] S43: Obtain corresponding spatial position parameters one by one based on a number of key feature points.

[0061] Specifically, the process of acquiring spatial position parameters includes: first establishing a spatial coordinate system: that is, establishing a unified three-dimensional spatial coordinate system in the CT image, which should correspond to the patient's actual oral space; the origin of the coordinate system can be set at a fixed point in the patient's mouth (such as the midpoint of the central incisor), and the X, Y, and Z axes represent different spatial directions respectively; then using image processing software to measure the spatial position parameters of each preset feature point in the three-dimensional spatial coordinate system, such as the coordinate values ​​on the X, Y, and Z axes, as well as possible other spatial parameters, such as direction angle, inclination, etc.

[0062] It should be understood that the serial numbers of the steps in the above embodiments do not imply a sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0063] In one embodiment, a dental implant 3D scanning and modeling system based on the Internet of Things is provided, and the dental implant 3D scanning and modeling system based on the Internet of Things corresponds to the dental implant 3D scanning and modeling method based on the Internet of Things in the above-mentioned embodiment.

[0064] A dental implant 3D scanning modeling system based on the Internet of Things includes an Internet of Things data acquisition module, a CT image processing and segmentation module, a position and relationship calculation module, a feature parameter acquisition module, and a 3D modeling and difference calculation module. The detailed description of each functional module is as follows: An IoT data acquisition module is used to obtain multi-angle CT scan images of the teeth to be implanted and the surrounding oral structures based on IoT devices, and the multi-angle CT scan images include three-dimensional image information of several teeth and alveolar bones; A CT image processing and segmentation module, used to pre-process the acquired multi-angle CT scan images, identify and segment the images of each tooth and potential implant area, and generate a first spatial image corresponding to at least one tooth and a second spatial image including the alveolar bone structure; A position and relationship calculation module is used to obtain the morphological feature data of the alveolar bone in the second spatial image to determine a potential position suitable for the dental implant; according to the relative position between the teeth and the continuity of the alveolar bone, the spatial relationship between a number of teeth and the position connection relationship between the layers of the alveolar bone are calculated, and the target implantation position and implantation direction of the dental implant are determined in combination with the corresponding first spatial image; A feature parameter acquisition module, used to acquire tooth feature parameters of the dental implant and spatial position parameters of a plurality of preset feature points; determine multi-layer target spatial parameters corresponding to a target implantation position and implantation direction of the dental implant based on the tooth feature parameters; the plurality of preset feature points include feature points located at at least one position of the dental implant itself, adjacent teeth or corresponding alveolar bone; The three-dimensional modeling and difference calculation module is used to perform three-dimensional modeling of the dental implant and the surrounding structures, and generate a three-dimensional model including the target implant position and implant direction; in the three-dimensional model, the spatial position difference between the dental implant and each feature point in the adjacent teeth and alveolar bone is obtained based on the spatial position parameters to obtain the spatial position difference information of the feature points.

[0065] Optionally, the tooth characteristic parameters include tooth morphology, size and defect characteristic information acquired based on the first spatial image; the characteristic parameter acquisition module includes: An implantation position and implantation direction determination unit, for analyzing the bone volume, density and morphology of the alveolar bone based on the tooth characteristic parameters and the corresponding second spatial image, and determining a target implantation position and implantation direction suitable for the dental implant; A spatial relationship calculation unit is used to calculate the spatial relationship parameters of the tooth to be implanted and its adjacent teeth and key structures in the alveolar bone; the spatial relationship parameters include distance parameters and angle parameters; The intelligent evaluation unit is used to determine the teeth and alveolar bone structures that meet the preset conditions as the corresponding multi-layer target space parameters based on the spatial relationship parameters corresponding to the tooth feature parameters according to the preset intelligent evaluation algorithm; the preset conditions are pre-set based on the space size, morphological matching and bone adequacy.

[0066] For the specific definition of a dental implant three-dimensional scanning and modeling system based on the Internet of Things, please refer to the definition of a dental implant three-dimensional scanning and modeling method based on the Internet of Things in the above text, which will not be repeated here; each module in the above-mentioned dental implant three-dimensional scanning and modeling system based on the Internet of Things can be implemented in whole or in part through software, hardware and a combination thereof; each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0067] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 2 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store a first spatial image, a second spatial image and a three-dimensional model, etc. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a three-dimensional scanning modeling method for dental implants based on the Internet of Things is implemented.

[0068] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of a three-dimensional scanning modeling method for dental implants based on the Internet of Things are implemented.

[0069] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of a three-dimensional scanning modeling method of a dental implant based on the Internet of Things are implemented.

[0070] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0071] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0072] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments may still be modified, or some of the features thereof may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A three-dimensional scanning modeling method for dental implants based on the Internet of Things, characterized in that: The method comprises: Obtaining a multi-angle CT scan image of the tooth to be implanted and its surrounding oral structure based on the Internet of Things device, wherein the multi-angle CT scan image includes three-dimensional image information of a plurality of teeth and alveolar bones; Preprocessing the acquired multi-angle CT scan images, identifying and segmenting the images of each tooth and the potential implant area, and generating a first spatial image corresponding to at least one tooth and a second spatial image including the alveolar bone structure; Acquire the morphological feature data of the alveolar bone in the second spatial image to determine a potential position suitable for the dental implant; calculate the spatial relationship between a number of teeth and the inter-layer position connection relationship of the alveolar bone according to the relative position between the teeth and the continuity of the alveolar bone, and determine the target implantation position and implantation direction of the dental implant in combination with the corresponding first spatial image; Acquire tooth characteristic parameters of the dental implant and spatial position parameters of a plurality of preset characteristic points; determine multi-layer target spatial parameters corresponding to a target implantation position and implantation direction of the dental implant based on the tooth characteristic parameters; the plurality of preset characteristic points include characteristic points located at at least one position of the dental implant itself, adjacent teeth or corresponding alveolar bone; The dental implant and surrounding structures are three-dimensionally modeled to generate a three-dimensional model including the target implant position and implant direction; in the three-dimensional model, the spatial position difference between the dental implant and each feature point in the adjacent teeth and alveolar bone is obtained based on the spatial position parameters to obtain the spatial position difference information of the feature points.

2. The method for three-dimensional scanning and modeling of dental implants based on the Internet of Things according to claim 1, characterized in that: The tooth characteristic parameters include tooth morphology, size and defect characteristic information acquired based on the first spatial image; The method of determining the multi-layer target space parameters corresponding to the target implantation position and implantation direction of the dental implant based on the tooth characteristic parameters includes: Based on the tooth characteristic parameters and the corresponding second spatial image, analyzing the bone volume, density and morphology of the alveolar bone, and determining a target implantation position and implantation direction suitable for the dental implant; Calculating spatial relationship parameters of the tooth to be implanted and its adjacent teeth and key structures in the alveolar bone; the spatial relationship parameters include distance parameters and angle parameters; According to a preset intelligent evaluation algorithm, teeth and alveolar bone structures that meet preset conditions are determined as corresponding multi-layer target space parameters based on the spatial relationship parameters corresponding to the tooth feature parameters; the preset conditions are pre-set based on space size, morphological matching and bone adequacy.

3. The method for three-dimensional scanning and modeling of dental implants based on the Internet of Things according to claim 1, characterized in that: In the three-dimensional model, the spatial position difference between the dental implant and each feature point in the adjacent teeth and alveolar bone is obtained based on the spatial position parameter, and after obtaining the spatial position difference information of the feature point, the method further includes: When the spatial position difference of any feature point exceeds a preset difference range, a spatial position information collection instruction is triggered, and according to the spatial position information collection instruction, real-time data of the actual surgical environment is acquired, wherein the real-time data includes actual size changes of the patient's oral cavity and preliminary contact information between the dental implant and surrounding tissues; Based on the location of the feature points, the corresponding spatial position difference and the real-time data, determining the correction area and correction amount of the three-dimensional model that need to be corrected, the correction area includes but is not limited to the location, direction, depth of the dental implant and the morphology of adjacent teeth and alveolar bones; The three-dimensional model is corrected and optimized based on the correction area and the correction amount.

4. The method for three-dimensional scanning and modeling of dental implants based on the Internet of Things according to claim 1, characterized in that: The preprocessing of the acquired multi-angle CT scan images includes: Adaptive threshold segmentation technology is used to segment the contours of teeth and alveolar bones according to the grayscale differences of teeth and alveolar bones in multi-angle CT scan images to obtain the initial dental implant image. Performing morphological operations on the initial dental implant image to remove noise and artifacts in the dental implant preprocessed image to obtain a denoised dental implant image; The denoised dental implant image is filled with holes using a preset flood filling algorithm to obtain a preprocessed multi-angle CT scan image.

5. The method for three-dimensional scanning and modeling of dental implants based on the Internet of Things according to claim 1, characterized in that: The step of obtaining the tooth characteristic parameters of the dental implant and the spatial position parameters of a plurality of preset characteristic points includes: Acquire a multi-angle CT image of the dental implant under the irradiation of a multi-spectral light source, perform image preprocessing and morphological analysis based on the multi-angle CT image, and extract tooth characteristic parameters of the dental implant; the tooth characteristic parameters include product characteristics and design characteristics; Selecting a number of key feature points in the dental implant, the adjacent teeth and the corresponding alveolar bone as preset feature points, wherein the preset feature points can reflect the spatial position relationship between the dental implant and the surrounding structures; Based on several key feature points, the corresponding spatial position parameters are obtained one by one.

6. A three-dimensional scanning modeling system for dental implants based on the Internet of Things, characterized in that: include: An Internet of Things data acquisition module, used to obtain a multi-angle CT scan image of the tooth to be implanted and its surrounding oral structure based on an Internet of Things device, wherein the multi-angle CT scan image includes three-dimensional image information of a plurality of teeth and alveolar bones; A CT image processing and segmentation module, used to pre-process the acquired multi-angle CT scan images, identify and segment the images of each tooth and potential implant area, and generate a first spatial image corresponding to at least one tooth and a second spatial image including the alveolar bone structure; a position and relationship calculation module, for obtaining the morphological feature data of the alveolar bone of the second spatial image, and determining a potential position suitable for the dental implant; calculating the spatial relationship between a number of teeth and the position connection relationship between the layers of the alveolar bone according to the relative position between the teeth and the continuity of the alveolar bone, and determining the target implantation position and implantation direction of the dental implant in combination with the corresponding first spatial image; A characteristic parameter acquisition module, used to acquire tooth characteristic parameters of the dental implant and spatial position parameters of a plurality of preset characteristic points; determine multi-layer target spatial parameters corresponding to the target implantation position and implantation direction of the dental implant based on the tooth characteristic parameters; the plurality of preset characteristic points include characteristic points located at at least one position of the dental implant itself, adjacent teeth or corresponding alveolar bone; The three-dimensional modeling and difference calculation module is used to perform three-dimensional modeling of the dental implant and surrounding structures, and generate a three-dimensional model including the target implant position and implant direction; In the three-dimensional model, the spatial position difference between the dental implant and each feature point in the adjacent teeth and alveolar bone is obtained based on the spatial position parameter to obtain the spatial position difference information of the feature point.

7. The three-dimensional scanning modeling system for dental implants based on the Internet of Things according to claim 6, characterized in that: The tooth characteristic parameters include tooth morphology, size and defect characteristic information acquired based on the first spatial image; The characteristic parameter acquisition module includes: An implantation position and implantation direction determination unit, configured to analyze the bone mass, density and morphology of the alveolar bone based on the tooth characteristic parameters and the corresponding second spatial image, and determine a target implantation position and implantation direction suitable for the dental implant; A spatial relationship calculation unit, used to calculate spatial relationship parameters of the tooth to be implanted and its adjacent teeth and key structures in the alveolar bone; the spatial relationship parameters include distance parameters and angle parameters; An intelligent evaluation unit is used to determine the teeth and alveolar bone structures that meet preset conditions as corresponding multi-layer target space parameters based on the spatial relationship parameters corresponding to the tooth feature parameters according to a preset intelligent evaluation algorithm; the preset conditions are pre-set based on space size, morphological matching and bone adequacy.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the three-dimensional scanning modeling method of dental implants based on the Internet of Things as described in any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of a dental implant three-dimensional scanning modeling method based on the Internet of Things as described in any one of claims 1 to 5 are implemented.

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