Drill point measurement method, device, equipment, medium and product in dental optical navigation surgery

Abstract

The embodiment of the invention discloses a drill point measurement method, device, equipment, medium and product in dental optical navigation surgery, and the method comprises the steps: obtaining a target instrument image, and obtaining a target instrument image on the basis of the posture and position of a surgical instrument; determining a space axis direction and a tail end point space coordinate of a drill point working axis of the surgical instrument according to the calibration information of the surgical instrument, and respectively projecting the space axis direction into a plurality of navigation images to determine a tip coordinate of a drill point to be measured in each navigation image; and determining the length of the to-be-measured drill point according to the tip coordinate and the parameter and spatial position relationship of the image acquisition device corresponding to the navigation image. According to the technical scheme of the embodiment of the invention, the problem of high cost caused by the fact that drill point measurement needs to be completed by multiple persons or is completed by one person through an additional auxiliary tool in the prior art is solved, measurement can be carried out by taking pictures without using the additional tool, the cost is low, the operation is simple, and the efficiency is high. And through an image processing technology, the automatic measurement efficiency is high and the accuracy is high.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of dental optical navigation, and in particular to a drill needle measurement method, device, equipment, medium and product in dental optical navigation surgery. Background Art

[0002] During dental surgeries such as dental implants, doctors need to frequently switch drills. To ensure navigation accuracy, drill measurement is required. Currently, there are two main methods for measuring drill length and diameter in the market: preoperative measurement and intraoperative tooling measurement.

[0003] However, the preoperative measurement plan requires the drill bit data to be entered in advance, and more preoperative preparations are required for unknown drill bits. In addition, during the intraoperative switching process, an extra person is required to assist in the manual switching of the drill bit. The intraoperative tooling measurement plan's plane auxiliary tooling V-groove plan is complicated to operate, and the operator is required to insert the V-groove at a vertical angle, otherwise it will result in inaccurate diameter measurement. In addition, this plan requires the cooperation of auxiliary tooling, which increases the cost of use. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, equipment, medium and product for measuring a drill needle in dental optical navigation surgery, which can take pictures for measurement without using additional tooling, has low cost and simple operation, and can automatically measure with high efficiency and accuracy through image processing technology.

[0005] In a first aspect, an embodiment of the present invention provides a method for measuring a drill needle in a dental optical navigation surgery, the method comprising:

[0006] Acquire a target instrument image within the field of view of the dental optical navigator, and identify the posture and position of the surgical instrument in the target instrument image according to the instrument features;

[0007] Based on the posture and position of the surgical instrument, determine the spatial axis direction of the working axis of the drill needle of the surgical instrument and the spatial coordinates of the end point according to the calibration information of the surgical instrument, wherein the spatial coordinates of the end point correspond to the end position of the drill needle to be measured configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill needle to be measured;

[0008] The spatial axis directions are projected onto a plurality of navigation images of different viewing angles corresponding to the target instrument image, and pixel searches are performed in the navigation images according to the projection axis directions corresponding to the spatial axis directions to determine the tip coordinates of the drill needle to be measured in each navigation image;

[0009] The tip spatial coordinates of the drill needle to be measured are determined according to the parameters and spatial position relationship of the image acquisition device corresponding to the tip coordinates and the navigation image, and the length of the drill needle to be measured is determined according to the tip spatial coordinates and the end point spatial coordinates.

[0010] In a second aspect, an embodiment of the present invention provides a drill needle measuring device in a dental optical navigation surgery, the device comprising:

[0011] A target instrument image acquisition module is used to acquire a target instrument image within the field of view of the dental optical navigator, and to identify the posture and position of the surgical instrument in the target instrument image according to the instrument features;

[0012] A working axis position information acquisition module is used to determine the spatial axis direction and the end point spatial coordinates of the working axis of the drill needle of the surgical instrument based on the posture and position of the surgical instrument and the calibration information of the surgical instrument, wherein the end point spatial coordinates correspond to the end position of the drill needle to be measured configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill needle to be measured;

[0013] A tip coordinate acquisition module is used to project the spatial axis direction into a plurality of navigation images of different viewing angles corresponding to the target instrument image, and to perform pixel searches in the navigation images according to the projection axis direction corresponding to the spatial axis direction, to determine the tip coordinates of the drill needle to be measured in each navigation image;

[0014] The drill needle length determination module is used to determine the tip spatial coordinates of the drill needle to be measured according to the parameters and spatial position relationship of the image acquisition device corresponding to the tip coordinates and the navigation image, and to determine the length of the drill needle to be measured according to the tip spatial coordinates and the end point spatial coordinates.

[0015] In a third aspect, an embodiment of the present invention further provides a computer device, the computer device comprising:

[0016] one or more processors;

[0017] A memory for storing one or more programs;

[0018] When the one or more programs are executed by one or more processors, the one or more processors implement the drill needle measurement method in dental optical navigation surgery as provided in any embodiment of the present invention.

[0019] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a drill needle measurement method in a dental optical navigation surgery as provided in any embodiment of the present invention.

[0020] In a fifth aspect, an embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements a drill needle measurement method in dental optical navigation surgery as provided in any embodiment of the present invention.

[0021] The embodiments of the above invention have the following advantages or beneficial effects:

[0022] According to an embodiment of the present invention, a target instrument image within the field of view of a dental optical navigator is acquired, and the posture and position of the surgical instrument in the target instrument image are identified according to the instrument features; based on the posture and position of the surgical instrument, the spatial axis direction and the spatial coordinates of the end point of the drill working axis of the surgical instrument are determined according to the calibration information of the surgical instrument, wherein the end point spatial coordinates correspond to the end position of the drill to be measured which is configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill to be measured; the spatial axis directions are projected into a plurality of navigation images of different viewing angles corresponding to the target instrument image, and pixel searches are performed in the navigation images according to the projection axis directions corresponding to the spatial axis directions to determine the tip coordinates of the drill to be measured in each navigation image; the tip spatial coordinates of the drill to be measured are determined according to the relationship between the tip coordinates and the parameters and spatial position of the image acquisition device corresponding to the navigation image, and the length of the drill to be measured is determined according to the tip spatial coordinates and the end point spatial coordinates. The technical solution of the embodiment of the present invention solves the problem in the prior art that drill needle measurement needs to be completed by multiple people or by a single person through additional auxiliary tooling, resulting in high costs. Measurement can be performed by taking pictures without using additional tooling, which is low-cost and simple to operate. Automatic measurement through image processing technology is efficient and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flow chart of a drill needle measurement method in a dental optical navigation surgery provided by an embodiment of the present invention;

[0024] Figure 2 It is a flow chart of a drill needle measurement method in a dental optical navigation surgery provided by an embodiment of the present invention;

[0025] Figure 3 It is a flow chart of a drill needle measurement method in a dental optical navigation surgery provided by an embodiment of the present invention;

[0026] Figure 4 It is a schematic structural diagram of a drill needle measuring device in a dental optical navigation surgery provided by an embodiment of the present invention;

[0027] Figure 5 It is a structural schematic diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0029] Figure 1 This is a flowchart of a drill needle measurement method in a dental optical navigation surgery provided by an embodiment of the present invention. This embodiment is applicable to the scenario of drill needle measurement in a dental optical navigation surgery. The method can be performed by a drill needle measurement device in a dental optical navigation surgery, which can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0030] like Figure 1 As shown, the drill needle measurement method in dental optical navigation surgery of this embodiment includes the following steps:

[0031] S110, acquiring a target instrument image within the field of view of the dental optical navigator, and identifying the posture and position of the surgical instrument in the target instrument image according to the instrument features.

[0032] The process of acquiring the image of the target instrument within the field of view of the dental optical navigator can be that a single operator holds the target instrument within the field of view of the dental optical navigator, and the dental optical navigator acquires the image through two or more image acquisition devices. This embodiment uses a single operator to take the image, which is simple to operate and does not require additional auxiliary personnel and tooling, saving manpower and hardware costs.

[0033] The instrument feature of the surgical instrument is located at the proximal end of the surgical instrument. The instrument feature may be a pattern mark of a specific shape, such as having a specific shape, color, and texture. The instrument feature may be identified based on the specific shape, color, and texture, and the posture and position of the surgical instrument may be determined based on the position of the instrument feature.

[0034] The drill to be measured may be disposed at the end of the surgical instrument. It is understandable that in order to measure the shape parameters of the drill to be measured according to the target instrument image, the drill to be measured is not perpendicular to the imaging plane corresponding to the field of view of the dental optical navigator, so as to avoid the drill to be measured being displayed as a dot in the target instrument image, which makes it impossible to measure it later.

[0035] S120. Based on the posture and position of the surgical instrument, determine the spatial axis direction and the end point spatial coordinates of the drill needle working axis of the surgical instrument according to the calibration information of the surgical instrument.

[0036] The spatial coordinates of the end point correspond to the end position of the drill needle to be measured which is configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill needle to be measured.

[0037] Based on the posture and position of the surgical instrument, the spatial axis direction of the working axis of the surgical instrument and the spatial coordinates of the end point are determined according to the positional correlation between the instrument features obtained by pre-calibration of the drill needle and the spatial axis direction of the working axis and the spatial coordinates of the end point. The working axis of the surgical instrument can be the axis around or along which the core components of the instrument that perform the main functions during operation move, the spatial axis direction can be the position and direction of the axis in a preset three-dimensional spatial coordinate system, and the spatial coordinates of the end point are the coordinates corresponding to the connection point of the drill needle with the surgical instrument.

[0038] S130, projecting the spatial axis direction into a plurality of navigation images of different viewing angles corresponding to the target instrument image, and performing pixel searches in the navigation images according to the projection axis direction corresponding to the spatial axis direction, to determine the tip coordinates of the drill to be measured in each navigation image.

[0039] Specifically, multiple navigation images of different perspectives corresponding to the target instrument image can be simultaneously captured by multiple image acquisition devices. Three-dimensional space reconstruction is performed based on the multiple navigation images, and the spatial axis direction is reversely projected into the multiple navigation images of different perspectives of the dental optical navigation device to obtain the projection axis of the spatial axis direction on the multiple images of different perspectives. The projection axis can be in the form of rays, and pixel search is performed along the projection axis direction. Grayscale analysis is performed on the searched pixels. According to the difference between the foreground and background, the tip coordinates of the drill to be measured in each navigation image are determined. The tip coordinates can be sub-pixel coordinates in the camera coordinate system of the image acquisition device corresponding to each navigation image.

[0040] S140, determining the tip spatial coordinates of the drill needle to be measured according to the parameters and spatial position relationship of the image acquisition device corresponding to the tip coordinates and the navigation image, and determining the length of the drill needle to be measured according to the tip spatial coordinates and the end point spatial coordinates.

[0041] The parameters of the image acquisition device may include the intrinsic parameters and extrinsic parameters of the camera. Intrinsic parameters may be parameters that describe the characteristics of the camera itself, which are only related to the internal structure and optical characteristics of the camera itself, such as focal length, principal point coordinates, and distortion coefficients. Camera extrinsic parameters may be parameters that describe the position and posture of the camera in the world coordinate system, such as rotation matrix and translation vector.

[0042] According to the internal and external parameters of multiple image acquisition devices, the tip coordinates in the navigation image are converted into coordinates in the camera coordinate systems corresponding to the multiple image acquisition devices, and the ray equations of the drill needle tip to be measured in different camera coordinate systems are obtained. According to the principle of camera triangulation, according to the tip coordinates in each navigation image and the spatial position relationship of the tip coordinates in the camera coordinate systems of different image acquisition devices, for example, the rays in the camera coordinate systems of different image acquisition devices are intersected and solved, the tip spatial coordinates of the drill needle to be measured are obtained, and the distance between the tip spatial coordinates and the end point spatial coordinates determined in step S120 is calculated to obtain the length of the drill needle to be measured. This embodiment is automatically calculated by a computer through image processing and other algorithm flows, and has a fast processing speed and high stability.

[0043] The technical solution of this embodiment is to obtain a target instrument image within the field of view of a dental optical navigator, and identify the posture and position of the surgical instrument in the target instrument image according to the instrument features; determine the spatial axis direction and the end point spatial coordinates of the drill working axis of the surgical instrument according to the calibration information of the surgical instrument on the basis of the posture and position of the surgical instrument, wherein the end point spatial coordinates correspond to the end position of the drill to be measured configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill to be measured; project the spatial axis directions into a plurality of navigation images of different viewing angles corresponding to the target instrument image, and perform pixel searches in the navigation images according to the projection axis directions corresponding to the spatial axis directions, and determine the tip coordinates of the drill to be measured in each navigation image; determine the tip spatial coordinates of the drill to be measured according to the relationship between the tip coordinates and the parameters and spatial position of the image acquisition device corresponding to the navigation image, and determine the length of the drill to be measured according to the tip spatial coordinates and the end point spatial coordinates. The technical solution of the embodiment of the present invention solves the problem in the prior art that drill needle measurement needs to be completed by multiple people or by a single person through additional auxiliary tooling, resulting in high costs. Measurement can be performed by taking pictures without using additional tooling, which is low-cost and simple to operate. Automatic measurement through image processing technology is efficient and accurate.

[0044] Figure 2 A flowchart of a drill needle measurement method in a dental optical navigation surgery provided by an embodiment of the present invention. This embodiment and the drill needle measurement method in a dental optical navigation surgery in the above embodiment belong to the same inventive concept, and further describes the process of performing pixel search in the navigation image according to the projection axis direction corresponding to the spatial axis direction to determine the tip coordinates of the drill needle to be measured in each navigation image. The method can be performed by a drill needle measurement device in a dental optical navigation surgery, which can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0045] like Figure 2As shown, the drill needle measurement method in dental optical navigation surgery of this embodiment includes the following steps:

[0046] S210, acquiring a target instrument image within the field of view of the dental optical navigator, and identifying the posture and position of the surgical instrument in the target instrument image according to the instrument features.

[0047] S220. Based on the posture and position of the surgical instrument, determine the spatial axis direction and the end point spatial coordinates of the drill needle working axis of the surgical instrument according to the calibration information of the surgical instrument.

[0048] The spatial coordinates of the end point correspond to the end position of the drill needle to be measured which is configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill needle to be measured.

[0049] S230, projecting the spatial axis direction into a plurality of navigation images of different perspectives corresponding to the target device image, and using the projection axis direction corresponding to the spatial axis direction as the search direction in each navigation image, calculating the extreme value of the grayscale gradient between pixels in the projection axis direction to obtain the corresponding calculation result.

[0050] In the navigation image, the projection axis direction corresponding to the spatial axis direction is used as the search direction, and the extreme value of the grayscale gradient between pixels in the projection axis direction is calculated to obtain a calculation result that can reflect the grayscale change rate between pixels.

[0051] S240, determining the sub-pixel point coordinates corresponding to the maximum value of the gray gradient extreme value in the calculation result as the tip coordinates of the drill needle to be measured in the corresponding navigation image.

[0052] Determine the maximum value of the gray gradient extreme value in the calculation result, that is, the point where the gray gradient reaches the maximum in the local area, that is, the point where the gray change is most drastic. Therefore, the sub-pixel point corresponding to the maximum value is the tip of the drill needle to be measured in the corresponding navigation image, and the coordinates of the sub-pixel point corresponding to the maximum value are determined as the coordinates of the tip of the drill needle to be measured in the corresponding navigation image.

[0053] S250, determining the tip spatial coordinates of the drill to be measured according to the parameters and spatial position relationship of the image acquisition device corresponding to the tip coordinates and the navigation image, and determining the length of the drill to be measured according to the tip spatial coordinates and the end point spatial coordinates.

[0054] In an optional embodiment, the length of the drill bit to be measured is determined based on the tip spatial coordinates and the end point spatial coordinates, and the spatial distance between the tip spatial coordinates and the end point spatial coordinates is calculated, and the spatial distance is determined as the length of the drill bit to be measured.

[0055] For example, the spatial distance between the spatial coordinates of the tip and the spatial coordinates of the end point is calculated using a spatial distance formula, and the spatial distance is determined as the length of the drill bit to be measured.

[0056] The technical solution of this embodiment is to obtain the target instrument image within the field of view of the dental optical navigation device, and identify the posture and position of the surgical instrument in the target instrument image according to the instrument features. Based on the posture and position of the surgical instrument, the spatial axis direction and the spatial coordinates of the end point of the drill needle working axis of the surgical instrument are determined according to the calibration information of the surgical instrument, wherein the end point spatial coordinates correspond to the end position of the drill needle to be measured configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill needle to be measured. The spatial axis direction is projected into multiple navigation images of different viewing angles corresponding to the target instrument image, and the projection axis direction corresponding to the spatial axis direction is used as the search direction in the navigation image to calculate the grayscale gradient extreme value between pixels in the projection axis direction to obtain the corresponding calculation result. The sub-pixel point coordinates corresponding to the maximum value of the grayscale gradient extreme value in the calculation result are determined as the tip coordinates of the drill needle to be measured in the corresponding navigation image. The tip spatial coordinates of the drill needle to be measured are determined according to the parameters and spatial position relationship of the image acquisition device corresponding to the tip coordinates and the navigation image, and the length of the drill needle to be measured is determined according to the tip spatial coordinates and the end point spatial coordinates. The technical solution of the embodiment of the present invention solves the problem in the prior art that drill bit measurement needs to be completed by multiple people or by a single person through additional auxiliary tooling, resulting in high costs. It can take pictures for measurement without using additional tooling, which is low-cost and simple to operate. The spatial coordinates of the tip of the drill bit are automatically determined through spatial axis projection, grayscale gradient extreme value calculation, etc., and the drill bit length is calculated based on the spatial coordinates of the tip with high efficiency and accuracy.

[0057] In a specific example of drill measurement in dental optical navigation surgery, a preset spatial interaction area can be set within the field of view of the navigator, and the preset spatial interaction area can be marked in the preset software interface. When the instrument enters the preset spatial interaction area, the posture and position of the drill to be measured of the instrument are identified. When the posture and position meet the preset measurement function triggering conditions, the drill switching instruction is triggered, and the software automatically switches to the preset drill measurement interface to perform the drill measurement operation. Therefore, when the operator wants to perform a drill change operation, the surgical instrument after the drill is switched can be placed in the preset interactive field of view of the navigator with the specified drill posture, and the navigator will take the corresponding image, reducing the need to rely on others such as assistants to click the mouse, and a single person can complete the intraoperative drill switching operation. Since drills need to be changed frequently during implant surgery, this operation can greatly simplify the interaction and shorten the operation process.

[0058] The spatial interaction area can be a close-range field of view area close to the navigator, for example, it can be the left half of the field of view of the optical navigator. The preset measurement function trigger condition can be the position and posture of the drill bit to be measured being perpendicular to the central ray of the navigator (the position and posture within the specified deviation range can be considered as vertical).

[0059] When the length of the drill bit to be measured is determined, the software automatically exits the preset drill bit measurement interface and returns to the initial interface. The entire process does not require mouse clicks, reducing the need to rely on others to click the mouse.

[0060] Figure 3 This is a flowchart of a drill needle measurement method in a dental optical navigation surgery provided by an embodiment of the present invention. This embodiment and the drill needle measurement method in a dental optical navigation surgery in the above embodiment belong to the same inventive concept, and further describes the process of determining the width of the drill needle to be measured. The method can be performed by a drill needle measurement device in a dental optical navigation surgery, which can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0061] like Figure 3 As shown, the drill needle measurement method in dental optical navigation surgery of this embodiment includes the following steps:

[0062] S310, acquiring a target instrument image within the field of view of the dental optical navigator, and identifying the posture and position of the surgical instrument in the target instrument image according to the instrument features.

[0063] S320. Based on the posture and position of the surgical instrument, determine the spatial axis direction and the end point spatial coordinates of the drill needle working axis of the surgical instrument according to the calibration information of the surgical instrument.

[0064] The spatial coordinates of the end point correspond to the end position of the drill needle to be measured which is configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill needle to be measured.

[0065] S330, projecting the spatial axis direction into a plurality of navigation images of different viewing angles corresponding to the target instrument image, and performing pixel searches in the navigation images according to the projection axis direction corresponding to the spatial axis direction, to determine the tip coordinates of the drill to be measured in each navigation image.

[0066] First, the target instrument image within the field of view of the dental optical navigator is obtained, and then the surgical instrument, i.e. the dental handpiece, is positioned according to the characteristic identification of the surgical instrument to determine the spatial axis direction of the surgical instrument's working axis and the spatial coordinates of the end point. The third step is to project the handpiece axial direction to determine the tip coordinates of the drill to be measured in each navigation image.

[0067] After completing S330, step S340 and step S350 can be entered simultaneously to determine the length and width of the drill bit to be measured. That is, the step of determining the tip spatial coordinates for determining the length of the drill bit to be measured and the step of determining the sub-pixel coordinates of the boundary for determining the width of the drill bit to be measured can be entered simultaneously.

[0068] S340, determining the tip spatial coordinates of the drill needle to be measured according to the parameters and spatial position relationship of the image acquisition device corresponding to the tip coordinates and the navigation image, and determining the length of the drill needle to be measured according to the tip spatial coordinates and the end point spatial coordinates.

[0069] S350, performing pixel search in the navigation image in a direction perpendicular to the projection axis direction to obtain sub-pixel point coordinates of the boundary of the drill bit to be measured.

[0070] In the navigation image, the sub-pixel points of the boundary of the drill needle to be measured are searched in the direction perpendicular to the projection axis, and the sub-pixel coordinates of the sub-pixel points in the camera coordinate system of the image acquisition device corresponding to the navigation image are determined. Since there is a difference between the foreground and background in the navigation image, that is, there is an obvious grayscale difference between the drill needle to be measured and the background, the gradient extreme value of the grayscale transition area is calculated in the direction perpendicular to the projection axis, and the sub-pixel coordinates of the boundary of the drill needle to be measured can be extracted according to the maximum value of the calculated gradient extreme value.

[0071] S360, determining the boundary space coordinates corresponding to the sub-pixel point coordinates according to the sub-pixel point coordinates, the optical center space coordinates of the image acquisition device corresponding to the navigation image, and the straight line where the working axis of the surgical instrument is located.

[0072] Three-dimensional reconstruction is performed based on the sub-pixel point coordinates, the optical center space coordinates of the image acquisition device corresponding to the navigation image, and the straight line where the working axis of the surgical instrument is located, and the boundary space coordinates corresponding to the sub-pixel point coordinates are calculated using algorithms such as spatial line-surface intersection.

[0073] In an optional implementation, determining the boundary space coordinates corresponding to the sub-pixel point coordinates according to the sub-pixel point coordinates, the optical center space coordinates of the image acquisition device corresponding to the navigation image, and the straight line where the working axis of the surgical instrument is located may include the following steps A1-A4:

[0074] Step A1: determine a spatial straight line according to the coordinates of each sub-pixel point and the spatial coordinates of the optical center of the image acquisition device corresponding to the corresponding navigation image.

[0075] The optical center space coordinates may be the optical center coordinates of a camera, and may be specifically determined by a camera calibration method, where the optical center space coordinates corresponding to each image acquisition device are determined by performing camera calibration on each image acquisition device.

[0076] A plurality of spatial straight line equations are calculated according to the coordinates of each sub-pixel point and the spatial coordinates of the optical center. The number of the spatial straight line equations is determined by the number of sub-pixel points. The spatial straight line equations can be recorded as a straight line L.

[0077] Step A2: determining a spatial plane according to the spatial coordinates of the optical center of the image acquisition device corresponding to each navigation image and the straight line where the working axis of the surgical instrument is located.

[0078] Specifically, the straight line where the working axis of the surgical instrument is located is determined according to the spatial axis direction of the working axis and the spatial coordinates of the end point, and the spatial plane equation is calculated according to the spatial coordinates of the optical center and the straight line where the working axis of the surgical instrument is located.

[0079] Step A3: determine a reference plane according to the coordinates of all sub-pixel points in each navigation image.

[0080] The reference plane can be a spatial cross section of the drill to be measured, and all sub-pixel coordinates in each navigation image are on this spatial cross section. In addition, the spatial plane equation of the reference plane is calculated according to two constraints, where constraint 1 is that the reference plane must be perpendicular to the spatial plane, and constraint 2 is that the straight line where the working axis of the surgical instrument is located is also on the reference plane.

[0081] Step A4: determine the boundary space coordinates corresponding to the coordinates of each sub-pixel point according to the constraint relationship between the space line, the space plane and the reference plane.

[0082] The constraint relationship between the spatial line, the spatial plane, and the reference plane is that the boundary spatial coordinates corresponding to the coordinates of each sub-pixel point are both on the straight line L and on the reference plane. The line-plane intersection of the equation of the straight line L and the spatial plane equation corresponding to the reference plane is calculated, and the coordinates of the line-plane intersection are determined as the boundary spatial coordinates corresponding to the coordinates of each sub-pixel point.

[0083] S370, determining the width of the drill needle to be measured according to the distance from the boundary space coordinates to the straight line where the working axis of the surgical instrument is located.

[0084] According to the distance formula from a point in space to a straight line, the distance from the boundary space coordinate to the straight line where the working axis of the surgical instrument is located is calculated, and the width of the drill needle to be measured is determined based on the distance. The width of the drill needle to be measured can be expressed by the diameter or radius of the drill needle to be measured.

[0085] In an optional embodiment, the width of the drill to be measured is determined based on the distance from the boundary space coordinate to the straight line where the working axis of the surgical instrument is located. The distance from each boundary space coordinate to the straight line where the working axis of the surgical instrument is located can be calculated separately, and the maximum distance value or the average distance value in the distance is used as the width of the drill to be measured.

[0086] For example, the distance from each boundary space coordinate to the straight line where the working axis of the surgical instrument is located is calculated respectively, and the standard deviation or variance between the distances corresponding to each boundary space coordinate can be calculated. According to the standard deviation or variance, it is determined whether the width of the drill needle to be measured is stable. If so, the average distance value in the distance can be used as the width of the drill needle to be measured; if not, it means that the drill needle to be measured may be a structure that is thinner or thicker at one end than the other end. In this case, the maximum distance value in the distance can be used as the width of the drill needle to be measured to prevent the drill needle to be measured from being too thick and damaging the patient's teeth or dental nerves.

[0087] In an optional embodiment, after determining the length of the drill needle to be measured and the width of the drill needle to be measured, candidate drill needles can be matched in a preset drill needle three-dimensional model library according to the length of the drill needle to be measured and the width of the drill needle to be measured; the drill needle three-dimensional models of the candidate drill needles are projected into the navigation image respectively to obtain projection results, and the target drill needle is determined according to the matching degree between the projection results and the image of the drill needle to be measured in the corresponding navigation image; the length and diameter parameters of the target drill needle are used as the measurement results of the drill needle to be measured.

[0088] In the case of a preset drill needle 3D model library, the 3D models of candidate drill needles with similar drill needle length and diameter in the preset drill needle 3D model library can be screened according to the measurement results of the drill needle length and width, and the 3D models of the candidate drill needles are projected into the multi-view navigation image in the same drill needle posture as the drill needle to be measured. The model projection image and the original image are matched, and the drill needle with the highest similarity is selected, which is the target drill needle currently switched. Since the information of the preset drill needle 3D model library is pre-entered and known, the corresponding drill needle length and diameter of the target drill needle are the most accurate drill needle length and diameter results of the drill needle to be measured, which can ensure that the parameters of the drill needle are accurate during the use of the drill needle after the drill needle is switched. In the entire drill needle measurement process, no more manual intervention is required, saving human resources.

[0089] The technical solution of this embodiment is to obtain a target instrument image within the field of view of a dental optical navigator, and identify the posture and position of the surgical instrument in the target instrument image according to the instrument features; based on the posture and position of the surgical instrument, determine the spatial axis direction and the spatial coordinates of the end point of the drill working axis of the surgical instrument according to the calibration information of the surgical instrument, wherein the spatial coordinates of the end point correspond to the end position of the drill to be measured configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill to be measured; project the spatial axis direction into a plurality of navigation images of different viewing angles corresponding to the target instrument image, and perform pixel searches in the navigation images according to the projection axis directions corresponding to the spatial axis directions to determine the position of the drill to be measured. Measure the tip coordinates of the drill needle in each navigation image; determine the tip spatial coordinates of the drill needle to be measured according to the parameters and spatial position relationship of the image acquisition device corresponding to the tip coordinates and the navigation image, and determine the length of the drill needle to be measured according to the tip spatial coordinates and the end point spatial coordinates; perform pixel search in the navigation image in a direction perpendicular to the projection axis direction to obtain the sub-pixel point coordinates of the boundary of the drill needle to be measured; determine the boundary spatial coordinates corresponding to the sub-pixel point coordinates according to the sub-pixel point coordinates, the optical center spatial coordinates of the image acquisition device corresponding to the navigation image, and the straight line where the working axis of the surgical instrument is located; determine the width of the drill needle to be measured according to the distance from the boundary spatial coordinates to the straight line where the working axis of the surgical instrument is located. The technical solution of the embodiment of the present invention solves the problem that drill needle measurement in the prior art requires multiple people to complete or a single person to complete it through additional auxiliary tooling, resulting in high costs. The length and width of the drill needle can be measured by taking pictures without using additional tooling, which is low in cost and simple to operate. The automatic measurement through image processing technology, three-dimensional space reconstruction, etc. has high efficiency and accuracy.

[0090] Figure 4 The present invention provides a schematic diagram of the structure of a drill needle measuring device in a dental optical navigation surgery. This embodiment is applicable to the scenario of drill needle measurement in a dental optical navigation surgery. The drill needle measuring device in a dental optical navigation surgery can be implemented by software and / or hardware and integrated into a computer terminal device with application development function.

[0091] like Figure 4 As shown, the drill needle measuring device in dental optical navigation surgery includes a target instrument image acquisition module 410 , a working axis position information acquisition module 420 , a tip coordinate acquisition module 430 and a drill needle length determination module 440 .

[0092] Among them, the target instrument image acquisition module 410 is used to acquire the target instrument image within the field of view of the dental optical navigation device, and identify the posture and position of the surgical instrument in the target instrument image according to the instrument features; the working axis position information acquisition module 420 is used to determine the spatial axis direction and the end point spatial coordinates of the drill working axis of the surgical instrument based on the posture and position of the surgical instrument and the calibration information of the surgical instrument, wherein the end point spatial coordinates correspond to the end position of the drill to be measured configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill to be measured; the tip coordinate acquisition module 430 is used to project the spatial axis direction into a plurality of navigation images of different viewing angles corresponding to the target instrument image, and perform pixel search in the navigation image according to the projection axis direction corresponding to the spatial axis direction, and determine the tip coordinates of the drill to be measured in each navigation image; the drill length determination module 440 is used to determine the tip spatial coordinates of the drill to be measured according to the tip coordinates and the parameters and spatial position relationship of the image acquisition device corresponding to the navigation image, and determine the length of the drill to be measured according to the tip spatial coordinates and the end point spatial coordinates.

[0093] The technical solution of this embodiment is to obtain a target instrument image within the field of view of a dental optical navigator, and identify the posture and position of the surgical instrument in the target instrument image according to the instrument features; determine the spatial axis direction and the end point spatial coordinates of the drill working axis of the surgical instrument according to the calibration information of the surgical instrument on the basis of the posture and position of the surgical instrument, wherein the end point spatial coordinates correspond to the end position of the drill to be measured configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill to be measured; project the spatial axis directions into a plurality of navigation images of different viewing angles corresponding to the target instrument image, and perform pixel searches in the navigation images according to the projection axis directions corresponding to the spatial axis directions, and determine the tip coordinates of the drill to be measured in each navigation image; determine the tip spatial coordinates of the drill to be measured according to the relationship between the tip coordinates and the parameters and spatial position of the image acquisition device corresponding to the navigation image, and determine the length of the drill to be measured according to the tip spatial coordinates and the end point spatial coordinates. The technical solution of the embodiment of the present invention solves the problem in the prior art that drill needle measurement needs to be completed by multiple people or by a single person through additional auxiliary tooling, resulting in high costs. Measurement can be performed by taking pictures without using additional tooling, which is low-cost and simple to operate. Automatic measurement through image processing technology is efficient and accurate.

[0094] In an optional implementation, the tip coordinate acquisition module 430 is specifically used for:

[0095] In the navigation image, the projection axis direction corresponding to the spatial axis direction is used as the search direction, and the extreme value of the grayscale gradient between pixels in the projection axis direction is calculated to obtain the corresponding calculation result; the sub-pixel point coordinates corresponding to the maximum value of the grayscale gradient extreme value in the calculation result are determined as the tip coordinates of the drill to be measured in the corresponding navigation image.

[0096] In an optional implementation, the drill length determination module 440 is specifically used to:

[0097] The spatial distance between the spatial coordinates of the tip and the spatial coordinates of the end point is calculated, and the spatial distance is determined as the length of the drill needle to be measured.

[0098] In an optional embodiment, the device further comprises:

[0099] The drill needle width determination module is used to perform pixel search in the navigation image in a direction perpendicular to the projection axis direction to obtain the sub-pixel point coordinates of the boundary of the drill needle to be measured; determine the boundary space coordinates corresponding to the sub-pixel point coordinates according to the sub-pixel point coordinates, the optical center space coordinates of the image acquisition device corresponding to the navigation image and the straight line where the working axis of the surgical instrument is located; determine the width of the drill needle to be measured according to the distance from the boundary space coordinates to the straight line where the working axis of the surgical instrument is located.

[0100] In an optional implementation, the drill bit width determination module is specifically used for:

[0101] A spatial straight line is determined based on the coordinates of each sub-pixel point and the spatial coordinates of the optical center of the image acquisition device corresponding to the corresponding navigation image; a spatial plane is determined based on the spatial coordinates of the optical center of a navigation image and the straight line where the working axis of the surgical instrument is located; a reference plane is determined based on the coordinates of all sub-pixel points in each navigation image; and the boundary spatial coordinates corresponding to the coordinates of each sub-pixel point are determined based on the constraint relationship between the spatial straight line, the spatial plane and the reference plane.

[0102] In an optional implementation, the drill bit width determination module is further used for:

[0103] The distance from each boundary space coordinate to the straight line where the working axis of the surgical instrument is located is calculated respectively; the maximum distance value or the average distance value in the distance is used as the width of the drill needle to be measured.

[0104] In an optional embodiment, the device further comprises:

[0105] The measurement result determination module is used to match candidate drill needles in a preset drill needle 3D model library according to the length of the drill needle to be measured and the width of the drill needle to be measured; project the drill needle 3D models of the candidate drill needles into the navigation image respectively to obtain projection results, and determine the target drill needle according to the matching degree between the projection results and the image of the drill needle to be measured in the corresponding navigation image; and use the length and diameter parameters of the target drill needle as the measurement result of the drill needle to be measured.

[0106] The drill needle measuring device in dental optical navigation surgery provided by the embodiment of the present invention can execute the drill needle measuring method in dental optical navigation surgery provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0107] Figure 5 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Figure 5 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 5 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capabilities, such as an intelligent controller and server, a mobile phone and other terminal devices.

[0108] like Figure 5 As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0109] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0110] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0111] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0112] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0113] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. It should be understood that although Figure 5 Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RFID systems, tape drives, and data backup storage systems.

[0114] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing the drill needle measurement method in the dental optical navigation surgery provided by the embodiment of the present invention, the method comprising:

[0115] Acquire a target instrument image within the field of view of the dental optical navigator, and identify the posture and position of the surgical instrument in the target instrument image according to the instrument features;

[0116] Based on the posture and position of the surgical instrument, determine the spatial axis direction of the working axis of the drill needle of the surgical instrument and the spatial coordinates of the end point according to the calibration information of the surgical instrument, wherein the spatial coordinates of the end point correspond to the end position of the drill needle to be measured configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill needle to be measured;

[0117] The spatial axis directions are projected onto a plurality of navigation images of different viewing angles corresponding to the target instrument image, and pixel searches are performed in the navigation images according to the projection axis directions corresponding to the spatial axis directions to determine the tip coordinates of the drill needle to be measured in each navigation image;

[0118] The tip spatial coordinates of the drill needle to be measured are determined according to the parameters and spatial position relationship of the image acquisition device corresponding to the tip coordinates and the navigation image, and the length of the drill needle to be measured is determined according to the tip spatial coordinates and the end point spatial coordinates.

[0119] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, a drill needle measurement method in a dental optical navigation surgery as provided in any embodiment of the present invention is implemented. The method comprises:

[0120] Acquire a target instrument image within the field of view of the dental optical navigator, and identify the posture and position of the surgical instrument in the target instrument image according to the instrument features;

[0121] Based on the posture and position of the surgical instrument, determine the spatial axis direction of the working axis of the drill needle of the surgical instrument and the spatial coordinates of the end point according to the calibration information of the surgical instrument, wherein the spatial coordinates of the end point correspond to the end position of the drill needle to be measured configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill needle to be measured;

[0122] The spatial axis directions are projected onto a plurality of navigation images of different viewing angles corresponding to the target instrument image, and pixel searches are performed in the navigation images according to the projection axis directions corresponding to the spatial axis directions to determine the tip coordinates of the drill needle to be measured in each navigation image;

[0123] The tip spatial coordinates of the drill needle to be measured are determined according to the parameters and spatial position relationship of the image acquisition device corresponding to the tip coordinates and the navigation image, and the length of the drill needle to be measured is determined according to the tip spatial coordinates and the end point spatial coordinates.

[0124] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0125] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0126] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0127] Computer program code for performing the operation of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, Python, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may 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 may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0128] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the drill needle measurement method in dental optical navigation surgery as provided in any embodiment of the present application.

[0129] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, Python, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0130] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0131] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A drill needle measurement method in dental optical navigation surgery, characterized in that: include: Acquire a target instrument image within the field of view of the dental optical navigator, and identify the posture and position of the surgical instrument in the target instrument image according to the instrument features; Based on the posture and position of the surgical instrument, the spatial axis direction and the end point spatial coordinates of the drill needle working axis of the surgical instrument are determined according to the calibration information of the surgical instrument, wherein the end point spatial coordinates correspond to the end position of the drill needle to be measured configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill needle to be measured; Projecting the spatial axis direction into a plurality of navigation images of different viewing angles corresponding to the target instrument image, respectively, and performing pixel searches in the navigation images according to the projection axis direction corresponding to the spatial axis direction, respectively, to determine the tip coordinates of the drill needle to be measured in each of the navigation images; The tip spatial coordinates of the drill needle to be measured are determined according to the parameters and spatial position relationship of the image acquisition device corresponding to the tip coordinates and the navigation image, and the length of the drill needle to be measured is determined according to the tip spatial coordinates and the end point spatial coordinates.

2. The method according to claim 1, characterized in that: The step of performing pixel search in the navigation image according to the projection axis direction corresponding to the spatial axis direction to determine the tip coordinates of the drill needle to be measured in each of the navigation images includes: In the navigation image, taking the projection axis direction corresponding to the spatial axis direction as the search direction, calculating the extreme value of the grayscale gradient between pixels in the projection axis direction to obtain the corresponding calculation result; The sub-pixel point coordinates corresponding to the maximum value of the gray gradient extreme value in the calculation result are determined as the tip coordinates of the drill needle to be measured in the corresponding navigation image.

3. The method according to claim 1, characterized in that: The step of determining the length of the drill bit to be measured according to the tip space coordinates and the end point space coordinates comprises: The spatial distance between the spatial coordinates of the tip and the spatial coordinates of the end point is calculated, and the spatial distance is determined as the length of the drill needle to be measured.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Perform pixel searches in the navigation image in directions perpendicular to the projection axis direction to obtain sub-pixel point coordinates of the boundary of the drill bit to be measured; Determine the boundary space coordinates corresponding to the sub-pixel point coordinates according to the sub-pixel point coordinates, the optical center space coordinates of the image acquisition device corresponding to the navigation image, and the straight line where the working axis of the surgical instrument is located; The width of the drill needle to be measured is determined according to the distance from the boundary space coordinate to the straight line where the working axis of the surgical instrument is located.

5. The method according to claim 4, characterized in that The step of determining the boundary space coordinates corresponding to the sub-pixel point coordinates according to the sub-pixel point coordinates, the optical center space coordinates of the image acquisition device corresponding to the navigation image, and the straight line where the working axis of the surgical instrument is located comprises: Determine a spatial straight line according to the coordinates of each sub-pixel point and the spatial coordinates of the optical center of the image acquisition device corresponding to the corresponding navigation image; Determine a spatial plane according to the optical center spatial coordinates of the image acquisition device corresponding to each navigation image and the straight line where the working axis of the surgical instrument is located; Determining a reference plane according to the coordinates of all the sub-pixel points in each of the navigation images; The boundary space coordinates corresponding to the coordinates of each sub-pixel point are determined according to the constraint relationship between the space straight line, the space plane and the reference plane.

6. The method according to claim 4, characterized in that The step of determining the width of the drill needle to be measured according to the distance from the boundary space coordinate to the straight line where the working axis of the surgical instrument is located comprises: Calculating the distance from each boundary space coordinate to the straight line where the working axis of the surgical instrument is located; The maximum distance value or the average distance value among the distances is used as the width of the drill bit to be measured.

7. The method according to claim 6, characterized in that After determining the length of the drill bit to be measured and the width of the drill bit to be measured, the method further includes: According to the length of the drill bit to be measured and the width of the drill bit to be measured, matching candidate drill bits in a preset drill bit three-dimensional model library; Projecting the drill needle three-dimensional models of the candidate drill needles into the navigation image respectively to obtain projection results, and determining the target drill needle according to the matching degree between the projection results and the image of the drill needle to be measured in the corresponding navigation image; The length and diameter parameters of the target drill bit are used as the measurement result of the drill bit to be measured.

8. A drill needle measuring device for dental optical navigation surgery, characterized in that: include: A target instrument image acquisition module, used to acquire a target instrument image within the field of view of the dental optical navigator, and to identify the posture and position of the surgical instrument in the target instrument image according to the instrument features; A working axis position information acquisition module, for determining the spatial axis direction and the end point spatial coordinates of the working axis of the drill needle of the surgical instrument based on the posture and position of the surgical instrument and according to the calibration information of the surgical instrument, wherein the end point spatial coordinates correspond to the end position of the drill needle to be measured configured on the surgical instrument, and the spatial axis direction is the spatial axis direction of the drill needle to be measured; A tip coordinate acquisition module, used for projecting the spatial axis direction into a plurality of navigation images of different viewing angles corresponding to the target instrument image, and performing pixel search in the navigation images according to the projection axis direction corresponding to the spatial axis direction, to determine the tip coordinates of the drill needle to be measured in each of the navigation images; The drill needle length determination module is used to determine the tip spatial coordinates of the drill needle to be measured according to the tip coordinates and the parameters and spatial position relationship of the image acquisition device corresponding to the navigation image, and to determine the length of the drill needle to be measured according to the tip spatial coordinates and the end point spatial coordinates.

9. A computer device, characterized in that: The computer device comprises: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the drill needle measurement method in dental optical navigation surgery as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the drill needle measurement method in dental optical navigation surgery as described in any one of claims 1-7 is implemented.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements the drill needle measurement method in dental optical navigation surgery as claimed in any one of claims 1 to 7.

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