Precision planning and evaluation analysis method and system for oral implantation

Abstract

The invention discloses a precision planning and evaluation analysis method and system for oral implantation, the expected position of an implant is calculated through preoperative precision analysis and planning, and more accurate implant positioning information is obtained, so that accurate navigation is provided for an operation, the foreseeability and success rate of the operation are greatly improved, and the accuracy of the operation is improved. According to the method, the patient discomfort and the risk of postoperative complications are reduced, deviation calculation and evaluation are carried out on the actual position of the implant through a postoperative high-precision evaluation and analysis method, a doctor can ensure the accuracy of implant implantation, the postoperative function and attractiveness satisfaction degree of the patient are improved, meanwhile, the risk of complications caused by inaccurate implantation is reduced, and the patient experience is improved. The surgical risk is reduced, and the implantation accuracy and the surgical success rate of the implant are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical data processing, and in particular relates to a precision planning and evaluation analysis method and system for oral implantation. Background Art

[0002] Oral implants are implanted into the upper and lower jaws of the human body where the teeth are missing through surgery. After the surgical wound heals, a denture is installed on top of it. In other words, dental implants are equivalent to the roots of real teeth.

[0003] The implantation position of dental implants is very important. Improper implantation may damage adjacent anatomical structures such as the mandibular nerve canal and maxillary sinus. Therefore, the implantation accuracy of dental implants plays an important role in the development and application of oral implant technology. At present, oral implant surgery has the following problems: Before digital oral and maxillofacial implant surgery, due to the lack of intelligent preoperative precision analysis and planning, when encountering cases with poor local bone conditions and complex surgeries, implantation angle deviation is more likely to occur, resulting in lateral perforation of the bone wall, damage to the roots of adjacent teeth, damage to the nerve and vascular bundles and other adverse consequences;

[0004] In addition, after the implant surgery, the existing evaluation methods based on three-dimensional grid model fusion and image fusion have low accuracy and cannot provide objective and quantifiable data and indicators for doctors to judge the accuracy of implant placement. Moreover, since implants are often made of metal, artifacts will be generated during CT scanning, resulting in the inability to effectively record the tissue images behind the implant, which directly affects the accuracy of doctors in judging the implant results. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present application provides a precision planning and evaluation analysis method and system for oral implantation.

[0006] In a first aspect, the present application proposes a precision planning and evaluation analysis method for oral implantation, comprising the following steps:

[0007] Acquire a preoperative implantation area image including a positioning guide plate, wherein the positioning guide plate is provided with a plurality of implantation marking points; identify each of the implantation marking points in the preoperative implantation area image, and establish a preoperative implantation area coordinate system formed by the implantation marking points;

[0008] After performing threshold segmentation, region growing and morphological processing on the preoperative implantation area image, combining the preoperative implantation area coordinate system to determine the coordinates of the ideal implantation point;

[0009] Establishing a spherical coordinate system based on the coordinates of the ideal implantation point, planning an implantation plan according to the implantation direction, implantation radius and implantation length, wherein the implantation plan includes the expected positions of the implantation apex and implantation bottom points of the implant in the coordinate system of the preoperative implantation area;

[0010] After implanting the implant according to the implantation plan, obtaining a postoperative implantation area image, and determining the actual positions corresponding to the implantation apex and implantation bottom of the implant according to the postoperative implantation area image;

[0011] The position deviation and angle deviation between the actual position and the expected position are calculated, and the surgical effect is judged according to the calculation results to ensure the accuracy of implant placement.

[0012] In some optional implementations of some embodiments, the acquiring of a preoperative implantation area image including a positioning guide, wherein the positioning guide is provided with a plurality of implantation marking points; identifying each of the implantation marking points in the preoperative implantation area image, and establishing a preoperative implantation area coordinate system formed by the implantation marking points, comprises:

[0013] Obtaining raw data through CT ray scanning;

[0014] Correcting the original data by using a correction function to eliminate imaging errors and obtain a preoperative implantation area image;

[0015] Image recognition technology is used to identify and track the implantation markers in the preoperative implantation area image. Based on the geometric relationship between the markers, a coordinate system of the preoperative implantation area is established through a coordinate transformation algorithm.

[0016] In some optional implementations of some embodiments, the performing of threshold segmentation, region growing and morphological processing on the preoperative implantation area image and combining the preoperative implantation area coordinate system to determine the coordinates of the ideal implantation point includes:

[0017] The threshold segmentation is used to automatically select a suitable threshold value according to the grayscale characteristics of the tooth bone to separate the tooth bone area from the background;

[0018] The region growing is used to gradually merge adjacent pixel points starting from a known tooth bone seed point to form a complete tooth bone region;

[0019] The morphological processing is used to refine the tooth bone edge, remove redundant noise points, and obtain ideal implantation point coordinate information that meets the implantation safety gap and implantation radius.

[0020] In some optional implementations of some embodiments, a spherical coordinate system is established based on the coordinates of the ideal implantation point, and an implantation plan is planned according to the implantation direction, implantation radius, and implantation length. The implantation plan includes the expected positions of the implantation apex and implantation bottom points of the implant in the coordinate system of the preoperative implantation area, including:

[0021] Assume the coordinates of the ideal implantation point are , establish the ideal implantation point The spherical coordinate system with the origin as the center is used to determine the optimal implantation direction by analyzing the anatomical structure of the implant area and the spatial relationship of the adjacent tissues before surgery. and According to the coordinates of the ideal implant point and the bone condition of the alveolar ridge, combined with the size and shape of the implant, the implant radius is calculated, and the implant length is determined according to the height of the implant area before surgery and the occlusal requirements. At this point, the established spherical coordinate system constitutes the ideal implant point. The planned planting plan for the origin is expressed as:

[0022]

[0023] in, Indicates the direction of the central axis of the implant, that is, the implantation direction of the implant, which consists of two independent direction angles and Decide, The center axis of the implant is The angle between the axes, positive The angle between the axis and the projection of the implant center axis in the xoy plane is , where is the implant length, is the radius of the implant, thereby obtaining the desired position of the implant.

[0024] In some optional implementations of some embodiments, after implanting the implant according to the implantation plan, obtaining a postoperative implantation area image includes:

[0025] Perform multi-planar reconstruction on the post-operative implantation area image to obtain re-sliced ​​different tomographic images, and convert each different tomographic image to obtain a cross-sectional image of a corresponding view;

[0026] Using a contour detection algorithm to find the maximum contour in each of the cross-sectional images, and obtaining the range of each of the maximum contours;

[0027] All cross-sectional images are filtered according to the size, shape and range of the maximum contour of the implant to obtain a cross-sectional image to be screened that contains the implant.

[0028] In some optional implementations of some embodiments, selecting a target cross-sectional image closest to a central section of the implant from the cross-sectional images to be selected includes:

[0029] Extracting a local image containing an implant from each of the cross-sectional images to be screened;

[0030] Calculating the implant slope of the implant in the local image, and performing rotation correction on the local image according to the position of the implant in the oral cavity and the implant slope to obtain a corrected image;

[0031] Scaling the corrected image according to the size of the standard image, and calculating the structural similarity between the scaled image and the standard image;

[0032] The cross-sectional image to be screened corresponding to the maximum structural similarity value is selected as the target cross-sectional image.

[0033] In some optional implementations of some embodiments, determining the actual positions corresponding to the implantation apex and the implantation bottom point of the implant according to the postoperative implantation area image includes:

[0034] detecting a plurality of boundary points of the implant in the target cross-sectional image;

[0035] Calculating the Euclidean distance from each boundary point to the origin of the postoperative local coordinate system and selecting several point pairs with the longest distance;

[0036] According to different opening directions of the implant, determining a first point pair closest to the implant point and a second point pair closest to the implant apex among the plurality of point pairs;

[0037] Taking the average of the coordinates of the two points in the first point pair and the second point pair close to the implant bottom point as the coordinates of the implant point in the postoperative local coordinate system;

[0038] The coordinate average of two points in the first point pair and the second point pair close to the implantation apex is used as the coordinate of the implantation apex in the postoperative local coordinate system.

[0039] In some optional implementations of some embodiments, calculating the position deviation and angle deviation between the actual position and the expected position, judging the surgical effect according to the calculation results, and ensuring the accuracy of implantation include:

[0040] Calculating the Euclidean distance between the implantation bottom point at the desired position and the implantation bottom point at the actual position as the position deviation of the implantation bottom point;

[0041] Calculating the Euclidean distance between the implant vertex at the desired position and the implant vertex at the actual position as the position deviation of the implant vertex;

[0042] Based on the first vector formed from the implant base point to the implant apex in the preoperative implant area image and the second vector formed from the implant base point to the implant apex in the postoperative implant area image, the angle between the first vector and the second vector is calculated as the angular deviation of the implant.

[0043] In a second aspect, the present application proposes a precision planning and evaluation analysis system for oral implantation, including a preoperative coordinate system establishment module, an ideal coordinate analysis module, an implantation scheme planning module, a postoperative analysis module, and a postoperative evaluation module;

[0044] The preoperative coordinate system establishment module is used to obtain a preoperative implantation area image including a positioning guide plate, wherein the positioning guide plate is provided with a plurality of implantation marking points; identify each of the implantation marking points in the preoperative implantation area image, and establish a preoperative implantation area coordinate system formed by the implantation marking points;

[0045] The ideal coordinate analysis module is used to perform threshold segmentation, region growing and morphological processing on the preoperative implantation area image and then determine the coordinates of the ideal implantation point in combination with the preoperative implantation area coordinate system;

[0046] The implantation plan planning module is used to establish a spherical coordinate system based on the coordinates of the ideal implantation points, and plan the implantation plan according to the implantation direction, implantation radius and implantation length, wherein the implantation plan includes the expected positions of the implantation apex and implantation bottom points of the implant in the coordinate system of the preoperative implantation area;

[0047] The postoperative analysis module is used to obtain a postoperative implantation area image after implanting the implant according to the implantation plan, and determine the actual position corresponding to the implantation apex and implantation bottom point of the implant according to the postoperative implantation area image;

[0048] The postoperative evaluation module is used to calculate the position deviation and angle deviation between the actual position and the expected position, and judge the surgical effect according to the calculation results to ensure the accuracy of implant placement.

[0049] In a third aspect, the present application proposes a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0050] Beneficial effects of the present invention:

[0051] Through preoperative precision analysis and planning, the expected position of the implant is calculated, and more accurate implant positioning information is obtained, thereby providing precise navigation for the operation. This method greatly improves the predictability and success rate of the operation, reduces patient discomfort and the risk of postoperative complications, and through high-precision postoperative evaluation and analysis methods, the deviation of the actual position of the implant is calculated and evaluated. Doctors can ensure the accuracy of implant placement, improve patients' postoperative functional and aesthetic satisfaction, and reduce the risk of complications caused by inaccurate implantation, reduce surgical risks, and improve implant placement accuracy and surgical success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is the overall flow chart of the present invention.

[0053] Figure 2 Schematic diagram of the spherical coordinate system.

[0054] Figure 3 This is the structural principle diagram of this system. DETAILED DESCRIPTION

[0055] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein; on the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0056] In the first aspect, the present application proposes a precision planning and evaluation analysis method for oral implantation, such as Figure 1 As shown, the following steps are included:

[0057] S100: Acquire a preoperative implantation region image including a positioning guide, wherein the positioning guide is provided with a plurality of implantation marking points; identify each of the implantation marking points in the preoperative implantation region image, and establish a preoperative implantation region coordinate system formed by the implantation marking points;

[0058] The positioning guide plate refers to a universal simple mold customized according to the patient's oral condition. Usually, the doctor designs a guide plate based on the patient's oral CT scan, which can be placed in the mouth to occlude the teeth and mark the corresponding implant position. In this embodiment, the positioning guide plate is provided with optical marking points.

[0059] In some optional implementations of some embodiments, the acquiring of a preoperative implantation area image including a positioning guide, wherein the positioning guide is provided with a plurality of implantation marking points; identifying each of the implantation marking points in the preoperative implantation area image, and establishing a preoperative implantation area coordinate system formed by the implantation marking points, comprises:

[0060] Obtaining raw data through CT ray scanning;

[0061] Correcting the original data by using a correction function to eliminate imaging errors and obtain a preoperative implantation area image;

[0062] Image recognition technology is used to identify and track the implantation markers in the preoperative implantation area image. Based on the geometric relationship between the markers, a coordinate system of the preoperative implantation area is established through a coordinate transformation algorithm.

[0063] Among them, the collection and conversion of CT ray scanning data: CT rays are emitted into the human body to obtain raw data, scan data processing and image reconstruction: the computer corrects the input raw data and then reconstructs the image, image display and storage: the data of the reconstructed image matrix is ​​converted into light spots of different grayscale through digital-to-analog conversion, thereby forming the preoperative implant area image data,

[0064] Furthermore, the original data is The corrected data is , the reconstructed image is , then:

[0065]

[0066] in, is the correction function, is the correction parameter.

[0067] The formula for preoperative implant area imaging can be expressed as:

[0068]

[0069] in, is the reconstruction function.

[0070] Furthermore, advanced image recognition technology is used to identify and track the implantation markers in the preoperative implantation area image. Based on the geometric relationship between the markers, a coordinate system of the preoperative implantation area is established through a coordinate transformation algorithm.

[0071]

[0072] in, is the coordinate in the preoperative implantation area coordinate system, is the coordinate in the image coordinate system, It is the transformation matrix from the image coordinate system to the preoperative implant area coordinate system, which is the basis for implant positioning and planning, ensuring the accuracy and repeatability of the operation.

[0073] S200: performing threshold segmentation, region growing and morphological processing on the preoperative implantation area image, and then combining the preoperative implantation area coordinate system to determine the coordinates of the ideal implantation point;

[0074] In some optional implementations of some embodiments, the performing of threshold segmentation, region growing and morphological processing on the preoperative implantation area image and combining the preoperative implantation area coordinate system to determine the coordinates of the ideal implantation point includes:

[0075] The threshold segmentation is used to automatically select a suitable threshold value according to the grayscale characteristics of the tooth bone to separate the tooth bone area from the background;

[0076] The region growing is used to gradually merge adjacent pixel points starting from a known tooth bone seed point to form a complete tooth bone region;

[0077] The morphological processing is used to refine the tooth bone edge, remove redundant noise points, and obtain ideal implantation point coordinate information that meets the implantation safety gap and implantation radius.

[0078] Among them, in order to extract the information of missing teeth and bones from the preoperative implant area image data, the image segmentation technology of image processing can be used to accurately extract the data information of missing teeth and bones and the coordinate information of tooth implantation points. The image processing methods used are: threshold segmentation, iterative segmentation, regional growth, and corrosion processing to determine the safe and ideal implantation point coordinates.

[0079] 1. Threshold segmentation

[0080] When the grayscale values ​​of adjacent pixels within the target or background of an image are highly correlated, and the grayscale values ​​of pixels on both sides of the boundary between the target and the background are quite different, threshold segmentation is to make the grayscale values ​​of images belonging to the same segmentation area similar based on the large differences between different segmentation areas. The segmentation result is a series of continuous or similar areas. For the obvious differences in grayscale values ​​between the target and the background, and between different targets in the image, the image can be segmented into different target and background areas by selecting the threshold;

[0081] In order to accurately extract the tooth-bone data of the preoperative implant area, it is necessary to analyze the characteristics of the skull data in the preoperative implant area image. From the analysis of the grayscale value of the alveolar bone in the cross-section of the skull CT image, it can be seen that the grayscale value of the bone and non-bone is quite different, which is detectable and can be used as the basis for extracting the alveolar bone of the preoperative implant area. Because the iterative value method takes a long time and the difference between the target and the background in the CT image is obvious (i.e. easy to detect), a segmentation method based on a single threshold is selected to filter the image data in the area to be implanted to extract the tooth-bone data information of the preoperative implant area.

[0082] Specific implementation process:

[0083] Choose an appropriate grayscale threshold .

[0084] For each pixel, if its gray value is greater than , it is considered to be part of the tooth bone and is expressed as:

[0085]

[0086] in, is the binary image of the segmented tooth bone, is the average gray value of the alveolar bone, The preoperative implant area image is at point The gray value of .

[0087] 2. Regional Growth

[0088] The basic idea of ​​region growing is to group pixels with similar properties to form a region. First, the region growing method needs to select a group of seed pixels that can represent the required region, determine the similarity criteria in the growing process, and specify the conditions or criteria for stopping the growth. The growth criteria can consider the connectivity between pixels, combine grayscale, gradient and other features, and select a single pixel or a small area that does not contain several pixels as a seed pixel. The region segmentation method uses the similarity of grayscale values ​​in the same region to merge similar regions and separate dissimilar regions, ultimately forming different segmented regions;

[0089] Although the data after threshold segmentation can retain the alveolar bone information of the implant area to the maximum extent, it obviously contains some invalid data; these data may be scattered images caused by medical diagnostic equipment imaging or discrete distribution of low-density bone due to missing teeth and bone atrophy. Digital image processing such as regional growth is needed, which will help determine whether the implant has penetrated and simplify the data information of the implant area.

[0090] Specific implementation process:

[0091] Select seed point .

[0092] According to similarity criteria, such as gray level, gradient, etc., the growth region is expressed as:

[0093]

[0094] in, It is the area after growth. is a point in the region, is the similarity function, is the similarity threshold.

[0095] 3. Morphological processing

[0096] In order to guide the range of values ​​of the implant solution, the alveolar bone data after regional growth processing needs to be image processed again. Considering the impact of the implant diameter on the success of the implant surgery, such as the implant diameter cannot be larger than the alveolar bone width, and due to the influence of the implant direction, the implanted implant cannot always pass through the alveolar bone. All these constraints can be simplified to the selection of the implant point and the implant direction angle. The implant direction angle depends on the selection of the implant point. Only by selecting the appropriate implant point can the optimal implant implantation plan be generated;

[0097] The selection of implantation points is achieved through image morphological corrosion processing. The purpose of corrosion is to obtain the implantation point coordinate information that meets the implantation safety gap and implantation radius. The specific implementation process is as follows:

[0098] Using Structural Elements Perform the erosion operation and select the appropriate radius .

[0099] Etching treatment to determine a secure implantation point.

[0100] The corrosion operation can be expressed as:

[0101]

[0102] in is the image after corrosion, represents the corrosion operation, is the structural element, which moves inside the target of the original image, marking the origin of the structure, so as to obtain the image after corrosion. If dilation is the union of the image and the structural figure after translation, then corrosion is the dual operation of the dilation operation, which can be obtained by the intersection of the reverse translation. Intuitively speaking, the corrosion operation is the graphics of "shrinking" or "thinning" the image. Corrosion is not only the reduction of the input image, but also the elimination of the components in the input image that are smaller than the structural figure.

[0103] To determine the coordinates of the ideal implantation point, it can be expressed as:

[0104]

[0105] in, are the coordinates of the ideal implantation point, Yes The neighborhood of the implantation point is finally obtained, which meets the implantation safety gap and implantation radius.

[0106] For example:

[0107] Assuming we have a 3D image of the alveolar bone, we first determine the approximate area of ​​the bone by threshold segmentation. Then, we select a seed point for region growing to refine the boundary of the bone. Finally, we use a radius of The sphere was used as a structural element and was etched to define a secure implantation point.

[0108] Specifically, assume that the coordinates of a pixel are , whose gray value is ,if , then the point is considered to be part of the tooth bone. In region growing, if the grayscale difference between the point and the seed point is less than , then the point is added to the growth region In the erosion operation, we find all , and calculate the grayscale difference between them and the surrounding points, and select the point with the smallest difference as .

[0109] As another embodiment of obtaining the coordinates of the ideal implantation point, the position of the ideal implantation point can also be preliminarily determined by calculating the geometric center of the alveolar ridge in the extracted edentulous area.

[0110] Based on the size of the implant and the bone condition of the alveolar ridge, the coordinates of the implant point are adjusted to ensure the safe placement of the implant.

[0111] The coordinates of the ideal implantation point are calculated using the following formula:

[0112]

[0113] in, are the coordinates of the ideal implantation point, are the coordinates of the n points that constitute the edge of the alveolar ridge.

[0114] S300: establishing a spherical coordinate system based on the coordinates of the ideal implantation point, and planning an implantation plan according to the implantation direction, implantation radius, and implantation length, wherein the implantation plan includes the expected positions of the implantation apex and implantation bottom of the implant in the coordinate system of the preoperative implantation area;

[0115] The positioning of oral implants is determined by the following four parameters: the ideal implantation point position information of the implant, the implantation direction of the implant, the radius of the implant and the implantation depth of the implant. The ideal implantation point is the main characteristic parameter among the above four parameters. The ideal implantation point is the ideal starting point for oral surgery and will ultimately affect the success of the surgery. The implantation depth of the implant is determined by the growth direction and morphology of the alveolar bamboo in the implantation area and the implantation direction. The choice of implantation direction and implant radius not only determines the growth morphology of the alveolar bone in the implantation area, but also depends on the position information of the ideal implantation point. Once the ideal implantation point is determined, the growth morphology information of the root bone and the implantation direction will also be determined. Since the implantation direction is known, according to the constraints of the implantation: the implanted implant cannot always pass through the alveolar bone, the values ​​of the implantation radius and implantation depth are also determined. It can be seen that the optimization of the dental implant positioning problem can be simplified to the optimization of implantation parameters based on the ideal implantation point. The coordinates of the ideal implantation point determine the stability of the implant implantation plan to a large extent.

[0116] like Figure 2 As shown, the coordinates of the ideal implantation point are , establish the ideal implantation point The spherical coordinate system with the origin as the center is used to determine the optimal implantation direction by analyzing the anatomical structure of the implant area and the spatial relationship between the adjacent tissues before surgery. and According to the coordinates of the ideal implant point and the bone condition of the alveolar ridge, combined with the size and shape of the implant, the implant radius is calculated, and the implant length is determined according to the height of the implant area before surgery and the occlusal requirements. At this point, the established spherical coordinate system constitutes the ideal implant point. The planned planting plan for the origin is expressed as:

[0117]

[0118] in, Indicates the direction of the central axis of the implant, that is, the implantation direction of the implant, which consists of two independent direction angles and Decide, The center axis of the implant is The angle between the axes, positive The angle between the axis and the projection of the implant center axis in the xoy plane is , where is the implant length, is the radius of the implant, thereby obtaining the desired position of the implant. DETAILED DESCRIPTION For example, for a patient who needs oral implants, through the above steps, the doctor can plan the precise position and direction of the implant. For example, in the patient's preoperative image, the coordinates of the ideal implant point are (10, 20, 30), and the implant direction angle is is 45°, The planting radius is 90° for mm, implant length The distance between the implant and the implant is 10 mm. With these parameters, the surgeon can calculate the desired position of the implant in the local coordinate system before surgery, providing precise navigation for the surgery. This approach greatly improves the predictability and success rate of the surgery, and reduces patient discomfort and the risk of postoperative complications.

[0119] S400: After implanting the implant according to the implantation plan, a postoperative implantation area image is acquired, and actual positions corresponding to the implantation apex and implantation bottom of the implant are determined according to the postoperative implantation area image;

[0120] In some optional implementations of some embodiments, after implanting the implant according to the implantation plan, obtaining a postoperative implantation area image includes:

[0121] Perform multi-planar reconstruction on the post-operative implantation area image to obtain re-sliced ​​different tomographic images, and convert each different tomographic image to obtain a cross-sectional image of a corresponding view;

[0122] Using a contour detection algorithm to find the maximum contour in each of the cross-sectional images, and obtaining the range of each of the maximum contours;

[0123] All cross-sectional images are filtered according to the size, shape and range of the maximum contour of the implant to obtain a cross-sectional image to be screened that contains the implant.

[0124] Among them, after the patient completes the oral implant surgery, the patient's implanted area is scanned again by CT or CBCT. After the scan is completed, the original image data is saved in DICOM format, and these DICOM format data are transferred to the computer for analysis through the medical image transmission protocol or physical media. The original image data is imported through professional medical image processing software (such as Materialise Mimics, SurgiCase, etc.). In the medical image processing software, the original image data is selected, the multi-planar reconstruction (MPR) function is started, the view is adjusted, and the coronal, sagittal and cross-sectional images are generated. Each cross-sectional image is digitized for subsequent image analysis, and the Canny edge detection or ActiveContours algorithm is applied to automatically identify the maximum contour in the cross-sectional image. The algorithm calculates and records the maximum contour range of the implant, sets the filtering conditions according to the actual size of the implant, and automatically filters out the cross-sectional images containing the implant contour, excluding irrelevant images.

[0125] Specifically: Assume that patient Zhang San has completed dental implant surgery and has a CBCT scan after surgery. The scan data is saved in DICOM format. After that, the data is imported into the SurgiCase software for further analysis. In the SurgiCase software, after Zhang San's CBCT data is loaded, multiple cross-sectional images are generated by dragging and adjusting the three-dimensional view. These images can accurately show the relationship between the implant and the surrounding tissue. When processing Zhang San's cross-sectional images, the software automatically applies the Canny algorithm to identify the contour of the implant and calculate the minimum rectangular bounding box size of the contour, such as 10mm long and 8mm wide. According to the size of the implant (such as 3.5mm in diameter), the software automatically filters out cross-sectional images whose contour range is much smaller than this size to ensure that the images that may contain implants are analyzed.

[0126] In some optional implementations of some embodiments, selecting a target cross-sectional image closest to a central section of the implant from the cross-sectional images to be selected includes:

[0127] Extracting a local image containing an implant from each of the cross-sectional images to be screened;

[0128] Calculating the implant slope of the implant in the local image, and performing rotation correction on the local image according to the position of the implant in the oral cavity and the implant slope to obtain a corrected image;

[0129] Scaling the corrected image according to the size of the standard image, and calculating the structural similarity between the scaled image and the standard image;

[0130] The cross-sectional image to be screened corresponding to the maximum structural similarity value is selected as the target cross-sectional image.

[0131] The cross-sectional image area containing the implant is extracted to generate a local image. The slope of the implant in the local image is calculated and rotation correction is performed. The corrected image is size-matched with the standard image, and the corrected and size-matched image is aligned with the standard image. The structural similarity (SSIM) algorithm is applied to calculate the similarity of the two images, and the similarity score is recorded for judgment in subsequent steps. The structural similarity scores of all candidate cross-sectional images are compared, and the cross-sectional image with the highest similarity is selected as the implant center section, which will be used for further diagnosis and implant positioning.

[0132] Specifically: The software automatically identifies and extracts the implant area, calculates its slope as 5 degrees, and performs rotation correction. The image is then adjusted to a standard size to facilitate comparison with subsequent standard images. Through the SSIM algorithm, the software compares the brightness, contrast, and structural changes of the corrected image with the standard image, and obtains a similarity score of 0.95, indicating that the two are very similar. After comparing the similarities of all cross-sectional images, the software finds the image with the highest similarity, that is, the one with a score of 0.95. This image is determined to be the image closest to the center section of the implant, and the doctor will evaluate the position and status of the implant based on this image.

[0133] In some optional implementations of some embodiments, determining the actual positions corresponding to the implantation apex and the implantation bottom point of the implant according to the postoperative implantation area image includes:

[0134] detecting a plurality of boundary points of the implant in the target cross-sectional image;

[0135] Calculating the Euclidean distance from each boundary point to the origin of the postoperative local coordinate system and selecting several point pairs with the longest distance;

[0136] According to different opening directions of the implant, determining a first point pair closest to the implant point and a second point pair closest to the implant apex among the plurality of point pairs;

[0137] Taking the average of the coordinates of the two points in the first point pair and the second point pair close to the implant bottom point as the coordinates of the implant point in the postoperative local coordinate system;

[0138] The coordinate average of two points in the first point pair and the second point pair close to the implantation apex is used as the coordinate of the implantation apex in the postoperative local coordinate system.

[0139] The location determination steps are:

[0140] Detect boundary points: Use image processing algorithms (such as Harris corner detection or Shi-Tomasi corner detection) to identify multiple boundary points of the implant in the target cross-sectional image. In this embodiment, it is assumed that four boundary points of the implant are detected in the image. .

[0141] Calculate the Euclidean distance:

[0142]

[0143] in, It is Boundary points, is the origin of the local coordinate system , It is a boundary point The distance from the origin is calculated by selecting the point pair with the longest distance. and are the two points that are farthest apart.

[0144] Determine the point pair: Determine the first point pair and the second point pair according to the opening direction of the implant. Specifically, according to the different opening directions of the implant, when it is in the maxilla, the opening is downward, and when it is in the mandible, the opening is upward. Specifically corresponding to the size of the Y value in the coordinate system, it can be determined which point in the point pair is close to the implant bottom point and which point is close to the implant apex. Then, the average of the coordinate values ​​of the two points close to the implant bottom point in the two point pairs is taken as the coordinate of the implant bottom point. Similarly, the coordinate of the implant apex can be obtained. Assuming that the opening direction is determined by the boundary point point to , the first point pair is the point pair closest to the implantation point, and the second point pair is the point pair closest to the implantation vertex.

[0145] Calculate the implant bottom point coordinates:

[0146] Mean calculation formula:

[0147]

[0148] in, and The first point pair is the point pair closest to the implant bottom point, and the second point pair is the point pair closest to the implant top point. is the coordinate of the implant bottom point in the postoperative local coordinate system.

[0149] Calculate the implant vertex coordinates:

[0150] Similarly, calculate the coordinate mean of the two points close to the implant vertex:

[0151]

[0152] are the coordinates of the implant vertex in the postoperative local coordinate system.

[0153] S500: Calculate the position deviation and angle deviation between the actual position and the expected position, and judge the surgical effect according to the calculation results to ensure the accuracy of implant placement.

[0154] In some optional implementations of some embodiments, calculating the position deviation and angle deviation between the actual position and the expected position, judging the surgical effect according to the calculation results, and ensuring the accuracy of implantation include:

[0155] Calculating the Euclidean distance between the implantation bottom point at the desired position and the implantation bottom point at the actual position as the position deviation of the implantation bottom point;

[0156] Calculating the Euclidean distance between the implant vertex at the desired position and the implant vertex at the actual position as the position deviation of the implant vertex;

[0157] Based on the first vector formed from the implant base point to the implant apex in the preoperative implant area image and the second vector formed from the implant base point to the implant apex in the postoperative implant area image, the angle between the first vector and the second vector is calculated as the angular deviation of the implant.

[0158] According to a first vector formed from the implant bottom point to the implant apex at the desired position and a second vector formed from the implant bottom point to the implant apex at the actual position, the angle between the first vector and the second vector is calculated as the angular deviation of the implant. Specifically,

[0159] 1. Calculate the position deviation of the implant bottom point. The position deviation formula is:

[0160]

[0161] in, is the implant bottom point coordinate of the desired location, is the implant bottom point coordinate of the actual position.

[0162] 2. Calculate the position deviation of the implanted vertex. Similarly, calculate the position deviation of the implanted vertex:

[0163]

[0164] 3. Calculate the angle deviation and the vector angle calculation formula:

[0165]

[0166] in, is the first vector in the preoperative image, is the second vector in the postoperative image, representing the dot product, represents the magnitude of a vector, It is the angular deviation of the implant.

[0167] In the second aspect, the present application proposes a precision planning and evaluation analysis system for oral implantation, such as Figure 3 As shown, it includes a preoperative coordinate system establishment module, an ideal coordinate analysis module, an implantation plan planning module, a postoperative analysis module and a postoperative evaluation module;

[0168] The preoperative coordinate system establishment module is used to obtain a preoperative implantation area image including a positioning guide plate, wherein the positioning guide plate is provided with a plurality of implantation marking points; identify each of the implantation marking points in the preoperative implantation area image, and establish a preoperative implantation area coordinate system formed by the implantation marking points;

[0169] The ideal coordinate analysis module is used to perform threshold segmentation, region growing and morphological processing on the preoperative implantation area image and then determine the coordinates of the ideal implantation point in combination with the preoperative implantation area coordinate system;

[0170] The implantation plan planning module is used to establish a spherical coordinate system based on the coordinates of the ideal implantation points, and plan the implantation plan according to the implantation direction, implantation radius and implantation length, wherein the implantation plan includes the expected positions of the implantation apex and implantation bottom points of the implant in the coordinate system of the preoperative implantation area;

[0171] The postoperative analysis module is used to obtain a postoperative implantation area image after implanting the implant according to the implantation plan, and determine the actual position corresponding to the implantation apex and implantation bottom point of the implant according to the postoperative implantation area image;

[0172] The postoperative evaluation module is used to calculate the position deviation and angle deviation between the actual position and the expected position, and judge the surgical effect according to the calculation results to ensure the accuracy of implant placement.

[0173] In a third aspect, the present application proposes a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0174] The technicians in the relevant field 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 for illustration. In practical applications, the above-mentioned function allocation can be 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. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0175] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0176] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0177] In the embodiments provided in the present disclosure, it should be understood that the disclosed apparatus / computer equipment and methods can be implemented in other ways. For example, the apparatus / computer equipment embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of the apparatus or unit, which may be electrical, mechanical or other forms.

[0178] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0179] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0180] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present disclosure implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0181] The above are only preferred implementations of the present invention. It should be pointed out that a number of modifications and improved technical solutions made by those skilled in the art without departing from the technical solution should also be deemed to fall within the scope of protection required by the claims.

Claims

1. A precision planning and evaluation analysis method for oral implantation, characterized in that: The following steps are involved: Acquire a preoperative implantation area image including a positioning guide plate, wherein the positioning guide plate is provided with a plurality of implantation marking points; identify each of the implantation marking points in the preoperative implantation area image, and establish a preoperative implantation area coordinate system formed by the implantation marking points; After performing threshold segmentation, region growing and morphological processing on the preoperative implantation area image, combining the preoperative implantation area coordinate system to determine the coordinates of the ideal implantation point; Establishing a spherical coordinate system based on the coordinates of the ideal implantation point, planning an implantation plan according to the implantation direction, implantation radius and implantation length, wherein the implantation plan includes the expected positions of the implantation apex and implantation bottom of the implant in the coordinate system of the preoperative implantation area; After implanting the implant according to the implantation plan, obtaining a postoperative implantation area image, and determining the actual positions corresponding to the implantation apex and implantation bottom of the implant according to the postoperative implantation area image; The position deviation and angle deviation between the actual position and the expected position are calculated, and the surgical effect is judged according to the calculation results to ensure the accuracy of implant placement.

2. The method according to claim 1, characterized in that: The method of acquiring a preoperative implantation region image including a positioning guide, wherein the positioning guide is provided with a plurality of implantation marking points; identifying each of the implantation marking points in the preoperative implantation region image, and establishing a preoperative implantation region coordinate system formed by the implantation marking points, comprises: Obtaining raw data through CT ray scanning; Correcting the original data by using a correction function to eliminate imaging errors and obtain a preoperative implantation area image; Image recognition technology is used to identify and track the implantation markers in the preoperative implantation area image. Based on the geometric relationship between the markers, a coordinate system of the preoperative implantation area is established through a coordinate transformation algorithm.

3. The method according to claim 2, characterized in that: The step of performing threshold segmentation, region growing and morphological processing on the preoperative implantation area image and combining the preoperative implantation area coordinate system to determine the coordinates of the ideal implantation point includes: The threshold segmentation is used to automatically select a suitable threshold value according to the grayscale characteristics of the tooth bone to separate the tooth bone area from the background; The region growing is used to gradually merge adjacent pixel points starting from a known tooth bone seed point to form a complete tooth bone region; The morphological processing is used to refine the tooth bone edge, remove redundant noise points, and obtain ideal implantation point coordinate information that meets the implantation safety gap and implantation radius.

4. The method according to claim 3, characterized in that: The spherical coordinate system is established based on the coordinates of the ideal implantation point, and an implantation plan is planned according to the implantation direction, implantation radius and implantation length. The implantation plan includes the expected positions of the implantation apex and implantation bottom point of the implant in the coordinate system of the preoperative implantation area, including: Assume the coordinates of the ideal implantation point are , establish the ideal implantation point The spherical coordinate system with the origin as the center is used to determine the optimal implantation direction by analyzing the anatomical structure of the implant area and the spatial relationship between the adjacent tissues before surgery. and According to the coordinates of the ideal implant point and the bone condition of the alveolar ridge, combined with the size and shape of the implant, the implant radius is calculated, and the implant length is determined according to the height of the implant area before surgery and the occlusal requirements. At this point, the established spherical coordinate system constitutes the ideal implant point. The planned planting plan for the origin is expressed as: in, Indicates the direction of the central axis of the implant, that is, the implantation direction of the implant, which consists of two independent direction angles and Decide, The center axis of the implant is The angle between the axes, positive The angle between the axis and the projection of the implant center axis in the xoy plane is , where is the implant length, is the radius of the implant, thereby obtaining the desired position of the implant.

5. The method according to claim 4, characterized in that: After the implant is implanted according to the implantation plan, images of the implantation area after surgery are obtained, including: Perform multi-planar reconstruction on the post-operative implantation area image to obtain re-sliced ​​different tomographic images, and convert each different tomographic image to obtain a cross-sectional image of a corresponding view; Using a contour detection algorithm to find the maximum contour in each of the cross-sectional images, and obtaining the range of each of the maximum contours; All cross-sectional images are filtered according to the size, shape and range of the maximum contour of the implant to obtain a cross-sectional image to be screened that contains the implant.

6. The method according to claim 5, characterized in that: Screening out a target cross-sectional image closest to the central section of the implant from the cross-sectional images to be screened includes: Extracting a local image containing an implant from each of the cross-sectional images to be screened; Calculating the implant slope of the implant in the local image, and performing rotation correction on the local image according to the position of the implant in the oral cavity and the implant slope to obtain a corrected image; Scaling the corrected image according to the size of the standard image, and calculating the structural similarity between the scaled image and the standard image; The cross-sectional image to be screened corresponding to the maximum structural similarity value is selected as the target cross-sectional image.

7. The method according to claim 6, characterized in that: The determining the actual positions corresponding to the implantation apex and the implantation bottom of the implant according to the post-operative implantation area image comprises: detecting a plurality of boundary points of the implant in the target cross-sectional image; Calculating the Euclidean distance from each boundary point to the origin of the postoperative local coordinate system and selecting several point pairs with the longest distance; According to different opening directions of the implant, determining a first point pair closest to the implant point and a second point pair closest to the implant apex among the plurality of point pairs; Taking the average of the coordinates of the two points in the first point pair and the second point pair close to the implant bottom point as the coordinates of the implant point in the postoperative local coordinate system; The coordinate average of two points in the first point pair and the second point pair close to the implantation apex is used as the coordinate of the implantation apex in the postoperative local coordinate system.

8. The method according to claim 7, characterized in that: The calculating the position deviation and angle deviation between the actual position and the expected position, judging the surgical effect according to the calculation result, and ensuring the accuracy of implantation, includes: Calculating the Euclidean distance between the implantation bottom point at the desired position and the implantation bottom point at the actual position as the position deviation of the implantation bottom point; Calculating the Euclidean distance between the implant vertex at the desired position and the implant vertex at the actual position as the position deviation of the implant vertex; Based on the first vector formed from the implant base point to the implant apex in the preoperative implant area image and the second vector formed from the implant base point to the implant apex in the postoperative implant area image, the angle between the first vector and the second vector is calculated as the angular deviation of the implant.

9. A precision planning and evaluation analysis system for oral implantation, characterized in that: It includes preoperative coordinate system establishment module, ideal coordinate analysis module, implantation plan planning module, postoperative analysis module and postoperative evaluation module; The preoperative coordinate system establishment module is used to obtain a preoperative implantation area image including a positioning guide plate, wherein the positioning guide plate is provided with a plurality of implantation marking points; identify each of the implantation marking points in the preoperative implantation area image, and establish a preoperative implantation area coordinate system formed by the implantation marking points; The ideal coordinate analysis module is used to perform threshold segmentation, region growing and morphological processing on the preoperative implantation area image and then determine the coordinates of the ideal implantation point in combination with the preoperative implantation area coordinate system; The implantation plan planning module is used to establish a spherical coordinate system based on the coordinates of the ideal implantation points, and plan the implantation plan according to the implantation direction, implantation radius and implantation length, wherein the implantation plan includes the expected positions of the implantation apex and implantation bottom points of the implant in the coordinate system of the preoperative implantation area; The postoperative analysis module is used to obtain a postoperative implantation area image after implanting the implant according to the implantation plan, and determine the actual position corresponding to the implantation apex and implantation bottom point of the implant according to the postoperative implantation area image; The postoperative evaluation module is used to calculate the position deviation and angle deviation between the actual position and the expected position, and judge the surgical effect according to the calculation results to ensure the accuracy of implant placement.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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