Oral cavity positioning method and device based on one-time printing calibration technology and terminal

Abstract

The invention provides an oral cavity positioning method and device based on a one-time printing calibration technology and a terminal. A first positioning mark printed on a first positioning device arranged on an occlusion support and a second positioning mark printed on a second positioning device arranged on a planting mobile phone are identified; and determining a spatial position relationship between the gum of the patient and the implant handpiece, so that mutual positioning between the gum of the patient and the implant handpiece is carried out. Through the printed first positioning mark and the second positioning mark, the positioning operation becomes simpler, and more accurate positioning is realized.

Description

Technical Field

[0001] The present application relates to the field of oral surgery navigation, and in particular to an oral positioning method, device and terminal based on a one-time printing calibration technology. Background Art

[0002] In dental surgery, whether using an implant robot or a separate implant navigation system, the object being operated needs to be positioned. For example, in implant surgery, it is necessary to accurately locate the position of the implant on the gum to improve the success rate of the implant surgery. Currently, the positioning of dental surgery is achieved by binding a positioning marker that can be recognized and located by the system on the gum. However, due to the small operating space in the oral cavity, the positioning marker cannot be stably fixed inside the oral cavity, resulting in complex positioning operations and inaccurate positioning. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide an oral positioning method, device and terminal based on a one-time printing calibration technology, so as to solve the problems of complex positioning operation and inaccurate positioning in the prior art.

[0004] To achieve the above-mentioned purpose and other related purposes, the first aspect of the present application provides an oral positioning method based on a one-time printing calibration technology, including: based on an identified first positioning mark of a corresponding occlusal bracket, establishing a spatial position relationship between the gums of a patient wearing the occlusal bracket and the occlusal bracket; wherein the first positioning mark is printed on a first locator surface provided on the occlusal bracket; based on an identified second positioning mark of a corresponding implant mobile phone and a first positioning mark of a corresponding occlusal bracket, and according to the spatial position relationship between the patient's gums and the occlusal bracket, determining the spatial position relationship between the patient's gums and the implant mobile phone, so as to perform mutual positioning between the patient's gums and the implant mobile phone; wherein the second positioning mark is printed on a second locator surface provided on the implant mobile phone.

[0005] In some embodiments of the first aspect of the present application, establishing a spatial position relationship between the gums of a patient wearing the bite bracket and the bite bracket based on an identified first positioning mark corresponding to the bite bracket includes: obtaining bite bracket positioning point information from collected patient oral image information based on the identified first positioning mark corresponding to the bite bracket; establishing a spatial position relationship between the gums of a patient wearing the bite bracket and the bite bracket according to the gum position information corresponding to the patient's gums and the bite bracket positioning point information.

[0006] In some embodiments of the first aspect of the present application, based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket, and according to the spatial position relationship between the patient's gums and the occlusal bracket, determining the spatial position relationship between the patient's gums and the implant mobile phone includes: calculating the spatial position relationship between the occlusal bracket and the implant mobile phone based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket; determining the spatial position relationship between the patient's gums and the implant mobile phone based on the spatial position relationship between the occlusal bracket and the implant mobile phone and the spatial position relationship between the patient's gums and the occlusal bracket, so as to facilitate mutual positioning between the patient's gums and the implant mobile phone.

[0007] In some embodiments of the first aspect of the present application, based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket, calculating the spatial position relationship between the occlusal bracket and the implant mobile phone includes: by referencing the Apriltag technology, based on the position information of the corresponding implant mobile phone determined according to the second positioning mark and the position information of the corresponding occlusal bracket determined according to the first positioning mark, calculating the spatial position relationship between the occlusal bracket and the implant mobile phone.

[0008] In some embodiments of the first aspect of the present application, the first positioner and the second positioner are PC plastic cylinder fixers.

[0009] In some embodiments of the first aspect of the present application, the first positioning mark and the second positioning mark use two-dimensional codes with different value ranges.

[0010] In some embodiments of the first aspect of the present application, a first label portion is attached to the surface of the first locator; the first label portion has the first positioning mark printed on the surface; a second label portion is attached to the surface of the second locator; and the second label portion has the second positioning mark printed on the surface.

[0011] In some embodiments of the first aspect of the present application, the first positioning mark is printed on the surface of the first locator and the second positioning mark is printed on the surface of the second locator by a direct printing method; wherein the direct printing method includes: using laser marking technology to directly print the first positioning mark and the second positioning mark on the corresponding locator surface.

[0012] To achieve the above-mentioned purpose and other related purposes, the second aspect of the present application provides an oral positioning device based on a one-time printing calibration technology, including: a first spatial position relationship establishment module, which is used to establish the spatial position relationship between the gums of a patient wearing the occlusal bracket and the occlusal bracket based on the identified first positioning mark of the corresponding occlusal bracket; wherein the first positioning mark is printed on the first locator surface set on the occlusal bracket; a second spatial position relationship establishment module, which is connected to the first spatial position relationship establishment module, and is used to determine the spatial position relationship between the patient's gums and the implant mobile phone based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket, and according to the spatial position relationship between the patient's gums and the occlusal bracket, so as to perform mutual positioning between the patient's gums and the implant mobile phone; wherein the second positioning mark is printed on the second locator surface set on the implant mobile phone.

[0013] To achieve the above-mentioned purpose and other related purposes, the third aspect of the present application provides a terminal, including: a processor and a memory; the memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory, so that the terminal executes the oral positioning method based on the one-time printing calibration technology.

[0014] As described above, the oral positioning method, device and terminal based on the one-time printing and calibration technology of the present application have the following beneficial effects: by identifying the first positioning mark printed on the first positioning device set on the occlusal bracket and the second positioning mark printed on the second positioning device set on the implant mobile phone, the spatial position relationship between the patient's gum and the implant mobile phone is determined to facilitate the mutual positioning between the patient's gum and the implant mobile phone. The present application makes the positioning operation simpler and achieves more accurate positioning by printing the first positioning mark and the second positioning mark. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Shown is a flowchart of a positioning method based on a one-time printing calibration technology in one embodiment of the present application.

[0016] Figure 2 Shown is a schematic diagram of positioning marks in one embodiment of the present application.

[0017] Figure 3 Shown is a schematic diagram of the structure of a positioning device based on a one-time printing calibration technology in one embodiment of the present application.

[0018] Figure 4 Shown is a schematic diagram of the structure of a terminal in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0020] It should be noted that in the following description, with reference to the accompanying drawings, several embodiments of the present application are described in the accompanying drawings. It should be understood that other embodiments may also be used, and mechanical composition, structure, electrical and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used here are only for describing specific embodiments and are not intended to limit the present application. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate the description of the relationship between an element or feature shown in the figure and another element or feature.

[0021] In this application, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "hold" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0022] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described here can be implemented in an order other than that illustrated or described here. In addition, the terms "comprising" and "including" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. It should be further understood that the terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition occur only when a combination of elements, functions, or operations are inherently mutually exclusive in some manner.

[0023] The present application provides an oral positioning method, device and terminal based on a one-time printing and calibration technology, which determines the spatial position relationship between the patient's gum and the implant mobile phone by identifying a first positioning mark printed on a first positioning device set on an occlusal bracket and a second positioning mark printed on a second positioning device set on an implant mobile phone, so as to perform mutual positioning between the patient's gum and the implant mobile phone. The present application makes the positioning operation simpler and achieves more accurate positioning by printing the first positioning mark and the second positioning mark.

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the technical solution in the embodiments of the present invention is further described in detail through the following embodiments and in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the invention.

[0025] like Figure 1 As shown, it is a flow chart of the oral positioning method based on the one-time printing calibration technology in an embodiment of the present invention.

[0026] The oral positioning method based on the one-time printing calibration technology includes:

[0027] Step S101: Based on the identified first positioning mark of the corresponding occlusal bracket, a spatial position relationship between the gums of a patient wearing the occlusal bracket and the occlusal bracket is established; wherein the first positioning mark is printed on a first locator surface provided on the occlusal bracket.

[0028] In one embodiment, based on the identified first positioning mark of the corresponding occlusal bracket, establishing the spatial position relationship between the gums of the patient wearing the occlusal bracket and the occlusal bracket includes: based on the identified first positioning mark of the corresponding occlusal bracket, obtaining the occlusal bracket positioning point information from the collected patient oral image information; establishing the spatial position relationship between the gums of the patient wearing the occlusal bracket and the occlusal bracket according to the gum position information corresponding to the patient's gums and the occlusal bracket positioning point information; wherein the occlusal bracket positioning point information is the spatial position information corresponding to the first locator set on the occlusal bracket; the gum position information is the spatial position information corresponding to the patient's gums; the occlusal bracket positioning point information and the gum position information are obtained from the collected patient oral image information.

[0029] In one embodiment, establishing a spatial position relationship between the gums of a patient wearing the bite bracket and the bite bracket based on the gum position information corresponding to the gums of the patient and the bite bracket positioning point information includes: obtaining the relative position relationship between the bite bracket and the patient's gums based on the gum position information corresponding to the gums of the patient and the bite bracket positioning point information; establishing a spatial position relationship between the gums of a patient wearing the bite bracket and the bite bracket based on the relative position relationship between the bite bracket and the patient's gums.

[0030] In one embodiment, oral image information of the patient is collected by performing a CT scan on the patient wearing the occlusal brace; based on the identified first positioning mark of the corresponding occlusal brace, the positioning point information of the occlusal brace is obtained from the collected oral image information of the patient; the gum position information corresponding to the gums of the patient is obtained from the collected oral image information of the patient; based on the positioning point information of the occlusal brace and the gum position information, a spatial position relationship between the gums of the patient wearing the occlusal brace and the occlusal brace is established; wherein the oral image information of the patient is CT data information obtained by performing a CT scan on the patient wearing the occlusal brace; the positioning point information of the occlusal brace is obtained from the CT data information obtained by the scan; and the gum position information is obtained from the CT data information obtained by the scan.

[0031] Specifically, before performing a CT scan, a first positioning mark is printed on a first locator provided on the occlusal bracket. After the patient wears the occlusal bracket, a CT scan is performed on the patient's oral area to obtain corresponding CT data information of the patient's oral cavity. During the CT scan, the first positioning mark can also be scanned together. The occlusal bracket positioning point information corresponding to the first positioning mark can be obtained from the CT data of the patient's oral cavity. Then, based on the occlusal bracket positioning point information and the gum information corresponding to the patient's gums obtained from the CT data, the relative position relationship between the occlusal bracket and the patient's gums is obtained, thereby establishing a spatial position relationship between the patient's gums and the occlusal bracket based on the relative position relationship between the occlusal bracket and the patient's gums.

[0032] It should be noted that directly obtaining the spatial position relationship between the patient's gums and the occlusal bracket through CT data can save a lot of surgical preparation time.

[0033] Step S102: Based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket, and according to the spatial position relationship between the patient's gums and the occlusal bracket, determine the spatial position relationship between the patient's gums and the implant mobile phone, so as to facilitate the mutual positioning between the patient's gums and the implant mobile phone; wherein, the second positioning mark is printed on the surface of the second locator set on the implant mobile phone.

[0034] In one embodiment, based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket, and according to the spatial position relationship between the patient's gums and the occlusal bracket, determining the spatial position relationship between the patient's gums and the implant mobile phone includes: calculating the spatial position relationship between the occlusal bracket and the implant mobile phone based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket; determining the spatial position relationship between the patient's gums and the implant mobile phone based on the spatial position relationship between the occlusal bracket and the implant mobile phone and the spatial position relationship between the patient's gums and the occlusal bracket, so as to facilitate mutual positioning between the patient's gums and the implant mobile phone.

[0035] In one embodiment, based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket, calculating the spatial position relationship between the occlusal bracket and the implant mobile phone includes: calculating the spatial position relationship between the occlusal bracket and the implant mobile phone based on the position information of the corresponding implant mobile phone determined according to the second positioning mark and the position information of the corresponding occlusal bracket determined according to the first positioning mark by referencing the Apriltag technology.

[0036] The method for calculating the spatial position relationship between the occlusal support and the implant handpiece is explained in detail below:

[0037] During the operation, the position information of the corresponding implant mobile phone is calculated based on the second positioning mark of the corresponding implant mobile phone identified in real time by the Apriltag technology. The position information of the corresponding occlusal bracket is calculated based on the first positioning mark of the corresponding occlusal bracket identified in real time by the Apriltag technology, and then the spatial position relationship between the occlusal bracket and the implant mobile phone is calculated based on the calculated position information of the corresponding implant mobile phone and the position information of the corresponding occlusal bracket. Then, based on the spatial position relationship between the patient's gum and the occlusal bracket obtained before the operation and the calculated spatial position relationship between the occlusal bracket and the implant mobile phone, the spatial position relationship between the patient's gum and the implant mobile phone can be determined for mutual positioning between the patient's gum and the implant mobile phone.

[0038] It should be noted that Apriltag technology is an efficient QR code recognition technology that can quickly and accurately identify QR codes under high-speed movement and low-light conditions. The principle of Apriltag is to identify the position and direction of the QR code by analyzing the black and white pixels in the image, thereby realizing the recognition of the QR code. The recognition process of Apriltag is divided into two steps: detection and decoding. In the detection stage, Apriltag will binarize the image and separate the black and white pixels in the image. Then, Apriltag will analyze each pixel in the image to find the black and white junction, thereby determining the position and direction of the QR code. In the decoding stage, Apriltag will decode the QR code and convert the information in the QR code into numbers or characters. The advantage of Apriltag is that it can quickly and accurately identify QR codes under high-speed movement and low-light conditions, and Apriltag can also identify multiple QR codes, thereby realizing multi-target tracking.

[0039] The first locator, the second locator and the corresponding locating marks mentioned in the above method will be explained below in conjunction with the embodiments:

[0040] In one embodiment, the first locator is disposed at the end of the occlusal bracket; the second locator is disposed at the end of the implantation handpiece. It should be noted that the first locator is disposed at the end of the occlusal bracket and the second locator is disposed at the end of the implantation handpiece, which is convenient for printing the first positioning mark and the second positioning mark, and is also convenient for identifying the first locator and the second locator. It can also avoid obstruction and leave room for the doctor to operate.

[0041] In one embodiment, the first locator and the second locator are PC plastic cylindrical fixtures. PC plastic has the advantage of being light and will not interfere with fixation. The cylindrical fixture can eliminate the visual blind spot when using Apriltag technology to track the QR code, and the first locator and the second locator can still be accurately identified after changing any position and angle.

[0042] In one embodiment, the first positioning mark corresponding to the occlusal bracket and the second positioning mark corresponding to the implant mobile phone use two-dimensional codes with different value ranges. For example, the two-dimensional code can be as follows: Figure 2 The two-dimensional codes with different value ranges can be used to distinguish the first locator set on the occlusal bracket from the second locator set on the implant mobile phone during the recognition process.

[0043] In one embodiment, a first label portion is attached to the surface of the first locator; the first label portion is printed with the first positioning mark on the surface; a second label portion is attached to the surface of the second locator; the second label portion is printed with the second positioning mark on the surface; wherein, the first label portion and the second label portion are made of flexible material; the flexible material may be paper, polyvinyl alcohol (PVA), polyester (PET), polyimide (PI), polyethylene naphthalate (PEN), textile material, etc., which are not listed here in detail.

[0044] Specifically, the first positioning mark can be printed on the surface of a flexible material, and the flexible material can be attached to the surface of the first locator; the second positioning mark can be printed on the surface of another flexible material, and the flexible material can be attached to the surface of the second locator.

[0045] In one embodiment, the first positioning mark is printed on the surface of the first locator and the second positioning mark is printed on the surface of the second locator by a direct printing method; wherein the direct printing method includes: using laser marking technology to directly print the first positioning mark and the second positioning mark on the corresponding locator surface.

[0046] Specifically, the first positioning mark is directly printed on the surface of the first locator by using laser marking technology; and the second positioning mark is directly printed on the surface of the second locator by using laser marking technology.

[0047] It should be noted that laser marking technology is a new type of non-contact, pollution-free and non-damaging marking process. It integrates laser technology, computer technology and mechatronics technology. It is currently the most widely used advanced manufacturing technology for laser processing technology. The principle of laser marking is to use high-energy-density laser to partially irradiate the workpiece, causing the surface material to vaporize or undergo a chemical reaction that changes color, thereby leaving a permanent mark.

[0048] It should also be noted that those skilled in the art can select one of the above two printing methods for printing according to actual needs as long as the accuracy requirements are met.

[0049] Similar to the above-mentioned embodiment, the present invention provides a positioning device based on a one-time printing calibration technology.

[0050] The following provides specific embodiments in conjunction with the accompanying drawings:

[0051] like Figure 3 As shown, a positioning device based on a one-time printing calibration technology in an embodiment of the present invention is shown.

[0052] The positioning device 3 based on the one-time printing calibration technology includes:

[0053] A first spatial position relationship establishing module 31 is used to establish a spatial position relationship between the gums of a patient wearing the occlusal bracket and the occlusal bracket based on the identified first positioning mark corresponding to the occlusal bracket; wherein the first positioning mark is printed on a first locator surface provided on the occlusal bracket;

[0054] The second spatial position relationship establishing module 32 is connected to the first spatial position relationship establishing module 31, and is used to determine the spatial position relationship between the patient's gums and the implant mobile phone based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket, and according to the spatial position relationship between the patient's gums and the occlusal bracket, so as to facilitate the mutual positioning between the patient's gums and the implant mobile phone; wherein, the second positioning mark is printed on the surface of the second locator set on the implant mobile phone.

[0055] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. For example, the first spatial position relationship establishment module 31 can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The function of the first spatial position relationship establishment module 31. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0056] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processors that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0057] In one embodiment, based on the identified first positioning mark of the corresponding occlusal bracket, establishing the spatial position relationship between the gums of the patient wearing the occlusal bracket and the occlusal bracket includes: obtaining the occlusal bracket positioning point information from the collected patient oral image information based on the identified first positioning mark of the corresponding occlusal bracket; establishing the spatial position relationship between the gums of the patient wearing the occlusal bracket and the occlusal bracket according to the gum position information corresponding to the patient's gums and the occlusal bracket positioning point information.

[0058] In one embodiment, based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket, and according to the spatial position relationship between the patient's gums and the occlusal bracket, determining the spatial position relationship between the patient's gums and the implant mobile phone includes: calculating the spatial position relationship between the occlusal bracket and the implant mobile phone based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket; determining the spatial position relationship between the patient's gums and the implant mobile phone based on the spatial position relationship between the occlusal bracket and the implant mobile phone and the spatial position relationship between the patient's gums and the occlusal bracket, so as to facilitate mutual positioning between the patient's gums and the implant mobile phone.

[0059] In one embodiment, based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket, calculating the spatial position relationship between the occlusal bracket and the implant mobile phone includes: calculating the spatial position relationship between the occlusal bracket and the implant mobile phone based on the position information of the corresponding implant mobile phone determined according to the second positioning mark and the position information of the corresponding occlusal bracket determined according to the first positioning mark by referencing the Apriltag technology.

[0060] In one embodiment, the first positioner and the second positioner are pc plastic cylinder fixers.

[0061] In one embodiment, the first positioning mark and the second positioning mark are two-dimensional codes with different value ranges.

[0062] In one embodiment, a first label portion is attached to the surface of the first locator; the first label portion is printed with the first positioning mark on the surface; a second label portion is attached to the surface of the second locator; and the second label portion is printed with the second positioning mark on the surface.

[0063] In one embodiment, the first positioning mark is printed on the surface of the first locator and the second positioning mark is printed on the surface of the second locator by a direct printing method; wherein the direct printing method includes: using laser marking technology to directly print the first positioning mark and the second positioning mark on the corresponding locator surface.

[0064] It should be noted that the module provided in this embodiment can realize all the functions of the method provided above, and the implementation methods are similar, so they will not be repeated here.

[0065] like Figure 4 As shown, it is a schematic diagram of the structure of the terminal in an embodiment of the present invention.

[0066] The terminal 4 includes: a processor 42 and a memory 41; the memory 41 is used to store a computer program; the processor 42 is used to execute the computer program stored in the memory, so that the terminal 4 performs the following steps: Figure 1 The oral positioning method based on one-time printing calibration technology.

[0067] Optionally, the number of the memory 41 can be one or more, the number of the processor 42 can be one or more, and Figure 4 Take one as an example.

[0068] Optionally, the processor 42 in the control device will Figure 1 In the above steps, one or more instructions corresponding to the process of the application are loaded into the memory 41, and the processor 42 runs the application stored in the first memory, thereby achieving the following Figure 1 Various functions in the oral positioning method based on one-time printing calibration technology.

[0069] Optionally, the memory 41 may include but is not limited to high-speed random access memory and non-volatile memory. For example, one or more disk storage devices, flash memory devices or other non-volatile solid-state storage devices; the processor 42 may include but is not limited to a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0070] Optionally, the processor 42 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0071] The present invention also provides a computer-readable storage medium storing a computer program, wherein the computer program is executed as follows: Figure 1 The oral positioning method based on the one-time printing calibration technology. The computer-readable storage medium may include, but is not limited to, a floppy disk, an optical disk, a CD-ROM (read-only disk memory), a magneto-optical disk, a ROM (read-only memory), a RAM (random access memory), an EPROM (erasable programmable read-only memory), an EEPROM (electrically erasable programmable read-only memory), a magnetic card or an optical card, a flash memory, or other types of media / machine-readable media suitable for storing machine-executable instructions. The computer-readable storage medium may be a product that is not connected to a computer device, or a component that is connected to a computer device for use.

[0072] In some embodiments of the present invention, the computer readable and writable storage medium may include a read-only memory, a random access memory, an EEPROM, a CD-ROM or other optical disk storage device, a magnetic disk storage device or other magnetic storage device, a flash memory, a USB flash drive, a mobile hard disk, or any other medium that can be used to store the desired program code in the form of an instruction or data structure and can be accessed by a computer. In addition, any connection can be appropriately referred to as a computer-readable medium. For example, if the instruction is sent from a website, server or other remote source using a coaxial cable, a fiber optic cable, a twisted pair, a digital subscriber line (DSL), or wireless technologies such as infrared, radio and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio and microwaves are included in the definition of the medium. However, it should be understood that computer readable and writable storage media and data storage media do not include connections, carriers, signals or other temporary media, but are intended to be non-temporary, tangible storage media. Disk and disc, as used in this application, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.

[0073] In summary, the present application provides an oral positioning method, device and terminal based on a one-time printing and calibration technology, which determines the spatial position relationship between the patient's gums and the implant mobile phone by identifying the first positioning mark printed on the first positioning device set on the occlusal bracket and the second positioning mark printed on the second positioning device set on the implant mobile phone, so as to facilitate the mutual positioning between the patient's gums and the implant mobile phone. The present application makes the positioning operation simpler and achieves more accurate positioning by printing the first positioning mark and the second positioning mark. Therefore, the present application effectively overcomes the various shortcomings of the prior art and has a high industrial utilization value.

[0074] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. An oral positioning method based on one-time printing calibration technology, characterized in that: include: Based on the identified first positioning mark corresponding to the occlusal bracket, a spatial position relationship between the gums of the patient wearing the occlusal bracket and the occlusal bracket is established; wherein the first positioning mark is printed on a first locator surface provided on the occlusal bracket; Based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket, and according to the spatial position relationship between the patient's gums and the occlusal bracket, the spatial position relationship between the patient's gums and the implant mobile phone is determined to facilitate the mutual positioning between the patient's gums and the implant mobile phone; wherein, the second positioning mark is printed on the surface of a second locator provided on the implant mobile phone.

2. The method according to claim 1, characterized in that Based on the identified first positioning mark corresponding to the occlusal bracket, establishing a spatial position relationship between the gums of a patient wearing the occlusal bracket and the occlusal bracket includes: Based on the identified first positioning mark corresponding to the occlusal bracket, obtaining the occlusal bracket positioning point information from the collected patient oral image information; According to the gum position information corresponding to the patient's gums and the occlusal bracket positioning point information, a spatial position relationship between the gums of the patient wearing the occlusal bracket and the occlusal bracket is established.

3. The method according to claim 1, characterized in that Based on the identified second positioning mark corresponding to the implant mobile phone and the identified first positioning mark corresponding to the occlusal bracket, and according to the spatial position relationship between the patient's gums and the occlusal bracket, determining the spatial position relationship between the patient's gums and the implant mobile phone includes: Calculating the spatial position relationship between the occlusal bracket and the implantation mobile phone based on the identified second positioning mark corresponding to the implantation mobile phone and the first positioning mark corresponding to the occlusal bracket; Based on the spatial position relationship between the occlusal bracket and the implant mobile phone and the spatial position relationship between the patient's gums and the occlusal bracket, the spatial position relationship between the patient's gums and the implant mobile phone is determined to facilitate the relative positioning between the patient's gums and the implant mobile phone.

4. The method according to claim 3, characterized in that Calculating the spatial position relationship between the occlusal support and the implantation mobile phone based on the identified second positioning mark corresponding to the implantation mobile phone and the identified first positioning mark corresponding to the occlusal support includes: By referencing the Apriltag technology, the spatial position relationship between the occlusal bracket and the implant mobile phone is calculated based on the position information of the corresponding implant mobile phone determined according to the second positioning mark and the position information of the corresponding occlusal bracket determined according to the first positioning mark.

5. The method according to claim 1, characterized in that: The first positioner and the second positioner adopt PC plastic cylinder fixers.

6. The method according to claim 1, characterized in that The first positioning mark and the second positioning mark use two-dimensional codes with different value ranges.

7. The method according to claim 1, characterized in that A first label portion is attached to the surface of the first locator; the first label portion is printed with the first positioning mark on the surface; a second label portion is attached to the surface of the second locator; and the second positioning mark is printed on the surface of the second label portion.

8. The method according to claim 1, characterized in that The first positioning mark is printed on the surface of the first locator and the second positioning mark is printed on the surface of the second locator by a direct printing method; wherein the direct printing method includes: using laser marking technology to directly print the first positioning mark and the second positioning mark on the corresponding locator surface.

9. An oral positioning device based on one-time printing calibration technology, characterized in that: include: A first spatial position relationship establishing module, for establishing a spatial position relationship between the gums of a patient wearing the occlusal bracket and the occlusal bracket based on the identified first positioning mark corresponding to the occlusal bracket; wherein the first positioning mark is printed on a first locator surface provided on the occlusal bracket; The second spatial position relationship establishing module is connected to the first spatial position relationship establishing module, and is used to determine the spatial position relationship between the patient's gums and the implant mobile phone based on the identified second positioning mark of the corresponding implant mobile phone and the first positioning mark of the corresponding occlusal bracket, and according to the spatial position relationship between the patient's gums and the occlusal bracket, so as to facilitate the mutual positioning between the patient's gums and the implant mobile phone; wherein, the second positioning mark is printed on the surface of the second locator set on the implant mobile phone.

10. A terminal, characterized in that: include: Processor and memory; The memory is used to store computer programs; The processor is configured to execute the computer program stored in the memory, so as to enable the terminal to perform the method according to any one of claims 1 to 8.

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