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

Abstract

The application provides an oral positioning method, device and terminal based on one-time printing calibration technology. The spatial position relationship between a patient's dental bed and an implant handset is determined by recognizing first positioning marks of first positioners printed on a bite bracket and second positioning marks of second positioners printed on the implant handset, so as to position the patient's dental bed and the implant handset. The first positioning marks and the second positioning marks make the positioning operation simpler and more accurate.

Description

TECHNICAL FIELD

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

[0002] In dental surgery, whether using implant robots or separate implant navigation systems, positioning of the object being operated on is required. For example, in implant surgery, the position of the implant to be implanted on the gum needs to be accurately positioned to improve the success rate of implant surgery. Currently, positioning of dental surgery is achieved by binding a positioning marker on the gum that can be recognized and positioned by the system. However, due to the small operating space in the oral cavity, the positioning marker cannot be stably fixed inside the oral cavity, and there are problems of complex positioning operation and inaccurate positioning. SUMMARY

[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 and device based on one-time printing calibration technology, which solves 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 one-time printing calibration technology, comprising: establishing a spatial position relationship between a patient's gum wearing a corresponding occlusal support and the occlusal support based on a recognized first positioning mark corresponding to the occlusal support; wherein the first positioning mark is printed on a first positioner surface provided on the occlusal support; determining a spatial position relationship between the patient's gum and an implant handpiece based on a recognized second positioning mark corresponding to the implant handpiece and the first positioning mark corresponding to the occlusal support, and according to the spatial position relationship between the patient's gum and the occlusal support, to provide mutual positioning between the patient's gum and the implant handpiece; wherein the second positioning mark is printed on a second positioner surface provided on the implant handpiece.

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

[0006] In some embodiments of the first aspect of the present application, determining the spatial positional relationship between the patient's dental arch and the implant handset based on the identified second positioning mark of the corresponding implant handset and the first positioning mark of the corresponding occlusal support and according to the spatial positional relationship between the patient's dental arch and the occlusal support comprises: calculating the spatial positional relationship between the occlusal support and the implant handset based on the identified second positioning mark of the corresponding implant handset and the first positioning mark of the corresponding occlusal support; and determining the spatial positional relationship between the patient's dental arch and the implant handset based on the spatial positional relationship between the occlusal support and the implant handset and the spatial positional relationship between the patient's dental arch and the occlusal support for mutual positioning between the patient's dental arch and the implant handset.

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

[0008] In some embodiments of the first aspect of the present application, the first and second positioners are fixed by pc plastic cylinder fixers.

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

[0010] In some embodiments of the first aspect of the present application, the first positioner is attached with a first label part, the first label part is printed with the first positioning mark, the second positioner is attached with a second label part, and the second label part is printed with the second positioning mark.

[0011] In some embodiments of the first aspect of the present application, the first positioning mark is printed on the surface of the first positioner and the second positioning mark is printed on the surface of the second positioner by direct printing, and the direct printing comprises: directly printing the first positioning mark and the second positioning mark on the surfaces of the corresponding positioners by laser marking technology.

[0012] To achieve the above object and other related objects, the second aspect of the present application provides an oral positioning device based on one-time printing calibration technology, comprising: a first spatial position relationship establishing module configured to establish a spatial position relationship between a patient's dental bed and an occlusal bracket based on a first positioning mark corresponding to the occlusal bracket; wherein the first positioning mark is printed on a first positioner surface arranged on the occlusal bracket; a second spatial position relationship establishing module connected to the first spatial position relationship establishing module, configured to determine a spatial position relationship between the patient's dental bed and an implant handset based on a second positioning mark corresponding to the implant handset and the first positioning mark corresponding to the occlusal bracket, and according to the spatial position relationship between the patient's dental bed and the occlusal bracket, so as to perform mutual positioning between the patient's dental bed and the implant handset; wherein the second positioning mark is printed on a second positioner surface arranged on the implant handset.

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

[0014] As described above, the oral positioning method, device and terminal based on one-time printing calibration technology have the following beneficial effects: the spatial position relationship between the patient's dental bed and the implant handset is determined based on the first positioning mark of the first positioner arranged on the occlusal bracket and the second positioning mark of the second positioner arranged on the implant handset, so as to perform mutual positioning between the patient's dental bed and the implant handset. The first positioning mark and the second positioning mark are printed, which makes the positioning operation simpler and achieves more accurate positioning. BRIEF DESCRIPTION OF DRAWINGS

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

[0016] Figure 2 The positioning mark diagram in an embodiment of the present application is shown.

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

[0018] Figure 4 The structure diagram of the terminal in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0019] The following detailed description is presented in terms of a particular embodiment so as to provide a thorough understanding of the application. Other advantages and features of the application will be apparent from the description which should be taken in conjunction with the accompanying drawings. The application can be practiced in a variety of embodiments and implementations, and the description is not intended to limit the application to one or more particular embodiments described and the description can include various changes, modifications, and improvements that come within the spirit and scope of the application. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application, as claimed.

[0020] It should be noted that in the following description, reference is made to the accompanying drawings which forms a part of the specification. These drawings show several embodiments of the present application and are described in more detail herein. It is to be understood that other embodiments can be utilized and structural, electrical, as well as operational changes can be made without departing from the spirit and scope of the present application. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the embodiments of the present application are defined only by the appended patent claims. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. Spatially relative terms, such as "upper", "lower", "left", "right", "below", "below", "bottom", "top", and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures.

[0021] In the present application, unless otherwise explicitly defined and limited, the terms "mounting", "connected", "connection", "fixed", "holding" and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the 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 present) in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data used can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising,” “including,” indicate the presence of the stated 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” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will only occur if the combination of elements, functions, or operations is inherently mutually exclusive in some way.

[0023] This application provides a method, device, and terminal for oral positioning based on disposable printed calibration technology. By identifying a first positioning mark printed on a first locator on an occlusal framework and a second positioning mark printed on a second locator on an implant handpiece, the spatial relationship between the patient's jaw and the implant handpiece is determined, facilitating mutual positioning between the two. This application simplifies the positioning operation and achieves more accurate positioning through the printed first and second positioning marks.

[0024] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the invention.

[0025] like Figure 1 The diagram shown is a flowchart illustrating the oral cavity positioning method based on one-time printing calibration technology in an embodiment of the present invention.

[0026] The oral cavity localization method based on one-time printed calibration technology includes:

[0027] Step S101: Based on the first positioning mark of the corresponding occlusal bracket identified, establish the spatial positional relationship between the patient's jawbone wearing the occlusal bracket and the occlusal bracket; wherein, the first positioning mark is printed on the surface of the first locator set on the occlusal bracket.

[0028] In an embodiment, the establishing the spatial position relationship between the patient's dentition wearing the bite bracket and the bite bracket based on the identified first positioning mark of the corresponding bite bracket comprises: obtaining bite bracket positioning point information from the collected patient oral image information based on the identified first positioning mark of the corresponding bite bracket; and establishing the spatial position relationship between the patient's dentition wearing the bite bracket and the bite bracket according to the dentition position information corresponding to the patient's dentition and the bite bracket positioning point information; wherein the bite bracket positioning point information is the spatial position information corresponding to the first positioner arranged on the bite bracket; the dentition position information is the spatial position information corresponding to the patient's dentition; and the bite bracket positioning point information and the dentition position information are obtained from the collected patient oral image information.

[0029] In an embodiment, the establishing the spatial position relationship between the patient's dentition wearing the bite bracket and the bite bracket according to the dentition position information corresponding to the patient's dentition and the bite bracket positioning point information comprises: obtaining the relative position relationship between the bite bracket and the patient's dentition according to the dentition position information corresponding to the patient's dentition and the bite bracket positioning point information; and establishing the spatial position relationship between the patient's dentition wearing the bite bracket and the bite bracket according to the relative position relationship between the bite bracket and the patient's dentition.

[0030] In an embodiment, the patient oral image information is collected by CT scanning the patient wearing the bite bracket; the bite bracket positioning point information is obtained from the collected patient oral image information based on the identified first positioning mark of the corresponding bite bracket; the dentition position information corresponding to the patient's dentition is obtained from the collected patient oral image information; and the spatial position relationship between the patient's dentition wearing the bite bracket and the bite bracket is established according to the bite bracket positioning point information and the dentition position information; wherein the patient oral image information is CT data information obtained by CT scanning the patient wearing the bite bracket; the bite bracket positioning point information is obtained from the CT data information obtained by scanning; and the dentition position information is obtained from the CT data information obtained by scanning.

[0031] Specifically, before CT scanning, a first positioning mark is printed on a first positioner arranged on the bite support. After the patient wears the bite support, CT scanning is performed on the oral region of the patient to obtain CT data information corresponding to the oral cavity of the patient. During the CT scanning, the first positioning mark can also be scanned. The bite support positioning point information corresponding to the first positioning mark can be obtained from the CT data information of the oral cavity of the patient. Then, according to the bite support positioning point information and the dental bed information corresponding to the dental bed of the patient obtained from the CT data, the relative positional relationship between the bite support and the dental bed of the patient is obtained, so that the spatial positional relationship between the dental bed of the patient and the bite support is established according to the relative positional relationship between the bite support and the dental bed of the patient.

[0032] It should be noted that the spatial positional relationship between the dental bed of the patient and the bite support obtained directly from the CT data can save a large amount of surgical preparation time.

[0033] Step S102: determining the spatial positional relationship between the dental bed of the patient and the implant mobile phone based on the identified second positioning mark corresponding to the implant mobile phone and the first positioning mark corresponding to the bite support, and according to the spatial positional relationship between the dental bed of the patient and the bite support, to supply mutual positioning between the dental bed of the patient and the implant mobile phone; wherein the second positioning mark is printed on the surface of the second positioner arranged on the implant mobile phone.

[0034] In an embodiment, determining the spatial positional relationship between the dental bed of the patient and the implant mobile phone based on the identified second positioning mark corresponding to the implant mobile phone and the first positioning mark corresponding to the bite support, and according to the spatial positional relationship between the dental bed of the patient and the bite support includes: calculating the spatial positional relationship between the bite support and the implant mobile phone based on the identified second positioning mark corresponding to the implant mobile phone and the first positioning mark corresponding to the bite support; determining the spatial positional relationship between the dental bed of the patient and the implant mobile phone based on the spatial positional relationship between the bite support and the implant mobile phone and the spatial positional relationship between the dental bed of the patient and the bite support, to supply mutual positioning between the dental bed of the patient and the implant mobile phone.

[0035] In an embodiment, calculating the spatial positional relationship between the bite support and the implant mobile phone based on the identified second positioning mark corresponding to the implant mobile phone and the first positioning mark corresponding to the bite support includes: calculating the spatial positional relationship between the bite support 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 bite support determined according to the first positioning mark by referring to the Apriltag technology.

[0036] The method of calculating the spatial positional relationship between the occlusal bracket and the implant handset will be explained in detail below:

[0037] In the operation, the position information of the corresponding implant handset is calculated based on the second positioning mark of the corresponding implant handset identified in real time through 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 through the Apriltag technology, and then the spatial positional relationship between the occlusal bracket and the implant handset is calculated according to the calculated position information of the corresponding implant handset and the position information of the corresponding occlusal bracket. Then, according to the spatial positional relationship between the patient's dental bed and the occlusal bracket obtained before the operation and the calculated spatial positional relationship between the occlusal bracket and the implant handset, the spatial positional relationship between the patient's dental bed and the implant handset can be determined for mutual positioning between the patient's dental bed and the implant handset.

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

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

[0040] In an embodiment, the first locator is arranged at the end of the occlusal bracket, and the second locator is arranged at the end of the implant handset. It should be noted that arranging the first locator at the end of the occlusal bracket and the second locator at the end of the implant handset facilitates printing the first positioning mark and the second positioning mark, and facilitates identifying the first locator and the second locator. Moreover, it can also avoid occlusion and leave a space for the doctor to operate.

[0041] In an embodiment, the first locator and the second locator adopt a PC plastic cylindrical holder. The PC plastic has the advantage of being light and not interfering with fixation. The cylindrical holder can eliminate the visual dead angle when tracking the two-dimensional code using the Apriltag technology, and the first locator and the second locator can still be accurately identified after being transformed to any position and angle.

[0042] In an embodiment, the first positioning mark corresponding to the occlusal support and the second positioning mark corresponding to the implant handset adopt two-dimensional codes with different value ranges. For example, the two-dimensional code can be a pattern as shown in the following figure. Figure 2 The two-dimensional codes with different value ranges can distinguish the first locator arranged on the occlusal support from the second locator arranged on the implant handset in the identification process.

[0043] In an embodiment, the first locator is attached with a first label part, the surface of the first label part is printed with the first positioning mark, the second locator is attached with a second label part, and the surface of the second label part is printed with the second positioning mark. The first label part and the second label part adopt a flexible material, which can be paper, polyvinyl alcohol (PVA), polyester (PET), polyimide (PI), polyethylene naphthalate glycol (PEN), textile material, and the like, which are not listed here.

[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 an 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. The direct printing method includes directly printing the first positioning mark and the second positioning mark on the surface of the corresponding locator by laser marking technology.

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

[0047] It should be noted that laser marking technology is a new type of marking process that is non-contact, pollution-free and non-destructive. It integrates laser technology, computer technology and mechatronics technology, and is currently the most widely used advanced manufacturing technology in laser processing technology. The principle of laser marking is to use high-energy density laser to locally irradiate the workpiece, so that the surface layer of the material is vaporized or undergoes a chemical reaction to change color, thereby leaving a permanent mark.

[0048] It should be noted that the two printing methods described above can be selected by those skilled in the art according to actual needs to meet the accuracy requirements.

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

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

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

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

[0053] The first spatial position relationship establishing module 31 is configured to establish a spatial position relationship between a patient's dental bed and the occlusal splint based on the identified first positioning mark corresponding to the occlusal splint; wherein the first positioning mark is printed on a first positioner surface arranged on the occlusal splint.

[0054] The second spatial position relationship establishing module 32 is connected to the first spatial position relationship establishing module 31 and is configured to determine a spatial position relationship between the patient's dental bed and the implant handset based on the identified second positioning mark corresponding to the implant handset and the first positioning mark corresponding to the occlusal splint, and according to the spatial position relationship between the patient's dental bed and the occlusal splint, to supply mutual positioning between the patient's dental bed and the implant handset; wherein the second positioning mark is printed on a second positioner surface arranged on the implant handset.

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

[0056] For example, the above modules can be one or more integrated circuits configured to implement the above method, 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), etc. For another example, when a certain module above is implemented in the form of program code called by a processing element, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules can be integrated together to implement in the form of system on a chip (SOC).

[0057] In an embodiment, based on the identified first positioning mark corresponding to the bite bracket, the spatial position relationship between the patient's dental bed wearing the bite bracket and the bite bracket is established, including: based on the identified first positioning mark corresponding to the bite bracket, obtaining bite bracket positioning point information from the collected patient oral image information; according to the dental bed position information corresponding to the patient's dental bed and the bite bracket positioning point information, the spatial position relationship between the patient's dental bed wearing the bite bracket and the bite bracket is established.

[0058] In one embodiment, determining the spatial relationship between the patient's jawbone and the implant handpiece based on the identified second positioning mark of the corresponding implant handpiece and the first positioning mark of the corresponding occlusal bracket, and according to the spatial relationship between the patient's jawbone and the occlusal bracket, includes: calculating the spatial relationship between the occlusal bracket and the implant handpiece based on the identified second positioning mark of the corresponding implant handpiece and the first positioning mark of the corresponding occlusal bracket; and determining the spatial relationship between the patient's jawbone and the implant handpiece based on the spatial relationship between the occlusal bracket and the implant handpiece and the spatial relationship between the patient's jawbone and the occlusal bracket, for mutual positioning between the patient's jawbone and the implant handpiece.

[0059] In one embodiment, calculating the spatial positional 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 includes: using the Apriltag technology, calculating the spatial positional 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.

[0060] In one embodiment, the first locator and the second locator are PC plastic cylindrical retainers.

[0061] In one embodiment, the first positioning marker and the second positioning marker are QR codes with different value ranges.

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

[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 surfaces.

[0064] It should be noted that the module provided in this embodiment can implement all the functions of the method provided above, and the implementation method is similar, so it will not be described again.

[0065] like Figure 4 The diagram shown is a structural schematic 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 computer programs; the processor 42 is used to execute the computer programs stored in the memory, so that the terminal 4 performs actions such as... Figure 1 The oral cavity positioning method based on one-time printing calibration technology.

[0067] Optionally, the number of memories 41 can be one or more, and the number of processors 42 can be one or more. Figure 4 Each example is taken as an instance.

[0068] Optionally, the processor 42 in the control device will perform as follows: Figure 1 The steps described involve loading one or more instructions corresponding to the process of an application into memory 41, and having the processor 42 run the application stored in the first memory, thereby achieving the following: Figure 1 The various functions of the oral cavity 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 gate or transistor logic devices, or 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.; or can be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components.

[0071] The application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the method for positioning an oral cavity based on the one-time printing calibration technology when running. Figure 1 The computer readable storage medium can include, but is not limited to, a floppy disk, an optical disk, a CD-ROM (compact disk-read only 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 medium suitable for storing machine executable instructions. The computer readable storage medium can be a product not connected to a computer device, or can be a component connected to a computer device.

[0072] In some embodiments of the present application, the computer-readable storage medium can include read-only memory, random access memory, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, flash memory, U disk, mobile hard disk, or any other medium capable of storing desired program code in the form of instructions or data structures and capable of being accessed by a computer. In addition, any connection can be appropriately referred to as a computer-readable medium. For example, if instructions are sent from a website, server or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) or wireless technology such as infrared, radio and microwave, the coaxial cable, fiber optic cable, twisted pair, DSL or wireless technology such as infrared, radio and microwave is included in the definition of the medium. However, it should be understood that the computer-readable storage medium and the data storage medium do not include connections, carriers, signals or other transitory media, but are intended to be directed to non-transitory, tangible storage media. As used in the application, magnetic disks and optical disks include compact discs (CD), laser discs, optical discs, digital versatile discs (DVD), floppy disks and Blu-ray discs, in which magnetic disks typically magnetically copy data, and optical disks optically copy data with a laser.

[0073] In summary, the present application provides an oral positioning method and device based on one-time printing calibration technology, which determines the spatial position relationship between the patient's dental bed and the implant handset by recognizing the first positioning mark of the first positioner printed on the occlusal support and the second positioning mark of the second positioner printed on the implant handset, so as to position the patient's dental bed and the implant handset. The first positioning mark and the second positioning mark make the positioning operation simpler and more accurate. Therefore, the present application effectively overcomes the shortcomings of the prior art and has high industrial utilization value.

[0074] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical idea of the present application are still covered by the claims of the present application.

Claims

1. An oral positioning method based on a one-shot printing calibration technique, characterized in that, The method comprises: establishing a spatial position relationship between a patient's dental arch and a bite rack based on a first positioning mark of the bite rack identified; wherein the first positioning mark is printed on a first positioner surface arranged on the bite rack; determining a spatial position relationship between the patient's dental arch and an implant handset based on a second positioning mark of the implant handset and the first positioning mark of the bite rack, and according to the spatial position relationship between the patient's dental arch and the bite rack, to facilitate mutual positioning between the patient's dental arch and the implant handset; wherein the second positioning mark is printed on a second positioner surface arranged on the implant handset; determining the spatial position relationship between the patient's dental arch and the implant handset based on the second positioning mark of the implant handset and the first positioning mark of the bite rack, and according to the spatial position relationship between the patient's dental arch and the bite rack, comprises: calculating a spatial position relationship between the bite rack and the implant handset based on the second positioning mark of the implant handset and the first positioning mark of the bite rack; determining a spatial position relationship between the patient's dental arch and the implant handset based on the spatial position relationship between the bite rack and the implant handset and the spatial position relationship between the patient's dental arch and the bite rack, to facilitate mutual positioning between the patient's dental arch and the implant handset; and wherein calculating the spatial position relationship between the bite rack and the implant handset based on the second positioning mark of the implant handset and the first positioning mark of the bite rack comprises: calculating the spatial position relationship between the bite rack and the implant handset based on position information of the implant handset determined according to the second positioning mark and position information of the bite rack determined according to the first positioning mark, through the Apriltag technology by reference.

2. The method of claim 1, wherein, establishing a spatial position relationship between a patient's dental arch and a bite rack based on a first positioning mark of the bite rack identified, comprises: obtaining bite rack positioning point information from collected patient oral image information based on the first positioning mark of the bite rack identified; establishing a spatial position relationship between a patient's dental arch and a bite rack based on dental arch position information corresponding to the patient's dental arch and the bite rack positioning point information.

3. The method of claim 1, wherein, The first positioner and the second positioner adopt a pc plastic cylinder fixator.

4. The method of claim 1, wherein, The first positioning mark and the second positioning mark adopt two-dimensional codes with different value ranges.

5. The method of claim 1, wherein, The first positioner surface is attached with a first label part; the first label part surface is printed with the first positioning mark; the second positioner surface is attached with a second label part; and the second label part surface is printed with the second positioning mark.

6. The method of claim 1, wherein, The first positioning mark is printed on the first locator surface by a direct printing method, and the second positioning mark is printed on the second locator surface by the direct printing method; the direct printing method comprises directly printing the first positioning mark and the second positioning mark on the corresponding locator surface by using a laser marking technology.

7. An oral positioning device based on a one-shot printing calibration technique, characterized in that, Comprise: A first spatial position relationship establishing module is configured to establish a spatial position relationship between a patient's dental bed and a bite block based on a first positioning mark of the bite block; the first positioning mark is printed on a first locator surface arranged on the bite block; A second spatial position relationship establishing module is connected to the first spatial position relationship establishing module and is configured to determine a spatial position relationship between the patient's dental bed and an implant mobile phone based on a second positioning mark of the implant mobile phone and the first positioning mark of the bite block and according to the spatial position relationship between the patient's dental bed and the bite block, so as to perform mutual positioning between the patient's dental bed and the implant mobile phone; the second positioning mark is printed on a second locator surface arranged on the implant mobile phone; the determination of the spatial position relationship between the patient's dental bed and the implant mobile phone based on the second positioning mark of the implant mobile phone and the first positioning mark of the bite block and according to the spatial position relationship between the patient's dental bed and the bite block comprises: Calculating a spatial position relationship between the bite block and the implant mobile phone based on the second positioning mark of the implant mobile phone and the first positioning mark of the bite block; Determining the spatial position relationship between the patient's dental bed and the implant mobile phone based on the spatial position relationship between the bite block and the implant mobile phone and the spatial position relationship between the patient's dental bed and the bite block, so as to perform mutual positioning between the patient's dental bed and the implant mobile phone; And wherein the calculation of the spatial position relationship between the bite block and the implant mobile phone based on the second positioning mark of the implant mobile phone and the first positioning mark of the bite block comprises: Calculating the spatial position relationship between the bite block and the implant mobile phone based on position information of the implant mobile phone determined according to the second positioning mark and position information of the bite block determined according to the first positioning mark by referencing an Apriltag technology.

8. A terminal, characterized by comprising: Comprise: A processor and a memory; The memory is configured to store a computer program; The processor is configured to execute the computer program stored in the memory, so that the terminal executes the method according to any one of claims 1 to 6.

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