Automatic migration method for edentulous jaw implantation navigation operation scheme

Abstract

The invention discloses an edentulous jaw implantation navigation operation scheme automatic migration method, and relates to the technical field of medical instruments. According to the method provided by the embodiment of the invention, the CBCT image is shot once before the titanium nail is nailed on the patient, a doctor designs an operation scheme firstly, and after the scheme is designed, the titanium nail is nailed on the patient and the CBCT image is shot on the patient. Based on an Elastix registration library, automatic registration of the first CBCT of the patient and the CBCT with titanium nail shooting is achieved, and all operation scheme data are automatically migrated. After a titanium nail is nailed on a patient, the time and complexity for designing an operation scheme can be saved, the time for waiting for an operation of the patient is shortened, and the harm of an edentulous jaw implantation navigation operation to the patient is relieved to a certain extent.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an automatic migration method for an edentulous jaw implant navigation surgery plan. Background Art

[0002] CBCT is the abbreviation of Cone beam CT. As the name suggests, it is a cone beam projection computer reconstruction tomography device. Its principle is that the X-ray generator uses a low radiation dose (usually the tube current is about 10 mA) to perform circular DR (digital projection) around the projection object. Then, the data obtained from the "intersection" after multiple digital projections around the projection object (180 times to 360 times, depending on the product) are "reconstructed" in the computer to obtain a three-dimensional image.

[0003] For edentulous patients, there are too few teeth in their mouths, and titanium nails are needed to register specific points before the digital dynamic real-time navigation system can be used for surgical guidance. Existing edentulous oral implant navigation surgery requires titanium nails to be inserted in the patient's mouth, and CBCT images are taken to align the patient's mouth and CBCT images. After the doctor or assistant obtains the CBCT data, a surgical plan needs to be designed. This method requires the doctor or assistant to use the CBCT images of the patient with titanium nails to design the surgical plan. The surgical plan for edentulous jaws is relatively complicated and time-consuming to design, which will increase the patient's waiting time for surgery, causing further harm to the patient to a certain extent. Summary of the invention

[0004] The present invention provides an automatic migration method for edentulous jaw implant navigation surgery plan, which solves the technical problem that patients have to wait for a long time for surgery in the edentulous jaw implant navigation surgery process.

[0005] In order to solve the above technical problems, the present invention provides an automatic migration method for edentulous jaw implant navigation surgery plan, which specifically includes the following steps:

[0006] The edentulous patient had the first CBCT scan before surgery and the implant surgery plan was designed;

[0007] The patient took a second CBCT scan after titanium nailing;

[0008] Use Elastix to automatically match the two CBCT data to obtain the transformation relationship matrix T from the first CBCT data to the second CBCT data;

[0009] The transformation relationship T is applied to the data in the first CBCT surgical plan, and the surgical plan data for the second CBCT is output.

[0010] In some embodiments, the patient takes a first CBCT scan before surgery and before titanium nails are inserted, and the doctor or assistant designs an edentulous jaw surgery plan based on the first CBCT image, including dental arch data, neural canal data, implant data, and crown data.

[0011] In some embodiments, the first CBCT surgical plan data is read to obtain CBCT image data and surgical plan data, including dental arch line data, neural tube data, implant data, and crown data;

[0012] Read the second CBCT data, that is, the CBCT data taken after the patient had titanium nails inserted.

[0013] In some embodiments, the CT data of the first CBCT surgical plan data is set as a moving image, and the second CBCT data is set as a fixed image. First, the two CBCT data need to be converted into MHD data, and then the Elastix toolkit is used to perform automatic alignment to obtain the transformation relationship matrix T of the two images.

[0014] In some embodiments, the dental arch line data and the neural tube data are composed of a set of three-dimensional points, which are defined as A and N;

[0015] The implant data and crown data are determined by position and direction and are represented by a four-dimensional homogeneous matrix;

[0016] The plan has multiple implant data and crown data, which are defined as set I and set C respectively, where set I represents the position homogeneous matrix of all implants in the surgical plan, and set C represents the position homogeneous matrix of all crowns in the surgical plan.

[0017] In some embodiments, an image, i.e., a moving image IM(x), seeks a displacement u(x) so that IM(x+u(x)) is spatially aligned with the fixed image IF(x), i.e., seeks a transformation T(x)=x+u(x) so that IM(T(x)) is spatially aligned with IF(x), and the transformation T(x) is the conversion relationship matrix from the fixed image to the moving image.

[0018] In some embodiments, the first CBCT data is transferred to the spatial domain of the second CBCT by applying a transformation relationship matrix, and the surgical plan data of the second CBCT is defined as Ore, then:

[0019] Ore=T*(A+N+I+C)

[0020] The converted surgical plan data Ore is written into the file system, thus completing the automatic migration of the surgical plan.

[0021] In some embodiments, the first column of the four-dimensional homogeneous matrix is ​​the orientation of the implant or crown in the coronal plane;

[0022] The second column of the matrix is ​​the orientation of the implant or crown in the sagittal plane;

[0023] The third column of the matrix is ​​the orientation of the implant or crown in the cross section;

[0024] The fourth column of the matrix represents the three-dimensional position coordinates of the implant or crown.

[0025] Compared with the related art, the method for automatic migration of edentulous jaw implant navigation surgery plan provided by the present invention has the following beneficial effects:

[0026] The present invention provides an automatic migration method for edentulous jaw implant navigation surgery plan. First, the patient takes a CBCT image before the titanium nail is inserted. The doctor first designs the surgery plan. After the plan is designed, the patient inserts the titanium nail and takes a CBCT image. Based on the Elastix registration library, the patient's first CBCT and the CBCT taken with the titanium nail are automatically registered, and all surgical plan data are automatically migrated. After the patient has the titanium nail inserted, the time and complexity of the surgical plan design can be saved, the patient's waiting time for the surgery can be reduced, and the harm of the edentulous jaw implant navigation surgery to the patient can be alleviated to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A flow chart of a method for automatically migrating an edentulous jaw implant navigation surgery plan provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] Embodiment 1

[0029] This embodiment provides a method for automatically migrating a navigation surgery plan for an edentulous jaw. Figure 1 As shown, the present invention specifically comprises the following steps:

[0030] Step S1: The edentulous patient takes a CBCT scan for the first time before surgery, and an implant surgery plan is designed; specifically, before the patient has titanium nails inserted, the patient takes a CBCT scan for the first time, and the doctor or assistant designs an edentulous surgery plan based on the first CBCT image, including dental arch data, neural canal data, implant data, and crown data.

[0031] Step S2: taking a second CBCT scan after the titanium nails are inserted into the patient's mouth; specifically, after the first CBCT surgical plan is designed, the titanium nails can be inserted into the patient's mouth, and a second CBCT scan can be taken.

[0032] Step S3: Use Elastix to automatically match the two CBCT data to obtain the conversion relationship matrix T from the first CBCT data to the second CBCT data; specifically, read the first CBCT surgical plan data, obtain CBCT image data and surgical plan data, including dental arch line data, neural tube data, implant data, and crown data; wherein the dental arch line and neural tube are composed of three-dimensional point sets, which are defined as A and N; and the implant and crown data are determined by position and direction, and are represented by a four-dimensional homogeneous matrix, the first column of the matrix is ​​the direction of the implant in the coronal plane, the second column of the matrix is ​​the direction of the implant in the sagittal plane, the third column of the matrix is ​​the direction of the implant in the cross section, and the fourth column of the matrix represents the three-dimensional position coordinates of the implant. Similarly, the position and direction of the crown are also represented by a four-dimensional homogeneous matrix. For the edentulous jaw surgical plan, multiple implant data and crown data will be planned, which are defined as set I and set C respectively, wherein set I represents the position homogeneous matrix of all implants in the surgical plan, and set C represents the position homogeneous matrix of all crowns in the surgical plan.

[0033] Read the second CBCT data, that is, the CBCT data taken after the patient had titanium nails inserted.

[0034] Two images are involved in the registration process using Elastix. One image, the moving image IM(x), is deformed to fit the other image, the fixed image IF(x). The fixed image and the moving image have the same dimensions and are defined in their own spatial domains. Registration is a matter of finding a displacement u(x) that spatially aligns IM(x+u(x)) with IF(x). An equivalent formulation is that registration is a matter of finding a transformation T(x)=x+u(x) that spatially aligns IM(T(x)) with IF(x). This transformation is defined as the transformation relationship matrix from the fixed image to the moving image. The CT data of the first CBCT surgical plan data is set as the moving image, and the second CBCT data is set as the fixed image. First, the two CBCT data need to be converted into MHD data, and then the Elastix toolkit is used to perform automatic registration to obtain the transformation relationship matrix T of the two images.

[0035] Step S4: Apply the transformation relationship T to the data in the first CBCT surgical plan, and output the surgical plan data of the second CBCT; specifically, the data of the dental arch, nerve, implant and crown in the first CBCT surgical plan data have been obtained in step S1, and the transformation relationship matrix of the two images has been obtained in step S3. In this step, all the preoperative plan data obtained in the first step need to be transferred to the spatial domain of the second CBCT by applying the transformation relationship matrix, and the surgical plan data of the second CBCT is defined as Ore, then:

[0036] Ore=T*(A+N+I+C)

[0037] The converted surgical plan data Ore is written into the file system, thus completing the automatic migration of the surgical plan.

[0038] Afterwards, the doctor or assistant can directly view the surgical plan data and perform oral implant surgery using the oral implant surgery navigation system.

[0039] Among them, Elastix is ​​a commonly used open source platform for image registration, which is used for rigid and non-rigid image registration.

[0040] The beneficial effect of the embodiment of the present invention is that, through the method of the embodiment of the present invention, the first CBCT of the patient and the CBCT taken with titanium nails are automatically registered based on the Elastix registration library, and all surgical plan data are automatically migrated. After the patient has the titanium nails inserted, the time and complexity of surgical plan design can be saved, the patient's waiting time for surgery can be reduced, and the harm of edentulous jaw implant navigation surgery to the patient can be alleviated to a certain extent.

[0041] Working principle: First, the patient takes a CBCT image before the titanium nail is inserted. The doctor first designs the surgical plan. After the plan is designed, the patient inserts the titanium nail and takes a CBCT image. Based on the Elastix registration library, the patient's first CBCT and the CBCT taken with the titanium nail are automatically registered, and all surgical plan data are automatically migrated.

Claims

1. A method for automatically migrating an edentulous jaw implant navigation surgery plan, characterized in that: The specific steps include: The edentulous patient had the first CBCT scan before surgery and the implant surgery plan was designed; The patient took a second CBCT scan after titanium nailing; Use Elastix to automatically match the two CBCT data to obtain the transformation relationship matrix T from the first CBCT data to the second CBCT data; The transformation relationship T is applied to the data in the first CBCT surgical plan, and the surgical plan data for the second CBCT is output.

2. The method for automatic migration of edentulous jaw implant navigation surgery plan according to claim 1, characterized in that: The "first CBCT scan of edentulous patients before surgery and design of implant surgery plan" specifically includes: The patient takes the first CBCT before surgery and before titanium nails are inserted. The doctor or assistant designs the edentulous jaw surgery plan based on the first CBCT image, including dental arch data, neural canal data, implant data, and crown data.

3. The method for automatic migration of edentulous jaw implant navigation surgery plan according to claim 2, characterized in that: The aforementioned “using Elastix to automatically match the two CBCT data to obtain the transformation relationship matrix T from the first CBCT data to the second CBCT data” also includes: Read the first CBCT surgical plan data, obtain CBCT image data and surgical plan data, including dental arch line data, neural tube data, implant data, and crown data; Read the second CBCT data, that is, the CBCT data taken after the patient had titanium nails inserted.

4. The method for automatic migration of edentulous jaw implant navigation surgery plan according to claim 3, characterized in that: The "using Elastix to automatically match the two CBCT data to obtain the conversion relationship matrix T from the first CBCT data to the second CBCT data" specifically includes: The CT data of the first CBCT surgical plan data is set as a moving image, and the second CBCT data is set as a fixed image. First, the two CBCT data need to be converted into MHD data, and then the Elastix toolkit is used to perform automatic registration to obtain the transformation relationship matrix T of the two images.

5. The method for automatic migration of edentulous jaw implant navigation surgery plan according to claim 4, characterized in that: The “applying the transformation relationship T to the data in the first CBCT surgical plan to output the surgical plan data for the second CBCT” specifically includes: The first CBCT data is transferred to the spatial domain of the second CBCT using the transformation relationship matrix, and the surgical plan data of the second CBCT is defined as Ore, then: Ore=T*(A+N+I+C) The converted surgical plan data Ore is written into the file system, thus completing the automatic migration of the surgical plan.

6. The method for automatic migration of edentulous jaw implant navigation surgery plan according to claim 2, characterized in that: The dental arch line data and the neural tube data are composed of a three-dimensional point set, which is defined as A and N; The implant data and crown data are determined by position and direction and are represented by a four-dimensional homogeneous matrix.

7. The method for automatic migration of edentulous jaw implant navigation surgery plan according to claim 6, characterized in that: The "four-dimensional homogeneous matrix" specifically includes: The first column of the matrix is ​​the orientation of the implant or crown in the coronal plane; The second column of the matrix is ​​the orientation of the implant or crown in the sagittal plane; The third column of the matrix is ​​the orientation of the implant or crown in the cross section; The fourth column of the matrix represents the three-dimensional position coordinates of the implant or crown.

8. The method for automatic migration of edentulous jaw implant navigation surgery plan according to claim 2, characterized in that: The "edentulous jaw surgical plan design" includes: The plan has multiple implant data and crown data, which are defined as set I and set C respectively, where set I represents the position homogeneous matrix of all implants in the surgical plan, and set C represents the position homogeneous matrix of all crowns in the surgical plan.

9. The method for automatic migration of edentulous jaw implant navigation surgery plan according to claim 4, characterized in that: The "using the Elastix toolkit to perform automatic registration and obtain the transformation relationship matrix T of the two images" specifically includes: For an image, i.e. a moving image IM(x), find a displacement u(x) so that IM(x+u(x)) is spatially aligned with the fixed image IF(x), i.e. find a transformation T(x)=x+u(x) so that IM(T(x)) is spatially aligned with IF(x), and the transformation T(x) is the conversion relationship matrix from the fixed image to the moving image.

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