Target position and passive positioning infrared optical reference point position tool and method

Abstract

The invention belongs to the technical field of medical instruments, and discloses a tool for a target position and a passive positioning infrared optical reference point position, the tool comprises a registration device, a connecting rod and a tracer main body, the registration device is internally provided with a positioning groove, a reflector is pasted in the positioning groove, and the tracer main body is connected with the connecting rod. A second connecting rod inserting groove is formed in the tracer body, a boss is fixedly installed in the registration device, the boss is fixed through gluing, and a breaking groove is formed in the top of the registration device. The tool for accurately matching the position of the CT image target E point and the position of the passive infrared optical reference point is provided, and the tool is characterized in that titanium alloy reflective titanium beads are ingeniously and concentrically embedded into the passive infrared optical reference point, titanium alloy materials are selected, diffraction cannot occur during CT scanning, clearer images can be generated, and the accuracy of CT scanning is improved. The center of the titanium alloy steel ball is accurately aligned with the center of the optical reference point.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices, and in particular relates to a tool and method for passively positioning a target position and an infrared optical reference point position. Background Art

[0002] During tooth restoration or implantation, first, braces need to be installed on the patient's teeth, and CT images of the teeth need to be obtained through CBCT scanning. By analyzing these images, the three-dimensional coordinates of the tooth defect position (i.e., the tooth target position point) in the CT coordinate system {C} can be accurately obtained. Subsequently, during the restoration stage, the patient lies on the dental chair to receive restoration treatment. To ensure that the restoration tools can accurately act on the tooth target position point, the three-dimensional coordinates of the point in the locator coordinate system need to be determined. For this purpose, a set of auxiliary tools separated from the braces are used, combined with an optical locator to automatically identify the infrared reflective points on the braces. Through a series of coordinate system conversion calculations, the tooth target position point can be efficiently converted from the CT coordinate system to the locator coordinate system. This method is not only highly operational and reduces the requirements for the CBCT imaging field of view, but also significantly improves the accuracy of positioning, providing a strong guarantee for the successful implementation of tooth restoration surgery.

[0003] In current tooth restoration or implant surgery, a probe combined with an optical locator technology is often used to identify specific locations on teeth or braces. This technology requires the operator to gently insert the probe into the predetermined location point and identify it through contact with the tip. However, this method has significant defects. First, the operation is highly complex and requires the operator to have a high degree of professional skills and experience. The operator must operate carefully and accurately to avoid damaging the teeth or surrounding tissues, which undoubtedly increases the risk and difficulty of the operation. Secondly, it is time-consuming because each specific location point needs to be measured one by one. For patients who need to repair or implant multiple teeth, this time-consuming operation will prolong the operation time and increase the patient's discomfort and potential risks. Finally, the patient's comfort is poor, and the direct contact of the probe with the teeth or braces may cause discomfort, especially for sensitive or easily damaged teeth, which may aggravate the patient's pain or discomfort. Summary of the invention

[0004] The object of the present invention is to provide a tool for positioning a target position and a passively positioned infrared optical reference point. The tool comprises a aligner, a connecting rod and a tracer body. The aligner is provided with a positioning groove inside, a reflective sheet is pasted inside the positioning groove, a connecting rod slot 2 is provided inside the tracer body, a boss is fixedly installed inside the aligner, and the boss is fixed by gluing, a breaking groove is provided on the top of the aligner, a connecting rod slot 1 is provided inside the aligner, a aligner plug connector is movably installed inside the connecting rod slot 1, one end of the aligner plug connector is fixedly connected to the connecting rod, a tracer plug connector is fixedly installed on one end of the connecting rod, and one end of the tracer plug connector is clamped inside the connecting rod slot 2, and an infrared optical reference point is sleeved on the internal thread of the tracer body.

[0005] Preferably, the number of the reflective sheets is set to four, and the distance between every two reflective sheets is not equal.

[0006] Preferably, the interior of the connecting rod slot is narrow inside and wide outside, the tracer plug connector is narrow at the front and wide at the back, and the tracer plug connector is wedge-shaped as a whole.

[0007] Preferably, the aligner plug connector is narrow in front and wide in the back, the connecting rod slot 2 is narrow in front and wide in the back, and the connecting rod slot 2 is wedge-shaped as a whole.

[0008] Preferably, the infrared optical reference points are in the form of four identically sized threads threadedly sleeved inside the tracer body, and the distances between every two reflective sheets are not equal.

[0009] Preferably, the breaking groove is in a trapezoidal shape inside the aligner, and reinforcing cross beams are provided at both ends of the breaking groove.

[0010] Preferably, the boss is in the internal structure of the register, and both sides thereof are in the form of multiple rows of strip-shaped protrusions.

[0011] Preferably, the method comprises the following specific steps:

[0012] Step 1: Set four installation points of the tracer body, and install passive infrared optical reference points A, B, C, and D at each point. At the same time, four circular positioning grooves are set on the surface of the aligner, and reflective sheets 1, 2, 3, and 4 are pasted inside the positioning grooves. The two ends of the connecting rod are respectively provided with aligner plug-ins and tracer plug-ins. The aligner plug-in connector and the tracer plug-in connector are fixed to the connecting rod by plugging, ensuring the stability and accuracy of the overall structure, and providing a reliable hardware foundation for subsequent alignment work;

[0013] Step 2: passive infrared optical reference point A, infrared optical reference point B, passive infrared optical reference point C and infrared optical reference point D form a tracer; the tracer main body coordinate system is represented by {S}, and the tracer obtains the three-dimensional position coordinates of the four reflective sheets in the tracer coordinate system {S};

[0014] Step 3: After the patient wears the aligner with four reflective sheets attached to his teeth, the teeth are scanned by CBCT to obtain a tooth CT image; the tooth CT image is processed to obtain the three-dimensional position coordinates of each positioning groove in the CT coordinate system {CT}, and the three-dimensional position coordinates of the target point E in the CT coordinate system {CT}; at the same time, an optical locator is used to locate each passive infrared optical reference point of the aligner, and the three-dimensional position coordinates of each passive infrared optical reference point in the optical locator coordinate system {O} are identified;

[0015] Step 4: According to the three-dimensional position coordinates of the passive infrared optical reference point in the tracer main body coordinate system {S} and the three-dimensional position coordinates of the passive reflector in the CT coordinate system {CT}, the coordinate transformation matrix between the tracer main body coordinate system {S} and the CT coordinate system {CT} is obtained.

[0016] Step 5: According to the coordinate transformation matrix The three-dimensional position coordinates of the target point E in the CT coordinate system {CT} are converted into the three-dimensional position coordinates of the target point E in the tracer body coordinate system {S};

[0017] Step 6: According to the coordinate transformation matrix The three-dimensional position coordinates of the target point E in the tracer main body coordinate system {S} are converted into the three-dimensional position coordinates of the target point E in the optical locator coordinate system {O};

[0018] Step seven, after obtaining the three-dimensional position coordinates of the target point E in the optical positioning instrument coordinate system {O}, the final positioning of the target point E is achieved.

[0019] The beneficial effects of the present invention are as follows:

[0020] 1. The present invention introduces a tool for accurately matching the position of the target point E in the CT image with the passive infrared optical reference point. The tool is characterized in that a titanium alloy reflective titanium bead is cleverly and concentrically embedded inside the passive infrared optical reference point. The titanium alloy material is selected because it does not diffract during CT scanning and can generate clearer images. The center of the titanium alloy steel bead is accurately aligned with the center of the optical reference point. This design greatly facilitates the rapid and accurate identification of the optical locator, reduces the errors caused by manual assembly, and significantly improves the positioning accuracy, providing more reliable positioning technical means for related fields and promoting technological progress.

[0021] 2. The present invention significantly optimizes the positioning process of the target point E through innovative design, effectively reduces the complexity of operation, greatly shortens the time required for positioning, and at the same time improves the accuracy of positioning. The assembly process is simple and fast, and the requirements for the CBCT imaging field of view are more relaxed, making the application more flexible and extensive. Among them, the tool is extremely easy to use and can achieve high-precision positioning without complicated operations, which brings great convenience to the work in related fields and demonstrates excellent performance advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional appearance structure of the patient tracer used for robotic dental surgery of the present invention;

[0023] Figure 2 An exploded view of a patient tracer for robotic dental surgery according to the present invention;

[0024] Figure 3 It is a schematic diagram of the three-dimensional appearance structure of the aligner of the present invention;

[0025] Figure 4 This is a schematic diagram of the three-dimensional appearance structure of the connecting rod of the present invention;

[0026] Figure 5 It is a schematic diagram of the actual explosion structure of the tracer of the present invention.

[0027] In the figure: 1. aligner; 2. connecting rod; 3. tracer body; 4. reflector; 5. boss; 6. breaking groove; 7. connecting rod slot 1; 8. aligner connector; 9. tracer connector; 10. infrared optical reference point; 11. connecting rod slot 2; 12. positioning groove. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] like Figures 1 to 5As shown, an embodiment of the present invention provides a tool for passively positioning a target position and an infrared optical reference point, the tool includes a aligner 1, a connecting rod 2 and a tracer body 3, a positioning groove 12 is provided inside the aligner 1, a reflective sheet 4 is pasted inside the positioning groove 12, a connecting rod slot 2 11 is provided inside the tracer body 3, a boss 5 is fixedly installed inside the aligner 1, and the boss 5 is fixed by gluing, a breaking groove 6 is provided on the top of the aligner 1, a connecting rod slot 1 7 is provided inside the aligner 1, a aligner plug connector 8 is movably installed inside the connecting rod slot 1 7, and one end of the aligner plug connector 8 is fixedly connected to the connecting rod 2, a tracer plug connector 9 is fixedly installed on one end of the connecting rod 2, and one end of the tracer plug connector 9 is snap-fitted to the inside of the connecting rod slot 2 11, and an infrared optical reference point 10 is threadedly sleeved on the inner part of the tracer body 3.

[0030] The number of the reflective sheets 4 is four, and the distances between every two reflective sheets 4 are not equal.

[0031] Since the number of reflective sheets 4 is set to four and the distances between every two reflective sheets 4 are not equal, such a non-uniform distribution strategy helps to reduce error accumulation, thereby significantly improving the accuracy of overall positioning and ensuring the reliability and high precision of the measurement results.

[0032] The interior of the connecting rod slot 7 is narrow inside and wide outside, the tracer plug connector 9 is narrow in front and wide in the back, and the tracer plug connector 9 is wedge-shaped as a whole.

[0033] Since the interior of the connecting rod slot 7 is narrow inside and wide outside, it is convenient to plug and tighten the connecting rod slot 7 to avoid incorrect installation direction. At the same time, the tracer plug connector 9 is narrow in front and wide in the back, and the tracer plug connector 9 is wedge-shaped as a whole, which ensures stability and tightness during the plug-in process, and effectively prevents incorrect direction during installation, greatly improving the reliability of the connection and the convenience of operation.

[0034] The aligner plug connector 8 is narrow in front and wide in the back, the second connecting rod slot 11 is narrow in front and wide in the back, and the second connecting rod slot 11 is wedge-shaped as a whole.

[0035] Since the interior of the aligner plug connector 8 is narrow inside and wide outside, the installation efficiency of the aligner plug connector 8 is improved. At the same time, the connecting rod slot 11 is narrow in front and wide in the back, and the connecting rod slot 11 is wedge-shaped as a whole, which ensures stability and tightness during the plug-in process, and effectively prevents direction errors during installation, greatly improving the reliability of the connection and the convenience of operation.

[0036] The infrared optical reference points 10 are four shapes of the same size and are threadedly sleeved inside the tracer body 3 , and the distances between every two reflective sheets 4 are not equal.

[0037] Since the infrared optical reference points 10 are four identically sized threads threadedly mounted inside the tracer body 3, and the distances between every two reflective sheets 4 are not equal, redundancy and interference in the positioning process are effectively avoided, the overall positioning accuracy is significantly improved, and the accuracy and reliability of the measurement results are ensured.

[0038] The broken groove 6 is in a trapezoidal shape inside the register 1 , and reinforcement beams are provided at both ends of the broken groove 6 , and a triangular protrusion is provided on the back of the broken groove 6 .

[0039] Since the breaking groove 6 is trapezoidal in shape inside the register 1, and reinforcing beams are provided at both ends of the breaking groove 6, and a triangular protrusion is provided on the back of the breaking groove 6, the triangle has the characteristic of stability, so that the breaking groove 6 is not easy to break during use and installation.

[0040] The boss 5 is located in the internal structure of the register 1 and has multiple rows of strip-shaped protrusions on both sides.

[0041] Since the boss 5 is in the internal structure of the register 1, both sides thereof are in the form of multiple rows of strip-shaped protrusions, and the height is about 1 mm, it is convenient to fill with glue and fix during use, and it is more firm and stable, thus ensuring the stability of the boss 5 during use.

[0042] The specific steps of using this method are as follows:

[0043] Step 1: Set four installation points of the tracer body, and install passive infrared optical reference points A, B, C, and D at each point. At the same time, four circular positioning grooves are set on the surface of the aligner, and reflective sheets 1, 2, 3, and 4 are pasted inside the positioning grooves. The two ends of the connecting rod are respectively provided with aligner plug-ins and tracer plug-ins. The aligner plug-in connector and the tracer plug-in connector are fixed to the connecting rod by plugging, ensuring the stability and accuracy of the overall structure, and providing a reliable hardware foundation for subsequent alignment work;

[0044] Step 2: passive infrared optical reference point A, infrared optical reference point B, passive infrared optical reference point C and infrared optical reference point D form a tracer; the tracer main body coordinate system is represented by {S}, and the tracer obtains the three-dimensional position coordinates of the four reflective sheets in the tracer coordinate system {S};

[0045] Step 3: After the patient wears the aligner with four reflective sheets attached to his teeth, the teeth are scanned by CBCT to obtain a tooth CT image; the tooth CT image is processed to obtain the three-dimensional position coordinates of each positioning groove in the CT coordinate system {CT}, and the three-dimensional position coordinates of the target point E in the CT coordinate system {CT}; at the same time, an optical locator is used to locate each passive infrared optical reference point of the aligner, and the three-dimensional position coordinates of each passive infrared optical reference point in the optical locator coordinate system {O} are identified;

[0046] Step 4: According to the three-dimensional position coordinates of the passive infrared optical reference point in the tracer main body coordinate system {S} and the three-dimensional position coordinates of the passive reflector in the CT coordinate system {CT}, the coordinate transformation matrix between the tracer main body coordinate system {S} and the CT coordinate system {CT} is obtained.

[0047] Step 5: According to the coordinate transformation matrix The three-dimensional position coordinates of the target point E in the CT coordinate system {CT} are converted into the three-dimensional position coordinates of the target point E in the tracer body coordinate system {S};

[0048] Step 6: According to the coordinate transformation matrix The three-dimensional position coordinates of the target point E in the tracer main body coordinate system {S} are converted into the three-dimensional position coordinates of the target point E in the optical locator coordinate system {O};

[0049] Step seven, after obtaining the three-dimensional position coordinates of the target point E in the optical positioning instrument coordinate system {O}, the final positioning of the target point E is achieved.

[0050] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0051] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tool for passively positioning the target position and the infrared optical reference point position, characterized by: The tool comprises a register (1), a connecting rod (2) and a tracer body (3); a positioning groove (12) is provided inside the register (1), a reflective sheet (4) is pasted inside the positioning groove (12), a connecting rod slot 2 (11) is provided inside the tracer body (3), a boss (5) is fixedly installed inside the register (1), and the boss (5) is fixed by applying glue, a breaking groove (6) is provided on the top of the register (1), and the register (1) is provided with a fixing groove (6) on the top of the register (1). The device (1) is provided with a connecting rod slot 1 (7), a register plug connector (8) is movably installed inside the connecting rod slot 1 (7), one end of the register plug connector (8) is fixedly connected to the connecting rod (2), one end of the connecting rod (2) is fixedly installed with a tracer plug connector (9), and one end of the tracer plug connector (9) is clamped inside the connecting rod slot 2 (11), and the internal thread of the tracer body (3) is sleeved with an infrared optical reference point (10).

2. The tool for passively positioning the target position and the infrared optical reference point position according to claim 1, characterized in that: The number of the reflective sheets (4) is set to four, and the distance between every two reflective sheets (4) is not equal.

3. The tool for passively positioning the target position and the infrared optical reference point position according to claim 1, characterized in that: The interior of the connecting rod slot 1 (7) is narrow inside and wide outside, the tracer plug connector (9) is narrow at the front and wide at the back, and the tracer plug connector (9) is wedge-shaped as a whole.

4. The tool for passively positioning the target position and the infrared optical reference point position according to claim 1, characterized in that: The aligner plug connector (8) presents a shape that is narrow in front and wide in the back, the second connecting rod slot (11) presents a shape that is narrow in front and wide in the back, and the second connecting rod slot (11) presents a wedge shape as a whole.

5. The tool for passively positioning the target position and the infrared optical reference point position according to claim 1, characterized in that: The infrared optical reference points (10) are in the form of four identically sized threads that are threadedly sleeved inside the tracer body (3), and the distances between any two reflective sheets (4) are unequal.

6. The tool for passively positioning the target position and the infrared optical reference point position according to claim 1, characterized in that: The breaking groove (6) presents a trapezoidal shape inside the register (1), and reinforcing cross beams are provided at both ends of the breaking groove (6).

7. The tool for passively positioning the target position and the infrared optical reference point position according to claim 1, characterized in that: The boss (5) is located in the internal structure of the register (1), and both sides thereof are in the form of multiple rows of strip-shaped protrusions.

8. The method for positioning a target position and a tool for passively positioning an infrared optical reference point position according to any one of claims 1 to 7, characterized in that: The specific steps of this method are as follows: Step 1: four installation points of the tracer body (3) are set, and each point is installed with a passive infrared optical reference point (10) A, B, C, D. At the same time, four circular positioning grooves (12) are provided on the surface of the aligner (1), and reflective sheets one, two, three, and four are pasted inside the positioning grooves (12). The two ends of the connecting rod (2) are respectively provided with a aligner plug connector (8) and a tracer plug connector (9). The aligner plug connector (8) and the tracer plug connector (9) are fixed to the connecting rod by plugging, thereby ensuring the stability and accuracy of the overall structure, and providing a reliable hardware foundation for subsequent alignment work. Step 2: Passive infrared optical reference point (10) A, infrared optical reference point (10) B, passive infrared optical reference point (10) C and infrared optical reference point (10) D form a tracer; the coordinate system of the tracer body (3) is represented by {S}, and the tracer obtains the three-dimensional position coordinates of the four reflective sheets (4) in the tracer coordinate system {S}; Step 3: After the patient wears the aligner (1) with four reflective sheets (4) attached to the teeth, the teeth are scanned by CBCT to obtain a dental CT image; The tooth CT image is processed to obtain the three-dimensional position coordinates of each positioning groove (12) in the CT coordinate system {CT} and the three-dimensional position coordinates of the target point E in the CT coordinate system {CT}; at the same time, an optical locator is used to locate each passive infrared optical reference point (10) of the aligner (1), and the three-dimensional position coordinates of each passive infrared optical reference point (10) in the optical locator coordinate system {O} are identified; Step 4: Based on the three-dimensional position coordinates of the passive infrared optical reference point (10) in the coordinate system {S} of the tracer body (3) and the three-dimensional position coordinates of the four passive reflectors in the CT coordinate system {CT}, a coordinate transformation matrix between the coordinate system {S} of the tracer body (3) and the CT coordinate system {CT} is obtained. Step 5: According to the coordinate transformation matrix Convert the three-dimensional position coordinates of the target point E in the CT coordinate system {CT} to the three-dimensional position coordinates of the target point E in the coordinate system {S} of the tracer body (3); Step 6: According to the coordinate transformation matrix Convert the three-dimensional position coordinates of the target point E in the coordinate system {S} of the tracer body (3) into the three-dimensional position coordinates of the target point E in the coordinate system {O} of the optical locator; Step seven, after obtaining the three-dimensional position coordinates of the target point E in the optical positioning instrument coordinate system {O}, the final positioning of the target point E is achieved.

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