Dental implant surgery registration method and system

Abstract

This invention provides a method and system for registration in oral implant surgery, comprising: acquiring first CBCT data and second CBCT data; the registration device having multiple groove points; the second CBCT data having an image coordinate system; setting an optical tracking array in the dentition region; and determining a first transformation matrix between the binocular camera coordinate system and the dentition reference coordinate system using a binocular camera; determining a first pose matrix of the drill tip in the implant handpiece coordinate system; performing sampling operations on each groove point on the registration device using the tip of an optical probe and the binocular camera to obtain multiple registration points; determining a second transformation matrix based on the multiple registration points and each groove point; determining a second pose matrix based on the first transformation matrix, the second transformation matrix, the first pose matrix, and the transformation matrix between the binocular camera coordinate system and the implant handpiece coordinate system; and preparing a cavity in the dentition region using the drill tip. Using the above method, the implantation accuracy of the implant can be improved.

Description

Technical Field

[0001] This invention relates to the field of oral medical technology, and in particular to a method and system for registration in oral implant surgery. Background Technology

[0002] Dental implantation refers to the treatment of repairing missing teeth in a patient's mouth by implanting dental implants. The accuracy of the implant placement and angle is a key factor affecting the success of the implantation surgery.

[0003] With the rapid development of dental implant technology, precise surgical planning and intraoperative navigation have become crucial for improving the long-term stability and functional recovery of implants. The key to surgical planning lies in registration, which involves determining the relative positional relationship between the patient and the virtual coordinate system to achieve real-time guidance.

[0004] However, the existing registration methods are not efficient or accurate. Summary of the Invention

[0005] In view of this, the present invention provides a method and system for registration in oral implant surgery, which can improve the implantation accuracy of implants.

[0006] This invention provides a method for registration in oral implant surgery, comprising:

[0007] Acquire first CBCT data of a registration device being worn onto a dentition region, and second CBCT data of the dentition region, wherein the registration device has multiple groove points and the second CBCT data has an image coordinate system;

[0008] An optical tracking array is set on the jaw region. The optical tracking array has multiple first markers. The multiple first markers are used to form a jawbone reference coordinate system. A first transformation matrix between the binocular camera coordinate system and the jawbone reference coordinate system is determined by a binocular camera.

[0009] Determine the first pose matrix of the drill tip in the implantation mobile phone coordinate system, wherein the drill is mounted on the implantation mobile phone;

[0010] Using the tip of the optical probe and the binocular camera, a sampling operation is performed on each groove point on the register to obtain multiple registration points;

[0011] Based on the multiple registration points and each groove point, a second transformation matrix is ​​determined between the jawbone reference coordinate system and the image coordinate system;

[0012] Based on the first transformation matrix, the second transformation matrix, the first pose matrix, and the transformation matrix between the binocular camera coordinate system and the implantation mobile phone coordinate system, the second pose matrix of the drill tip on the image coordinate system is determined, and a hole is prepared in the jaw region through the drill tip.

[0013] Optionally, the registration device also has a metal ball;

[0014] The oral implant registration method further includes: determining the dental arch curve corresponding to the jawbone in the jaw region based on the second CBCT data; using the center position information of each metal ball as the implant space reference point, using the dental arch curve as the anatomical direction of the implant space, driving the implant to move along the anatomical direction, and using the area that meets the preset conditions as the implant area.

[0015] Optionally, the center position information of each metal sphere can be determined in the following manner:

[0016] The image corresponding to the first CBCT data is binarized, and voxels above a preset threshold are identified as potential metal regions.

[0017] The potential metal region is sampled, and a corresponding spherical model is fitted to obtain the coordinates of the center of the spherical model, which serves as the initial candidate set of sphere centers.

[0018] Determine the distance vector between any two candidate sphere centers in the initial candidate sphere center set, and calculate the matching degree between the distance vector and the feature vector, wherein the feature vector is the Euclidean distance between any two sphere centers in the standard sphere center template;

[0019] Two initial candidate ball centers with a matching degree greater than the preset matching degree are selected as candidate ball centers, and the candidate ball centers are aligned with the ball centers in the standard ball center template;

[0020] Using the aligned sphere center as the initial point, perform grayscale analysis along the radial direction of the corresponding spherical model to determine the coordinates of the metal sphere center.

[0021] Optionally, a plurality of the first markers are used to constitute a jawbone reference coordinate system, including:

[0022] Select any one of the multiple first markers and take the midpoint of the marker as the origin of the coordinate system; take the line connecting the origin of the coordinate system and the midpoint of another first marker as the first direction; determine the second direction based on the cross product of the axis vector of the first direction and the line vector connecting the midpoint of the other marker; determine the third direction based on the axis vector of the first direction and the axis vector of the second direction.

[0023] Optionally, determining the first pose matrix of the drill bit tip in the implantation mobile phone coordinate system includes:

[0024] The drill bit is removed from the implantation handpiece and inserted into a calibration plate, which has multiple second markers for determining the calibration plate coordinate system.

[0025] Based on the three-dimensional coordinates of two preset reference points in the calibration plate, the axial direction vector of the drill bit is determined, and the rotation angle and rotation parameters are determined by calculating the rotational relationship between the axial direction vector and the standard Z-axis.

[0026] Based on the rotation angle and the rotation parameters, the RotateWXYZ method in vtkTransform is used to correct the tip of the drill bit, thereby obtaining the third transformation matrix between the calibration plate and the tip of the drill bit.

[0027] The first pose matrix is ​​determined based on the third transformation matrix, the fourth transformation matrix between the coordinate system of the binocular camera and the coordinate system of the calibration board, and the fifth transformation matrix between the coordinate system of the planting mobile phone and the coordinate system of the binocular camera.

[0028] Optionally, a portion of the optical probe away from the tip has a plurality of third markers, the plurality of third markers being used to determine the optical probe coordinate system, and the tip having an initial position in the optical probe coordinate system;

[0029] The step of using the tip of the optical probe and the binocular camera to perform a sampling operation on each notch point on the register to obtain the registration points includes:

[0030] Based on the sixth transformation matrix between the binocular camera coordinate system and the optical probe coordinate system, and the first transformation matrix, the third pose matrix of the optical probe in the jawbone reference coordinate system is determined.

[0031] Based on the third pose matrix and the initial position of the tip in the optical probe coordinate system, the coordinate values ​​of the tip in the jawbone reference coordinate system are determined.

[0032] Using the aforementioned tip, each groove point is acquired, and the coordinate values ​​of each groove point in the jawbone reference coordinate system are determined by the binocular camera, serving as the registration points.

[0033] Optionally, determining the second transformation matrix between the jawbone reference coordinate system and the image coordinate system based on the plurality of registration points and each groove point includes:

[0034] The first centroid coordinates are determined based on the coordinate information of multiple registration points, and the second centroid coordinates are determined based on the coordinate information of each groove point.

[0035] Based on the distance from each registration point to the first centroid coordinate, sort the multiple registration points.

[0036] From the sorted groove points, select groove points with the same number as the registration points to obtain multiple sets of candidate groove points;

[0037] The configuration error between each group of candidate groove points and registration points is calculated, and the transformation matrix corresponding to the configuration error that meets the preset conditions is used as the second transformation matrix.

[0038] Alternatively, dental implant registration methods may also include:

[0039] The preparation process of the cavity is corrected based on the second pose matrix of the needle tip in the image coordinate system, the apical point of the needle tip, and the implantation point of the implant in the jaw region.

[0040] Optionally, the process of correcting the cavity preparation based on the second pose matrix of the needle tip in the image coordinate system, the apical point of the needle tip, and the implantation point of the implant in the dentition region includes:

[0041] The direction vector is determined based on the planned path of the apical point of the needle tip and the planned path of the implantation point of the implant.

[0042] Extract a column of parameters related to the drill tip from the second pose matrix as the target element;

[0043] The angle deviation is determined by using the vector dot product based on the direction vector and the target element.

[0044] Determine the implantation point deviation based on the planned path and the actual path of the implantation point;

[0045] Determine the apical deviation based on the planned path and the actual path of the root tip;

[0046] The preparation process of the hole is corrected based on the angle deviation, the implantation point deviation, and the root apex deviation.

[0047] Accordingly, the present invention also provides a dental implant surgery registration system, comprising:

[0048] The data acquisition module is used to acquire first CBCT data of the registration device being worn on the dentition region, and second CBCT data of the dentition region, wherein the registration device has multiple groove points and the second CBCT data has an image coordinate system;

[0049] The first determining module is used to set an optical tracking array on the jaw region, the optical tracking array having a plurality of first markers, the plurality of first markers being used to form a jawbone reference coordinate system, and using a binocular camera matched with the optical tracking array to determine a first transformation matrix between the binocular camera coordinate system and the jawbone reference coordinate system.

[0050] The second determining module is used to determine the first pose matrix of the drill tip in the implantation mobile phone coordinate system, wherein the implantation mobile phone has been calibrated and the drill is set on the implantation mobile phone;

[0051] The registration module is used to perform sampling operations on each groove point on the registration device using the tip of the optical probe and the binocular camera to obtain multiple registration points; and to determine a second transformation matrix between the jawbone reference coordinate system and the image coordinate system based on the registration points and each groove point.

[0052] The processing module is used to determine the second pose matrix of the drill tip in the image coordinate system based on the first transformation matrix, the second transformation matrix, the first pose matrix, and the transformation matrix between the binocular camera coordinate system and the implantation mobile phone coordinate system, and to prepare a hole in the jaw region through the drill tip.

[0053] Compared with the prior art, the technical solution of the embodiments of the present invention has the following advantages:

[0054] In the oral implant registration method provided by the embodiments of the invention, by acquiring the first CBCT data of the registration device being worn in the dentition region and the second CBCT data containing the dentition region, the implantation position of the implant in the dentition region can be more clearly determined, and the number of CBCT data acquisitions is reduced. By setting an optical tracking array on the dentition region and a binocular camera matched with the optical tracking array, the first transformation matrix between the binocular camera coordinate system and the dentition reference coordinate system can be quickly determined, and the first pose matrix of the drill tip in the implant handpiece coordinate system can also be quickly determined. Furthermore, by using the tip of the optical probe to perform sampling operations on each groove point on the registration device, unordered random acquisition is supported. Even if some groove points are abnormal, registration can still be completed through dynamic matching, which improves the registration accuracy. This, in turn, improves the accuracy of the second transformation matrix between the dentition reference coordinate system and the image coordinate system. This further improves the accuracy of the second pose matrix of the drill tip in the image coordinate system, making the hole preparation in the dentition region closer to the actual implantation area, thus improving the implantation accuracy. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0056] Figure 1 A flowchart of a dental implant registration method according to an embodiment of the present invention is shown;

[0057] Figure 2 A flowchart illustrating the determination of a planting area is shown in one embodiment of the present invention;

[0058] Figure 3 A schematic diagram of a dental arch curve according to an embodiment of the present invention is shown;

[0059] Figure 4 A schematic diagram of the distribution of a metal ball in one embodiment of the present invention is shown;

[0060] Figure 5 A schematic diagram of the planting area of ​​an implant is shown in one embodiment of the present invention;

[0061] Figure 6 A schematic diagram of the calibration of a binocular camera coordinate system and a jawbone reference coordinate system is shown in one embodiment of the present invention;

[0062] Figure 7 This diagram illustrates the calibration of the tip of a drill bit in the implantation mobile phone coordinate system according to an embodiment of the present invention.

[0063] Figure 8 A flowchart illustrating a method for determining the first pose matrix of a drill bit tip in the implantation mobile phone coordinate system according to an embodiment of the present invention is shown.

[0064] Figure 9 This diagram illustrates the calibration between the mobile phone coordinate system and the calibration plate coordinate system in one embodiment of the present invention.

[0065] Figure 10 A schematic diagram of the calibration of an optical probe coordinate system is shown in one embodiment of the present invention;

[0066] Figure 11 A flowchart of a dental implant surgery registration system according to an embodiment of the present invention is shown. Detailed Implementation

[0067] It should be noted that the attached drawings in this embodiment are schematic diagrams to assist in explaining the concept of the present invention, schematically showing the shapes of various parts and their mutual relationships. It should be understood that, in order to clearly show the structures of the various components of the present invention, the attached drawings are not drawn according to the same scale, and the same reference numerals are used to represent the same parts in the attached drawings.

[0068] As described in the background art, the registration efficiency and accuracy of the existing registration methods are both not high. The reasons are as follows:

[0069] On the one hand, in order to know the direction and depth of the tip of the drill needle relative to the implantation position, it is necessary to take CBCT images multiple times, which increases the registration duration, and the radiation exposure of the patient and the surgical operator is relatively large. There are potential safety hazards; on the other hand, the existing registration operations generally display the positions of the instruments more, and the operator needs to subjectively judge the adjustment strategy, resulting in an extended surgical time and low operation fault tolerance.

[0070] To solve the above technical problems, the present invention provides an oral implant surgery registration method. By obtaining the first CBCT data when the registration device is worn on the dental jaw area and the second CBCT data including the dental jaw area, the implantation position of the implant in the dental jaw area can be determined more clearly, and the number of times of obtaining CBCT data is reduced; by setting an optical tracking array on the dental jaw area and a binocular camera supporting the optical tracking array, the first transformation matrix between the binocular camera coordinate system and the dental jaw bone reference coordinate system can be quickly determined, and at the same time, the first pose matrix of the tip of the drill needle in the implant handpiece coordinate system can also be quickly determined; and by using the tip of the optical probe and the binocular camera to perform sampling operations on each groove point on the registration device, unordered acquisition is supported. Even if some groove points are abnormal, registration can still be completed through dynamic matching, which improves the registration accuracy, and further improves the accuracy of the second transformation matrix between the dental jaw bone reference coordinate system and the image coordinate system. In this way, the accuracy of the second pose matrix of the tip of the drill needle in the image coordinate system can be further improved, making the preparation of holes in the dental jaw area approach the actual implantation area, and thus improving the implantation accuracy of the implant.

[0071] To enable those skilled in the art to better understand and implement the present disclosure, the following refers to the attached drawings, and through specific embodiments, the specific solutions, principles, advantages and effects of the present disclosure are described in detail.

[0072] See Figure 1 , Figure 1 which is a flowchart of an oral implant surgery registration method in an embodiment of the present invention. As Figure 1 shown, the following steps can be executed:

[0073] S11, acquire first CBCT data of the registration device being worn on the dentition region, and second CBCT data of the dentition region, wherein the registration device has multiple groove points and the second CBCT data has an image coordinate system.

[0074] In some embodiments, by using a registration device, the actual position of surgical instruments in the patient's mouth can be ensured, thereby accurately corresponding to the image position.

[0075] In some embodiments, the registration device may be a device adapted to the jawbone of the dentition region, such as a U-shaped guide that is worn onto the jawbone. The jawbone region is the area where the tooth to be implanted is located.

[0076] In some embodiments, the grooves on the registration device are used to perform registration operations. The combination of the image coordinate system and the grooves can determine the second pose matrix of the drill bit tip in the image coordinate system, thereby improving navigation accuracy.

[0077] In some embodiments, the image coordinate system may refer to the geometric reference system in three-dimensional space for the scan.

[0078] In some embodiments, the acquisition process of CBCT (Cone beam CT) data, i.e. cone beam CT, can be described in the prior art.

[0079] In some embodiments, the second CBCT data can be acquired first, followed by the first CBCT data. This approach does not restrict the acquisition order.

[0080] In some embodiments, the register also includes a metal ball for use in conjunction with second CBCT data to determine the implantation area.

[0081] More specifically, the metal sphere contains information about its center position, and the second CBCT data can determine the corresponding dental arch curve of the jawbone. Based on the dental arch curve and the center position information, the implantation area can then be determined. Therefore, the accurate extraction of the metal sphere's center is crucial, and its positioning accuracy directly affects the overall spatial registration accuracy.

[0082] For example, see Figure 2 The flowchart shown in one embodiment of the present invention illustrates a method for determining a planting area, as follows: Figure 2 As shown, the following steps can be performed:

[0083] S21, Based on the second CBCT data, determine the dental arch curve corresponding to the jawbone in the jaw region.

[0084] In some embodiments, the image corresponding to the second CBCT data can display the jawbone in the jaw region. By cropping the jaw region, it is possible to determine, for example... Figure 3 The dental arch curve L is shown (indicated by the yellow curve).

[0085] More specifically, based on the first CBCT data, the dentition region is cropped to obtain the region of interest, which is the surface in the dentition region with clear occlusion; multiple seed point sets are obtained from the region of interest, and any three seed point sets are not located on the same straight line; based on the multiple seed point sets, an initial polyline is determined, and the dental arch curve is determined through filtering and interpolation.

[0086] In some embodiments, the first CBCT data can display a three-dimensional model of the jawbone in the dentition region. By cropping the three-dimensional image of the jawbone portion, the analysis area is precisely focused on the tooth region, i.e., the region of interest. The cropped three-dimensional image data is denoted as CBCT Bounding Shape_cropped. This data will provide a clear spatial positioning range for subsequent implant surgery and a positional reference benchmark for planning the implant location.

[0087] In image space (i.e., image coordinate system) F image (Below), on the CBCT Bounding Shape_cropped surface where the occlusion is clear, select multiple points located at the center of the teeth to form a point set, which is used as the seed point set for generating the dental arch curve, denoted as Dental curve seeds, where the data type of the seed point set is vtkPoints.

[0088] In some embodiments, the number of points contained in the Dental curve seeds is greater than or equal to 5, and it is ensured that the selected seed points satisfy the noncollinearity condition, that is, no three points are located on the same straight line.

[0089] Next, an initial polyline is generated using the vtkCardinalSpline algorithm, and then the vtkSplineFilter is used to interpolate and optimize the initial polyline, generating a smooth curve that fits the true curvature of the dental arch.

[0090] S22, using the center position information of each metal ball as the reference point for the implant space, the dental arch curve is used as the anatomical direction of the implant space, the implant is driven to move along the anatomical direction, and the area that meets the preset conditions is used as the implant area.

[0091] The steps for determining the center position information of each metal sphere include:

[0092] S221, the image corresponding to the first CBCT data is binarized, and voxels above a preset threshold are identified as potential metal regions.

[0093] In some embodiments, the metal spheres have high imaging properties, and the image corresponding to the first CBCT data is clearly imaged with high grayscale values, so that the spatial positions of these metal spheres and the register together constitute the registration basis; and by performing binarization processing, the grayscale image can be converted into a binary image, thereby allowing the selection of potential metal regions.

[0094] S222, sample the potential metal region and fit the corresponding spherical model to obtain the center coordinates of the spherical model, which are used as the initial candidate sphere center set.

[0095] In some embodiments, this step can be achieved using the vtkImage To Poly Data Filter (which converts a raster image into vectorized polygonal data) to generate a triangular mesh surface containing all high-density regions. Subsequently, a connected component analysis is performed on the mesh using the vtk Connectivity Filter() to isolate individual candidate metallic sphere surfaces. Next, a spherical model is fitted by randomly sampling a set of surface points and using the least squares method.

[0096]

[0097] in,( () represents the coordinates of the sphere's center, and R represents the radius. () represents the surface sampling points. All fitted sphere centers are sorted by their distance to the geometric center of the population and stored to form an initial set of candidate sphere centers.

[0098] S223, determine the distance vector between any two candidate sphere centers in the initial candidate sphere center set, and calculate the matching degree between the distance vector and the feature vector, wherein the feature vector is the Euclidean distance between any two sphere centers in the standard sphere center template.

[0099] In this step, the Euclidean distances between all pairs of sphere centers in the standard sphere center template (pre-designed coordinates) are calculated, forming an n*(n−1) dimensional eigenvector. F std , where n is the theoretical number of sphere centers.

[0100] For each candidate sphere center, the distance vector between that candidate sphere center and other candidate points is calculated in real time. F cand And match with via sliding window F std The similarity is used as the matching score, where the matching score is evaluated by relative error:

[0101]

[0102] It should be noted that a dynamic threshold strategy is used in the matching process. Initially, each candidate point is required to match at least m-3 neighboring points, and this is gradually tightened to n-1 complete matches as the iteration progresses.

[0103] S224: Select two initial candidate ball centers with a matching degree greater than the preset matching degree as candidate ball centers, and align the candidate ball centers with the ball centers in the standard ball center template.

[0104] In some embodiments, based on the correspondence between the screened candidate sphere centers and the standard template, the optimal spatial transformation is calculated through rigid body registration to align the initially located sphere centers with the theoretical positions.

[0105] S225, using the aligned sphere center as the initial point, performs grayscale analysis along the radial direction of the corresponding spherical model to determine the sphere center coordinates of the metal sphere.

[0106] In some embodiments, the registered coordinates in the original image are used as the initial point, and local grayscale analysis is performed along the radial direction of the sphere to determine the actual center position of the metal sphere.

[0107] By employing the above process, which combines spatial geometric constraints with image grayscale distribution features, errors caused by voxel discretization can be effectively eliminated, resulting in the extracted metal sphere G1 appearing as expected in the image space. Figure 4 As shown.

[0108] In some embodiments, the meaning of defining the area that meets the preset conditions as the implant area is: ensuring that the axial direction of the implant is coordinated with the adjacent teeth and the occlusal relationship, thereby obtaining the planned implant ZT (the component shown in green). Figure 5 As shown.

[0109] S12, an optical tracking array is set on the jaw region, the optical tracking array has a plurality of first markers, the plurality of first markers are used to form a jawbone reference coordinate system, and a first transformation matrix between the binocular camera coordinate system and the jawbone reference coordinate system is determined by a binocular camera.

[0110] In some embodiments, an optical tracking array is used to accurately track the position and orientation of surgical instruments, patient positioning, or equipment in three-dimensional space. The optical tracking array can achieve sub-millimeter accuracy, meeting the high-precision requirements of medical scenarios to provide real-time and high-precision position tracking information.

[0111] In some embodiments, see Figure 6An optical tracking array (MB) is set on the jawbone (HG) in the dentition region, and multiple first markers (BJ) are set on the optical tracking array (MB). The first markers (BJ) can be reflective, i.e., reflective markers. Therefore, the jawbone reference coordinate system can be determined based on the reflectivity of the first markers. F patient .

[0112] For example, each first marker has first preset coordinate information, which can be set according to the supporting equipment provided by the binocular camera (e.g., a navigation device, wherein the structure, working principle and other features of the navigation device and the binocular camera can be referred to the description in the existing solution).

[0113] Specifically, when the optical tracking array is set on the jaw region (more specifically, on the registration device), the first preset coordinate information of each first marker can be pre-configured.

[0114] Accordingly, the step of using multiple first markers to construct a jawbone reference coordinate system includes:

[0115] Select any one of the multiple first markers and take the midpoint of the marker as the origin of the coordinate system; take the line connecting the origin of the coordinate system (i.e., the midpoint of the first marker) and the midpoint of another first marker as the first direction (i.e., the X-axis); determine the second direction (i.e., the Z-axis) based on the cross product of the axis vector of the first direction and the line vector connecting the midpoint of the other marker; determine the third direction (i.e., the Y-axis, and the Y-axis is perpendicular to both the X-axis and the Z-axis) based on the axis vector of the first direction and the axis vector of the second direction.

[0116] In some embodiments, a binocular camera CA is also provided to accompany the optical tracking array MB. The binocular camera CA can capture the dynamic spatial position of the optical tracking array MB in real time, specifically by continuously outputting the coordinates from the binocular camera coordinate system. F camera Reference coordinate system of the jawbone F patient The first transformation matrix between T cameratopatient That is, the rigid transformation matrix.

[0117] In some embodiments, the binocular camera CA can determine the first transformation matrix by acquiring the 3D coordinates of each first marker. T cameratopatient .

[0118] For example, by moving the optical tracking array, the first marker can be made to present multiple different poses within the field of view of the binocular camera. The binocular camera can then acquire the image coordinates of all the first markers in each pose, and through a supporting navigation system, convert the image coordinates of the first markers into 3D coordinates in the binocular camera coordinate system. Then, the first markers are used in the jawbone reference coordinate system... F patient The first preset coordinate information and the first marker in the stereo camera coordinate system F camera Using the SVD decomposition algorithm, the first transformation matrix is ​​determined based on the 3D coordinates below. T cameratopatient .

[0119] In some other embodiments, a transformation matrix between the binocular camera CA and the jawbone can be pre-calibrated. T cameratopatient .

[0120] In other words, the binocular camera coordinate system F camera Reference coordinate system of the jawbone F patient The first transformation matrix between T cameratopatient and subsequent binocular camera coordinate system F camera The rigid transformation matrix of any reference array can be automatically output using a navigation system adapted to the binocular camera, or pre-calibrated.

[0121] S13, determine the first pose matrix of the drill tip in the implantation mobile phone coordinate system, wherein the drill is set on the implantation mobile phone.

[0122] In some embodiments, the implantation phone has been calibrated so that the coordinate system of the implantation phone can be determined after the binocular camera has been calibrated. F handpiece and binocular camera coordinate system F camera The relative conversion relationship between them.

[0123] For example, such as Figure 7 As shown, multiple markers (such as...) are set on the end of the implantation handpiece HP away from the connection point between the drill bit and the implantation handpiece. Figure 7 (The four markers shown are G2). The first transformation matrix is ​​determined by employing [the method described]. T cameratopatient A similar method was used to determine the coordinate system for planting mobile phones. F handpiece and binocular camera coordinate system F cameraThe relative conversion relationship between them.

[0124] In some embodiments, such as Figure 7 As shown, the end of the drill bit ZG furthest from the tip ZJ is positioned on the planting handpiece HP.

[0125] In some embodiments, multiple markers (such as...) are provided on the end of the implantation handpiece HP away from the connection point between the drill bit and the implantation handpiece. Figure 7 The four markers shown (G2) are used to determine the coordinate system of the planting mobile phone. F handpiece Among them, planting mobile phone coordinate system F handpiece The determination process can be found in the reference coordinate system for the jawbone. F patient The expression.

[0126] In some embodiments, the markers G2 are arranged axially, and the diagonally opposite markers G2 are connected by a first connecting rod LC1, and the first connecting rod LC1 and the implantation mobile phone HP are connected by a second connecting rod LC2, so as to attach the markers G2 to the implantation mobile phone HP.

[0127] For example, see Figure 8 The flowchart shown in one embodiment of the present invention describes a method for determining the first pose matrix, as follows: Figure 8 As shown, the following steps can be performed:

[0128] S81, the drill bit is removed from the implantation handpiece and inserted into a calibration plate (for example, the calibration plate is inserted into the connection between the implantation handpiece and the drill bit), the calibration plate having a plurality of second markers, the plurality of second markers being used to determine the calibration plate coordinate system.

[0129] In some embodiments, combined with Figure 7 and Figure 9 There are no reflective markers on the drill bit ZG. Without reflective markers, the position of the drill bit ZG cannot be observed. Therefore, the tip ZJ of the drill bit ZG can be located by using a calibration plate (not shown in the figure).

[0130] Therefore, the drill bit ZG can be removed from the implantation handpiece HP, and a calibration plate can be inserted into its original connection position. Since multiple second markers G3 are attached to the calibration plate, the calibration plate coordinate system can be determined based on these second markers G3. F calibratorRF .

[0131] First, the calibration plate coordinate system. F calibratorRF The determination process can be found in the reference coordinate system for the jawbone. Fpatient The first statement is that each second marker has a second preset coordinate information.

[0132] In some embodiments, the second markers G3 are arranged axially, and the diagonally opposite markers G3 are connected by a third connecting rod LC3, and the third connecting rod LC3 and the calibration plate are connected by a fourth connecting rod LC4, so as to attach the second markers G3 to the implantation mobile phone HP.

[0133] S82, based on the three-dimensional coordinates of two preset reference points in the calibration plate, determine the axial direction vector of the drill bit, and determine the rotation angle and rotation parameters by calculating the rotational relationship between the axial direction vector and the standard Z-axis.

[0134] In some embodiments, the two preset reference points in the calibration plate may refer to the uppermost point (i.e., the first end point where the calibration plate is connected to the implantation mobile phone) and the lowermost point (i.e., the second end point away from the first end point) on the fourth connecting rod LC4.

[0135] In some embodiments, a calibration plate replaces the position of the drill bit, so that two preset reference points can characterize the position information of the calibration plate in the current space, and then the parameters related to the drill bit can be determined based on the three-dimensional coordinates of the two preset reference points.

[0136] In some embodiments, two preset reference points are denoted as P_head and P_tail, respectively. Then, based on P_head and P_tail, vector operations can be used to determine the axial direction vector of the drill bit. :

[0137]

[0138] Next, the transformation matrix is ​​established using the rotation axis-angle method:

[0139]

[0140]

[0141] in, Represents the standard Z-axis, for example (0, 0, 1); Indicates the axis of rotation; Indicates the rotation angle.

[0142] S83, based on the rotation angle and the rotation parameters, the RotateWXYZ method in vtkTransform is used to correct the tip of the drill bit, thereby obtaining the third transformation matrix between the calibration plate and the tip of the drill bit.

[0143] In some embodiments, a vtkTransform instance can be created and accessed via RotateWXYZ ( θ , βx , βy , βz ) about the axis of rotation (by vector β (Component definition) Rotation θ Angle correction is performed to determine the needle tip direction, thereby obtaining the third transformation matrix between the calibration plate and the drill bit tip. T CalibratorRFtoTCP .

[0144] S84, determine the first pose matrix based on the third transformation matrix, the fourth transformation matrix between the coordinate system of the binocular camera and the coordinate system of the calibration board, and the fifth transformation matrix between the coordinate system of the planting mobile phone and the coordinate system of the binocular camera.

[0145] In some embodiments, the fourth transformation matrix between the coordinate system of the binocular camera and the coordinate system of the calibration board is: T cameratocalibratorRF The fifth transformation matrix between the coordinate system of the planting mobile phone and the coordinate system of the stereo camera is: T handpiecetocamera The transformation matrices are cascaded to determine the first pose matrix. T handpiecetoTCP :

[0146]

[0147] In some embodiments, the calibration board has a second marker, and the fourth transformation matrix is ​​obtained by detecting the second marker using a binocular camera. Similarly, the planting phone also has markers, and the fifth transformation matrix is ​​obtained by detecting the markers on the planting phone using a binocular camera.

[0148] In some embodiments, after the calibration board, binocular camera, and planting mobile phone are calibrated, a fourth transformation matrix and a fifth transformation matrix can be preset.

[0149] It should be noted that after determining the first pose matrix, the drill bit still needs to be set on the implantation handpiece in subsequent operations.

[0150] S14, using the tip of the optical probe and the binocular camera, a sampling operation is performed on each groove point on the registration device to obtain multiple registration points.

[0151] In some embodiments, see Figure 10 The optical probe OP has a plurality of third markers G4 on a section away from the tip, and the plurality of third markers G4 are used to determine the optical probe coordinate system. F probeAnd the tip has an initial position in the optical probe coordinate system. .

[0152] Among them, the optical probe coordinate system F probe The process of determining the reference coordinate system for the jawbone can be found in the documentation. F patient The expression.

[0153] Accordingly, step S14 may include: using the sixth transformation matrix between the binocular camera coordinate system and the optical probe coordinate system. The third pose matrix of the optical probe in the jawbone reference coordinate system is determined by the first transformation matrix (inverse matrix) and the first transformation matrix (inverse matrix). T patienttoprobe Based on the third pose matrix and the initial position of the tip in the optical probe coordinate system, the coordinate values ​​of the tip in the jawbone reference coordinate system are determined; using the tip, each groove point is acquired, and the coordinate values ​​of each groove point in the jawbone reference coordinate system are determined by the binocular camera, serving as the registration points.

[0154] Specifically, through a series of matrix transformations, the coordinates of the tip in the jawbone reference coordinate system can be determined, and the groove point is also located in the jawbone reference coordinate system, thus achieving coordinate system alignment between the tip and the groove point. In this way, when acquiring the groove point from the tip, the position of the tip can be located using a binocular camera, and the coordinates of the registration point in the jawbone reference coordinate system can be displayed on the navigation system.

[0155] It should be noted that when using a tip to collect data from each groove point, the points can be selected randomly, so that the number of registration points can be less than the number of groove points. That is, the registration points are not restricted by a fixed order. Even if some points are collected abnormally, registration can still be completed through dynamic matching, thus avoiding interruption of the surgical procedure.

[0156] In some embodiments, the sixth transformation matrix may refer to The sixth transformation matrix can be obtained by detecting markers on the optical probe using a binocular camera, thereby determining the third pose matrix of the optical probe in the jawbone reference coordinate system. T patienttoprobe :

[0157]

[0158] in, The first transformation matrix T cameratopatient inverse matrix 。

[0159] Then, based on the third pose matrix T patienttoprobe Determine the position of the tip in the reference coordinate system of the jawbone. F patient下 Coordinates:

[0160]

[0161] in, This indicates the initial position of the tip in the optical probe coordinate system.

[0162] Subsequently, the groove points are randomly collected using this tip, without being restricted by a fixed order, and the final set of points is denoted as m_probeDitchPset_rf.

[0163] In some embodiments, the number of m_probeDitchPset_rf is greater than or equal to 5, forming a point set Pset_patient, and the data type of the point set is vtkPoints.

[0164] In some embodiments, the groove points on the register can be denoted as m_probeDitchPset_cmm, and the groove point set can be collected using a tip.

[0165] S15, based on the multiple registration points and each groove point, determine the second transformation matrix between the jawbone reference coordinate system and the image coordinate system.

[0166] In some embodiments, step S15 specifically includes: determining the first centroid coordinates based on the coordinate information of multiple registration points, and determining the second centroid coordinates based on the coordinate information of each groove point; sorting the multiple registration points according to the distance from each registration point to the first centroid coordinates; sorting the multiple groove points according to the distance from each groove point to the second centroid coordinates; selecting groove points from the sorted groove points that have the same number as the number of registration points to obtain multiple sets of candidate groove points; calculating the configuration error between each set of candidate groove points and the registration points; and using the transformation matrix corresponding to the configuration error that meets the preset conditions as the second transformation matrix.

[0167] Specifically, during step S14, the groove points are randomly distributed on the registration unit, and the selection process of the registration points is also random, resulting in both the groove points and the registration points being randomly distributed. By performing a sorting operation, the registration points and groove points can be sorted, thereby determining their respective positional information.

[0168] Next, by selecting groove points that are the same number as the registration points, alignment between the registration points and the groove points can be achieved. Then, by calculating the registration error between the registration points and the groove points, the second transformation matrix can be determined.

[0169] For example, when the number of registration points is less than the number of groove points, multiple sets of groove points can be obtained by performing an operation to select groove points that are the same as the number of registration points. Thus, a set of groove points and the sorted registration points are used as a registration combination.

[0170] For any registration combination, the registration points can be used as the target point set and the notch points as the source point set. The vtkLandmarkTransform method class is used to determine the second transformation matrix. When using the vtkLandmarkTransform method class, the source point set is set by SetLandmarksSrc and the target point set is set by SetLandmarksTarget.

[0171] For example, for each registration combination, SetModeToRigidBody() is called iteratively to determine the initial transformation matrix between the target point set and the source point set for each iteration; the coordinates of the source point set are transformed using this initial transformation matrix to obtain the transformed point set; the Euclidean distance between the transformed point set and the target point set is calculated, and the maximum Euclidean distance between corresponding point pairs is taken as the maximum error using GetmaxLandmarkError(), and the average Euclidean distance of all corresponding point pairs is taken as the average error using GetavgLandmarkError(). The iteration is terminated when the maximum error is less than a first value (e.g., 0.5 mm) or the average error is less than a second value (e.g., 1.5 mm), and the initial transformation matrix at this time is taken as the second transformation matrix.

[0172] It should be noted that when there are multiple configuration errors that meet the preset conditions, the rotation matrix corresponding to the smallest configuration error can be used as the second transformation matrix.

[0173] The preset condition can be that the maximum registration error is less than the first value or the average error is less than the second value.

[0174] S16, based on the first transformation matrix, the second transformation matrix, the first pose matrix, and the transformation matrix between the binocular camera coordinate system and the implantation mobile phone coordinate system, determine the second pose matrix of the drill tip in the image coordinate system, and prepare a hole in the jaw region through the drill tip.

[0175] In some embodiments, after determining the first transformation matrix and the second transformation matrix, their respective inverse matrices can be determined, thereby determining the second pose matrix of the drill tip in the image coordinate system.

[0176] For example, the first transformation matrix is T cameratopatient Then the inverse matrix isT patienttocamera ,and T cameratopatient and T patienttocamera The product between them is 1; the second transformation matrix is T patienttoimage Then the inverse matrix is T imagetopatient ,and T patienttoimage and T imagetopatient The product between them is 1; the first pose matrix is T handpiecetoTCP The transformation matrix between the binocular camera coordinate system and the planting mobile phone coordinate system is: T cameratohandpiece .

[0177] Then the second pose matrix T imagetoTCP :

[0178]

[0179] Therefore, the drill tip can be tracked in real time based on the second pose matrix, thereby determining the hole preparation status in the jaw region.

[0180] In other words, during the drilling process at the implant site, the relative position of the implant handpiece and the jawbone is displayed on the image in real time, helping the doctor to understand the current surgical status more intuitively, so as to better place the implant into the hole.

[0181] In some embodiments, during the implantation process, image-guided visual navigation combined with real-time numerical display (angle error, position error) can be used to assist doctors in placing the drill in the correct position (e.g., the implantation area) without the need for intraoperative image re-capture, thus reducing the radiation exposure of doctors and patients.

[0182] For example, the oral implant surgery registration method in this scheme may further include: correcting the hole preparation process based on the second pose matrix of the needle tip in the image coordinate system, the apical point of the needle tip, and the implantation point of the implant in the dentition region.

[0183] More specifically, a direction vector is determined based on the planned path of the apical point of the needle tip and the planned path of the implantation point of the implant; wherein the direction vector defines the preparation direction of the hole.

[0184] In one embodiment, assuming the vector corresponding to the planned path of the needle tip is... apex_plan The vector corresponding to the planned path of the implantation point is entry_plan Then the direction vector is:v plan =entry_plan-apex_ plan .

[0185] Extract a column of parameters related to the drill tip from the second pose matrix as the target element.

[0186] In some embodiments, the parameters in the third column of the second pose matrix can be used as the target element. v probe =[ T 02 , T 12 , T 22 ] T .

[0187] The angular deviation is determined by using the vector dot product based on the direction vector and the target element. :

[0188]

[0189] Determine the implantation point deviation based on the planned path and the actual path. :

[0190]

[0191] Determine the apical deviation based on the planned path and the actual path of the root apex:

[0192]

[0193] The preparation process of the hole is corrected based on the angle deviation, the implantation point deviation, and the root apex deviation.

[0194] In other words, the actual dental implantation operation can be guided based on the effect in the image. The deviation analysis module realizes navigation feedback by comparing the spatial relationship between the planned path and the actual drill bit position. Through the real-time display of errors, the surgery can effectively correct errors and achieve high-precision implantation.

[0195] The present invention also provides an oral implant surgery registration system, the contents of which can be adapted to the oral implant surgery registration method in the aforementioned examples.

[0196] See Figure 11 The diagram shown is a structural schematic of a dental implant surgery registration system according to an embodiment of the present invention. Figure 11 As shown, the dental implant surgery registration system 110 may include:

[0197] The data acquisition module 111 is used to acquire first CBCT data of the registration device being worn on the dentition region, and second CBCT data including the dentition region. The registration device has multiple groove points, and the second CBCT data has an image coordinate system.

[0198] The first determining module 112 is used to set an optical tracking array on the jaw region. The optical tracking array has a plurality of first markers. The plurality of first markers are used to form a jawbone reference coordinate system. The first transformation matrix between the binocular camera coordinate system and the jawbone reference coordinate system is determined by a binocular camera that is matched with the optical tracking array.

[0199] The second determining module 113 is used to determine the first pose matrix of the drill tip in the implantation mobile phone coordinate system, wherein the implantation mobile phone has been calibrated and the drill is set on the implantation mobile phone;

[0200] The registration module 114 is used to perform sampling operations on each groove point on the registration device using the tip of the optical probe and the binocular camera to obtain multiple registration points; and to determine a second transformation matrix between the jawbone reference coordinate system and the image coordinate system based on the registration points and each groove point.

[0201] The processing module 115 is used to determine the second pose matrix of the drill tip in the image coordinate system based on the first transformation matrix, the second transformation matrix, the first pose matrix and the transformation matrix between the binocular camera coordinate system and the implantation mobile phone coordinate system, and to prepare a hole in the jaw region through the drill tip.

[0202] For further details regarding the dental implant registration system 110, please refer to the description of the dental implant registration method in the aforementioned example.

[0203] In this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0204] Furthermore, in this invention, the use of terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refers to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0205] While the embodiments disclosed above are provided, the present invention is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A method for registration in oral implant surgery, characterized in that, include: Acquire first CBCT data of a registration device being worn onto a dentition region, and second CBCT data of the dentition region, wherein the registration device has multiple groove points and the second CBCT data has an image coordinate system; An optical tracking array is set on the jaw region. The optical tracking array has multiple first markers. The multiple first markers are used to form a jawbone reference coordinate system. A first transformation matrix between the binocular camera coordinate system and the jawbone reference coordinate system is determined by a binocular camera. Determine the first pose matrix of the drill tip in the implantation mobile phone coordinate system, wherein the drill is mounted on the implantation mobile phone; Using the tip of the optical probe and the binocular camera, a sampling operation is performed on each groove point on the register to obtain multiple registration points; Based on the multiple registration points and each groove point, a second transformation matrix is ​​determined between the jawbone reference coordinate system and the image coordinate system; Based on the first transformation matrix, the second transformation matrix, the first pose matrix, and the transformation matrix between the binocular camera coordinate system and the implantation mobile phone coordinate system, the second pose matrix of the drill tip on the image coordinate system is determined, and a hole is prepared in the jaw region through the drill tip.

2. The oral implant surgery registration method according to claim 1, characterized in that, The registration device also has a metal ball; The oral implant registration method further includes: determining the dental arch curve corresponding to the jawbone in the jaw region based on the second CBCT data; using the center position information of each metal ball as the implant space reference point, using the dental arch curve as the anatomical direction of the implant space, driving the implant to move along the anatomical direction, and using the area that meets the preset conditions as the implant area.

3. The oral implant surgery registration method according to claim 2, characterized in that, The center position information of each metal sphere is determined using the following method: The image corresponding to the first CBCT data is binarized, and voxels above a preset threshold are identified as potential metal regions. The potential metal region is sampled, and a corresponding spherical model is fitted to obtain the coordinates of the center of the spherical model, which serves as the initial candidate set of sphere centers. Determine the distance vector between any two candidate sphere centers in the initial candidate sphere center set, and calculate the matching degree between the distance vector and the feature vector, wherein the feature vector is the Euclidean distance between any two sphere centers in the standard sphere center template; Two initial candidate ball centers with a matching degree greater than the preset matching degree are selected as candidate ball centers, and the candidate ball centers are aligned with the ball centers in the standard ball center template; Using the aligned sphere center as the initial point, perform grayscale analysis along the radial direction of the corresponding spherical model to determine the coordinates of the metal sphere center.

4. The oral implant surgery registration method according to claim 1, characterized in that, Multiple first markers are used to construct a jawbone reference coordinate system, including: Select any one of the multiple first markers and take the midpoint of the marker as the origin of the coordinate system; take the line connecting the origin of the coordinate system and the midpoint of another first marker as the first direction; determine the second direction based on the cross product of the axis vector of the first direction and the line vector connecting the midpoint of the other marker; determine the third direction based on the axis vector of the first direction and the axis vector of the second direction.

5. The oral implant surgery registration method according to claim 1, characterized in that, The determination of the first pose matrix of the drill bit tip in the implantation mobile phone coordinate system includes: The drill bit is removed from the implantation handpiece and inserted into a calibration plate, which has multiple second markers for determining the calibration plate coordinate system. Based on the three-dimensional coordinates of two preset reference points in the calibration plate, the axial direction vector of the drill bit is determined, and the rotation angle and rotation parameters are determined by calculating the rotational relationship between the axial direction vector and the standard Z-axis. Based on the rotation angle and the rotation parameters, the RotateWXYZ method in vtkTransform is used to correct the tip of the drill bit, thereby obtaining the third transformation matrix between the calibration plate and the tip of the drill bit. The first pose matrix is ​​determined based on the third transformation matrix, the fourth transformation matrix between the coordinate system of the binocular camera and the coordinate system of the calibration board, and the fifth transformation matrix between the coordinate system of the planting mobile phone and the coordinate system of the binocular camera.

6. The oral implant surgery registration method according to claim 1, characterized in that, The optical probe has a plurality of third markers on a section away from the tip, the plurality of third markers being used to determine the optical probe coordinate system, and the tip having an initial position in the optical probe coordinate system; The step of using the tip of the optical probe and the binocular camera to perform a sampling operation on each notch point on the register to obtain the registration points includes: Based on the sixth transformation matrix between the binocular camera coordinate system and the optical probe coordinate system, and the first transformation matrix, the third pose matrix of the optical probe in the jawbone reference coordinate system is determined. Based on the third pose matrix and the initial position of the tip in the optical probe coordinate system, the coordinate values ​​of the tip in the jawbone reference coordinate system are determined. Using the aforementioned tip, each groove point is acquired, and the coordinate values ​​of each groove point in the jawbone reference coordinate system are determined by the binocular camera, serving as the registration points.

7. The oral implant surgical registration method according to claim 1, characterized in that, The step of determining the second transformation matrix between the jawbone reference coordinate system and the image coordinate system based on the plurality of registration points and each groove point includes: The first centroid coordinates are determined based on the coordinate information of multiple registration points, and the second centroid coordinates are determined based on the coordinate information of each groove point. Based on the distance from each registration point to the first centroid coordinate, sort the multiple registration points. From the sorted groove points, select groove points with the same number as the registration points to obtain multiple sets of candidate groove points; The configuration error between each group of candidate groove points and registration points is calculated, and the transformation matrix corresponding to the configuration error that meets the preset conditions is used as the second transformation matrix.

8. The oral implant surgical registration method according to claim 1, characterized in that, Also includes: The preparation process of the cavity is corrected based on the second pose matrix of the needle tip in the image coordinate system, the apical point of the needle tip, and the implantation point of the implant in the jaw region.

9. The oral implant surgical registration method according to claim 8, characterized in that, The process of correcting the cavity preparation based on the second pose matrix of the needle tip in the image coordinate system, the apical point of the needle tip, and the implantation point of the implant in the dentition region includes: The direction vector is determined based on the planned path of the apical point of the needle tip and the planned path of the implantation point of the implant. Extract a column of parameters related to the drill tip from the second pose matrix as the target element; The angle deviation is determined by using the vector dot product based on the direction vector and the target element. Determine the implantation point deviation based on the planned path and the actual path of the implantation point; Determine the apical deviation based on the planned path and the actual path of the root tip; The preparation process of the hole is corrected based on the angle deviation, the implantation point deviation, and the root apex deviation.

10. A dental implant surgery registration system, characterized in that, include: The data acquisition module is used to acquire first CBCT data of the registration device being worn on the dentition region, and second CBCT data of the dentition region, wherein the registration device has multiple groove points and the second CBCT data has an image coordinate system; The first determining module is used to set an optical tracking array on the jaw region, the optical tracking array having a plurality of first markers, the plurality of first markers being used to form a jawbone reference coordinate system, and using a binocular camera matched with the optical tracking array to determine a first transformation matrix between the binocular camera coordinate system and the jawbone reference coordinate system. The second determining module is used to determine the first pose matrix of the drill tip in the implantation mobile phone coordinate system, wherein the implantation mobile phone has been calibrated and the drill is set on the implantation mobile phone; The registration module is used to perform sampling operations on each groove point on the register using the tip of the optical probe and the binocular camera to obtain multiple registration points; And a second transformation matrix for determining the distance between the jawbone reference coordinate system and the image coordinate system based on the registration points and each groove point; The processing module is used to determine the second pose matrix of the drill tip in the image coordinate system based on the first transformation matrix, the second transformation matrix, the first pose matrix, and the transformation matrix between the binocular camera coordinate system and the implantation mobile phone coordinate system, and to prepare a hole in the jaw region through the drill tip.

Images