A method, system and storage medium for dental implant navigation

Abstract

This invention provides a method, system, and storage medium for dental implant navigation. After fixing an optical locator to the implant handpiece, it acquires three-dimensional data of the handpiece's rotation axis, the end of the rotation axis, and the ball drill in the optical locator's three-dimensional coordinate system. Using a registration pit as a medium, it completes registration by combining the three-dimensional data of the optical 3D coordinate system with the three-dimensional data of the registration pit in the CT 3D coordinate system. It also calculates the drill tip pose and the ideal path pose in the positioning 3D coordinate system, and uses the difference between the drill tip and the ideal path to provide real-time navigation for the implant handpiece. By fixing the optical locator to the implant handpiece, real-time navigation is achieved by acquiring image data of optical markers while drilling with the handpiece. Because the optical locator and the implant handpiece are integrated, the process of real-time positioning of the implant handpiece is eliminated, effectively reducing navigation errors.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and to a method, system, and storage medium for assisting navigation during oral treatment surgery in dental implantation. Background Technology

[0002] Currently available dental implant navigation systems mainly consist of three parts: an optical locator, a handset tracker, and a patient reference board; all three are indispensable. During navigation, the optical locator is mounted approximately 750mm above the patient's head, capturing images and tracking the handset tracker and patient reference board. When the optical locator captures the handset tracker, it determines the real-time spatial pose of the implant handpiece drill; when it captures the patient reference board, it determines the location of the surgical area. Through a registration and alignment process, a coordinate system transformation relationship is established between the patient, the CT scan, and the optical locator. This coordinate transformation allows the drill position to be displayed in real-time on the CT scan, and the positional and angular deviations between the drill and the planned implant location are calculated and visualized on the CT scan, thus achieving dental implant surgery navigation.

[0003] Firstly, the navigation process based on the aforementioned dental implant navigation system requires the patient's mobile phone tracker to determine the drill's position. Furthermore, the optical locator can only be installed a certain distance above or in front of the patient. During surgery, the optical locator's field of view is frequently obstructed by the surgeon or assistant, placing higher demands on the surgeon's and assistant's movements and causing inconvenience. Secondly, the optical locator introduces errors in recognizing and tracking the mobile phone tracker. Since surgical navigation calculates the drill's position by recognizing the mobile phone tracker's location, these errors are compounded into the final surgical error, thus increasing the overall surgical error.

[0004] The industry urgently needs to propose a new solution to address the issues of optical positioning device line-of-sight obstruction and errors introduced by mobile phone trackers during dental implant navigation. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a dental implant navigation method, system and storage medium that addresses the above-mentioned defects of the prior art. It can implement dental implant navigation based on an optical locator integrated on the implant handpiece and in conjunction with basic implant navigation equipment. It can effectively avoid the problem of the optical locator's image acquisition line of sight being blocked, and at the same time reduce navigation errors.

[0006] To ensure navigation accuracy and treatment effectiveness.

[0007] The technical solution adopted by this invention to solve the technical problem is as follows:

[0008] A method for navigation in dental implantation is provided, the method being based on a dental implantation navigation device, the dental implantation navigation device comprising a calibrator, a locator, an optical locator, and an implant handpiece. The calibrator is provided with a calibration rod, the locator includes a reference plate and a registration device, the registration device is provided with multiple ceramic balls and multiple registration pits, the optical locator is fixedly mounted on the implant handpiece, the optical locator is oriented toward the drill bit socket on the implant handpiece, and a spherical drill or drill bit is fixedly fitted onto the drill bit socket;

[0009] The oral implant navigation method includes the following steps:

[0010] S1. When the drill bit socket on the planting mobile phone is fitted onto the calibration rod on the calibrator, control the optical positioning instrument to collect image data of the optical markers on the calibrator;

[0011] S2. Based on the image data of the optical marker points on the calibrator collected by the optical positioning instrument when the drill bit sleeve hole on the implantation mobile phone is fitted onto the calibrator rod, and combined with the model design data of the calibrator, calculate the three-dimensional data of the rotation axis and the end of the rotation axis of the implantation mobile phone in the optical three-dimensional coordinate system of the optical positioning instrument; where the rotation axis is the central axis when the drill bit rotates, and the end of the rotation axis is the point at the foremost point of the drill bit sleeve hole;

[0012] S3. When the drill bit socket on the planting mobile phone is fixedly fitted with a ball drill and the ball drill abuts against the calibration pit on the calibration plate, control the optical positioning instrument to collect image data of the optical marker points on the calibrator;

[0013] S4. Based on the image data of the optical markers on the calibrator collected by the optical positioning instrument when the spherical drill abuts against the calibration pit on the calibration plate, and combined with the model design data of the calibrator, calculate the three-dimensional data of the spherical drill on the planting mobile phone in the optical three-dimensional coordinate system.

[0014] S5. When the ball drill comes into contact with the registration recess on the registration device, calculate the three-dimensional data of the registration recess in the optical three-dimensional coordinate system based on the three-dimensional data of the ball drill in the optical three-dimensional coordinate system.

[0015] S6. After the reference plate and the registration device on the locator are locked and fixed together, the three-dimensional data of the registration pit in the optical three-dimensional coordinate system and the three-dimensional data of the reference plate of the locator in the optical three-dimensional coordinate system are calculated.

[0016] S7. When the locator is fixed in the patient's oral cavity, control the CT scanning equipment to acquire three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system on the CT scanning equipment;

[0017] S8. Based on the three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system, combined with the model design data of the locator and the three-dimensional data of the ceramic balls in the CT three-dimensional coordinate system, the three-dimensional data of the registration pit in the CT three-dimensional coordinate system is calculated.

[0018] S9. Based on the three-dimensional data of the registration pit in the optical three-dimensional coordinate system, the three-dimensional data of the registration pit in the positioning three-dimensional coordinate system, and the three-dimensional data of the registration pit in the CT three-dimensional coordinate system, calculate the transformation relationship between the optical three-dimensional coordinate system and the CT three-dimensional coordinate system, and the transformation relationship between the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system, and complete the registration.

[0019] S10. Based on the pairwise transformation relationships between the optical 3D coordinate system, the CT 3D coordinate system, and the positioning 3D coordinate system, obtain the pose of the positioner in the optical 3D coordinate system. C H T ;

[0020] S11. Based on the pose of the end of the rotation axis in the optical three-dimensional coordinate system and the pose of the drill tip in the end three-dimensional coordinate system of the end of the rotation axis, calculate the pose of the drill tip in the positioning three-dimensional coordinate system.

[0021] S12. Based on the pose of the locator in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system, calculate the pose of the ideal path in the positioning three-dimensional coordinate system.

[0022] S13. Real-time comparison between the pose of the drill tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system, and real-time navigation of the implantation mobile phone based on the difference between the drill tip and the ideal path.

[0023] Compared with existing technologies, the advantages of this technical solution are: by fixing the optical positioning device on the planting mobile phone, the image data of optical marker points can be collected by the optical positioning device for real-time navigation while the planting mobile phone is used for drilling operations; in addition, since the optical positioning device and the planting mobile phone are connected as a whole, the process of real-time positioning of the planting mobile phone is eliminated compared with existing devices, which can effectively reduce navigation errors.

[0024] Furthermore, step S2 specifically includes the following steps:

[0025] S201. Obtain the known calibration three-dimensional coordinate system of the calibrator, and further obtain the three-dimensional data P of the top of the calibration rod in the calibration three-dimensional coordinate system. M Obtain the three-dimensional data Q of the bottom of the calibration rod in the calibration three-dimensional coordinate system. M ;

[0026] S202. Based on the image data of the optical markers on the calibrator collected by the optical positioning instrument when the drill bit sleeve hole on the planting mobile phone is fitted onto the calibrator's calibrator rod, obtain the calibrator's pose in the optical three-dimensional coordinate system. C H M ;

[0027] S203. Based on the pose of the calibrator in the optical three-dimensional coordinate system. C H M The three-dimensional coordinates P of the top of the calibration rod in the optical three-dimensional coordinate system were calculated. C The three-dimensional coordinates Q of the bottom of the calibration rod in the optical three-dimensional coordinate system C , where P C = C H M *P M Q C = C H M *Q M * indicates matrix multiplication;

[0028] S204. Determine the three-dimensional coordinates P of the top of the rod according to the optical three-dimensional coordinate system. C The three-dimensional coordinates Q of the bottom of the calibration rod in the optical three-dimensional coordinate system C Calculate the axial vector V of the rotation axis of the implanted mobile phone and the unit vector V of the rotation axis of the implanted mobile phone in the optical three-dimensional coordinate system. n Where V = P C -Q C V n =V / |V|;

[0029] S205. Obtain the three-dimensional coordinates E of the end of the rotating axis of the implanted mobile phone in the optical three-dimensional coordinate system. C , of which E C =Q C ;

[0030] S206. Based on the unit vector V of the rotation axis n Calculate the rotational normal vector rotateVec and the corresponding rotation angle ang, where rotateVec = zVec × V n ang = arccos(zVec·V n zVec = [0,0,1] C is the unit vector of the Z-axis in the optical three-dimensional coordinate system; where × is the vector cross product.

[0031] S207. Based on the three-dimensional coordinates E of the end of the rotating axis of the implanted mobile phone in the optical three-dimensional coordinate system. C By combining the origin of the optical three-dimensional coordinate system, the translation matrix is ​​calculated. C H TransThe rotation matrix is ​​calculated based on the rotation normal (rotateVec) and the corresponding rotation angle (ang). Crans H Rotate ;

[0032] S208. Calculate the pose of the end of the rotation axis in the optical three-dimensional coordinate system based on the translation and rotation matrices. C H E ,in, C H E = C H Trans * Crans H Rotate .

[0033] The beneficial effects of adopting the above scheme are as follows: Since the optical positioning device is fixedly installed on the implantation mobile phone, based on this hardware foundation, the rotation axis and the end of the rotation axis of the implantation mobile phone can be calibrated adaptively through the calibration rod on the calibrator. After the calibration is completed, since the relative position between the optical positioning device and the implantation mobile phone remains unchanged, the real-time pose of the rotation axis and the end of the rotation axis of the implantation mobile phone can be directly obtained through the optical positioning device.

[0034] Furthermore, step S8 specifically includes the following steps:

[0035] S801. Based on the model design data of the locator, obtain the three-dimensional data of the registration pit and the three-dimensional data of the ceramic ball in the registration three-dimensional coordinate system of the registration device;

[0036] S802. Acquire three-dimensional data of the ceramic sphere in the CT three-dimensional coordinate system;

[0037] S803. Based on the three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system and the three-dimensional data in the registration three-dimensional coordinate system, the pose of the register in the CT three-dimensional coordinate system is calculated according to the rigid body registration algorithm. CT H R ;

[0038] S804. Based on the 3D data of the registration pit in the 3D coordinate system and the pose of the register in the CT 3D coordinate system. CT H R The three-dimensional data P' of the registered pit in the CT three-dimensional coordinate system is calculated, where P' = CT H R *P, P is the 3D data of the registration pit in the 3D coordinate system of the registration device, and P' is the 3D data of the registration pit in the CT 3D coordinate system.

[0039] The beneficial effects of adopting the above scheme are as follows: In this technical solution, registration is performed by establishing a transformation relationship between the optical three-dimensional coordinate system, the positioning three-dimensional coordinate system, and the optical three-dimensional coordinate system through the registration pit as a medium. In this step, the relative positional relationship between the registration pit and the ceramic ball can be obtained by combining the model design data of the locator. The three-dimensional data of the registration pit in the CT three-dimensional coordinate system can be analyzed using the pose of the locator in the CT three-dimensional coordinate system.

[0040] Furthermore, step S11 specifically includes the following steps:

[0041] S1101. Calibrate the implantation mobile phone and calculate the position and orientation of the drill tip in the optical three-dimensional coordinate system based on the calibration results. C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D ;

[0042] S1102. Given the pose of the positioner in the optical three-dimensional coordinate system. C H T Perform inverse matrix operations to obtain T H C ;

[0043] S1103. Based on the position of the drill tip in the optical three-dimensional coordinate system C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D Combined with the pose of the positioner in the optical three-dimensional coordinate system C H T The inverse matrix operation result is used to calculate the pose of the drill bit tip in the positioning three-dimensional coordinate system. T H D ,in, T H D = T H C * C H E * E H D ;

[0044] Step S12 specifically includes the following steps:

[0045] S1201. Positioning of the locator in the CT 3D coordinate system CT H C Perform inverse matrix operations to obtain the inverse matrix of the pose of the locator in the CT 3D coordinate system. C H CT ;

[0046] S1202. Obtain the pose of the preset ideal path in the CT 3D coordinate system. CT H L ;

[0047] S1203. Based on the inverse matrix of the pose of the locator in the CT three-dimensional coordinate system. C H CT The pose of the preset ideal path in the CT 3D coordinate system CT H L The pose of the ideal path in the positioning three-dimensional coordinate system is calculated. T H L ,in, T H L = C H CT * CT H L .

[0048] The beneficial effects of adopting the above scheme are: by calibrating and recalculating the implant handpiece, the position of the drill tip in the three-dimensional coordinate system is obtained; the position of the ideal path in the three-dimensional coordinate system is calculated based on the ideal path in the preset implantation aspect; by comparing the position of the drill tip in the three-dimensional coordinate system with the position of the ideal path, it can serve as the data basis for dental implant navigation.

[0049] Furthermore, step S13 specifically includes the following steps:

[0050] S1301. Based on the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔX = D between the drill bit tip and the ideal path in the X-axis direction under the positioning three-dimensional coordinate system. X -L X ;

[0051] S1302. Based on the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔY = D between the drill bit tip and the ideal path in the Y-axis direction under the positioning three-dimensional coordinate system. Y -L Y ;

[0052] S1303. Based on the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H LCalculate the real-time difference ΔZ = D between the drill bit tip and the ideal path in the Z-axis direction under the positioning three-dimensional coordinate system. Z -L Z ;

[0053] S1304. Based on the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the deviation angle Δθ = arccos(D·L) between the drill tip and the ideal path in the three-dimensional coordinate system, where · is the vector dot product.

[0054] The beneficial effects of adopting the above scheme are: based on the position and orientation of the drill tip and the ideal path in the three-dimensional coordinate system, the real-time difference and real-time deviation angle between the drill tip and the ideal path in the X-axis, Y-axis and Z-axis directions are obtained, thereby enabling real-time navigation of the planting mobile phone.

[0055] The technical solution adopted by this invention to solve the technical problem is as follows:

[0056] A dental implant navigation system, the dental implant navigation device comprising:

[0057] The first image data acquisition module is used to control the optical positioning instrument to acquire image data of the optical markers on the calibrator when the drill bit sleeve hole on the planting mobile phone is fitted onto the calibrator rod on the calibrator.

[0058] The first three-dimensional data calculation module is used to calculate the three-dimensional data of the rotation axis and the end of the rotation axis of the implantation mobile phone in the optical three-dimensional coordinate system of the optical positioning instrument based on the image data of the optical marker points on the calibrator collected by the optical positioning instrument when the drill bit sleeve hole on the implantation mobile phone is fitted onto the calibrator rod, combined with the model design data of the calibrator; wherein, the rotation axis is the central axis when the drill bit rotates, and the end of the rotation axis is the point at the foremost point of the drill bit sleeve hole;

[0059] The second image data acquisition module is used to control the optical positioning instrument to acquire image data of the optical markers on the calibrator when the drill bit socket on the planting mobile phone is fixedly fitted with a ball drill and the ball drill abuts against the calibration pit on the calibration plate.

[0060] The second three-dimensional data calculation module is used to calculate the three-dimensional data of the spherical drill on the planting mobile phone in the optical three-dimensional coordinate system based on the image data of the optical marker points on the calibrator collected by the optical positioning instrument when the spherical drill abuts against the calibration pit on the calibration plate, combined with the model design data of the calibrator.

[0061] The first registration data calculation module is used to calculate the three-dimensional data of the registration pit in the optical three-dimensional coordinate system based on the three-dimensional data of the ball drill in the optical three-dimensional coordinate system when the ball drill comes into contact with the registration pit on the registration device.

[0062] The second registration data calculation module is used to calculate the three-dimensional data of the registration recess in the positioning three-dimensional coordinate system of the locator after the reference plate on the locator and the locator are locked and fixed together, based on the three-dimensional data of the registration recess in the optical three-dimensional coordinate system and the three-dimensional data of the reference plate of the locator in the optical three-dimensional coordinate system.

[0063] The CT data acquisition module is used to control the CT scanning device to acquire three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system on the CT scanning device when the locator is fixed in the patient's oral cavity.

[0064] The third registration data calculation module is used to calculate the three-dimensional data of the registration pit in the CT three-dimensional coordinate system based on the three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system, combined with the model design data of the locator and the three-dimensional data of the ceramic balls in the CT three-dimensional coordinate system.

[0065] The registration processing module is used to calculate the transformation relationship between the optical three-dimensional coordinate system and the CT three-dimensional coordinate system, and the transformation relationship between the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system, based on the three-dimensional data of the registration pit in the optical three-dimensional coordinate system, the three-dimensional data of the registration pit in the positioning three-dimensional coordinate system, and the three-dimensional data of the registration pit in the CT three-dimensional coordinate system, and to complete the registration.

[0066] The locator pose acquisition module is used to obtain the locator pose in the optical 3D coordinate system based on the pairwise transformation relationships between the optical 3D coordinate system, the CT 3D coordinate system, and the positioning 3D coordinate system. C H T ;

[0067] The real-time drill bit pose calculation module is used to calculate the pose of the drill bit tip in the positioning three-dimensional coordinate system based on the pose of the end of the rotation axis in the optical three-dimensional coordinate system and the pose of the drill bit tip in the end three-dimensional coordinate system of the end of the rotation axis.

[0068] The ideal path calculation module is used to calculate the pose of the ideal path in the positioning three-dimensional coordinate system based on the pose of the locator in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system.

[0069] The real-time navigation module is used to compare the pose of the drill tip in the three-dimensional coordinate system with the pose of the ideal path in the three-dimensional coordinate system in real time, and to navigate the implantation mobile phone in real time by the difference between the drill tip and the ideal path.

[0070] Furthermore, the first three-dimensional data calculation module specifically includes:

[0071] The calibration three-dimensional coordinate system data acquisition unit is used to acquire the known calibration three-dimensional coordinate system of the calibrator, and further acquire the three-dimensional data P of the top of the calibration rod in the calibration three-dimensional coordinate system. M Obtain the three-dimensional data Q of the bottom of the calibration rod in the calibration three-dimensional coordinate system. M ;

[0072] The calibrator pose calculation unit is used to obtain the calibrator pose in the optical three-dimensional coordinate system based on the image data of the optical marker points on the calibrator collected by the optical positioning instrument when the drill bit sleeve hole on the calibrator is fitted onto the calibrator rod. C H M ;

[0073] The calibration rod coordinate calculation unit is used to calculate the position of the calibrator in the optical three-dimensional coordinate system. C H M The three-dimensional coordinates P of the top of the calibration rod in the optical three-dimensional coordinate system were calculated. C The three-dimensional coordinates Q of the bottom of the calibration rod in the optical three-dimensional coordinate system C , where P C = C H M *P M Q C = C H M *Q M * indicates matrix multiplication;

[0074] The rotation axis data calculation unit is used to calculate the three-dimensional coordinates P of the top of the calibration rod in the optical three-dimensional coordinate system. C The three-dimensional coordinates Q of the bottom of the calibration rod in the optical three-dimensional coordinate system C Calculate the axial vector V of the rotation axis of the implanted mobile phone and the unit vector V of the rotation axis of the implanted mobile phone in the optical three-dimensional coordinate system. n Where V = P C -Q C V n =V / |V|;

[0075] The rotation axis end coordinate calculation unit is used to obtain the three-dimensional coordinates E of the end of the rotating axis of the implanted mobile phone in the optical three-dimensional coordinate system. C , of which E C =Q C ;

[0076] The rotation normal data analysis unit is used to analyze the rotation axis based on the unit vector V. nCalculate the rotational normal vector rotateVec and the corresponding rotation angle ang, where rotateVec = zVec × V n ang = arccos(zVec·V n zVec = [0,0,1] C is the unit vector of the Z-axis in the optical three-dimensional coordinate system; where × is the vector cross product.

[0077] The transformation matrix calculation unit is used to calculate the three-dimensional coordinates E of the end of the rotating axis of the planting mobile phone in the optical three-dimensional coordinate system. C By combining the origin of the optical three-dimensional coordinate system, the translation matrix is ​​calculated. C H Trans The rotation matrix is ​​calculated based on the rotation normal (rotateVec) and the corresponding rotation angle (ang). Crans H Rotate ;

[0078] The end-effector pose calculation unit is used to calculate the pose of the end-effector in the optical three-dimensional coordinate system based on the translation and rotation matrices. C H E ,in, C H E = C H Trans * Crans H Rotate .

[0079] Furthermore, the third registration data calculation module specifically includes:

[0080] The 3D data acquisition module for the registration device is used to acquire the 3D data of the registration pit and the 3D data of the ceramic ball in the 3D coordinate system of the registration device based on the model design data of the locator.

[0081] The ceramic ball 3D data acquisition module is used to acquire the 3D data of the ceramic ball in the CT 3D coordinate system;

[0082] The registration device pose calculation module is used to calculate the pose of the registration device in the CT 3D coordinate system based on the 3D data of the ceramic ball in the CT 3D coordinate system and the 3D data in the registration 3D coordinate system, according to the rigid body registration algorithm. CT H R ;

[0083] The registration pit 3D data calculation module is used to calculate the 3D data of the registration pit in the registration 3D coordinate system and the pose of the registration device in the CT 3D coordinate system. CT H R The three-dimensional data P' of the registered pit in the CT three-dimensional coordinate system is calculated, where P' = CT HR *P, P is the three-dimensional data of the registration pit in the three-dimensional coordinate system of the registration device, and P' is the three-dimensional data of the registration pit in the three-dimensional coordinate system of the CT.

[0084] The drill bit real-time pose calculation module specifically includes:

[0085] The drill tip calibration processing unit is used to calibrate the implantation mobile phone and calculate the pose of the drill tip in the optical three-dimensional coordinate system based on the calibration results. C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D ;

[0086] The first inverse matrix operation unit of the locator is used to determine the pose of the locator in a known optical three-dimensional coordinate system. C H T Perform inverse matrix operations to obtain T H C ;

[0087] The drill tip pose data calculation unit is used to calculate the drill tip pose in the optical three-dimensional coordinate system. C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D Combined with the pose of the positioner in the optical three-dimensional coordinate system C H T The inverse matrix operation result is used to calculate the pose of the drill bit tip in the positioning three-dimensional coordinate system. T H D ,in, T H D = T H C * C H E * E H D ;

[0088] The ideal path calculation module specifically includes:

[0089] The second inverse matrix operation unit of the locator is used to calculate the pose of the locator in the CT three-dimensional coordinate system. CT H C Perform inverse matrix operations to obtain the inverse matrix of the pose of the locator in the CT 3D coordinate system. C H CT ;

[0090] The ideal path data acquisition unit is used to acquire the pose of a preset ideal path in the CT three-dimensional coordinate system. CT H L ;

[0091] The ideal path pose data calculation unit is used to calculate the inverse matrix of the pose of the locator in the CT 3D coordinate system. C H CT The pose of the preset ideal path in the CT 3D coordinate system CT H L The pose of the ideal path in the positioning three-dimensional coordinate system is calculated. T H L ,in, T H L = C H CT * CT H L .

[0092] Furthermore, the real-time navigation module specifically includes:

[0093] The X-axis deviation calculation unit is used to calculate the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔX = D between the drill bit tip and the ideal path in the X-axis direction under the positioning three-dimensional coordinate system. X -L X ;

[0094] The Y-axis deviation calculation unit is used to calculate the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔY = D between the drill bit tip and the ideal path in the Y-axis direction under the positioning three-dimensional coordinate system. Y -L Y ;

[0095] The Z-axis deviation calculation unit is used to calculate the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔZ = D between the drill bit tip and the ideal path in the Z-axis direction under the positioning three-dimensional coordinate system. Z -L Z ;

[0096] Angle deviation calculation unit is used to calculate the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H LCalculate the deviation angle Δθ = arccos(D·L) between the drill tip and the ideal path in the three-dimensional coordinate system, where · is the vector dot product.

[0097] Correspondingly, a storage medium stores a computer program, the computer program including program instructions, which, when executed by a processor, execute the oral implant navigation method as described above. Attached Figure Description

[0098] Figure 1 This is a flowchart of the oral implant navigation method of the present invention.

[0099] Figure 2 This is a schematic diagram of the oral implant navigation system of the present invention.

[0100] The components represented by each number in the diagram are listed below:

[0101] First image data acquisition module 1, first 3D data calculation module 2, second image data acquisition module 3, second 3D data calculation module 4, first registration data calculation module 5, second registration data calculation module 6, CT data acquisition module 7, third registration data calculation module 8, registration processing module 9, locator pose acquisition module 10, drill bit real-time pose calculation module 11, ideal path calculation module 12, real-time navigation module 13. Detailed Implementation

[0102] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0103] In the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," and "right," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0104] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. When a component is referred to as being "fixed to" or "set on" another element, it can be directly on the other component or there may be an intervening component. When a component is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening component. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0105] To address the aforementioned problems, the present invention provides an oral implant navigation method, system, and storage medium, wherein the method, system, and storage medium are based on an oral implant navigation device.

[0106] The dental implant navigation device includes a calibrator, a locator, an optical locator, and an implant handpiece. In this technical solution, the calibrator and locator are structurally identical to those in existing technologies: the calibrator is equipped with a calibrator rod and a calibrator recess. The calibrator rod calibrates the rotation axis and end of the implant handpiece, while the calibrator recess calibrates the ball drill, determining the position and orientation of the rotation axis and its end. Both the calibrator and locator have optical markers. Light emitted by the optical locator strikes these markers and is reflected back to the optical locator, which then uses the reflected light to determine the real-time orientation of the calibrator.

[0107] The locator in this technical solution includes a reference plate and a registration device. The reference plate is adjustablely mounted on the registration device. After the registration device is clamped and fixed in the oral cavity, adjusting the angle of the reference plate allows for obtaining the optimal viewing angle, facilitating subsequent navigation. The registration device is equipped with multiple ceramic balls and multiple registration recesses, which are used for registration operations.

[0108] Unlike existing technologies where the optical positioning device is independently set on the calibrator, locator, and implantation handpiece, in this technical solution, the optical positioning device is fixedly mounted on the implantation handpiece, facing the drill bit socket on the implantation handpiece, and a spherical drill or drill bit is fixedly fitted onto the drill bit socket. That is, during operation, the relative position between the optical positioning device and the implantation handpiece remains constant, and after calibration, the optical positioning device can acquire the real-time status of the implantation handpiece.

[0109] like Figure 1 As shown, in order to solve the above problems, the present invention provides a method for oral implant navigation, specifically including the following steps:

[0110] S1. When the drill bit socket on the implantation handpiece is fitted onto the calibration rod on the calibrator, the optical positioning device is controlled to collect image data of the optical markers on the calibrator. After the drill bit socket on the implantation handpiece is fitted onto the calibration rod, the positions between the drill bit socket and the calibration rod can be considered to coincide.

[0111] S2. Based on the image data of the optical marker points on the calibrator collected by the optical positioning instrument when the drill bit socket on the implantation mobile phone is fitted onto the calibration rod on the calibrator, and combined with the model design data of the calibrator, the three-dimensional data of the rotation axis and the end of the rotation axis of the implantation mobile phone in the optical three-dimensional coordinate system of the optical positioning instrument are calculated. The rotation axis is the central axis of the drill bit rotation, i.e., the drill bit rotates around the rotation axis; the end of the rotation axis is the point at the very front of the drill bit socket, i.e., the end of the rotation axis is a point on the rotation axis and located at the very front of the drill bit socket. According to the model design data of the calibrator, the relative positions of the calibration rod and the optical marker points on the calibrator can be obtained. At this time, the image data of the optical marker points on the calibrator collected by the optical positioning instrument, and since the positions between the drill bit socket and the calibration rod can be considered to coincide, can be used to obtain the three-dimensional data of the rotation axis and the end of the rotation axis of the implantation mobile phone in the optical three-dimensional coordinate system of the optical positioning instrument.

[0112] S3. When the drill bit socket on the implantation device is fixedly fitted with a spherical drill and the spherical drill abuts against the calibration recess on the calibration plate, the optical positioning device is controlled to collect image data of the optical marker points on the calibrator. After separating the drill bit socket and the calibration rod, the spherical drill is fixedly set on the drill bit socket and then abutted against the calibration recess on the calibration plate. At this time, the optical positioning device collects image data of the optical marker points on the calibrator, which prepares for obtaining the three-dimensional data of the spherical drill in the optical three-dimensional coordinate system.

[0113] S4. Based on the image data of the optical markers on the calibrator collected by the optical positioning instrument when the spherical drill abuts against the calibration pit on the calibration plate, and combined with the model design data of the calibrator, the three-dimensional data of the spherical drill on the implantation handpiece in the optical three-dimensional coordinate system is calculated. The position of the calibration pit can be determined based on the model design data of the calibrator, and simultaneously, the optical positioning instrument can collect image data of the optical markers on the calibrator, thus obtaining the three-dimensional data of the spherical drill in the optical three-dimensional coordinate system. At this point, for the implantation handpiece, the three-dimensional data of the rotation axis, the end of the rotation axis, and the spherical drill in the optical three-dimensional coordinate system of the optical positioning instrument are all known, and the calibration of the implantation handpiece is complete.

[0114] S5. When the spherical drill abuts against the registration recess on the register, calculate the three-dimensional data of the registration recess in the optical three-dimensional coordinate system based on the three-dimensional data of the spherical drill in the optical three-dimensional coordinate system. According to step S4, since the three-dimensional data of the spherical drill in the optical three-dimensional coordinate system of the optical positioning instrument is known, when the spherical drill abuts against the registration recess on the register, the positions of the spherical drill and the registration recess can be considered to coincide. At this time, the three-dimensional data of the spherical drill in the optical three-dimensional coordinate system of the optical positioning instrument can be used as the three-dimensional data of the registration recess in the optical three-dimensional coordinate system.

[0115] S6. After the reference plate and the registration device on the locator are locked and fixed together, the three-dimensional data of the registration recess in the positioning three-dimensional coordinate system is calculated based on the three-dimensional data of the registration recess in the optical three-dimensional coordinate system and the three-dimensional data of the reference plate of the locator in the optical three-dimensional coordinate system. In step S5, the three-dimensional data of the registration recess in the optical three-dimensional coordinate system is known. Based on this, combined with the three-dimensional data of the reference plate in the optical three-dimensional coordinate system, the three-dimensional data of the registration recess in the positioning three-dimensional coordinate system can be obtained.

[0116] S7. When the locator is fixed inside the patient's oral cavity, the CT scanning device is controlled to acquire three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system of the CT scanning device. The CT scanning device has its own CT three-dimensional coordinate system. When the locator is scanned by the CT scanning device, the density of the ceramic balls is relatively high, and three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system can be acquired.

[0117] S8. Based on the three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system, combined with the model design data of the locator and the three-dimensional data of the ceramic balls in the CT three-dimensional coordinate system, the three-dimensional data of the registration pit in the CT three-dimensional coordinate system is calculated. The relative positional relationship between the registration pit and the ceramic balls can be obtained based on the model design data of the calibrator. Since the three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system are known in step S7, the three-dimensional data of the registration pit in the CT three-dimensional coordinate system can be obtained accordingly.

[0118] S9. Based on the 3D data of the registration dimple in the optical 3D coordinate system, the 3D data of the registration dimple in the positioning 3D coordinate system, and the 3D data of the registration dimple in the CT 3D coordinate system, calculate the transformation relationships between the optical 3D coordinate system and the CT 3D coordinate system, and between the positioning 3D coordinate system and the optical 3D coordinate system, thus completing the registration. In the above steps, the registration dimple serves as a medium to establish connections between the optical 3D coordinate system, the positioning 3D coordinate system, and the optical 3D coordinate system, thereby completing the registration. After registration, the pairwise matrix transformation relationships between the optical 3D coordinate system, the positioning 3D coordinate system, and the optical 3D coordinate system can be obtained.

[0119] S10. Based on the pairwise transformation relationships between the optical 3D coordinate system, the CT 3D coordinate system, and the positioning 3D coordinate system, obtain the pose of the positioner in the optical 3D coordinate system. C H T .

[0120] S11. Based on the pose of the end of the rotation axis in the optical three-dimensional coordinate system and the pose of the drill tip in the end-point three-dimensional coordinate system of the rotation axis, calculate the pose of the drill tip in the positioning three-dimensional coordinate system. The pose of the drill tip in the positioning three-dimensional coordinate system can be obtained through calibration.

[0121] S12. Based on the pose of the locator in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system, calculate the pose of the ideal path in the positioning three-dimensional coordinate system. Before implanting the handpiece, an ideal path is preset in the CT three-dimensional coordinate system according to the patient's oral condition. The purpose of step S12 is to convert the pose of the ideal path in the CT three-dimensional coordinate system into the pose of the ideal path in the positioning three-dimensional coordinate system.

[0122] S13. Real-time comparison between the pose of the drill tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system, and real-time navigation of the implantation mobile phone based on the difference between the drill tip and the ideal path.

[0123] Based on the above technical solution, the optical positioning device is fixedly installed on the planting mobile phone. While the planting mobile phone is used for drilling, the optical positioning device collects image data of optical marker points for real-time navigation. In addition, since the optical positioning device and the planting mobile phone are connected as one unit, the process of real-time positioning of the planting mobile phone is eliminated compared with existing equipment, which can effectively reduce navigation errors.

[0124] In step S2, based on the image data of the optical markers on the calibrator collected by the optical positioning instrument when the drill bit sleeve hole on the implantation handpiece is fitted onto the calibrator's calibrator rod, and combined with the calibrator's model design data, the three-dimensional data of the implantation handpiece's rotation axis and its end point in the optical three-dimensional coordinate system of the optical positioning instrument are calculated. Preferably, step S2 specifically includes the following steps:

[0125] S201. Obtain the known calibration three-dimensional coordinate system of the calibrator, and further obtain the three-dimensional data P of the top of the calibration rod in the calibration three-dimensional coordinate system. M Obtain the three-dimensional data Q of the bottom of the calibration rod in the calibration three-dimensional coordinate system. M The calibration three-dimensional coordinate system of the calibrator is known, meaning that the three-dimensional data of the top and bottom of the calibration rod in the calibration three-dimensional coordinate system can be directly obtained. When the drill bit sleeve hole is fitted onto the calibration rod, the end of the rotating shaft and the bottom of the calibration rod can be considered to coincide.

[0126] S202. Based on the image data of the optical markers on the calibrator collected by the optical positioning instrument when the drill bit sleeve hole on the planting mobile phone is fitted onto the calibrator's calibrator rod, obtain the calibrator's pose in the optical three-dimensional coordinate system. C H M This step can be achieved by directly reading the data.

[0127] S203. Based on the pose of the calibrator in the optical three-dimensional coordinate system. C H M The three-dimensional coordinates P of the top of the calibration rod in the optical three-dimensional coordinate system were calculated. C The three-dimensional coordinates Q of the bottom of the calibration rod in the optical three-dimensional coordinate system C , where P C = C H M *P M Q C = C H M *Q M * represents matrix multiplication. In the above equation, the pose of the calibrator in the optical three-dimensional coordinate system is... C H M The three-dimensional data P of the top of the calibration rod in the calibration three-dimensional coordinate system M The three-dimensional data Q of the bottom of the calibration rod in the calibration three-dimensional coordinate system M All of these are known and can be obtained directly through calculation.

[0128] S204. Determine the three-dimensional coordinates P of the top of the rod according to the optical three-dimensional coordinate system. C The three-dimensional coordinates Q of the bottom of the calibration rod in the optical three-dimensional coordinate system C Calculate the axial vector V of the rotation axis of the implanted mobile phone and the unit vector V of the rotation axis of the implanted mobile phone in the optical three-dimensional coordinate system. n Where V = P C -Q C V n =V / |V|. In space, knowing the three-dimensional coordinates of two points allows us to find the vector of the line connecting them. Based on the three-dimensional coordinates P of the top of the rod in the optical three-dimensional coordinate system... C and the three-dimensional coordinates Q at the bottom of the calibration rod C That is, the axial vector V of the rotation axis is calculated, and the corresponding unit vector V is further obtained. n .

[0129] S205. Obtain the three-dimensional coordinates E of the end of the rotating axis of the implanted mobile phone in the optical three-dimensional coordinate system. C , of which E C =Q CSince the drill bit socket and calibration rod are fitted into the calibration rod on the implantation mobile phone, their positions can be considered to coincide, and the end of the rotating shaft can also be considered to coincide with the bottom of the calibration rod. Therefore, the three-dimensional coordinate Q of the bottom of the calibration rod is used as the reference. C It can be used as the three-dimensional coordinate E at the end of the rotating shaft. C .

[0130] S206. Based on the unit vector V of the rotation axis n Calculate the rotational normal vector rotateVec and the corresponding rotation angle ang, where rotateVec = zVec × V n ang = arccos(zVec·V n zVec = [0,0,1] C Let be the unit vector of the direction of the Z-axis in the optical 3D coordinate system; where × represents the cross product. The rotation normal can be obtained by performing the cross product of the unit vector of the rotation axis and the unit vector of the direction of the Z-axis in the optical 3D coordinate system; the rotation angle can be obtained by performing the dot product of the unit vector of the rotation axis and the unit vector of the direction of the Z-axis in the optical 3D coordinate system.

[0131] S207. Based on the three-dimensional coordinates E of the end of the rotating axis of the implanted mobile phone in the optical three-dimensional coordinate system. C By combining the origin of the optical three-dimensional coordinate system, the translation matrix is ​​calculated. C H Trans The rotation matrix is ​​calculated based on the rotation normal (rotateVec) and the corresponding rotation angle (ang). Crans H Rotate .

[0132] The translation matrix can be obtained by translating the optical three-dimensional coordinate system to the end of the rotation axis. C H Trans The rotation matrix of the end of the rotation axis with respect to the optical three-dimensional coordinate system can be obtained based on the rotation angle. Crans H Rotate .

[0133] S208. Calculate the pose of the end of the rotation axis in the optical three-dimensional coordinate system based on the translation and rotation matrices. C H E ,in, C H E = C H Trans * Crans H Rotate .

[0134] Based on the above technical solution, and assuming that the optical positioning device is fixedly installed on the implantation mobile phone, the rotation axis and the end of the rotation axis of the implantation mobile phone are calibrated by the calibration rod on the calibrator. After calibration, since the relative position between the optical positioning device and the implantation mobile phone remains unchanged, the real-time pose of the rotation axis and the end of the rotation axis of the implantation mobile phone can be directly obtained through the optical positioning device.

[0135] In step S8, based on the three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system, combined with the model design data of the locator and the three-dimensional data of the ceramic balls in the CT three-dimensional coordinate system, the three-dimensional data of the registration pit in the CT three-dimensional coordinate system is calculated. Step S8 specifically includes the following steps:

[0136] S801. Obtain the 3D data of the registration pit and the ceramic ball in the registration 3D coordinate system of the calibrator based on the model design data of the locator. The model design data of the calibrator already includes the relative positional relationships of all components of the calibrator, such as the registration pit and the ceramic ball. This step can be directly obtained from the model design data of the calibrator.

[0137] S802. Acquire three-dimensional data of the ceramic sphere in the CT three-dimensional coordinate system. Because of their high density, ceramic spheres will appear as images during CT scans. The three-dimensional data of the ceramic sphere in the CT three-dimensional coordinate system can be obtained through CT scanning.

[0138] S803. Based on the three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system and the three-dimensional data in the registration three-dimensional coordinate system, the pose of the register in the CT three-dimensional coordinate system is calculated according to the rigid body registration algorithm. CT H R Rigid body registration algorithms are existing technologies well known to those skilled in the art.

[0139] S804. Based on the 3D data of the registration pit in the 3D coordinate system and the pose of the register in the CT 3D coordinate system. CT H R The three-dimensional data P' of the registered pit in the CT three-dimensional coordinate system is calculated, where P' = CT H R *P, where P is the 3D data of the registration pit in the 3D coordinate system of the registration apparatus, and P' is the 3D data of the registration pit in the CT 3D coordinate system. Based on the data obtained in the above steps, the 3D data P of the registration pit in the CT 3D coordinate system can be obtained through calculation. ' .

[0140] In step S11, the pose of the drill tip in the positioning three-dimensional coordinate system is calculated based on the pose of the end of the rotation axis in the optical three-dimensional coordinate system and the pose of the drill tip in the end three-dimensional coordinate system of the end of the rotation axis. Step S11 specifically includes the following steps:

[0141] S1101. Calibrate the implantation mobile phone and calculate the position and orientation of the drill tip in the optical three-dimensional coordinate system based on the calibration results. C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D The end of the rotating shaft itself possesses a three-dimensional coordinate system, which can be defined by specifying the origin and each axis; this is the end-point three-dimensional coordinate system. Through calibration, the position and orientation of the drill tip in the optical three-dimensional coordinate system can be obtained. C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D .

[0142] S1102. Given the pose of the positioner in the optical three-dimensional coordinate system. C H T Perform inverse matrix operations to obtain T H C This step can be directly obtained by performing the inverse matrix operation.

[0143] S1103. Based on the position of the drill tip in the optical three-dimensional coordinate system C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D Combined with the pose of the positioner in the optical three-dimensional coordinate system C H T The inverse matrix operation result is used to calculate the pose of the drill bit tip in the positioning three-dimensional coordinate system. T H D ,in, T H D = T H C * C H E * E H D Based on the known parameters mentioned above, the position and orientation of the drill bit tip in the positioning three-dimensional coordinate system can be directly calculated. T H D .

[0144] In step S12, the pose of the ideal path in the positioning three-dimensional coordinate system is calculated based on the pose of the locator in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system. Step S12 specifically includes the following steps:

[0145] S1201. Positioning of the locator in the CT 3D coordinate system CT H CPerform inverse matrix operations to obtain the inverse matrix of the pose of the locator in the CT 3D coordinate system. C H CT This step can be directly obtained by performing the inverse matrix operation.

[0146] S1202. Obtain the pose of the preset ideal path in the CT 3D coordinate system. CT H L The pre-defined ideal path is a specific implantation plan developed based on the patient's oral environment. Designing this path in the CT three-dimensional coordinate system yields its pose within that system. CT H L .

[0147] S1203. Based on the inverse matrix of the pose of the locator in the CT three-dimensional coordinate system. C H CT The pose of the preset ideal path in the CT 3D coordinate system CT H L The pose of the ideal path in the positioning three-dimensional coordinate system is calculated. T H L ,in, T H L = C H CT * CT H L Based on the known parameters mentioned above, the pose of the ideal path in the positioning three-dimensional coordinate system can be calculated. T H L .

[0148] Based on the above technical solution, the position of the drill tip in the positioning three-dimensional coordinate system is obtained by calibrating and recalculating the implant handpiece. The position of the ideal path in the positioning three-dimensional coordinate system is calculated according to the ideal path in the preset implantation aspect. By comparing the position of the drill tip in the positioning three-dimensional coordinate system with the position of the ideal path, it can serve as the data basis for oral implant navigation.

[0149] In step S13, the pose of the drill tip in the positioning three-dimensional coordinate system is compared with the pose of the ideal path in the positioning three-dimensional coordinate system in real time. The implantation mobile phone is navigated in real time based on the difference between the drill tip and the ideal path. Step S13 specifically includes the following steps:

[0150] S1301. Based on the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔX = D between the drill bit tip and the ideal path in the X-axis direction under the positioning three-dimensional coordinate system. X -L XD X L represents the X-axis component of the three-dimensional data of the drill tip. X The components of the three-dimensional data representing the ideal path on the X-axis are obtained by subtracting the components to obtain the real-time difference between the drill tip and the ideal path in the X-axis direction.

[0151] S1302. Based on the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔY = D between the drill bit tip and the ideal path in the Y-axis direction under the positioning three-dimensional coordinate system. Y -L Y D Y L represents the Y-axis component of the three-dimensional data of the drill tip. Y The component of the three-dimensional data representing the ideal path on the Y-axis is obtained by subtracting the components. The real-time difference between the drill tip and the ideal path in the Y-axis direction is obtained by subtracting the components.

[0152] S1303. Based on the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔZ = D between the drill bit tip and the ideal path in the Z-axis direction under the positioning three-dimensional coordinate system. Z -L Z D Z L represents the Z-axis component of the three-dimensional data of the drill bit tip. Z The Z-axis component of the three-dimensional data representing the ideal path is obtained by subtracting the components. The real-time difference between the drill tip and the ideal path in the Z-axis direction is obtained by subtracting the components.

[0153] S1304. Based on the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L The deviation angle Δθ = arccos(D·L) between the drill bit tip and the ideal path in the three-dimensional coordinate system is calculated, where · represents the vector dot product. D represents the three-dimensional data of the drill bit tip, and L represents the three-dimensional data of the ideal path. The real-time difference in deviation angle between the drill bit tip and the ideal path is obtained by subtracting the two values.

[0154] In three-dimensional space, the drill tip can be corrected in real time by using the real-time differences and real-time deviation angles in the X, Y, and Z axes relative to the ideal path. Therefore, by obtaining the real-time differences and real-time deviation angles between the drill tip and the ideal path in the X, Y, and Z axes based on the poses of the drill tip and the ideal path in the positioning three-dimensional coordinate system, real-time navigation of the implantation mobile phone can be achieved.

[0155] like Figure 2 As shown, in order to solve the above problems, the present invention provides an oral implant navigation system, which includes a first image data acquisition module 1, a first three-dimensional data calculation module 2, a second image data acquisition module 3, a second three-dimensional data calculation module 4, a first registration data calculation module 5, a second registration data calculation module 6, a CT data acquisition module 7, a third registration data calculation module 8, a registration processing module 9, a locator pose acquisition module 10, a drill real-time pose calculation module 11, an ideal path calculation module 12, and a real-time navigation module 13.

[0156] The first image data acquisition module is used to control the optical positioning instrument to acquire image data of the optical markers on the calibrator when the drill bit sleeve hole on the planting mobile phone is fitted onto the calibrator rod on the calibrator.

[0157] The first three-dimensional data calculation module is used to calculate the three-dimensional data of the rotation axis and the end of the rotation axis of the implantation mobile phone in the optical three-dimensional coordinate system of the optical positioning instrument based on the image data of the optical marker points on the calibrator collected by the optical positioning instrument when the drill bit sleeve hole on the implantation mobile phone is fitted onto the calibrator rod, combined with the model design data of the calibrator; wherein, the rotation axis is the central axis when the drill bit rotates, and the end of the rotation axis is the point at the foremost point of the drill bit sleeve hole;

[0158] The second image data acquisition module is used to control the optical positioning instrument to acquire image data of the optical markers on the calibrator when the drill bit socket on the planting mobile phone is fixedly fitted with a ball drill and the ball drill abuts against the calibration pit on the calibration plate.

[0159] The second three-dimensional data calculation module is used to calculate the three-dimensional data of the spherical drill on the planting mobile phone in the optical three-dimensional coordinate system based on the image data of the optical marker points on the calibrator collected by the optical positioning instrument when the spherical drill abuts against the calibration pit on the calibration plate, combined with the model design data of the calibrator.

[0160] The first registration data calculation module is used to calculate the three-dimensional data of the registration pit in the optical three-dimensional coordinate system based on the three-dimensional data of the ball drill in the optical three-dimensional coordinate system when the ball drill comes into contact with the registration pit on the registration device.

[0161] The second registration data calculation module is used to calculate the three-dimensional data of the registration recess in the positioning three-dimensional coordinate system of the locator after the reference plate on the locator and the locator are locked and fixed together, based on the three-dimensional data of the registration recess in the optical three-dimensional coordinate system and the three-dimensional data of the reference plate of the locator in the optical three-dimensional coordinate system.

[0162] The CT data acquisition module is used to control the CT scanning device to acquire three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system on the CT scanning device when the locator is fixed in the patient's oral cavity.

[0163] The third registration data calculation module is used to calculate the three-dimensional data of the registration pit in the CT three-dimensional coordinate system based on the three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system, combined with the model design data of the locator and the three-dimensional data of the ceramic balls in the CT three-dimensional coordinate system.

[0164] The registration processing module is used to calculate the transformation relationship between the optical three-dimensional coordinate system and the CT three-dimensional coordinate system, and the transformation relationship between the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system, based on the three-dimensional data of the registration pit in the optical three-dimensional coordinate system, the three-dimensional data of the registration pit in the positioning three-dimensional coordinate system, and the three-dimensional data of the registration pit in the CT three-dimensional coordinate system, and to complete the registration.

[0165] The locator pose acquisition module is used to obtain the locator pose in the optical 3D coordinate system based on the pairwise transformation relationships between the optical 3D coordinate system, the CT 3D coordinate system, and the positioning 3D coordinate system. C H T ;

[0166] The real-time drill bit pose calculation module is used to calculate the pose of the drill bit tip in the positioning three-dimensional coordinate system based on the pose of the end of the rotation axis in the optical three-dimensional coordinate system and the pose of the drill bit tip in the end three-dimensional coordinate system of the end of the rotation axis.

[0167] The ideal path calculation module is used to calculate the pose of the ideal path in the positioning three-dimensional coordinate system based on the pose of the locator in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system.

[0168] The real-time navigation module is used to compare the pose of the drill tip in the three-dimensional coordinate system with the pose of the ideal path in the three-dimensional coordinate system in real time, and to navigate the implantation mobile phone in real time by the difference between the drill tip and the ideal path.

[0169] The first three-dimensional data calculation module specifically includes:

[0170] The calibration three-dimensional coordinate system data acquisition unit is used to acquire the known calibration three-dimensional coordinate system of the calibrator, and further acquire the three-dimensional data P of the top of the calibration rod in the calibration three-dimensional coordinate system.M Obtain the three-dimensional data Q of the bottom of the calibration rod in the calibration three-dimensional coordinate system. M ;

[0171] The calibrator pose calculation unit is used to obtain the calibrator pose in the optical three-dimensional coordinate system based on the image data of the optical marker points on the calibrator collected by the optical positioning instrument when the drill bit sleeve hole on the calibrator is fitted onto the calibrator rod. C H M ;

[0172] The calibration rod coordinate calculation unit is used to calculate the position of the calibrator in the optical three-dimensional coordinate system. C H M The three-dimensional coordinates P of the top of the calibration rod in the optical three-dimensional coordinate system were calculated. C The three-dimensional coordinates Q of the bottom of the calibration rod in the optical three-dimensional coordinate system C , where P C = C H M *P M Q C = C H M *Q M * indicates matrix multiplication;

[0173] The rotation axis data calculation unit is used to calculate the three-dimensional coordinates P of the top of the calibration rod in the optical three-dimensional coordinate system. C The three-dimensional coordinates Q of the bottom of the calibration rod in the optical three-dimensional coordinate system C Calculate the axial vector V of the rotation axis of the implanted mobile phone and the unit vector V of the rotation axis of the implanted mobile phone in the optical three-dimensional coordinate system. n Where V = P C -Q C V n =V / |V|;

[0174] The rotation axis end coordinate calculation unit is used to obtain the three-dimensional coordinates E of the end of the rotating axis of the implanted mobile phone in the optical three-dimensional coordinate system. C , of which E C =Q C ;

[0175] The rotation normal data analysis unit is used to analyze the rotation axis based on the unit vector V. n Calculate the rotational normal vector rotateVec and the corresponding rotation angle ang, where rotateVec = zVec × V n ang = arccos(zVec·V n zVec = [0,0,1] C is the unit vector of the Z-axis in the optical three-dimensional coordinate system; where × is the vector cross product.

[0176] The transformation matrix calculation unit is used to calculate the three-dimensional coordinates E of the end of the rotating axis of the planting mobile phone in the optical three-dimensional coordinate system. C By combining the origin of the optical three-dimensional coordinate system, the translation matrix is ​​calculated. C H Trans The rotation matrix is ​​calculated based on the rotation normal (rotateVec) and the corresponding rotation angle (ang). Crans H Rotate ;

[0177] The end-effector pose calculation unit is used to calculate the pose of the end-effector in the optical three-dimensional coordinate system based on the translation and rotation matrices. C H E ,in, C H E = C H Trans * Crans H Rotate .

[0178] The third registration data calculation module specifically includes:

[0179] The 3D data acquisition module for the registration device is used to acquire the 3D data of the registration pit and the 3D data of the ceramic ball in the 3D coordinate system of the registration device based on the model design data of the locator.

[0180] The ceramic ball 3D data acquisition module is used to acquire the 3D data of the ceramic ball in the CT 3D coordinate system;

[0181] The registration device pose calculation module is used to calculate the pose of the registration device in the CT 3D coordinate system based on the 3D data of the ceramic ball in the CT 3D coordinate system and the 3D data in the registration 3D coordinate system, according to the rigid body registration algorithm. CT H R ;

[0182] The registration pit 3D data calculation module is used to calculate the 3D data of the registration pit in the registration 3D coordinate system and the pose of the registration device in the CT 3D coordinate system. CT H R The three-dimensional data P' of the registered pit in the CT three-dimensional coordinate system is calculated, where P' = CT H R *P, P is the three-dimensional data of the registration pit in the three-dimensional coordinate system of the registration device, and P' is the three-dimensional data of the registration pit in the three-dimensional coordinate system of the CT.

[0183] The real-time drill bit pose calculation module specifically includes:

[0184] The drill tip calibration processing unit is used to calibrate the implantation mobile phone and calculate the pose of the drill tip in the optical three-dimensional coordinate system based on the calibration results. C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D ;

[0185] The first inverse matrix operation unit of the locator is used to determine the pose of the locator in a known optical three-dimensional coordinate system. C H T Perform inverse matrix operations to obtain T H C ;

[0186] The drill tip pose data calculation unit is used to calculate the drill tip pose in the optical three-dimensional coordinate system. C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D Combined with the pose of the positioner in the optical three-dimensional coordinate system C H T The inverse matrix operation result is used to calculate the pose of the drill bit tip in the positioning three-dimensional coordinate system. T H D ,in, T H D = T H C * C H E * E H D .

[0187] The ideal path calculation module specifically includes:

[0188] The second inverse matrix operation unit of the locator is used to calculate the pose of the locator in the CT three-dimensional coordinate system. CT H C Perform inverse matrix operations to obtain the inverse matrix of the pose of the locator in the CT 3D coordinate system. C H CT ;

[0189] The ideal path data acquisition unit is used to acquire the pose of a preset ideal path in the CT three-dimensional coordinate system. CT H L ;

[0190] The ideal path pose data calculation unit is used to calculate the inverse matrix of the pose of the locator in the CT 3D coordinate system. C H CT The pose of the preset ideal path in the CT 3D coordinate system CT H LThe pose of the ideal path in the positioning three-dimensional coordinate system is calculated. T H L ,in, T H L = C H CT * CT H L .

[0191] The real-time navigation module specifically includes:

[0192] The X-axis deviation calculation unit is used to calculate the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔX = D between the drill bit tip and the ideal path in the X-axis direction under the positioning three-dimensional coordinate system. X -L X ;

[0193] The Y-axis deviation calculation unit is used to calculate the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔY = D between the drill bit tip and the ideal path in the Y-axis direction under the positioning three-dimensional coordinate system. Y -L Y ;

[0194] The Z-axis deviation calculation unit is used to calculate the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔZ = D between the drill bit tip and the ideal path in the Z-axis direction under the positioning three-dimensional coordinate system. Z -L Z ;

[0195] Angle deviation calculation unit is used to calculate the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the deviation angle Δθ = arccos(D·L) between the drill tip and the ideal path in the three-dimensional coordinate system, where · is the vector dot product.

[0196] To address the aforementioned problems, the present invention provides a storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, execute the oral implant navigation method as described above.

[0197] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A navigation method for dental implants, characterized in that, The oral implant navigation method is based on an oral implant navigation device, which includes a calibrator, a locator, an optical locator, and an implant handpiece. The calibrator is equipped with a calibration rod, and the locator includes a reference plate and a registration device. The registration device is equipped with multiple ceramic balls and multiple registration pits. The optical locator is fixedly mounted on the implant handpiece and faces the drill bit socket on the implant handpiece. A spherical drill or drill bit is fixedly fitted onto the drill bit socket. The oral implant navigation method includes the following steps: S1. When the drill bit socket on the planting mobile phone is fitted onto the calibration rod on the calibrator, control the optical positioning instrument to collect image data of the optical markers on the calibrator; S2. Based on the image data of the optical marker points on the calibrator collected by the optical positioning instrument when the drill bit sleeve hole on the implantation mobile phone is fitted onto the calibrator rod, and combined with the model design data of the calibrator, calculate the three-dimensional data of the rotation axis and the end of the rotation axis of the implantation mobile phone in the optical three-dimensional coordinate system of the optical positioning instrument; where the rotation axis is the central axis when the drill bit rotates, and the end of the rotation axis is the point at the foremost point of the drill bit sleeve hole; S3. When the drill bit socket on the planting mobile phone is fixedly fitted with a ball drill and the ball drill abuts against the calibration pit on the calibration plate, control the optical positioning instrument to collect image data of the optical marker points on the calibrator; S4. Based on the image data of the optical markers on the calibrator collected by the optical positioning instrument when the spherical drill abuts against the calibration pit on the calibration plate, and combined with the model design data of the calibrator, calculate the three-dimensional data of the spherical drill on the planting mobile phone in the optical three-dimensional coordinate system. S5. When the ball drill comes into contact with the registration recess on the registration device, calculate the three-dimensional data of the registration recess in the optical three-dimensional coordinate system based on the three-dimensional data of the ball drill in the optical three-dimensional coordinate system. S6. After the reference plate and the registration device on the locator are locked and fixed together, the three-dimensional data of the registration pit in the optical three-dimensional coordinate system and the three-dimensional data of the reference plate of the locator in the optical three-dimensional coordinate system are calculated. S7. When the locator is fixed in the patient's oral cavity, control the CT scanning equipment to acquire three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system on the CT scanning equipment; S8. Based on the three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system, combined with the model design data of the locator and the three-dimensional data of the ceramic balls in the CT three-dimensional coordinate system, the three-dimensional data of the registration pit in the CT three-dimensional coordinate system is calculated. S9. Based on the three-dimensional data of the registration pit in the optical three-dimensional coordinate system, the three-dimensional data of the registration pit in the positioning three-dimensional coordinate system, and the three-dimensional data of the registration pit in the CT three-dimensional coordinate system, calculate the transformation relationship between the optical three-dimensional coordinate system and the CT three-dimensional coordinate system, and the transformation relationship between the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system, and complete the registration. S10. Based on the pairwise transformation relationships between the optical 3D coordinate system, the CT 3D coordinate system, and the positioning 3D coordinate system, obtain the pose of the positioner in the optical 3D coordinate system. C H T ; S11. Based on the pose of the end of the rotation axis in the optical three-dimensional coordinate system and the pose of the drill tip in the end three-dimensional coordinate system of the end of the rotation axis, calculate the pose of the drill tip in the positioning three-dimensional coordinate system. S12. Based on the pose of the locator in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system, calculate the pose of the ideal path in the positioning three-dimensional coordinate system. S13. Real-time comparison between the pose of the drill tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system, and real-time navigation of the implantation mobile phone based on the difference between the drill tip and the ideal path.

2. The oral implant navigation method according to claim 1, characterized in that, Step S2 specifically includes the following steps: S201. Obtain the known calibration three-dimensional coordinate system of the calibrator, and further obtain the three-dimensional data P of the top of the calibration rod in the calibration three-dimensional coordinate system. M Obtain the three-dimensional data Q of the bottom of the calibration rod in the calibration three-dimensional coordinate system. M ; S202. Based on the image data of the optical markers on the calibrator collected by the optical positioning instrument when the drill bit sleeve hole on the planting mobile phone is fitted onto the calibrator's calibrator rod, obtain the calibrator's pose in the optical three-dimensional coordinate system. C H M ; S203. Based on the pose of the calibrator in the optical three-dimensional coordinate system. C H M The three-dimensional coordinates P of the top of the calibration rod in the optical three-dimensional coordinate system were calculated. C The three-dimensional coordinates Q of the bottom of the calibration rod in the optical three-dimensional coordinate system C , where P C = C H M *P M Q C = C H M *Q M * indicates matrix multiplication; S204. Determine the three-dimensional coordinates P of the top of the rod according to the optical three-dimensional coordinate system. C The three-dimensional coordinates Q of the bottom of the calibration rod in the optical three-dimensional coordinate system C Calculate the axial vector V of the rotation axis of the implanted mobile phone and the unit vector V of the rotation axis of the implanted mobile phone in the optical three-dimensional coordinate system. n Where V = P C -Q C V n =V / |V|; S205. Obtain the three-dimensional coordinates E of the end of the rotating axis of the implanted mobile phone in the optical three-dimensional coordinate system. C , of which E C =Q C ; S206. Based on the unit vector V of the rotation axis n Calculate the rotational normal vector rotateVec and the corresponding rotation angle ang, where rotateVec = zVec × V n ang = arccos(zVec·V n zVec = [0,0,1] C is the unit vector of the Z-axis in the optical three-dimensional coordinate system; where × is the vector cross product. S207. Based on the three-dimensional coordinates E of the end of the rotating axis of the implanted mobile phone in the optical three-dimensional coordinate system. C By combining the origin of the optical three-dimensional coordinate system, the translation matrix is ​​calculated. C H Trans The rotation matrix is ​​calculated based on the rotation normal (rotateVec) and the corresponding rotation angle (ang). Crans H Rotate ; S208. Calculate the pose of the end of the rotation axis in the optical three-dimensional coordinate system based on the translation and rotation matrices. C H E ,in, C H E = C H Trans * Crans H Rotate .

3. The oral implant navigation method according to claim 1, characterized in that, Step S8 specifically includes the following steps: S801. Based on the model design data of the locator, obtain the three-dimensional data of the registration pit and the three-dimensional data of the ceramic ball in the registration three-dimensional coordinate system of the registration device; S802. Acquire three-dimensional data of the ceramic sphere in the CT three-dimensional coordinate system; S803. Based on the three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system and the three-dimensional data in the registration three-dimensional coordinate system, the pose of the register in the CT three-dimensional coordinate system is calculated according to the rigid body registration algorithm. CT H R ; S804. Based on the 3D data of the registration pit in the 3D coordinate system and the pose of the register in the CT 3D coordinate system. CT H R The three-dimensional data P' of the registered pit in the CT three-dimensional coordinate system is calculated, where P' = CT H R *P, P is the 3D data of the registration pit in the 3D coordinate system of the registration device, and P' is the 3D data of the registration pit in the CT 3D coordinate system.

4. The oral implant navigation method according to claim 1, characterized in that, Step S11 specifically includes the following steps: S1101. Calibrate the implantation mobile phone and calculate the position and orientation of the drill tip in the optical three-dimensional coordinate system based on the calibration results. C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D ; S1102. Given the pose of the positioner in the optical three-dimensional coordinate system. C H T Perform inverse matrix operations to obtain T H C ; S1103. Based on the position of the drill tip in the optical three-dimensional coordinate system C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D Combined with the pose of the positioner in the optical three-dimensional coordinate system C H T The inverse matrix operation result is used to calculate the pose of the drill bit tip in the positioning three-dimensional coordinate system. T H D ,in, T H D = T H C * C H E * E H D ; Step S12 specifically includes the following steps: S1201. Positioning of the locator in the CT 3D coordinate system CT H C Perform inverse matrix operations to obtain the inverse matrix of the pose of the locator in the CT 3D coordinate system. C H CT ; S1202. Obtain the pose of the preset ideal path in the CT 3D coordinate system. CT H L ; S1203. Based on the inverse matrix of the pose of the locator in the CT three-dimensional coordinate system. C H CT The pose of the preset ideal path in the CT 3D coordinate system CT H L The pose of the ideal path in the positioning three-dimensional coordinate system is calculated. T H L ,in, T H L = C H CT * CT H L .

5. The oral implant navigation method according to claim 1, characterized in that, Step S13 specifically includes the following steps: S1301. Based on the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔX = D between the drill bit tip and the ideal path in the X-axis direction under the positioning three-dimensional coordinate system. X -L X ; S1302. Based on the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔY = D between the drill bit tip and the ideal path in the Y-axis direction under the positioning three-dimensional coordinate system. Y -L Y ; S1303. Based on the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔZ = D between the drill bit tip and the ideal path in the Z-axis direction under the positioning three-dimensional coordinate system. Z -L Z ; S1304. Based on the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the deviation angle Δθ = arccos(D·L) between the drill tip and the ideal path in the three-dimensional coordinate system, where · is the vector dot product.

6. A dental implant navigation system, characterized in that, The oral implant navigation system is based on an oral implant navigation device, which includes a calibrator, a locator, an optical locator, and an implant handpiece. The calibrator is equipped with a calibration rod, and the locator includes a reference plate and a registration device. The registration device is equipped with multiple ceramic balls and multiple registration pits. The optical locator is fixedly mounted on the implant handpiece and faces the drill bit socket on the implant handpiece. A spherical drill or drill bit is fixedly fitted onto the drill bit socket. The dental implant navigation device includes: The first image data acquisition module is used to control the optical positioning instrument to acquire image data of the optical markers on the calibrator when the drill bit sleeve hole on the planting mobile phone is fitted onto the calibrator rod on the calibrator. The first three-dimensional data calculation module is used to calculate the three-dimensional data of the rotation axis and the end of the rotation axis of the implantation mobile phone in the optical three-dimensional coordinate system of the optical positioning instrument based on the image data of the optical marker points on the calibrator collected by the optical positioning instrument when the drill bit sleeve hole on the implantation mobile phone is fitted onto the calibrator rod, combined with the model design data of the calibrator; wherein, the rotation axis is the central axis when the drill bit rotates, and the end of the rotation axis is the point at the foremost point of the drill bit sleeve hole; The second image data acquisition module is used to control the optical positioning instrument to acquire image data of the optical markers on the calibrator when the drill bit socket on the planting mobile phone is fixedly fitted with a ball drill and the ball drill abuts against the calibration pit on the calibration plate. The second three-dimensional data calculation module is used to calculate the three-dimensional data of the spherical drill on the planting mobile phone in the optical three-dimensional coordinate system based on the image data of the optical marker points on the calibrator collected by the optical positioning instrument when the spherical drill abuts against the calibration pit on the calibration plate, combined with the model design data of the calibrator. The first registration data calculation module is used to calculate the three-dimensional data of the registration pit in the optical three-dimensional coordinate system based on the three-dimensional data of the ball drill in the optical three-dimensional coordinate system when the ball drill comes into contact with the registration pit on the registration device. The second registration data calculation module is used to calculate the three-dimensional data of the registration recess in the positioning three-dimensional coordinate system of the locator after the reference plate on the locator and the locator are locked and fixed together, based on the three-dimensional data of the registration recess in the optical three-dimensional coordinate system and the three-dimensional data of the reference plate of the locator in the optical three-dimensional coordinate system. The CT data acquisition module is used to control the CT scanning device to acquire three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system on the CT scanning device when the locator is fixed in the patient's oral cavity. The third registration data calculation module is used to calculate the three-dimensional data of the registration pit in the CT three-dimensional coordinate system based on the three-dimensional data of multiple ceramic balls in the CT three-dimensional coordinate system, combined with the model design data of the locator and the three-dimensional data of the ceramic balls in the CT three-dimensional coordinate system. The registration processing module is used to calculate the transformation relationship between the optical three-dimensional coordinate system and the CT three-dimensional coordinate system, and the transformation relationship between the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system, based on the three-dimensional data of the registration pit in the optical three-dimensional coordinate system, the three-dimensional data of the registration pit in the positioning three-dimensional coordinate system, and the three-dimensional data of the registration pit in the CT three-dimensional coordinate system, and to complete the registration. The locator pose acquisition module is used to obtain the locator pose in the optical 3D coordinate system based on the pairwise transformation relationships between the optical 3D coordinate system, the CT 3D coordinate system, and the positioning 3D coordinate system. C H T ; The real-time drill bit pose calculation module is used to calculate the pose of the drill bit tip in the positioning three-dimensional coordinate system based on the pose of the end of the rotation axis in the optical three-dimensional coordinate system and the pose of the drill bit tip in the end three-dimensional coordinate system of the end of the rotation axis. The ideal path calculation module is used to calculate the pose of the ideal path in the positioning three-dimensional coordinate system based on the pose of the locator in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system. The real-time navigation module is used to compare the pose of the drill tip in the three-dimensional coordinate system with the pose of the ideal path in the three-dimensional coordinate system in real time, and to navigate the implantation mobile phone in real time by the difference between the drill tip and the ideal path.

7. The oral implant navigation system according to claim 6, characterized in that, The first three-dimensional data calculation module specifically includes: The calibration three-dimensional coordinate system data acquisition unit is used to acquire the known calibration three-dimensional coordinate system of the calibrator, and further acquire the three-dimensional data P of the top of the calibration rod in the calibration three-dimensional coordinate system. M Obtain the three-dimensional data Q of the bottom of the calibration rod in the calibration three-dimensional coordinate system. M ; The calibrator pose calculation unit is used to obtain the calibrator pose in the optical three-dimensional coordinate system based on the image data of the optical marker points on the calibrator collected by the optical positioning instrument when the drill bit sleeve hole on the calibrator is fitted onto the calibrator rod. C H M ; The calibration rod coordinate calculation unit is used to calculate the position of the calibrator in the optical three-dimensional coordinate system. C H M The three-dimensional coordinates P of the top of the calibration rod in the optical three-dimensional coordinate system were calculated. C The three-dimensional coordinates Q of the bottom of the calibration rod in the optical three-dimensional coordinate system C , where P C = C H M *P M Q C = C H M *Q M * indicates matrix multiplication; The rotation axis data calculation unit is used to calibrate the three-dimensional coordinates P of the top of the rod in the optical three-dimensional coordinate system. C The three-dimensional coordinates Q of the bottom of the calibration rod in the optical three-dimensional coordinate system C Calculate the axial vector V of the rotation axis of the implanted mobile phone and the unit vector V of the rotation axis of the implanted mobile phone in the optical three-dimensional coordinate system. n Where V = P C -Q C V n =V / |V|; The rotation axis end coordinate calculation unit is used to obtain the three-dimensional coordinates E of the end of the rotating axis of the implanted mobile phone in the optical three-dimensional coordinate system. C , of which E C =Q C ; The rotation normal data analysis unit is used to analyze the rotation axis based on the unit vector V. n Calculate the rotational normal vector rotateVec and the corresponding rotation angle ang, where rotateVec = zVec × V n ang = arccos(zVec·V n zVec = [0,0,1] C is the unit vector of the Z-axis in the optical three-dimensional coordinate system; where × is the vector cross product. The transformation matrix calculation unit is used to calculate the three-dimensional coordinates E of the end of the rotating axis of the planting mobile phone in the optical three-dimensional coordinate system. C By combining the origin of the optical three-dimensional coordinate system, the translation matrix is ​​calculated. C H Trans The rotation matrix is ​​calculated based on the rotation normal (rotateVec) and the corresponding rotation angle (ang). Crans H Rotate ; The end-effector pose calculation unit is used to calculate the pose of the end-effector in the optical three-dimensional coordinate system based on the translation and rotation matrices. C H E ,in, C H E = C H Trans * Crans H Rotate .

8. A dental implant navigation system according to claim 6, characterized in that, The third registration data calculation module specifically includes: The 3D data acquisition module for the registration device is used to acquire the 3D data of the registration pit and the 3D data of the ceramic ball in the 3D coordinate system of the registration device based on the model design data of the locator. The ceramic ball 3D data acquisition module is used to acquire the 3D data of the ceramic ball in the CT 3D coordinate system; The registration device pose calculation module is used to calculate the pose of the registration device in the CT 3D coordinate system based on the 3D data of the ceramic ball in the CT 3D coordinate system and the 3D data in the registration 3D coordinate system, according to the rigid body registration algorithm. CT H R ; The registration pit 3D data calculation module is used to calculate the 3D data of the registration pit in the registration 3D coordinate system and the pose of the registration device in the CT 3D coordinate system. CT H R The three-dimensional data P' of the registered pit in the CT three-dimensional coordinate system is calculated, where P' = CT H R *P, P is the three-dimensional data of the registration pit in the three-dimensional coordinate system of the registration device, and P' is the three-dimensional data of the registration pit in the three-dimensional coordinate system of the CT. The drill bit real-time pose calculation module specifically includes: The drill tip calibration processing unit is used to calibrate the implantation mobile phone and calculate the pose of the drill tip in the optical three-dimensional coordinate system based on the calibration results. C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D ; The first inverse matrix operation unit of the locator is used to determine the pose of the locator in a known optical three-dimensional coordinate system. C H T Perform inverse matrix operations to obtain T H C ; The drill tip pose data calculation unit is used to calculate the drill tip pose in the optical three-dimensional coordinate system. C H E The position of the drill tip in the end-point three-dimensional coordinate system E H D Combined with the pose of the positioner in the optical three-dimensional coordinate system C H T The inverse matrix operation result is used to calculate the pose of the drill bit tip in the positioning three-dimensional coordinate system. T H D ,in, T H D = T H C * C H E * E H D ; The ideal path calculation module specifically includes: The second inverse matrix operation unit of the locator is used to calculate the pose of the locator in the CT three-dimensional coordinate system. CT H C Perform inverse matrix operations to obtain the inverse matrix of the pose of the locator in the CT 3D coordinate system. C H CT ; The ideal path data acquisition unit is used to acquire the pose of a preset ideal path in the CT three-dimensional coordinate system. CT H L ; The ideal path pose data calculation unit is used to calculate the inverse matrix of the pose of the locator in the CT 3D coordinate system. C H CT The pose of the preset ideal path in the CT 3D coordinate system CT H L The pose of the ideal path in the positioning three-dimensional coordinate system is calculated. T H L ,in, T H L = C H CT * CT H L .

9. A dental implant navigation system according to claim 6, characterized in that, The real-time navigation module specifically includes: The X-axis deviation calculation unit is used to calculate the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔX = D between the drill bit tip and the ideal path in the X-axis direction under the positioning three-dimensional coordinate system. X -L X ; The Y-axis deviation calculation unit is used to calculate the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔY = D between the drill bit tip and the ideal path in the Y-axis direction under the positioning three-dimensional coordinate system. Y -L Y ; The Z-axis deviation calculation unit is used to calculate the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the real-time difference ΔZ = D between the drill bit tip and the ideal path in the Z-axis direction under the positioning three-dimensional coordinate system. Z -L Z ; Angle deviation calculation unit is used to calculate the position of the drill bit tip in the positioning three-dimensional coordinate system. T H D and the pose of the ideal path in the positioning three-dimensional coordinate system T H L Calculate the deviation angle Δθ = arccos(D·L) between the drill tip and the ideal path in the three-dimensional coordinate system, where · is the vector dot product.

10. A storage medium, characterized in that, The storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a processor, the processor performs the oral implant navigation method according to any one of claims 1-5.

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