A non-contact method, system and storage medium for calibrating the size of a dental implant drill bit

Abstract

The application provides a non-contact oral implant drill size calibration method, system and storage medium, comprising: analyzing three-dimensional coordinate data of drill axial direction and drill tip in a mobile phone three-dimensional coordinate system; analyzing the coordinate conversion relationship of a calibration main body three-dimensional coordinate system and an optical three-dimensional coordinate system; analyzing three-dimensional coordinate data of the drill tip in the calibration main body three-dimensional coordinate system; calculating three-dimensional coordinate data of the drill tip in the mobile phone three-dimensional coordinate system; calculating the drill length according to the three-dimensional coordinate data of the drill tip and the drill tip in the mobile phone three-dimensional coordinate system; and calculating the drill diameter according to the first orthogonal two-dimensional image and the second orthogonal two-dimensional image. After the pose of the drill axial direction and the drill tip is determined, the pose of the drill tip is analyzed by acquiring the first orthogonal two-dimensional image and the second orthogonal two-dimensional image according to the light propagation principle, and high-precision calibration of the drill length and the drill diameter is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, and relates to a method, a system and a storage medium for non-contact size calibration of an oral implant drill bit before oral treatment surgery is performed. BACKGROUND

[0002] During oral treatment surgery, especially oral implant surgery, a surgical navigation system needs to obtain the spatial position and size parameters of an implant drill bit in real time to guide a doctor to accurately control the drilling depth and angle of the drill bit, so that an ideal implant hole can be drilled by the drill bit, and key oral anatomical structures such as a nerve canal and a maxillary sinus can be effectively avoided from being damaged in the drilling process.

[0003] Before the surgery navigation is performed, the implant drill bit needs to be size calibrated, the axial direction and the top end of the drill bit in the three-dimensional coordinate system of the mobile phone are determined through the size calibration, and then the real-time position of the drill bit can be determined through the real-time position of the implant mobile phone obtained by the binocular navigation instrument. In the prior art, the size calibration of the drill bit mainly depends on the contact type calibration plate measurement and manual selection of the length, the drill bit is abutted on the calibration plate during the calibration, the real-time positions of the calibration plate tracker on the calibration plate and the mobile phone tracker on the implant mobile phone are recognized, and then the length and the diameter of the drill bit are calculated.

[0004] The above size calibration scheme of the oral implant drill bit needs to abut the drill bit on the calibration plate, and has the following technical defects: on the one hand, the calibration is performed through contact, and there is a risk of contaminating the drill bit; on the other hand, the measurement accuracy is affected by the operation method and force of the operator. Therefore, there is an urgent need in the industry to propose a new drill bit size calibration scheme to solve the above problems. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a non-contact oral implant drill bit size calibration method, system and storage medium to solve the above defects in the prior art, so as to realize high-precision calibration of the length and diameter of the drill bit and effectively ensure the navigation accuracy and treatment effect.

[0006] The technical scheme adopted by the present application to solve the technical problem is as follows:

[0007] A non-contact oral implant drill bit size calibration method comprises the following steps:

[0008] S1. When the installation sleeve on the implant mobile phone is fixedly sleeved on the calibration shaft on the calibration plate, the binocular navigation instrument simultaneously obtains the real-time images of the mobile phone tracker and the calibration plate tracker, and the three-dimensional coordinate data of the axial direction and the top end of the drill bit in the three-dimensional coordinate system of the mobile phone is obtained through analysis of the real-time images of the mobile phone tracker and the calibration plate tracker;

[0009] S2. The binocular navigator controls to obtain the real-time image of the calibration main body identification point, and according to the real-time image of the calibration main body identification point, in combination with the structural parameters of the non-contact oral implant drill size calibration device, the coordinate conversion relationship between the calibration main body three-dimensional coordinate system and the optical three-dimensional coordinate system is analyzed and obtained;

[0010] S3. When the drill is fixed in the installation sleeve of the implant handset and the drill extends into the calibration window, the relative position between the drill and the non-contact oral implant drill size calibration device is kept fixed, the first orthogonal light source and the first orthogonal camera module are controlled to cooperate to collect the first orthogonal two-dimensional image of the drill, the second orthogonal light source and the second orthogonal camera module are controlled to cooperate to collect the second orthogonal two-dimensional image of the drill, and the three-dimensional coordinate data of the drill tip in the calibration main body three-dimensional coordinate system is analyzed and obtained according to the first orthogonal two-dimensional image and the second orthogonal two-dimensional image;

[0011] S4. The binocular navigator controls to simultaneously obtain the real-time images of the handset tracker and the calibration main body identification point, and according to the three-dimensional coordinate data of the drill tip in the calibration main body three-dimensional coordinate system, in combination with the coordinate conversion relationship between the calibration main body three-dimensional coordinate system and the optical three-dimensional coordinate system, the three-dimensional coordinate data of the drill tip in the handset three-dimensional coordinate system is calculated and obtained;

[0012] S5. The three-dimensional coordinate data of the drill tip and the drill tip in the handset three-dimensional coordinate system is calculated to obtain the drill length;

[0013] S6. The drill diameter is calculated according to the first orthogonal two-dimensional image and the second orthogonal two-dimensional image.

[0014] Compared with the prior art, the beneficial effects of the technical scheme are: after the pose of the drill axial direction and the drill tip is determined, the pose of the drill tip is analyzed by acquiring the mutually orthogonal first orthogonal two-dimensional image and the second orthogonal two-dimensional image according to the principle that light propagates along a straight line, and then the high-precision calibration of the drill length and the drill diameter is realized.

[0015] Further, the step S1 comprises:

[0016] S101. The structural parameters of the calibration plate are obtained, and the three-dimensional coordinate data of the calibration shaft in the calibration plate three-dimensional coordinate system is analyzed according to the structural parameters of the calibration plate;

[0017] S102. When the installation sleeve of the implant handset is fixedly sleeved on the calibration shaft on the calibration plate, the binocular navigator controls to simultaneously obtain the real-time images of the handset tracker and the calibration plate tracker;

[0018] S103. According to the real-time image of the calibration plate tracker and the three-dimensional coordinate data of the calibration shaft in the calibration plate three-dimensional coordinate system, the three-dimensional coordinate data of the drill axial direction and the drill tip in the optical three-dimensional coordinate system is analyzed and obtained;

[0019] S104. According to the real-time image of the mobile phone tracker, combined with the three-dimensional coordinate data of the drill bit axial direction and the drill bit tip in the optical three-dimensional coordinate system, the three-dimensional coordinate data of the drill bit axial direction and the drill bit tip in the mobile phone three-dimensional coordinate system is analyzed and obtained.

[0020] The beneficial effect of the above scheme is that the pose of the drill bit axial direction and the drill bit tip is determined by the traditional contact calibration method. For a specific planting mobile phone, the drill bit axial direction and the drill bit tip are fixed, and the drill bit axial direction and the drill bit tip can be accurately calibrated.

[0021] Further, the step S3 specifically comprises:

[0022] S301. Collecting a first orthogonal two-dimensional image and a second orthogonal two-dimensional image;

[0023] S302. According to the preset binary threshold, the first orthogonal two-dimensional image and the second orthogonal two-dimensional image are binarized; when the pixel value corresponding to the pixel on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image is greater than the binary threshold, the pixel value is converted to 255; when the pixel value corresponding to the pixel on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image is less than or equal to the binary threshold, the pixel value is converted to 0;

[0024] S303. Calculate the gradient amplitude of the first orthogonal two-dimensional image and the second orthogonal two-dimensional image , wherein, , represents the coordinate value of the pixel on the first orthogonal two-dimensional image or the second orthogonal two-dimensional image in the image coordinate system, is the X-direction gradient vector, is the Y-direction gradient vector, is the first orthogonal two-dimensional image or the second orthogonal two-dimensional image;

[0025] S304. Calculate the gradient direction of the first orthogonal two-dimensional image and the second orthogonal two-dimensional image , wherein, ;

[0026] S305. According to the gradient amplitude and the gradient direction , non-maximum suppression processing is performed, the local maximum value of the gradient amplitude is retained, and a contour edge image is generated;

[0027] S306. The contour edge image is subjected to Hough transformation, and the drill bit center axis is fitted. Combined with the depth parameters in the first orthogonal two-dimensional image and the second orthogonal two-dimensional image, the three-dimensional coordinate data of the drill bit tip in the calibration main body three-dimensional coordinate system is analyzed and obtained.

[0028] The beneficial effect of the above scheme is that the first orthogonal light source and the first orthogonal camera module, the second orthogonal light source and the second orthogonal camera module are cooperated with each other to obtain the first orthogonal two-dimensional image and the second orthogonal two-dimensional image with clear light and dark boundaries, and after the edge detection algorithm is used to obtain the edges of the drill bit on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image, the center axis of the drill bit is fitted to obtain the three-dimensional coordinate data of the drill bit tip in the calibration main body three-dimensional coordinate system, so as to prepare for the subsequent non-contact calibration of the drill bit length and the drill bit diameter.

[0029] Further, the step S4 comprises:

[0030] S401. According to the real-time image of the mobile phone tracker collected by the binocular navigator, a coordinate conversion relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system is analyzed and obtained;

[0031] S402. Based on the three-dimensional coordinate data of the drill bit tip in the calibration main body three-dimensional coordinate system, according to the coordinate conversion relationship between the calibration main body three-dimensional coordinate system and the optical three-dimensional coordinate system, the three-dimensional coordinate data of the drill bit tip in the optical three-dimensional coordinate system is analyzed and obtained;

[0032] S403. Based on the three-dimensional coordinate data of the drill bit tip in the optical three-dimensional coordinate system, according to the coordinate conversion relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system, the three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system is analyzed and obtained.

[0033] The beneficial effect of the above scheme is that based on the pose of the drill bit tip in the calibration main body three-dimensional coordinate system, the three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system is analyzed and obtained by using the coordinate conversion relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system and the coordinate conversion relationship between the calibration main body three-dimensional coordinate system and the optical three-dimensional coordinate system, so as to complete the non-contact calibration of the drill bit tip.

[0034] Further, the step S5 comprises:

[0035] S501. Obtain the three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system, and obtain the three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system;

[0036] S502. According to the three-dimensional coordinate data of the drill bit tip and the drill bit tip in the mobile phone three-dimensional coordinate system, the spatial distance is calculated to obtain the length of the drill bit;

[0037] The step S6 comprises:

[0038] S601. Obtain the first camera internal parameter of the first orthogonal camera module, and obtain the second camera internal parameter of the second orthogonal camera module;

[0039] S602. Extract a drill bit contour in the first orthogonal two-dimensional image and the second orthogonal two-dimensional image;

[0040] S603. Calculate a first drill bit diameter parameter according to the drill bit contour in the first orthogonal two-dimensional image, and calculate a second drill bit diameter parameter according to the drill bit contour in the second orthogonal two-dimensional image;

[0041] S604. Obtain a first directional diameter according to the first camera internal parameter and the first drill bit diameter parameter, and obtain a second directional diameter according to the second camera internal parameter and the second drill bit diameter parameter, and take an average of the first directional diameter and the second directional diameter as the drill bit diameter.

[0042] The beneficial effects of the above scheme are: the three-dimensional coordinate data of the drill bit top end and the drill bit tip are used for spatial distance operation to obtain the drill bit length; the first orthogonal two-dimensional image and the second orthogonal two-dimensional image are obtained by using the object far-center optical path, and the measurement of the drill bit diameter can be completed by a non-contact manner through parameter analysis on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image.

[0043] The technical scheme adopted by the present application to solve the technical problems is as follows:

[0044] A non-contact oral implant drill size calibration system comprises:

[0045] A preliminary calibration module is configured to control a binocular navigator to simultaneously acquire real-time images of a mobile phone tracker and a calibration plate tracker when an installation sleeve on the mobile phone is fixed to a calibration shaft on the calibration plate, and to analyze three-dimensional coordinate data of a drill bit axial direction and a drill bit top end in a three-dimensional coordinate system of the mobile phone according to the real-time images of the mobile phone tracker and the calibration plate tracker.

[0046] A coordinate conversion relationship analysis module is configured to control the binocular navigator to acquire real-time images of calibration main body identification points, and to analyze a coordinate conversion relationship between a calibration main body three-dimensional coordinate system and an optical three-dimensional coordinate system in combination with structural parameters of the non-contact oral implant drill size calibration device according to the real-time images of the calibration main body identification points.

[0047] A drill bit tip coordinate analysis module is configured to keep a relative position between a drill bit and the non-contact oral implant drill size calibration device fixed when the drill bit is fixed in an installation sleeve on a mobile phone and the drill bit is inserted into a calibration window, control a first orthogonal light source and a first orthogonal camera module to cooperate to collect a first orthogonal two-dimensional image of the drill bit, control a second orthogonal light source and a second orthogonal camera module to cooperate to collect a second orthogonal two-dimensional image of the drill bit, and analyze three-dimensional coordinate data of a drill bit tip in a calibration main body three-dimensional coordinate system according to the first orthogonal two-dimensional image and the second orthogonal two-dimensional image.

[0048] The drill tip coordinate conversion module is configured to control the binocular navigator to simultaneously acquire real-time images of the mobile phone tracker and the calibration main body identification point, calculate three-dimensional coordinate data of the drill tip in the mobile phone three-dimensional coordinate system according to three-dimensional coordinate data of the drill tip in the calibration main body three-dimensional coordinate system, and obtain the three-dimensional coordinate data of the drill tip in the mobile phone three-dimensional coordinate system in combination with a coordinate conversion relationship between the calibration main body three-dimensional coordinate system and the optical three-dimensional coordinate system.

[0049] The length calibration module is configured to calculate a drill length according to the three-dimensional coordinate data of the drill top end and the drill tip in the mobile phone three-dimensional coordinate system.

[0050] The diameter calibration module is configured to calculate a drill diameter according to the first orthogonal two-dimensional image and the second orthogonal two-dimensional image.

[0051] Further, the preliminary calibration module comprises:

[0052] The structure parameter acquisition unit is configured to acquire a structure parameter of the calibration flat plate, and analyze three-dimensional coordinate data of the calibration shaft in the calibration plate three-dimensional coordinate system according to the structure parameter of the calibration flat plate.

[0053] The real-time image acquisition unit is configured to control the binocular navigator to simultaneously acquire real-time images of the mobile phone tracker and the calibration plate tracker when the installation sleeve on the planting mobile phone is fixedly sleeved on the calibration shaft on the calibration flat plate.

[0054] The first coordinate analysis unit is configured to analyze three-dimensional coordinate data of the drill axial direction and the drill top end in the optical three-dimensional coordinate system according to the real-time image of the calibration plate tracker and the three-dimensional coordinate data of the calibration shaft in the calibration plate three-dimensional coordinate system.

[0055] The second coordinate analysis unit is configured to analyze three-dimensional coordinate data of the drill axial direction and the drill top end in the mobile phone three-dimensional coordinate system according to the real-time image of the mobile phone tracker in combination with the three-dimensional coordinate data of the drill axial direction and the drill top end in the optical three-dimensional coordinate system.

[0056] Further, the drill tip coordinate analysis module comprises:

[0057] The two-dimensional image acquisition unit is configured to acquire the first orthogonal two-dimensional image and the second orthogonal two-dimensional image.

[0058] The binary conversion unit is configured to perform binary processing on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image according to a preset binary threshold value; when a pixel value corresponding to a pixel on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image is greater than the binary threshold value, the pixel value is converted to 255; and when the pixel value corresponding to the pixel on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image is less than or equal to the binary threshold value, the pixel value is converted to 0.

[0059] a gradient magnitude calculation unit configured to calculate gradient magnitudes of the first and second orthogonal two-dimensional images wherein, , represents a coordinate value of a pixel on the first or second orthogonal two-dimensional image in the image coordinate system, is an X-direction gradient vector, is a Y-direction gradient vector, is the first or second orthogonal two-dimensional image;

[0060] a gradient direction calculation unit configured to calculate gradient directions of the first and second orthogonal two-dimensional images wherein, ;

[0061] a contour edge acquisition unit configured to perform a non-maximum suppression process on the gradient magnitudes and the gradient directions to retain local maxima of the gradient magnitudes and generate a contour edge image;

[0062] a drill tip coordinate analysis unit configured to perform a Hough transform on the contour edge image, fit a drill center axis, and analyze three-dimensional coordinate data of a drill tip in a calibration subject three-dimensional coordinate system in combination with depth parameters in the first and second orthogonal two-dimensional images.

[0063] Further, the drill tip coordinate conversion module comprises:

[0064] a positioning image acquisition unit configured to acquire real-time images of a mobile phone tracker from a binocular navigator, and analyze a coordinate conversion relationship between an optical three-dimensional coordinate system and a mobile phone three-dimensional coordinate system;

[0065] a first coordinate conversion unit configured to analyze three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system based on three-dimensional coordinate data of the drill tip in the calibration subject three-dimensional coordinate system and a coordinate conversion relationship between the calibration subject three-dimensional coordinate system and the optical three-dimensional coordinate system;

[0066] a second coordinate conversion unit configured to analyze three-dimensional coordinate data of the drill tip in the mobile phone three-dimensional coordinate system based on three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system and a coordinate conversion relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system.

[0067] Further, the length calibration module comprises:

[0068] a drill tip coordinate acquisition unit configured to acquire three-dimensional coordinate data of the drill tip in the mobile phone three-dimensional coordinate system, and acquire three-dimensional coordinate data of the drill tip in the mobile phone three-dimensional coordinate system.

[0069] a drill bit length analysis unit configured to perform a spatial distance operation according to three-dimensional coordinate data of the drill bit tip and the drill bit tip end in a mobile phone three-dimensional coordinate system to obtain the drill bit length;

[0070] The diameter calibration module comprises:

[0071] an intrinsic parameter acquisition unit configured to acquire a first camera intrinsic parameter of the first orthogonal camera module and a second camera intrinsic parameter of the second orthogonal camera module;

[0072] a contour extraction unit configured to extract a drill bit contour in the first orthogonal two-dimensional image and the second orthogonal two-dimensional image;

[0073] a diameter parameter calculation unit configured to calculate a first drill bit diameter parameter according to the drill bit contour in the first orthogonal two-dimensional image and a second drill bit diameter parameter according to the drill bit contour in the second orthogonal two-dimensional image;

[0074] a drill bit diameter analysis unit configured to analyze a first direction diameter according to the first camera intrinsic parameter and the first drill bit diameter parameter, analyze a second direction diameter according to the second camera intrinsic parameter and the second drill bit diameter parameter, and take an average of the first direction diameter and the second direction diameter as the drill bit diameter.

[0075] Correspondingly, a storage medium storing a computer program, the computer program comprising program instructions, when the program instructions are executed by a processor, the processor executes the non-contact oral implant drill size calibration method as described above. BRIEF DESCRIPTION OF DRAWINGS

[0076] Figure 1 is a flowchart of the non-contact oral implant drill size calibration method of the present application.

[0077] Figure 2 is a schematic diagram of the non-contact oral implant drill size calibration system of the present application.

[0078] Figure 3 is a whole schematic diagram of the non-contact oral implant drill size calibration device in the non-contact oral implant drill size calibration system of the present application.

[0079] Figure 4 is an exploded schematic diagram of the non-contact oral implant drill size calibration device in the non-contact oral implant drill size calibration system of the present application.

[0080] In the figure, the components represented by each reference numeral are listed as follows:

[0081] a bearing body 1, a calibration window 2, a first orthogonal light source 3, a second orthogonal light source 4, a first orthogonal camera module 5, and a second orthogonal camera module 6.

[0082] The bearing bottom plate 101, the bearing top plate 102, the bearing side 103, and the calibration main body identification point 104;

[0083] The preliminary calibration module 111, the coordinate conversion relationship analysis module 112, the drill bit tip coordinate analysis module 113, the drill bit tip coordinate conversion module 114, the length calibration module 115, and the diameter calibration module 116. DETAILED DESCRIPTION

[0084] To make the objectives, technical solutions, and advantages of the present application clearer and more explicit, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are merely used to explain the present application and do not limit the present application.

[0085] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", and the like indicate the orientation or positional relationship shown in the drawings, and are merely for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as limiting the devices or components indicated or implied to have a specific orientation, to be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0086] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", and "connection" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be connected inside two components. When a component is referred to as "fixed to" or "provided on" another element, it can be directly on another component or there can be a middle component. When a component is considered to be "connected" to another element, it can be directly connected to another element or a middle element can exist at the same time. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0087] In the process of oral treatment surgery, especially oral implant surgery, the surgical navigation system needs to obtain the spatial position and size parameters of the drill bit in real time to guide the doctor to accurately control the drilling depth and angle, and to ensure that the ideal implant hole is drilled through the drill bit, while effectively avoiding damage to the key oral anatomical structures such as nerve canal and maxillary sinus during drilling.

[0088] Before implementing surgical navigation, the drill bit needs to be calibrated in size, and through the size calibration, the length and diameter of the drill bit in the optical three-dimensional coordinate system of the binocular navigator are determined, so that the real-time position of the implant mobile phone can be obtained through the binocular navigator, and the real-time position of the drill bit is determined. In the prior art, drill bit size calibration mainly relies on contact calibration plate measurement and manual selection of length. When calibrating, the drill bit is placed against the calibration plate, and the real-time positions of the calibration plate tracker on the calibration plate and the mobile phone tracker on the implant mobile phone are identified, so as to calculate the length and diameter of the drill bit.

[0089] The above oral implant drill bit size calibration scheme needs to abut the drill bit against the calibration plate, which has the following technical defects: on the one hand, contact calibration has the risk of contaminating the drill bit; on the other hand, the measurement accuracy is affected by the operation method and force of the operator. Therefore, the industry urgently needs to propose a new implant drill bit size calibration scheme to solve the above problems.

[0090] In order to solve the above problems, the present application provides a non-contact oral implant drill bit size calibration method, system and storage medium, which is based on a non-contact oral implant drill bit size calibration device.

[0091] Figure 3 And Figure 4 As shown in the figure, the non-contact oral implant drill bit size calibration device comprises a bearing body 1, a calibration window 2, a first orthogonal light source 3, a second orthogonal light source 4, a first orthogonal camera module 5 and a second orthogonal camera module 6. In the present technical solution, the bearing body 1 is used to bear other structural members in the device, and is also used to form a relatively closed space to isolate the influence of external light on imaging. The first orthogonal light source 3 cooperates with the first orthogonal camera module 5 to obtain a first orthogonal two-dimensional image, and the second orthogonal light source 4 cooperates with the second orthogonal camera module 6 to obtain a second orthogonal two-dimensional image.

[0092] The bearing body 1 comprises a bearing bottom plate 101, a bearing top plate 102 and a plurality of bearing side surfaces 103. In the present technical solution, the bearing bottom plate 101, the bearing top plate 102 and the bearing side surfaces 103 are preferably square plate structures, the bearing bottom plate 101 is arranged directly below the bearing top plate 102, and the bearing side surfaces 103 are arranged between the bearing bottom plate 101 and the bearing top plate 102, so as to form a cavity structure through the bearing bottom plate 101, the bearing top plate 102 and the plurality of bearing side surfaces 103.

[0093] The bearing top plate 102 is provided with a plurality of calibration subject identification points 104, and a calibration window 2 is formed on the bearing top plate 102. The calibration subject identification points 104 are used to cooperate with the binocular navigator to collect the real-time pose of the calibration subject identification points 104, so as to determine the real-time pose of the non-contact oral implant drill size calibration device. The calibration window 2 is used to form an opening on the cavity structure formed by the bearing bottom plate 101, the bearing top plate 102 and the plurality of bearing side surfaces 103, so that the drill on the implant mobile phone can be inserted into the cavity structure from the outside to the inside.

[0094] The first orthogonal light source 3, the second orthogonal light source 4, the first orthogonal camera module 5 and the second orthogonal camera module 6 are fixedly arranged in the cavity structure in the bearing main body 1, so that the negative influence of external light on imaging can be isolated.

[0095] The first orthogonal light source 3 and the first orthogonal camera module 5 are respectively located on opposite sides of the calibration window 2, the second orthogonal light source 4 and the second orthogonal camera module 6 are respectively located on opposite sides of the calibration window 2, the optical axis of the first orthogonal camera module 5 and the optical axis of the second orthogonal camera module 6 are perpendicular to each other, the light emitted by the first orthogonal light source 3 is collected by the first orthogonal camera module 5, and the light emitted by the second orthogonal light source 4 is collected by the second orthogonal camera module 6.

[0096] In use, when the drill is inserted into the cavity structure, part of the light emitted by the first orthogonal light source 3 is blocked by the drill, and the first orthogonal camera module 5 collects a first orthogonal two-dimensional image, which can reflect the contour of the drill; similarly, part of the light emitted by the second orthogonal light source 4 is blocked by the drill, and the second orthogonal camera module 6 collects a second orthogonal two-dimensional image, which can reflect the contour of the drill. Preferably, the first orthogonal camera module 5 and the second orthogonal camera module 6 are provided with object far-infrared light paths and CCD light-sensitive elements, the first orthogonal light source 3 and the second orthogonal light source 4 can be parallel light through the object far-infrared light paths, and the first orthogonal two-dimensional image and the second orthogonal two-dimensional image are collected through the CCD light-sensitive elements, so that the imaging size of the drill at different positions is completely consistent with the actual object.

[0097] Since the optical axis of the first orthogonal camera module 5 and the optical axis of the second orthogonal camera module 6 are perpendicular to each other, the first orthogonal two-dimensional image collected by the first orthogonal camera module 5 and the second orthogonal two-dimensional image collected by the second orthogonal camera module 6 are orthogonal to each other. For the calibration main body three-dimensional coordinate system of the non-contact oral implant drill size calibration device itself, the coordinate information in the first dimension can be determined through the first orthogonal two-dimensional image, the coordinate information in the second dimension can be determined through the second orthogonal two-dimensional image, and the coordinate information in the third dimension can be determined through the depth parameter of the drill inserted, wherein the depth parameter is embodied on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image. From this, the three-dimensional coordinate data of the drill in the calibration main body three-dimensional coordinate system is completely determined.

[0098] As shown in Figure 1 To solve the above problems, the present application provides a non-contact oral implant drill size calibration method, which specifically comprises the following steps:

[0099] S1. When the installation sleeve on the implant handset is sleeved and fixed on the calibration shaft on the calibration panel, the real-time images of the handset tracker and the calibration panel tracker are acquired by the binocular navigator at the same time, and the three-dimensional coordinate data of the drill axial direction and the drill top end in the handset three-dimensional coordinate system is obtained by analyzing the real-time images of the handset tracker and the calibration panel tracker. The handset tracker is arranged on the implant handset, and the calibration panel tracker is arranged on the calibration panel. The real-time pose of the implant handset and the calibration panel is determined by the binocular navigator by acquiring the real-time images of the handset tracker and the calibration panel tracker. In step S1, the drill axial direction and the drill top end are calibrated by the traditional calibration panel. The so-called drill axial direction coincides with the axial direction of the installation sleeve in the spatial geometric sense. No matter what kind of drill, it is fixed on the implant handset through the installation sleeve. The drill top end refers to the bottom of the installation sleeve. When the drill is installed in place, the drill top end abuts against the bottom of the installation sleeve. Therefore, for the same implant handset, the axial direction of the calibration shaft can be taken as the drill axial direction, and the top end of the calibration shaft can be taken as the drill top end, so as to analyze the three-dimensional coordinate data of the drill axial direction and the drill top end in the handset three-dimensional coordinate system, by controlling the binocular navigator to acquire the real-time images of the handset tracker and the calibration panel tracker at the same time based on the structural parameters of the calibration panel. The purpose of the technical solution is to calibrate the size of the non-contact oral implant drill. In step S1, the drill axial direction and the drill top end are calibrated by the contact type, which is not contradictory to the subject of the technical solution: after the calibration of the drill axial direction and the drill top end is completed, the drill needed in the operation is not installed yet. The "non-contact" method is still adopted when calibrating the drill really needed, which is specifically described in the following steps.

[0100] S2. The binocular navigator controls the acquisition of real-time images of the calibration body identification points, and according to the real-time images of the calibration body identification points, in combination with the structural parameters of the non-contact oral implant drill size calibration device, the coordinate conversion relationship between the calibration body three-dimensional coordinate system and the optical three-dimensional coordinate system is analyzed and obtained. In step S2, the structural parameters of the non-contact oral implant drill size calibration device include the relative position relationship of the calibration body identification points, the calibration shaft and other components. When the installation sleeve on the implant handset is sleeved and fixed on the calibration shaft on the calibration panel, since the three-dimensional coordinate data of the drill axial direction and the drill top end in the handset three-dimensional coordinate system is known, the three-dimensional coordinate data of the drill axial direction and the drill top end in the calibration body three-dimensional coordinate system can be obtained according to the structural parameters of the non-contact oral implant drill size calibration device, so that the relationship between the calibration body three-dimensional coordinate system and the optical three-dimensional coordinate system can be established, and the coordinate conversion relationship between the two is obtained.

[0101] S3. When the drill is fixed in the installation sleeve on the implant handset and the drill is inserted into the calibration window, the relative position between the drill and the non-contact oral implant drill size calibration device is kept fixed, the first orthogonal light source and the first orthogonal camera module are controlled to cooperate to collect the first orthogonal two-dimensional image of the drill, the second orthogonal light source and the second orthogonal camera module are controlled to cooperate to collect the second orthogonal two-dimensional image of the drill, and the three-dimensional coordinate data of the drill tip in the calibration body three-dimensional coordinate system is analyzed and obtained according to the first orthogonal two-dimensional image and the second orthogonal two-dimensional image. From step S3, it is a data processing flow of "non-contact" calibration. When the drill needed for the operation is installed and fixed in the installation sleeve on the implant handset, the drill is inserted into the calibration window and the relative position between the drill and the non-contact oral implant drill size calibration device is kept fixed, at this time, the drill is located between the first orthogonal light source and the first orthogonal camera module, and at the same time, it is located between the second orthogonal light source and the second orthogonal camera module. According to the principle that light propagates along a straight line, the first orthogonal two-dimensional image of the drill is collected by the cooperation of the first orthogonal light source and the first orthogonal camera module, and the second orthogonal two-dimensional image of the drill is collected by the cooperation of the second orthogonal light source and the second orthogonal camera module. For the non-contact oral implant drill size calibration device, since the optical axis of the first orthogonal camera module and the optical axis of the second orthogonal camera module are perpendicular to each other, the three-dimensional coordinate data of the drill tip in the calibration body three-dimensional coordinate system can be analyzed and obtained by using the first orthogonal two-dimensional image and the second orthogonal two-dimensional image.

[0102] S4. The binocular navigator simultaneously acquires real-time images of the mobile phone tracker and the calibration body identification points, and calculates three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system according to three-dimensional coordinate data of the drill bit tip in the calibration body three-dimensional coordinate system and a coordinate conversion relationship between the calibration body three-dimensional coordinate system and the optical three-dimensional coordinate system. After step S3 is implemented, the relative position between the drill bit and the non-contact oral implant drill bit size calibration device is kept fixed, and step S4 is implemented. The coordinate conversion relationship between the calibration body three-dimensional coordinate system and the optical three-dimensional coordinate system is known in step S2, so that three-dimensional coordinate data of the drill bit tip in the optical three-dimensional coordinate system can be obtained according to three-dimensional coordinate data of the drill bit tip in the calibration body three-dimensional coordinate system, and the coordinate conversion relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system is known because the binocular navigator simultaneously acquires real-time images of the mobile phone tracker and the calibration body identification points at this time, so that three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system can be calculated.

[0103] S5. The drill bit length is calculated according to three-dimensional coordinate data of the drill bit tip and the drill bit tip in the mobile phone three-dimensional coordinate system. In step S1, three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system is known, and three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system obtained in step S5, so that the distance between two points can be directly calculated when three-dimensional coordinate data of the two points in space is known. For the drill bit tip and the drill bit tip, the distance between the drill bit tip and the drill bit tip is the drill bit length.

[0104] S6. The drill bit diameter is calculated according to the first orthogonal two-dimensional image and the second orthogonal two-dimensional image. Because the object-side telecentric optical path is arranged in the first orthogonal light source and the second orthogonal light source, the first orthogonal light source and the second orthogonal light source can be parallel light, and the imaging size of the drill bit at different positions is completely consistent with the actual object. Therefore, in step S6, the outer contour of the drill bit can be obtained through the first orthogonal two-dimensional image and the second orthogonal two-dimensional image, and the drill bit diameter can be calculated through the outer contour.

[0105] Based on the above technical solution, after the drill bit axial direction and the pose of the drill bit tip are determined, the pose of the drill bit tip is analyzed by acquiring the first orthogonal two-dimensional image and the second orthogonal two-dimensional image, and the non-contact and high-precision calibration of the drill bit length and the drill bit diameter is realized.

[0106] Preferably, the step S1 comprises:

[0107] S101. Obtain the structural parameters of the calibration plate, and analyze the three-dimensional coordinate data of the calibration axis in the three-dimensional coordinate system of the calibration plate according to the structural parameters of the calibration plate. In step S101, the structural parameters of the calibration plate refer to the relative position parameters of the calibration axis and the calibration plate tracker and other components on the calibration plate. According to the structural parameters of the calibration plate, the three-dimensional coordinate data of the calibration axis in the three-dimensional coordinate system of the calibration plate can be analyzed.

[0108] S102. When the mounting sleeve on the planting mobile phone is fixedly sleeved on the calibration axis on the calibration plate, control the binocular navigator to simultaneously acquire real-time images of the mobile phone tracker and the calibration plate tracker. When the mounting sleeve on the planting mobile phone is fixedly sleeved on the calibration axis on the calibration plate, the calibration axis and the mounting sleeve are coincident. At this time, the binocular navigator is controlled to simultaneously acquire real-time images of the mobile phone tracker and the calibration plate tracker.

[0109] S103. According to the real-time image of the calibration plate tracker and the three-dimensional coordinate data of the calibration axis in the three-dimensional coordinate system of the calibration plate, analyze to obtain the three-dimensional coordinate data of the drill bit axis and the drill bit tip in the optical three-dimensional coordinate system. With the calibration plate tracker as the medium, combined with the structural parameters of the calibration plate, the three-dimensional coordinate data of the calibration axis in the three-dimensional coordinate system of the calibration plate can be obtained. Since the binocular navigator acquires real-time images of the mobile phone tracker and the calibration plate tracker, the three-dimensional coordinate data of the drill bit axis and the drill bit tip in the optical three-dimensional coordinate system can be analyzed at this time.

[0110] S104. According to the real-time image of the mobile phone tracker, combined with the three-dimensional coordinate data of the drill bit axis and the drill bit tip in the optical three-dimensional coordinate system, analyze to obtain the three-dimensional coordinate data of the drill bit axis and the drill bit tip in the mobile phone three-dimensional coordinate system.

[0111] Through the above technical solution, the pose of the drill bit axis and the drill bit tip is determined by using the traditional contact calibration method. For a specific planting mobile phone, the drill bit axis and the drill bit tip are fixed. Therefore, based on the above processing flow, the drill bit axis and the drill bit tip can be accurately calibrated.

[0112] Preferably, the step S3 specifically comprises:

[0113] S301. Collect the first orthogonal two-dimensional image and the second orthogonal two-dimensional image. In step S301, since the drill bit probe is inserted into the device, the first orthogonal light source and the first orthogonal camera module, the second orthogonal light source and the second orthogonal camera module can be controlled to collect the first orthogonal two-dimensional image and the second orthogonal two-dimensional image, respectively. The operation principle is as described above, and will not be repeated here.

[0114] S302. The first orthogonal two-dimensional image and the second orthogonal two-dimensional image are binarized according to a preset binarization threshold; when the pixel value corresponding to a pixel on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image is greater than the binarization threshold, the pixel value is converted to 255; when the pixel value corresponding to a pixel on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image is less than or equal to the binarization threshold, the pixel value is converted to 0. The technical solution mainly uses the contour edge image for size calibration, and the color information of the image is not important. In step S302, the first orthogonal two-dimensional image and the second orthogonal two-dimensional image are binarized, and the first orthogonal two-dimensional image and the second orthogonal two-dimensional image with "non-black or white" are obtained.

[0115] S303. The gradient amplitudes of the first orthogonal two-dimensional image and the second orthogonal two-dimensional image are calculated , wherein, , represents the coordinate value of a pixel on the first orthogonal two-dimensional image or the second orthogonal two-dimensional image in the image coordinate system, is an X-direction gradient vector, is a Y-direction gradient vector, is the first orthogonal two-dimensional image or the second orthogonal two-dimensional image.

[0116] S304. The gradient directions of the first orthogonal two-dimensional image and the second orthogonal two-dimensional image are calculated , wherein, The gradient amplitudes and the gradient directions of the first orthogonal two-dimensional image and the second orthogonal two-dimensional image are calculated, the purpose is to determine the pixel with the most drastic gray change and the direction of the change in the first orthogonal two-dimensional image and the second orthogonal two-dimensional image, and to prepare for determining the contour edge in step S305 by determining the pixel with the most drastic gray change and the direction of the change.

[0117] S305. Non-maximum suppression processing is performed according to the gradient amplitudes and the gradient directions , the local maximum of the gradient amplitude is retained, and a contour edge image is generated. In the field of image processing, by suppressing the non-local maximum in the gradient amplitude image, the edge can be thinned, and only the most likely point in the center of each edge is retained.

[0118] S306. A Hough transform is performed on the contour edge image to fit a drill bit center axis, and three-dimensional coordinate data of the drill bit tip in the calibration body three-dimensional coordinate system is analyzed in combination with depth parameters in the first and second orthogonal two-dimensional images. In step S306, the depth parameters refer to parameters reflecting the depth of penetration in the first and second orthogonal two-dimensional images when the drill bit penetrates into the cavity structure. The first orthogonal two-dimensional image reflects a situation in a two-dimensional plane, and the second orthogonal two-dimensional image reflects a situation in another two-dimensional plane, and the depth parameters are reflected in both the first and second orthogonal two-dimensional images. In combination with the two mutually orthogonal two-dimensional planes, the corresponding three-dimensional space can be obtained. In addition, a straight line that best represents the drill bit body is determined through the Hough transform, and a drill bit center axis is fitted based on the straight line, and three-dimensional coordinate data of the drill bit tip in the calibration body three-dimensional coordinate system is analyzed based on the fitted drill bit center axis.

[0119] Preferably, the step S4 comprises:

[0120] S401. According to the real-time image of the mobile phone tracker collected by the binocular navigator, the coordinate conversion relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system is analyzed. In step S401, since the relative position of the mobile phone tracker on the planting mobile phone is known, the real-time image of the mobile phone tracker is collected by the binocular navigator, thereby establishing a relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system, and obtaining the coordinate conversion relationship therebetween.

[0121] S402. Based on the three-dimensional coordinate data of the drill bit tip in the calibration body three-dimensional coordinate system, the three-dimensional coordinate data of the drill bit tip in the optical three-dimensional coordinate system is analyzed according to the coordinate conversion relationship between the calibration body three-dimensional coordinate system and the optical three-dimensional coordinate system. Since the coordinate conversion relationship between the calibration body three-dimensional coordinate system and the optical three-dimensional coordinate system is known in step S2, the three-dimensional coordinate data of the drill bit tip in the calibration body three-dimensional coordinate system is obtained through step S3, and based on the coordinate conversion relationship, the three-dimensional coordinate data of the drill bit tip in the optical three-dimensional coordinate system can be analyzed.

[0122] S403. Based on the three-dimensional coordinate data of the drill bit tip in the optical three-dimensional coordinate system, the three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system is analyzed according to the coordinate conversion relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system. In step S401, since the coordinate conversion relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system is known, and the three-dimensional coordinate data of the drill bit tip in the optical three-dimensional coordinate system is obtained through step S402, based on the coordinate conversion relationship, the three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system can be analyzed.

[0123] Through the above data processing flow, based on the pose of the drill bit tip in the calibration body three-dimensional coordinate system, the three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system is obtained by using the coordinate conversion relationship of the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system, and the coordinate conversion relationship of the calibration body three-dimensional coordinate system and the optical three-dimensional coordinate system, so as to complete the non-contact calibration of the drill bit tip.

[0124] Preferably, the step S5 comprises:

[0125] S501. Obtain three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system, and obtain three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system.

[0126] S502. Perform spatial distance operation according to the three-dimensional coordinate data of the drill bit tip and the drill bit tip in the mobile phone three-dimensional coordinate system to obtain the drill bit length.

[0127] The purpose of step S5 is to calibrate the length of the drill bit to obtain the drill bit length. The two ends of the drill bit are the drill bit tip and the drill bit tip. The drill bit tip refers to the end of the drill bit that abuts against the mounting sleeve; the drill bit tip refers to the end of the drill bit that abuts against the drilling hole site. The spatial distance operation using the three-dimensional coordinate data of the drill bit tip and the drill bit tip can obtain the drill bit length.

[0128] Preferably, the step S6 comprises:

[0129] S601. Obtain the first camera internal parameter of the first orthogonal camera module, and obtain the second camera internal parameter of the second orthogonal camera module. For the first orthogonal camera module and the second orthogonal camera module, the camera internal parameter itself includes focal length, principal point coordinate, distortion coefficient, etc., which can be obtained by shooting a standard checkerboard calibration plate.

[0130] S602. Extract the drill bit contour in the first orthogonal two-dimensional image and the second orthogonal two-dimensional image. Since the first orthogonal light source and the second orthogonal light source are provided with object-side telecentric light path, the first orthogonal light source and the second orthogonal light source can be ensured to be parallel light through the object-side telecentric light path, so that the drill bit contour can be extracted in the first orthogonal two-dimensional image and the second orthogonal two-dimensional image, and the drill bit size can be directly represented through the drill bit contour.

[0131] S603. Calculate the first drill bit diameter parameter according to the drill bit contour in the first orthogonal two-dimensional image, and calculate the second drill bit diameter parameter according to the drill bit contour in the second orthogonal two-dimensional image. The drill bit itself is a cylindrical structure, and no matter from which angle it is shot, the size of the corresponding drill bit contour should be consistent.

[0132] S604. A first direction diameter is obtained according to the first camera internal parameter and the first drill bit diameter parameter analysis, and a second direction diameter is obtained according to the second camera internal parameter and the second drill bit diameter parameter analysis, and an average of the first direction diameter and the second direction diameter is taken as the drill bit diameter.

[0133] Based on the above data processing flow, the first orthogonal two-dimensional image and the second orthogonal two-dimensional image are obtained by using the object far field optical path, and the measurement of the drill bit diameter is completed by non-contact mode through parameter analysis on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image.

[0134] As shown in Figure 2 To solve the above problems, the present application provides a non-contact oral implant drill size calibration system, which comprises a preliminary calibration module 111, a coordinate conversion relationship analysis module 112, a drill tip coordinate analysis module 113, a drill tip coordinate conversion module 114, a length calibration module 115 and a diameter calibration module 116.

[0135] The preliminary calibration module 111 is used to control the binocular navigator to simultaneously acquire real-time images of the mobile phone tracker and the calibration plate tracker when the installation sleeve on the implant mobile phone is fixedly sleeved on the calibration shaft on the calibration plate, and to obtain three-dimensional coordinate data of the drill bit axial direction and the drill bit top end in the mobile phone three-dimensional coordinate system according to the real-time images of the mobile phone tracker and the calibration plate tracker;

[0136] The coordinate conversion relationship analysis module 112 is used to control the binocular navigator to acquire real-time images of the calibration main body identification points, and to obtain the coordinate conversion relationship between the calibration main body three-dimensional coordinate system and the optical three-dimensional coordinate system according to the real-time images of the calibration main body identification points and in combination with the structural parameters of the non-contact oral implant drill size calibration device;

[0137] The drill tip coordinate analysis module 113 is used to keep the relative position between the drill bit and the non-contact oral implant drill size calibration device fixed when the drill bit is fixed in the installation sleeve on the implant mobile phone and the drill bit is inserted into the calibration window, to control the first orthogonal light source and the first orthogonal camera module to cooperate to collect the first orthogonal two-dimensional image of the drill bit, to control the second orthogonal light source and the second orthogonal camera module to cooperate to collect the second orthogonal two-dimensional image of the drill bit, and to obtain three-dimensional coordinate data of the drill tip in the calibration main body three-dimensional coordinate system according to the first orthogonal two-dimensional image and the second orthogonal two-dimensional image;

[0138] The drill tip coordinate conversion module 114 is used to control the binocular navigator to simultaneously acquire real-time images of the mobile phone tracker and the calibration main body identification points, to calculate three-dimensional coordinate data of the drill tip in the mobile phone three-dimensional coordinate system according to the three-dimensional coordinate data of the drill tip in the calibration main body three-dimensional coordinate system and in combination with the coordinate conversion relationship between the calibration main body three-dimensional coordinate system and the optical three-dimensional coordinate system.

[0139] The length calibration module 115 is configured to calculate the length of the drill bit according to the three-dimensional coordinate data of the drill bit top end and the drill bit tip in the mobile phone three-dimensional coordinate system.

[0140] The diameter calibration module 116 is configured to calculate the diameter of the drill bit according to the first orthogonal two-dimensional image and the second orthogonal two-dimensional image.

[0141] Preferably, the preliminary calibration module comprises:

[0142] The structure parameter acquisition unit is configured to acquire the structure parameters of the calibration plate, and analyze the three-dimensional coordinate data of the calibration axis in the calibration plate three-dimensional coordinate system according to the structure parameters of the calibration plate;

[0143] The real-time image acquisition unit is configured to control the binocular navigator to simultaneously acquire the real-time images of the mobile phone tracker and the calibration plate tracker when the installation sleeve on the planting mobile phone is fixedly sleeved on the calibration axis of the calibration plate;

[0144] The first coordinate analysis unit is configured to analyze the three-dimensional coordinate data of the drill bit axis and the drill bit top end in the optical three-dimensional coordinate system according to the real-time image of the calibration plate tracker and the three-dimensional coordinate data of the calibration axis in the calibration plate three-dimensional coordinate system;

[0145] The second coordinate analysis unit is configured to analyze the three-dimensional coordinate data of the drill bit axis and the drill bit top end in the mobile phone three-dimensional coordinate system according to the real-time image of the mobile phone tracker, in combination with the three-dimensional coordinate data of the drill bit axis and the drill bit top end in the optical three-dimensional coordinate system.

[0146] Preferably, the drill bit tip coordinate analysis module comprises:

[0147] The two-dimensional image acquisition unit is configured to acquire the first orthogonal two-dimensional image and the second orthogonal two-dimensional image;

[0148] The binary conversion unit is configured to perform binary processing on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image according to a preset binary threshold value; when the pixel value corresponding to a pixel on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image is greater than the binary threshold value, the pixel value is converted to 255; when the pixel value corresponding to a pixel on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image is less than or equal to the binary threshold value, the pixel value is converted to 0;

[0149] The gradient amplitude calculation unit is configured to calculate the gradient amplitude of the first orthogonal two-dimensional image and the second orthogonal two-dimensional image. wherein, , represents the coordinate value of a pixel on the first orthogonal two-dimensional image or the second orthogonal two-dimensional image in the image coordinate system, is a gradient vector in the X direction, is a gradient vector in the Y direction, is a first orthogonal two-dimensional image or a second orthogonal two-dimensional image;

[0150] a gradient direction calculation unit, configured to calculate gradient directions of the first orthogonal two-dimensional image and the second orthogonal two-dimensional image , wherein, ;

[0151] a contour edge acquisition unit, configured to perform a non-maximum suppression process on the gradient amplitudes and the gradient directions , retain local maximum values of the gradient amplitudes, and generate a contour edge image;

[0152] a drill bit tip coordinate analysis unit, configured to perform a Hough transform on the contour edge image, fit a drill bit center axis, and analyze three-dimensional coordinate data of a drill bit tip in a calibration main body three-dimensional coordinate system in combination with depth parameters in the first orthogonal two-dimensional image and the second orthogonal two-dimensional image.

[0153] Preferably, the drill bit tip coordinate conversion module comprises:

[0154] a positioning image acquisition unit, configured to acquire real-time images of a mobile phone tracker collected by a binocular navigator, and analyze a coordinate conversion relationship between an optical three-dimensional coordinate system and a mobile phone three-dimensional coordinate system;

[0155] a first coordinate conversion unit, configured to analyze three-dimensional coordinate data of the drill bit tip in the optical three-dimensional coordinate system based on three-dimensional coordinate data of the drill bit tip in the calibration main body three-dimensional coordinate system and the coordinate conversion relationship between the calibration main body three-dimensional coordinate system and the optical three-dimensional coordinate system;

[0156] a second coordinate conversion unit, configured to analyze three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system based on three-dimensional coordinate data of the drill bit tip in the optical three-dimensional coordinate system and the coordinate conversion relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system.

[0157] Preferably, the length calibration module comprises:

[0158] a drill bit end coordinate acquisition unit, configured to acquire three-dimensional coordinate data of a drill bit top end in the mobile phone three-dimensional coordinate system and three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system;

[0159] a drill bit length analysis unit, configured to perform a spatial distance operation on the three-dimensional coordinate data of the drill bit top end and the drill bit tip in the mobile phone three-dimensional coordinate system, and obtain a drill bit length;

[0160] The diameter calibration module comprises:

[0161] The internal parameter acquisition unit is configured to acquire a first camera internal parameter of the first orthogonal camera module and a second camera internal parameter of the second orthogonal camera module.

[0162] The contour extraction unit is configured to extract a drill bit contour from the first orthogonal two-dimensional image and the second orthogonal two-dimensional image.

[0163] The diameter parameter calculation unit is configured to calculate a first drill bit diameter parameter according to the drill bit contour in the first orthogonal two-dimensional image and a second drill bit diameter parameter according to the drill bit contour in the second orthogonal two-dimensional image.

[0164] The drill bit diameter analysis unit is configured to analyze a first direction diameter according to the first camera internal parameter and the first drill bit diameter parameter, analyze a second direction diameter according to the second camera internal parameter and the second drill bit diameter parameter, and take an average of the first direction diameter and the second direction diameter as the drill bit diameter.

[0165] To solve the above problems, the present application provides a storage medium, which stores a computer program, the computer program comprising program instructions, when the program instructions are executed by a processor, the processor executes the non-contact oral implant drill size calibration method as described above.

[0166] It should be understood that the application of the present application is not limited to the above examples, and those skilled in the art can make improvements or changes according to the above description, and all these improvements and changes shall belong to the protection scope of the appended claims of the present application.

Claims

1. A method for calibrating the size of a non-contact dental implant drill bit, characterized in that, The method is based on a non-contact oral implant drill size calibration device, which comprises: a bearing main body comprising a bearing bottom plate, a bearing top plate and a plurality of bearing sides, the bearing top plate being provided with a plurality of calibration main body identification points; a calibration window formed on the bearing top plate; a first orthogonal light source, a second orthogonal light source, a first orthogonal camera module and a second orthogonal camera module, the optical axis of the first orthogonal camera module and the optical axis of the second orthogonal camera module being perpendicular to each other; the non-contact oral implant drill size calibration method comprises the following steps: S1. When the installation sleeve on the implant handset is sleeved and fixed on the calibration shaft on the calibration panel, control the binocular navigator to simultaneously acquire real-time images of the handset tracker and the calibration panel tracker, and analyze the real-time images of the handset tracker and the calibration panel tracker to obtain three-dimensional coordinate data of the drill shaft and the drill tip in the three-dimensional coordinate system of the handset; S2. Control the binocular navigator to acquire real-time images of the calibration main body identification points, and analyze the real-time images of the calibration main body identification points in combination with the structural parameters of the non-contact oral implant drill size calibration device to obtain the coordinate conversion relationship between the calibration main body three-dimensional coordinate system and the optical three-dimensional coordinate system; S3. When the drill is fixed in the installation sleeve on the implant handset and the drill is inserted into the calibration window, keep the relative position between the drill and the non-contact oral implant drill size calibration device fixed, control the first orthogonal light source and the first orthogonal camera module to cooperate to collect the first orthogonal two-dimensional image of the drill, control the second orthogonal light source and the second orthogonal camera module to cooperate to collect the second orthogonal two-dimensional image of the drill, and analyze the first orthogonal two-dimensional image and the second orthogonal two-dimensional image to obtain three-dimensional coordinate data of the drill tip in the calibration main body three-dimensional coordinate system; S4. Control the binocular navigator to simultaneously acquire real-time images of the handset tracker and the calibration main body identification points, calculate three-dimensional coordinate data of the drill tip in the three-dimensional coordinate system of the handset based on the three-dimensional coordinate data of the drill tip in the calibration main body three-dimensional coordinate system, and in combination with the coordinate conversion relationship between the calibration main body three-dimensional coordinate system and the optical three-dimensional coordinate system; S5. Calculate the length of the drill based on the three-dimensional coordinate data of the drill tip and the drill tip in the three-dimensional coordinate system of the handset; S6. Calculate the diameter of the drill based on the first orthogonal two-dimensional image and the second orthogonal two-dimensional image.

2. The non-contact dental implant drill size calibration method of claim 1, wherein, The step S1 comprises: S101. Obtain the structural parameters of the calibration panel, and analyze the three-dimensional coordinate data of the calibration shaft in the calibration panel three-dimensional coordinate system based on the structural parameters of the calibration panel; S102. When the installation sleeve on the implant handset is sleeved and fixed on the calibration shaft on the calibration panel, control the binocular navigator to simultaneously acquire real-time images of the handset tracker and the calibration panel tracker; S103. Analyze the three-dimensional coordinate data of the drill shaft and the drill tip in the optical three-dimensional coordinate system based on the real-time image of the calibration panel tracker and the three-dimensional coordinate data of the calibration shaft in the calibration panel three-dimensional coordinate system. S104. According to the real-time image of the mobile phone tracker, combined with the three-dimensional coordinate data of the drill bit axial direction and the drill bit tip in the optical three-dimensional coordinate system, the three-dimensional coordinate data of the drill bit axial direction and the drill bit tip in the mobile phone three-dimensional coordinate system is analyzed and obtained.

3. The non-contact dental implant drill size calibration method of claim 1, wherein, The step S4 comprises: S401. According to the real-time image of the mobile phone tracker collected by the binocular navigator, the coordinate conversion relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system is analyzed and obtained; S402. Based on the three-dimensional coordinate data of the drill bit tip in the calibration main body three-dimensional coordinate system, according to the coordinate conversion relationship between the calibration main body three-dimensional coordinate system and the optical three-dimensional coordinate system, the three-dimensional coordinate data of the drill bit tip in the optical three-dimensional coordinate system is analyzed and obtained; S403. Based on the three-dimensional coordinate data of the drill bit tip in the optical three-dimensional coordinate system, according to the coordinate conversion relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system, the three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system is analyzed and obtained.

4. The non-contact dental implant drill size calibration method of claim 1, wherein, The step S5 comprises: S501. Obtain the three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system, and obtain the three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system; S502. According to the three-dimensional coordinate data of the drill bit tip and the drill bit tip in the mobile phone three-dimensional coordinate system, the space distance is calculated to obtain the length of the drill bit; The step S6 comprises: S601. Obtain the first camera internal parameter of the first orthogonal camera module, and obtain the second camera internal parameter of the second orthogonal camera module; S602. Extract the drill bit contour in the first orthogonal two-dimensional image and the second orthogonal two-dimensional image; S603. Calculate the first drill bit diameter parameter according to the drill bit contour in the first orthogonal two-dimensional image, and calculate the second drill bit diameter parameter according to the drill bit contour in the second orthogonal two-dimensional image; S604. According to the first camera internal parameter and the first drill bit diameter parameter, the first direction diameter is analyzed and obtained, and according to the second camera internal parameter and the second drill bit diameter parameter, the second direction diameter is analyzed and obtained, and the average of the first direction diameter and the second direction diameter is taken as the drill bit diameter.

5. A non-contact dental implant drill bit size calibration system, characterized in that, The system is based on the operation of a non-contact oral implant drill size calibration device, and the non-contact oral implant drill size calibration device comprises: A bearing main body, the bearing main body comprises a bearing bottom plate, a bearing top plate and a plurality of bearing side surfaces, a plurality of calibration main body identification points are arranged on the bearing top plate; A calibration window is arranged on the bearing top plate; A first orthogonal light source, a second orthogonal light source, a first orthogonal camera module and a second orthogonal camera module, the optical axis of the first orthogonal camera module and the optical axis of the second orthogonal camera module are perpendicular to each other; The system comprises: A preliminary calibration module is used for controlling the binocular navigator to simultaneously acquire the real-time images of the mobile phone tracker and the calibration plate tracker when the mounting sleeve on the implant mobile phone is fixedly sleeved on the calibration shaft of the calibration flat plate, and the three-dimensional coordinate data of the drill bit axial direction and the drill bit tip in the mobile phone three-dimensional coordinate system is analyzed and obtained according to the real-time images of the mobile phone tracker and the calibration plate tracker. The coordinate conversion relationship analysis module is configured to control the binocular navigator to acquire real-time images of the calibration subject identification points, and analyze a coordinate conversion relationship between the calibration subject three-dimensional coordinate system and the optical three-dimensional coordinate system according to the real-time images of the calibration subject identification points and in combination with structural parameters of the non-contact oral implant drill size calibration device; The drill tip coordinate analysis module is configured to keep a relative position between the drill and the non-contact oral implant drill size calibration device fixed when the drill is fixed in the mounting sleeve of the implant handset and the drill extends into the calibration window, control the first orthogonal light source and the first orthogonal camera module to cooperate to acquire a first orthogonal two-dimensional image of the drill, control the second orthogonal light source and the second orthogonal camera module to cooperate to acquire a second orthogonal two-dimensional image of the drill, and analyze three-dimensional coordinate data of a drill tip in the calibration subject three-dimensional coordinate system according to the first orthogonal two-dimensional image and the second orthogonal two-dimensional image; The drill tip coordinate conversion module is configured to control the binocular navigator to simultaneously acquire real-time images of the handset tracker and the calibration subject identification points, and calculate three-dimensional coordinate data of the drill tip in the handset three-dimensional coordinate system according to the three-dimensional coordinate data of the drill tip in the calibration subject three-dimensional coordinate system and in combination with the coordinate conversion relationship between the calibration subject three-dimensional coordinate system and the optical three-dimensional coordinate system; The length calibration module is configured to calculate a drill length according to the three-dimensional coordinate data of the drill tip and the drill top in the handset three-dimensional coordinate system; The diameter calibration module is configured to calculate a drill diameter according to the first orthogonal two-dimensional image and the second orthogonal two-dimensional image.

6. The non-contact dental implant drill size calibration system of claim 5, wherein, The preliminary calibration module includes: The structural parameter acquisition unit is configured to acquire structural parameters of the calibration panel, and analyze three-dimensional coordinate data of the calibration shaft in the calibration panel three-dimensional coordinate system according to the structural parameters of the calibration panel; The real-time image acquisition unit is configured to control the binocular navigator to simultaneously acquire real-time images of the handset tracker and the calibration panel tracker when the mounting sleeve of the implant handset is fixed to the calibration shaft on the calibration panel; The first coordinate analysis unit is configured to analyze three-dimensional coordinate data of the drill axial direction and the drill top in the optical three-dimensional coordinate system according to the real-time image of the calibration panel tracker and the three-dimensional coordinate data of the calibration shaft in the calibration panel three-dimensional coordinate system; The second coordinate analysis unit is configured to analyze three-dimensional coordinate data of the drill axial direction and the drill top in the handset three-dimensional coordinate system according to the real-time image of the handset tracker and in combination with the three-dimensional coordinate data of the drill axial direction and the drill top in the optical three-dimensional coordinate system.

7. The non-contact dental implant drill size calibration system of claim 5, wherein, The drill tip coordinate conversion module includes: The positioning image acquisition unit is configured to analyze a coordinate conversion relationship between the optical three-dimensional coordinate system and the handset three-dimensional coordinate system according to the real-time image of the handset tracker acquired by the binocular navigator; and the first coordinate conversion unit is configured to analyze three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system according to the three-dimensional coordinate data of the drill tip in the calibration subject three-dimensional coordinate system and the coordinate conversion relationship between the calibration subject three-dimensional coordinate system and the optical three-dimensional coordinate system. The second coordinate conversion unit is configured to analyze the three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system based on the three-dimensional coordinate data of the drill bit tip in the optical three-dimensional coordinate system and a coordinate conversion relationship between the optical three-dimensional coordinate system and the mobile phone three-dimensional coordinate system. The length calibration module comprises: The drill bit end coordinate acquisition unit is configured to acquire the three-dimensional coordinate data of the drill bit tip in the mobile phone three-dimensional coordinate system. The drill bit length analysis unit is configured to perform spatial distance calculation based on the three-dimensional coordinate data of the drill bit tip and the drill bit tip in the mobile phone three-dimensional coordinate system to obtain the drill bit length. The diameter calibration module comprises: The intrinsic parameter acquisition unit is configured to acquire the first camera intrinsic parameter of the first orthogonal camera module and the second camera intrinsic parameter of the second orthogonal camera module. The profile extraction unit is configured to extract the drill bit profile from the first orthogonal two-dimensional image and the second orthogonal two-dimensional image. The diameter parameter calculation unit is configured to calculate the first drill bit diameter parameter based on the drill bit profile in the first orthogonal two-dimensional image and calculate the second drill bit diameter parameter based on the drill bit profile in the second orthogonal two-dimensional image. The drill bit diameter analysis unit is configured to analyze the first direction diameter based on the first camera intrinsic parameter and the first drill bit diameter parameter, analyze the second direction diameter based on the second camera intrinsic parameter and the second drill bit diameter parameter, and take the average of the first direction diameter and the second direction diameter as the drill bit diameter.

8. A storage medium, characterized by The storage medium stores a computer program, and the computer program comprises program instructions. When the program instructions are executed by the processor, the processor executes the non-contact oral implant drill size calibration method in any one of claims 1-5.

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