A method for retaining a dental implant restoration single crown screw-retained implant

Abstract

The application discloses a method for fixing a single crown screw retention implant of a dental implant, and relates to the technical field of dental treatment, which comprises the following steps: obtaining a first oral cavity model and a second oral cavity model; the first oral cavity model is a three-dimensional digital model of an oral cavity area before tooth drilling, and the second oral cavity model is a three-dimensional model of an oral cavity area after tooth drilling; comparing the first oral cavity model with the second oral cavity model to determine a drilling offset degree; the drilling offset degree is used to represent the offset degree of the drilling main shaft direction after tooth drilling and the tooth main shaft direction before tooth drilling; in the case that the drilling offset degree is less than a preset offset degree threshold, comparing the first implant information of the current implant with an implant database to determine a target torque range; the implant database comprises second implant information of historical implants in a fixing process; and a target torque value is selected in the target torque range to control the fixing operation of the current implant. The application can improve the fixing effect of the implant.

Description

Technical Field

[0001] This invention relates to the field of dental treatment technology, and specifically to a method for retaining a screw-retained single-crown dental implant. Background Technology

[0002] With the accelerating aging of the population and the increasing public awareness of oral health, the demand for tooth restoration is becoming more and more urgent. Against this backdrop, dental implants, with their significant advantages such as stability, aesthetics, and functional similarity to natural teeth, have become the mainstream choice for tooth restoration, gaining increasing favor and recognition from patients and occupying an important position in clinical applications.

[0003] Single-crown screw-retained implants are widely used in dental implant restoration. They are highly regarded in clinical practice due to their advantages such as reusability, ease of operation, and high maintenance efficiency. Currently, during the implantation of single-crown screw-retained implants, the torque control during drilling into the alveolar bone mainly relies on the dentist's experience.

[0004] However, due to differences in the experience levels of different doctors, it is difficult to accurately control the torque manually, which may result in inappropriate torque and poor implant solidification. Summary of the Invention

[0005] This invention provides a method for retaining a screw-retained single-crown dental implant, which can improve the retention effect of the implant.

[0006] A first aspect of the present invention provides a method for retaining a screw-retained single-crown dental implant, comprising:

[0007] Obtain the first oral cavity model and the second oral cavity model; the first oral cavity model is a three-dimensional digital model of the oral cavity region before tooth drilling, and the second oral cavity model is a three-dimensional model of the oral cavity region after tooth drilling;

[0008] The first oral cavity model and the second oral cavity model are compared to determine the drilling offset; the drilling offset is used to characterize the degree of deviation between the main axis direction of the drill after drilling and the main axis direction of the tooth before drilling.

[0009] If the drilling offset is less than a preset offset threshold, the first implant information of the current implant is compared with the implant database to determine the target torque range; the implant database includes the second implant information of historical implants during the fixation process;

[0010] Select the target torque value within the target torque range to control the fixation operation of the current implant.

[0011] Furthermore, the present invention also proposes that the first oral cavity model includes a first mesh vertex of multiple triangular facets, and the second oral cavity model includes a second mesh vertex of multiple triangular facets;

[0012] The first and second oral cavity models are compared to determine the borehole offset, including:

[0013] Find the minimum vertex distance between each second grid vertex and the first grid vertex;

[0014] If the minimum vertex distance is greater than a preset distance threshold, the second grid vertex is determined as the hole wall point;

[0015] The area formed by the triangular facets where each hole wall point is located is defined as the drilling surface area of ​​the second oral cavity model.

[0016] The tooth surface with the smallest distance between each tooth surface and the drilled surface area in the first oral model is defined as the drilled tooth area of ​​the first oral model.

[0017] Principal component analysis was performed on both the borehole tooth body region and the borehole surface region to determine the borehole offset.

[0018] Furthermore, the present invention also proposes to compare the first implant information of the current implant with an implantation database to determine the target torque range, including:

[0019] The information of the first implant is compared with the information of each second implant in the implant database to determine the implant difference between the information of the first implant and each second implant.

[0020] Based on the implant differences between the first implant information and the information of each second implant, and the historical maximum torque of each historical implant, the recommended maximum torque value for the current implant is determined.

[0021] The target torque range is determined based on the recommended maximum torque value and the preset minimum torque value.

[0022] Furthermore, the present invention also proposes to compare the first implant information with the information of each second implant in the implant database to determine the implant difference between the first implant information and each second implant information, including:

[0023] The information of the first implant is compared with the information of the second implant to obtain the implant information difference; the implant information includes at least one of the following: tooth region, bone mineral density grade, implant diameter, and implant length;

[0024] Based on the information weights corresponding to the differences in implant information, the differences in implant information are weighted and averaged to obtain the implant difference degree between the first implant information and the second implant information.

[0025] Furthermore, the present invention also proposes determining a recommended maximum torque value for the current implant based on the implant differences between the first implant information and the information of each second implant, as well as the historical maximum torque of each historical implant, including:

[0026] Based on the implant tags of each historical implant, target historical implants that did not experience abnormalities during fixation were selected.

[0027] Based on the difference between the first implant information and the target second implant information, the reference weight of each target historical implant is determined; the target second implant information is the second implant information corresponding to the target historical implant.

[0028] Based on the reference weights of each target historical implant, the target historical maximum torque of each target historical implant is weighted and summed to obtain the recommended maximum torque value for the current implant.

[0029] Furthermore, the present invention also proposes that, after selecting a target torque value within the target torque range and controlling the fixation operation of the current implant, the method further includes:

[0030] During the fixation of the current implant, obtain the current implantation orientation of the current implantation tool;

[0031] Determine the implantation eccentricity based on the current implantation direction and the drilling spindle direction;

[0032] Based on the implant eccentricity, the target torque value is corrected to obtain a corrected torque value, which is then used to control the fixation operation of the current implant.

[0033] Furthermore, the present invention also proposes obtaining the current implantation direction of the current implantation tool, including:

[0034] Obtain the position of the implantation tool at each moment during the fixation process of the current implant;

[0035] Based on the position of the planting tool at each moment, the current implantation direction of the current planting tool is determined.

[0036] Furthermore, the present invention also proposes to correct the target torque value based on the planting eccentricity to obtain a corrected torque value, including:

[0037] Based on the planting eccentricity, a first correction factor is determined for the target torque value;

[0038] Obtain the current implant insertion depth;

[0039] A second correction factor for the target torque value is determined based on the first correction factor for the target torque value and the current implant penetration depth.

[0040] Based on the second correction factor, the target torque value is corrected to obtain the corrected torque value.

[0041] Furthermore, the present invention also proposes to correct the target torque value based on a second correction coefficient to obtain a corrected torque value, including:

[0042] Obtain the torque fluctuation range between the recommended maximum torque value and the preset minimum torque value for the current implant;

[0043] Multiply the torque fluctuation range by the second correction factor to obtain the torque increase value;

[0044] The sum of the minimum torque preset value and the torque increase value is determined as the correction torque value.

[0045] Furthermore, the present invention also proposes that, after selecting a target torque value within the target torque range and controlling the fixation operation of the current implant, the method further includes:

[0046] If the current implant meets the retention termination conditions, the current implant retention operation is terminated.

[0047] The fixation termination condition is that the rotation speed of the current implantation tool is less than the preset rotation speed threshold, and the implantation depth is greater than the preset depth threshold.

[0048] The present invention has the following beneficial effects:

[0049] The fixation method for single-crown screw-retained dental implant restorations provided in this invention involves acquiring a first oral model and a second oral model before and after drilling, and comparing the first and second oral models to determine the drilling offset. This accurately quantifies the degree of offset between the drilling direction and the original axis of the tooth, thereby judging the drilling accuracy and avoiding the impact of drilling deviation on subsequent fixation. When the offset is less than a preset threshold, the first implant information of the current implant is compared with an implant database containing second implant information of historical implants to determine the target torque range. A large amount of historical data provides a scientific and reasonable torque reference range for the current implant, avoiding the uncertainty of manual torque control. Finally, a target torque value is selected within the target torque range to control the fixation operation, ensuring that the torque is neither too large to damage the alveolar bone nor too small to cause weak fixation. This improves the fixation effect of the implant from both drilling accuracy and scientific torque control. Attached Figure Description

[0050] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a schematic flowchart illustrating a first method for retaining a screw-retained single-crown dental implant according to an embodiment of the present invention.

[0052] Figure 2 This is a schematic flowchart of S300 provided in one embodiment of the present invention;

[0053] Figure 3 This is a schematic flowchart illustrating a second method for retaining a screw-retained single-crown dental implant according to an embodiment of the present invention.

[0054] Figure 4 This is a schematic flowchart of S700 provided in one embodiment of the present invention. Detailed Implementation

[0055] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a single-crown screw-retained implant fixation method for dental implant restoration based on the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0057] It should be noted that the acquisition, storage, use, and processing of data in the technical solution of this invention all comply with the relevant provisions of laws and regulations.

[0058] It should be noted that in the embodiments of the present invention, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of the present invention. However, they do not mean that the applicant has used or necessarily used the solution.

[0059] Currently, during single-crown screw-retained implant placement, the torque parameter control for screwing the implant into the alveolar bone still heavily relies on the surgeon's subjective experience. Due to significant differences in the operational experience and tactile perception of different clinicians, this manual adjustment method struggles to achieve precise quantitative management of torque values. Clinical observations indicate that torque control deviations due to experience differences can reach 30%-50%. Specifically, excessive torque may cause micro-damage to bone tissue, while insufficient torque may result in initial implant instability. Both situations significantly affect the osseointegration process, ultimately leading to unsatisfactory long-term implant retention.

[0060] To address the aforementioned challenges, this invention first considers how to dynamically match drill hole morphology with implant parameters to improve torque adaptability. Traditional methods rely on experience to set fixed torque thresholds, failing to respond to variations in bone density distribution and drill hole geometry. This invention identifies the need for a quantitative assessment mechanism for drill hole offset, providing data support for torque range selection by comparing the differences in the principal axis directions of the three-dimensional models before and after drilling. Simultaneously, existing technologies lack a dynamic matching mechanism for implant parameters. This invention proposes using historical implant information from an implant database for similarity matching, filtering out historical data similar to the current implant characteristics to generate a personalized torque recommendation range. This approach overcomes the subjectivity of experience-based judgment, achieving dynamic adaptation of torque control with drill hole geometry and implant parameters.

[0061] In this regard, such as Figure 1 As shown, this invention provides a flowchart illustrating a method for retaining a single-crown screw-retained dental implant. This method can be applied to a retention system or device for single-crown screw-retained dental implants. The method may include the following steps S100 to S400:

[0062] S100, acquire the first oral cavity model and the second oral cavity model; the first oral cavity model is a three-dimensional digital model of the oral cavity region before tooth drilling, and the second oral cavity model is a three-dimensional model of the oral cavity region after tooth drilling.

[0063] In this step, the first oral model is a three-dimensional digital model of the oral cavity region before drilling, used to reflect the patient's original oral anatomy before surgery, such as alveolar bone morphology, adjacent tooth positions, and remaining tooth structure. For example, a digital model of the patient's right maxillary first molar region can be obtained using an oral scanner or cone-beam CT, showing the outline of the un-drilled alveolar bone, the relative positions of adjacent teeth, and the three-dimensional morphology of the tooth to be drilled.

[0064] The second oral model is a three-dimensional digital model of the oral cavity region after drilling the tooth. It reflects the actual state of the oral cavity after drilling, such as the location, depth, and direction of the drill hole, as well as minor changes in the surrounding tissues. For example, after drilling the tooth, a digital model of the same area is obtained again using an oral scanner. This digital model will then show the newly added drilled channels in the alveolar bone.

[0065] Specifically, high-precision oral scanners or cone-beam CT scanners are used to collect three-dimensional oral cavity data before and after drilling, respectively. Point cloud or voxel models are generated using optical or X-ray projection principles. The first oral model before surgery records the original anatomical structure (such as alveolar bone contour and adjacent tooth position), and the second oral model after surgery captures the actual state after drilling (such as drilling channel morphology and bone tissue micro-deformation). The two models are unified to the same coordinate system through feature point matching or iterative nearest point algorithm, providing a spatial benchmark for subsequent offset analysis. Its core principle is to realize the digital reproduction of oral cavity structure based on three-dimensional geometric reconstruction technology, ensuring the comparability between models.

[0066] S200, compare the first oral cavity model with the second oral cavity model to determine the drilling offset; the drilling offset is used to characterize the degree of deviation between the main axis direction of the drilling after drilling and the main axis direction of the tooth before drilling.

[0067] In this step, the drilling offset is used to quantitatively characterize the degree of deviation between the main axis of the drill hole and the main axis of the tooth before drilling. For example, the main axis of the tooth before drilling is perpendicular to the alveolar bone plane, and after drilling, the main axis is deflected 5° towards the buccal side. The drilling offset is then calculated by performing a sine function based on the angle between the main axis of the drill hole and the main axis of the tooth.

[0068] Specifically, the aligned first and second oral models are registered in three dimensions, and the spatial vectors of the pre-drilling tooth axis and the post-drilling drilling axis are extracted. The drilling offset is obtained by calculating the angle (angle offset) between the two spatial vectors and then performing a sine function operation. If the offset exceeds a preset threshold, an alarm is triggered or the drilling plan is adjusted. The principle is based on vector space analysis, which uses three-dimensional geometric transformation to quantify surgical deviations and solves the problem of insufficient accuracy of traditional methods that rely on visual judgment.

[0069] S300: If the drilling offset is less than a preset offset threshold, the first implant information of the current implant is compared with the implant database to determine the target torque range; the implant database includes the second implant information of historical implants during the fixation process.

[0070] In this step, the preset offset threshold refers to the maximum angle value that is allowed to deviate in the drilling direction in advance. The specific value can be determined based on clinical data statistics or experimental verification, and is used to determine whether to enter the torque matching stage.

[0071] The first implant information is used to characterize the specific parameters of the current implant, such as implant diameter and implant length.

[0072] The implant database is used to store information about the second implant recorded during the historical implant fixation process, and is used to establish a correlation model between torque and implant performance.

[0073] The target torque range is a range of torque values ​​suitable for the current case, determined based on the matching results of the first implant information and the implant database, to ensure implant stability.

[0074] Specifically, when the drilling offset is within acceptable limits, the system automatically extracts the first implant information (such as implant diameter and implant length) of the current implant and performs multi-dimensional matching with the second implant information of historical cases in the implant database. Through machine learning algorithms (such as random forest or K-nearest neighbors) or statistical weighted models, the system filters the torque distribution range of similar cases to generate the target torque range. The principle is to use big data mining to establish a mapping relationship between "implant-bone condition-torque" to achieve personalized torque recommendations, replacing the traditional experience-based fixed value setting.

[0075] S400 selects a target torque value within the target torque range to control the fixation operation of the current implant.

[0076] In this step, the target torque value is a specific value selected from the target torque range, which serves as the final torque setting value during implantation.

[0077] Specifically, within the target torque range, the final target torque value is selected based on real-time feedback during the operation (such as bone feel and torque curve stability). The implant insertion torque is precisely controlled by the implant machine to ensure optimal mechanical integration with the alveolar bone, ultimately completing the retention operation.

[0078] This invention quantifies the drilling offset by comparing three-dimensional models before and after drilling, and dynamically matches the target torque range by combining historical implant data. This achieves objective and precise control of torque values ​​while ensuring implant alignment accuracy, thus solving the torque mismatch problem caused by reliance on human experience.

[0079] As an example, an oral scanner is first used to acquire a first oral model of the patient's teeth before drilling, and a second oral model after drilling. Both models are three-dimensional mesh structures containing numerous triangular faces and vertex coordinate information. Using computer image processing algorithms, the surface morphology differences between the two models are compared to identify the drilling area, and the drilling principal axis direction on the drilled surface and the tooth principal axis direction on the original tooth surface are extracted. The angle between these two directions is calculated, and a sine function is used to obtain the drilling offset. If the drilling offset is less than a preset offset threshold, the process proceeds to the next step.

[0080] Next, the first implant of the current implant is input into the implant database for retrieval. The implant database stores detailed information on a large number of historical implant cases and their corresponding torque ranges. A similarity algorithm is used to select several historical cases with the closest characteristics. Based on the torque ranges of these historical cases, combined with statistical analysis methods, a target torque range suitable for the current implant is determined, for example, 20-35 N·cm.

[0081] Finally, within this target torque range, a specific target torque value, such as 28 N·cm, is selected based on clinical experience. This target torque value is then input into an electric implantation machine equipped with torque control. During implantation, the electric implantation machine monitors the torque in real time and automatically stops when the set value is reached, thereby precisely controlling the implant's fixation.

[0082] This embodiment obtains a first oral cavity model and a second oral cavity model before and after drilling the tooth. By comparing the first and second oral cavity models, the drilling offset can be determined. This allows for precise quantification of the degree of deviation between the drilling direction and the original tooth axis, thereby judging the drilling accuracy and avoiding the impact of drilling deviation on subsequent retention. When the offset is less than a preset threshold, the first implant information of the current implant is compared with an implant database containing the second implant information of historical implants to determine the target torque range. A large amount of historical data is used to provide a scientific and reasonable torque reference range for the current implant, avoiding the uncertainty of torque control by human experience. Finally, a target torque value is selected within the target torque range to control the retention operation, ensuring that the torque is neither too large to damage the alveolar bone nor too small to cause weak retention. This improves the implant retention effect from both drilling accuracy and scientific torque control.

[0083] In some of the solutions described above in this invention, the drilling offset is determined by comparing the oral cavity model before and after drilling the tooth. However, in practical applications, since the oral cavity model is composed of a large number of triangular facets, it is difficult to accurately locate the drilling area by directly comparing the whole model, resulting in insufficient accuracy in the offset calculation.

[0084] In response, the present invention further proposes a first mesh vertex comprising multiple triangular facets in a first oral cavity model, and a second mesh vertex comprising multiple triangular facets in a second oral cavity model;

[0085] S200 may include:

[0086] Find the minimum vertex distance between each second grid vertex and the first grid vertex;

[0087] If the minimum vertex distance is greater than a preset distance threshold, the second grid vertex is determined as the hole wall point;

[0088] The area formed by the triangular facets where each hole wall point is located is defined as the drilling surface area of ​​the second oral cavity model.

[0089] The tooth surface with the smallest distance between each tooth surface and the drilled surface area in the first oral model is defined as the drilled tooth area of ​​the first oral model.

[0090] Principal component analysis was performed on both the borehole tooth body region and the borehole surface region to determine the borehole offset.

[0091] In this embodiment, the preset distance threshold can be set to 0.1 mm to filter vertex data in non-hole wall regions. Principal component analysis extracts the first principal component direction as the principal axis direction by calculating the eigenvectors of the region vertex coordinate covariance matrix. The angle between the principal axis directions of the drilled tooth region and the drilled surface region is calculated using the vector dot product formula, and the angle value is then used as a sine function calculation as a quantitative indicator of the drill offset.

[0092] Specifically, by comparing the vertices of the first and second grids, vertices whose distance changes exceed a preset distance threshold are selected as borehole wall points. The triangular facets containing these borehole wall points aggregate to form the borehole surface region, which serves as a comparison benchmark with the nearest tooth surface region in the original model. Principal component analysis is performed on both regions to extract their respective principal axis direction vectors, and the offset angle is obtained by calculating the angle between these vectors. For example, when the principal axis direction vector of the borehole tooth region is (0.87, 0.49, 0.02) and the principal axis direction vector of the borehole surface region is (0.85, 0.51, 0.13), the angle between the two vectors is 2.3 degrees. A sine function is then used to calculate the borehole offset. This method effectively eliminates data interference from non-drilled areas through local region feature analysis, improving the accuracy of offset detection.

[0093] As an example, first, obtain the minimum vertex distance between each second grid vertex and the first grid vertex. Specifically, this can be done by calculating the Euclidean distance from each second grid vertex to all first grid vertices and selecting the minimum value as the minimum vertex distance for that second grid vertex.

[0094] Secondly, if the minimum vertex distance is greater than a preset distance threshold, the second grid vertex is designated as the hole wall point. The preset distance threshold can be set according to the actual situation, for example, it can be set to 0.1 mm.

[0095] Then, the region formed by the triangular facets where each hole wall point is located is defined as the drilling surface region of the second oral cavity model. This step can be achieved by connecting adjacent hole wall points to form a closed polygonal region.

[0096] Next, the first oral cavity model is divided into multiple tooth surfaces using segmentation software. Then, the tooth surface with the smallest distance between each tooth surface and the drilled surface area is determined as the drilled tooth area of ​​the first oral cavity model. This step can be achieved by calculating the shortest distance from each tooth surface in the first oral cavity model to the drilled surface area and selecting the tooth surface with the smallest distance.

[0097] Finally, principal component analysis was performed on both the borehole tooth body region and the borehole surface region to determine the borehole offset. Principal component analysis extracts the main eigenvectors of the two regions, and the borehole offset is calculated by comparing the directions of these eigenvectors.

[0098] This embodiment enables precise determination of drilling offset, providing accurate reference for subsequent implant retention procedures. By comparing the first and second oral models, the drilling area can be accurately identified, and the drilling offset can be calculated using principal component analysis, avoiding errors that may arise from manual judgment. This method not only improves the measurement accuracy of drilling offset but also provides dentists with objective and reliable data support, helping to optimize the implant's placement angle and position, thereby improving the success rate and long-term stability of dental implant restorations.

[0099] In some of the solutions described above, the target torque range can be determined by comparing the information of the first implant with the information of the second implant in the implant database. However, it does not quantify the differences between the information of the first implant and the information of each second implant, which may lead to deviations in the target torque range and affect the accuracy of the fixation operation.

[0100] In this regard, such as Figure 2 As shown, the present invention further proposes that S300 may specifically include the following S310 to S330:

[0101] S310, compare the first implant information with each second implant information in the implant database to determine the implant difference between the first implant information and each second implant information;

[0102] S320, based on the implant differences between the first implant information and each second implant information, and the historical maximum torque of each historical implant, determine the recommended maximum torque value for the current implant;

[0103] S330 determines the target torque range based on the recommended maximum torque value and the preset minimum torque value.

[0104] In this embodiment, the implant variability is used to quantify the degree of difference between the current implant and the historical implant in key parameters. Specifically, it can be calculated by multi-dimensional feature weighting (e.g., implant length difference × 0.3 + implant diameter difference × 0.25 + bone density grade difference × 0.45). The smaller the value, the closer the current implant is to the historical implant in key parameters.

[0105] The historical maximum torque refers to the maximum torque value recorded for the second implant information, which is usually collected in real time by the implantation machine's torque sensor and stored in the implantation database.

[0106] The minimum torque preset value is a safety lower limit (e.g., 20 N·cm) set based on biomechanical research to ensure that the implant and bone tissue generate sufficient compressive stress to initiate osseointegration, while avoiding insufficient initial stability due to excessively low torque.

[0107] Among them, implant variability quantification is based on multi-parameter feature space mapping, which transforms implant parameters into high-dimensional vectors and eliminates the influence of different parameter dimensions through distance metrics (such as Mahalanobis distance) to achieve cross-case similarity assessment; historical maximum torque data implies the mechanical balance relationship of "implant-bone interface" (i.e., the maximum torque must be lower than the bone tissue yield strength and higher than the bone integration initiation threshold); similar cases are screened by implant variability weighting, which essentially uses group data to approximate the mechanical response characteristics of the current case, replacing the complex calculations of finite element analysis.

[0108] Specifically, the first implant information, such as the diameter and bone density grade of the current implant, is extracted and compared item by item with the second implant information of each historical record in the implant database. The implant difference is calculated using a weighted Euclidean distance algorithm. Then, based on the difference of each implant, the weight of each historical implant is determined. The weight of each historical implant is then weighted and summed with the corresponding historical maximum torque to obtain the recommended maximum torque value of the current implant. Finally, the target torque range (e.g., 20-32 N·cm) is generated by combining the minimum torque preset value (e.g., 20 N·cm) and the maximum torque recommended value.

[0109] As an example, the information of the first implant is compared with the information of each second implant in the implant database to determine the implant variability between the first implant information and each second implant information. Specifically, information such as the bone mineral density grade, implant diameter, and implant length of the current implant can be compared with the corresponding information of historical implants to obtain the differences of each piece of information. Then, a weight coefficient is assigned to each information difference, for example, the weight of bone mineral density grade is 0.3, the weight of implant diameter is 0.4, and the weight of implant length is 0.4. Next, each information difference is multiplied by the corresponding weight coefficient, and the weighted average is obtained, which is the implant variability.

[0110] Then, based on the implant differences between the first implant information and the information of each second implant, as well as the historical maximum torque of each historical implant, the recommended maximum torque value for the current implant is determined. For example, the weight of each historical implant can be determined based on the implant differences, and the weight of each historical implant can be weighted and summed with the corresponding historical maximum torque to obtain the recommended maximum torque value for the current implant.

[0111] Finally, based on the recommended maximum torque value and the preset minimum torque value, the target torque range is determined. The preset minimum torque value can be set according to the implant manufacturer's recommendations, for example, 20 N·cm. The target torque range can be set as the interval between the preset minimum torque value and the recommended maximum torque value.

[0112] This embodiment enables the identification of similar implantation cases from historical data based on the current implant's characteristic information. By analyzing the torque data from these cases, a suitable torque range can be determined for the current implant. This method fully leverages historical experience, improving the accuracy and reliability of torque control and contributing to better implant retention. Furthermore, by setting a torque range rather than a fixed value, it provides operational flexibility, allowing for fine-tuning within the range based on actual conditions, thus better adapting to individual patient differences.

[0113] In some of the solutions described above, the implant variability is determined by comparing information from a first implant with information from a second implant, and then a torque range is recommended. However, when calculating the variability, the degree of influence of different types of implant information on the implant variability is not distinguished, which may lead to a deviation between the calculated variability and the actual needs, affecting the accuracy of the torque recommendation.

[0114] In this regard, the present invention further proposes that S310 may specifically include:

[0115] The information of the first implant is compared with the information of the second implant to obtain the implant information difference; the implant information includes at least one of the following: tooth region, bone mineral density grade, implant diameter, and implant length;

[0116] Based on the information weights corresponding to the differences in implant information, the differences in implant information are weighted and averaged to obtain the implant difference degree between the first implant information and the second implant information.

[0117] In this embodiment, the tooth region is divided into specific tooth position numbers, bone mineral density grades are quantified into three levels (low, medium, and high) or specific numerical ranges, implant diameters include continuous values ​​from 3.0 mm to 6.0 mm, and implant lengths include continuous values ​​from 6 mm to 16 mm. Information weights are pre-set based on clinical data; for example, the weighting coefficient for bone mineral density grade is 0.4, for implant diameter is 0.3, for implant length is 0.2, and for tooth region is 0.1. The weighted averaging process uses a linear weighted model, where the absolute value of each information difference is multiplied by its corresponding weight and then summed.

[0118] Specifically, when obtaining the difference in tooth regions, if the first implant information is for the first tooth region and the second implant information is for the second tooth region (i.e., the tooth regions of the first and second implant information are different), the difference is recorded as 1; if they belong to the same region, the difference is recorded as 0. The bone mineral density grade difference is calculated as the absolute value of the difference between the two grade values, for example, a lower grade corresponds to a value of 1, a medium grade to a value of 2, and a higher grade to a value of 3. The differences in implant diameter and length are both calculated as the absolute differences of the actual measured values. The above four differences are multiplied by their corresponding weighting coefficients and then summed to obtain the implant variability within the range of 0-1. For example, when the bone mineral density grade difference is 1 and all other differences are 0, the variability is 0.4 × 1 = 0.4. This calculation method quantifies the contribution of different information to the torque effect, making the implant variability calculation results more consistent with actual clinical needs, thereby improving the accuracy of subsequent torque recommendations.

[0119] The implant variability can be determined using the following formula 1:

[0120]

[0121] In Formula 1, S i,new Used to characterize the implant difference between the i-th second implant information and the first implant information; H r The information weight used to characterize the information of the r-th implant, which includes four types of implant information: tooth region, bone mineral density grade, implant diameter, and implant length; ΔX i,new,rThis is used to characterize the difference between the i-th second implant information and the first implant information in the r-th implant information. When the implant information is a tooth region, the difference between the implant information is 0 if the tooth regions are the same, and 1 if the tooth regions are different.

[0122] As an example, the information for the first implant is compared with that for the second implant to obtain the difference in implant information. Implant information includes at least one of the following: tooth region, bone mineral density grade, implant diameter, and implant length. For example, in the first implant information, the tooth region is the maxillary first molar, the bone mineral density grade is D2, the implant diameter is 4.1 mm, and the implant length is 10 mm. In the second implant information, the tooth region is the maxillary second molar, the bone mineral density grade is D3, the implant diameter is 3.75 mm, and the implant length is 11.5 mm. The differences in implant information obtained through comparison are: tooth region difference = 1, bone mineral density grade difference = 1, implant diameter difference = 0.35 mm, and implant length difference = 1.5 mm.

[0123] Furthermore, based on the information weights corresponding to the differences in implant information, the differences in implant information are weighted and averaged to obtain the implant difference degree between the first implant information and the second implant information. The information weights can be set according to the degree of influence of each implant information on implant retention. For example, the information weight for the tooth region is 0.3, the information weight for bone mineral density grade is 0.4, the information weight for implant diameter is 0.2, and the information weight for implant length is 0.1. Through weighted averaging, the implant difference degree is obtained as 0.685.

[0124] This embodiment achieves a quantitative assessment of implant information differences. This allows for an accurate measurement of the similarity between different implants, providing a reliable basis for subsequently determining the target torque range. Furthermore, by introducing information weights, the varying impacts of different implant information on fixation effectiveness are considered, improving the accuracy and rationality of implant variability calculations. This quantitative assessment method helps reduce the subjectivity and uncertainty of human experience-based judgments, providing a more scientific and precise reference for implant fixation operations.

[0125] In some of the solutions described above in this invention, when determining the recommended maximum torque value based on implant variability and historical maximum torque, directly using data from all historical implants may introduce interference from abnormal implants, causing the recommended value to deviate from the actual requirements and affecting the stability of the fixation effect.

[0126] In this regard, the present invention further proposes that S320 may specifically include:

[0127] Based on the implant tags of each historical implant, target historical implants that did not experience abnormalities during fixation were selected.

[0128] Based on the difference between the first implant information and the target second implant information, the reference weight of each target historical implant is determined; the target second implant information is the second implant information corresponding to the target historical implant.

[0129] Based on the reference weights of each target historical implant, the target historical maximum torque of each target historical implant is weighted and summed to obtain the recommended maximum torque value for the current implant.

[0130] In this embodiment, when screening target historical implants, the implant label includes an indicator of whether loosening, breakage, or abnormal displacement occurred during the retention process; the target implant variability is obtained by calculating the information difference between the tooth region, bone density grade, implant diameter, and length, and then weighting it by a preset weight coefficient; the reference weight is negatively correlated with the target implant variability, and the smaller the target implant variability, the higher the weight. For example, for every 0.1 decrease in the target implant variability, the weight increases by 5%; when weighted summing, the maximum torque of each target historical implant is multiplied by its corresponding weight, summed, and then divided by the total weight value to obtain the recommended value.

[0131] Specifically, during the execution process, firstly, all historical implant data is extracted from the implant database, and target historical implants without retention abnormalities are retained through label filtering. Then, the tooth region, bone density grade, implant diameter, and length of the current implant are subtracted from the corresponding parameters of each target historical implant, and the target implant difference is calculated according to preset weights. The lower the target implant difference, the more similar the target historical implant is to the current implant, and the higher the reference value of its historical maximum torque, thus assigning it a higher weight. Finally, the historical maximum torque of all target historical implants is multiplied by its weight and summed, then divided by the total weight to obtain the recommended maximum torque value. For example, when the weights of the three target historical implants are 0.4, 0.3, and 0.3, respectively, corresponding to torques of 35 N·cm, 32 N·cm, and 30 N·cm, the recommended value is (35×0.4+32×0.3+30×0.3) / (0.4+0.3+0.3)=33.2 N·cm. This process improves the reliability of the torque recommendation by eliminating interference from outlier data and enhancing the reference value of similar cases.

[0132] The recommended maximum torque value for the current implant can be determined using Formula 2:

[0133]

[0134] In Formula 2, G max S is used to characterize the recommended maximum torque value for the current implant.i,new Y is used to characterize the implant difference between the i-th second implant information and the first implant information; i This is used to characterize whether the historical implant corresponding to the i-th second implant information has experienced an abnormality; the value is 0 when an abnormality occurs, and 1 otherwise; G i,max The function is used to characterize the historical maximum torque of the historical implant corresponding to the i-th second implant information, n is used to characterize the number of second implant information, and norm is used to characterize the normalization function.

[0135] in, The reference weight of the i-th historical implant is indicated by the fact that when no abnormality occurs and the similarity to the current implant is higher (the smaller the difference), the corresponding reference weight is larger.

[0136] This embodiment enables the provision of personalized maximum torque recommendations for the current implant based on historical implantation data. This avoids the inaccuracies inherent in human experience-based judgment, improving the precision and safety of implant fixation procedures. Furthermore, by introducing reference weights, historical data more similar to the current implant condition has a greater influence, thereby enhancing the accuracy and reliability of the maximum torque recommendation.

[0137] In some of the solutions described above in this invention, a target torque range is determined by comparing implant information and the fixation operation is controlled. However, during the fixation process, the actual implantation direction of the implantation tool may deviate from the drilling spindle direction, resulting in a mismatch between the applied torque value and the actual stress state, which affects the stability of the implant-bone integration.

[0138] In this regard, such as Figure 3 As shown, following S400, the present invention further proposes that the retention method of the single-crown screw-retained implant for dental implant restoration may also include the following S500 to S700:

[0139] S500: During the fixation of the current implant, obtain the current implantation direction of the current implantation tool;

[0140] S600 determines the implantation eccentricity based on the current implantation direction and the drilling spindle direction;

[0141] S700 corrects the target torque value based on the implant eccentricity to obtain a corrected torque value, thereby controlling the fixation operation of the current implant based on the corrected torque value.

[0142] In this embodiment, the current implantation direction is obtained by fitting position data of the implantation tool at multiple moments during the fixation process. The implantation off-axis is quantified by calculating the angle between the current implantation direction and the drilling spindle direction and then performing a sine function operation. When correcting the torque value, the correction coefficient is dynamically adjusted according to the implantation off-axis, ultimately generating a corrected torque value that matches the current implantation state.

[0143] Specifically, during the fixation operation phase, the position data of the implantation tool is collected in real time via displacement sensors, and an implantation direction vector is fitted based on the time-series position changes. After calculating the vector angle, a sine function is used to obtain the implantation off-axis, which reflects the degree of deviation between the implantation axis and the preset drilling axis. When the implantation off-axis exceeds a preset threshold, a correction coefficient is generated based on the proportion of the implantation off-axis, and a corrected torque value adapted to the actual implantation state is generated based on the correction coefficient. This process dynamically compensates for the uneven stress distribution caused by the implantation direction deviation, avoiding bone tissue damage due to torque overload or fixation failure caused by insufficient torque.

[0144] As an example, during the fixation of the current implant, the current implantation direction of the implantation tool is obtained. Specifically, the position information of the current implantation tool can be captured in real time using an optical tracking system or an electromagnetic tracking system. Based on the current implantation direction and the drilling axis direction, the implantation off-axis is determined. For example, the angle between the current implantation direction and the drilling axis direction can be calculated, and then a sine function can be used to represent the implantation off-axis. Further, based on the implantation off-axis, the target torque value is corrected to obtain a corrected torque value. Specifically, the corresponding correction coefficient can be determined according to a pre-established correspondence between implantation off-axis and correction coefficients, and the target torque value is multiplied by this correction coefficient to obtain the corrected torque value. Thus, the fixation operation of the current implant is controlled based on the corrected torque value to adapt to the actual implantation situation.

[0145] This embodiment enables real-time adjustment of the torque value during implant fixation, effectively addressing deviations between the implantation direction and the preset direction. By considering the impact of implant axial offset on the torque, the torque value is dynamically corrected, avoiding improper fixation caused by implantation direction deviation. This adaptive torque control method improves the accuracy and reliability of implant fixation, contributing to improved long-term implant stability and functional performance.

[0146] In some of the solutions described above in this invention, the target torque range is determined based on the borehole offset and the fixation operation is controlled. However, during the fixation process, the implantation direction of the implantation tool may change over time. Relying solely on the initial direction data cannot dynamically reflect the actual implantation trajectory, resulting in a mismatch between torque control and real-time implantation direction deviation, which affects fixation accuracy.

[0147] In this regard, the present invention further proposes S500, which includes:

[0148] Obtain the position of the implantation tool at each moment during the fixation process of the current implant;

[0149] Based on the position of the planting tool at each moment, the current implantation direction of the current planting tool is determined.

[0150] In this embodiment, the position of the implantation tool can be obtained by real-time acquisition of three-dimensional coordinate data by an inertial measurement unit or optical tracking system installed on the implantation tool; the position of the implantation tool at each moment can include a continuous position sequence marked with timestamps; the current implantation direction can be fitted with a linear trend vector of the position sequence by least squares method, or the instantaneous movement direction can be calculated by calculating the position difference between adjacent moments and then taking the average value.

[0151] Specifically, during the retention procedure, the implant tool drills into the alveolar bone at a preset rotation speed. Simultaneously, an inertial measurement unit (IMU) records the coordinates of the tool head in three-dimensional space at a fixed frequency, forming a continuous set of position points containing temporal information. This set of position points is then input into a direction calculation module, where a linear regression model is used to fit the overall motion direction vector of the implant tool along the drilling path, serving as the current implantation direction. For example, at a sampling frequency of 100Hz, the position is recorded every 10 milliseconds, and a direction vector can be fitted from 100 consecutive position points, with an angular error range controlled within ±0.5°. This direction data is compared in real-time with the drilling spindle direction, dynamically correcting torque parameters to ensure that the torque application direction matches the actual implantation trajectory, preventing uneven force on the implant or decreased osseointegration strength due to directional deviation.

[0152] As an example, this involves obtaining the position of the implantation tool at various moments during the fixation process of the implant. Specifically, this can be achieved by capturing the positions of markers on the implantation tool in real time using an optical or electromagnetic tracking system. For instance, reflective markers can be installed on the implantation tool, and multiple high-speed cameras can be used to capture the movement trajectories of the markers from different angles. The spatial coordinates of the implantation tool can then be calculated using a 3D reconstruction algorithm.

[0153] Furthermore, based on the position of the implantation tool at each moment, the current implantation direction of the tool is determined. Specifically, the least squares method can be used to fit the sequence of implantation tool position points to obtain a straight line equation, and the direction vector of this line is the current implantation direction. Thus, the actual implantation trajectory of the tool can be accurately determined.

[0154] This embodiment enables real-time and accurate acquisition of the implantation tool's orientation, providing a reliable data foundation for subsequent torque adjustments based on that orientation. Compared to traditional methods relying on physician experience, this approach objectively quantifies the implantation tool's trajectory, avoiding human error and improving the precision and controllability of the implant fixation process. Furthermore, real-time monitoring of the implantation orientation allows for timely detection and correction of deviations during implantation, effectively reducing the risk of implantation failure.

[0155] In some of the solutions described above in this invention, relying solely on the implant eccentricity for correction during the dynamic torque adjustment process may result in a mismatch between the torque correction result and the actual drilling depth of the implant, leading to insufficient torque adjustment accuracy.

[0156] In this regard, such as Figure 4 As shown, the present invention further proposes that S700 may specifically include the following S710 to S740:

[0157] S710, the first correction factor for determining the target torque value based on the planting eccentricity;

[0158] S720, obtain the current implant drilling depth;

[0159] S730, based on the first correction factor of the target torque value and the current implant drilling depth, determines the second correction factor of the target torque value;

[0160] S740, based on the second correction factor, corrects the target torque value to obtain the corrected torque value.

[0161] In this embodiment, the first correction factor is a coefficient used to correct the target torque value based on the implant off-axis deviation. Different implant off-axis deviations have different effects on the force distribution and fixation effect of the implant; therefore, it is necessary to calculate the corresponding first correction factor according to the magnitude of the implant off-axis deviation. The first correction factor reflects the initial degree of influence of the implant off-axis deviation on the target torque value.

[0162] Implant drilling depth refers to the depth to which the implant has been inserted into the alveolar bone at a specific moment during dental implant surgery. Implant drilling depth is a dynamically changing parameter that increases as the surgery progresses. It affects the contact area and integration strength between the implant and the alveolar bone, thus influencing the implant's stability and retention. Different drilling depths may require different torque values ​​to ensure good implant retention; therefore, obtaining the current implant drilling depth is necessary and should be used as one of the reference factors for adjusting the target torque value.

[0163] The second correction factor is a comprehensive correction factor determined after considering both the first correction factor for the target torque value and the current implant penetration depth. The second correction factor takes into account the influence of implant axial deviation and implant penetration depth on the target torque value, and can more accurately reflect the degree of correction required for the target torque value under actual conditions.

[0164] The corrected torque value refers to the final torque value used in actual operation after correcting the target torque value. Due to various influencing factors during the implantation process (such as implant axial deviation, implant drilling depth, etc.), these factors may cause the optimal fixation effect to be achieved when operating according to the original target torque value. Therefore, it is necessary to correct the target torque value to obtain a corrected torque value that better reflects the actual situation, thereby improving the fixation quality and stability of the implant.

[0165] As an example, the first correction factor can be determined using the following formula 3:

[0166]

[0167] In formula 3, The first correction coefficient is used to characterize time t; N is a pre-set planting eccentricity threshold, for example, the planting eccentricity threshold can be 0.05; O t Used to characterize the planting eccentricity at time t.

[0168] The implant insertion depth can be determined using the following formula 4:

[0169]

[0170] In Formula 4, D t The depth of the implant at time t is used to characterize the depth of the implant at time t, and l0 is used to characterize the coordinates of the deepest point of the borehole. t The coordinates of the implant head at time t, d(l0,l t ) is used to represent the distance between the coordinates of the deepest point of the borehole and the coordinates of the implant head at time t, and D is used to represent the borehole depth.

[0171] The second correction factor can be determined using the following formula 5:

[0172]

[0173] In formula 5, The first correction coefficient is used to characterize time t. The second correction coefficient, D, is used to characterize time t. t F is used to characterize the implant penetration depth at time t. t ′ is used to characterize the resistance to implant insertion at time t. The first correction coefficient is used to characterize time t-1.

[0174] In this embodiment, the first correction coefficient, based on implant axial deviation, determines the target torque value, fully considering the deviation between the actual implant axis and the ideal axis, making the torque correction more closely match the actual implantation state. The current implant drilling depth is obtained and used in conjunction with the first correction coefficient to determine a second correction coefficient, further incorporating dynamic information from the implantation process. Finally, the target torque value is corrected based on the second correction coefficient to obtain the corrected torque value. This allows for precise torque adjustment according to the actual implantation situation, effectively avoiding problems such as weak retention or excessive force caused by differences in implant axial deviation and drilling depth, improving the accuracy and stability of implant retention, and enhancing the success rate and quality of dental implant restorations.

[0175] In some of the solutions described above in this invention, when the target torque value is corrected based on the implant eccentricity and the implant drilling depth, the corrected torque value may exceed the reasonable range due to the failure to consider the torque fluctuation range, thus affecting the implant fixation effect.

[0176] In this regard, the present invention further proposes that S740 may include:

[0177] Obtain the torque fluctuation range between the recommended maximum torque value and the preset minimum torque value for the current implant;

[0178] Multiply the torque fluctuation range by the second correction factor to obtain the torque increase value;

[0179] The sum of the minimum torque preset value and the torque increase value is determined as the correction torque value.

[0180] In this embodiment, the torque fluctuation range is calculated from the difference between the maximum recommended torque value and the minimum preset torque value, serving as the baseline range for torque adjustment. The second correction coefficient integrates the influence of planting eccentricity and real-time drilling depth on the torque. The torque increment value is calculated by multiplying the fluctuation range by the correction coefficient to ensure that the torque adjustment amount always remains within the torque fluctuation range. The final corrected torque value is based on the minimum preset torque value plus the increment value. For example, if the minimum preset torque value is 15 N·cm, the torque fluctuation range is 10 N·cm, and the second correction coefficient is 0.3, the corrected torque value is 15 + 10 × 0.3 = 18 N·cm.

[0181] Specifically, during the implantation tool's fixation operation, the drilling depth and implantation direction deviation of the implant are monitored in real time. When the second correction coefficient is 0.25, if the torque fluctuation range is 20 N·cm and the minimum preset torque value is 18 N·cm, a torque increase of 5 N·cm is obtained by multiplying the torque fluctuation range by the correction coefficient. The final corrected torque value is determined to be 18 + 5 = 23 N·cm. This value neither exceeds the recommended maximum torque value of 38 N·cm nor is higher than the minimum preset torque value, ensuring that the implant still obtains effective fixation force even with angular deviations. This method, by dynamically constraining the torque correction amplitude, prevents torque runaway due to multiple cumulative corrections, while ensuring torque adaptability under different working conditions.

[0182] As an example, when determining the corrected torque value, the torque fluctuation range between the maximum recommended torque value and the minimum preset torque value of the current implant is first obtained; then, the torque fluctuation range is multiplied by a second correction coefficient to generate a torque amplification value, where the second correction coefficient is derived from the linear function relationship between the implant axial deviation and the real-time drilling depth; finally, the minimum preset torque value and the torque amplification value are linearly superimposed to generate an accurate corrected torque value, and the corrected torque value is fed back to the control system of the implantation tool in real time through a torque sensor.

[0183] This embodiment effectively solves the problem of insufficient torque matching accuracy caused by implant angle deviation. By dynamically correcting the torque output value, the axial force of the implant is matched with the mechanical properties of bone tissue, avoiding bone microcracks caused by torque overload or decreased retention force caused by insufficient torque in traditional experience operation, and significantly improving the initial stability of the implant and the efficiency of bone integration.

[0184] In some of the solutions described above in this invention, a method for controlling implant fixation operation by means of a target torque range is proposed. However, the lack of a clear termination condition judgment mechanism during the fixation operation may lead to premature termination of the operation or excessive force, affecting implant stability and osseointegration effect.

[0185] In response, this invention further proposes that, following S400, the retention method for the single-crown screw-retained dental implant restoration may further include:

[0186] If the current implant meets the retention termination conditions, the current implant retention operation is terminated.

[0187] The fixation termination condition is that the rotation speed of the current implantation tool is less than the preset rotation speed threshold, and the implantation depth is greater than the preset depth threshold.

[0188] In this embodiment, the preset rotation speed threshold can be set according to the implant type and bone density grade, specifically within the range of 50-200 revolutions per minute. The preset depth threshold can be determined based on the implant length; for example, a depth threshold of 9.5 mm can be set for an implant with a length of 10 mm. Rotation speed monitoring is achieved in real time using a gyroscope sensor, and depth measurement is implemented using a laser ranging module. The logical judgment of the rotation speed threshold and depth threshold is executed synchronously by the embedded controller; both must be satisfied simultaneously to trigger operation termination.

[0189] Specifically, during the retention procedure, as the implant tool drives the implant into the alveolar bone, its rotational speed gradually decreases as bone resistance increases. When the speed sensor detects a real-time speed drop below a preset threshold, it indicates that the implant has initially formed a mechanical lock. At this point, the depth sensor data is further verified; when the drilling depth exceeds a preset threshold, it confirms that the implant has reached the intended placement position. This dual-condition triggering mechanism effectively avoids misjudgment based on a single parameter, such as a sudden drop in speed without reaching the target depth in areas of abnormal bone density. After the procedure is terminated, the implant tip remains flush with the bone plane, ensuring adequate placement space and long-term stability of the prosthesis.

[0190] As an example, during implant fixation, a torque sensor collects real-time rotational speed data of the implantation tool, while a displacement sensor monitors the depth of implant penetration into the bone tissue. When the rotational speed is detected to be below a preset threshold, a depth verification procedure is triggered, comparing the real-time depth data with the preset threshold. If the depth exceeds the preset threshold, a termination command is sent to the control system, the power output of the implantation tool is immediately cut off, and the fixation operation automatically stops. The preset rotational speed threshold is set based on the mechanical strength characteristics of the implant material, while the preset depth threshold is set based on the preoperatively planned three-dimensional model of the implant placement location.

[0191] This embodiment effectively solves the problems of lag and subjectivity in manually judging the timing of fixation termination. By using the combined criteria of dual physical quantities, it achieves precise closed-loop control of the fixation process, avoiding bone tissue damage caused by excessive drilling or implant loosening caused by insufficient torque, and significantly improving the initial stability of the implant and the osseointegration effect.

[0192] It should be clarified that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described as examples. However, the method process of the present invention is not limited to the specific steps described, and those skilled in the art can make various changes, modifications, and additions, or change the order of the steps, after understanding the spirit of the present invention.

[0193] It should also be noted that the exemplary embodiments mentioned in this invention describe methods or systems based on a series of steps or apparatus. However, this invention is not limited to the order of the steps described above; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0194] The above description is merely a specific embodiment of the present invention. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A retention system for a screw-retained single-crown dental implant, characterized in that, The retention system for the single-crown screw-retained dental implant restoration uses a retention method for the single-crown screw-retained dental implant restoration, the method comprising: Obtain a first oral cavity model and a second oral cavity model; the first oral cavity model is a three-dimensional digital model of the oral cavity region before tooth drilling, and the second oral cavity model is a three-dimensional digital model of the oral cavity region after tooth drilling; The first oral cavity model is compared with the second oral cavity model to determine the drilling offset; the drilling offset is used to characterize the degree of deviation between the main axis direction of the drilling after drilling and the main axis direction of the tooth before drilling. If the drilling offset is less than a preset offset threshold, the first implant information of the current implant is compared with the implant database to determine the target torque range; the implant database includes the second implant information of historical implants during the fixation process; Select a target torque value within the target torque range to control the fixation operation of the current implant.

2. The retention system for a single-crown screw-retained dental implant as described in claim 1, characterized in that, The first oral cavity model includes first mesh vertices of multiple triangular facets, and the second oral cavity model includes second mesh vertices of multiple triangular facets; The step of comparing the first oral cavity model with the second oral cavity model to determine the drilling offset includes: Obtain the minimum vertex distance between each second grid vertex and the first grid vertex; If the minimum vertex distance is greater than a preset distance threshold, the second grid vertex is determined as a hole wall point; The area formed by the triangular facets where each of the hole wall points is located is defined as the drilling surface area of ​​the second oral cavity model; The tooth surface with the smallest distance between each tooth surface in the first oral cavity model and the drilled surface region is determined as the drilled tooth region of the first oral cavity model; Principal component analysis was performed on the borehole tooth body region and the borehole surface region respectively to determine the borehole offset.

3. The retention system for a single-crown screw-retained implant for dental implant restoration according to claim 1, characterized in that, The step of comparing the first implant information of the current implant with the implant database to determine the target torque range includes: The first implant information is compared with each of the second implant information in the implant database to determine the implant difference between the first implant information and each of the second implant information; Based on the implant differences between the first implant information and each of the second implant information, and the historical maximum torque of each of the historical implants, the recommended maximum torque value of the current implant is determined; The target torque range is determined based on the recommended maximum torque value and the preset minimum torque value.

4. The retention system for a single-crown screw-retained dental implant as described in claim 3, characterized in that, The step of comparing the first implant information with each of the second implant information in the implant database to determine the implant difference between the first implant information and each of the second implant information includes: The first implant information is compared with the second implant information to obtain the implant information difference; the implant information includes at least one of tooth region, bone density grade, implant diameter and implant length; Based on the information weights corresponding to the differences in implant information, the differences in implant information are weighted and averaged to obtain the implant difference degree between the first implant information and the second implant information.

5. The retention system for a screw-retained single-crown dental implant as described in claim 3, characterized in that, The step of determining the recommended maximum torque value for the current implant based on the implant differences between the first implant information and each of the second implant information, and the historical maximum torque of each of the historical implants, includes: Based on the implant tags of each historical implant, target historical implants that did not experience abnormalities during fixation were selected. Based on the difference between the first implant information and the target implant information of each target second implant, the reference weight of each target historical implant is determined; the target second implant information is the second implant information corresponding to the target historical implant. Based on the reference weights of each target historical implant, the target historical maximum torque of each target historical implant is weighted and summed to obtain the recommended maximum torque value of the current implant.

6. The retention system for a single-crown screw-retained implant for dental implant restoration according to any one of claims 1-5, characterized in that, After selecting a target torque value within the target torque range and controlling the fixation operation of the current implant, the method further includes: During the fixation of the current implant, the current implantation direction of the current implantation tool is obtained; Determine the implantation eccentricity based on the current implantation direction and the drilling spindle direction; Based on the implant eccentricity, the target torque value is corrected to obtain a corrected torque value, so as to control the fixation operation of the current implant based on the corrected torque value.

7. The retention system for a screw-retained single-crown dental implant as described in claim 6, characterized in that, The process of obtaining the current implantation direction of the current implantation tool includes: The position of the current implantation tool at each moment during the fixation process of the current implant; Based on the position of the implantation tool at each time point, the current implantation direction of the current implantation tool is determined.

8. The retention system for a single-crown screw-retained dental implant as described in claim 6, characterized in that, The step of correcting the target torque value based on the planting eccentricity to obtain a corrected torque value includes: Based on the planting eccentricity, a first correction coefficient for the target torque value is determined; Obtain the current implant insertion depth; Based on the first correction factor of the target torque value and the implant drilling depth at the current moment, a second correction factor of the target torque value is determined; Based on the second correction coefficient, the target torque value is corrected to obtain the corrected torque value.

9. The retention system for a single-crown screw-retained dental implant as described in claim 8, characterized in that, The step of correcting the target torque value based on the second correction coefficient to obtain the corrected torque value includes: Obtain the torque fluctuation range between the recommended maximum torque value and the preset minimum torque value for the current implant; Multiply the torque fluctuation range by the second correction factor to obtain the torque increase value; The sum of the minimum torque preset value and the torque increase value is determined as the corrected torque value.

10. The retention system for a single-crown screw-retained implant for dental implant restoration according to any one of claims 1-5, characterized in that, After selecting a target torque value within the target torque range and controlling the fixation operation of the current implant, the method further includes: If the current implant reaches the fixation termination condition, the fixation operation of the current implant is terminated; The fixation termination condition is that the rotation speed of the current implantation tool is less than a preset rotation speed threshold, and the implantation drilling depth is greater than a preset depth threshold.

Images