A transpterygoid implant surgery navigation method, system and storage medium

Abstract

This invention provides a navigation method, system, and storage medium for zygomatic implant surgery, comprising: analyzing the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system through coarse registration; correcting the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system through fine registration to obtain an accurate coordinate transformation relationship; calibrating and acquiring the rotation axis direction of the implant handpiece and the three-dimensional coordinate data of the drill tip on the tracker's three-dimensional coordinate system of the handpiece tracker; acquiring the three-dimensional coordinate data of the preset ideal path and ideal points of the zygomatic implant surgery in the CT three-dimensional coordinate system; obtaining the drill deviation three-dimensional coordinate data through real-time navigation comparison; and performing real-time navigation based on the drill deviation three-dimensional coordinate data. Based on the above technical solution, it is possible to achieve precise correlation of the coordinates of the starting point and ending point of the zygomatic implant surgery path throughout, reduce surgical trauma, improve operational safety, and is suitable for zygomatic implant surgery with severe maxillary bone deficiency.

Description

Technical Field

[0001] This invention relates to the field of surgical navigation technology for oral implant surgery, and to a navigation method, system, and storage medium for transzygomatic implant surgery suitable for patients with severe maxillary bone deficiency. Background Technology

[0002] Implant surgery involves inserting an implant into the missing tooth location in the patient's mouth and attaching a fixed crown to the implant. The implant and crown together form a dental implant, which replaces the missing tooth and restores the chewing and aesthetic functions of the tooth.

[0003] Based on the implantation method, implant surgery includes conventional implant surgery and transzygomatic implant surgery. The former is suitable for patients with good alveolar bone conditions or mild deficiency, where the alveolar bone can provide sufficient support, and the implant can be directly implanted into the alveolar bone. The latter is suitable for patients with severe bone atrophy in the maxillary posterior region who cannot undergo conventional implant or bone grafting surgery. Since the alveolar bone cannot provide sufficient support, an extra-long implant is inserted through the maxillary sinus and anchored on the harder and more stable zygomatic bone before implantation surgery is performed.

[0004] Whether it's a conventional implant surgery or a transzygomatic implant surgery, real-time navigation using a binocular navigation system is typically required during the procedure to ensure implantation accuracy. Prior to navigation, a series of operations such as registration and calibration are necessary. Current technologies for transzygomatic implant surgery navigation require fixing a reference plate and registration pins inside the patient's mouth, which leads to significant navigation errors, increased surgical trauma, limited operating space, and the reference plate being prone to collisions. The industry urgently needs to propose a new solution to address these issues in the navigation process of transzygomatic implant surgery. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a method, system and storage medium for zygomatic implant surgery navigation, which can reduce the error of zygomatic implant surgery, reduce patient trauma and reduce the risk of intraoperative collision, thereby effectively improving the accuracy of surgical navigation.

[0006] To ensure navigation accuracy and treatment effectiveness.

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

[0008] A navigation method for transzygomatic implant surgery includes:

[0009] S1. Control the CT scanning equipment to acquire the patient's head CT data, and extract the three-dimensional coordinate data of the ceramic ball in the CT three-dimensional coordinate system of the CT scanning equipment based on the patient's head CT data;

[0010] S2. Based on the structural parameters of the head-mounted reference plate, extract the three-dimensional coordinate data of the ceramic ball in the three-dimensional coordinate system of the head-mounted reference plate;

[0011] S3. Based on the three-dimensional coordinate data of multiple ceramic spheres in the CT three-dimensional coordinate system and the three-dimensional coordinate data of the reference plate three-dimensional coordinate system, coarse registration is performed, and the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system is analyzed.

[0012] S4. When the tip of the registration probe abuts in the registration recess on the intraoral registration pin, the binocular navigation system is controlled to acquire image data of the optical markers on the head-mounted reference plate and the probe markers on the registration probe. Combined with the three-dimensional coordinate data of the intraoral registration pin in the CT three-dimensional coordinate system, the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system is corrected, and the accurate coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system is obtained through analysis.

[0013] S5. Obtain the rotation axis direction of the planting mobile phone and the three-dimensional coordinate data of the drill tip on the tracker's three-dimensional coordinate system through calibration;

[0014] S6. Obtain the three-dimensional coordinate data of the preset ideal path and ideal points in the CT three-dimensional coordinate system for the zygomatic implant surgery;

[0015] S7. Control the binocular navigation device to acquire real-time image data of optical markers on the head-mounted reference board and mobile phone tracker on the implantation mobile phone during the operation. Analyze the real-time image data of the optical markers to obtain the real-time three-dimensional coordinate data of the ideal path and ideal point in the optical three-dimensional coordinate system. Analyze the real-time image data of the mobile phone tracker to obtain the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system.

[0016] S8. Based on the precise coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, and according to the real-time three-dimensional coordinate data of the ideal path and ideal point in the optical three-dimensional coordinate system, the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system, the real-time three-dimensional coordinate data of the ideal path and ideal point in the CT three-dimensional coordinate system, the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill tip in the CT three-dimensional coordinate system are analyzed.

[0017] S9. Based on the real-time three-dimensional coordinate data of the ideal path and ideal point in the CT three-dimensional coordinate system, the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill bit tip in the CT three-dimensional coordinate system, real-time navigation comparison is performed to obtain the drill bit deviation three-dimensional coordinate data.

[0018] S10. Real-time navigation based on drill bit deviation three-dimensional coordinate data.

[0019] Compared with existing technologies, the beneficial effects of this technical solution are as follows: by setting a head-mounted reference plate with ceramic balls and an intraoral registration pin, and combining the image data collected by the binocular navigation device for data processing, after obtaining the initial coordinate transformation relationship, the precise coordinate transformation relationship is further calculated, so as to achieve precise correlation between the starting point and the ending point of the zygomatic implant surgery path. This can reduce surgical trauma and improve the safety of operation, and is suitable for zygomatic implant surgery with severe maxillary bone deficiency.

[0020] Furthermore, step S1 includes:

[0021] S101. Obtain multiple sets of basic head CT data, perform grayscale normalization on the multiple sets of basic head CT data, and obtain grayscale normalized basic head CT data.

[0022] S102. Perform global threshold segmentation on the gray-level normalized head CT basic data according to the preset gray-level threshold, and segment the head CT basic data to obtain ceramic ball label model and background label model.

[0023] S103. Construct a U-Net network model, input the ceramic ball label model and background label model corresponding to multiple sets of head CT basic data into the U-Net network model, and analyze the mapping relationship between the head CT basic data and the ceramic ball mask based on the U-Net network model;

[0024] S104. Input the patient's head CT data acquired by the CT scanning device into the U-Net network model. Based on the mapping relationship between the head CT basic data and the ceramic ball mask, obtain the probability that each three-dimensional voxel in the patient's head CT data belongs to the ceramic ball label model and the background label model. When the probability of the three-dimensional voxel belonging to the ceramic ball label model is the highest, it is judged as a three-dimensional voxel of the ceramic ball CT three-dimensional model. When the probability of the three-dimensional voxel belonging to the background label model is the highest, it is judged as a three-dimensional voxel of the background CT three-dimensional model.

[0025] S105. Assemble each three-dimensional voxel in the patient's head CT data into a corresponding ceramic sphere CT three-dimensional model and a background CT three-dimensional model;

[0026] S106. The ceramic ball CT 3D model and the background CT 3D model are processed by smoothing the boundary segmentation and removing isolated areas to obtain the optimized ceramic ball CT 3D model and the background CT 3D model, thereby obtaining the 3D coordinate data of the ceramic ball in the CT 3D coordinate system of the CT scanning equipment.

[0027] The beneficial effects of adopting the above scheme are as follows: by constructing a U-Net network model and training the U-Net network model, the mapping relationship between the basic head CT data and the ceramic ball mask is obtained. Based on the mapping relationship between the basic head CT data and the ceramic ball mask, the patient's head CT data acquired by the CT scanning device is processed. The ceramic ball CT three-dimensional model is extracted from the patient's head CT data, thereby obtaining the three-dimensional coordinate data of the ceramic ball in the CT three-dimensional coordinate system of the CT scanning device.

[0028] Furthermore, step S3 specifically includes:

[0029] S301. Based on the three-dimensional coordinate data of multiple ceramic spheres in the CT three-dimensional coordinate system, analyze and obtain the three-dimensional coordinate data of the centroid of the ceramic spheres in the CT three-dimensional coordinate system; based on the three-dimensional coordinate data of multiple ceramic spheres in the reference plate three-dimensional coordinate system, analyze and obtain the three-dimensional coordinate data of the centroid of the ceramic spheres in the reference plate three-dimensional coordinate system.

[0030] S302. Subtract the three-dimensional coordinate data of multiple ceramic spheres in the CT three-dimensional coordinate system from the three-dimensional coordinate data of the centroid of the ceramic spheres in the CT three-dimensional coordinate system to obtain a set of decenter points of multiple ceramic spheres in the CT three-dimensional coordinate system; subtract the three-dimensional coordinate data of multiple ceramic spheres in the reference plate three-dimensional coordinate system from the three-dimensional coordinate data of the centroid of the ceramic spheres in the reference plate three-dimensional coordinate system to obtain a set of decenter points of multiple ceramic spheres in the reference plate three-dimensional coordinate system; S303. For each point in the set of decenter points of the ceramic spheres in the CT three-dimensional coordinate system, iterate through the set of decenter points of the ceramic spheres in the reference plate three-dimensional coordinate system to find the closest Euclidean distance as the matching point, thereby obtaining a matching point pair;

[0031] S304. Based on the matching points, construct the covariance matrix and perform singular value decomposition to analyze and obtain the rotation matrix between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system;

[0032] S305. Based on the rotation matrix between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, the three-dimensional coordinate data of the ceramic sphere's centroid in the CT three-dimensional coordinate system and the three-dimensional coordinate data in the reference plate three-dimensional coordinate system, the translation vector between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system is obtained.

[0033] S306. Based on the rotation matrix and translation vector between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, analyze and obtain the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system.

[0034] The beneficial effects of adopting the above scheme are as follows: Step S3 aims to perform coarse registration, that is, to quickly lock the rotational and translational relationships between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system using the three-dimensional coordinate data of multiple ceramic balls in the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, thereby obtaining the initial coordinate transformation relationship. At the same time, since the ceramic balls are located close to the zygomatic bone, this step can achieve coordinate unification at the end of the zygomatic bone piercing surgical path.

[0035] Furthermore, step S4 specifically includes:

[0036] S401. When the tip of the registration probe abuts in the registration recess on the intraoral registration pin, the binocular navigation system is controlled to acquire image data of the optical markers on the head-mounted reference plate and the probe markers on the registration probe. Based on the image data of the optical markers and the probe markers, the coordinate transformation relationship between the three-dimensional coordinate system of the reference plate and the three-dimensional coordinate system of the registration probe is obtained.

[0037] S402. Based on the image data of the probe marker collected by the binocular navigation system when the probe tip abuts in the registration pit, and combined with the coordinate transformation relationship between the reference plate three-dimensional coordinate system and the probe three-dimensional coordinate system of the registration probe, calculate the three-dimensional coordinate data of the intraoral registration pin in the reference plate three-dimensional coordinate system.

[0038] S403. Extract the three-dimensional coordinate data of the intraoral registration pin in the CT three-dimensional coordinate system based on the patient's head CT data, and establish an optimization objective function by combining the three-dimensional coordinate data of the intraoral registration pin in the reference plate three-dimensional coordinate system and the three-dimensional coordinate data in the CT three-dimensional coordinate system.

[0039] S404. Obtain the initial rotation matrix and initial translation vector in the initial coordinate transformation relationship between the CT 3D coordinate system and the reference plate 3D coordinate system, and perform iterative calculations based on the optimization objective function to obtain the accurate rotation matrix and accurate translation vector;

[0040] S405. Based on the precise rotation matrix and precise translation vector analysis, the precise coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system is obtained.

[0041] The beneficial effects of adopting the above scheme are as follows: Step S4 aims to perform precise registration, that is, under the premise of knowing the initial coordinate transformation relationship, a registration pit is added for verification. An optimization objective function is established using the three-dimensional coordinate data of the intraoral registration pin in the reference plate's three-dimensional coordinate system and the three-dimensional coordinate data in the CT three-dimensional coordinate system. Then, iterative calculations are performed based on the optimization objective function to obtain the precise rotation matrix and precise translation vector. Simultaneously, the ceramic ball is located close to the jawbone, and this step allows for coordinate unification at the starting point of the zygomatic transoral surgical path.

[0042] Furthermore, step S5 specifically includes:

[0043] S501. When the drill bit mounting sleeve for planting the mobile phone is fitted onto the calibration rod on the calibration plate, control the binocular navigator to acquire image data of the calibration mark points on the calibration plate and the mobile phone tracker;

[0044] S502. Based on the structural parameters of the calibration plate, obtain the three-dimensional coordinate data of the calibration mark point and the calibration rod in the three-dimensional coordinate system of the calibration plate, and calculate the three-dimensional coordinate data of the top and bottom of the calibration rod in the optical three-dimensional coordinate system by combining the image data of the calibration mark point;

[0045] S503. Based on the image data of the mobile phone tracker, the three-dimensional coordinate data of the mobile phone tracker in the optical three-dimensional coordinate system is obtained. Combined with the three-dimensional coordinate data of the mobile phone tracker in the tracker's three-dimensional coordinate system, the coordinate transformation relationship between the tracker's three-dimensional coordinate system and the optical three-dimensional coordinate system is calculated.

[0046] S504. Based on the three-dimensional coordinate data of the top and bottom of the calibration rod in the optical three-dimensional coordinate system, combined with the coordinate transformation relationship between the tracker's three-dimensional coordinate system and the optical three-dimensional coordinate system, the three-dimensional coordinate data of the top and bottom of the calibration rod in the tracker's three-dimensional coordinate system are analyzed and obtained, and the direction vector of the rotation axis of the planting mobile phone in the tracker's three-dimensional coordinate system is calculated.

[0047] S505. Combining the structural parameters of the drill bit and the direction vector of the rotation axis of the implantation mobile phone in the three-dimensional coordinate system of the tracker, the three-dimensional coordinate data of the drill bit tip in the three-dimensional coordinate system of the tracker are calculated.

[0048] The advantages of adopting the above scheme are: by using a calibration plate to calibrate the planting mobile phone, the three-dimensional coordinate data of the drill tip in the three-dimensional coordinate system of the tracker can be obtained. The binocular navigator can obtain the real-time attitude of the drill tip by acquiring the image data of the mobile phone tracker, which facilitates real-time navigation.

[0049] The technical solution adopted by this invention to solve the technical problem is as follows:

[0050] A navigation system for transzygomatic implant surgery includes:

[0051] The CT data acquisition module is used to control the CT scanning equipment to acquire CT data of the patient's head and extract the three-dimensional coordinate data of the ceramic ball in the CT three-dimensional coordinate system of the CT scanning equipment based on the CT data of the patient's head.

[0052] The reference plate parameter acquisition module is used to extract the three-dimensional coordinate data of the ceramic ball in the three-dimensional coordinate system of the reference plate of the head-mounted reference plate based on the structural parameters of the head-mounted reference plate.

[0053] The coarse registration module is used to perform coarse registration based on the three-dimensional coordinate data of multiple ceramic spheres in the CT three-dimensional coordinate system and the three-dimensional coordinate data of the reference plate three-dimensional coordinate system, and analyze the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system.

[0054] The fine registration module is used to control the binocular navigation system to acquire image data of optical markers on the head-mounted reference plate and probe markers on the registration probe when the probe tip of the registration probe abuts in the registration recess on the intraoral registration pin. Combined with the three-dimensional coordinate data of the intraoral registration pin in the CT three-dimensional coordinate system, the module corrects the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, and analyzes to obtain the precise coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system.

[0055] The mobile phone calibration module is used to obtain the rotation axis direction of the planting mobile phone and the three-dimensional coordinate data of the drill tip on the tracker's three-dimensional coordinate system through calibration;

[0056] The implantation plan acquisition module is used to acquire the three-dimensional coordinate data of the ideal path and ideal points of the zygomatic implantation surgery in the CT three-dimensional coordinate system.

[0057] The real-time positioning data acquisition module is used to control the binocular navigation system to acquire real-time image data of optical markers on the head-mounted reference board and mobile phone tracker on the implantation mobile phone during the operation. Based on the real-time image data of the optical markers, the module analyzes the real-time three-dimensional coordinate data of the ideal path and ideal point in the optical three-dimensional coordinate system. Based on the real-time image data of the mobile phone tracker, the module analyzes the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system.

[0058] The real-time positioning data conversion module is used to accurately convert the coordinates between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system. Based on the real-time three-dimensional coordinate data of the ideal path and ideal point in the optical three-dimensional coordinate system, the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system, it analyzes and obtains the real-time three-dimensional coordinate data of the ideal path and ideal point in the CT three-dimensional coordinate system, the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill tip in the CT three-dimensional coordinate system.

[0059] The real-time positioning comparison module is used to perform real-time navigation comparison based on the real-time three-dimensional coordinate data of the ideal path and ideal point in the CT three-dimensional coordinate system, the rotation axis direction of the planting mobile phone and the real-time three-dimensional coordinate data of the drill bit tip in the CT three-dimensional coordinate system, and to obtain the three-dimensional coordinate data of the drill bit deviation.

[0060] The real-time navigation module is used for real-time navigation based on the three-dimensional coordinate data of the drill bit deviation.

[0061] Furthermore, the CT data acquisition module includes:

[0062] The grayscale normalization unit is used to acquire multiple sets of basic head CT data, perform grayscale normalization on the multiple sets of basic head CT data, and obtain grayscale normalized basic head CT data.

[0063] The threshold segmentation unit is used to perform global threshold segmentation on the gray-level normalized head CT basic data according to the preset gray-level threshold, and to segment the head CT basic data to obtain ceramic ball label model and background label model.

[0064] The model training unit is used to build the U-Net network model. It inputs the ceramic ball label model and background label model corresponding to multiple sets of head CT basic data into the U-Net network model, and analyzes the mapping relationship between the head CT basic data and the ceramic ball mask based on the U-Net network model.

[0065] The data analysis unit is used to input the patient's head CT data acquired by the CT scanning device into the U-Net network model. Based on the mapping relationship between the head CT baseline data and the ceramic ball mask, it obtains the probability that each three-dimensional voxel in the patient's head CT data belongs to the ceramic ball label model and the background label model. When the probability of the three-dimensional voxel belonging to the ceramic ball label model is the highest, it is judged as a three-dimensional voxel of the ceramic ball CT three-dimensional model. When the probability of the three-dimensional voxel belonging to the background label model is the highest, it is judged as a three-dimensional voxel of the background CT three-dimensional model.

[0066] The region connectivity unit is used to assemble each three-dimensional voxel in the patient's head CT data into a corresponding ceramic sphere CT three-dimensional model and a background CT three-dimensional model.

[0067] The model optimization unit is used to smooth the boundary segmentation and remove isolated regions of the ceramic ball CT 3D model and the background CT 3D model to obtain the optimized ceramic ball CT 3D model and the background CT 3D model, thereby obtaining the 3D coordinate data of the ceramic ball in the CT 3D coordinate system of the CT scanning equipment.

[0068] Furthermore, the coarse registration module includes:

[0069] The centroid analysis unit is used to analyze the three-dimensional coordinate data of the centroid of the ceramic ball in the CT three-dimensional coordinate system based on the three-dimensional coordinate data of multiple ceramic balls in the CT three-dimensional coordinate system; and to analyze the three-dimensional coordinate data of the centroid of the ceramic ball in the reference plate three-dimensional coordinate system based on the three-dimensional coordinate data of multiple ceramic balls in the reference plate three-dimensional coordinate system.

[0070] The decentralized unit is used to obtain a set of decentralized points of multiple ceramic spheres in the CT three-dimensional coordinate system by subtracting the three-dimensional coordinate data of multiple ceramic spheres in the CT three-dimensional coordinate system from the three-dimensional coordinate data of the centroid of the ceramic spheres in the CT three-dimensional coordinate system; and to obtain a set of decentralized points of multiple ceramic spheres in the reference plate three-dimensional coordinate system by subtracting the three-dimensional coordinate data of multiple ceramic spheres in the reference plate three-dimensional coordinate system from the three-dimensional coordinate data of the centroid of the ceramic spheres in the reference plate three-dimensional coordinate system.

[0071] The matching unit is used to find the closest Euclidean distance point for each point in the set of decentered points of the ceramic ball in the CT 3D coordinate system, and thus obtain a pair of matching points.

[0072] The rotation matrix analysis unit is used to construct the covariance matrix and perform singular value decomposition based on the matching points, and analyze the rotation matrix between the CT 3D coordinate system and the reference plate 3D coordinate system.

[0073] The translation vector analysis unit is used to analyze and obtain the translation vector between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system based on the rotation matrix between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, the three-dimensional coordinate data of the ceramic ball centroid in the CT three-dimensional coordinate system and the three-dimensional coordinate data in the reference plate three-dimensional coordinate system.

[0074] The coarse registration unit is used to analyze and obtain the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system based on the rotation matrix and translation vector between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system.

[0075] Furthermore, the fine registration module includes:

[0076] The registration image acquisition unit is used to control the binocular navigation device to acquire image data of the optical markers on the head-mounted reference plate and the probe markers on the registration probe when the probe tip of the registration probe abuts in the registration recess on the intraoral registration pin. Based on the image data of the optical markers and the probe markers, the coordinate transformation relationship between the three-dimensional coordinate system of the reference plate and the three-dimensional coordinate system of the registration probe is obtained.

[0077] The registration coordinate analysis unit is used to calculate the three-dimensional coordinate data of the intraoral registration pin in the three-dimensional coordinate system of the reference plate based on the image data of the probe marker collected by the binocular navigation device when the probe tip is in the registration pit, combined with the coordinate transformation relationship between the three-dimensional coordinate system of the reference plate and the probe three-dimensional coordinate system of the registration probe.

[0078] The optimization function establishment unit is used to extract the three-dimensional coordinate data of the intraoral registration pin in the CT three-dimensional coordinate system based on the patient's head CT data, and to establish the optimization objective function by combining the three-dimensional coordinate data of the intraoral registration pin in the reference plate three-dimensional coordinate system and the three-dimensional coordinate data in the CT three-dimensional coordinate system.

[0079] The iterative calculation unit is used to obtain the initial rotation matrix and initial translation vector in the initial coordinate transformation relationship between the CT 3D coordinate system and the reference plate 3D coordinate system, and to perform iterative calculations based on the optimization objective function to obtain the accurate rotation matrix and accurate translation vector.

[0080] The precise registration unit is used to analyze and obtain the precise coordinate transformation relationship between the CT 3D coordinate system and the reference plate 3D coordinate system based on the precise rotation matrix and precise translation vector.

[0081] The mobile phone calibration module includes:

[0082] The calibration image acquisition unit is used to control the binocular navigator to acquire image data of the calibration mark points on the calibration plate and the mobile phone tracker when the drill bit mounting sleeve of the planting mobile phone is fitted onto the calibration rod on the calibration plate.

[0083] The calibration structure parameter acquisition unit is used to acquire the three-dimensional coordinate data of the calibration mark point and the calibration rod in the three-dimensional coordinate system of the calibration plate according to the structural parameters of the calibration plate, and calculate the three-dimensional coordinate data of the top and bottom of the calibration rod in the optical three-dimensional coordinate system by combining the image data of the calibration mark point.

[0084] The calibration coordinate transformation relationship acquisition unit is used to analyze the image data of the mobile phone tracker to obtain the three-dimensional coordinate data of the mobile phone tracker in the optical three-dimensional coordinate system, and combine the three-dimensional coordinate data of the mobile phone tracker in the tracker's three-dimensional coordinate system to calculate the coordinate transformation relationship between the tracker's three-dimensional coordinate system and the optical three-dimensional coordinate system.

[0085] The first calibration coordinate transformation unit is used to analyze and obtain the three-dimensional coordinate data of the top and bottom of the calibration rod in the three-dimensional coordinate system of the tracker based on the three-dimensional coordinate data of the top and bottom of the calibration rod in the optical three-dimensional coordinate system, combined with the coordinate transformation relationship between the tracker three-dimensional coordinate system and the optical three-dimensional coordinate system, and calculate the direction vector of the rotation axis of the planting mobile phone in the tracker three-dimensional coordinate system.

[0086] The second calibration coordinate transformation unit is used to combine the structural parameters of the drill bit and the direction vector of the rotation axis of the implantation mobile phone in the tracker's three-dimensional coordinate system to calculate the three-dimensional coordinate data of the drill bit tip in the tracker's three-dimensional coordinate system.

[0087] Correspondingly, a storage medium stores a computer program, the computer program including program instructions, which, when executed by a processor, execute the zygomatic implant surgery navigation method as described above. Attached Figure Description

[0088] Figure 1 This is a flowchart of the surgical navigation method for zygomatic implantation according to the present invention.

[0089] Figure 2 This is a schematic diagram of the zygomatic implant surgery navigation system of the present invention.

[0090] The components represented by each number in the diagram are listed below:

[0091] CT data acquisition module 1, reference board parameter acquisition module 2, coarse registration module 3, fine registration module 4, mobile phone calibration module 5, planting plan acquisition module 6, real-time positioning data acquisition module 7, real-time positioning data conversion module 8, real-time positioning comparison module 9, real-time navigation module 10. Detailed Implementation

[0092] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0093] In the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," and "right," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0094] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. When a component is referred to as being "fixed to" or "set on" another element, it can be directly on the other component or there may be an intervening component. When a component is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening component. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0095] Implant surgery involves inserting an implant into the missing tooth location in the patient's mouth and attaching a fixed crown to the implant. The implant and crown together form a dental implant, which replaces the missing tooth and restores the chewing and aesthetic functions of the tooth.

[0096] Based on the implantation method, implant surgery includes conventional implant surgery and transzygomatic implant surgery. The former is suitable for patients with good alveolar bone conditions or mild deficiency, where the alveolar bone can provide sufficient support, and the implant can be directly implanted into the alveolar bone. The latter is suitable for patients with severe bone atrophy in the maxillary posterior region who cannot undergo conventional implant or bone grafting surgery. Since the alveolar bone cannot provide sufficient support, an extra-long implant is inserted through the maxillary sinus and anchored on the harder and more stable zygomatic bone before implantation surgery is performed.

[0097] Whether it's a conventional implant surgery or a transzygomatic implant, real-time navigation via a binocular navigation system is typically required during the procedure to ensure implantation accuracy. Prior to navigation, a series of procedures such as registration and calibration are necessary. Current techniques for navigation in transzygomatic implant surgery require fixing a reference plate and registration screws intraorally. The intraoral reference plate needs to be fixed to the jawbone with multiple bone screws. The additional bone screw implantation not only prolongs the operation time but also increases jawbone trauma. In patients with insufficient bone volume, this may further weaken jawbone stability, leading to problems such as large navigation errors, increased surgical trauma, limited operating space, and susceptibility to reference plate collisions. The industry urgently needs to propose a new solution to address these issues in the navigation process of transzygomatic implant surgery.

[0098] The industry urgently needs to propose a new solution to address the issues of optical positioning device line-of-sight obstruction and errors introduced by mobile phone trackers during the navigation process of zygomatic implant surgery.

[0099] To address the aforementioned problems, this invention provides a navigation method, system, and storage medium for transzygomatic implant surgery. The method, system, and storage medium are based on a head-mounted reference plate, an intraoral registration pin, a registration probe, a calibration plate, and an implant handpiece. Specifically, the head-mounted reference plate is fixedly mounted on the patient's head and includes multiple optical markers and ceramic balls. The intraoral registration pin is fixedly mounted in the alveolar bone adjacent to the patient's 14th and 24th teeth, and has registration recesses formed on it. The registration probe includes probe markers and a probe tip. The calibration plate includes a calibration rod and calibration markers. The implant handpiece includes a handpiece tracker.

[0100] like Figure 1 As shown, in order to solve the above problems, the present invention provides a navigation method for zygomatic implant surgery, which specifically includes the following steps:

[0101] S1. Control the CT scanning equipment to acquire the patient's head CT data, and extract the three-dimensional coordinate data of the ceramic ball in the CT three-dimensional coordinate system of the CT scanning equipment based on the patient's head CT data. In step S1, the key point of operation is to ensure that the scanning range covers the ceramic ball and the intraoral registration pin, so as to facilitate the acquisition of all the CT data required for the zygomatic implant surgery in a single CT data acquisition.

[0102] S2. Based on the structural parameters of the head-mounted reference plate, extract the three-dimensional coordinate data of the ceramic ball in the three-dimensional coordinate system of the head-mounted reference plate. In step S2, the structural parameters of the head-mounted reference plate are known. Based on the structural parameters of the head-mounted reference plate, the relative position of the optical marker and the ceramic ball can be directly calculated, and the three-dimensional coordinate data of the ceramic ball in the three-dimensional coordinate system of the head-mounted reference plate can be extracted.

[0103] S3. Based on the three-dimensional coordinate data of multiple ceramic spheres in the CT three-dimensional coordinate system and the three-dimensional coordinate data of the reference plate three-dimensional coordinate system, coarse registration is performed, and the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system is analyzed. In steps S1 and S2, the three-dimensional coordinate data of the ceramic spheres in the CT three-dimensional coordinate system and the three-dimensional coordinate data of the reference plate three-dimensional coordinate system have been obtained respectively. Based on this, in step S3, the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system can be calculated, and the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system can be analyzed.

[0104] S4. When the tip of the registration probe abuts in the registration recess on the intraoral registration pin, the binocular navigation system acquires image data of the optical markers on the head-mounted reference plate and the probe markers on the registration probe. Combined with the three-dimensional coordinate data of the intraoral registration pin in the CT three-dimensional coordinate system, the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system is corrected, and the precise coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system is obtained. In step S3, the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system is calculated based on the three-dimensional coordinate data of multiple ceramic balls in the CT three-dimensional coordinate system and the three-dimensional coordinate data in the reference plate three-dimensional coordinate system; this is coarse registration. Correspondingly, the three-dimensional coordinate data of the intraoral registration pin in the CT three-dimensional coordinate system and the three-dimensional coordinate data in the reference plate three-dimensional coordinate system are added to correct the initial coordinate transformation relationship, obtaining the precise coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system; this is fine registration.

[0105] S5. Obtain the rotation axis direction of the implantation mobile phone and the three-dimensional coordinate data of the drill tip in the tracker's three-dimensional coordinate system through calibration. In step S5, the implantation mobile phone is calibrated to obtain the rotation axis direction of the implantation mobile phone and the three-dimensional coordinate data of the drill tip in the tracker's three-dimensional coordinate system.

[0106] S6. Obtain the three-dimensional coordinate data of the preset ideal path and ideal points in the CT three-dimensional coordinate system for the zygomatic implant surgery. In step S6, the operator designs the implantation plan based on the patient's actual intraoral conditions, such as alveolar bone conditions, zygomatic bone conditions, and missing teeth, including designing the ideal path and ideal points, and further obtains the three-dimensional coordinate data of the ideal path and ideal points in the CT three-dimensional coordinate system.

[0107] S7. Control the binocular navigation system to acquire real-time image data of optical markers on the head-mounted reference plate and the mobile phone tracker on the implantation handpiece during surgery. Analyze the real-time image data of the optical markers to obtain the real-time three-dimensional coordinate data of the ideal path and ideal point in the optical three-dimensional coordinate system. Analyze the real-time image data of the mobile phone tracker to obtain the rotation axis direction of the implantation handpiece and the real-time three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system. Step S5 has already obtained the rotation axis direction of the implantation handpiece and the three-dimensional coordinate data of the drill tip in the tracker's three-dimensional coordinate system through calibration. Based on this, acquiring the real-time image data of the mobile phone tracker will yield the rotation axis direction of the implantation handpiece and the real-time three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system. Similarly, the real-time image data of the optical markers on the head-mounted reference plate can determine the patient's real-time pose. Since step S6 already provides the three-dimensional coordinate data of the ideal path and ideal point in the CT three-dimensional coordinate system, the real-time three-dimensional coordinate data of the ideal path and ideal point in the optical three-dimensional coordinate system can be determined by combining the patient's real-time pose.

[0108] S8. Based on the precise coordinate transformation relationship between the CT 3D coordinate system and the reference board 3D coordinate system, and according to the real-time 3D coordinate data of the ideal path and ideal point in the optical 3D coordinate system, the rotation axis direction of the implantation handpiece, and the drill tip in the optical 3D coordinate system, the real-time 3D coordinate data of the ideal path and ideal point in the CT 3D coordinate system, the rotation axis direction of the implantation handpiece, and the drill tip in the CT 3D coordinate system are analyzed and obtained. In step S8, since the precise coordinate transformation relationship between the CT 3D coordinate system and the reference board 3D coordinate system is known, the real-time 3D coordinate data of the ideal path and ideal point in the CT 3D coordinate system, the rotation axis direction of the implantation handpiece, and the drill tip in the CT 3D coordinate system can be obtained through simple coordinate transformation, providing a basis for real-time navigation.

[0109] S9. Based on the real-time 3D coordinate data of the ideal path and ideal point in the CT 3D coordinate system, the rotation axis direction of the implantation mobile phone, and the real-time 3D coordinate data of the drill bit tip in the CT 3D coordinate system, a real-time navigation comparison is performed to obtain the drill bit deviation 3D coordinate data. In step S9, the drill bit deviation 3D coordinate data can be obtained by comparing the actual situation with the ideal situation.

[0110] S10. Real-time navigation based on drill bit deviation three-dimensional coordinate data. Step S10 is the execution step. The operator can adjust the planting handpiece based on the drill bit deviation three-dimensional coordinate data, thereby controlling the drill bit to perform drilling operations along the most ideal route.

[0111] Based on the above technical solutions, by setting up a head-mounted reference plate with ceramic balls and an intraoral registration pin, and combining the image data collected by the binocular navigation system for data processing, after obtaining the initial coordinate transformation relationship, the precise coordinate transformation relationship is further calculated to achieve precise correlation between the starting point and the ending point of the zygomatic implant surgery path. This can reduce surgical trauma while improving operational safety and is suitable for zygomatic implant surgery in cases of severe maxillary bone deficiency.

[0112] Preferably, step S1 includes:

[0113] S101. Acquire multiple sets of basic head CT data, and perform grayscale normalization processing on the multiple sets of basic head CT data to obtain grayscale normalized basic head CT data. Grayscale normalization processing maps CT values ​​to a standard range, eliminating differences caused by different parameters and improving data processing accuracy.

[0114] S102. Perform global threshold segmentation on the gray-level normalized head CT baseline data according to a preset gray-level threshold, segmenting the head CT baseline data into ceramic sphere label models and background label models. The purpose of the preset gray-level threshold is to provide a standard for determining whether a certain three-dimensional voxel belongs to the ceramic sphere or the background. For example, in the head CT baseline data, three-dimensional voxels with a gray level greater than the gray level threshold are defined as three-dimensional voxels corresponding to the ceramic sphere, and three-dimensional voxels with a gray level less than the gray level threshold are defined as three-dimensional voxels corresponding to the background.

[0115] S103. Construct a U-Net network model. Input the ceramic ball label model and background label model corresponding to multiple sets of head CT baseline data into the U-Net network model. Analyze the mapping relationship between the head CT baseline data and the ceramic ball mask based on the U-Net network model. Train the U-Net network model with a large number of training samples to obtain the mapping relationship between the head CT baseline data and the ceramic ball mask. In this step, the larger the training sample, the more accurate the mapping relationship.

[0116] S104. Input the patient's head CT data acquired by the CT scanning device into the U-Net network model. Based on the mapping relationship between the basic head CT data and the ceramic ball mask, obtain the probability that each three-dimensional voxel in the patient's head CT data belongs to the ceramic ball label model and the background label model. The U-Net network model has been trained in step S103. Analyze the patient's head CT data according to the obtained mapping relationship between the basic head CT data and the ceramic ball mask to obtain the probability that each three-dimensional voxel in the patient's head CT data belongs to the ceramic ball label model and the background label model. That is, when the probability that a three-dimensional voxel belongs to the ceramic ball label model is the highest, it is judged as a three-dimensional voxel of the ceramic ball CT three-dimensional model; when the probability that a three-dimensional voxel belongs to the background label model is the highest, it is judged as a three-dimensional voxel of the background CT three-dimensional model.

[0117] S105. Assemble each three-dimensional voxel from the patient's head CT data into a corresponding ceramic sphere CT three-dimensional model and a background CT three-dimensional model. In step S105, by connecting different types of three-dimensional voxels, the ceramic sphere CT three-dimensional model and the background CT three-dimensional model can be obtained.

[0118] S106. The ceramic ball CT 3D model and the background CT 3D model are processed by smoothing the boundary segmentation and removing isolated areas to obtain the optimized ceramic ball CT 3D model and the background CT 3D model, thereby obtaining the 3D coordinate data of the ceramic ball in the CT 3D coordinate system of the CT scanning equipment.

[0119] Based on the above technical solution, a U-Net network model is constructed and trained to obtain the mapping relationship between the basic head CT data and the ceramic ball mask. The patient's head CT data acquired by the CT scanning device is processed according to the mapping relationship between the basic head CT data and the ceramic ball mask. The ceramic ball CT three-dimensional model is extracted from the patient's head CT data, thereby obtaining the three-dimensional coordinate data of the ceramic ball in the CT three-dimensional coordinate system of the CT scanning device.

[0120] Preferably, step S3 specifically includes:

[0121] S301. Based on the three-dimensional coordinate data of multiple ceramic spheres in the CT three-dimensional coordinate system, analyze and obtain the three-dimensional coordinate data of the centroid of the ceramic spheres in the CT three-dimensional coordinate system; based on the three-dimensional coordinate data of multiple ceramic spheres in the reference plate three-dimensional coordinate system, analyze and obtain the three-dimensional coordinate data of the centroid of the ceramic spheres in the reference plate three-dimensional coordinate system. Step S301 performs "centering" processing, calculating the average value of the three-dimensional coordinate data of multiple ceramic spheres in the CT three-dimensional coordinate system, and then analyze and obtain the three-dimensional coordinate data of the centroid of the ceramic spheres in the reference plate three-dimensional coordinate system.

[0122] S302. Subtract the three-dimensional coordinate data of multiple ceramic spheres in the CT three-dimensional coordinate system from the three-dimensional coordinate data of the centroid of the ceramic spheres in the CT three-dimensional coordinate system to obtain a set of decentered points for multiple ceramic spheres in the CT three-dimensional coordinate system; subtract the three-dimensional coordinate data of multiple ceramic spheres in the reference plate three-dimensional coordinate system from the three-dimensional coordinate data of the centroid of the ceramic spheres in the reference plate three-dimensional coordinate system to obtain a set of decentered points for multiple ceramic spheres in the reference plate three-dimensional coordinate system. Step S302 performs a "decentralization" process, subtracting the center from each of the two point sets to obtain a decentered point set.

[0123] S303. For each point in the decentering point set of the ceramic sphere in the CT 3D coordinate system, the nearest Euclidean distance is found in the decentering point set of the ceramic sphere in the reference plate 3D coordinate system, thus obtaining a matching point pair. At least four matching point pairs are required during coarse registration. In step S303, a sufficient number of points are selected from the decentering point set in the CT 3D coordinate system, and then the nearest Euclidean distance is found in the decentering point set of the reference plate 3D coordinate system, thus obtaining a matching point pair.

[0124] S304. Based on the matching points, construct the covariance matrix and perform singular value decomposition to analyze and obtain the rotation matrix between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system.

[0125] S305. Based on the rotation matrix between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, the three-dimensional coordinate data of the ceramic sphere's centroid in the CT three-dimensional coordinate system and the three-dimensional coordinate data in the reference plate three-dimensional coordinate system, the translation vector between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system is obtained.

[0126] S306. Based on the rotation matrix and translation vector between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, analyze and obtain the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system.

[0127] Based on the above technical solution, the purpose of step S3 is to perform coarse registration, that is, to quickly lock the rotational and translational relationships between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system using the three-dimensional coordinate data of multiple ceramic balls in the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, thereby obtaining the initial coordinate transformation relationship. Simultaneously, since the ceramic balls are located close to the zygomatic bone, this step allows for coordinate unification at the endpoint of the zygomatic bone piercing surgical path.

[0128] Preferably, step S4 specifically includes:

[0129] S401. When the tip of the registration probe abuts in the registration recess on the intraoral registration pin, the binocular navigation system acquires image data of the optical markers on the head-mounted reference plate and the probe markers on the registration probe. Based on the image data of the optical markers and probe markers, the coordinate transformation relationship between the reference plate's three-dimensional coordinate system and the registration probe's three-dimensional coordinate system is analyzed. The binocular navigation system can obtain the coordinate transformation relationship between the reference plate's three-dimensional coordinate system and the optical three-dimensional coordinate system by acquiring image data of the optical markers on the head-mounted reference plate, and the same applies to the probe's three-dimensional coordinate system. Therefore, the coordinate transformation relationship between the reference plate's three-dimensional coordinate system and the registration probe's three-dimensional coordinate system can be analyzed.

[0130] S402. Based on the image data of the probe marker acquired by the binocular navigation system when the probe tip is in contact with the registration recess, and combining the coordinate transformation relationship between the reference plate's three-dimensional coordinate system and the registration probe's three-dimensional coordinate system, calculate the three-dimensional coordinate data of the intraoral registration pin in the reference plate's three-dimensional coordinate system. Through simple coordinate transformation calculations, calculate the three-dimensional coordinate data of the intraoral registration pin in the reference plate's three-dimensional coordinate system based on the image data of the probe marker.

[0131] S403. Extract the three-dimensional coordinate data of the intraoral registration pin in the CT three-dimensional coordinate system based on the patient's head CT data, and establish an optimization objective function by combining the three-dimensional coordinate data of the intraoral registration pin in the reference plate three-dimensional coordinate system and the three-dimensional coordinate data in the CT three-dimensional coordinate system.

[0132] S404. Obtain the initial rotation matrix and initial translation vector from the initial coordinate transformation relationship between the CT 3D coordinate system and the reference plate 3D coordinate system. Perform iterative calculations based on the optimization objective function to obtain the accurate rotation matrix and accurate translation vector. Establish an optimization objective function with the goal of minimizing the reprojection error. Input the coordinate data of the newly added intraoral registration pins in the CT 3D coordinate system and the reference plate 3D coordinate system into the optimization objective function. Perform iterative calculations on the initial rotation matrix and initial translation vector until the error converges, obtaining the accurate rotation matrix and accurate translation vector.

[0133] S405. Based on the precise rotation matrix and precise translation vector analysis, the precise coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system is obtained.

[0134] On the one hand, based on the above technical solution, the purpose of step S4 is to perform fine registration. That is, under the premise of knowing the initial coordinate transformation relationship, a registration pit is added for verification. An optimization objective function is established by using the three-dimensional coordinate data of the intraoral registration pin in the reference plate's three-dimensional coordinate system and the three-dimensional coordinate data in the CT three-dimensional coordinate system. Then, iterative calculations are performed based on the optimization objective function to obtain the accurate rotation matrix and accurate translation vector. At the same time, the ceramic ball is located close to the jawbone, and this step can achieve coordinate unification at the starting point of the zygomatic transoral surgical path. The core of coarse registration is "finding the direction". By quickly locking the approximate rotation and translation relationship between the two coordinate systems through four sets of point pairs, the initial alignment problem of "from nothing to something" is solved. The core of fine registration is "refining the details". By using the constraints of the point pairs of the additional intraoral registration pins, the initial error is corrected within the rules of rigid body transformation, solving the problem of improving accuracy "from something to something better".

[0135] On the other hand, in existing technologies, the reference plate and registration pins are fixed to the jawbone inside the patient's mouth. The registration operation can only cover the beginning of the surgical path and cannot cover the end of the path near the zygomatic bone. In long-path navigation, coordinate drift is prone to occur, and the accumulated errors make it difficult to meet the accuracy requirements of the surgery. In this technical solution, the initial coordinate transformation relationship can cover the beginning of the surgical path, and the further calculation of the precise coordinate transformation relationship can cover the end of the surgical path. This achieves precise correlation between the coordinates of the beginning and end of the transzygomatic implant surgery path, which can reduce surgical trauma and improve operational safety. It is suitable for transzygomatic implant surgery with severe maxillary bone deficiency.

[0136] Preferably, step S5 specifically includes:

[0137] S501. When the drill bit mounting sleeve of the implantation mobile phone is fitted onto the calibration rod on the calibration plate, the binocular navigator is controlled to acquire image data of the calibration markers on the calibration plate and the mobile phone tracker. When the calibration markers and the mobile phone tracker are within the camera field of view of the binocular navigator, the image data of the calibration markers and the mobile phone tracker on the calibration plate can be acquired through the binocular navigator, preparing for real-time positioning of the calibration plate and the implantation mobile phone.

[0138] S502. Based on the structural parameters of the calibration plate, obtain the three-dimensional coordinate data of the calibration marker points and calibration rod in the three-dimensional coordinate system of the calibration plate. Combine this with the image data of the calibration marker points to calculate the three-dimensional coordinate data of the top and bottom ends of the calibration rod in the optical three-dimensional coordinate system. When designing the calibration plate, its structural parameters are known. The calibration plate is fabricated based on these parameters. Therefore, the three-dimensional coordinate data of the calibration marker points and calibration rod in the three-dimensional coordinate system of the calibration plate can be directly obtained from these parameters. Since the image data of the calibration marker points on the calibration plate has already been obtained in step S501, the three-dimensional coordinate data of the calibration marker points in the optical three-dimensional coordinate system can be known. This data can then be converted to obtain the three-dimensional coordinate data of the calibration rod in the optical three-dimensional coordinate system, thereby obtaining the three-dimensional coordinate data of the top and bottom ends of the calibration rod in the optical three-dimensional coordinate system.

[0139] S503. Based on the image data analysis of the mobile phone tracker, the three-dimensional coordinate data of the mobile phone tracker in the optical three-dimensional coordinate system is obtained. Combined with the three-dimensional coordinate data of the mobile phone tracker in the tracker's three-dimensional coordinate system, the coordinate transformation relationship between the tracker's three-dimensional coordinate system and the optical three-dimensional coordinate system is calculated. In step S503, the three-dimensional coordinate data of the mobile phone tracker in the tracker's three-dimensional coordinate system is known by design. Since the image data of the mobile phone tracker has already been acquired through the binocular navigator in step S501, the three-dimensional coordinate data of the mobile phone tracker in the optical three-dimensional coordinate system can be obtained, and the coordinate transformation relationship between the tracker's three-dimensional coordinate system and the optical three-dimensional coordinate system can be further calculated.

[0140] S504. Based on the three-dimensional coordinate data of the top and bottom ends of the calibration rod in the optical three-dimensional coordinate system, and combining the coordinate transformation relationship between the tracker's three-dimensional coordinate system and the optical three-dimensional coordinate system, analyze and obtain the three-dimensional coordinate data of the top and bottom ends of the calibration rod in the tracker's three-dimensional coordinate system, and calculate the direction vector of the rotation axis of the implantation mobile phone in the tracker's three-dimensional coordinate system. Based on the data known in steps S501-S503, the direction vector of the rotation axis of the implantation mobile phone in the tracker's three-dimensional coordinate system can be obtained through simple matrix transformation.

[0141] S505. Combining the structural parameters of the drill bit and the direction vector of the rotation axis of the implantation mobile phone in the three-dimensional coordinate system of the tracker, the three-dimensional coordinate data of the drill bit tip in the three-dimensional coordinate system of the tracker are calculated.

[0142] Based on the above data processing, the planting device is calibrated with the help of an external calibration plate to obtain the direction vector of the rotation axis of the planting device in the three-dimensional coordinate system of the tracker. The three-dimensional coordinate data of the drill tip in the three-dimensional coordinate system of the tracker are calculated, so that the binocular navigation device can collect image data of the device tracker to locate the planting device in real time during the planting process.

[0143] like Figure 2 As shown, to solve the above problems, the present invention provides a navigation system for zygomatic implant surgery, including a CT data acquisition module 1, a reference plate parameter acquisition module 2, a coarse registration module 3, a fine registration module 4, a mobile phone calibration module 5, an implantation plan acquisition module 6, a real-time positioning data acquisition module 7, a real-time positioning data conversion module 8, a real-time positioning comparison module 9, and a real-time navigation module 10. Specifically:

[0144] CT data acquisition module 1 is used to control the CT scanning equipment to acquire CT data of the patient's head and extract the three-dimensional coordinate data of the ceramic ball in the CT three-dimensional coordinate system of the CT scanning equipment based on the CT data of the patient's head.

[0145] Reference plate parameter acquisition module 2 is used to extract the three-dimensional coordinate data of the ceramic ball in the three-dimensional coordinate system of the reference plate of the head-mounted reference plate based on the structural parameters of the head-mounted reference plate;

[0146] The coarse registration module 3 is used to perform coarse registration based on the three-dimensional coordinate data of multiple ceramic balls in the CT three-dimensional coordinate system and the three-dimensional coordinate data of the reference plate three-dimensional coordinate system, and analyze the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system.

[0147] The fine registration module 4 is used to control the binocular navigation system to acquire image data of the optical markers on the head-mounted reference plate and the probe markers on the registration probe when the probe tip of the registration probe abuts in the registration recess on the intraoral registration pin. Combined with the three-dimensional coordinate data of the intraoral registration pin in the CT three-dimensional coordinate system, the module corrects the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, and analyzes to obtain the precise coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system.

[0148] The mobile phone calibration module 5 is used to obtain the rotation axis direction of the planting mobile phone and the three-dimensional coordinate data of the drill tip on the tracker's three-dimensional coordinate system through calibration;

[0149] The implantation plan acquisition module 6 is used to acquire the three-dimensional coordinate data of the preset ideal path and ideal point in the CT three-dimensional coordinate system for the zygomatic implantation surgery.

[0150] The real-time positioning data acquisition module 7 is used to control the binocular navigation device to acquire real-time image data of optical markers on the head-mounted reference board and mobile phone tracker on the implantation mobile phone during the operation. Based on the real-time image data of the optical markers, the module analyzes and obtains the real-time three-dimensional coordinate data of the ideal path and ideal point in the optical three-dimensional coordinate system. Based on the real-time image data of the mobile phone tracker, the module analyzes and obtains the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system.

[0151] The real-time positioning data conversion module 8 is used to accurately convert the coordinates between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system. Based on the real-time three-dimensional coordinate data of the ideal path and ideal point in the optical three-dimensional coordinate system, the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system, it analyzes and obtains the real-time three-dimensional coordinate data of the ideal path and ideal point in the CT three-dimensional coordinate system, the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill tip in the CT three-dimensional coordinate system.

[0152] Real-time positioning comparison module 9 is used to perform real-time navigation comparison based on the real-time three-dimensional coordinate data of the ideal path and ideal point in the CT three-dimensional coordinate system, the rotation axis direction of the planting mobile phone and the real-time three-dimensional coordinate data of the drill bit tip in the CT three-dimensional coordinate system, and to obtain the drill bit deviation three-dimensional coordinate data.

[0153] The real-time navigation module 10 is used for real-time navigation based on the three-dimensional coordinate data of the drill bit deviation.

[0154] Preferably, the CT data acquisition module includes:

[0155] The grayscale normalization unit is used to acquire multiple sets of basic head CT data, perform grayscale normalization on the multiple sets of basic head CT data, and obtain grayscale normalized basic head CT data.

[0156] The threshold segmentation unit is used to perform global threshold segmentation on the gray-level normalized head CT basic data according to the preset gray-level threshold, and to segment the head CT basic data to obtain ceramic ball label model and background label model.

[0157] The model training unit is used to build the U-Net network model. It inputs the ceramic ball label model and background label model corresponding to multiple sets of head CT basic data into the U-Net network model, and analyzes the mapping relationship between the head CT basic data and the ceramic ball mask based on the U-Net network model.

[0158] The data analysis unit is used to input the patient's head CT data acquired by the CT scanning device into the U-Net network model. Based on the mapping relationship between the head CT baseline data and the ceramic ball mask, it obtains the probability that each three-dimensional voxel in the patient's head CT data belongs to the ceramic ball label model and the background label model. When the probability of the three-dimensional voxel belonging to the ceramic ball label model is the highest, it is judged as a three-dimensional voxel of the ceramic ball CT three-dimensional model. When the probability of the three-dimensional voxel belonging to the background label model is the highest, it is judged as a three-dimensional voxel of the background CT three-dimensional model.

[0159] The region connectivity unit is used to assemble each three-dimensional voxel in the patient's head CT data into a corresponding ceramic sphere CT three-dimensional model and a background CT three-dimensional model.

[0160] The model optimization unit is used to smooth the boundary segmentation and remove isolated regions of the ceramic ball CT 3D model and the background CT 3D model to obtain the optimized ceramic ball CT 3D model and the background CT 3D model, thereby obtaining the 3D coordinate data of the ceramic ball in the CT 3D coordinate system of the CT scanning equipment.

[0161] Preferably, the coarse registration module includes:

[0162] The centroid analysis unit is used to analyze the three-dimensional coordinate data of the centroid of the ceramic ball in the CT three-dimensional coordinate system based on the three-dimensional coordinate data of multiple ceramic balls in the CT three-dimensional coordinate system; and to analyze the three-dimensional coordinate data of the centroid of the ceramic ball in the reference plate three-dimensional coordinate system based on the three-dimensional coordinate data of multiple ceramic balls in the reference plate three-dimensional coordinate system.

[0163] The decentralized unit is used to obtain a set of decentralized points of multiple ceramic spheres in the CT three-dimensional coordinate system by subtracting the three-dimensional coordinate data of multiple ceramic spheres in the CT three-dimensional coordinate system from the three-dimensional coordinate data of the centroid of the ceramic spheres in the CT three-dimensional coordinate system; and to obtain a set of decentralized points of multiple ceramic spheres in the reference plate three-dimensional coordinate system by subtracting the three-dimensional coordinate data of multiple ceramic spheres in the reference plate three-dimensional coordinate system from the three-dimensional coordinate data of the centroid of the ceramic spheres in the reference plate three-dimensional coordinate system.

[0164] The matching unit is used to find the closest Euclidean distance point for each point in the set of decentered points of the ceramic ball in the CT 3D coordinate system, and thus obtain a pair of matching points.

[0165] The rotation matrix analysis unit is used to construct the covariance matrix and perform singular value decomposition based on the matching points, and analyze the rotation matrix between the CT 3D coordinate system and the reference plate 3D coordinate system.

[0166] The translation vector analysis unit is used to analyze and obtain the translation vector between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system based on the rotation matrix between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, the three-dimensional coordinate data of the ceramic ball centroid in the CT three-dimensional coordinate system and the three-dimensional coordinate data in the reference plate three-dimensional coordinate system.

[0167] The coarse registration unit is used to analyze and obtain the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system based on the rotation matrix and translation vector between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system.

[0168] Preferably, the fine registration module includes:

[0169] The registration image acquisition unit is used to control the binocular navigation device to acquire image data of the optical markers on the head-mounted reference plate and the probe markers on the registration probe when the probe tip of the registration probe abuts in the registration recess on the intraoral registration pin. Based on the image data of the optical markers and the probe markers, the coordinate transformation relationship between the three-dimensional coordinate system of the reference plate and the three-dimensional coordinate system of the registration probe is obtained.

[0170] The registration coordinate analysis unit is used to calculate the three-dimensional coordinate data of the intraoral registration pin in the three-dimensional coordinate system of the reference plate based on the image data of the probe marker collected by the binocular navigation device when the probe tip is in the registration pit, combined with the coordinate transformation relationship between the three-dimensional coordinate system of the reference plate and the probe three-dimensional coordinate system of the registration probe.

[0171] The optimization function establishment unit is used to extract the three-dimensional coordinate data of the intraoral registration pin in the CT three-dimensional coordinate system based on the patient's head CT data, and to establish the optimization objective function by combining the three-dimensional coordinate data of the intraoral registration pin in the reference plate three-dimensional coordinate system and the three-dimensional coordinate data in the CT three-dimensional coordinate system.

[0172] The iterative calculation unit is used to obtain the initial rotation matrix and initial translation vector in the initial coordinate transformation relationship between the CT 3D coordinate system and the reference plate 3D coordinate system, and to perform iterative calculations based on the optimization objective function to obtain the accurate rotation matrix and accurate translation vector.

[0173] The precise registration unit is used to analyze the precise coordinate transformation relationship between the CT 3D coordinate system and the reference plate 3D coordinate system based on the precise rotation matrix and precise translation vector.

[0174] Preferably, the mobile phone calibration module includes:

[0175] The calibration image acquisition unit is used to control the binocular navigator to acquire image data of the calibration mark points on the calibration plate and the mobile phone tracker when the drill bit mounting sleeve of the planting mobile phone is fitted onto the calibration rod on the calibration plate.

[0176] The calibration structure parameter acquisition unit is used to acquire the three-dimensional coordinate data of the calibration mark point and the calibration rod in the three-dimensional coordinate system of the calibration plate according to the structural parameters of the calibration plate, and calculate the three-dimensional coordinate data of the top and bottom of the calibration rod in the optical three-dimensional coordinate system by combining the image data of the calibration mark point.

[0177] The calibration coordinate transformation relationship acquisition unit is used to analyze the image data of the mobile phone tracker to obtain the three-dimensional coordinate data of the mobile phone tracker in the optical three-dimensional coordinate system, and combine the three-dimensional coordinate data of the mobile phone tracker in the tracker's three-dimensional coordinate system to calculate the coordinate transformation relationship between the tracker's three-dimensional coordinate system and the optical three-dimensional coordinate system.

[0178] The first calibration coordinate transformation unit is used to analyze and obtain the three-dimensional coordinate data of the top and bottom of the calibration rod in the three-dimensional coordinate system of the tracker based on the three-dimensional coordinate data of the top and bottom of the calibration rod in the optical three-dimensional coordinate system, combined with the coordinate transformation relationship between the tracker three-dimensional coordinate system and the optical three-dimensional coordinate system, and calculate the direction vector of the rotation axis of the planting mobile phone in the tracker three-dimensional coordinate system.

[0179] The second calibration coordinate transformation unit is used to combine the structural parameters of the drill bit and the direction vector of the rotation axis of the implantation mobile phone in the tracker's three-dimensional coordinate system to calculate the three-dimensional coordinate data of the drill bit tip in the tracker's three-dimensional coordinate system.

[0180] To address the aforementioned problems, the present invention provides a storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, execute the zygomatic implant surgery navigation method as described above.

[0181] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A navigation system for zygomatic implant surgery, characterized in that, The system includes a head-mounted reference plate, an intraoral registration pin, a registration probe, a calibration plate, and an implant handpiece. The head-mounted reference plate is fixedly mounted on the patient's head and has multiple optical markers and ceramic balls. The intraoral registration pin is fixedly mounted in the alveolar bone adjacent to the patient's 14th and 24th teeth and has registration recesses formed on it. The registration probe has probe markers and a probe tip. The calibration plate has calibration rods and calibration marking points. The implant handpiece has a handpiece tracker. The system also includes: The CT data acquisition module is used to control the CT scanning equipment to acquire CT data of the patient's head and extract the three-dimensional coordinate data of the ceramic ball in the CT three-dimensional coordinate system of the CT scanning equipment based on the CT data of the patient's head. The reference plate parameter acquisition module is used to extract the three-dimensional coordinate data of the ceramic ball in the three-dimensional coordinate system of the reference plate of the head-mounted reference plate based on the structural parameters of the head-mounted reference plate. The coarse registration module is used to perform coarse registration based on the three-dimensional coordinate data of multiple ceramic spheres in the CT three-dimensional coordinate system and the three-dimensional coordinate data of the reference plate three-dimensional coordinate system, and analyze the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system. The fine registration module is used to control the binocular navigation system to acquire image data of optical markers on the head-mounted reference plate and probe markers on the registration probe when the probe tip of the registration probe abuts in the registration recess on the intraoral registration pin. Combined with the three-dimensional coordinate data of the intraoral registration pin in the CT three-dimensional coordinate system, the module corrects the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, and analyzes to obtain the precise coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system. The mobile phone calibration module is used to obtain the rotation axis direction of the planting mobile phone and the three-dimensional coordinate data of the drill tip on the tracker's three-dimensional coordinate system through calibration; The implantation plan acquisition module is used to acquire the three-dimensional coordinate data of the ideal path and ideal points of the zygomatic implantation surgery in the CT three-dimensional coordinate system. The real-time positioning data acquisition module is used to control the binocular navigation system to acquire real-time image data of optical markers on the head-mounted reference board and mobile phone tracker on the implantation mobile phone during the operation. Based on the real-time image data of the optical markers, the module analyzes the real-time three-dimensional coordinate data of the ideal path and ideal point in the optical three-dimensional coordinate system. Based on the real-time image data of the mobile phone tracker, the module analyzes the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system. The real-time positioning data conversion module is used to accurately convert the coordinates between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system. Based on the real-time three-dimensional coordinate data of the ideal path and ideal point in the optical three-dimensional coordinate system, the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill tip in the optical three-dimensional coordinate system, it analyzes and obtains the real-time three-dimensional coordinate data of the ideal path and ideal point in the CT three-dimensional coordinate system, the rotation axis direction of the implantation mobile phone and the real-time three-dimensional coordinate data of the drill tip in the CT three-dimensional coordinate system. The real-time positioning comparison module is used to perform real-time navigation comparison based on the real-time three-dimensional coordinate data of the ideal path and ideal point in the CT three-dimensional coordinate system, the rotation axis direction of the planting mobile phone and the real-time three-dimensional coordinate data of the drill bit tip in the CT three-dimensional coordinate system, and to obtain the drill bit deviation three-dimensional coordinate data. The real-time navigation module is used for real-time navigation based on the three-dimensional coordinate data of the drill bit deviation.

2. The navigation system for zygomatic implant surgery according to claim 1, characterized in that, The CT data acquisition module includes: The grayscale normalization unit is used to acquire multiple sets of basic head CT data, perform grayscale normalization on the multiple sets of basic head CT data, and obtain grayscale normalized basic head CT data. The threshold segmentation unit is used to perform global threshold segmentation on the gray-level normalized head CT basic data according to the preset gray-level threshold, and to segment the head CT basic data to obtain ceramic ball label model and background label model. The model training unit is used to build the U-Net network model. It inputs the ceramic ball label model and background label model corresponding to multiple sets of head CT basic data into the U-Net network model, and analyzes the mapping relationship between the head CT basic data and the ceramic ball mask based on the U-Net network model. The data analysis unit is used to input the patient's head CT data acquired by the CT scanning device into the U-Net network model. Based on the mapping relationship between the head CT baseline data and the ceramic ball mask, it obtains the probability that each three-dimensional voxel in the patient's head CT data belongs to the ceramic ball label model and the background label model. When the probability of the three-dimensional voxel belonging to the ceramic ball label model is the highest, it is judged as a three-dimensional voxel of the ceramic ball CT three-dimensional model. When the probability of the three-dimensional voxel belonging to the background label model is the highest, it is judged as a three-dimensional voxel of the background CT three-dimensional model. The region connectivity unit is used to assemble each three-dimensional voxel in the patient's head CT data into a corresponding ceramic sphere CT three-dimensional model and a background CT three-dimensional model. The model optimization unit is used to smooth the boundary segmentation and remove isolated regions of the ceramic ball CT 3D model and the background CT 3D model to obtain the optimized ceramic ball CT 3D model and the background CT 3D model, thereby obtaining the 3D coordinate data of the ceramic ball in the CT 3D coordinate system of the CT scanning equipment.

3. The navigation system for zygomatic implant surgery according to claim 1, characterized in that, The coarse registration module includes: The centroid analysis unit is used to analyze the three-dimensional coordinate data of the centroid of the ceramic ball in the CT three-dimensional coordinate system based on the three-dimensional coordinate data of multiple ceramic balls in the CT three-dimensional coordinate system; and to analyze the three-dimensional coordinate data of the centroid of the ceramic ball in the reference plate three-dimensional coordinate system based on the three-dimensional coordinate data of multiple ceramic balls in the reference plate three-dimensional coordinate system. The decentralized unit is used to obtain a set of decentralized points of multiple ceramic spheres in the CT 3D coordinate system by subtracting the 3D coordinate data of multiple ceramic spheres in the CT 3D coordinate system from the 3D coordinate data of the centroid of the ceramic spheres in the CT 3D coordinate system; and to obtain a set of decentralized points of multiple ceramic spheres in the reference plate 3D coordinate system by subtracting the 3D coordinate data of multiple ceramic spheres in the reference plate 3D coordinate system from the 3D coordinate data of the centroid of the ceramic spheres in the reference plate 3D coordinate system. The matching unit is used to find the closest Euclidean distance point for each point in the set of decenter points of the ceramic ball in the CT 3D coordinate system, and thus obtain a pair of matching points. The rotation matrix analysis unit is used to construct the covariance matrix and perform singular value decomposition based on the matching points, and analyze the rotation matrix between the CT 3D coordinate system and the reference plate 3D coordinate system. The translation vector analysis unit is used to analyze and obtain the translation vector between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system based on the rotation matrix between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system, the three-dimensional coordinate data of the ceramic ball centroid in the CT three-dimensional coordinate system and the three-dimensional coordinate data in the reference plate three-dimensional coordinate system. The coarse registration unit is used to analyze and obtain the initial coordinate transformation relationship between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system based on the rotation matrix and translation vector between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system.

4. The navigation system for zygomatic implant surgery according to claim 3, characterized in that, The fine registration module includes: The registration image acquisition unit is used to control the binocular navigation device to acquire image data of optical markers on the head-mounted reference plate and probe markers on the registration probe when the probe tip of the registration probe abuts in the registration recess on the intraoral registration pin. Based on the image data of the optical markers and probe markers, the coordinate transformation relationship between the three-dimensional coordinate system of the reference plate and the three-dimensional coordinate system of the registration probe is obtained. The registration coordinate analysis unit is used to calculate the three-dimensional coordinate data of the intraoral registration pin in the three-dimensional coordinate system of the reference plate based on the image data of the probe marker collected by the binocular navigation device when the probe tip is in the registration pit, combined with the coordinate transformation relationship between the three-dimensional coordinate system of the reference plate and the probe three-dimensional coordinate system of the registration probe. The optimization function establishment unit is used to extract the three-dimensional coordinate data of the intraoral registration pin in the CT three-dimensional coordinate system based on the patient's head CT data, and to establish the optimization objective function by combining the three-dimensional coordinate data of the intraoral registration pin in the reference plate three-dimensional coordinate system and the three-dimensional coordinate data in the CT three-dimensional coordinate system. The iterative calculation unit is used to obtain the initial rotation matrix and initial translation vector in the initial coordinate transformation relationship between the CT 3D coordinate system and the reference plate 3D coordinate system, and to perform iterative calculations based on the optimization objective function to obtain the accurate rotation matrix and accurate translation vector. The precise registration unit is used to analyze and obtain the precise coordinate transformation relationship between the CT 3D coordinate system and the reference plate 3D coordinate system based on the precise rotation matrix and precise translation vector. The mobile phone calibration module includes: The calibration image acquisition unit is used to control the binocular navigator to acquire image data of the calibration mark points on the calibration plate and the mobile phone tracker when the drill bit mounting sleeve of the planting mobile phone is fitted onto the calibration rod on the calibration plate. The calibration structure parameter acquisition unit is used to acquire the three-dimensional coordinate data of the calibration mark point and the calibration rod in the three-dimensional coordinate system of the calibration plate according to the structural parameters of the calibration plate, and calculate the three-dimensional coordinate data of the top and bottom of the calibration rod in the optical three-dimensional coordinate system by combining the image data of the calibration mark point. The calibration coordinate transformation relationship acquisition unit is used to analyze the image data of the mobile phone tracker to obtain the three-dimensional coordinate data of the mobile phone tracker in the optical three-dimensional coordinate system, and combine the three-dimensional coordinate data of the mobile phone tracker in the tracker's three-dimensional coordinate system to calculate the coordinate transformation relationship between the tracker's three-dimensional coordinate system and the optical three-dimensional coordinate system. The first calibration coordinate transformation unit is used to analyze and obtain the three-dimensional coordinate data of the top and bottom of the calibration rod in the three-dimensional coordinate system of the tracker based on the three-dimensional coordinate data of the top and bottom of the calibration rod in the optical three-dimensional coordinate system, combined with the coordinate transformation relationship between the tracker three-dimensional coordinate system and the optical three-dimensional coordinate system, and calculate the direction vector of the rotation axis of the planting mobile phone in the tracker three-dimensional coordinate system. The second calibration coordinate transformation unit is used to combine the structural parameters of the drill bit and the direction vector of the rotation axis of the implantation mobile phone in the tracker's three-dimensional coordinate system to calculate the three-dimensional coordinate data of the drill bit tip in the tracker's three-dimensional coordinate system.

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