Design method of edentulous jaw implantation guide plate based on fusion of scanning data and image of removable denture

Abstract

The invention relates to the technical field of oral cavity digital implantation, and particularly discloses an edentulous jaw implantation guide plate design method based on movable denture scanning data and image fusion. The method comprises the following steps: acquiring image data of an edentulous patient who wears a removable denture and is in an occlusion state; performing in-vitro scanning on the removable denture to obtain scanning data of the removable denture; based on the scanning data, generating at least two digital models which have different purposes and keep a fixed relative spatial position relationship, the first digital model being used for generating an edentulous jaw implantation guide plate fitting interface, and the second digital model carrying reference mark information for repairing position planning; and performing spatial registration on the second digital model and the image data based on the reference mark to establish a unified digital coordinate system, and determining the position of the first digital model in the unified digital coordinate system to complete the design of the edentulous jaw implantation guide plate. The movable denture scanning data and the image data are fused, so that the design of the edentulous jaw implantation guide plate is realized, and the applicability is good.

Description

Technical Field

[0001] This invention relates to the field of digital implantology in oral medicine, and in particular to a method for designing implant guides for edentulous patients based on the fusion of scan data and images from removable dentures. This method is applicable to the preoperative design and planning of implant guides during implant restoration for edentulous patients. Background Technology

[0002] Implant restoration for edentulous jaws is an important component of dental implant treatment, especially for patients with complete edentulism. Implant-supported or retained restorations have become a crucial means of improving masticatory function and quality of life. To enhance the controllability of implant placement position and angle in edentulous jaws, imaging-based implant guide techniques are increasingly being adopted in clinical practice.

[0003] In the design of existing implant surgical guides for edentulous patients, it is often necessary to comprehensively consider multiple factors such as the patient's jawbone anatomy, occlusal relationship, and prosthesis placement. For edentulous patients who have been wearing removable dentures for a long time with good function and stable aesthetic results, their existing removable dentures have developed a relatively suitable occlusal height, mandibular position, and facial soft tissue support during clinical use. Using such removable dentures as a preoperative reference is beneficial for maintaining the patient's existing occlusal relationship and facial contour, and has certain reference value for the formulation of implant restoration plans.

[0004] In relevant technical solutions, information about the patient's jawbone structure is typically obtained through imaging scans, and this information is combined with data related to removable dentures to complete the design of implant guides. However, cone-beam computed tomography (CBCT) is mainly used to display the density information of internal structures such as bone tissue. For the surface geometry of resin removable dentures, its imaging accuracy is relatively limited, and the image data often contains noise or artifacts, making it difficult to accurately reflect the fine surface structure of the removable denture, and only providing general outline information. In this case, if modeling the removable denture relies solely on image data, it is difficult to meet the geometric accuracy requirements of implant guide design and virtual restoration planning.

[0005] Furthermore, some removable dentures worn by edentulous patients may contain metal reinforcement structures or other high-density components to improve their strength and stability. These structures are prone to producing streak artifacts or scattering artifacts during imaging scans, making it difficult to accurately segment and reconstruct the boundaries and surface morphology of the removable denture. This affects the design and spatial registration of implant guides based on the removable denture, impacting the acquisition of geometric information and the accuracy of imaging data, thus further increasing the difficulty of designing implant guides based on removable dentures.

[0006] Therefore, while using the patient's existing removable denture as a reference for restoration and occlusion is clinically significant in the design of implant guides for edentulous jaws, how to balance the ability of imaging data to express the spatial relationship of the jawbone with the accuracy of acquiring geometric information of the removable denture without altering its structure remains a problem to be solved in current technology. Especially when the removable denture contains metal reinforcement structures or other high-density components, the impact of imaging artifacts on the acquisition of denture-related geometric information further increases the technical difficulty of designing implant guides for edentulous jaws based on removable dentures. Summary of the Invention

[0007] To address the problems existing in the aforementioned background technology, this invention provides a method for designing edentulous implant guides based on the fusion of removable denture scanning data and images. This method, without altering the patient's existing removable denture structure, rationally designs the acquisition and processing methods of image data and removable denture scanning data. This allows the digital model generated from the scanning data to be used collaboratively with the image data within a unified reference system, thereby obtaining reliable spatial data for edentulous implant guide design and completing the design of the edentulous implant guide.

[0008] This invention acquires a high-precision three-dimensional surface model of removable dentures through in vitro optical scanning, and uses the image data primarily to provide the spatial relationship between the jawbone structure and reference markers, rather than relying on the image data to reconstruct the surface geometry of the removable denture, thereby reducing the impact of image artifacts on the generation of the guide plate fitting interface and implant planning.

[0009] In some embodiments, the removable denture scanning data is three-dimensional surface model data obtained by performing an external scan of the removable denture, so as to simultaneously acquire geometric information of the tissue surface and smooth surface of the removable denture.

[0010] In some implementations, the scan data can be preprocessed before further processing of the removable denture scan data to repair holes or missing areas formed during the scanning process, forming a digital model with a complete topological structure.

[0011] In some embodiments, the removable denture scan data is processed to generate at least two digital model files with different purposes, wherein each digital model file originates from the same removable denture scan data and maintains a fixed relative spatial position relationship. In subsequent processing, the spatial position of the first digital model is determined under a unified digital coordinate system by spatially registering the second digital model carrying reference marker information with the image data.

[0012] In some implementations, the first digital model is obtained by separating and geometrically adjusting the scan data of the removable denture, and is used to generate the guide plate fitting interface for the edentulous jaw implant guide plate.

[0013] In some implementations, the second digital model is used to provide a reference for assessing the repair space to help determine the implantation location, orientation, and depth.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects: By acquiring the geometric morphology information and image data of removable dentures separately and then fusing them under a unified digital coordinate system, the guide plate design process can utilize the information provided by both image data and removable denture scan data. By using imaging data primarily to provide spatial relationships between the patient's oral structures, and using removable denture scanning data to provide denture-related geometric morphology information, it is beneficial to make rational use of relevant data during the guide plate design process; The design of implant guides for edentulous jaws can be completed without altering the structure of the patient's existing removable dentures, reducing the associated operational steps involved in fabricating additional prostheses. It is applicable to removable denture scenarios with or without metal reinforcement structures, improving the applicability of the removable denture-based edentulous implant guide design method under different denture structure conditions. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall process of the design method of implant guide for edentulous jaw based on the fusion of scan data and images of removable dentures according to the present invention; Figure 2 A schematic diagram showing the formation of an elastic substrate layer on the tissue surface of a removable denture. Figure 3 A schematic diagram showing the state after high-resistivity projective markers have been applied to the surface of the removable denture. Figure 4 A schematic diagram of acquiring imaging data of an edentulous patient wearing a removable denture in an occlusal state; Figure 5 This is a schematic diagram illustrating the external scanning of removable dentures to obtain scanning data. Figure 6 A schematic diagram illustrating the generation of the first and second digital models based on scan data of removable dentures; Figure 7 A schematic diagram illustrating the spatial registration of the second digital model with image data and the establishment of a unified digital coordinate system; Figure 8 This is a schematic diagram illustrating the positional inheritance relationship of the first digital model under a unified digital coordinate system. Figure 9 A schematic diagram of virtual tooth arrangement based on the first digital model under a unified digital coordinate system; Figure 10 A schematic diagram for planning the placement of implants and fixation pins under a unified digital coordinate system; Figure 11 To create a schematic diagram of the implantation guide structure for edentulous jaw implants based on the first digital model under a unified digital coordinate system; Figure 12 This is a schematic diagram illustrating the design of a guide plate for implant retention in edentulous jaws, based on a unified digital coordinate system and combined with a second digital model. Detailed Implementation

[0016] The following description, in conjunction with the accompanying drawings, illustrates a specific embodiment of the present invention, but the present invention is not limited to this embodiment.

[0017] In this embodiment, a patient with an edentulous jaw is wearing a removable denture. The removable denture can be a standard removable denture without an internal metal structure, or a removable denture with an internal metal reinforcement structure.

[0018] S101: Acquisition and Tissue Pretreatment of Removable Dentures Obtain the patient's currently used edentulous removable denture (e.g., a maxillary removable denture with internal metal reinforcement). Clean and pre-treat the tissue surfaces of the removable denture to remove surface contaminants and prepare for subsequent processing.

[0019] S102: Forming an elastic lining layer on the tissue surface of the removable denture. In a preferred embodiment, an elastic substrate layer is formed on the tissue surface of the removable denture, such as... Figure 2 As shown. The elastic substrate layer is used to compensate for the gap between the tissue surface of the removable denture and the patient's oral soft tissue, so that the removable denture can better fit the patient's alveolar ridge and oral soft tissue morphology when worn.

[0020] The thickness of the elastic substrate layer is not specifically limited, as long as it can achieve the above-mentioned bonding effect.

[0021] S103: Setting of High-Resistivity Projectile Markers In a preferred embodiment, multiple high-resistivity projective markers are disposed on the non-tissue surface of the removable denture, as shown in the following configuration: Figure 3 As shown. The high-resistivity projective markers can be resin-based high-resistivity projective microspheres or other marker structures suitable for image recognition. The number of high-resistivity projective markers is at least three, preferably four to eight, and they are distributed along the front-back and left-right directions of the removable denture, so that the markers are spatially non-coplanar, which is beneficial for subsequent spatial registration of image data and digital models.

[0022] In a preferred embodiment, when the removable denture contains a metal reinforcement structure, the high-resistivity projective marker is preferably located away from the projection area of ​​the metal reinforcement structure, for example, at the junction area between the artificial tooth and the denture base.

[0023] S104: Acquisition of the first image data After the above treatment is completed, the patient is fitted with a removable denture with an elastic lining and high-resistivity radiometric markers, and the first image data is acquired in a natural occlusal state. The acquisition process is illustrated in the diagram below. Figure 4 As shown.

[0024] The first image data is used to reflect the patient's jaw structure and the spatial location information of the high-resistivity radiometric markers. Its acquisition parameters can be adjusted according to clinical needs so that it is mainly used to obtain spatial positional relationships.

[0025] When acquiring the first image data, the acquisition parameters can be adjusted according to clinical needs, so that it is mainly used to obtain the spatial positional relationship between the jawbone structure and high-resistivity radiometric markers, rather than for accurately reconstructing the surface geometry of the removable denture. Through this method, even when the removable denture contains metal reinforcement structures that produce image artifacts, the spatial positional information required for subsequent guide plate design can still be obtained.

[0026] S105: External scanning and digital modeling of removable dentures After completing the first image data acquisition, the removable denture is removed from the patient's mouth and scanned externally to obtain three-dimensional model data of the removable denture. The scanning process is illustrated below. Figure 5 As shown.

[0027] In a preferred embodiment, a scanning aid material may be applied to the surface of the removable denture before in vitro scanning to improve surface reflection characteristics during the scanning process, thereby improving the integrity and stability of the scanning data.

[0028] S106: Preprocessing and Splitting of 3D Model Data After obtaining the 3D model data, it is preprocessed to repair surface holes or missing areas formed during the scanning process, forming a digital model with a complete topological structure. Subsequently, the 3D model data is split into at least two digital model files, with the splitting relationship as follows: Figure 6 As shown, the relative positions are maintained after splitting.

[0029] S107: Generation of the first digital model file The first digital model file is a tissue surface digital model file. This file separates the corresponding tissue surface regions from the removable denture scanning data and adjusts the model's geometry according to the guide design requirements, making it a geometric representation of the patient's oral soft tissue surface for generating the guide fitting interface of the edentulous implant guide. The geometric direction adjustment includes, for example, model flipping, normal reversal, or equivalent processing, to make the tissue surface a geometric representation of the oral soft tissue surface.

[0030] S108: Generation of the Second Digital Model File The second digital model file is a digital model file of the removable denture with the high-resistivity projective markers, which is used to reflect the overall shape and structure of the removable denture as well as the dentition and occlusal relationship.

[0031] It should be noted that, as Figure 8 As shown, the first digital model file and the second digital model file are derived from the same removable denture scan data, and they maintain a fixed relative spatial position relationship during the generation process.

[0032] S109: Spatial Registration and Fusion of Multi-File Data Subsequently, the first and second digital model files are simultaneously imported into the edentulous implant guide design software. The second digital model file carrying high-resistivity radiometric markers is spatially registered with the first image data to generate fused data for edentulous implant guide design.

[0033] After being imported into the design software, the first digital model file and the second digital model file exist as independent data objects. The first digital model file is used to construct the guide plate fitting interface for edentulous jaw implant guide plates, while the second digital model file is used to provide a reference for tooth arrangement and occlusal relationship in edentulous jaw restoration design.

[0034] The spatial registration establishes a unified digital coordinate system based on the identifiable position of the reference marker in the image data; artifacts caused by high-density structures in the image data are not used as the basis for geometric reconstruction of the removable denture.

[0035] S110: Design of Implant Guide Plate for Edentulous Jaws After data registration and fusion are completed, virtual tooth alignment is first performed based on the first digital model under a unified digital coordinate system to determine the positional relationships of the restorative dentition, such as... Figure 9 As shown.

[0036] Subsequently, based on the virtual tooth arrangement results, the positions of the implants and retainers are planned, such as... Figure 10 As shown.

[0037] Based on this, the structure of the implant guide for edentulous jaws was drawn using the first digital model, such as... Figure 11 As shown; and combined with the second digital model, the design of the implant retention guide plate structure for edentulous jaws was completed, as shown. Figure 12 As shown.

[0038] Applicability Notes Using the above method, when the removable denture has a common metal-free structure, the method of the present invention can be used as a routine implant guide design process for edentulous jaws. When the removable denture contains a metal-reinforced structure, by separating and obtaining the geometric morphology information and image data of the removable denture, and performing data fusion based on high-resistivity radiometric markers, the influence of image artifacts on guide design can be reduced. In other embodiments, the above steps can be equivalently adjusted according to the patient's oral condition and restoration needs, and the purpose of guide design can still be achieved.

Claims

1. A method for designing implant guides for edentulous jaws based on the fusion of scan data and images from removable dentures, characterized in that, Includes the following steps: A) Acquire cone-beam computed tomography (CBCT) images of edentulous patients wearing removable dentures and in occlusion. B) Remove the removable denture from the mouth and perform an optical scan on the removable denture to obtain three-dimensional surface model data of the removable denture; C) Generate at least two digital model files with different purposes based on the three-dimensional surface model data. These digital model files originate from the same three-dimensional surface model data and maintain a fixed relative spatial relationship, including: C1) The first digital model file contains at least the geometric information corresponding to the tissue surface of the removable denture, and is used to generate the guide plate fitting interface of the implant guide plate for edentulous jaws after being adjusted in geometric direction. C2) A second digital model file, which contains at least information on the overall shape and occlusal relationship of the removable denture, and carries reference marker information that can be identified in the cone-beam computed tomography image data; D) Based on the reference marker information, spatially register the second digital model file with the cone-beam computed tomography (CBCT) image data to obtain the spatial transformation relationship from the coordinate system of the second digital model file to the coordinate system of the CBCT image data; apply the spatial transformation relationship to the first digital model file to determine the position of the first digital model file in the coordinate system of the CBCT image data and establish a unified digital coordinate system; E) Under the unified digital coordinate system, the guide plate fitting interface of the edentulous jaw implant guide is generated based on the first digital model file, and the design of the edentulous jaw implant guide is completed in combination with the second digital model file.

2. The method according to claim 1, characterized in that, The optical scanning described in step B is an external scanning method to simultaneously acquire geometric information of the tissue surface and the smooth surface of the removable denture.

3. The method according to claim 1, characterized in that, Before step C, the three-dimensional surface model data is preprocessed to repair holes or missing areas formed during the scanning process, forming a digital model with a complete topological structure.

4. The method according to claim 1, characterized in that, The three-dimensional surface model data is preferably in STL format.

5. The method according to claim 1, characterized in that, The first digital model file is obtained by separating the region corresponding to the tissue surface of the removable denture in the three-dimensional surface model data and performing model flipping and / or geometric orientation adjustment.

6. The method according to claim 1, characterized in that, The first digital model file does not contain the geometric structure of the reference mark. The first digital model file is obtained by deleting, masking or cropping the region corresponding to the reference mark in the three-dimensional surface model data.

7. The method according to claim 1, characterized in that, The second digital model file is used to provide virtual tooth arrangement reference, occlusal relationship reference, and implant restoration space assessment to help determine the position of implants and retention pins.

8. The method according to claim 1, characterized in that, The reference marker is set on the surface or inside the removable denture and can be identified in both the cone-beam computed tomography image data and the second digital model file.

9. The method according to claim 1, characterized in that, The spatial registration is performed based on the reference marker information.

10. The method according to claim 1, characterized in that, The removable denture may or may not contain a metal-reinforced structure.

11. The method according to claim 1, characterized in that, The edentulous jaw implantation guide includes at least one of an implantation guide and a retention guide.

12. The method according to claim 1, characterized in that, Once the guide plate design is completed, manufacturing data for additive or subtractive manufacturing is generated.

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