Digital checking method and system for suitability of planting bridge and readable storage medium

Abstract

The application discloses a kind of digital checking method, system and readable storage medium of planting bridge frame suitability, it is related to oral implantation prosthetic technology field.The method includes obtaining the three-dimensional position data set of patient's mouth implant complex abutment interface as reference data, and obtaining the three-dimensional position data set of patient's to be checked bridge frame interface as test data;Reference data and test data are sequentially executed initial registration and precision registration, and obtain registered test data;Based on registered test data, the horizontal deviation and vertical deviation of each non-fixed interface are calculated;Horizontal deviation and vertical deviation are compared with preset threshold respectively, and the suitability digital checking result is obtained.The application constructs model-free digital reference, simulates single screw test by two-stage registration to fit clinical working conditions, decomposes deviation into horizontal and vertical independent components, and improves the suitability checking accuracy, clinical operability and result consistency of implant bridge frame by relying on double threshold determination.

Description

Technical Field

[0001] This invention relates to the field of oral implant restoration technology, specifically to a digital verification method, system, and readable storage medium for implant bridge suitability. Background Technology

[0002] An implant framework is a fixed prosthesis frame supported by multiple implants, typically fabricated using CAD / CAM techniques from materials such as titanium alloy, cobalt-chromium alloy, zirconium oxide, and polyetheretherketone (PEEK). The framework has multiple interfaces (usually 4-8), each precisely fitted to the corresponding implant abutment in the patient's mouth. The "fit" of the framework—the consistency of the positions of all interfaces in three-dimensional space with the interfaces of the implant abutments in the mouth—directly determines the biomechanical performance and long-term success rate of the prosthesis. Poor framework fit can lead to serious complications such as implant osseointegration failure, screw loosening or breakage, prosthesis fracture, and peri-implantitis. Therefore, the fit of the framework must be checked after fabrication and before it is officially fixed in the patient's mouth.

[0003] One of the traditional "gold standards" for verifying implant attenuator suitability in clinical practice is the one-screw test, also known as the Sheffield test, which can be performed intraorally or on a verification model. The verification model preparation process is as follows: Impression posts are installed on the intraoral composite abutment → multiple impression posts are connected using a rigid structure → the entire impression post is removed from the intraoral cavity and connected to the implant composite abutment replacement → a super-hard plaster model (i.e., the verification model) is poured. Based on the verification model, the attenuator suitability testing process is as follows: the attenuator is trial-fitted on the model → the farthest midpoint of the attenuator is fixed with screws, and the passive positioning and edge fit on the other side of the attenuator are visually observed and tactilely checked → if necessary, the edge gap is checked using the silicone rubber film method or a probe.

[0004] Existing digital verification also requires the preparation of a physical verification model according to the above process. It only uses digital means to replace the naked eye, touch, silicone rubber film or probe used in the traditional process. The implementation process can be summarized as follows: ① Scan the verification model containing the composite base substitute separately; ② Scan the implantation cable tray separately; ③ Position the cable tray on the verification model, fix the farthest center of the cable tray with screws, and scan the overall data; ④ Fit the data from steps ① and ② to the data in step ③ to obtain the cable tray virtually assembled on the verification model; ⑤ Use digital software to directly measure the gap between the composite base and the edge of the cable tray.

[0005] The aforementioned verification methods rely on plaster casts as physical substitutes or coordinate transformation bridges for intraoral implant placement. The inherent fabrication errors of the casts (impression deformation + plaster expansion + composite abutment misalignment) become the "ceiling" for the accuracy of suitability assessment, which cannot be overcome. Because these methods can only provide conclusions of "suitable / unsuitable" or "whether there is a gap greater than the probe used," they cannot quantify the precise deviations (in micrometers) of each interface in independent horizontal (buctolingual / mesiodistal) and vertical (occlusal height) directions, even though these deviations have different biological and mechanical significance in clinical practice. Furthermore, the surface morphology of the composite abutment and bridge interface is affected by scan quality; the scan results differ from the original surface, and this difference affects the quantitative assessment of bridge suitability.

[0006] Based on the above-mentioned shortcomings of the existing technology, the present invention provides a digital testing method that simulates the one-screw test principle without the need to create any physical model, and quantifies the suitability as deviation values ​​in two independent directions, horizontal and vertical. Summary of the Invention

[0007] This invention provides a digital verification method for the suitability of planting cable trays, which solves the problems of existing planting cable tray suitability verification methods that rely on physical models to introduce transmission errors, can only qualitatively output digital verification results for suitability, and cannot quantify the horizontal and vertical independent directional deviations of each interface.

[0008] This invention is achieved through the following technical solution:

[0009] Firstly, this application provides a digital verification method for the suitability of planting cable trays, comprising the following steps:

[0010] A three-dimensional position dataset of the composite abutment interface of the patient's intraoral implant is obtained as reference data. The reference data includes the three-dimensional coordinates of the center point of each composite abutment interface and the axial unit vector.

[0011] The three-dimensional location dataset of the cable tray interfaces to be checked for the patient is obtained as test data. The test data includes the three-dimensional coordinates of the center point of each cable tray interface and the axial unit vector.

[0012] Initial registration and precise registration are performed sequentially on the reference data and test data to obtain the registered test data;

[0013] Based on the registered test data, the horizontal and vertical deviations of each non-fixed interface are calculated. The horizontal deviation is the projection modulus of the displacement vector of the center point of the corresponding interface on a plane perpendicular to the reference axis, and the vertical deviation is the absolute value of the projection of the displacement vector of the center point of the corresponding interface along the reference axis.

[0014] The horizontal and vertical deviations of each non-fixed interface are compared with preset thresholds to obtain the digital verification results of the suitability of the planting bridge.

[0015] A further optimized solution is that the step of obtaining the three-dimensional position dataset of the patient's intraoral implant composite abutment interface as reference data specifically includes at least one of the following methods:

[0016] The plaster model with a composite base substitute and a scanning rod is scanned. The three-dimensional data of the scanning rod obtained by scanning is fitted and replaced with the pre-stored standard model of the corresponding morphology scanning rod to obtain reference data.

[0017] Intraoral scanning was performed on a composite abutment with a scanning rod installed in the patient's mouth. The three-dimensional data of the scanning rod obtained from the scan was fitted and replaced with a pre-stored standard model of the corresponding morphological scanning rod to obtain reference data.

[0018] Reference data was obtained by reconstructing images of a composite abutment with coded markers installed inside the patient's mouth using a photogrammetry system, based on the principle of multi-view stereo vision.

[0019] A further optimized solution is that the step of obtaining the three-dimensional location dataset of the patient's cable tray interface to be checked as test data includes:

[0020] Install the scannable composite base replacement at each interface of the cable tray and scan to obtain three-dimensional scan data of the cable tray and the scannable composite base replacement;

[0021] The three-dimensional scanning data of each scannable composite abutment substitute is best fitted and registered with its pre-stored standard three-dimensional geometric model, and the corresponding three-dimensional scanning data is replaced with the standard three-dimensional geometric model to obtain test data.

[0022] A further optimized scheme is as follows: the initial registration uses the Kabsch algorithm to perform a rigid body transformation on the test data to obtain the initial registration test data; after the registration is completed, the root mean square error between the initial registration test data and the reference data is calculated; if the root mean square error is greater than a preset threshold, the initial registration is iteratively executed until the error meets the requirements.

[0023] A further optimized scheme is as follows: the precise registration uses a fixed interface preset in the reference data as a hinge point. The test data is translated so that the center point of the fixed interface coincides with the center point of the corresponding interface in the reference data. Then, the fixed interface is rotated around the center point so that the axis of the fixed interface coincides with the axis of the corresponding interface in the reference data, thereby obtaining the final registration test data. The fixed interface is the farthest middle interface on one side of the cable tray.

[0024] A further optimization scheme is as follows: the horizontal deviation The calculation formula is:

[0025] ;

[0026] in, Let be the displacement vector of the center point of the i-th non-fixed interface in the registered test data. Let be the reference axis unit vector corresponding to the i-th non-fixed interface;

[0027] The vertical deviation The calculation formula is:

[0028] .

[0029] A further optimization scheme includes calculating the angular deviation of each non-fixed interface. The calculation formula is:

[0030] ;

[0031] in, This is the axial unit vector of the i-th non-fixed interface after registration.

[0032] A further optimization approach is to output processing suggestions based on the cable tray's structural type if the cable tray is deemed unsuitable.

[0033] If the cable tray has an integrated interface structure, it is recommended to re-fabricate the entire cable tray.

[0034] If the cable tray is a structure with an adhesive precast metal substrate, it is recommended to remove the unqualified metal substrate and re-adhere it, and then repeat the steps of test data acquisition, registration, deviation calculation and suitability determination.

[0035] Secondly, this application provides a digital verification system for the suitability of planting cable trays, including:

[0036] The reference data acquisition module is used to acquire a three-dimensional position dataset of the patient's intraoral implant composite abutment interface as reference data. The reference data includes the three-dimensional coordinates of the center point of each composite abutment interface and the axial unit vector.

[0037] The test data acquisition module is used to acquire the three-dimensional position dataset of the patient's cable tray interface to be checked as test data. The test data includes the three-dimensional coordinates of the center point of each cable tray interface and the axial unit vector.

[0038] The registration module is used to perform initial registration and precise registration on the reference data and test data in sequence to obtain the registered test data;

[0039] The deviation calculation module is used to calculate the horizontal and vertical deviations of each non-fixed interface based on the registered test data.

[0040] The suitability determination module is used to compare the horizontal and vertical deviations of each non-fixed interface with preset thresholds to obtain the digital verification results of the suitability of the planting bridge.

[0041] Thirdly, a computer-readable storage medium storing a digital verification program for the suitability of planting cable trays, wherein when executed by a processor, the digital verification program for the suitability of planting cable trays implements the steps of the digital verification method for the suitability of planting cable trays as described above.

[0042] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0043] By acquiring a 3D location dataset of the patient's intraoral implant composite abutment interface, a model-free digital benchmark is constructed to avoid the transmission of errors from the physical model from the source.

[0044] By sequentially performing initial registration and precise registration and obtaining post-registration test data, the passive positioning constraint of single screw test is simulated using the fixed interface as the hinge point while eliminating the overall rigid body offset, so that the registration result fits the actual clinical working conditions.

[0045] Based on the registered data, the horizontal and vertical deviations of the non-fixed interface are calculated, and the three-dimensional deviations are decomposed into a horizontal component reflecting the tangential misalignment of the dental arch and a vertical component reflecting the change in occlusal height, so as to achieve precise directional quantification.

[0046] By comparing the output of the suitability digital verification results with preset thresholds, it supports the independent configuration of horizontal and vertical thresholds, promotes the transformation of suitability judgment from experience-based qualitative judgment to standardized quantitative decision-making, and significantly improves the consistency and clinical operability of the verification results. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0048] Figure 1 A flowchart illustrating the digital verification method for the suitability of planting cable trays provided in this application embodiment;

[0049] Figure 2 Illustration of the two-stage registration of reference data and test data provided for embodiments of this application;

[0050] Figure 3A structural block diagram of the digital verification system for the suitability of planting cable trays provided in this application embodiment;

[0051] Figure 4 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0053] First, some of the technical terms used in this application will be explained to help those skilled in the art understand this application.

[0054] CAD / CAM: Computer-Aided Design / Computer-Aided Manufacturing;

[0055] SVD: Singular Value Decomposition;

[0056] RMSE: Root Mean Square Error;

[0057] One Screw Test: Also known as the Sheffield test, this is one of the gold standards for clinically verifying the suitability of implantation trays. It involves fixing the farthest middle screw of the tray and checking the passive positioning of the remaining interfaces.

[0058] Firstly, such as Figure 1 As shown, this application provides a digital verification method for the suitability of implantation cable trays. This method does not require the creation of a physical verification model, simulates the clinical one-screw test principle, and digitally reproduces the clinical physical placement process to achieve a precise quantitative assessment of cable tray suitability; it includes the following steps:

[0059] Step S1: Obtain the three-dimensional position dataset of the composite abutment interface of the patient's intraoral implant as reference data. The reference data includes the three-dimensional coordinates of the center point of each composite abutment interface and the axial unit vector.

[0060] Step S2: Obtain the three-dimensional position dataset of the cable tray interfaces to be checked for the patient as test data. The test data includes the three-dimensional coordinates of the center point of each cable tray interface and the axial unit vector.

[0061] Step S3: Perform initial registration and precise registration on the reference data and test data in sequence to obtain the registered test data;

[0062] Step S4: Based on the registered test data, calculate the horizontal and vertical deviations of each non-fixed interface. The horizontal deviation is the projection modulus of the displacement vector of the center point of the corresponding interface on a plane perpendicular to the reference axis, and the vertical deviation is the absolute value of the projection of the displacement vector of the center point of the corresponding interface along the reference axis.

[0063] Step S5: Compare the horizontal and vertical deviations of each non-fixed interface with preset thresholds to obtain the digital verification results of the suitability of the planting bridge.

[0064] This embodiment avoids the transmission of errors from physical models by constructing a model-free digital benchmark. It utilizes a two-stage registration process to simulate the passive positioning constraints of single-screw testing, thus aligning with actual clinical conditions. Furthermore, it deconstructs three-dimensional deviations into independent horizontal and vertical components for precise directional quantification. Independently configured dual thresholds facilitate the transformation of suitability assessment from qualitative to standardized quantitative decision-making, significantly improving the accuracy, clinical operability, and consistency of implant bridge verification. In addition, all data from the entire digital verification process (reference data, test data, registration data, and deviation values) can be saved and archived, facilitating subsequent quality traceability, patient-doctor communication, and academic research, thereby enhancing the traceability of the entire implant restoration process.

[0065] In one embodiment, step S1: Obtain a three-dimensional position dataset of the composite abutment interface of the patient's intraoral implant as reference data. The reference data includes the three-dimensional coordinates of the center point of each composite abutment interface and the axial unit vector, specifically including the following steps:

[0066] Step S11: Acquire the original three-dimensional data of the patient's intraoral implant composite abutment and connecting scanning body. Specific implementation methods include:

[0067] Method A: An intraoral 3D scanner is used to directly optically acquire high-resolution surface 3D mesh data from a composite substrate with a scanner installed inside the patient's mouth.

[0068] Method B: Perform an external scan on a plaster model with a composite base substitute and a scanning rod installed to obtain three-dimensional data of the model surface;

[0069] The plaster model needs to be prepared by connecting an impression post to the intraoral implant composite abutment.

[0070] The impression pillars are connected as a whole using a rigid connection structure (preferably a small amount of resin material), then removed and connected to a composite base substitute for casting.

[0071] Method C: Image data is acquired by using a photogrammetric system to scan a composite abutment with coded markers mounted inside the mouth, based on the principle of multi-view stereoscopic vision. Compared to intraoral scanning, this method is not affected by saliva, soft tissue peristalsis, or lighting conditions, and is particularly suitable for data acquisition in patients with limited mouth opening or sensitive pharyngeal reflexes.

[0072] The above three methods can be used individually or in combination as needed to suit different clinical scenarios.

[0073] Step S12: Perform best-fit registration between the scanned body shape in the original 3D data and the pre-stored corresponding standard model to obtain the registration result;

[0074] Since the surface morphology of the composite substrate and cable tray interface is easily affected by the scanning quality, there are inherent differences between the physical scanning results and the solid surface. Directly using them for calculation will significantly affect the accuracy of quantitative evaluation. Therefore, it is necessary to replace them with a standard model to eliminate this error.

[0075] Specifically, for the original three-dimensional data containing the complete surface morphology of the scanned body collected by method A and method B in step S11, the morphology of the scanned body is best fitted and registered with the pre-stored corresponding morphological standard model to obtain the registration result.

[0076] For photogrammetric data acquired using method C, there is no need to perform a shape fitting and replacement step. Instead, the spatial pose of the corresponding scanned body can be determined directly by calling the standard geometric model in the database based on the recognition results of the coded marker points.

[0077] Step S13: Based on the registration results, extract the three-dimensional coordinates of the center point and the axial unit vector of each composite base interface to generate reference data.

[0078] Specifically, using the reference geometric features carried by the registered standard model, the spatial position of the geometric center point of each interface section is automatically analyzed and calculated, and this position is denoted as... ;

[0079] Extract the unit vector along the axis defined in the standard model, denoted as ;

[0080] Summarize all interfaces and A reference data set containing pose information of N interfaces is constructed.

[0081] The reference data includes information on N (N≥2) composite base interfaces, with each interface i recording the three-dimensional coordinates of its center point. and axial unit vector ;

[0082] This embodiment introduces a standard scanning body model to fit and replace the physical scanning data, eliminating measurement noise caused by poor scanning quality, reflection, or local defects on the surface of the composite abutment or scanning body from the source. This ensures that the reference data can truly reflect the precise spatial pose of the patient's intraoral implant composite abutment interface, laying a data benchmark without model error for subsequent high-precision registration and deviation quantification.

[0083] In one embodiment, step S2: Obtain the three-dimensional position dataset of the cable tray interfaces to be checked as test data. The test data includes the three-dimensional coordinates of the center point of each cable tray interface and the axial unit vector, specifically including the following steps:

[0084] Step S21: Collect full-domain three-dimensional topographic data of the scanable composite base replacement body (hereinafter referred to as replacement body) attached to the cable tray interface.

[0085] Specifically, a substitute with known geometric dimensions is securely installed at each interface of the cable tray. A 3D scanning device is used to perform multi-view optical acquisition of the entire cable tray and the substitute structure protruding from the surface of the cable tray, and the data is stitched together to generate an original scan dataset containing dense point clouds or grid topology.

[0086] Preferably, the surface of the surrogate is kept unobstructed during the scanning process to obtain complete geometric feature information.

[0087] Step S22: Perform best-fit registration between the original scan data of the scannable composite abutment substitute and the pre-stored standard geometric model.

[0088] This process involves retrieving a standard digital model from the database that matches the physical surrogate model. Using minimizing the overall geometric deviation as the objective function, the spatial transformation parameters that optimally overlap the scanned point cloud with the surface of the standard model are determined. This process establishes a precise mapping relationship between the two models through an iterative nearest-point algorithm or pose estimation based on principal component analysis.

[0089] Step S23: Based on the registration mapping relationship, define and output the spatial pose parameters of each interface using the reference features of the standard model.

[0090] Specifically, based on the inherent geometric datum of the registered standard model, the geometric center points of the interface sections of each substitute are analyzed, and their coordinates are marked as follows: Simultaneously, the axial vector preset in the standard model is extracted and normalized, denoted as... Summarize all interfaces corresponding to and A test data set is constructed that corresponds to the dimensions and structure of the reference data.

[0091] The test data includes information on N (N≥2) cable tray interfaces, with each interface i recording the three-dimensional coordinates of its center point. and axial unit vector ;

[0092] This embodiment effectively eliminates measurement errors caused by reflection, uneven powder coating, or local defects on the cable tray substrate and the substitute surface by replacing the physical scan data with a standard substitute model. This ensures that the test data can truly reflect the theoretical design position of the cable tray interface, providing a high-fidelity input data source for precise registration in subsequent simulated clinical single screw tests.

[0093] In one embodiment, such as Figure 2 As shown, step S3: Perform initial registration and precise registration on the reference data and test data sequentially to obtain the registered test data, specifically including the following steps:

[0094] Step S31: Based on the interface center point set in the reference data and the interface center point set in the test data, solve for the optimal rigid body transformation parameters.

[0095] Specifically, the centroid coordinates of the reference data center point set and the test data center point set are constructed separately. The two sets of data are then translated to a unified coordinate origin through decentralization. Subsequently, a covariance matrix representing the spatial distribution correlation between the two sets of data is constructed. Singular value decomposition is performed on this matrix to extract the orthogonal matrix with optimal rotation properties as the rotation parameter, and the translation parameter is calculated in conjunction with the centroid offset. The solved rotation and translation parameters are applied to the test data to generate a preliminary registration test dataset.

[0096] Preferably, the rigid body transformation parameters are iteratively optimized using the Kabsch algorithm until the root mean square error of the two sets of data after transformation converges to a stable range.

[0097] Calculate the centroids of the center point sets of the reference data R and the test data T respectively:

[0098] Equation (1)

[0099] In the formula: The reference data center's center of gravity coordinates; The coordinates are the three-dimensional coordinates of the center point of the i-th interface in the reference data.

[0100] Equation (2)

[0101] In the formula: The centroid coordinates of the center points of each interface in the test data; Let be the three-dimensional coordinates of the center point of the i-th interface in the test data.

[0102] Decentralize operations at each interface's central point, shifting the center of gravity back to the origin:

[0103] Equation (3)

[0104] In the formula: The coordinates of the i-th interface center point after decentralization in the reference data.

[0105] Equation (4)

[0106] In the formula: The coordinates of the center point of the i-th interface after decentralization in the test data.

[0107] Construct the covariance matrix:

[0108] Equation (5)

[0109] In the formula: H is the covariance matrix that characterizes the spatial distribution correlation between the two sets of data; T represents the matrix transpose.

[0110] To improve registration accuracy, this application proposes an initial registration method based on SVD decomposition. For example... Figure 3 As shown, this method first performs singular value decomposition (SVD) on the covariance matrix H of the two point cloud datasets to obtain... :

[0111] Equation (6)

[0112] In the formula: U and V are orthogonal matrices; Σ is a diagonal matrix.

[0113] Calculate the optimal rotation matrix:

[0114] Equation (7)

[0115] In the formula: This is the optimal rotation matrix for the initial registration in the first stage.

[0116] Detecting the determinant: If det( If ) < 0, it indicates that the current transformation includes mirror reflection (ImproperRotation), which does not meet the requirements of a purely rigid rotation and needs to be corrected.

[0117] Equation (8)

[0118] In the formula, The transformed vector, Let be the original vector, and diag be the diagonal matrix;

[0119] After correction, the rotation matrix is ​​recalculated to ensure that the final transformation matrix is ​​a pure rotation matrix, as shown in the following equation:

[0120] Equation (9)

[0121] In the formula: This is the corrected optimal rotation matrix.

[0122] Calculate the translation vector:

[0123] Equation (10)

[0124] In the formula: This is the translation vector for the initial registration in the first stage.

[0125] By applying a transformation to the test data T, we obtain T':

[0126] For each interface i:

[0127] Equation (11)

[0128] In the formula: These are the coordinates of the center point of the i-th interface after initial registration.

[0129] Equation (12)

[0130] In the formula: This is the axial unit vector of the i-th interface after initial registration.

[0131] After the first stage of registration, the root mean square error (RMSE) is calculated:

[0132] Equation (13)

[0133] In the formula: The root mean square error is used to quantify the registration accuracy. This represents the magnitude of the vector.

[0134] To further improve registration robustness, this application introduces the following iterative optimization mechanism:

[0135] If the RMSE is greater than the preset threshold (set to 0.5mm), then the test data T' after the initial registration (i.e., and The set of data is used as new test data input, and the initial registration steps of equations (1) to (13) are repeated until the RMSE converges to within 0.5mm. This iterative process can effectively suppress the local optimum problem caused by excessive initial pose difference and ensure global alignment accuracy.

[0136] After initial registration, the test data T' is roughly aligned globally with the reference data R, but rotational deviations around the fixed interface may still exist. To simulate the passive positioning process of the bridge frame rotating around the point after fixing only the farthest middle screw in the single-screw test, further attitude fine-tuning with the fixed interface as the hinge point is required after global alignment to eliminate residual errors caused by rigid rotation. If the RMSE meets the preset threshold requirement, proceed to step S32 to perform precise registration.

[0137] Step S32: In order to strictly simulate the operation procedure of "fixing the farthest middle screw of the cable tray and checking the passive positioning of the remaining interfaces" in the clinical one screw test, the fixed interface preset in the reference data is used as the spatial constraint benchmark. Precise pose correction is performed on the preliminary registered test data to obtain the registered test data.

[0138] The precise registration uses a pre-defined fixed interface in the reference data as the hinge point. The fixed interface is preferably the furthest center interface on one side of the cable tray. This selection strictly simulates the clinical one-screw test procedure of "fixing the furthest center screw of the cable tray and checking the passive positioning of the remaining interfaces," serving as the starting state for passive positioning and ensuring that the registration results closely match actual clinical conditions. First, the pre-registered test data is translated as a whole, forcing the center point of the fixed interface to coincide with the center point of the corresponding interface in the reference data. Based on this, the spatial angle between the axial vector of the fixed interface in the current test data and the target axial vector, as well as the rotation axis perpendicular to this angle, are calculated, constructing a rotation matrix around the fixed center point. This rotation matrix is ​​then used to perform a rotation transformation on the translated test data, ensuring that the axial direction of the fixed interface precisely coincides with the target axial direction, ultimately obtaining the registered test data. Specifically, the construction of the rotation matrix is ​​based on the Rodrigues rotation formula, achieving rigid body orientation correction in three-dimensional space through antisymmetric matrix operations.

[0139] Specifically, the steps for precise registration are as follows:

[0140] The translation makes the center point of the fixed interface coincide:

[0141] Let the fixed interface number be k (usually k=1, i.e., the farthest middle interface), and the translation vector be:

[0142] Equation (14)

[0143] In the formula: The translation vector for precise registration; The center point of the fixed interface in the reference data; This is the center point of the fixed interface in the test data after initial registration.

[0144] Apply a translation to each interface i:

[0145] Equation (15)

[0146] In the formula: These are the coordinates of the center point of the i-th interface after translation.

[0147] The axial vector is unaffected by translation:

[0148] Equation (16)

[0149] In the formula: Let be the axial unit vector of the i-th interface after translation.

[0150] Calculate the axis of rotation and the angle of rotation:

[0151] The current axial direction of fixed interface k is The target axis is .set up:

[0152] Equation (17)

[0153] Equation (18)

[0154] Equation (19)

[0155] In the formula: a is the current axial unit vector of the fixed interface after translation; b is the target axial unit vector of the fixed interface in the reference data; This represents the magnitude of the vector.

[0156] If a and b are parallel, then the rotation matrix is... =I (I is the identity matrix);

[0157] Otherwise, the axis of rotation (unit vector):

[0158] Equation (20)

[0159] In the formula: is the unit rotation axis vector; × represents the vector cross product.

[0160] First, calculate the angle between the fixed interface axial unit vector 'a' and the corresponding axial unit vector 'b' in the reference data after initial registration. This angle will be used as the rotation angle required for precise registration.

[0161] Equation (21)

[0162] In the formula: θ is the rotation angle.

[0163] Construct the rotation matrix:

[0164] Let G be the axis of rotation. The antisymmetric matrix is ​​used to transform the cross product operation of vectors into a matrix multiplication operation. Its expression is:

[0165] Equation (22)

[0166] In the formula: G is the antisymmetric matrix of the rotation axis; , , These are the rotation axis vectors. Components on the X, Y, and Z axes of a three-dimensional Cartesian coordinate system.

[0167] Then the rotation matrix is:

[0168] Equation (23)

[0169] In the formula: is the rotation matrix for precise registration; I is the identity matrix; sinθ and cosθ are the sine and cosine values ​​of the rotation angle, respectively; It is the square of the antisymmetric matrix.

[0170] Apply a rotation about a fixed center to all points:

[0171] For each interface i (including i=k):

[0172] Equation (24)

[0173] In the formula: These are the coordinates of the center point of the i-th interface after final registration.

[0174] Direct axial rotation:

[0175] Equation (25)

[0176] In the formula: This is the axial unit vector of the i-th interface after final registration.

[0177] Preferably, the fixing interface is set as the farthest middle interface on one side of the cable tray to simulate the passive positioning initial state of single screw fixation in clinical operation.

[0178] This embodiment utilizes the Kabsch algorithm to solve for the optimal rigid body transformation based on the entire set of interface center points to achieve global spatial coarse alignment between test data and reference data. It effectively controls the initial registration deviation by relying on the root mean square error threshold iteration mechanism. Then, the most representative farthest interface in clinical practice is selected as the fixed hinge point, and a precise correction process is performed by first translating and aligning the coincident center point and then rotating to align the axis. This strictly simulates the passive positioning mechanical state of single screw testing. It eliminates false fit misjudgments caused by redundancy of multiple degrees of freedom and makes the digital registration logic highly consistent with the actual clinical operation specifications. It provides a spatial benchmark that combines mathematical rigor and clinical authenticity for subsequent micron-level deviation quantification.

[0179] In one embodiment, step S4: Based on the registered test data, calculate the horizontal and vertical deviations of each non-fixed interface. The horizontal deviation is the projection modulus of the displacement vector of the corresponding interface center point on a plane perpendicular to the reference axis, and the vertical deviation is the absolute value of the projection of the displacement vector of the corresponding interface center point along the reference axis. This specifically includes the following steps:

[0180] Step S41: Construct the center point displacement vector of each non-fixed interface to establish the spatial offset benchmark between the registered test data and the reference data. After two-stage registration, the deviation of the fixed interface is forced to zero and does not participate in subsequent deviation calculations.

[0181] Specifically, iterate through each non-fixed interface in the registered test data, except for the fixed interface, and extract the three-dimensional coordinates of its center point in the final registered state. 3D coordinates of the center point of the corresponding interface in the reference data Displacement vectors representing spatial position differences are constructed through vector subtraction operations. .

[0182] Equation (26)

[0183] Step S42: Project the displacement vector onto the reference axis and analyze the vertical deviation component that reflects the deformation in the bite height direction.

[0184] The formula for calculating vertical deviation is:

[0185] Equation (27)

[0186] In the formula: Let be the vertical deviation of the i-th non-fixed interface; The displacement vector of the interface center point; Let i be the axial unit vector of the i-th interface in the reference data; It represents the absolute value.

[0187] Step S43: Strip the axial projection component, calculate the projection modulus of the displacement vector on the plane perpendicular to the reference axial direction, and obtain the horizontal deviation component reflecting the misalignment in the horizontal plane.

[0188] The formula for calculating horizontal deviation is:

[0189] Equation (28)

[0190] In the formula: The horizontal deviation of the i-th non-fixed interface; The displacement vector of the interface center point; Let i be the axial unit vector of the i-th interface in the reference data; This represents the magnitude of the vector.

[0191] It can also calculate the angular deviation of each non-fixed interface. To quantify the degree of axial deflection of the interface:

[0192] Equation (29)

[0193] In the formula: The angle deviation of the i-th non-fixed interface; This is the axial unit vector of the i-th interface after final registration; Let be the axial unit vector of the i-th interface in the reference data; arccos is the inverse cosine function; It represents the absolute value.

[0194] This angular deviation reflects the degree of torsion between the cable tray interface and the base interface in three-dimensional space. Excessive angular deviation can cause abnormal torque when the screw is in place, and is a key indicator for predicting the risk of screw loosening.

[0195] Step S44: Integrate the horizontal and vertical deviation data of each non-fixed interface to form a structured set of quantitative deviations.

[0196] This embodiment introduces a deviation deconstruction algorithm based on vector projection, upgrading the traditional single Euclidean distance determination to an independent quantitative analysis of horizontal and vertical dimensions. This effectively distinguishes between horizontal misalignment affecting the marginal fit of the restoration and vertical deformation affecting the occlusal force, significantly improving the clinical interpretability of deviation data and the accuracy of revision guidance.

[0197] In one embodiment, step S5: comparing the horizontal and vertical deviations of each non-fixed interface with preset thresholds to obtain the digital verification results of the suitability of the planting cable tray, specifically including the following steps:

[0198] Step S51: Retrieve the horizontal and vertical deviation data of each non-fixed interface, compare and analyze them with the preset independent thresholds, and generate a preliminary qualification mark.

[0199] Step S52: Aggregate the qualification marks of all non-fixed interfaces and deduce the macroscopic suitability conclusion of the entire cable tray based on the preset logical rules.

[0200] Step S53: Based on the overall judgment conclusion and the structural attribute characteristics of the cable tray, match and output the corresponding clinical treatment suggestion plan; specifically implemented as follows:

[0201] If the determination result is "suitable", an instruction message will be generated to indicate that the bridge can be directly installed into the patient's mouth.

[0202] If the determination result is "unsuitable", further identify the current cable tray structure type:

[0203] If the cable tray has an integrated interface structure, the output will suggest remanufacturing the entire cable tray.

[0204] If the cable tray has an adhesive-bonded metal substrate, the system will output an instruction suggesting the removal of the substandard metal substrate and its re-bonding. For the cable tray with the re-bonded substrate, the system will automatically trigger a review process, reassessing its suitability according to steps S2 to S4, thus forming a closed-loop quality control.

[0205] Preferably, for cable trays determined to require rework or remanufacturing, the system automatically generates a trigger command to initiate a new round of test data acquisition and deviation analysis, forming a closed-loop quality control circuit. For cable trays that have been remanufactured or re-bonded to the substrate, their suitability must be reassessed following the steps described above.

[0206] Secondly, such as Figure 3 As shown, this application provides a digital verification system for the suitability of planting cable trays, including:

[0207] The reference data acquisition module is used to acquire a three-dimensional position dataset of the patient's intraoral implant composite abutment interface as reference data. The reference data includes the three-dimensional coordinates of the center point of each composite abutment interface and the axial unit vector.

[0208] The test data acquisition module is used to acquire the three-dimensional position dataset of the patient's cable tray interface to be checked as test data. The test data includes the three-dimensional coordinates of the center point of each cable tray interface and the axial unit vector.

[0209] The registration module is used to perform initial registration and precise registration on the reference data and test data in sequence to obtain the registered test data;

[0210] The deviation calculation module is used to calculate the horizontal and vertical deviations of each non-fixed interface based on the registered test data.

[0211] The suitability determination module is used to compare the horizontal and vertical deviations of each non-fixed interface with preset thresholds to obtain the digital verification results of the suitability of the planting bridge.

[0212] In one embodiment, it further includes:

[0213] The handling action suggestion module is used to output suggestions for remaking the cable tray or re-bonding the substrate based on the judgment result and the type of cable tray;

[0214] The display module is used to visually present reference data, test data, registration process, deviation calculation results, and judgment results.

[0215] In one embodiment, the registration unit includes:

[0216] The coordinate registration unit is used to perform a two-stage spatial transformation to simulate the clinical passive placement process;

[0217] The deviation calculation unit is used to calculate the horizontal and vertical deviations of each non-fixed interface based on the registered test data.

[0218] The functions of each module in the above-mentioned digital verification device for the suitability of planting bridges correspond to the steps in the above-mentioned digital verification method embodiment for the suitability of planting bridges, and their functions and implementation processes will not be described in detail here.

[0219] Thirdly, embodiments of this application provide a digital verification device for the suitability of planting cable trays. The digital verification device for the suitability of planting cable trays can be a personal computer (PC), a laptop computer, a server, or other devices with data processing capabilities.

[0220] This embodiment provides an electronic device, such as... Figure 4 As shown, it includes: at least one processor (e.g., CPU or GPU), a memory (e.g., RAM and ROM) communicatively connected to the at least one processor, and an input / output interface (for connecting a scanner, keyboard, mouse, monitor, etc.). The memory stores a computer program that, when executed by the processor, causes the processor to perform the method described in Example 1.

[0221] The electronic device can be a dedicated digital workstation for dental implants or an embedded control system for a dental treatment unit that integrates this function.

[0222] Fourthly, embodiments of this application also provide a readable storage medium.

[0223] The present application has a readable storage medium storing a digital verification program for the suitability of planting cable trays, wherein when the digital verification program for the suitability of planting cable trays is executed by a processor, the steps of the digital verification method for the suitability of planting cable trays as described above are implemented.

[0224] The method implemented when the digital verification procedure for the suitability of planting cable trays is executed can be referred to in various embodiments of the digital verification method for the suitability of planting cable trays in this application, and will not be repeated here.

[0225] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0226] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A digital verification method for the suitability of planting cable trays, characterized in that, Includes the following steps: A three-dimensional position dataset of the composite abutment interface of the patient's intraoral implant is obtained as reference data. The reference data includes the three-dimensional coordinates of the center point of each composite abutment interface and the axial unit vector. The three-dimensional location dataset of the cable tray interfaces to be checked for the patient is obtained as test data. The test data includes the three-dimensional coordinates of the center point of each cable tray interface and the axial unit vector. Initial registration and precise registration are performed sequentially on the reference data and test data to obtain the registered test data; Based on the registered test data, the horizontal and vertical deviations of each non-fixed interface are calculated. The horizontal deviation is the projection modulus of the displacement vector of the center point of the corresponding interface on a plane perpendicular to the reference axis, and the vertical deviation is the absolute value of the projection of the displacement vector of the center point of the corresponding interface along the reference axis. The horizontal and vertical deviations of each non-fixed interface are compared with preset thresholds to obtain the digital verification results of the suitability of the planting bridge.

2. The digital verification method for the suitability of planting bridges according to claim 1, characterized in that, The step of obtaining the three-dimensional location dataset of the patient's intraoral implant composite abutment interface as reference data specifically includes at least one of the following methods: The plaster model with a composite base substitute and a scanning rod is scanned. The three-dimensional data of the scanning rod obtained by scanning is fitted and replaced with the pre-stored standard model of the corresponding morphology scanning rod to obtain reference data. Intraoral scanning was performed on a composite abutment with a scanning rod installed in the patient's mouth. The three-dimensional data of the scanning rod obtained from the scan was fitted and replaced with a pre-stored standard model of the corresponding morphological scanning rod to obtain reference data. Reference data was obtained by reconstructing images of a composite abutment with coded markers installed inside the patient's mouth using a photogrammetry system, based on the principle of multi-view stereo vision.

3. The digital verification method for the suitability of planting bridges according to claim 1, characterized in that, The step of obtaining the three-dimensional location dataset of the patient's cable tray interface to be checked as test data includes: Install the scannable composite base replacement at each interface of the cable tray and scan to obtain three-dimensional scan data of the cable tray and the scannable composite base replacement; The three-dimensional scanning data of each scannable composite abutment substitute is best fitted and registered with its pre-stored standard three-dimensional geometric model, and the corresponding three-dimensional scanning data is replaced with the standard three-dimensional geometric model to obtain test data.

4. The digital verification method for the suitability of planting bridges according to claim 1, characterized in that, The initial registration uses the Kabsch algorithm to perform a rigid body transformation on the test data to obtain the initial registration test data. After registration is completed, the root mean square error between the initial registration test data and the reference data is calculated. If the root mean square error is greater than a preset threshold, the initial registration is iteratively executed until the error meets the requirements.

5. The digital verification method for the suitability of planting bridges according to claim 4, characterized in that, The precise registration uses a fixed interface preset in the reference data as a hinge point. The test data is translated so that the center point of the fixed interface coincides with the center point of the corresponding interface in the reference data. Then, the fixed interface is rotated around the center point so that the axis of the fixed interface coincides with the axis of the corresponding interface in the reference data, thereby obtaining the final registration test data. The fixed interface is the farthest middle interface on one side of the cable tray.

6. The digital verification method for the suitability of planting bridges according to claim 1, characterized in that, The horizontal deviation The calculation formula is: ； in, Let be the displacement vector of the center point of the i-th non-fixed interface in the registered test data. Let be the reference axis unit vector corresponding to the i-th non-fixed interface; The vertical deviation The calculation formula is: 。 7. The digital verification method for the suitability of planting bridges according to claim 1, characterized in that, It also includes calculating the angular deviation of each non-fixed interface. The calculation formula is: ； in, This is the axial unit vector of the i-th non-fixed interface after registration.

8. The digital verification method for the suitability of planting bridges according to claim 1, characterized in that, If the cable tray is determined to be unsuitable, processing suggestions will be output based on the cable tray's structural type: If the cable tray has an integrated interface structure, it is recommended to re-fabricate the entire cable tray. If the cable tray is a structure with an adhesive precast metal substrate, it is recommended to remove the unqualified metal substrate and re-adhere it, and then repeat the steps of test data acquisition, registration, deviation calculation and suitability determination.

9. A digital verification system for the suitability of planting cable trays, characterized in that, include: The reference data acquisition module is used to acquire a three-dimensional position dataset of the patient's intraoral implant composite abutment interface as reference data. The reference data includes the three-dimensional coordinates of the center point of each composite abutment interface and the axial unit vector. The test data acquisition module is used to acquire the three-dimensional position dataset of the patient's cable tray interface to be checked as test data. The test data includes the three-dimensional coordinates of the center point of each cable tray interface and the axial unit vector. The registration module is used to perform initial registration and precise registration on the reference data and test data in sequence to obtain the registered test data; The deviation calculation module is used to calculate the horizontal and vertical deviations of each non-fixed interface based on the registered test data. The suitability determination module is used to compare the horizontal and vertical deviations of each non-fixed interface with preset thresholds to obtain the digital verification results of the suitability of the planting bridge.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a digital verification program for the suitability of planting bridges, wherein when the digital verification program for the suitability of planting bridges is executed by a processor, it implements the steps of the digital verification method for the suitability of planting bridges as described in any one of claims 1 to 8.

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