Registration device for oral implant surgery
By installing multiple reference arrays at the end of the tooth machine and registering with an optical positioning camera, the problem of low preoperative registration accuracy in the prior art is solved, and a higher precision surgical navigation positioning is achieved.
Patent Information
- Application Number
- CN202420837106.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-22
- Publication Date
- 2025-05-09
- Estimated Expiration
- 2034-04-22
AI Technical Summary
In oral implant surgery, existing registration devices have problems with low accuracy during pre-maximum registration, especially after the tooth is flipped by 180°, the temporary reference array cannot be captured by the optical positioning camera, resulting in difficulty in registration.
A registration device including a tooth machine, a first reference array, a second reference array, a third reference array, and an optical positioning camera is designed. By installing the first reference array and the second reference array respectively on the upper and lower sides of the end of the tooth machine, and registering with the third reference array with an optical positioning camera, it can adapt to the different needs of upper and lower jaw surgery.
The accuracy of upper and lower jaw preoperative registration is improved, thereby improving the accuracy of navigation and positioning of subsequent surgery and ensuring the accuracy and safety of the surgery.
Smart Images
Figure CN222841092U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of medical devices and equipment, and in particular to a registration device for oral implant surgery. Background Art
[0002] Image-guided dental implant surgery aims to present the relative position relationship between the patient's jaw and surgical instruments in real space in the image space, so as to help the surgical operator better understand the current surgical status. In image-guided dental implant surgery, each image coordinate system needs to be registered.
[0003] A positioning reference array needs to be fixed on the surgical instrument (dental machine). During alignment, a temporary reference array needs to be installed at the end position of the surgical instrument (corresponding to the position of the drill bit) (it needs to be removed after the alignment is completed and the temporary reference array is not needed during the operation). The temporary reference array and the positioning reference array can be captured by the optical positioning camera at the same time, so as to accurately obtain the position information of the drill bit in the positioning reference array coordinate system. In the subsequent surgical process, the infrared light signal reflected by the positioning reference array is directly captured by the optical positioning camera to calculate the accurate position information of the drill bit.
[0004] However, when performing maxillary and mandibular surgeries, the dental machine needs to be flipped 180°. When mandibular surgery is required, the temporary reference array and the positioning reference array can be directly used in conjunction with the optical positioning camera for alignment; when maxillary surgery is required, the dental machine is flipped 180°, with the positioning reference array facing downward. In order for the optical positioning camera to capture the infrared light signal reflected by the positioning reference array, the installation position of the positioning reference array needs to be adjusted so that the infrared light reflected by the positioning reference array can be captured by the optical positioning camera. When the installation position of the positioning reference array changes, it needs to be re-aligned; and the temporary reference array is installed at the end of the dental machine at a position corresponding to the drill bit, and its position cannot be adjusted, resulting in the temporary reference array being unable to be captured by the optical positioning camera, making it impossible to align or the alignment accuracy is low. Summary of the invention
[0005] The present application provides a registration device for oral implant surgery, which solves the problem that the existing registration device for oral implant surgery has low registration accuracy when performing preoperative registration of the upper and lower jaws.
[0006] The present application provides a registration device for oral implant surgery, comprising a dental machine, a first reference array, a second reference array, a third reference array and an optical positioning camera, wherein the first reference array and the second reference array are connected via a bracket, the bracket is detachably connected to the end of the dental machine, the first reference array and the second reference array are relatively arranged at the upper and lower sides of the end of the dental machine; the third reference array is installed at the tail end of the dental machine via a clamp.
[0007] In the technical solution provided in the present application, by respectively installing the first reference array and the second reference array on the upper and lower sides of the end of the dental machine, when mandibular surgery is required, the first reference array and the third reference array can be used in conjunction with the optical positioning camera for alignment; when maxillary surgery is required, the installation position of the third reference array can be adjusted first, and then the second reference array and the third reference array can be used in conjunction with the optical positioning camera for alignment, thereby improving the accuracy of preoperative alignment of the upper and lower jaws, thereby improving the accuracy of subsequent surgical navigation positioning.
[0008] In some embodiments, the bracket includes a C-frame, the outer side of the top surface of the C-frame is connected to the first reference array through a connecting rod, the outer side of the bottom surface of the C-frame is connected to the second reference array through a connecting rod, and a positioning rod is provided on the inner side of the bottom surface of the C-frame, and the end of the positioning rod is clamped with the position of the drill bit installed at the end of the dental machine corresponding to the end of the dental machine. The first reference array and the second reference array are installed on the dental machine through the C-frame, the connecting rod and the positioning rod, which simplifies the installation structure of the reference array and makes it smaller.
[0009] In some embodiments, a hollow groove is opened in the middle of the C-shaped frame, which can reduce the weight of the C-shaped frame and facilitate operation.
[0010] In some embodiments, the C-shaped frame, the connecting rod, and the positioning rod are an integrated structure, which is more stable and less prone to deformation, thereby ensuring the accuracy of the registration.
[0011] In certain embodiments, the first reference array, the second reference array, and the third reference array all include an optical bracket, on which no less than three reflective markers are asymmetrically arranged, thereby ensuring that the optical positioning camera can simultaneously capture infrared light signals reflected by at least three reflective markers on the reference array, thereby ensuring the accuracy of the alignment.
[0012] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] The drawings in this application are used to illustrate preferred embodiments, so that those skilled in the art can clearly understand various other advantages and benefits, and should not be considered as limitations of this application. In addition, the same reference numerals are used throughout the drawings to represent the same or similar components.
[0014] Figure 1 This is a schematic diagram of the state of the registration device before mandibular surgery in one embodiment of the present application;
[0015] Figure 2 This is a schematic diagram of the assembly structure of the first reference array, the second reference array and the bracket in one embodiment of the present application;
[0016] Figure 3 This is a schematic diagram of the state of the registration device after the dental machine is turned 180° in one embodiment of the present application;
[0017] Figure 4 This is a schematic diagram of the state of the registration device before maxillary surgery in one embodiment of the present application;
[0018] Icons: 1. Tooth machine; 2. First reference array; 3. Second reference array; 4. Third reference array; 5. Bracket; 6. C-shaped frame; 7. Connecting rod; 8. Positioning rod; 9. Hollow groove. DETAILED DESCRIPTION
[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0020] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0021] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two (including two), unless otherwise clearly and specifically defined.
[0022] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.
[0023] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.
[0024] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.
[0025] See also Figure 1-Figure 2 An embodiment of the present application provides a registration device for oral implant surgery, including a dental machine 1, a first reference array 2, a second reference array 3, a third reference array 4 and an optical positioning camera (not shown in the figure), wherein the first reference array 2 and the second reference array 3 are connected via a bracket 5, and the bracket 5 is detachably connected to the end of the dental machine 1, and the first reference array 2 and the second reference array 3 are relatively arranged at the upper and lower sides of the end of the dental machine 1; the third reference array 4 is installed at the tail end of the dental machine 1 via a clamp.
[0026] In the technical solution provided in the present application, by respectively installing the first reference array 2 and the second reference array 3 on the upper and lower sides of the end of the dental machine 1, when mandibular surgery is required, the first reference array 2 and the third reference array 4 can be used in conjunction with the optical positioning camera for alignment; when maxillary surgery is required, the installation position of the third reference array 4 can be adjusted first, and then the second reference array 3 and the third reference array 4 can be used in conjunction with the optical positioning camera for alignment, thereby improving the accuracy of the preoperative alignment of the upper and lower jaws, thereby improving the accuracy of subsequent surgical navigation positioning.
[0027] Please continue reading Figure 2In some embodiments, the bracket 5 includes a C-frame 6, the outer side of the top surface of the C-frame 6 is connected to the first reference array 2 through a connecting rod 7, the outer side of the bottom surface of the C-frame 6 is connected to the second reference array 3 through a connecting rod 7, and a positioning rod 8 is provided on the inner side of the bottom surface of the C-frame 6. The end of the positioning rod 8 is clamped with the position of the drill bit installed at the end of the dental machine 1. The first reference array 2 and the second reference array 3 are installed on the dental machine 1 through the C-frame 6, the connecting rod 7 and the positioning rod 8, which simplifies the installation structure of the reference array and makes the volume smaller.
[0028] Please continue reading Figure 2 In some embodiments, a hollow groove 9 is opened in the middle of the C-shaped frame 6 to reduce the weight of the C-shaped frame 6 and facilitate operation.
[0029] In some embodiments, the C-shaped frame 6, the connecting rod 7, and the positioning rod 8 are an integrated structure, which is more stable and not easily deformed, thereby ensuring the accuracy of the registration.
[0030] Please continue reading Figure 2 In some embodiments, the first reference array 2, the second reference array 3, and the third reference array 4 all include an optical bracket (not shown in the figure), and no less than three reflective markers (four in this embodiment) are asymmetrically arranged on the optical bracket to ensure that the optical positioning camera can simultaneously capture the infrared light signals reflected by at least three reflective markers on the reference array, thereby ensuring the accuracy of the alignment.
[0031] In a specific embodiment, the reflective marker may be a reflective ball or a reflective sheet (a reflective sheet is used in this embodiment).
[0032] The registration method of the registration device in this embodiment is as follows:
[0033] First, the first reference array 2 and the second reference array 3 are fixedly installed at the position corresponding to the drill bit at the end of the dental machine 1 through the bracket 5 (the drill bit is facing downward). The first reference array 2 is located above the end of the dental machine 1, and the second reference array 3 is located below the end of the dental machine 1. The third reference array 4 is fixed to the upper end of the dental machine 1 through a clamp, so that the first reference array 2 and the third reference array 4 can be captured by the optical positioning camera at the same time. Figure 1 shown.
[0034] Before performing mandibular surgery, the infrared light signals emitted by the first reference array 2 and the third reference array 4 are captured simultaneously by an optical positioning camera to obtain a transformation matrix from the coordinate system of the first reference array 2 to the coordinate system of the third reference array 4. Then, the position information of the end of the positioning rod 8 (drill position) in the coordinate system of the first reference array 2 is obtained according to the hardware design parameters of the bracket 5 and the first reference array 2, and the position information of the drill position in the coordinate system of the third reference array 4 is obtained through matrix calculation.
[0035] Before performing maxillary surgery, the dental machine 1 needs to be turned 180° (with the drill bit facing upwards). Figure 3 As shown, at this time, the first reference array 2 is located below the end of the dental machine 1, and the second reference array 3 is located above the end of the dental machine 1; then, the clamp is loosened to adjust the installation position of the third reference array 4 (adjust the third reference array 4 to the top of the dental machine 1), so that the second reference array 3 and the third reference array 4 can be captured by the optical positioning camera at the same time, as shown in FIG. Figure 4 As shown; then, the infrared light signals emitted by the second reference array 3 and the third reference array 4 are captured simultaneously by an optical positioning camera to obtain a conversion matrix from the coordinate system of the second reference array 3 to the coordinate system of the third reference array 4, and then the position information of the end of the positioning rod 8 (drill position) in the coordinate system of the second reference array 3 is obtained according to the hardware design parameters of the bracket 5 and the second reference array 3, and the position information of the drill position in the coordinate system of the third reference array 4 is obtained through matrix calculation.
[0036] During the operation, the bracket 5 together with the first reference array 2 and the second reference array 3 are first removed from the end of the dental machine 1, and then the drill bit is installed at the corresponding position of the end of the dental machine 1; the conversion matrix from the coordinate system of the third reference array 4 to the camera coordinate system is directly obtained through the infrared positioning camera, and the position information of the drill bit in the camera coordinate system can be obtained, which facilitates the doctor to perform the operation and improves the accuracy of the operation.
[0037] In dental implant surgery, the registration device can help doctors determine the position and angle of the implant more accurately, avoiding misoperation and complications. In addition, the registration device can also be integrated with medical equipment, such as a surgical navigation system, to achieve more intelligent and automated surgical operations, which can not only improve surgical efficiency, but also reduce the doctor's workload and surgical risks. In general, the registration device of this embodiment has many beneficial effects such as improving surgical accuracy, safety and efficiency, and helps to improve the quality and effect of oral treatment.
[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.
Claims
1. A registration device for oral implant surgery, characterized in that: The invention comprises a dental machine (1), a first reference array (2), a second reference array (3), a third reference array (4) and an optical positioning camera, wherein the first reference array (2) and the second reference array (3) are connected via a bracket (5), the bracket (5) is detachably connected to the end of the dental machine (1), the first reference array (2) and the second reference array (3) are relatively arranged at the upper and lower sides of the end of the dental machine (1); and the third reference array (4) is installed at the tail end of the dental machine (1) via a clamp.
2. A registration device for oral implant surgery according to claim 1, characterized in that: The bracket (5) comprises a C-shaped frame (6), the outer side of the top surface of the C-shaped frame (6) is connected to the first reference array (2) via a connecting rod (7), the outer side of the bottom surface of the C-shaped frame (6) is connected to the second reference array (3) via a connecting rod (7), and a positioning rod (8) is provided on the inner side of the bottom surface of the C-shaped frame (6), and the end of the positioning rod (8) is clamped with a position at the end of the dental machine (1) corresponding to the installation position of the drill bit.
3. A registration device for oral implant surgery according to claim 2, characterized in that: A hollow groove (9) is provided in the middle of the C-shaped frame (6).
4. The registration device for oral implant surgery according to claim 2, characterized in that: The C-shaped frame (6), the connecting rod (7) and the positioning rod (8) are an integrally formed structure.
5. The registration device for oral implant surgery according to claim 1, characterized in that: The first reference array (2), the second reference array (3), and the third reference array (4) all comprise an optical support, on which no less than three reflective markers are asymmetrically arranged.