Precision testing device for oral implant surgery navigation system

Abstract

The utility model provides a precision testing device for an oral implant surgery navigation system, which comprises an oral cavity simulation plate, a first reference array and a second reference array, the front end of the planting mobile phone is provided with a test finger matched with the test hole, and the rear end of the planting mobile phone is provided with a second reference array; the optical positioning camera is used for capturing infrared light signals reflected by the first reference array and the second reference array; and the computer is used for calculating the position information of the test finger under the first reference array coordinate system according to the captured infrared light signal. According to the utility model, the test finger is matched with the test hole on the oral cavity simulation plate, and the registration relation between the CBCT image space and the real space and the hardware design parameters of the test hole are combined, so that the precision of the oral cavity implantation operation navigation system can be tested before the operation, errors can be found and eliminated in time before the operation, and the precision of the operation navigation system is improved.

Description

Technical Field

[0001] The present application relates to the field of medical equipment technology, and in particular to an accuracy testing device for an oral implant surgery navigation system. Background Art

[0002] Dental implants have been recognized by the oral medical community as the preferred method of restoring missing teeth. When a patient has missing teeth, an implant is implanted into the maxillary bone through dental implant surgery, and then the restoration is fixed on the implant to achieve an ideal restoration effect. One of the keys to the restoration effect of dental implants is whether the implant holes can be drilled in the maxillary bone according to the implant plan. Compared with pure manual operation, the use of an oral implant surgery navigation system can undoubtedly improve the accuracy of the implant holes.

[0003] The oral implant surgery navigation system in the prior art includes several parts such as an optical positioning camera, an oral reference array, an implant handpiece (dental machine), and a dental machine reference array disposed on the implant handpiece. After the oral reference array is fixedly clamped in the patient's mouth, the infrared light reflected by the oral reference array and the dental machine reference array is respectively acquired by the optical positioning camera, which calibrates and aligns the oral reference array coordinate system and the dental machine reference array coordinate system in the patient's oral CT image. In this way, the implant handpiece can be navigated during the implantation process to achieve precise implantation.

[0004] The accuracy of the oral implant surgery navigation system will have certain deviations before the first use and after multiple uses, and this deviation is difficult to be perceived and corrected during the implant surgery. This deviation will directly affect the implant accuracy of the implant, thereby affecting the implant restoration effect. Therefore, how to avoid the impact of the deviation of the oral implant surgery navigation system on the implant accuracy is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0005] The present application provides an accuracy testing device for an oral implant surgery navigation system. The accuracy of the oral implant surgery navigation system is tested by the testing device before surgery, and the accuracy deviation of the navigation system is discovered and eliminated in a timely manner, thereby effectively avoiding the influence of the accuracy deviation of the navigation system on the implant accuracy.

[0006] The first aspect of the present application provides an accuracy testing device for an oral implant surgery navigation system, comprising:

[0007] An oral simulation plate, wherein a penetrating test hole is provided at a position corresponding to the teeth on the oral simulation plate, and a first reference array is fixedly mounted on the oral simulation plate;

[0008] An implantation handpiece, wherein a test finger matching the test hole is installed at the front end of the implantation handpiece, and the outer contour of the test finger matches the outer contour of a real dental drill; and a second reference array is installed at the rear end of the implantation handpiece;

[0009] An optical positioning camera, the optical positioning camera is used to capture infrared light signals reflected by the first reference array and the second reference array;

[0010] The computer is connected to the optical positioning camera and is used to calculate the position information of the test finger in the first reference array coordinate system according to the captured infrared light signal.

[0011] In the technical solution provided in the present application, an oral simulation board is designed to simulate the patient's oral cavity, and an optical positioning camera is used in conjunction with a first reference array and a second reference array to obtain the position information of the test finger in the first reference array coordinate system. By coordinating the test finger with the test hole on the oral simulation board, combined with the registration relationship between the CBCT image space and the real space and the hardware design parameters of the test hole, the accuracy of the oral implant surgery navigation system can be tested before surgery, errors can be discovered and eliminated in time before surgery, and the accuracy of the surgical navigation system can be improved; and the accuracy test can be performed without robotic arm positioning, and is suitable for accuracy testing of oral implant surgery navigation systems without robotic arms.

[0012] In some embodiments, there are multiple test holes with different depths. By opening multiple test holes with different apertures on the oral simulation plate, multiple accuracy tests can be performed, and the average value of the multiple test results can be taken as the final accuracy test result, thereby improving the accuracy of the accuracy test of the navigation system.

[0013] In certain embodiments, at least three reflective markers are asymmetrically arranged on the first reference array and the second reference array, ensuring that the optical positioning camera can simultaneously capture infrared light signals reflected by at least three reflective markers on the reference array.

[0014] In some embodiments, the precision testing device also includes a supporting platform, which includes a base and a support rod, the support rod is vertically fixed on the base, a fixing hole is provided on the bottom surface of the oral simulation board, and the top of the support rod is connected to the fixing hole; by setting up the supporting platform, it is convenient to test the oral simulation board and avoid changes in the posture of the oral simulation board during the test.

[0015] In some embodiments, a plurality of tooth models are provided on the oral simulation plate, and the first reference array is fixed on the tooth model via a bracket; the bracket includes a connecting rod and a brace, and the brace is provided on the tooth model; one end of the connecting rod is fixedly connected to the brace, and the other end is fixedly connected to the first reference array; by rigidly connecting the first reference array to the tooth model, it is ensured that the relative position between the first reference array and the oral simulation plate does not change.

[0016] A second aspect of the present application provides an accuracy testing method for an oral implant surgery navigation system, comprising the following steps:

[0017] S1, obtaining the CBCT image of the oral simulation board, and using the optical positioning camera in conjunction with the first reference array and the second reference array to align the CBCT image space with the real space;

[0018] S2, select a test hole on the oral simulation board, and record the coordinates of the upper end surface center point A1 and the lower end surface center point A2 of the test hole in the CBCT image coordinate system;

[0019] S3, inserting the test finger into the test hole, and recording the coordinates of the center point B1 of the tail end and the center point B2 of the front end of the test finger in the CBCT image coordinate system at this time;

[0020] S4, continue to insert the test finger along the test hole until the front end surface of the test finger is flush with the lower end surface of the test hole, and record the coordinates of the center point C1 of the tail end and the center point C2 of the front end of the test finger in the CBCT image coordinate system at this time;

[0021] S5, calculating the accuracy deviation of the navigation system according to the coordinate values ​​of A1, A2, B1, B2, C1, and C2;

[0022] S6, selecting other test holes on the oral simulation plate, and repeating steps S2 to S5 for each test hole.

[0023] Specifically, in step S5, the accuracy deviation of the navigation system is calculated including the point-to-point distance deviation, and the point-to-point distance deviation calculation formula is as follows:

[0024]

[0025] Among them, (x a2 ,y a2 , z a2 ) is the coordinate value of A2, (x c2 ,y c2 , z c2 ) is the coordinate value of C2, and d is the distance deviation between point A2 and point C2.

[0026] Specifically, in step S5, the accuracy deviation of the navigation system is calculated including the point-line distance deviation, and the point-line distance deviation calculation formula is as follows:

[0027]

[0028]

[0029] Among them, L1, L2, L3, and L4 are the distance deviations from points B1, B2, C1, and C2 to the straight line A1A2 respectively.

[0030] Specifically, in step S5, the accuracy deviation of the navigation system is calculated to include the line-to-line distance deviation, and the line-to-line distance deviation calculation formula is as follows:

[0031]

[0032]

[0033] Among them, Δl1 is the distance deviation between the straight line B1B2 and the straight line A1A2, and Δl2 is the distance deviation between the straight line C1C2 and the straight line A1A2.

[0034] Specifically, in step S5, the accuracy deviation of the navigation system is calculated to include the line-to-line angle deviation, and the line-to-line angle deviation calculation formula is as follows:

[0035]

[0036]

[0037] Wherein, θ1 is the angular deviation between the straight line B1B2 and the straight line A1A2, and θ2 is the angular deviation between the straight line C1C2 and the straight line A1A2.

[0038] 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

[0039] 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.

[0040] Figure 1 This is a schematic structural diagram of an accuracy testing device for an oral implant surgery navigation system in one embodiment of the present application;

[0041] Figure 2 This is a schematic diagram of the assembly of the first reference array and the oral simulation plate in one embodiment of the present application;

[0042] Figure 3 This is a schematic diagram of the status of the accuracy testing device during the accuracy testing process of this application;

[0043] Icons: 1. Oral simulation board; 2. Test hole; 3. First reference array; 4. Implantation mobile phone; 5. Test finger; 6. Second reference array; 7. Optical positioning camera; 8. Computer; 9. Base; 10. Support rod; 11. Tooth model; 12. Connecting rod; 13. Braces. DETAILED DESCRIPTION

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] See also Figure 1-Figure 2 In a first aspect, an embodiment of the present application provides an accuracy testing device for an oral implant surgery navigation system, comprising:

[0051] An oral simulation plate 1, wherein a through test hole 2 (circular through hole) is provided at a position corresponding to the teeth on the oral simulation plate 1, and a first reference array 3 is fixedly mounted on the oral simulation plate 1;

[0052] An implantation handpiece 4, wherein a test finger 5 matching the test hole 2 is installed at the front end of the implantation handpiece 4, and the outer contour of the test finger 5 matches the outer contour of a real dental drill; a second reference array 6 is installed at the rear end of the implantation handpiece 4;

[0053] An optical positioning camera 7, wherein the optical positioning camera 7 is used to capture infrared light signals reflected by the first reference array 3 and the second reference array 6;

[0054] The computer 8 is connected to the optical positioning camera 7 and is used to calculate the position information of the test finger 5 in the coordinate system of the first reference array 3 according to the captured infrared light signal.

[0055] In the technical solution provided in the present application, an oral cavity simulation board 1 is designed to simulate the patient's oral cavity, and an optical positioning camera 7 is used in conjunction with the first reference array 3 and the second reference array 6 to obtain the posture information of the test finger 5 in the coordinate system of the first reference array 3. By coordinating the test finger 5 with the test hole 2 on the oral simulation board 1, combined with the registration relationship between the CBCT image space and the real space and the hardware design parameters of the test hole 2, the accuracy of the oral implant surgery navigation system can be tested before the operation, errors can be discovered and eliminated in time before the operation, and the accuracy of the surgical navigation system can be improved; and the accuracy test can be performed without robotic arm positioning, and is suitable for the accuracy test of the oral implant surgery navigation system without a robotic arm.

[0056] Please continue reading Figure 1 , Figure 2 In some embodiments, there are four test holes 2 (the specific number can be flexibly adjusted according to actual conditions), and the depths of the four test holes 2 are different. By opening four test holes 2 with different apertures on the oral simulation board 1, four accuracy tests can be performed, and the average value of the four test results is taken as the final accuracy test result, thereby improving the accuracy of the accuracy test of the navigation system; in this embodiment, the diameter of the test hole 2 is 0.5 cm, and the axis of the test hole 2 is perpendicular to the top and bottom surfaces of the oral simulation board 1. The diameter of the test finger 5 is slightly less than 0.5 cm, which can just allow the test finger 5 to be inserted into the test hole 2; the tail end of the test finger 5 is provided with a card slot combined with the implant mobile phone 4, and the combination method of the two is equivalent to the combination method of the dental drill and the implant mobile phone 4.

[0057] Please continue reading Figure 1 , Figure 2 In some embodiments, at least three reflective markers (four in this embodiment) are asymmetrically arranged on the first reference array 3 and the second reference array 6, ensuring that the optical positioning camera 7 can simultaneously capture the infrared light signals reflected by at least three reflective markers on the reference arrays.

[0058] In a specific embodiment, the reflective marker can be a reflective ball or a reflective sheet.

[0059] Please continue reading Figure 1 In some embodiments, the precision testing device also includes a supporting platform, which includes a base 9 and a support rod 10, wherein the support rod 10 is vertically fixed on the base 9, and a fixing hole is provided on the bottom surface of the oral simulation board 1, and the top of the support rod 10 is connected to the fixing hole; by setting up the supporting platform, it is convenient to test the oral simulation board 1 and avoid changes in the posture of the oral simulation board 1 during the test.

[0060] Please continue reading Figure 2In some embodiments, a plurality of tooth models 11 are provided on the oral simulation plate 1, and the first reference array 3 is fixed on the tooth model 11 through a bracket; the bracket includes a connecting rod 12 and a brace 13, and the brace 13 is mounted on the tooth model 11; one end of the connecting rod 12 is fixedly connected to the brace 13, and the other end is fixedly connected to the first reference array 3; by rigidly connecting the first reference array 3 to the tooth model 11, it is ensured that the relative position between the first reference array 3 and the oral simulation plate 1 does not change.

[0061] See also Figure 3 A second aspect of an embodiment of the present application provides an accuracy testing method for an oral implant surgery navigation system, comprising the following steps:

[0062] S1, obtain the CBCT image of the oral simulation board, import the CBCT image into the surgical navigation device software, and use the optical positioning camera in conjunction with the first reference array and the second reference array to align the CBCT image space with the real space (perform image alignment and instrument calibration in accordance with the requirements of the equipment manual. The specific method of alignment can refer to the existing patent document: CN117314978A-A method for aligning jaw CBCT images, which will not be repeated in this embodiment);

[0063] S2, select a test hole on the oral simulation board and record the center point A1 (x a1 ,y a1 , z a1 ) and the lower end face center point A2(x a2 ,y a2 , z a2 ), see Figure 3 Figure (a) and (b);

[0064] S3, insert the test finger into the test hole, and record the center point B1 (x b1 ,y b1 , z b1 ) and the front center point B2(x b2 ,y b2 , z b2 ), see Figure 3 In the middle (c) figure, the positions of point B1 and point B2 are not marked;

[0065] S4, continue to insert the test finger along the test hole until the front end of the test finger is flush with the lower end of the test hole, and record the center point C1 (x c1 ,y c1 , z c1 ) and the front center point C2(xc2 ,y c2 , z c2 ), see Figure 3 In the middle (d) figure, point C2 and point A2 theoretically coincide;

[0066] S5, calculating the accuracy deviation of the navigation system according to the coordinate values ​​of A1, A2, B1, B2, C1, and C2;

[0067] S6, select other test holes on the oral simulation plate, repeat steps S2 to S5 for each test hole, and take the average value of the precision deviations measured for the multiple test holes as the final precision deviation value.

[0068] Specifically, in step S5, the accuracy deviation of the navigation system is calculated including the point-to-point distance deviation, and the point-to-point distance deviation calculation formula is as follows:

[0069]

[0070] Among them, d is the distance deviation between point A2 and point C2. The coordinates of point A2 are determined by the hardware design parameters of the test hole on the oral simulation plate, and the coordinates of point C2 are calculated by the optical positioning camera in conjunction with the first reference array, the second reference array, and the registration relationship between the CBCT image space and the real space. That is, the coordinates of point C2 are calculated by the navigation system. Theoretically, point A2 and point C2 should coincide. By calculating the distance between point A2 and point C2, the point-to-point accuracy deviation of the navigation system can be obtained.

[0071] Specifically, in step S5, the accuracy deviation of the navigation system is calculated including the point-line distance deviation, and the point-line distance deviation calculation formula is as follows:

[0072]

[0073]

[0074] Among them, L1, L2, L3, and L4 are the distance deviations from points B1, B2, C1, and C2 to straight line A1A2 respectively. Theoretically, points B1, B2, C1, and C2 should all be on straight line A1A2, that is, the values ​​of L1, L2, L3, and L4 are all 0. By calculating the distances from points B1, B2, C1, and C2 to straight line A1A2 determined by the navigation system, the point-line distance deviation of the navigation system can be obtained.

[0075] Specifically, in step S5, the accuracy deviation of the navigation system is calculated to include the line-to-line distance deviation, and the line-to-line distance deviation calculation formula is as follows:

[0076]

[0077]

[0078] Among them, Δl21 is the distance deviation between straight line B1B2 and straight line A1A2, and Δl22 is the distance deviation between straight line C1C2 and straight line A1A2. Theoretically, straight line B1B2 and straight line C1C2 should coincide with straight line A1A2, that is, the values ​​of Δl21 and Δl2 are both 0. By calculating the distances from straight line B1B2 and straight line C1C2 to straight line A1A2 determined by the navigation system, the line-to-line distance deviation of the navigation system can be obtained.

[0079] Specifically, in step S5, the accuracy deviation of the navigation system is calculated to include the line-to-line angle deviation, and the line-to-line angle deviation calculation formula is as follows:

[0080]

[0081]

[0082] Among them, θ1 is the angular deviation between the straight line B1B2 and the straight line A1A2, and θ2 is the angular deviation between the straight line C1C2 and the straight line A1A2. Theoretically, the straight line B1B2 and the straight line C1C2 should coincide with the straight line A1A2, that is, the values ​​of θ1 and θ2 are both 0. By calculating the angles between the straight line B1B2, the straight line C1C2 and the straight line A1A2 determined by the navigation system, the line-to-line angle deviation of the navigation system can be obtained.

[0083] This embodiment designs a new test tool (oral simulation board) so that the accuracy test of the oral implant surgery navigation system can be carried out without robotic arm positioning, and has a wider range of applications. The test tool adopts a tooth model-shaped configuration, which is closer to clinical application scenarios. The accuracy testing method of this embodiment improves the data acquisition method and calculation logic required for traditional accuracy testing. All data can be obtained from the navigation equipment software, and there is no need to use additional three-dimensional measuring instruments (such as three-coordinate measuring machines, laser trackers, etc.) for data capture. The operation is relatively simple. While retaining the industry standard requirements for calculating "line-line angle error", "point-line distance error", and "point-point distance error", the calculation of "line-line distance error" is added, so that the items included in the system accuracy test are more complete.

[0084] 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. An accuracy testing device for an oral implant surgery navigation system, characterized in that: include: An oral simulation plate (1), wherein the oral simulation plate (1) is provided with penetrating test holes (2) at positions corresponding to teeth, and a first reference array (3) is fixedly mounted on the oral simulation plate (1); An implantation handpiece (4), wherein a test finger (5) matching the test hole (2) is installed at the front end of the implantation handpiece (4), and the outer contour of the test finger (5) matches the outer contour of a real dental drill; and a second reference array (6) is installed at the rear end of the implantation handpiece (4); An optical positioning camera (7), the optical positioning camera (7) being used to capture infrared light signals reflected by the first reference array (3) and the second reference array (6); The computer (8) is connected to the optical positioning camera (7) and is used to calculate the position information of the test finger (5) in the first reference array (3) coordinate system according to the captured infrared light signal.

2. The accuracy testing device for an oral implant surgery navigation system according to claim 1, characterized in that: A plurality of the test holes (2) are provided, and the depths of the plurality of test holes (2) are different.

3. The accuracy testing device for an oral implant surgery navigation system according to claim 1, characterized in that: No less than three reflective markers are asymmetrically arranged on the first reference array (3) and the second reference array (6).

4. The accuracy testing device for an oral implant surgery navigation system according to claim 1, characterized in that: The precision testing device also includes a supporting platform, which includes a base (9) and a supporting rod (10), wherein the supporting rod (10) is vertically fixed on the base (9), a fixing hole is provided on the bottom surface of the oral simulation plate (1), and the top end of the supporting rod (10) is connected to the fixing hole.

5. The accuracy testing device for an oral implant surgery navigation system according to claim 1, characterized in that: The oral simulation plate (1) is provided with a plurality of tooth models (11), and the first reference array (3) is fixed on the tooth model (11) via a bracket; the bracket comprises a connecting rod (12) and a brace (13), and the brace (13) is sleeved on the tooth model (11); one end of the connecting rod (12) is fixedly connected to the brace (13), and the other end is fixedly connected to the first reference array (3).

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