CN112545650A - Navigation positioning method and system for dentistry - Google Patents
Navigation positioning method and system for dentistry Download PDFInfo
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- CN112545650A CN112545650A CN202011457886.4A CN202011457886A CN112545650A CN 112545650 A CN112545650 A CN 112545650A CN 202011457886 A CN202011457886 A CN 202011457886A CN 112545650 A CN112545650 A CN 112545650A
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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Abstract
The invention discloses a navigation positioning method and a system for dentistry.A developing ball is adhered on a tooth holder, the tooth holder is sleeved on a target dentition of a patient, the hard tissue and soft tissue data of oral jaw bone at the target dentition and the target dentition are obtained by scanning, and a corresponding target dentition reference space three-dimensional model with a developing point is established in a three-dimensional navigation chart in a navigation system; before an operation, a developing ball is clicked through a surgical instrument to enable a target dentition to be matched with a three-dimensional model of a reference space to complete reference positioning of the target dentition, a positioning rod arranged in an oral cavity in the operation is arranged at a second vision of the surgical instrument through first vision matching to obtain the position and the posture of the target dentition in the oral cavity in real time, the position and the posture of the surgical instrument are obtained, marking of a space position is carried out in a three-dimensional coordinate system in the three-dimensional model of the reference space, and real-time tracking and positioning of the position relation between the surgical instrument and the target dentition in the operation are achieved.
Description
Technical Field
The invention belongs to the technical field of medical treatment, and particularly relates to a navigation positioning method and system for dentistry.
Background
With the popularization of various dental implantation and tooth restoration techniques in clinic and the improvement of the requirements of people on oral health, more and more patients choose to implant or repair missing teeth and other restoration treatments. The dental operation is a precise operation under local anesthesia in a narrow space, the complexity and failure rate of the dental operation are improved due to factors such as non-direct-view environment of the oral cavity, narrow operation space, lack of experience of doctors and the like, and meanwhile, the requirement on precise positioning of teeth in the operation is higher and higher for coping with different dentition shapes and complex oral cavity environments.
With the development of computer technology, the application of surgical navigation systems is becoming wider and wider, the surgical navigation systems display a three-dimensional visual model on a computer on the basis of medical image data such as nuclear magnetic resonance, CT and the like, the position of a surgical instrument in a doctor's hand is updated and displayed on a patient image in real time in the form of a virtual probe, meanwhile, in the dental field, the spatial position of the surgical instrument is tracked in real time by using an optical or electromagnetic navigation instrument when a tooth is operated, an implant cavity is prepared according to a predetermined ideal position, angle and depth, and implant implantation is completed.
The key step in the dental navigation operation is to determine how the three-dimensional model of the reference space obtained after CT scanning matches with the target dentition of the patient in the operation, and simultaneously complete the mapping relationship between the three-dimensional model of the reference space as the virtual image space and the visual space of the environment in the operation, so as to realize the real-time tracking of the spatial positions of the surgical instruments and the target dentition, and simultaneously ensure the accurate positioning and navigation of the teeth to be operated in the operation.
Disclosure of Invention
One of the objectives of the present invention is to provide a navigation and positioning method for dentistry, which is used to solve the existing technical problem, so as to match and position a target dentition with a three-dimensional model of a reference space obtained after CT scanning, and simultaneously track the target dentition and a surgical instrument based on a spatial position of a first visual mark disposed on a positioning rod and a spatial position of a second visual mark disposed on the surgical instrument, thereby completing accurate positioning and navigation of teeth to be operated of the target dentition during surgery.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a navigation positioning method for dentistry, comprising:
s1, obtaining a tooth integral model of a target dentition, and manufacturing a tooth retainer through the tooth integral model;
s2, arranging a developing ball on the tooth holder, sleeving the tooth holder on a target dentition, scanning to obtain the target dentition and hard tissue and soft tissue data of oral jaw bone at the target dentition, establishing a corresponding target dentition reference space three-dimensional model with a developing point in a three-dimensional navigation chart in a navigation system based on the developing ball on the target dentition, and forming a three-dimensional coordinate system of the target dentition in the navigation system;
s3, matching the target dentition in the operation area with a three-dimensional model of a reference space of the target dentition in the navigation system to complete reference positioning of the target dentition;
s4, capturing the spatial position of a first visual mark arranged on the positioning rod and the spatial position of a second visual mark arranged on the surgical instrument in the surgical region; (the first vision comprises an infrared ray, an optical sensor and an image capturing unit which are arranged on the positioning rod, the first vision comprises an infrared ray, an optical sensor, an image capturing unit and a positioning needle which are arranged on the surgical instrument, the positioning rod is fixed in the oral cavity and the position of the positioning rod can not change, and the surgical instrument moves in the operation area)
S5, acquiring the position and the posture of the target dentition in the operation region in real time based on the spatial position of the first visual mark, acquiring the position and the posture of a surgical instrument in the operation region in real time based on the spatial position of the second visual mark, matching and positioning the target dentition and the surgical instrument with a three-dimensional coordinate system in the three-dimensional model of the reference space, and updating the positions of the target dentition and the surgical instrument in the three-dimensional model of the reference space in real time;
and S6, based on the space position of the first visual mark of the positioning rod and the space position of the second visual mark of the surgical instrument, tracking and positioning the position relation between the surgical instrument and the target dentition by navigating and positioning on the three-dimensional model of the reference space, so that the surgical instrument can always keep the surgery on the target dentition.
Preferably, in step S2, the patient wears a holder with a developing bead inside to shoot CBCT (cone beam CT), the CBCT scans to obtain the target dentition and a reference space three-dimensional model of the oral jaw bone at the target dentition, and establishes a corresponding target dentition three-dimensional coordinate system with a developing point in a three-dimensional navigation map in a navigation system based on the reference space three-dimensional model of the target dentition, the reference space three-dimensional model including the target dentition three-dimensional model, the three-dimensional navigation map in the navigation software and the developing point on the target dentition.
Preferably, the step S3 of matching the target dentition of the surgical region with the three-dimensional model of the reference space to complete the reference positioning of the target dentition specifically includes:
after the three-dimensional model of the reference space is obtained, sleeving a tooth holder with a developing ball on a target dentition to be operated, placing a positioning rod in the oral cavity, wherein the positioning rod is provided with an infrared ray and an optical sensor for capturing the position and the posture of the target dentition in an operation area;
sequentially clicking each developing ball on the tooth holder through a surgical instrument, matching each developing ball with a developing point in the three-dimensional model of the reference space, and finishing the reference coordination of the target dentition and the three-dimensional model of the reference space of the target dentition in the navigation software; the surgical instrument is provided with an infrared ray, an optical sensor and a positioning needle, and the positioning needle is used for clicking a developing ball on the tooth holder to be matched with a developing point in the three-dimensional model of the reference space of the target dentition;
the dental retainer is removed.
Preferably, the dental retainer is integrally formed, the dental retainer includes a bite surface, a labial surface and a lingual surface corresponding to the bite surface, the labial surface and the lingual surface of the target dentition, respectively, and the developer ball is disposed on one or more of the bite surface, the labial surface and the lingual surface.
Preferably, the developing ball is a steel ball.
Preferably, in step S2, the method further includes the steps of:
determining the position of a tooth to be operated in a target dentition, wherein the tooth to be operated is an affected tooth, arranging developing balls at the position corresponding to the tooth to be operated on the tooth holder, and arranging 4-6 developing balls on the occlusal surfaces of the affected tooth on the tooth holder and two teeth around the affected tooth. The affected tooth is the tooth that the patient needs to perform the operation.
Preferably, at least 1 developing ball is respectively arranged on the cusps of the affected tooth and the two adjacent teeth at the periphery in the tooth holder, and/or at least 2 developing balls are respectively arranged on the transverse section of the occlusal surfaces of the affected tooth and the two adjacent teeth at the periphery in the tooth holder; and matching the target dentition in the operation area with the three-dimensional model of the reference space of the target dentition in the navigation system to finish the accurate matching and positioning of the target dentition.
Preferably, the developing balls on the cusps are oppositely arranged, when the affected tooth is an incisor, at least two opposite developing balls are arranged on a transverse section of the occlusal surface of the affected tooth in the tooth holder, and when the affected tooth is a cuspid, a bicuspid or a molar, at least two opposite developing balls are arranged on the cusps of the affected tooth and two adjacent teeth in the tooth holder. Because 1 cusp is arranged on the cuspid, 2-3 cusps are arranged on the double cuspids, and 4-5 cusps are arranged on the molar, when the affected tooth is the cuspid, 1 developing ball is arranged on the cusp of the affected tooth in the tooth holder, and 2 opposite developing balls are arranged on the cusps of the adjacent double cuspids; when the affected tooth is a bicuspid tooth or a molar tooth, 2 developing balls are arranged on the cusp of the affected tooth in the tooth holder, and 2 opposite developing balls are arranged on the cusp of the adjacent molar tooth or bicuspid tooth, so that more accurate positioning is facilitated.
More preferably, when the affected tooth is an incisor, 2 developer balls are provided on the occlusal surface of the affected tooth in the tooth holder, 2 developer balls are provided on the occlusal surface of the adjacent incisor, and 1 developer ball is provided on the cusp of the adjacent cuspid.
Preferably, a developing ball is arranged at a tooth gap between at least one adjacent tooth on the tooth holder, and the developing ball is arranged at a tooth gap between the tooth to be operated and the adjacent tooth corresponding to the target dentition on the tooth holder. Namely, at least one developing ball is arranged in the gap on the tooth holder corresponding to the tooth gap between the tooth to be operated and the adjacent tooth. The purpose of the arrangement is to ensure that the tooth to be operated can be clearly distinguished from the adjacent tooth in the reference space three-dimensional model after CT scanning, so that the tooth to be operated and the tooth model to be operated in the reference space three-dimensional model can be accurately matched and positioned in the subsequent matching and positioning process.
Preferably, in step S6, the tracking the position relationship between the surgical instrument and the target dentition by navigating and positioning on the three-dimensional model of the reference space specifically includes the following steps:
acquiring the spatial position of the positioning rod based on the spatial position of the first visual marker, and acquiring the spatial position of the surgical instrument based on the spatial position of the second visual marker;
acquiring a position of the positioning rod relative to the surgical instrument based on the spatial position of the positioning rod and the spatial position of the second visual marker;
tracking the position and the posture of a target dentition in an oral cavity in real time based on the first vision, and acquiring the spatial position of the positioning rod relative to the target dentition;
acquiring a position of the target dentition relative to the surgical instrument based on a position of the positioning rod relative to the surgical instrument and a spatial position of the positioning rod relative to the target dentition;
the first vision and the second vision both mark a spatial location on the three-dimensional model of reference space.
Through the steps and the conversion matrix, the positioning rod in the oral cavity is matched with the second vision of the surgical instrument through the first vision to acquire the position and the posture of the target dentition in the oral cavity in real time, acquire the position and the posture of the surgical instrument, mark the space position in the three-dimensional coordinate system in the reference space three-dimensional model, track and position the position relation between the surgical instrument and the target dentition in real time in the operation, enable the surgical instrument to always keep operating on the target dentition, and be matched with an oral lens to observe the operation environment in the oral cavity to prevent the tracking and positioning of the target dentition from deviating in the operation.
Preferably, the integral model of the tooth is obtained by silicon rubber, the tooth holder is made of orthodontic tooth mould plastic, and the developing ball is adhered to the tooth holder.
Preferably, the method further comprises step S7: an oral scope is placed in the oral cavity for viewing the intraoperative environment in the surgical field.
It is another object of the present invention to provide a navigation positioning system for dental surgery, comprising
A dental retainer obtained by a dental integral model of a target dentition, on which a developing ball is provided;
the system comprises a navigation system, a holder with a developing ball is worn in a patient's mouth to shoot CBCT (cone beam CT), so as to obtain data of hard tissues and soft tissues of the patient, and a corresponding target dentition reference space three-dimensional model with a developing point is established in a three-dimensional navigation map in the navigation system based on the developing ball on the target dentition, so as to form a three-dimensional coordinate system of the target dentition;
the capturing unit is used for capturing the spatial position of a first visual mark arranged on the positioning rod and the spatial position of a second visual mark arranged on the surgical instrument in the surgical area, matching the target dentition in the surgical area with the three-dimensional coordinate system of the target dentition with the developing point in the navigation system through the positioning rod in the surgical area and the positioning needle on the surgical instrument in cooperation with the infrared positioning system in the navigation system, and finishing the reference positioning of the target dentition;
the tracking unit is used for acquiring the position and the posture of the target dentition in the operation area in real time on the basis of the spatial position of the first visual mark, acquiring the position and the posture of a surgical instrument in the operation area in real time on the basis of the spatial position of the second visual mark, matching and positioning the target dentition and the surgical instrument with a three-dimensional coordinate system in the three-dimensional model of the reference space, and updating the positions of the target dentition and the surgical instrument in the three-dimensional model of the reference space in real time;
and the navigation positioning unit tracks and positions the position relation between the surgical instrument and the target dentition by navigating and positioning on the three-dimensional model of the reference space based on the spatial position of the first visual mark of the positioning rod and the spatial position of the second visual mark of the surgical instrument, so that the surgical instrument always keeps the operation on the target dentition.
Has the advantages that:
the invention manufactures a tooth holder by a tooth integral model of a target dentition, a developing ball is adhered on the tooth holder, the tooth holder is sleeved on the target dentition of a patient, the target dentition and a reference space three-dimensional model of oral jaw bone at the target dentition are obtained by CT scanning, the reference space model comprises the target dentition, a three-dimensional navigation chart of the oral jaw bone and a developing point on the target dentition, the developing ball is clicked by a surgical instrument before an operation to enable the target dentition to be matched with the reference space three-dimensional model to complete reference positioning of the target dentition, a positioning rod arranged in the oral cavity is arranged in a second vision of the surgical instrument by first vision matching to obtain the position and the posture of the target dentition in the oral cavity in real time and obtain the position and the posture of the surgical instrument, and mark the space position in a three-dimensional coordinate system in the reference space three-dimensional model, the position relation between the surgical instrument and the target dentition is tracked and positioned in real time in the operation, the surgical instrument is enabled to always perform the operation on the target dentition, the oral mirror is matched for observing the operation environment in the oral cavity, and deviation in tracking and positioning of the target dentition in the operation is prevented.
Drawings
Fig. 1 is a flow chart of a navigation positioning method for dentistry.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
The technical solution of the present invention is described in detail with specific examples below.
Example 1
As shown in fig. 1, a navigation positioning method for dentistry includes:
s1, obtaining a tooth integral model of a target dentition, and manufacturing a tooth retainer through the tooth integral model; obtaining an integral tooth model through silicon rubber, wherein the tooth holder is made of orthodontic tooth model plastic, and the developing ball is adhered to the tooth holder;
s2, arranging a developing ball on the tooth holder, sleeving the tooth holder on a target dentition, scanning to obtain the target dentition and hard tissue and soft tissue data of oral jaw bone at the target dentition, establishing a corresponding target dentition reference space three-dimensional model with a developing point in a three-dimensional navigation chart in a navigation system based on the developing ball on the target dentition, and forming a three-dimensional coordinate system of the target dentition in the navigation system;
s3, matching the target dentition in the operation area with a three-dimensional model of a reference space of the target dentition in the navigation system to complete reference positioning of the target dentition;
s4, capturing the spatial position of a first visual mark arranged on the positioning rod and the spatial position of a second visual mark arranged on the surgical instrument in the surgical region; (the first vision comprises an infrared ray, an optical sensor and an image capturing unit which are arranged on the positioning rod, the first vision comprises an infrared ray, an optical sensor, an image capturing unit and a positioning needle which are arranged on the surgical instrument, the positioning rod is fixed in the oral cavity and the position of the positioning rod can not change, and the surgical instrument moves in the operation area)
S5, acquiring the position and the posture of the target dentition in the operation region in real time based on the spatial position of the first visual mark, acquiring the position and the posture of a surgical instrument in the operation region in real time based on the spatial position of the second visual mark, matching and positioning the target dentition and the surgical instrument with a three-dimensional coordinate system in the three-dimensional model of the reference space, and updating the positions of the target dentition and the surgical instrument in the three-dimensional model of the reference space in real time;
and S6, based on the space position of the first visual mark of the positioning rod and the space position of the second visual mark of the surgical instrument, tracking and positioning the position relation between the surgical instrument and the target dentition by navigating and positioning on the three-dimensional model of the reference space, so that the surgical instrument can always keep the surgery on the target dentition.
Step S2, the patient wears a holder with a developing bead in the mouth to shoot CBCT (cone beam CT), a target dentition and a reference space three-dimensional model of the oral jaw bone at the target dentition are obtained through CBCT scanning, a corresponding target dentition three-dimensional coordinate system with a developing point is established in a three-dimensional navigation map in a navigation system based on the reference space three-dimensional model of the target dentition, and the reference space three-dimensional model comprises the target dentition three-dimensional model, the three-dimensional navigation map in navigation software and the developing point on the target dentition.
In step S3, matching the target dentition of the surgical region with the three-dimensional model of the reference space to complete reference positioning of the target dentition specifically includes:
after the three-dimensional model of the reference space is obtained, sleeving a tooth holder with a developing ball on a target dentition to be operated, placing a positioning rod in the oral cavity, wherein the positioning rod is provided with an infrared ray and an optical sensor for capturing the position and the posture of the target dentition in an operation area;
sequentially clicking each developing ball on the tooth holder through a surgical instrument, matching each developing ball with a developing point in the three-dimensional model of the reference space, and finishing the reference coordination of the target dentition and the three-dimensional model of the reference space of the target dentition in the navigation software; the surgical instrument is provided with an infrared ray, an optical sensor and a positioning needle, and the positioning needle is used for clicking a developing ball on the tooth holder to be matched with a developing point in the three-dimensional model of the reference space of the target dentition;
the dental retainer is removed.
The tooth holder is integrated into one piece, the tooth holder includes occlusal surface, labial surface and lingual surface, corresponds occlusal surface, labial surface and lingual surface of target dentition respectively, the developer ball sets up on one or more in occlusal surface, labial surface and lingual surface.
In step S2, the method further includes the steps of:
determining the position of a tooth to be operated in a target dentition, wherein the tooth to be operated is an affected tooth, arranging developing balls at the position corresponding to the tooth to be operated on the tooth holder, and arranging 4-6 developing balls on the occlusal surfaces of the affected tooth on the tooth holder and two teeth around the affected tooth. The affected tooth is the tooth that the patient needs to perform the operation.
At least 1 developing ball is respectively arranged on the cusps of the affected tooth and the two adjacent teeth at the periphery in the tooth holder, or at least 2 developing balls are respectively arranged on the transverse section of the occlusal surfaces of the affected tooth and the two adjacent teeth at the periphery in the tooth holder; and matching the target dentition in the operation area with the three-dimensional model of the reference space of the target dentition in the navigation system to finish the accurate matching and positioning of the target dentition.
The developing balls on the tooth cusps are oppositely arranged, when the affected tooth is an incisor, at least two opposite developing balls are arranged on the cross section of the occlusal surface of the affected tooth in the tooth holder, and when the affected tooth is a cuspid tooth, a bicuspid tooth or a molar tooth, at least two opposite developing balls are arranged at the tooth cusps of the affected tooth and two adjacent teeth in the tooth holder. Because the cuspid teeth are provided with 1 cusp, the double cuspid teeth are provided with 2-3 cusps, and the molar teeth are provided with 4-5 cusps, the implementation is preferable, when the affected tooth is the cuspid tooth, the cusp of the affected tooth in the tooth holder is provided with 1 developing ball, and the cusp of the adjacent double cuspid teeth is provided with 2 opposite developing balls; when the affected tooth is a bicuspid tooth or a molar tooth, 2 developing balls are arranged on the cusp of the affected tooth in the tooth holder, and 2 opposite developing balls are arranged on the cusp of the adjacent molar tooth or bicuspid tooth, so that more accurate positioning is facilitated.
When the affected tooth is an incisor, 2 developing balls are arranged on the occlusal surface of the affected tooth in the tooth holder, 2 developing balls are arranged on the occlusal surface of the adjacent incisor, and 1 developing ball is arranged on the cusp of the adjacent cuspid.
In step S6, tracking and positioning the position relationship between the surgical instrument and the target dentition by navigating and positioning on the three-dimensional model of the reference space specifically includes the following steps:
acquiring the spatial position of the positioning rod based on the spatial position of the first visual marker, and acquiring the spatial position of the surgical instrument based on the spatial position of the second visual marker;
acquiring a position of the positioning rod relative to the surgical instrument based on the spatial position of the positioning rod and the spatial position of the second visual marker;
tracking the position and the posture of a target dentition in an oral cavity in real time based on the first vision, and acquiring the spatial position of the positioning rod relative to the target dentition;
acquiring a position of the target dentition relative to the surgical instrument based on a position of the positioning rod relative to the surgical instrument and a spatial position of the positioning rod relative to the target dentition;
the first vision and the second vision both mark a spatial location on the three-dimensional model of reference space.
Through the steps and the conversion matrix, the positioning rod in the oral cavity is matched with the second vision of the surgical instrument through the first vision to acquire the position and the posture of the target dentition in the oral cavity in real time, acquire the position and the posture of the surgical instrument, mark the space position in the three-dimensional coordinate system in the reference space three-dimensional model, track and position the position relation between the surgical instrument and the target dentition in real time in the operation, enable the surgical instrument to always keep operating on the target dentition, and be matched with an oral lens to observe the operation environment in the oral cavity to prevent the tracking and positioning of the target dentition from deviating in the operation.
Example 2
In this embodiment, a developing ball is disposed at a slit between at least one adjacent tooth on the dental retainer, and the developing ball is disposed at a slit between the tooth to be operated and the adjacent tooth on the dental retainer. Namely, at least one developing ball is arranged in the gap on the tooth holder corresponding to the tooth gap between the tooth to be operated and the adjacent tooth. The purpose of the arrangement is to ensure that the tooth to be operated can be clearly distinguished from the adjacent tooth in the reference space three-dimensional model after CT scanning, so that the tooth to be operated and the tooth model to be operated in the reference space three-dimensional model can be accurately matched and positioned in the subsequent matching and positioning process.
Example 2
The present embodiment only describes the differences from the above embodiments, and in the present embodiment, the method further includes step S7: an oral scope is placed in the oral cavity for viewing the intraoperative environment in the surgical field.
It is another object of the present invention to provide a navigation positioning system for dental surgery, comprising
A dental retainer obtained by a dental integral model of a target dentition, on which a developing ball is provided;
the system comprises a navigation system, a holder with a developing ball is worn in a patient's mouth to shoot CBCT (cone beam CT), so as to obtain data of hard tissues and soft tissues of the patient, and a corresponding target dentition reference space three-dimensional model with a developing point is established in a three-dimensional navigation map in the navigation system based on the developing ball on the target dentition, so as to form a three-dimensional coordinate system of the target dentition;
the capturing unit is used for capturing the spatial position of a first visual mark arranged on the positioning rod and the spatial position of a second visual mark arranged on the surgical instrument in the surgical area, matching the target dentition in the surgical area with the three-dimensional coordinate system of the target dentition with the developing point in the navigation system through the positioning rod in the surgical area and the positioning needle on the surgical instrument in cooperation with the infrared positioning system in the navigation system, and finishing the reference positioning of the target dentition;
the tracking unit is used for acquiring the position and the posture of the target dentition in the operation area in real time on the basis of the spatial position of the first visual mark, acquiring the position and the posture of a surgical instrument in the operation area in real time on the basis of the spatial position of the second visual mark, matching and positioning the target dentition and the surgical instrument with a three-dimensional coordinate system in the three-dimensional model of the reference space, and updating the positions of the target dentition and the surgical instrument in the three-dimensional model of the reference space in real time;
and the navigation positioning unit tracks and positions the position relation between the surgical instrument and the target dentition by navigating and positioning on the three-dimensional model of the reference space based on the spatial position of the first visual mark of the positioning rod and the spatial position of the second visual mark of the surgical instrument, so that the surgical instrument always keeps the operation on the target dentition.
The embodiments of the navigation positioning method and device for dentistry provided by the invention are explained in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A navigation positioning method for dentistry, comprising:
s1, obtaining a tooth integral model of a target dentition, and manufacturing a tooth retainer through the tooth integral model;
s2, arranging a developing ball on the tooth holder, sleeving the tooth holder on a target dentition, scanning to obtain the target dentition and hard tissue and soft tissue data of oral jaw bone at the target dentition, and establishing a corresponding target dentition reference space three-dimensional model with a developing point in a three-dimensional navigation chart in a navigation system based on the developing ball on the target dentition to form a three-dimensional coordinate system of the target dentition;
s3, matching the target dentition in the operation area with a three-dimensional model of a reference space of the target dentition in the navigation system to complete reference positioning of the target dentition;
s4, capturing the spatial position of a first visual mark arranged on the positioning rod and the spatial position of a second visual mark arranged on the surgical instrument in the surgical region;
s5, acquiring the position and the posture of the target dentition in the operation region in real time based on the spatial position of the first visual mark, acquiring the position and the posture of a surgical instrument in the operation region in real time based on the spatial position of the second visual mark, matching and positioning the target dentition and the surgical instrument with a three-dimensional coordinate system in the three-dimensional model of the reference space, and updating the positions of the target dentition and the surgical instrument in the three-dimensional model of the reference space in real time;
and S6, based on the space position of the first visual mark of the positioning rod and the space position of the second visual mark of the surgical instrument, tracking and positioning the position relation between the surgical instrument and the target dentition by navigating and positioning on the three-dimensional model of the reference space, so that the surgical instrument can always keep the surgery on the target dentition.
2. The dental navigation and positioning method of claim 1, wherein the CBCT is taken by wearing a holder with a visualization bead in the mouth of the patient in step S2, the CBCT is used to scan and obtain the target dentition and a three-dimensional model of a reference space of the oral jaw bone at the target dentition, and a corresponding three-dimensional coordinate system of the target dentition with a visualization point is established in a three-dimensional navigation map in the navigation system based on the three-dimensional model of the target dentition, wherein the three-dimensional model of the reference space comprises the three-dimensional model of the target dentition, the three-dimensional navigation map in the navigation software and the visualization point on the target dentition.
3. The navigation and positioning method for dentistry as claimed in claim 2, wherein matching the target dentition of the surgical field with the three-dimensional model of the reference space in step S3 to complete the reference positioning of the target dentition specifically comprises:
after the three-dimensional model of the reference space is obtained, sleeving a tooth holder with a developing ball on a target dentition to be operated, placing a positioning rod in the oral cavity, wherein the positioning rod is provided with an infrared ray and an optical sensor for capturing the position and the posture of the target dentition in an operation area;
sequentially clicking each developing ball on the tooth holder through a surgical instrument, matching each developing ball with a developing point in the three-dimensional model of the reference space, and finishing the reference coordination of the target dentition and the three-dimensional model of the reference space of the target dentition in the navigation software;
the dental retainer is removed.
4. The method of claim 1, wherein the dental retainer is integrally formed, the dental retainer comprises a bite surface, a labial surface and a lingual surface corresponding to the bite surface, the labial surface and the lingual surface of the target dentition, respectively, and the visualization ball is disposed on one or more of the bite surface, the labial surface and the lingual surface.
5. The navigation and positioning method for dentistry as claimed in claim 4, further comprising the following steps in step S2:
determining the position of a tooth to be operated in a target dentition, wherein the tooth to be operated is an affected tooth, arranging developing balls at the position corresponding to the tooth to be operated on the tooth holder, and arranging 4-6 developing balls on the occlusal surfaces of the affected tooth on the tooth holder and two teeth around the affected tooth.
6. The navigation and positioning method for dentistry as claimed in claim 5, wherein at least 1 developing ball is disposed on each of cusps of the affected tooth and two neighboring teeth in the tooth holder, and/or at least 2 developing balls are disposed on each of transverse planes of occlusal surfaces of the affected tooth and two neighboring teeth in the tooth holder; and matching the target dentition in the operation area with the three-dimensional model of the reference space of the target dentition in the navigation system to finish the accurate matching and positioning of the target dentition.
7. Navigation positioning method for dentistry according to claim 1,
in step S6, tracking and positioning the position relationship between the surgical instrument and the target dentition by navigating and positioning on the three-dimensional model of the reference space specifically includes the following steps:
acquiring the spatial position of the positioning rod based on the spatial position of the first visual marker, and acquiring the spatial position of the surgical instrument based on the spatial position of the second visual marker;
acquiring a position of the positioning rod relative to the surgical instrument based on the spatial position of the positioning rod and the spatial position of the second visual marker;
tracking the position and the posture of a target dentition in an oral cavity in real time based on the first vision, and acquiring the spatial position of the positioning rod relative to the target dentition;
acquiring a position of the target dentition relative to the surgical instrument based on a position of the positioning rod relative to the surgical instrument and a spatial position of the positioning rod relative to the target dentition;
the first vision and the second vision both mark a spatial location on the three-dimensional model of reference space.
8. The navigation and positioning method for dentistry as claimed in claim 2, wherein in step S1, the whole model of the tooth is obtained by silicon rubber, the dental holder is made of orthodontic dental model plastic, and the developing ball is adhered to the dental holder.
9. The navigation and positioning method for dentistry as claimed in claim 2, further comprising step S7: an oral scope is placed in the oral cavity for viewing the intraoperative environment in the surgical field.
10. A navigation positioning system for dental surgery is characterized by comprising
A dental retainer obtained by a dental integral model of a target dentition, on which a developing ball is provided;
the system comprises a navigation system, a retainer with a developing bead is worn in a patient's mouth to shoot CBCT, data of hard tissues and soft tissues of the patient are obtained, and a corresponding target dentition reference space three-dimensional model with a developing point is established in a three-dimensional navigation map in the navigation system based on the developing bead on the target dentition, so that a three-dimensional coordinate system of the target dentition is formed;
the capturing unit is used for capturing the spatial position of a first visual mark arranged on the positioning rod and the spatial position of a second visual mark arranged on the surgical instrument in the surgical area, matching the target dentition in the surgical area with the three-dimensional coordinate system of the target dentition with the developing point in the navigation system through the positioning rod in the surgical area and the positioning needle on the surgical instrument in cooperation with the infrared positioning system in the navigation system, and finishing the reference positioning of the target dentition;
the tracking unit is used for acquiring the position and the posture of the target dentition in the operation area in real time on the basis of the spatial position of the first visual mark, acquiring the position and the posture of a surgical instrument in the operation area in real time on the basis of the spatial position of the second visual mark, matching and positioning the target dentition and the surgical instrument with a three-dimensional coordinate system in the three-dimensional model, and updating the positions of the target dentition and the surgical instrument in a reference space three-dimensional model in real time;
and the navigation positioning unit tracks and positions the position relation between the surgical instrument and the target dentition by navigating and positioning on the three-dimensional model of the reference space based on the spatial position of the first visual mark of the positioning rod and the spatial position of the second visual mark of the surgical instrument, so that the surgical instrument always keeps the operation on the target dentition.
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