CN114366144A - Oral cavity image positioning and navigation method and system - Google Patents
Oral cavity image positioning and navigation method and system Download PDFInfo
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- 229910052751 metal Inorganic materials 0.000 claims abstract description 125
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- 238000003384 imaging method Methods 0.000 claims abstract description 100
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 27
- 230000009466 transformation Effects 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 9
- 230000001131 transforming effect Effects 0.000 claims description 5
- 238000001356 surgical procedure Methods 0.000 abstract description 13
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- 238000007408 cone-beam computed tomography Methods 0.000 description 11
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 210000004373 mandible Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
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- 229910052742 iron Inorganic materials 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
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- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
- A61B6/51—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for dentistry
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- A—HUMAN NECESSITIES
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- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
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Abstract
The application provides an oral cavity image positioning and navigation method and system, wherein the oral cavity image positioning and navigation method is applied to a positioning and navigation system of oral cavity surgical equipment. The method comprises the following steps: carrying out oral cavity imaging on the oral cavity with the positioning device and the positioning element and generating an oral cavity imaging result; according to the oral imaging result, calculating the coordinates of the metal reflecting device and the positioning element in a three-dimensional image space, and forming a three-dimensional space coordinate set; calculating the coordinates of the metal light reflecting ball and the positioning element in the local coordinate system of the optical positioning system, and forming a local coordinate set of the optical positioning system; generating a conversion matrix; acquiring an optical positioning coordinate of the optical positioning device in a local coordinate system of the optical positioning system; and calculating the coordinates of the optical positioning device in the three-dimensional image space according to the optical positioning coordinates and the conversion matrix. By adopting the method and the system provided by the embodiment of the application, the accuracy of image positioning and navigation in oral surgery can be improved, and the speed of positioning the surgical area can be improved.
Description
Technical Field
The present application relates to the field of image positioning, and in particular, to an oral image positioning navigation method, system, electronic device, and computer-readable storage medium.
Background
With the improvement of living standard and the aging of population, the demand of dental surgery is increasing, and usually dental surgery equipment such as dental robots are used for surgery, and the positioning speed and accuracy of the positioning navigation system of the equipment are important for the dental surgery.
The current commonly used image positioning navigation method is to perform positioning by applying an algorithm to a full-mouth guide plate with metal nails or to perform positioning by applying an algorithm to a positioning guide plate with metal reflective balls, but the problems of too long positioning time or poor accuracy are often accompanied, so that the quality and the performing speed of the operation are influenced.
Disclosure of Invention
The embodiment of the application aims to provide an oral cavity image positioning navigation method and an oral cavity image positioning navigation system, which are used for carrying out oral cavity imaging on an oral cavity with a positioning device and a positioning element and generating an oral cavity imaging result; further, a three-dimensional space coordinate set containing coordinates of the metal reflecting device and the positioning element is generated in a three-dimensional space, and an optical positioning system local coordinate set containing coordinates of the metal reflecting ball and the positioning element is generated in an optical positioning system; generating a conversion matrix according to the three-dimensional space coordinate set and the local coordinate set of the learned positioning system; generating a three-dimensional image of the optical positioning device according to the conversion matrix and the optical positioning coordinate of the optical positioning device in the local coordinate system of the optical positioning system, and displaying the three-dimensional image in a navigation system for real-time navigation; the method is used for positioning and navigating, and has high accuracy and high positioning speed.
In a first aspect, an embodiment of the present application provides an oral cavity image positioning and navigation method, which is applied to a positioning and navigation system of an oral cavity surgical device to determine a surgical execution site; the method comprises the following steps: carrying out oral cavity imaging on the oral cavity with the positioning device and the positioning element and generating an oral cavity imaging result; wherein the positioning device comprises a metal reflecting device; according to the oral cavity imaging result, calculating the coordinates of the metal reflecting device and the positioning element in a three-dimensional image space, and forming a three-dimensional space coordinate set; calculating the coordinates of the metal light reflecting ball and the positioning element in a local coordinate system of the optical positioning system, and forming a local coordinate set of the optical positioning system; generating a conversion matrix according to the three-dimensional space coordinate set and the local coordinate set of the optical positioning system; wherein the transformation matrix is used for transforming the local coordinate system of the optical positioning system into the three-dimensional space coordinate system; acquiring optical positioning coordinates of the optical positioning device in a local coordinate system of the optical positioning system; calculating the coordinate of the optical positioning device in a three-dimensional image space according to the optical positioning coordinate and the conversion matrix; wherein the optical locating device is used for capturing the position of the optical locating device in the optical locating system and guiding the direction in the locating navigation system.
In the implementation process, the oral cavity image which simultaneously uses the positioning device and the positioning element is processed, so that the image positioning precision is greatly improved; then calculating a conversion matrix for converting the local coordinate set of the optical positioning system of the metal reflecting device and the positioning element into a three-dimensional space coordinate set; the matrix represents the conversion relation between the local coordinate system and the three-dimensional space coordinate system of the optical positioning system, the conversion matrix and the optical positioning device are operated to obtain the image of the optical positioning device in the three-dimensional space, manual collection or coordinate capture is not needed in the whole process, the efficiency is high, and the positioning speed is high.
Optionally, in an embodiment of the present application, the positioning element is installed in an adjacent area of a surgical operation performing area, and the positioning device is installed on the opposite side of the positioning element; the positioning device also comprises a positioning guide plate and an infrared reflecting device for determining the coordinate system of the optical positioning system; the infrared reflecting device is arranged on the positioning guide plate.
In the implementation process, the positioning device is arranged on the opposite side of the operation execution area, the positioning element is arranged on the opposite side of the positioning device and the adjacent area of the operation execution area, and the positioning device and the positioning element are used, so that the positioning precision of the method is greatly improved, and the optical positioning device can be accurately positioned in the operation execution area.
Optionally, in an embodiment of the present application, the calculating coordinates of the metal reflector and the positioning element in a three-dimensional image space according to the oral cavity imaging result includes: acquiring the offset of the metal reflecting device and the positioning element in a three-dimensional space from the coordinate origin from the imaging result; the origin of coordinates is determined by the infrared reflecting device; converting the oral cavity imaging result into a gray image; calculating the center coordinates of the metal reflecting device and the positioning element on the gray level image; and calculating the coordinates of the metal reflecting device and the positioning element in a three-dimensional image space according to the picture serial number of the imaging result, the offset and the center coordinate.
In the implementation process, the coordinates of the metal reflecting device and the positioning element in the three-dimensional image space are calculated according to the picture serial number, the offset and the center coordinate of the imaging result, the serial number of each picture is fixed, each offset is determined by the offset of the picture in the three-dimensional space and the coordinate origin, and the center coordinate is determined by a specific gray image, so that the calculated coordinates of the metal reflecting device and the positioning element in the three-dimensional image space are very accurate.
Optionally, in this embodiment of the application, the calculating coordinates of the metal light reflecting device and the positioning element in a three-dimensional image space according to the picture serial number of the imaging result, the offset, and the center coordinate includes: determining the abscissa in the three-dimensional image space as the sum of the product of the abscissa of the central coordinate and the pixel interval of the imaging result and the abscissa of the offset; determining the vertical coordinate in the three-dimensional image space as the sum of the product of the central coordinate vertical coordinate and the pixel interval of the imaging result and the offset vertical coordinate; and determining the vertical coordinate in the three-dimensional image space as the sum of the offset vertical coordinate and the product of the picture serial number of the imaging result and the pixel interval of the imaging result.
In the implementation process, determining a horizontal coordinate according to the sum of the product of the horizontal coordinate of the central coordinate and the pixel interval of the imaging result and the horizontal coordinate of the offset; determining a vertical coordinate according to the product of the vertical coordinate of the central coordinate and the pixel interval of the imaging result and the sum of the vertical coordinate of the offset; and determining a vertical coordinate according to the sum of the offset vertical coordinate and the product of the image serial number of the imaging result and the pixel interval of the imaging result. The coordinate axes of the metal reflecting device and the positioning element in the three-dimensional space are determined by the method, and the coordinates of the metal reflecting device and the positioning element in the three-dimensional image space can be accurately and quickly obtained.
Optionally, in this embodiment of the present application, the calculating coordinates of the metal light-reflecting ball and the positioning element in the local coordinate system of the optical positioning system includes: establishing an optical positioning system local coordinate system of the positioning device according to the positioning guide plate; acquiring coordinates of the metal reflecting device, the positioning element and the positioning guide plate in the optical positioning system; obtaining the coordinates of the metal reflecting device in the local coordinate system of the optical positioning system according to the positioning device; and obtaining the coordinates of the positioning element in the local coordinate system of the optical positioning system according to the coordinates of the positioning element in the optical positioning system and the coordinates of the positioning guide plate in the optical positioning system.
In the implementation process, the coordinates of the metal reflecting device in the local coordinate system of the optical positioning system are obtained according to the positioning device, and the coordinates of the positioning element in the local coordinate system of the optical positioning system are determined by the coordinates of the positioning element in the optical positioning system and the coordinates of the positioning guide plate in the optical positioning system. The method can accurately obtain the coordinates of the positioning element in the local coordinate system of the optical positioning system, thereby effectively increasing the positioning and identifying precision of the operation execution area.
Optionally, in an embodiment of the present application, the establishing a local coordinate system of an optical positioning system of the positioning device according to the positioning guide includes: identifying the center of the infrared reflection device in an optical positioning system as a coordinate origin of a local coordinate system of the optical positioning system of the positioning device; the horizontal axis, the longitudinal axis and the vertical axis of the positioning device in the optical positioning system are consistent with the preset orientation of the positioning device.
In the implementation process, the center of the infrared reflective ball in the optical positioning system is identified as the origin of a coordinate axis, and the horizontal axis, the longitudinal axis and the vertical axis are determined by the preset direction of the positioning device, so that the coordinate axis of the positioning device in the optical positioning system is consistent with the preset direction of the positioning device, the consistency of a picture displayed on a navigation system and the actual condition of an oral cavity is ensured, the accuracy of positioning and navigation is improved, and the accurate implementation of the oral cavity operation is ensured.
Optionally, in this embodiment of the present application, after the calculating the coordinates of the optical locating device in the three-dimensional image space, the method further includes: transmitting and displaying the three-dimensional space image of the optical positioning device on the navigation system; the three-dimensional image directs the oral surgical device robotic arm to perform a procedure.
In the implementation process, the coordinates of the three-dimensional image space of the optical positioning device obtained in the method are transmitted to the navigation system, the operation is performed according to the display of the navigation system, and the oral operation is accurately guided according to the three-dimensional image space of the optical positioning device, so that the operation performed by using the mechanical arm is more accurate and faster, and the experience of a patient during the operation is improved.
In a second aspect, an embodiment of the present application provides a positioning navigation system, where the positioning navigation system includes: the oral cavity imaging module is used for carrying out oral cavity imaging on the oral cavity with the positioning device and the positioning element and generating an oral cavity imaging result; wherein the positioning device comprises a metal reflecting device; the three-dimensional space coordinate set generating module is used for calculating the coordinates of the metal reflecting device and the positioning element in a three-dimensional image space according to the oral cavity imaging result and forming a three-dimensional space coordinate set; the optical positioning system local coordinate set generation module is used for calculating the coordinates of the metal light reflecting ball and the positioning element in the optical positioning system local coordinate system and forming an optical positioning system local coordinate set; the conversion matrix generation module is used for generating a conversion matrix according to the three-dimensional space coordinate set and the local coordinate set of the optical positioning system; wherein the transformation matrix is used for transforming the local coordinate system of the optical positioning system into the three-dimensional space coordinate system; the optical positioning device navigation module is used for acquiring optical positioning coordinates of the optical positioning device in the local coordinate system of the optical positioning system; calculating the coordinate of the optical positioning device in a three-dimensional image space according to the optical positioning coordinate and the conversion matrix; wherein the optical locating device is used for capturing the position of the optical locating device in the optical locating system and guiding the direction in the locating navigation system.
In the implementation process, an oral cavity imaging module generates an oral cavity imaging result and calculates a three-dimensional space coordinate set; generating a local coordinate set of the optical positioning system by an optical positioning system local coordinate set generation module; generating a conversion matrix for converting the local coordinate system of the optical positioning system into a three-dimensional space coordinate system by a conversion matrix generation module; the optical positioning device navigation module calculates the coordinates of the optical positioning device in the three-dimensional image space, and guides the operation in the navigation system, and the image in the navigation system corresponds to the actual condition of the oral cavity, thereby avoiding the condition that the operation is influenced due to inaccurate positioning of the positioning navigation system.
In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a memory and a processor, where the memory stores program instructions, and the processor executes steps in any one of the foregoing implementation manners when reading and executing the program instructions.
In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where computer program instructions are stored in the computer-readable storage medium, and when the computer program instructions are read and executed by a processor, the steps in any of the foregoing implementation manners are performed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a flowchart of a first method for positioning and navigating an oral image according to an embodiment of the present disclosure;
fig. 2 is a position relationship diagram in an application scenario of the method for positioning and navigating an oral cavity image according to the embodiment of the present application;
FIG. 3 is a flowchart of a second method for positioning and navigating an oral image according to an embodiment of the present disclosure;
FIG. 4 is a flowchart of a third method for positioning and navigating an oral image according to an embodiment of the present disclosure;
FIG. 5 is a flowchart of a fourth method for positioning and navigating oral images according to an embodiment of the present disclosure;
fig. 6 is a schematic local coordinate system diagram of an optical positioning system of the method for positioning and navigating an oral image according to the embodiment of the present disclosure;
FIG. 7 is a block diagram of an oral image positioning and navigation system provided in an embodiment of the present application; and
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. For example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In the process of research, the applicant finds that the positioning and navigation method of the positioning and navigation system used by the current oral surgery equipment is to perform positioning by applying an algorithm to a full-mouth guide plate with metal nails or to perform positioning by applying an algorithm to a positioning guide plate with metal reflective balls, and the two methods have the problems of slow image production and poor accuracy, which often affect the performance of oral surgery.
Based on the scheme, the oral cavity imaging device carries out oral cavity imaging on the oral cavity with the positioning device and the positioning element and generates an oral cavity imaging result; further, a three-dimensional space coordinate set containing coordinates of the metal reflecting device and the positioning element is generated in a three-dimensional space, and an optical positioning system local coordinate set containing coordinates of the metal reflecting ball and the positioning element is generated in an optical positioning system; generating a conversion matrix according to the three-dimensional space coordinate set and the local coordinate set of the learned positioning system; generating a three-dimensional image of the optical positioning device according to the conversion matrix and the optical positioning coordinate of the optical positioning device in the local coordinate system of the optical positioning system, and displaying the three-dimensional image in a navigation system for real-time navigation; the method is used for positioning and navigating, and has high accuracy and high positioning speed.
Referring to fig. 1, fig. 1 is a flowchart of a first method for positioning and navigating an oral image according to an embodiment of the present application; the oral cavity image positioning and navigating method comprises the following steps:
step S100: and carrying out oral cavity imaging on the oral cavity with the positioning device and the positioning element and generating an oral cavity imaging result.
In the step S100, performing oral cavity imaging on the oral cavity with the positioning device and the positioning element, and generating an oral cavity imaging result, where the positioning device includes a metal light reflecting device, for example, the metal light reflecting device on the positioning device may be a metal light reflecting ball, the number of the metal light reflecting balls is generally 5 to 11, and the metal light reflecting balls are uniformly distributed on the positioning device, may not be on the same plane, and may have different depths; the positioning element may be a metal light reflecting patch. It should be noted that the material of the metal reflector and the positioning element may be titanium, iron, steel, etc.
Step S101: and calculating the coordinates of the metal reflecting device and the positioning element in a three-dimensional image space according to the oral imaging result, and forming a three-dimensional space coordinate set.
In the above step S101, the coordinates of the metal reflecting device and the positioning element in the three-dimensional image space are calculated according to the oral cavity imaging result obtained in step S100, and a three-dimensional space coordinate set is formed, for example, in one embodiment, the metal reflecting device is 7 metal reflecting balls, the positioning element is a metal reflecting patch, and the coordinates of the 7 metal reflecting balls and the metal reflecting patch in the three-dimensional space are calculated according to the oral cavity imaging result. These coordinates may form a set of three-dimensional spatial coordinates, commonly referred to as ImagePointSet.
Step S102: and calculating the coordinates of the metal light reflecting ball and the positioning element in the local coordinate system of the optical positioning system, and forming a local coordinate set of the optical positioning system.
In step S102, a local coordinate set of the optical positioning system is formed by calculating coordinates of the metal light-reflecting ball and the positioning element in the local coordinate system of the optical positioning system. For example, in one embodiment, the metal reflective device is 7 metal reflective balls, the positioning element is a metal reflective patch, and the coordinates of the 7 metal reflective balls and the metal reflective patch in the local coordinate system of the optical positioning system are respectively calculated in step S102. These coordinates form a set of local coordinates of the optical positioning system, commonly referred to as NDIPointSet.
Step S103: and generating a conversion matrix according to the three-dimensional space coordinate set and the local coordinate set of the optical positioning system.
In step S103, the band for performing the operation on the three-dimensional space coordinate set and the optical positioning system local coordinate set obtained in steps S101 and S102 converts the optical positioning system local coordinate system into a conversion matrix of the three-dimensional space coordinate system, for example, the metal light reflecting device is 7 metal light reflecting balls, the positioning element is a metal light reflecting patch, and the three-dimensional space coordinate set and the optical positioning system local coordinate set of the 7 metal light reflecting balls and the metal light reflecting patch, that is, the imagepoint and NDIPointSet, are respectively calculated, and the imagepoint and NDIPointSet are operated to obtain the conversion matrix, which is generally called matrix transform.
Step S104: and acquiring optical positioning coordinates of the optical positioning device in a local coordinate system of the optical positioning system.
In the above step S104, the optical locating coordinates of the optical locating device in the local coordinate system of the optical locating system are obtained, the optical locating device is used for capturing the position of the optical locating device in the optical locating system and guiding the direction in the locating navigation system. Illustratively, the optical locating device may be a probe that captures coordinates of the probe in the optical locating system. And further, converting the coordinates into optical positioning coordinates in a local coordinate system of the optical positioning system to obtain the optical positioning coordinates of the probe in the local coordinate system of the optical positioning system.
Step S105: and calculating the coordinates of the optical positioning device in the three-dimensional image space according to the optical positioning coordinates and the conversion matrix.
In the above step S105, the coordinates of the optical positioning device in the three-dimensional space are obtained by multiplying the transformation matrix obtained in the step S103 and the optical positioning coordinates in the step S104, so as to form a three-dimensional space image, and the coordinates of the probe in the three-dimensional space are obtained by multiplying the optical positioning coordinates of the probe by matrixchange, so as to form a three-dimensional space image and guide the direction in the positioning navigation system.
Therefore, the flowchart of the first method for positioning and navigating the oral cavity image provided by the embodiment of the present application generates an oral cavity imaging result by performing oral cavity imaging on the oral cavity with the positioning device and the positioning element; further, a three-dimensional space coordinate set containing coordinates of the metal reflecting device and the positioning element is generated in a three-dimensional space, and an optical positioning system local coordinate set containing coordinates of the metal reflecting ball and the positioning element is generated in an optical positioning system; generating a conversion matrix according to the three-dimensional space coordinate set and the local coordinate set of the learned positioning system; generating a three-dimensional image of the optical positioning device according to the conversion matrix and the optical positioning coordinate of the optical positioning device in the local coordinate system of the optical positioning system, and displaying the three-dimensional image in a navigation system for real-time navigation; the method for positioning and navigating has higher accuracy and high positioning speed, and enables the oral surgery to be better carried out.
Referring to fig. 2, fig. 2 is a position relationship diagram in an application scenario of an oral cavity image positioning and navigating method according to an embodiment of the present application. As shown in fig. 2, the positioning member 203 is mounted to the adjacent region 201 of the surgical procedure area, and the positioning device 200 is mounted to the opposite side of the positioning member 203; the positioning device 200 further comprises a positioning guide 220 and an infrared reflecting device 210 for determining a coordinate system of the optical positioning system; the infrared reflecting device 210 is installed on the positioning guide. Illustratively, the position relationship diagram of the oral cavity image positioning and navigation method comprises the following steps: the positioning device 200, an adjacent area 201 of a surgery execution area and a surgery execution area 202, wherein the positioning device 200 comprises an infrared light reflecting ball 210, a positioning guide plate 220 and a metal light reflecting ball 230. The surgical execution area 202 is on the left side of the mandible, and the metal reflective ball 230 is mounted on the right side of the mandible; the positioning element 203 is arranged in the adjacent area 201 of the operation execution area, in this case the adjacent tooth crown of the operation execution area; the positioning device 200 is arranged at the opposite side of the positioning element; the positioning device further comprises a positioning guide 220 and an infrared reflective ball 210 for determining the coordinate system of the optical positioning system, the positioning guide 220 can generally cover the lower jaw or one third area of the upper jaw, and the infrared reflective ball 210 is mounted on the positioning guide 220. By the installation of the positioning device and the positioning element, the imaging positioning precision of the operation execution area is improved, and the high-precision three-dimensional navigation image is formed.
Referring to fig. 3, fig. 3 is a flowchart of a second method for positioning and navigating an oral cavity image according to an embodiment of the present application, where the method for positioning and navigating an oral cavity image includes:
step S300: and acquiring the offset of the metal reflecting device and the positioning element from the coordinate origin in the three-dimensional space from the imaging result.
In the step S300, the offset of the metal reflector and the positioning element from the coordinate origin in the three-dimensional space is obtained from the imaging result, for example, the metal reflector is 7 metal reflective balls, the positioning element is a metal reflective patch, the oral imaging result may be CBCT, and the offset of the CBCT image from the three-dimensional image space origin is directly obtained, where the offset is (100, 200, 300) in this embodiment.
Step S301: and converting the oral cavity imaging result into a gray image.
In the step S301, the oral cavity imaging result is converted into a gray scale image, illustratively, the metal light reflecting device is 7 metal light reflecting balls, and the positioning element is a metal light reflecting patch; the oral imaging result may be a CBCT image; the gray scale image can be in a common image format such as a JPEG image format or a PNG image format; the DICOM format of the CBCT image is converted into the common image format such as JPEG or PNG.
Step S302: and calculating the center coordinates of the metal reflecting device and the positioning element on the gray level image.
In the step S302, the center coordinates of the metal reflecting device and the positioning element on the grayscale image are calculated, where the metal reflecting device is illustratively 7 metal reflecting balls, and the positioning element is a metal reflecting patch; the oral imaging result is a CBCT image; in this embodiment, the pixel interval in the CBCT image is 0.25mm, the intervals between X, Y and the Z direction are all 0.25mm, and the size of the three-dimensional image is 640 × 640 × 400, that is, the pixel size of each picture is 640 × 640, and there are 400 pictures in total. Converting the format of the CBCT image sequence from a DICOM format to a JPEG image format, wherein the diameter of the metal ball in the embodiment is 3.5mm, the interval between pixels is 0.25mm, and the diameter of the metal reflective ball is 14 pixels according to the diameter of the metal ball divided by the interval between pixels, namely 3.5 ÷ 0.25 ═ 14; further, a metal light reflecting ball is identified by using Hough circle transformation in OpenCV and a circle center coordinate is returned, wherein the radius of the circle identified by the Hough circle finding function is set as the radius of the metal light reflecting ball, namely the length of 7 pixels.
Step S303: and calculating the coordinates of the metal reflecting device and the positioning element in the three-dimensional image space according to the picture serial number, the offset and the center coordinate of the imaging result.
In the step S303, coordinates of the metal light reflecting device and the positioning element in the three-dimensional image space are calculated according to the picture serial number, the offset and the center coordinate of the imaging result, where the metal light reflecting device is illustratively 7 metal light reflecting balls, and the positioning element is a metal light reflecting patch; the oral cavity imaging result is a CBCT image, the pixel interval is 0.25mm, the pixel size of each picture is 640 multiplied by 640, a total number of 400 pictures are provided, each picture has a fixed serial number, the serial number can represent the fixed position of the oral cavity, if 001 represents the part close to the lower jaw, 400 represents the part close to the upper jaw; identifying the metal light reflecting ball by using Hough circle transformation in OpenCV and returning to a center coordinate, namely a center coordinate; if a circle with a diameter of 14 pixels is found in the JPEG image with the serial number of 320, the center coordinates of the circle are (500, 450), and the offset of the CBCT image relative to the origin of the three-dimensional coordinates is (100, 200, 300), the coordinates of the metal reflective ball and the positioning patch in the three-dimensional space are calculated according to the serial number, the center coordinates and the offset.
Therefore, according to the second method for positioning and navigating the oral cavity image provided by the embodiment of the application, the coordinates of the metal reflecting device and the positioning element in the three-dimensional space are calculated according to the oral cavity imaging result, so that the calculated coordinates in the three-dimensional space are accurate, the coordinates do not need to be acquired manually, and the method is convenient and quick.
Referring to fig. 4, fig. 4 is a flowchart of a third method for positioning and navigating an oral cavity image according to an embodiment of the present application, where the method for positioning and navigating an oral cavity image includes:
step S400: and determining the abscissa in the three-dimensional image space as the sum of the product of the abscissa of the center coordinate and the pixel interval of the imaging result and the abscissa of the offset.
Step S401: and determining the vertical coordinate in the three-dimensional image space as the sum of the product of the central coordinate vertical coordinate and the pixel interval of the imaging result and the offset vertical coordinate.
Step S402: and determining the vertical coordinate in the three-dimensional image space as the sum of the product of the picture serial number of the imaging result and the pixel interval of the imaging result and the offset vertical coordinate.
In the above steps S400, S401, and S402, respectively, an abscissa in the three-dimensional image space is determined according to a sum of a product of a central coordinate abscissa and a pixel interval of the imaging result and an offset abscissa, an ordinate in the three-dimensional image space is determined according to a sum of a product of a central coordinate ordinate and a pixel interval of the imaging result and an offset ordinate, and a vertical coordinate in the three-dimensional image space is determined according to a sum of a picture serial number of the imaging result and a pixel interval of the imaging result and an offset vertical coordinate. Illustratively, the metal reflecting device is 7 metal reflecting balls, and the positioning element is a metal reflecting patch; the oral cavity imaging result is a CBCT image, the pixel interval is 0.25mm, the pixel size of each picture is 640 multiplied by 640, a total number of 400 pictures are provided, each picture has a fixed serial number, the serial number can represent the fixed position of the oral cavity, if 001 represents the part close to the lower jaw, 400 represents the part close to the upper jaw; identifying the metal light reflecting ball by using Hough circle transformation in OpenCV and returning to a center coordinate, namely a center coordinate; it is found that if a circle having a diameter of 14 pixels is found in the JPEG image with index 320, the center coordinates thereof are (500, 450), and the CBCT image is shifted from the origin of the three-dimensional coordinates by (100, 200, 300), the coordinate value of the metal sphere in the three-dimensional image space is (100+500 × 0.25, 200+450 × 0.25, 300+320 × 0.25).
Referring to fig. 5, fig. 5 is a flowchart of a fourth method for positioning and navigating an oral cavity image according to an embodiment of the present application, where the method for positioning and navigating an oral cavity image includes:
step S500: and establishing a local coordinate system of an optical positioning system of the positioning device according to the positioning guide plate.
In the above step S500: the local coordinate system of the optical positioning system of the positioning device is established according to the physical structure of the positioning guide plate, and illustratively, when the local coordinate system of the positioning device is arranged in the optical positioning system, the origin, the horizontal axis, the vertical axis and the vertical axis of the coordinate system are arranged to be consistent with the physical structure orientation of the positioning guide plate.
Step S501: and obtaining the coordinates of the metal reflecting device in the local coordinate system of the optical positioning system according to the positioning device.
In the above step S501, coordinates of the metal light reflecting device and the positioning element are obtained from the local coordinate system of the optical positioning system established in the step S500, where the metal light reflecting device is exemplarily 7 metal light reflecting balls; if the difference between the first metal reflective sphere and the origin point in the positive direction of the horizontal axis is 20, the difference between the first metal reflective sphere and the origin point in the positive direction of the vertical axis is 50, and the difference between the first metal reflective sphere and the origin point in the negative direction of the vertical axis is 80, the value of the first metal reflective sphere in the local coordinate system of the optical positioning system of the positioning device is (20,50, -80), and the remaining 6 metal reflective spheres are based on the same calculation principle.
Step S502: and obtaining the coordinates of the positioning element in the local coordinate system of the optical positioning system according to the coordinates of the positioning element in the optical positioning system and the coordinates of the positioning guide plate in the optical positioning system.
In step S502, the coordinates of the positioning element in the local coordinate system of the optical positioning system are determined by the coordinates of the positioning element in the optical positioning system and the coordinates of the positioning guide in the optical positioning system. For example, a tool with an optical locating device is used to capture the coordinates of the locating element in the optical locating system, the tool may be a probe, the locating element may be a metal reflective patch, that is, a probe with an optical locating device is used to capture the coordinate values of the center of the metal reflective patch in the optical locating system, if the position of the probe in the optical locating system is a probe matrix, the position of the locating guide plate in the optical locating system is a guide plate matrix, and the inverse matrix of the guide plate matrix is an inversed matrix, then the coordinate matrix of the probe in the local coordinate system of the optical locating system is the inverse matrix of the guide plate multiplied by the probe matrix, that is, the coordinate matrix P of the probe in the local coordinate system of the optical locating system is inversed matrix x matrix, and then the centers of the circle are added to the NDIPointSet point set.
Therefore, the fourth oral cavity image positioning and navigating method provided by the embodiment of the application has the advantages that the coordinates of the metal reflecting device and the positioning element in the local coordinate system of the optical positioning system are respectively obtained, the middle calculation process is matrix operation, the actual conditions of the captured coordinates in the oral cavity are consistent, and the accuracy is high.
Referring to fig. 6, fig. 6 is a schematic view of a local coordinate system of an optical positioning system of an oral image positioning and navigating method according to an embodiment of the present application, where the method for establishing the local coordinate system of the optical positioning system includes: identifying the center of the infrared reflection device in an optical positioning system as a coordinate origin of a local coordinate system of the optical positioning system of the positioning device; the horizontal axis, the longitudinal axis and the vertical axis of the positioning device in the optical positioning system are consistent with the preset orientation of the positioning device. Illustratively, the coordinate system comprises an origin O, a horizontal axis X, a vertical axis Y and a vertical axis Z, the infrared reflecting devices on the positioning guide plate are 4 infrared reflecting balls, and the centers of the four infrared reflecting balls are identified as the origin of coordinates in the optical positioning system; the horizontal axis, the vertical axis and the vertical axis of the positioning device in the optical positioning system are consistent with the preset orientation of the solid structure of the positioning device. The local coordinate system of the optical positioning system is established by the coordinate system setting method, coordinates in all the optical positioning systems are unified into the local coordinate system of the optical positioning system, later-stage calculation is facilitated, and a coordinate system which is consistent with the actual condition of the oral cavity can be established.
In an optional embodiment, after calculating the coordinates of the optical locating device in the three-dimensional image space, transmitting and displaying the three-dimensional image of the optical locating device in the navigation system; the three-dimensional image guides the mechanical arm of the oral surgery equipment to perform surgery.
Referring to fig. 7, fig. 7 is a schematic diagram of an oral cavity image positioning and navigation system module according to an embodiment of the present application. The oral cavity image positioning and navigating system in this embodiment is used to perform the steps in the above method embodiment, and the oral cavity image positioning and navigating system 700 includes: the system comprises an oral cavity imaging module 701, a three-dimensional space coordinate set generation module 702, an optical positioning system local coordinate set generation module 703, a transformation matrix generation module 704 and an optical positioning device navigation module 705.
The oral cavity imaging module 701 is used for carrying out oral cavity imaging on an oral cavity with a positioning device and a positioning element and generating an oral cavity imaging result; wherein the positioning device comprises a metal reflecting device.
A three-dimensional space coordinate set generating module 702, configured to calculate coordinates of the metal light reflecting device and the positioning element in a three-dimensional image space according to the oral cavity imaging result output by the oral cavity imaging module 701, and form a three-dimensional space coordinate set.
The optical positioning system local coordinate set generating module 703 is configured to calculate coordinates of the metal reflective ball and the positioning element in the optical positioning system local coordinate system, and form an optical positioning system local coordinate set.
A transformation matrix generating module 704, configured to generate a transformation matrix according to the three-dimensional space coordinate set generated by the three-dimensional space coordinate set generating module 702 and the optical positioning system local coordinate set generated by the optical positioning system local coordinate set generating module 703; wherein the transformation matrix is used for transforming the optical positioning system local coordinate system into the three-dimensional space coordinate system.
An optical positioning device navigation module 705, configured to obtain optical positioning coordinates of an optical positioning device in the local coordinate system of the optical positioning system; calculating the coordinate of the optical positioning device in a three-dimensional image space according to the optical positioning coordinate and the transformation matrix generated by the transformation matrix generation module 704; wherein the optical locating device is used for capturing the position of the optical locating device in the optical locating system and guiding the direction in the locating navigation system.
In an optional embodiment, the calculating the coordinates of the metal reflector and the positioning element in the three-dimensional image space according to the oral cavity imaging result output by the oral cavity imaging module 701 includes: acquiring the offset of the metal reflecting device and the positioning element from the coordinate origin in a three-dimensional space from the imaging result output by the oral cavity imaging module 701; the origin of coordinates is determined by the infrared reflecting device; converting an oral cavity imaging result output by the oral cavity imaging module 701 into a gray image; calculating the center coordinates of the metal reflecting device and the positioning element on the gray level image; and calculating the coordinates of the metal reflecting device and the positioning element in a three-dimensional image space according to the picture serial number of the imaging result output by the oral cavity imaging module 701, the offset and the center coordinate.
In an alternative embodiment, the three-dimensional space coordinate set generation module 702 calculating the coordinates of the metal reflector and the positioning element in the three-dimensional image space according to the picture serial number, the offset and the center coordinate of the imaging result output by the oral cavity imaging module 701 comprises: determining the abscissa in the three-dimensional image space as the sum of the product of the abscissa of the center coordinate and the pixel interval of the imaging result output by the oral cavity imaging module 701 and the abscissa of the offset; determining the ordinate in the three-dimensional image space as the sum of the offset ordinate and the product of the central coordinate ordinate and the pixel interval of the imaging result output by the oral cavity imaging module 701; and determining the vertical coordinate in the three-dimensional image space as the sum of the offset vertical coordinate and the product of the picture serial number of the imaging result and the pixel interval of the imaging result output by the oral cavity imaging module 701.
In an optional embodiment, the optical locating system local coordinate set generating module 703 calculating the coordinates of the metal light-reflecting ball and the locating element in the optical locating system local coordinate system includes: establishing an optical positioning system local coordinate system of the positioning device according to the positioning guide plate; obtaining the coordinates of the metal reflecting device in the local coordinate system of the optical positioning system according to the positioning device; and obtaining the coordinates of the positioning element in the local coordinate system of the optical positioning system according to the coordinates of the positioning element in the optical positioning system and the coordinates of the positioning guide plate in the optical positioning system.
In an optional embodiment, the optical positioning system local coordinate set generation module 703 establishing the optical positioning system local coordinate system of the positioning device according to the positioning guide includes: identifying the center of the infrared reflection device in an optical positioning system as a coordinate origin of a local coordinate system of the optical positioning system of the positioning device; the horizontal axis, the longitudinal axis and the vertical axis of the positioning device in the optical positioning system are consistent with the preset orientation of the positioning device.
In an optional embodiment, after the optical pointing device navigation module 705 calculates the coordinates of the optical pointing device in three-dimensional image space, the method further comprises: the optical positioning device navigation module 705 transmits and displays the three-dimensional space image of the optical positioning device on the navigation system; the three-dimensional image directs the oral surgical device robotic arm to perform a procedure.
Please refer to fig. 8 for a schematic structural diagram of an electronic device according to an embodiment of the present application. An electronic device 800 provided in an embodiment of the present application includes: a processor 801 and a memory 802, the memory 802 storing machine readable instructions executable by the processor 801 which when executed by the processor 801 perform the method as described above.
Based on the same inventive concept, embodiments of the present application further provide a computer-readable storage medium, where computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the computer program instructions perform steps in any of the above-mentioned implementation manners.
The computer-readable storage medium may be a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and other various media capable of storing program codes. The storage medium is used for storing a program, and the processor executes the program after receiving an execution instruction.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
Alternatively, all or part of the implementation may be in software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part.
The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.).
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An oral cavity image positioning and navigation method is applied to a positioning and navigation system of an oral cavity surgical device to determine a surgical execution position; the method comprises the following steps:
carrying out oral cavity imaging on the oral cavity with the positioning device and the positioning element and generating an oral cavity imaging result; wherein the positioning device comprises a metal reflecting device;
according to the oral cavity imaging result, calculating the coordinates of the metal reflecting device and the positioning element in a three-dimensional image space, and forming a three-dimensional space coordinate set;
calculating the coordinates of the metal reflecting device and the positioning element in a local coordinate system of the optical positioning system, and forming a local coordinate set of the optical positioning system;
generating a conversion matrix according to the three-dimensional space coordinate set and the local coordinate set of the optical positioning system; wherein the transformation matrix is used for transforming the local coordinate system of the optical positioning system into the three-dimensional space coordinate system; and
acquiring an optical positioning coordinate of an optical positioning device in a local coordinate system of the optical positioning system; calculating the coordinate of the optical positioning device in a three-dimensional image space according to the optical positioning coordinate and the conversion matrix;
wherein the optical locating device is used for capturing the position of the optical locating device in the optical locating system and guiding the direction in the locating navigation system.
2. The method of claim 1, wherein the positioning element is mounted to an adjacent region of a surgical field and the positioning device is mounted to an opposite side of the positioning element;
the positioning device also comprises a positioning guide plate and an infrared reflecting device for determining the coordinate system of the optical positioning system; the infrared reflecting device is arranged on the positioning guide plate.
3. The method of claim 1, wherein said calculating coordinates of said metal light reflector and positioning element in three-dimensional image space from said oral imaging results comprises:
acquiring the offset of the metal reflecting device and the positioning element in a three-dimensional space from the coordinate origin from the imaging result; the origin of coordinates is determined by the infrared reflecting device;
converting the oral cavity imaging result into a gray image;
calculating the center coordinates of the metal reflecting device and the positioning element on the gray level image; and
and calculating the coordinates of the metal reflecting device and the positioning element in a three-dimensional image space according to the picture serial number, the offset and the center coordinate of the imaging result.
4. The method of claim 3, wherein said calculating coordinates of said metal reflector and said positioning element in a three-dimensional image space based on said imaging sequence number, said offset and said center coordinates comprises:
determining the abscissa in the three-dimensional image space as the sum of the product of the abscissa of the central coordinate and the pixel interval of the imaging result and the abscissa of the offset;
determining the vertical coordinate in the three-dimensional image space as the sum of the product of the central coordinate vertical coordinate and the pixel interval of the imaging result and the offset vertical coordinate;
and determining the vertical coordinate in the three-dimensional image space as the sum of the offset vertical coordinate and the product of the picture serial number of the imaging result and the pixel interval of the imaging result.
5. The method of claim 1, wherein calculating the coordinates of the metallic light-reflecting sphere and the positioning element in the local coordinate system of the optical positioning system comprises:
establishing an optical positioning system local coordinate system of the positioning device according to the positioning guide plate;
obtaining the coordinates of the metal reflecting device in the local coordinate system of the optical positioning system according to the positioning device;
and obtaining the coordinates of the positioning element in the local coordinate system of the optical positioning system according to the coordinates of the positioning element in the optical positioning system and the coordinates of the positioning guide plate in the optical positioning system.
6. The method of claim 5, wherein establishing an optical positioning system local coordinate system of the positioning device from the positioning guide comprises:
identifying the center of the infrared reflection device in an optical positioning system as a coordinate origin of a local coordinate system of the optical positioning system of the positioning device;
the horizontal axis, the longitudinal axis and the vertical axis of the positioning device in the optical positioning system are consistent with the preset orientation of the positioning device.
7. The method of claim 1, wherein after said calculating coordinates of said optical pointing device in three-dimensional image space, said method further comprises: transmitting and displaying the three-dimensional space image of the optical positioning device on the navigation system; the three-dimensional image directs the oral surgical device robotic arm to perform a procedure.
8. A positioning and navigation system, comprising:
the oral cavity imaging module is used for carrying out oral cavity imaging on the oral cavity with the positioning device and the positioning element and generating an oral cavity imaging result; wherein the positioning device comprises a metal reflecting device;
the three-dimensional space coordinate set generating module is used for calculating the coordinates of the metal reflecting device and the positioning element in a three-dimensional image space according to the oral cavity imaging result and forming a three-dimensional space coordinate set;
the optical positioning system local coordinate set generation module is used for calculating the coordinates of the metal light reflecting ball and the positioning element in the optical positioning system local coordinate system and forming an optical positioning system local coordinate set;
the conversion matrix generation module is used for generating a conversion matrix according to the three-dimensional space coordinate set and the local coordinate set of the optical positioning system; wherein the transformation matrix is used for transforming the local coordinate system of the optical positioning system into the three-dimensional space coordinate system; and
the optical positioning device navigation module is used for acquiring optical positioning coordinates of the optical positioning device in the local coordinate system of the optical positioning system; calculating the coordinate of the optical positioning device in a three-dimensional image space according to the optical positioning coordinate and the conversion matrix; wherein the optical locating device is used for capturing the position of the optical locating device in the optical locating system and guiding the direction in the locating navigation system.
9. An electronic device comprising a memory having stored therein program instructions and a processor that, when executed, performs the steps of the method of any of claims 1-7.
10. A computer-readable storage medium having computer program instructions stored thereon for execution by a processor to perform the steps of the method of any one of claims 1-7.
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