JP7613724B2 - Drill Frame - Google Patents

Description

The present invention relates to a drill frame, an optical marker, an optical marker package, and a method for sterilizing an optical marker.

Traditionally, dental implant procedures involve visually checking the position of the implant and drilling a hole in the jaw using a surgical drill. There are also new techniques to accurately guide the position of the implant using a plaster model and a surgical guide, and the condition inside the oral cavity is expressed in 3D, allowing the implant to be designed and performed while viewing the video.

Patent Document 1 discloses a treatment support system that intuitively and in real time grasps the appropriate position for embedding an implant and creates design information, and includes a CT imaging device that captures CT images together with a reference marker that indicates the reference position of the tooth, a first position marker whose relative position with respect to the reference marker is fixed, a second position marker that specifies the position and direction of the operation unit, a three-dimensional model storage unit that stores three-dimensional model information based on the CT image and three-dimensional model information of a virtual implant that is attached perpendicular to the longitudinal direction of the operation unit, a display control unit that aligns the position from the position information of the three markers and displays the three-dimensional model information according to the movement of the operation unit and the patient, and a capture unit that stores the position and angle as design information when the three-dimensional model of the virtual implant is displayed at the desired position and angle.

International Publication No. 2018/088146

In the technology described in Patent Document 1, in order to superimpose the position and orientation of the operation unit on a 3D reconstructed image based on CT image data, it is necessary to capture an image of a spherical position marker and obtain the coordinates of the position marker. From the perspective of safety and infection prevention, this position marker is replaced every time an image is captured. This results in the cost of a spherical position marker every time an image is captured, and the replacement of the position marker is cumbersome.

The present invention was made in consideration of these points, and aims to provide technology that reduces the cost of position markers and the hassle of installing them.

The first aspect of the present invention is a drill frame that can be attached to and detached from a drill having a dental drill bit. This drill frame includes three or more recesses for mounting planar optical markers that reflect light, and the normal vectors of the bottom surfaces of the three or more recesses are classified into at least three different directions.

In the drill frame, the difference between the depth of each of the three or more recesses and the thickness of the optical marker may be within a predetermined range.

The second aspect of the present invention is an optical marker for attachment to the drill frame described above. This optical marker has a reflective layer for reflecting light and a metal layer that is attracted to the magnet provided in the recess.

The third aspect of the present invention is also an optical marker for attachment to the drill frame described above. This optical marker has a reflective layer for reflecting light and a magnet that is attracted to the metal layer provided in the recess.

In the optical marker, the reflective layer may be disk-shaped and reflect infrared light.

The fourth aspect of the present invention is an optical marker package. This optical marker package comprises a magnetic mat, an optical marker according to the second aspect placed on the mat, and a seal member that seals the optical marker.

The fifth aspect of the present invention is also an optical marker package. This optical marker package comprises a metal mat, an optical marker according to the third aspect arranged on the mat, and a seal member that seals the optical marker.

In the optical marker package, the mat may be a flexible mat.

The sixth aspect of the present invention is a method for sterilizing an optical marker. In this method, the optical marker according to the second aspect is placed on a magnetic mat, the optical marker placed on the mat is sealed using a sealing member, and radiation is applied to the optical marker.

The seventh aspect of the present invention is also a method for sterilizing an optical marker. In this method, the optical marker according to the third aspect is placed on a metal mat, the optical marker placed on the mat is sealed using a sealing member, and the optical marker is irradiated with radiation.

In addition, any combination of the above components, and any conversion of the present invention between methods, devices, systems, etc., are also valid aspects of the present invention.

The present invention can reduce the cost of position markers and the complexity of their installation.

1 is a schematic diagram of a treatment support system for dental implant treatment according to one embodiment. FIG. FIG. 2 is a functional block diagram of a treatment support device, etc. FIG. 2 shows a dental drill as an operating tool. FIG. 2 is a schematic diagram for explaining a configuration of a drill frame. 1 is a diagram showing a schematic diagram of the directions of normal vectors of each optical marker for a drill attached to a frame for a drill. FIG. 11 is a schematic diagram for explaining the relationship between the depth of a recess of a drill frame and the thickness of an optical marker for a drill. FIG. 1A and 1B are diagrams illustrating an optical marker package according to an embodiment.

Before explaining the details of the position marker (optical marker) in the embodiment, we will explain a system that uses optical markers as the underlying technology.

The optical marker according to the embodiment is used in a treatment support system. The treatment support system supports practitioners (particularly dentists) in dental implant treatment, and enables various processing of CT image data that was previously performed at dental clinics to be performed at facilities other than dental clinics (such as dental laboratories, hereafter referred to as "remote support facilities"), thereby reducing the workload of practitioners.

<Overview of the treatment support system>
FIG. 1 is a schematic diagram of a treatment support system 1 for dental implant treatment according to this embodiment.

The treatment support system 1 includes a treatment support device 100 in a dental clinic (first facility) where dental implants are performed, a management server 200 (e.g., a cloud server) in a second facility different from the dental clinic, and a processing device 300 in one or more third facilities (remote support facilities) different from the dental clinic. One of the processing devices 300 may be provided in the second facility where the management server 200 is located.

The treatment support device 100 and the processing device 300 are connected to the management server 200 via a network (e.g., the Internet) and exchange data with each other via the management server 200.

In the treatment support system 1, the dental clinic is equipped with an infrared imaging device 40, a CT imaging device 50, display devices such as a display 60, and a treatment support device 100. The infrared imaging device 40 uses infrared rays to capture an image of the infrared marker 25 in order to measure the position coordinates of the infrared marker 25 in real space. The CT imaging device 50 captures tomographic images of the entire or partial upper to lower jaws of a patient wearing the plate 10.

Here, a CT marker 11 is embedded in the plate 10, which serves as a reference position for identifying the positional relationship with the patient's teeth. The plate 10 is fixed to a stent that is attached to the practitioner's dentition when the CT imaging device 50 is used for imaging. Therefore, the CT marker 11 can serve as a reference position for identifying the relationship with the patient's teeth when the CT imaging device 50 is used for imaging.

In the treatment support system 1 according to the embodiment, the plate 10 can connect a reference frame 20 equipped with an infrared marker 25 whose relative positional relationship with the CT marker 11 is known in order to identify the relative position with the CT marker 11. If the relative positional relationship between the CT marker 11 and the infrared marker 25 is fixed, the position coordinates of the CT marker 11 and the position coordinates of the infrared marker 25 in real space can be converted into each other by a predetermined transformation matrix. Therefore, once the position coordinates of the infrared marker 25 in real space can be identified, the position coordinates of the CT marker 11 can also be identified, and thus the position coordinates of the biological tissues (teeth, bones, nerves, etc.) including the teeth of the patient in real space can be identified.

In this way, by measuring the position of the infrared marker 25 using a three-dimensional measuring unit such as the infrared imaging device 40, the position coordinates of the biological tissues including the teeth of the patient can also be determined by calculation. As a result, by attaching an infrared marker 39 to the operating tool 30 operated by the practitioner and determining the position of the infrared marker 39 in relation to the infrared marker 25, the positional relationship between the operating tool 30 and the biological tissues including the teeth of the patient can also be determined. One example of the operating tool 30 is a drill with a drill bit. The infrared marker 39, which is an optical marker for drill, can be attached and detached to a reference frame for drill that is detachable from the drill. The relative positional relationship between the drill bit and the multiple optical markers for drill provided on the reference frame for drill is known.

The treatment support device 100 acquires from the CT imaging device 50 CT image data (DICOM (Digital Imaging and Communications in Medicine) data) of the patient, which is obtained by tomographically photographing the patient while the plate 10 is fixed to the patient's teeth, and stores the data in the memory unit 110. Note that when performing CT imaging of the patient, the CT image data of the reference frame 20 is not required, and therefore the reference frame 20 is removed from the plate 10.

The treatment support device 100 transmits DICOM data about the patient to the management server 200 via the network in accordance with instructions from the practitioner or other person received through the input unit 130. The management server 200 transmits the DICOM data received from the treatment support device 100 to a processing device 300 in a remote support facility that the practitioner or other person has selected from one or more options.

The processing device 300 generates a 3D CT reconstruction image including the plate 10 as a subject based on the DICOM data received from the treatment support device 100. The 3D reconstruction image is, so to speak, a 3D model of the patient including the plate 10. The processing device 300 segments the patient's biological tissues included in the generated 3D reconstruction image by tissue type. The processing device 300 can align (register) the CT marker 11 included in the plate 10 in real space with the CT marker 11 in the virtual 3D reconstruction image by receiving a designation of the position of the CT marker 11 in the 3D reconstruction image from the operator of the processing device 300 (e.g., a dental technician).

In the treatment support system 1 according to the embodiment, a plaster model, which is a dental design model modeled after the teeth shape of the patient, is delivered by mail or other method from a dental clinic to a remote support facility where the processing device 300 is installed. Therefore, an operator of the processing device 300 can align the CT marker 11 of the plate 10 in real space with the CT marker 11 in the 3D reconstructed image by attaching a stent to which a plate 10 connected to a reference frame 20 is fixed to the plaster model.

Furthermore, the plate 10 according to the embodiment includes an alignment confirmation unit for use in measuring the accuracy of alignment between the position coordinates of the multiple CT markers 11 in the three-dimensional reconstruction image and the position coordinates of the CT markers 11 in the real space in which the plate 10 exists. The alignment confirmation unit is a recess provided in the plate 10, and is sized to allow the insertion of a drill bit, which is an example of an operating tool 30. When an operator of the processing device 300 inserts a drill bit of a drill with an infrared marker 39 attached into the recess, the processing device 300 calculates the accuracy of alignment between the CT markers 11 of the plate 10 in the real space and the CT markers 11 in the three-dimensional reconstruction image from the positional relationship between the recess in the three-dimensional reconstruction image and the virtual drill bit in the three-dimensional reconstruction image calculated based on the relative positional relationship between the infrared marker 39.

In other words, when the operator of the processing device 300 inserts the drill bit into the recess of the plate 10 in real space, it means that the positions of the recess and the drill bit in real space are consistent. In this state, if the positions of the recess and the drill bit in the three-dimensional reconstructed image are consistent, it indicates high accuracy of alignment. In this way, the magnitude of the distance between the recess and the drill bit in the three-dimensional reconstructed image corresponds to the accuracy of alignment between the CT marker 11 of the plate 10 in real space and the CT marker 11 in the three-dimensional reconstructed image. The operator of the processing device 300 can ensure the positional accuracy of the alignment by performing positional accuracy so that the accuracy of alignment between the CT marker 11 of the plate 10 in real space and the CT marker 11 in the three-dimensional reconstructed image is the positional accuracy required by the practitioner, etc.

The treatment support device 100 receives, via the management server 200, one or more 3D reconstructed images and data related to the transformation matrix generated after segmentation and alignment processing by the processing device 300 at the remote support facility, as well as the accuracy of alignment. Note that the practitioner, etc. may instruct the treatment support device 100 via the input unit 130 on the facility to which they wish to request processing of DICOM data, etc., according to their own preferences or taking into consideration the congestion situation and processing costs of the remote support facility.

The treatment support device 100 also displays a three-dimensional reconstructed image of the inside of the patient's mouth (the lower jaw, the upper jaw, or both, etc.) and the plate 10 on the display 60 based on the data of the three-dimensional reconstructed image received from the management server 200. Of course, slice images can also be displayed from the three-dimensional reconstructed image.

During dental implant treatment, the patient undergoes treatment while the plate 10 with the reference frame 20 attached is fixed to the teeth. During treatment, the treatment support device 100 obtains the relative positional relationship of the infrared markers 25, 39 based on image data of the infrared markers 25, 39 captured by the infrared imaging device 40 (position information acquisition unit 140), and displays an image of at least the tip of the operating tool 30 and a 3D reconstructed image of the treatment parts such as a drill on the display 60, superimposed on an image of a 3D reconstructed image of the patient's mouth and the plate 10 based on the processed DICOM data. The display is performed in real time (e.g., refresh rate 30 to 60 Hz) in accordance with the movement of the operating tool 30 by the practitioner during the actual implant treatment.

In addition, since the processing device 300 guarantees the accuracy of the alignment between the CT marker 11 of the plate 10 in real space and the CT marker 11 in the three-dimensional reconstruction image, the positional accuracy of the image of the operating tool 30 superimposed on the three-dimensional reconstruction image is the positional accuracy required by the practitioner, etc. For this reason, the alignment work that the practitioner, etc. conventionally performed before the treatment can be omitted, and the practitioner can start the dental implant treatment on the patient while looking at the image of the three-dimensional reconstruction image displayed on the display 60 by simply checking the alignment accuracy using the recess of the plate 10, and intuitive operation in three dimensions is also possible. In this way, the treatment support system 1 according to the embodiment can reduce the workload of the practitioner in the dental implant treatment.

<Functional configuration of each device included in treatment support system 1>
2 shows an overview of the functional blocks of the treatment support device 100, the management server 200, and the processing device 300, which are realized by the operation of the hardware according to the software. The hardware of the treatment support device 100 and the processing device 300 may be a general computer, and the hardware of the management server 200 may be a general server-type computer. The treatment support device 100 and the processing device 300 may be configured to have the same functions, which makes it easy to update the software of the devices added to the treatment support system 1 all at once. In this case, a three-dimensional measuring unit such as an infrared imaging device 40 and a display device such as a display 60 are also installed in the remote support facility, just like in the dental clinic where the treatment support device 100 is installed.

The treatment support device 100 includes a storage unit 110 that stores various information such as CT image data, which is DICOM data; an anonymization processing unit 120 that anonymizes CT image information; an input unit 130 that accepts input of various information such as information about the patient; a position information acquisition unit 140 that identifies the spatial position of an infrared marker based on image data from an infrared imaging device 40 (see Patent Document 1, etc.); an implant design information generation unit 150 that generates implant information (information such as the implant position and type) designed by the practitioner; a display control unit 160 that displays various information including a three-dimensional reconstructed image on a display 60; a transmission unit 170 that transmits DICOM data related to the CT image to a processing device 300; a reception unit 180 that receives various information from the processing device 300; and a position calculation unit 190 that calculates the position of the operating tool 30 in the three-dimensional reconstructed image.

Here, the infrared markers 25, 39 are made of a material that reflects light such as infrared light. The treatment support system 1 includes a light source that irradiates the infrared markers 25, 39 with infrared light. The infrared imaging device 40 is, for example, made of a stereo infrared camera, and can capture the infrared markers 25, 39 from a plurality of different angles. When the infrared imaging device 40 captures, for example, a drill having a drill bit as the operating tool 30, the position information acquisition unit 140 acquires the position coordinates of the plurality of infrared markers 25 provided in the reference frame 20 and the position coordinates of the plurality of drill optical markers provided in the drill reference frame having the plurality of drill optical markers. In addition, the position calculation unit 190 calculates the position of the drill bit in the three-dimensional reconstruction image based on the three-dimensional reconstruction image, the position coordinates of the plurality of infrared markers 25, the position coordinates of the plurality of drill optical markers, the relative positional relationship between the plurality of drill optical markers and the drill bit, and the transformation matrix. As a result, the display control unit 160 can superimpose the drill bit on the three-dimensional reconstruction image and display it on the display 60.

The management server 200 includes a backup database 210 that stores various received data for backup purposes; a log data database 220 that backs up log data such as the position of the operating tool 30 during treatment; and a software update unit 230 that keeps the software of the treatment support device 100 and the processing device 300 up to date.

The processing device 300 includes a memory unit 310 that stores various information including DICOM data received from the treatment support device 100; a segmentation processing unit 320 that performs coloring and correction processing of CT image data received from the treatment support device 100 via the management server 200; a three-dimensional model generation unit 330 that generates data for one or more three-dimensional reconstructed images based on the segmentation-processed data; a position acquisition unit 340 that receives from the user of the processing device 300 the designation of the positions of multiple CT markers in the three-dimensional reconstructed image; and optionally, implant information (the position to be implanted) designed by a dental technician. The device includes an implant design information generating unit 350 that generates an implant design information (position, type, etc.) for generating a 3D measurement unit 360 that measures the position coordinates of the multiple infrared markers 25; a coordinate calculation unit 370 that calculates the position coordinates of the multiple CT markers 11 provided on the plate 10; an alignment unit 380 that aligns the 3D reconstructed image with the dental plaster model; an accuracy calculation unit 390 that calculates the error between the position of the recess in the 3D reconstructed image and the position of the drill bit as the alignment accuracy; and a transmission unit 395 that transmits the 3D reconstructed image, the positions of the multiple CT markers 11 in the 3D reconstructed image, and the transformation matrix to the treatment support device 100.

[Registration at remote support facilities]
More specifically, the storage unit 310 acquires and stores DICOM data relating to a CT image captured in a state where the stent with the plate 10 fixed thereto is attached to the teeth of a patient from the treatment support device 100. The three-dimensional model generating unit 330 generates a three-dimensional reconstructed CT image based on the DICOM data. The position acquiring unit 340 accepts designation of positions of a plurality of CT markers 11 in the three-dimensional reconstructed image generated by the three-dimensional model generating unit 330 from a user of the processing device 300 via a pointing device such as a mouse (not shown) provided in the processing device 300.

The three-dimensional measuring unit 360 measures the position coordinates of the multiple infrared markers 25 provided on the reference frame 20 while the stent to which the plate 10 connected to the reference frame 20 is fixed is attached to the dental plaster model of the patient. The three-dimensional measuring unit 360 measures each position coordinate based on, for example, an image captured by the infrared imaging device 40. The coordinate calculation unit 370 calculates the position coordinates of the multiple CT markers 11 provided on the plate 10 based on the relative positional relationship between the position coordinates of the multiple infrared markers 25 and the multiple CT markers 11. The positioning unit 380 performs positioning between the three-dimensional reconstructed image and the dental plaster model based on the positions of the multiple CT markers 11 in the three-dimensional reconstructed image specified by the user and the position coordinates of the CT markers 11 in the real space calculated by the coordinate calculation unit 370. This allows a user at a remote support facility to accurately align the three-dimensional reconstructed image and the dental plaster model.

[Examples of the operation tool 30]
3(a)-(d) are diagrams showing an operating tool 30 used by a practitioner when performing or designing a dental implant, and show a drill 450 having a dental drill bit 451 as an example of various types of operating tools 30. Specifically, FIGS. 3(a)-(d) are diagrams showing a state in which a drill frame 460 is attached to a drill 450 having a dental drill bit 451. More specifically, FIGS. 3(a) to 3(d) are respectively a plan view, a perspective view, a front view, and a side view of the drill 450 with the drill frame 460 attached.

The drill 450 is a dental drill with a drill bit 451 attached to the tip, and a drill frame 460 is removably attached to the end. The drill frame 460 can be fitted with a drill optical marker 461 (corresponding to the infrared markers 25 and 39 described above). The drill optical marker 461 contains a material that reflects infrared rays. The drill bit 451 cuts the gums and bones of the patient while rotating around an axis that is approximately perpendicular to the longitudinal direction of the drill 450.

The drill optical marker 461 is provided at a fixed position relative to the drill 450, and once the position of the drill optical marker 461 is identified, it is also possible to identify the positions of the tip of the drill 450 and parts such as the drill blade 451 (or artificial tooth root) attached thereto. Therefore, once the relative positional relationship between the drill optical marker 461 of the drill 450 and the infrared marker 25 of the reference frame 20 is identified, it is possible to align the positions of parts such as the drill 450 with the positions of the practitioner's teeth, jaw, etc.

Figure 4 is a schematic diagram for explaining the configuration of the drill frame 460. The drill frame 460 according to the embodiment is detachable from the dental drill 450, and includes three or more recesses 463 equipped with magnets 462 for mounting a planar optical marker 461 for drilling that reflects light such as infrared light. As will be described in detail later, the optical marker 461 for drilling has a metal layer that is attracted to the magnet 462 provided in the recess 463, and can be kept fitted in the recess 463 by the magnetic force generated between the magnet 462 and the metal layer.

Note that FIG. 4 shows an example in which the optical marker for drilling 461 is disk-shaped. However, the optical marker for drilling 461 may be any shape other than a disk, such as a regular polygon, as long as it is planar. In this way, the optical marker for drilling 461 according to the embodiment has a simpler structure than a conventional spherical position marker, and therefore manufacturing costs can be reduced. In addition, since the optical marker for drilling 461 according to the embodiment has a planar shape, it is less bulky, and is more advantageous during distribution and storage than a conventional spherical position marker. Hereinafter, the surface of the planar optical marker for drilling 461 that reflects light such as infrared light will be referred to as the "top surface," and the surface opposite the top surface will be referred to as the "bottom surface."

The drill frame 460 according to the embodiment has nine recesses 463 for fitting the drill optical markers 461. When the drill optical markers 461 are fitted into the nine recesses 463, the normal vectors of the upper surface of each drill optical marker 461 are classified into three different directions. When the drill optical marker 461 is fitted into the recess 463, the direction of the normal vector of the bottom surface of the recess 463 and the direction of the normal vector of the upper surface of the drill optical marker 461 coincide with each other.

Figure 5 is a diagram showing the direction of the normal vector of the upper surface of each optical marker for drill 461 attached to the drill frame 460. In Figure 5, three arrows, each with the symbol D1, symbol D2, and symbol D3, indicate three normal directions of the upper surface of the optical marker for drill 461 attached to the drill frame 460. The normal direction D1 is approximately parallel to the plane of the longitudinal direction of the drill 450 and the drill bit 451. The normal direction D2 and the normal direction D3 are directions obtained by rotating the normal direction D1 in different directions by approximately 90 degrees with the longitudinal direction of the drill 450 as the axis of rotation. The drill frame 460 shown in Figure 5 is configured so that the normal directions of the attached optical markers for drill 461 are all facing the same direction.

As a result, when a practitioner such as a dentist performs a procedure using the drill 450 with the drill frame 460 attached, the infrared imaging device 40 can capture at least three drill optical markers 461 even if the drill 450 is moved to various angles during the procedure. As a result, the three-dimensional measuring unit 360 can determine the position and inclination of the drill 450.

The optical marker for drilling 461 according to the embodiment reflects infrared light irradiated onto its surface. Therefore, if there is a step between the surface of the drill frame 460 and the surface of the optical marker for drilling 461 when the optical marker for drilling 461 is attached to the drill frame 460, a shadow may be generated when an image is captured by the infrared imaging device 40 due to the step preventing infrared light from reaching the image. If such a shadow is present in the image, the accuracy of identifying the position of the optical marker for drilling 461 using image processing by the three-dimensional measuring unit 360 may be reduced.

The drill frame 460 according to the embodiment is configured so that the difference between the depth of each recess 463 for attaching the drill optical marker 461 and the thickness of the drill optical marker 461 is within a predetermined range.

Figures 6(a) and 6(b) are schematic diagrams for explaining the relationship between the depth of the recess 463 of the drill frame 460 and the thickness of the drill optical marker 461. Specifically, Figure 6(a) is a schematic diagram showing a cross section of the recess 463 of the drill frame 460 and a cross section of the drill optical marker 461. Also, Figure 6(b) is a schematic diagram showing the difference L between the depth of the recess 463 of the drill frame 460 and the thickness of the drill optical marker 461.

As shown in FIG. 6(a), the optical marker for drill 461 for attachment to the frame for drill 460 is composed of two different layers. Specifically, the optical marker for drill 461 includes a reflective layer 4610 for reflecting light such as infrared light, and a metal layer 4611 for adhering to a magnet 462 provided in a recess 463 of the frame for drill 460. As shown in FIG. 6(b), when the optical marker for drill 461 is attached to the recess 463 of the frame for drill 460, the metal layer 4611 comes into contact with the magnet 462, and the metal layer 4611 is attracted to the magnet 462 by magnetic force. This allows the practitioner to easily attach and detach the optical marker for drill 461 to the recess 463 of the frame for drill 460.

6B shows an example in which, when the drill optical marker 461 is attached to the recess 463 of the drill frame 460, the reflective layer 4610 of the drill optical marker 461 is lower than the surface of the drill frame 460 by a distance L. However, due to manufacturing errors in the drill frame 460 or the drill optical marker 461, the reflective layer 4610 of the drill optical marker 461 may be higher than the surface of the drill frame 460. In any case, the drill frame 460 and the drill optical marker 461 are manufactured so that the absolute value of the difference between the surface of the reflective layer 4610 of the drill optical marker 461 and the surface of the drill frame 460 is less than a predetermined length L. The specific value of the length L may be determined by experiment taking into account the accuracy required for the three-dimensional measurement unit 360, and as an example, it is 5% of the thickness of the drill optical marker 461.

In this way, by making the difference between the depth of the recess 463 of the drill frame 460 and the thickness of the optical marker for drill 461 less than the predetermined length L, it is possible to narrow the area where infrared rays are not irradiated when the optical marker for drill 461 is photographed while attached to the recess 463 of the drill frame 460. As a result, it is possible to suppress a decrease in the accuracy of identifying the position of the optical marker for drill 461 using image processing by the three-dimensional measuring unit 360.

[Package of optical marker for drill 461]
The optical marker for drill 461 according to the embodiment is a small member having a diameter of about 1 cm. The practitioner needs to attach the optical marker for drill 461 to the frame for drill 460 every time a treatment is performed, which, combined with the small size of the frame for drill 460, can make handling cumbersome. Therefore, the optical marker for drill 461 according to the embodiment is sold arranged on a flat surface on a magnetic mat.

Figures 7(a) and 7(b) are schematic diagrams showing an optical marker package 470 according to an embodiment. Specifically, Figure 7(a) is a front view of the optical marker package 470, and Figure 7(b) is a cross-sectional view AA of Figure 7(a) cut along the cutting plane indicated by arrow A. The optical marker package 470 shown in Figure 7(a) shows an example in which a total of 36 drill optical markers 461 are arranged on a plane, six vertically and six horizontally.

As shown in FIG. 7B, the optical marker package 470 has the drill optical marker 461 disposed on a magnetic mat 464. This allows the metal layer 4611 of the drill optical marker 461 to be attracted to the mat 464 by magnetic force, preventing the drill optical marker 461 from becoming separated.

The optical marker package 470 also includes a seal member 465 that seals the drill optical marker 461 when the drill optical marker 461 is placed on the mat 464. In the optical marker package 470 according to the embodiment, the drill optical marker 461 is placed on the mat 464, the seal member 465 is used to seal the drill optical marker 461 placed on the mat 464, and the drill optical marker 461 is sterilized by irradiating it with radiation. This allows the optical marker package 470 to keep the sterilized drill optical marker 461 in a sterile state during the distribution process.

The optical marker package 470 shown in FIG. 7 is a set of 36 drill optical markers 461, and therefore can be said to be a set of drill optical markers 461 used for four treatments. In this way, it is preferable that the number of drill optical markers 461 enclosed in the optical marker package 470 is a constant multiple of the number of magnets 462 or recesses 463 provided in the drill optical markers 461. Furthermore, when the number of drill optical markers 461 enclosed in the optical marker package 470 is the same as the number of magnets 462 or recesses 463 provided in the drill optical markers 461, it is preferable in that all of the drill optical markers 461 enclosed in the optical marker package 470 can be used up during one treatment, which further improves safety.

The mat 464 included in the optical marker package 470 may be made of a flexible material. This allows the practitioner to easily remove the drill optical marker 461 from the mat 464 by bending the mat 464.

<Effects of the embodiment>
As described above, according to the embodiment of the drill frame 460 and the drill optical marker 461, it is possible to reduce the complexity involved in attaching the drill optical marker 461 to the drill frame 460 and the cost of the drill optical marker 461.

Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination also has the effect of the original embodiment.

<First Modification>
In the above, a case has been described in which the magnet 462 is provided at the bottom of the recess 463 of the drill frame 460. However, the location where the magnet 462 should be provided is not limited to the bottom of the recess 463. Instead of this, or in addition to this, the magnet 462 may be provided along the side surface of the recess 463. In this case, the drill optical marker 461 may be provided with a metal layer 4611 along the side surface of the reflective layer 4610.

<Second Modification>
In the above, as described mainly with reference to Figures 6(a)-(b), a case has been described in which the magnet 462 provided in the recess 463 of the drill frame 460 and the metal layer 4611 of the drill optical marker 461 are attracted to each other by magnetic force. Alternatively, the recess 463 of the drill frame 460 may be provided with a metal layer, and the drill optical marker 461 may be provided with a magnet. This can be achieved by replacing the magnet 462 of the drill frame 460 with metal, and replacing the metal layer 4611 of the drill optical marker 461 with a magnet. That is, the magnet 462 and the metal layer 4611 may be interchanged in Figures 6(a)-(b).

When the magnet 462 and the metal layer 4611 are interchanged, the optical marker package 470 described with reference to Figures 7(a)-(b) is also changed. Specifically, the magnetic mat 464 of the optical marker package 470 shown in Figure 7 is replaced with a metal mat, which is then attracted to the magnet of the drill optical marker 461.

<Third Modification>
In the above, a case has been described in which either the recess 463 of the drill frame 460 or the optical marker for drill 461 is provided with a magnet, and the other is provided with a metal. Alternatively, both the recess 463 of the drill frame 460 and the optical marker for drill 461 may be provided with a magnet. In this case, the magnetic pole of the magnet in the recess 463 of the drill frame 460 and the magnetic pole of the magnet in the optical marker for drill 461 are made different from each other so that the magnet in the recess 463 of the drill frame 460 and the magnet in the optical marker for drill 461 are attracted to each other.

DESCRIPTION OF SYMBOLS 1... TREATMENT SUPPORT SYSTEM 10... PLATE 11... MARKER 20... REFERENCE FRAME 25, 39... INFRARED MARKER 30... OPERATION INSTRUMENT 40... INFRARED IMAGING DEVICE 50... IMAGING DEVICE 60... DISPLAY 100... TREATMENT SUPPORT SYSTEM 110... MEMORY UNIT 120... ANONOMIZATION PROCESSING UNIT 130... INPUT UNIT 140... POSITIONAL INFORMATION ACQUISITION UNIT 150... IMPLANT DESIGN INFORMATION GENERATING UNIT 160... DISPLAY CONTROL UNIT 170... TRANSMITTER UNIT 180... RECEIVING UNIT 190... POSITION CALCULATION UNIT 200... MANAGEMENT SERVER 210... BACKUP DATABASE 220... LOG DATA DATABASE 230... SOFTWARE Software update unit 300... Processing device 310... Memory unit 320... Segmentation processing unit 330... 3D model generation unit 340... Position acquisition unit 350... Implant design information generation unit 360... 3D measurement unit 370... Coordinate calculation unit 380... Alignment unit 390... Accuracy calculation unit 395... Transmission unit 450... Drill 451... Drill blade 460... Drill frame 461... Optical marker for drill 4610... Reflection layer 4611... Metal layer 462... Magnet 463... Recess 464... Mat 465... Sealing member 470... Optical marker package

Claims (4)

A drill frame that is detachable from a dental drill having a drill bit,
A flat optical marker that reflects light;
three or more recesses for mounting the optical markers;
normal vectors of bottom surfaces of the three or more recesses are classified into at least three different directions;
The difference between the depth of each of the three or more recesses and the thickness of the optical marker is within 5% of the thickness of the optical marker.
Drill frame. The optical marker is
a reflective layer for reflecting light;
a metal layer that is attracted to a magnet provided in the recess;
2. The drill frame of claim 1, comprising: The optical marker is
a reflective layer for reflecting light;
a magnet that is attracted to the metal layer provided in the recess;
2. The drill frame of claim 1, comprising: The reflective layer is in the shape of a disk that reflects infrared light.
A drill frame according to claim 2 or 3 .

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