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WO2019003452A1 - Marqueur de référence d'imagerie par tomographie assistée par ordinateur (ct), procédé de création de tomogramme tridimensionnel, procédé de mise en correspondance et système associé - Google Patents

Marqueur de référence d'imagerie par tomographie assistée par ordinateur (ct), procédé de création de tomogramme tridimensionnel, procédé de mise en correspondance et système associé Download PDF

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WO2019003452A1
WO2019003452A1 PCT/JP2017/024355 JP2017024355W WO2019003452A1 WO 2019003452 A1 WO2019003452 A1 WO 2019003452A1 JP 2017024355 W JP2017024355 W JP 2017024355W WO 2019003452 A1 WO2019003452 A1 WO 2019003452A1
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image
dimensional
reference marker
matching
intraoral
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Japanese (ja)
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浩明 清水
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools

Definitions

  • the present invention is a reference marker with a new material for CT imaging in a single CT scan method, using the reference marker, and a three-dimensional CT tomographic image and a three-dimensional obtained by intraoral or oral model scan Method and system for matching an intraoral surface shape image.
  • Patent Documents 1 to 6 a method called a double CT scanning method in which CT imaging is performed twice for alignment has been devised.
  • a dental model is produced, and a CT imaging template including a marker by an X-ray contrast agent is produced based on the produced dental working model, and a patient at the CT imaging Attach a CT imaging template to the Then, CT imaging is performed again for only the CT imaging template. Thereafter, in order to superimpose the two three-dimensional image data, manual alignment and matching are performed using the marker as a reference. The artifact is then manually eliminated and implant planned. Based on the data, a surgical guide is produced directly from the three-dimensional CT image.
  • Patent Document 1 prepares a dental model, prepares a CT imaging template including a marker by an X-ray contrast agent based on the prepared dental working model, and prepares a patient's oral cavity during CT imaging Attach a CT imaging template inside. Then, a CT imaging template is attached to the manufactured patient's tooth model, and CT imaging is performed again. Then, in order to superimpose the two data, manual alignment is performed on the basis of the marker, and superimposing. Then remove the artifact.
  • the problem of the double CT scanning method performed in the case from the edentulous jaw to the edentulous jaw is the dimension in the three-dimensional image obtained from the CT tomography as shown in non-patent documents 2 to 3 It means that there is an error. That is, in the double CT scan method, since a surgical guide is directly produced from a three-dimensional CT tomographic image based on CT tomography, a surgical template containing a CT error is produced. When implant surgery is performed using this surgical template, there is a problem that an error occurs when implanting the implant because the dimensional accuracy of the surgical guide is poor. In addition, another problem of the double CT scan method is the radiographic guide made of resin.
  • the form of the radiographic guide having a problem in conformity is directly CT tomographic imaged, and is transferred to the surgical guide from the three-dimensional CT tomographic image having a problem. Therefore, the intraoral compatibility deteriorates, and there is a risk of positional deviation of the surgical guide and positional deviation of the implant.
  • Patent Documents 2 to 6 Although matching between a 3D CT tomographic image and a 3D intraoral surface shape image by the single CT scan method in Patent Documents 2 to 6 is possible only in some cases, cases with artifacts or In the free end defect case, problems and problems described in Non-Patent Document 1 occur.
  • the cause of the matching failure in this method is to perform matching on the basis of teeth, and the matching failure occurs depending on the number of teeth that can be matched and the position of the teeth. That is, with this method, matching in edentulous jaws, cases of multiple tooth defects, cases of free end defects, and cases with artifacts may not be possible or may cause large errors. Therefore, in the case where there is an artifact or the free end defect case, it is required to solve the problems and problems described in Non-Patent Document 1.
  • Patent Document 1 The problem of the method in Patent Document 1 is pointed out that it is time-consuming and expensive due to the complicated marker production, and the operation is complicated and lacks mediocrity from the clinical point of view. Moreover, the marker of patent document 1 is using the acrylic immediate scanning resin containing barium as an X-ray contrast agent. It is weak to heat and sterilization is impossible and is clinically problematic. Also, as described in Patent Document 1, it can be seen that the increasing ratio of the size of the CT image to the actual size is expanded by as much as 4.41%. As a result, it is pointed out that there may be a large error in direct matching between a three-dimensional CT tomographic image and the shape data of an actual marker, and it can be said that the marker is unsuitable.
  • Patent 5283949 Public Relations Patent 5857108 Public Relations JP-A-2015-051281 Public Relations Special table 2015-531640 public information Special table 2015-535182 public information Special table 2011-510685 public information
  • the present invention provides a reference marker for three-dimensional tomography for obtaining an image of an accurate size even when three-dimensional CT tomography is performed, a method for creating a CT matching template using such a reference marker, and single CT
  • An object of the present invention is to provide a highly accurate matching method of a three-dimensional tomographic image and a three-dimensional intraoral surface shape image in a scanning method.
  • the reference marker of the present invention is a reference marker for CT imaging made of a glass ceramic material.
  • the reference marker can be reproduced as three-dimensional CT tomographic data in a state of being mounted in the oral cavity of a patient, and can be reproduced as three-dimensional intraoral surface shape data by a three-dimensional scanner. Based on the position of the reference marker, highly accurate matching of patient 3D CT tomography data and 3D intraoral surface shape data (by using a 3D scanner) is possible.
  • the present invention compensates for the shortcomings of the conventional method and uses a CT matching template that uses a standardized reference marker that is simple, practical, highly mediocre, and reusable and standardized by sterilization. It corresponds to all cases such as defects, free end defects and cases with many artifacts.
  • Another object of the present invention is a high-precision matching method and system for directly performing STL data matching with DICOM data obtained by a single CT scan method in which CT imaging is completed at one time.
  • the process (FIG. 11) is 1. preparing a CT matching template consisting of an occlusal floor and a reference marker fixed to a mouthpiece (hereinafter collectively referred to as a base template), A1. 2.
  • a three-dimensional intraoral surface shape image STL data obtained by acquiring its external shape data with a dental model of a patient who does not wear the CT matching template and the intraoral three-dimensional measuring device A3. 5.
  • a 3-dimensional CT tomographic image including markers from patient CT tomography DICOM data, capture 3-dimensional intra-oral surface shape image STL data, 3D CT with markers in 3-dimensional CT tomographic image Automatically matching the markers in the intraoral surface shape image on the computer step A4, 6.
  • a step of automatically matching two three-dimensional images of a three-dimensional intra-oral surface shape image (including intra-oral direct external shape scanning) acquired from a CT matching template-mounted dentition tooth model and a non-mounted dentition tooth model In the case of an artifact-free case, an edentulous jaw, a multiple tooth defect, and a free end defect case, the operation is completed at this step 6, and an implant treatment plan and a CADCAM surgical guide are prepared.
  • step A5 of automatically removing the artifact image of the three-dimensional CT tomographic image based on the three-dimensional intraoral surface shape image acquired from the CT matching template non-mounted dentition model is performed.
  • the method is characterized by comprising the production of a reference marker consisting of the above steps, and a system for producing a three-dimensional oral cavity region image.
  • the increasing ratio of the size of the CT image to the actual size is 0%, and the material has no expansion and contraction of the CT image, so that the matching accuracy can be improved. 5. Improved accuracy secures the safety of the operation and provides patients with tremendous benefits. There are advantages such as effects.
  • the disadvantages of the conventional method can be compensated.
  • This reference marker is simple, practical, highly mediocre, and standardized to be reusable by sterilization.
  • the CT matching template using this reference marker can handle all cases such as edentulous jaws, multiple teeth defects, free end defects, cases with many artifacts, and the like.
  • the CT scan is a single CT scan method that is completed once, the cost of time and cost can be reduced clinically.
  • This enables high-precision direct matching of the three-dimensional CT tomographic image DICOM data obtained and the three-dimensional intra-oral surface shape image STL data. This can improve the accuracy of implant surgery and contribute to the patient's benefit.
  • A Radiograph of patient with metal restoration
  • b Intraoral photograph of the patient.
  • A A three-dimensional CT tomographic image of a patient having a metal restoration of teeth and (b) an image in which a three-dimensional intraoral surface shape image is synthesized and an artifact is automatically erased using the present invention
  • c the present invention 3D CT imaging image after automatic elimination of the artifact.
  • Roentgenogram (b) intraoral photograph of a patient with a zirconia restoration.
  • A A three-dimensional CT tomographic image of a patient having a zirconia compound of teeth and (b) an image in which a three-dimensional intraoral surface shape image is synthesized using the present invention to automatically erase an artifact
  • c the present invention 3D CT imaging image after automatic elimination of the artifact.
  • It is an intraoral photograph of the (a) radiograph of the edentulous jaw patient (b).
  • It is a CT matching template in which a reference marker is fixed.
  • a reference marker made of a glass ceramic material.
  • It is sectional drawing of a reference marker.
  • FIG. 1 A reference interface in which a reference marker is fixed to a standardized reference plate.
  • B A reference interface showing a state in which a reference marker is fixed to a reference plate
  • Size of the reference plate (a) It is the figure which showed the oral cavity model.
  • B It is a base plate created based on an oral cavity model. And a mouthpiece made with a 3D printer based on the 3D image obtained by the 3D measurement device of the oral cavity model.
  • It It is a reference plate.
  • D This is a CT matching template in which a base template is fixed to a reference plate. It is a flowchart of a three-dimensional tomographic image creation method.
  • FIG. 1 A reference interface in which a reference marker is fixed to a standardized reference plate.
  • B A reference interface showing a state in which a reference marker is fixed to a reference plate
  • Size of the reference plate (a) It is the figure which showed the oral cavity model.
  • B It is a base plate created based on an oral cavity
  • FIG. 1 is a schematic view showing the requirements of a currently commercially available simulation computer system required for the system of the present invention.
  • Communication software coDiagnostiX etc. (a) It is an intraoral photograph of the state which mounted
  • a three-dimensional CT tomographic image and a three-dimensional model surface shape image are matched using commercially available computer software (eg, coDiagnostiX).
  • (a) Slits of the model for STL data matching are shown.
  • coDiagnostiX commercially available computer software
  • FIG. 1 is an intraoral photograph (mandible) of a patient having a metal restoration of teeth.
  • a CT image of the oral region is taken for a patient having such a metal restoration, and a three-dimensional CT tomographic image synthesized into a three-dimensional image is shown in FIG.
  • Three-dimensional CT tomographic images are synthesized by stacking CT images that are tomographic images.
  • the existing software is used to synthesize 3D CT tomographic images.
  • FIG. 3 is an intraoral photograph (mandible) of an edentulous patient.
  • a CT image of the oral region is taken for such edentulous patient, and a three-dimensional CT tomographic image synthesized into a three-dimensional image is shown in FIG.
  • FIG. 7 is a CT matching template according to the present invention. The detailed structure of this CT matching template is shown in FIG.
  • FIG. 8a is a reference marker made of a glass ceramic material.
  • the inventors focused on glass ceramics having a strength and hardness close to that of natural teeth, which are close to 360 to 400 mPa and 350 mPa of natural teeth (enamel) among ceramics.
  • Types of ceramic materials 1, feldspar glass ceramics 2, leucite glass ceramics 3, lithium disilicate glass ceramics 4, zirconia reinforced lithium 1 silicate glass ceramics 5, porous crystal lanthanum glass 6, zircon 7, Alumina 8 and zirconia can be mentioned, however, zirconia materials that cause artifacts in CT tomographic images and materials that expand and contract in CT tomographic images can not be used.
  • the present invention focuses particularly on lithium disilicate glass and leucite-based glass-ceramics, among glass-ceramic materials, which have almost no shrinkage and expansion due to three-dimensional tomography and are excellent in matching accuracy.
  • Glass ceramics that can be used for the reference marker can be appropriately selected from the above materials. What is necessary for high-precision matching between the surface shape data of the reference marker and the CT tomographic image is that there is almost no expansion and contraction, and the reference marker corresponding to this standard is lithium disilicate glass and leucite glass ceramics It is. Use of these materials is required to improve matching accuracy.
  • FIG. 8b is a cross-sectional view of the reference marker of the present invention. 1 mm concave in the upper center (used for matching confirmation), 1 mm concave in the buccal center (used for confirmation of matching match), 1 mm concave in lingual center (used for confirmation of matching match) The bottom is provided with a recess for bonding with the base template.
  • FIG. 8c is a developed view of the present invention.
  • a reference plate 3 for fixing a reference marker 1 uses a 2 mm thick resin plate (such as acrylic resin) of X-ray transmission. As shown in FIG. 9 a, at least three, usually six reference markers 1 are arranged and fixed to the reference plate 3. (FIG. 9b) As a method of fixing, a removable and rigidly fixable Lego block is used or fixed with a removable thermoplastic resin 2. This is because the reference marker 1 can be sterilized and is reused with emphasis on economics.
  • the reference plate 3 shown in FIG. 9c has a size of S, M, L and is selected according to the size of the intraoral dentition.
  • the state where the reference marker is fixed to the reference plate is generically referred to as a reference interface.
  • the base template 5 (FIG. 10b) is created on the dentition model 4 (FIG. 10a).
  • This base template 5 is made of an X-ray transparent transparent resin plate manufactured by a vacuum foam manufacturing method (manufactured by ELCO PRESS etc.), or an X-ray transparent resin manufactured by a digital 3D printer. It is a created mouthpiece, and the reference interface is attached and fixed to this base template.
  • the CT matching template is adapted to be attached to a dentition model (FIG. 10a).
  • a three-dimensional dentition model image is constructed from the external shape data measured using the three-dimensional surface shape measuring machine (step B3).
  • FIG. 13a With the CT matching template bitten in the patient's oral cavity, the oral cavity region is photographed to obtain a CT image (oral region tomographic imaging data) (FIG. 13b).
  • CT image oral region tomographic imaging data
  • FIG. 13b Such data is input to the computer via the input means shown in step B2 and stored in the recording unit.
  • FIG. 15a is a three-dimensional intraoral surface profile image of a patient wearing a CT matching template. As can be seen from FIG. 15a, around the dentition, an artifact occurs due to the influence of the metal restoration.
  • the three-dimensional dentition model image of FIG. 14b is captured. Specifically, as shown in FIG. 16, a reference marker 1 reproduced in a three-dimensional intraoral surface shape image at the same position, and a reference marker 1 reproduced in a patient three-dimensional CT tomographic image in FIG. Perform automatic matching. This completes the superposition. (Step B6) Thereafter, as shown in FIG. 17, automatic matching is performed between the CT matching template mounted three-dimensional intraoral surface shape image (FIG. 14b) and the CT matching template non-mounted three dimensional intraoral surface shape image (FIG. 14d) (FIG. Process B7).
  • step B7 When performing automatic matching (step B7) of the 3D dentition model surface image (FIG. 14d) and the 3D model surface image (FIG. 14b) on which the CT matching plate is mounted, Fig. 17a) Matching on the basis (Fig. 17b). This is because it is easy and accurate to specify the reference point. In addition, when using an intraoral three-dimensional measurement machine (intraoral scanner), superimpose on the basis of the teeth not covered by the CT matching template.
  • intraoral three-dimensional measurement machine intraoral scanner
  • step B8 data included in the selected area is automatically deleted from the data of the three-dimensional CT tomographic image.
  • FIG. 15c d As can be seen from FIG. 15, the application of the method makes it possible to clearly show the maxillary dentition that was obscured by the artifact.
  • FIG. 15 a is a three-dimensional image before application of the present method
  • FIG. 15 (cd) is a three-dimensional image after application of the present method. As can be seen from FIG. 15, by applying this method, the upper dentition which is unclear due to the artifact is clearly represented.
  • FIG. 15 are three-dimensional images created by the method of creating a three-dimensional tomographic image (CT image) according to the present embodiment.
  • CT image three-dimensional tomographic image
  • FIGS. 2 (c), 4 (c) and 15 (d) are three-dimensional CT images after application of this method. It is.
  • the dentition which is unclear due to the artifact is clearly represented.
  • the reference marker can be matched based on the reference and precisely superimposed on the three-dimensional intraoral surface shape image.
  • FIG. 12 is a schematic view of a computer system required for this system.
  • This computer system has an input unit B for inputting 1, three-dimensional CT tomography data (DICOM), two-dimensional intraoral surface shape image data (STL) of a patient, and a plurality of data are recorded. It is a system that can and can be matched.
  • Use common commercial simulation software (such as coDiagnostiX used software) that meets this condition.
  • This computer system can perform automatic matching between a three-dimensional CT tomographic image and a three-dimensional intraoral surface shape image equipped with a CT matching template, and then a three-dimensional intraoral surface shape image fitted with a CT matching template and a CT matching template Image combination can be performed by automatically matching a non-mounted three-dimensional intraoral surface shape image.
  • the three-dimensional image matching unit B performs matching of two or more three-dimensional intraoral surface shape images.
  • the synthesis unit B visualizes the synthesis of the three-dimensional image of each image. Thereafter, positioning of the implant at an appropriate position is performed on the basis of the three-dimensional CT tomographic image and the three-dimensional intraoral surface shape image.
  • Sample 1 (CT value 1949)
  • Sample 2 (CT value 2741)
  • Sample 3 (CT value 2606)
  • Sample 4 (CT value 3500)
  • CT device TOSHIBA manufactured by TOSHIBA Shooting conditions: 120 Kv, 200 mA, Slice: 0.5 mm
  • the sample 2 lithium disilicate glass ceramics
  • the sample 3 Leucite glass ceramics
  • the sample 1 feldspar glass ceramics is smaller than the actual size
  • the zirconia reinforced lithium of the sample 4 1Silicane based glass ceramics expand more than their actual size, therefore it is understood that it is preferable to use samples 2 and 3 as reference markers placed in the oral cavity.
  • the present invention limits the number of CT imaging operations to one, simplifies complicated steps, and places emphasis on both ease of dissemination and high-precision matching.
  • the matching system using the reference marker according to the present invention can perform uniform and stable high-precision matching of the third-order CT tomographic image and the three-dimensional intraoral surface shape image. As a result, a highly accurate CAD / CAM surgical guide can be produced based on the highly accurate three-dimensional intraoral surface shape image.
  • the number of matching times is reduced, and the influence of errors at the time of matching can be avoided. That is, the more the number of matchings, the more the error may occur.
  • the three-dimensional CT tomographic image is inferior in dimensional accuracy to a three-dimensional surface shape image by a three-dimensional measuring device which has an accuracy of 5 microns. Therefore, for all cases, the use of CAD / CAM surgical guides based on matching 3D intraoral surface topography scan data (STL data) and 3D CT tomographic imaging data (DICOM) is a precision implant surgery It is important to perform surgery.
  • the present invention is expected to improve the matching accuracy of the CAD / CAM surgical guide for implant placement and the implant placement accuracy associated therewith, and secure the safety of implant surgery. This can contribute to the patient's benefit and has industrial applicability.
  • the marker of the prior patent document 1 characterized by being made of a mixed material of an X-ray contrast agent and a plastic uses an acrylic immediate scanning resin containing barium as an X-ray contrast agent. It is weak to heat and sterilization is impossible and is clinically problematic. Also, as described in Document 1, it can be seen that the increasing ratio of the size of the CT image to the actual size is expanded by as much as 4.41%. As a result, it is pointed out that there may be a large error in direct matching between a three-dimensional CT tomographic image and the shape data of an actual marker, and it can be said that the marker is unsuitable.
  • the reference marker of the present invention is not only uniform and accurate matching but also stable material using glass ceramic material, and there is no deformation due to heat and chemicals, and sterilization for each patient is possible. It is possible, reusable after sterilization, and economical.
  • Patent Document 1 requires complicated preparation of two kinds of markers, different types of extraoral and intraoral
  • the present invention is only intraoral, and a mouse that can be worn in the oral cavity. It is only fixed to the interface on the piece, denture, etc., and it can handle all cases and is completed in a simple operation.
  • the method for analysis requires a complicated and difficult process in the prior patent document 1 and the spread in the dental clinic is limited, whereas the present invention applies a general commercial simulation that satisfies the conditions.
  • software such as coDiagnostiX used software
  • automatic matching can be performed, and there are many advantages such as simplicity and time economics, which extends the industrial applicability.
  • reference marker 2 adhesive material 3 for fixing reference marker 3, reference plate 4, intraoral model 5, mouthpiece and base template 6, CT matching template 7, bite 8, artifact 9, patient three-dimensional CT tomographic image 10, model incision marking 11, three-dimensional model surface shape data 12, metal restoration 13 in the oral cavity, restoration by zirconia in the oral cavity

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  • Orthopedic Medicine & Surgery (AREA)
  • Epidemiology (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Dental Prosthetics (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)

Abstract

l'invention concerne : une mise en correspondance directe très précise entre un tomogramme CT tridimensionnel selon un seul schéma de balayage par tomographie assistée par ordinateur (CT pour computed tomography) et une image de forme de surface intra-buccale tridimensionnelle obtenue par l'intermédiaire d'un balayage de modèle intra-buccal ou oral; un marqueur de référence de tomographie CT tridimensionnelle qui permet d'obtenir une image d'une taille précise dans un tomogramme CT tridimensionnel, et qui est stérilisable et réutilisable; un modèle de mise en correspondance CT qui comprend un marqueur de référence qui peut être fabriqué simplement; un système de mise en correspondance utilisant un simple schéma de balayage par CT simple; et une mise en correspondance directe qui peut être utilisée pour tous les cas comprenant un cas ayant un grand artefact et un cas d'anodontie. Un marqueur de référence constitué d'un matériau en céramique de verre ne présente pas d'expansion ou de contraction pendant la tomographie CT tridimensionnelle, et fournit une image d'une taille précise. A partir d'un tomogramme CT tridimensionnel d'un patient portant dans sa cavité buccale un modèle de mise en correspondance CT comprenant un marqueur de référence, et à partir d'une image de forme de surface intra-buccale tridimensionnelle dans un état dans lequel le marqueur de référence est agencé, une image tridimensionnelle du marqueur de référence est acquise. En référence au marqueur de référence, il est possible d'effectuer une correspondance directe précise entre le tomogramme CT tridimensionnel et l'image de forme de surface intra-buccale tridimensionnelle.
PCT/JP2017/024355 2017-06-26 2017-07-03 Marqueur de référence d'imagerie par tomographie assistée par ordinateur (ct), procédé de création de tomogramme tridimensionnel, procédé de mise en correspondance et système associé Ceased WO2019003452A1 (fr)

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CN110353722A (zh) * 2019-07-17 2019-10-22 河南新博睿数字医疗科技有限公司 用于获取戴金属修复体的扫描图像的方法
CN113288480A (zh) * 2021-06-25 2021-08-24 成都登特牙科技术开发有限公司 骨增量与种植义齿联合设计方法及骨增量模型的制造方法

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CN109330718B (zh) * 2018-09-28 2023-12-12 四川大学 一种用于牙齿医疗的口腔内自动作业装置
DK3666225T3 (da) 2018-12-11 2022-09-12 Sirona Dental Systems Gmbh Fremgangsmåde til frembringelse af en grafisk gengivelse af en tandtilstand
CN109692050B (zh) * 2018-12-26 2020-05-22 雅客智慧（北京）科技有限公司 一种牙科种植导航手术的标定、追踪方法和装置

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