CN115956942A - Dental X-ray aligner based on UWB technology and oral shooting method - Google Patents

Abstract

The application discloses a dental X-ray aligner based on UWB technology and an oral cavity shooting method, wherein before shooting, alignment of a DR sensor and a dental X-ray machine is realized, and the dental X-ray machine is connected with an X-ray machine bulb head; the aligner includes UWB locator, UWB label and solid fixed ring, the UWB locator is located on the DR sensor, the quantity more than or equal to three, evenly distributed of UWB label are located on solid fixed ring, on the X-ray machine bulb was located to the solid fixed ring, the solid fixed ring center coincided with X-ray machine bulb center. The position of UWB label is responded to through the UWB locator, distinguishes the position of DR sensor relatively solid fixed ring through the position of judging a plurality of UWB labels, shoots patient's oral cavity fast convenient high-efficient.

Description

A dental X-ray aligner and oral imaging method based on UWB technology

technical field

The present application relates to a dental X-ray aligner based on UWB technology and an oral cavity photographing method, belonging to the technical field of oral medical devices.

Background technique

DR sensors and dental X-ray machines are oral medical devices used to obtain oral images. Dental X-ray machines are used to emit X-rays. DR sensors are used for imaging after collection. However, the existing DR sensors and dental X-ray machines belong to two independent There is no interactive information between the two products, which usually makes it difficult to align the DR sensor and the dental X-ray machine during filming, which is easy to cause waste films and requires repeated shots.

To solve the problem of difficult alignment between the DR sensor and the dental X-ray machine, the existing technology generally uses special auxiliary tools for alignment. This method has the following disadvantages:

1. Use special auxiliary tools for alignment, and medical staff have to remember how to use the tool, the steps are cumbersome, the operation process is complicated, and it completely depends on the doctor's manual alignment;

2. Multiple alignments, resulting in unsatisfactory shooting results, resulting in more radiation exposure to the patient;

3. Exacerbate the patient's discomfort;

4. Lost more time and cost;

5. Low clinical efficiency.

Contents of the invention

The technical problem to be solved in this application is the problem of difficult alignment between the DR sensor and the dental X-ray machine.

In order to solve the above technical problems, the technical solution of this application is to provide a dental X-ray aligner based on UWB technology, which is used for the alignment of the DR sensor and the dental X-ray machine, and the dental X-ray machine is connected with an X-ray Optomechanical ball tube head; the aligner includes a UWB locator, a UWB label and a fixing ring, the UWB locator is set on the DR sensor, the number of the UWB labels is greater than or equal to three, and is evenly distributed on the fixing ring, so The fixing ring is arranged on the tube head of the X-ray machine, and the center of the fixing ring coincides with the center of the tube head of the X-ray machine.

Preferably, the UWB locator is communicatively connected to a host computer.

Preferably, the number of UWB tags is greater than or equal to three, and the relative positional relationship between the UWB locator and the UWB tags is obtained based on the TOA positioning method to obtain the relative positional relationship between the DR sensor and the fixed ring, and is displayed by the host computer.

Preferably, the host computer is provided with a screen display prompt or a buzzer prompt, prompting that the DR sensor is located in the center of the fixing ring.

The present application also provides an oral photographing method of a dental X-ray aligner based on UWB technology, using the above-mentioned dental X-ray aligner based on UWB technology, comprising the following steps:

Step 1. Connect the DR sensor with the host computer;

Step 2. Place the DR sensor with the UWB locator in the mouth of the patient;

Step 3. Move the tube head of the X-ray machine with the UWB label fixing ring at the DR sensor to confirm the position;

Step 4. During the movement of the tube head of the X-ray machine, check whether the DR sensor is placed in the fixing ring on the host computer;

Step 5. When the DR sensor is aligned with the fixing ring, the upper computer will prompt;

Step 6. Press Shoot to complete the dental filming.

The advantage of this application is that the position of the UWB tag is sensed by the UWB locator, and the position of the DR sensor relative to the fixed ring is identified by judging the positions of multiple UWB tags, so that the patient's oral cavity can be photographed quickly, conveniently and efficiently, and the depth information of the internal anatomical features of the teeth can be reflected. , The oral treatment process is intelligent, thereby improving clinical efficiency and reducing x-ray radiation for patients.

Description of drawings

Figure 1-1 is a schematic diagram of the connection between the DR sensor, the UWB locator and the host computer provided in the embodiment;

Figure 1-2 is a schematic diagram of a fixed ring with a UWB tag provided in the embodiment;

Figure 2-1 is the first schematic diagram of UWB positioning principle;

Figure 2-2 is the second schematic diagram of UWB positioning principle;

Fig. 3 is the schematic diagram of positioning based on UWB locator and multi-UWB tags provided in the embodiment;

Fig. 4 provides in the embodiment and is based on UWB locator and multi-UWB tag localization calculation geometry schematic diagram;

Figure 5 is a schematic diagram showing the relative positional relationship between the DR sensor and the fixed ring through the host computer;

Reference signs: 1-fixing ring; 2-UWB locator; 3-UWB label; 4-DR sensor; 5-host computer.

Detailed ways

In order to make the application clearer and easier to understand, preferred embodiments are described in detail below with accompanying drawings.

This application provides a dental X-ray aligner based on UWB technology. The position of the UWB tag is sensed by the UWB locator, and the position of the DR sensor relative to the fixed ring is identified by judging the positions of multiple UWB tags, so that the patient can be photographed quickly, conveniently and efficiently. Oral cavity, which reflects the in-depth information of the internal anatomical features of the teeth, intelligentizes the oral treatment process, thereby improving clinical efficiency and reducing X-ray radiation for patients.

Specifically, refer to Figure 1-1 and Figure 1-2, including a fixed ring 1 with a UWB label 3 and a UWB positioner 2, the fixed ring 1 is set on the X-ray machine tube head connected to the dental X-ray machine, and keeps The center of the fixing ring 1 coincides with the center of the tube head of the X-ray machine. The UWB tags 3 are evenly distributed on the fixing ring 1, and the number can be determined according to actual needs. In this embodiment, three are taken as an example, but not limited to three. The UWB locator 2 can be built in the DR sensor 4 or can be placed outside the DR sensor 4 independently. The signal communication of the UWB locator 2 is connected to the upper computer 5, which can be cable or wireless. The upper computer is a PC or Pad. The PC upper computer is suitable for indoor fixed oral image acquisition, and the Pad is suitable for portable mobile dental image collection.

Positioning method:

UWB technology is a wireless carrier communication technology that uses a frequency bandwidth above 1GHz. It does not use a sinusoidal carrier, but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, so it occupies a large spectrum range. Although it uses wireless communication, its data transmission rate can reach hundreds of megabits per second. . Signals can be transmitted over a very wide bandwidth using UWB technology. UWB technology solves the major problems in propagation that have plagued traditional wireless communication technology for many years. It has the advantages of insensitivity to channel fading, low power spectral density of transmitted signals, low interception rate, low system complexity, and positioning accuracy of several centimeters. .

The principle of UWB positioning is similar to that of satellite navigation and positioning, and it consists of multiple positioning base stations and positioning tags. The relative position of the positioning base station is known, and the positioning tag is carried by a person or installed on a mobile device. The tag transmits a pulse signal at a certain frequency to communicate with the positioning base station at a known location. The distance between the positioning tag and each positioning base station is measured by the time-of-flight method, and finally the measured distance data is calculated to obtain the position of the positioning tag. The key to positioning technology is to measure the distance between each base station and the tag, and the identities of the base station and the tag can also be exchanged, that is, it consists of multiple positioning tags and locators (base stations), see Figure 2-1 and Figure 2- 2.

Common UWB positioning methods include TWR positioning method, TOA positioning method, and TDOA positioning method.

The TWR (two-way ranging) positioning method uses the round-trip time of flight (TOF) between the tag and the base station to calculate the distance between the tag and the base station, and finally calculates the position of the tag through a trilateral positioning algorithm. This method requires the tag and the base station to have the ability to send and receive signals at the same time. In the measurement, both the signal must be received and the signal should be sent. By calculating the time interval between sending and receiving messages, the distance between the tag and the base station can be measured. . UWB two-way ranging method is divided into unilateral two-way ranging method (SS-TWR) and bilateral two-way ranging method (DS-TWR).

The TOA (Time of Arrival) positioning method measures the time-of-flight between the tag and three or more base stations respectively, and then performs positioning through the trilateral positioning algorithm. The principle of the TOA method is similar to the principle of the above-mentioned bilateral ranging method, but the TOA positioning method requires all tags and base stations to maintain time synchronization, so there is no need to use multiple round-trip times to measure the flight time between tags and base stations like the bilateral two-way ranging method. Instead, the method of measuring the time of a single flight is used to reduce the time spent on measurement.

The TDOA positioning algorithm performs positioning by measuring the transmission time difference between two different base stations and tags. Since a set of hyperbolas cannot determine the position of the tag, at least three base stations are required to be able to locate the tag.

In this embodiment, the specific steps of the positioning method are described by taking the TOA positioning method as an example.

The basic principle of TOA (Time of Arrival) ranging is to obtain the time when the UWB pulse signal arrives at each tag, and the distance R between the UWB pulse signal and each base station is proportional to the signal propagation time t, so there is:

R=t _i ·c

Where c is the speed of light, that is, c=3×10 ⁸ m/s.

TOA positioning is commonly known as circular positioning, that is, draw a circle according to the measured distance as the radius, and determine the position of the label through the intersection of the circle, so at least ≥ 3 labels are required. Draw a circle with the measured distance of the three tags as the radius. The three drawn circles will have a common intersection point. The common intersection point of the three circles is the position of the locator, and the positioning can be realized. See Figure 3.

Referring to Figure 4, according to the geometric principle, the following equation can be obtained

Among them (x1, y1), (x2, y2), (x3, y3) are the known coordinates of the three UWB tags, R1, R2, R3 are the measured distances between the UWB locator and the three UWB tags, all is a known quantity. After the above formula is transformed, the position of the UWB locator (x0, y0) can be obtained, and the positioning of the tag can be realized.

Based on the above positioning method, the alignment between the DR sensor and the dental X-ray machine can be realized, and the relative positional relationship between the DR sensor and the fixed ring can be displayed by the host computer (PC or Pad) during the alignment process, see Figure 5, when When the DR sensor is in the center of the fixing ring, the screen will prompt "sensor is aligned" or the buzzer prompts: "drip" to issue an alignment reminder.

Based on the above-mentioned dental X-ray aligner and positioning method based on UWB technology, the usage steps of this embodiment are as follows:

1. The DR sensor is connected to the host computer (PC/Pad side);

2. Place the DR sensor with UWB locator in the patient's mouth;

3. Move the X-ray machine tube head with the UWB label fixing ring at the DR sensor to confirm the position;

4. During the movement of the tube head of the X-ray machine, check whether the DR sensor is placed in the fixing ring on the PC/Pad side;

5. When the DR sensor is aligned with the fixing ring, it will prompt "The sensor is aligned" or the buzzer will prompt: "Drip";

6. Press shooting to complete the dental filming.

The present invention adopts UWB technology, and aligns the position through the position of the UWB label, which has the following advantages:

1. Faster, more convenient and efficient alignment;

2. Reduce the burden of X-ray radiation on patients;

3. The alignment time is short, which greatly reduces the patient's discomfort;

4. Improve the quality of filming and reduce the time and energy spent by medical staff due to inaccurate filming alignment;

5. Realize more intelligent oral treatment process;

6. The operation is simple and convenient, improving clinical efficiency.

Claims (5)

1. The utility model provides a dentistry X ray aligner based on UWB technique for counterpoint of DR sensor and dentistry X ray machine, dentistry X ray machine is connected and is equipped with X ray machine bulb head, its characterized in that, aligner include UWB locator (2), UWB label (3) and solid fixed ring (1), UWB locator (2) are located on the DR sensor, the quantity more than or equal to three, the evenly distributed of UWB label (3) are located on solid fixed ring (1), gu fixed ring (1) locate on the X ray machine bulb head, gu fixed ring (1) center and X ray machine bulb head center coincidence.

2. A UWB-technology based dental X-ray aligner as claimed in claim 1, wherein the UWB locator (2) is communicatively connected to an upper computer (5).

3. The dental X-ray aligner based on UWB technology as set forth in claim 2, wherein the number of the UWB tags (3) is three or more, and the relative positional relationship between the UWB locator (2) and the UWB tags (3) is acquired based on the TOA positioning method to acquire the relative positional relationship between the DR sensor and the fixed ring (1), and displayed by the upper computer (5).

4. A dental X-ray aligner based on UWB technology as in claim 3 wherein the upper computer (5) is provided with a screen display cue or a buzzer cue, indicating that the DR sensor is located within the centre of the retaining ring.

5. An oral photographing method of a dental X-ray aligner based on UWB technology using the dental X-ray aligner based on UWB technology according to any one of claims 1 to 4, comprising the steps of:

step one, connecting a DR sensor with an upper computer;

placing the DR sensor with the UWB positioner in the oral cavity of the patient;

moving the X-ray machine bulb head with the UWB tag fixing ring at the DR sensor to confirm the position;

step four, checking whether the DR sensor is arranged in the fixed ring or not by the upper computer in the moving process of the X-ray machine ball tube head;

fifthly, when the DR sensor is aligned with the fixing ring, the upper computer prompts;

and step six, pressing down to shoot, and finishing the tooth shooting.

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