• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The object of this invention is a system for the self-localization of a module in position, orientation and rotation from a computerized tomography that comprises a physical part and a mathematical software support that works with known geometric coordinates of the physical part, being the physical part a module or part (1) with an undefined configuration and internally perforated forming a regular or irregular open hole (21) (22), said hole (21) (22) presenting a predetermined and known geometric shape and/or inclination, participating in the self-location of the piece (1) a mathematical software specified in a computer system for repositioning or "best fit" of a pattern of points corresponding to the inclination and/or shape of the open hole (21) (22), that allows said hole (21) (22) to be visible, locating and positioning said module or part (1), as well as its orientation and rotation, the open hole (21) (22) being empty or re filled with a material in a solid, semi-solid, pasty, liquid or gaseous state. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2779503A2
    申请号:ES201930929
    申请日:2019-10-19
    公开日:2020-08-17
    发明作者:Cegarra Jose Soler
    申请人:Luengo Soler Luis；Manero Marti Ana Ma；
    IPC主号:
    专利说明:

    [0004] Object of the invention
    [0006] The present invention refers to a system for the self-localization of a module in position, orientation and rotation from a computerized tomography, presenting technical characteristics that improve systems and modules of similar use existing in the market and everything that is part of the corresponding state of the art.
    [0008] Technical sector
    [0010] The field of the technique of this invention corresponds to the treatment and / or generation of image data, in particular the analysis of said images by means of different comparative techniques.
    [0012] State of the art
    [0014] The detection of objects inserted in natural or artificial physical bodies is one of the usual needs in various disciplines of knowledge and technical activities, in particular to establish the coordinates of position, orientation and rotation of such objects. By way of example, the dental sector needs to securely position and fix the position of dental implants, made of biocompatible materials and seated by thread on the base of the bone. The same need exists in other medical disciplines to assess affectations in different organs, check implants or verify devices inserted in the human body intended to control the correct functioning of certain organs and is extensive to other areas of knowledge such as biology, archeology or oceanography in which it is necessary to explore artificial or physical bodies to locate parts that may be partially or totally hidden.
    [0016] There are currently different techniques to achieve these objectives, some developed in different legal documents. Patent US20140377714 refers to a " scanning body for determining the position and orientation of a dental implant", which includes "a base part that comprises an interface, which includes a region of , which includes a transition region axially between the scan region and the interface, as well as including a set screw to secure the scan body to the implant. "
    [0018] Document WO2007074201 develops a "Mini autonomous gamma camera that includes a localization system for intra-surgical use" that is based on "scintillation crystals and comprises an independent module, that is, all the necessary systems have been integrated together with the sensor head and no other system is required. The camera can be hot-plugged to any computer using different types of interface, such as to meet medical grade specifications. The camera can be self-powered, can save energy, and allows software and firmware to be updated from the Internet and images to be formed in real time. Any continuous scintillation crystal-based gamma ray detector can be provided with a system to focus the scintillation light emitted by the gamma ray to improve spatial resolution. The invention also relates to new methods for locating radiation-emitting objects and for measuring physical variables, based on radioactive emission pointers and lasers. " Document WO2016102721 refers to a "method and system for spatial location of a target in a three-dimensional environment comprising at least one luminous marker comprising: - a stereo camera to capture a first image frame at a current time and a second frame of image in a previous instant; - an angle measurement module to obtain an angle of rotation of the target and a signal processor with access to a storage memory of radii " using triangulation techniques, stereo geometry and image coordinates of the marker at the current moment and at the previous. European patent EP1501051A2 refers to a "position and orientation detection method and apparatus", in which "a signal is produced indicating a change in the position of an image sensor apparatus to predict the current position and orientation of the Image sensing apparatus using previously obtained position and orientation, identifying the corresponding pairs of indicators detected from an image in real space detected by the image detection apparatus and indicators contained in an image when detected from a position and orientation predicted and using a correction method determined by the number of identified indicator pairs to correct for all or some of the degrees of freedom from the predicted Camera Position and Orientation or to use the predicted camera position and orientation directly as is. " The patent AU 2008296518 develops a “system and a method for 3D measurement of the shape of material objects by means of a non-contact structured light triangulation. The system of any object and a camera to capture an image of the structured light pattern acting on the surface of the object. The system further includes a computer module to determine the 3D measurement of the surface shape of the illuminated object through a triangulation algorithm employed based on a calculated correspondence between the projected structured light and the captured image. Structured light includes coded elements found within planes that pass through the vertices of the central projection areas of the projector and camera, as well as through the space of the object being measured. " Patent US9829564, which refers to a "detector to optically detect at least one longitudinal coordinate of an object by determining a number of illuminated pixels".
    [0020] The aforementioned background describes various advances in techniques for locating hidden parts, using location systems either by means of light points or by calculating different three-dimensional parameters. However, the techniques used may, in certain cases, not guarantee the accuracy of the position of the hidden part since it is nothing more than an object that itself lacks parameters that allow its location unequivocally.
    [0022] Applicants are not aware that there is a module that is self-locating in position, orientation and rotation, nor of a system that allows such location from a computed tomography.
    [0024] Object of the invention
    [0026] Thus, the object of this invention is a system for the self-localization of a module in position, orientation and rotation from a computerized tomography of any type (CT, CBCT, etc ...).
    [0028] This system comprises a physical part and a mathematical software support that works with known geometric coordinates of the physical part.
    [0030] The physical part is specified in a module as a piece of undefined configuration characterized by being internally perforated forming a hole open at both ends, regular or irregular, said hole presenting a predetermined and known inclination and / or shape, and that allow to indicate the position, orientation and determined rotation of the part where said hole is located.
    [0031] filling material according to the needs of the module or piece.
    [0033] In the mathematical software that intervenes in the self-location of the module, there is a computer system for repositioning or "best fit" of a pattern of points corresponding to the inclination and / or shape of the open hole, which allows locating and positioning said module, as well as its orientation and rotation by means of a tomography.
    [0035] Ultimately, it is a matter of applying a predetermined mathematical software that allows a tomographic reconstruction of the module, which in turn implies the self-localization of said module from the described open hole, whose inclination and / or shape are previously known, being of made the only geometrically recognizable part of the module despite the fact that the piece, itself, has an unknown, regular or irregular configuration, and is made of any material.
    [0037] The self-locating module can be inserted into a second hidden, artificial or natural physical body, that is, not visible, such as a surgical implant, or the second physical body can be partially or totally exposed to view, screwed into a non-buried base. such as a dental implant that protrudes from the gum or screwed to an object that can be subjected to an industrial CT scan.
    [0039] The open hole of the module can be filled with a material in a solid, semi-solid, pasty, liquid or gaseous state.
    [0041] Description of the drawings
    [0043] In order to facilitate the understanding of the innovation claimed herein, a sheet with some drawings is attached, which must be analyzed and considered solely by way of example and without any limiting or restrictive character.
    [0045] Figure 1.- Schematic view of the self-locating module in position, orientation and rotation claimed in detail of the interior open hole in oblique position.
    [0046] Figure 2.- Schematic perspective view of the self-locating module with detail of the interior open hole in oblique position.
    [0047] Figure 3.- Schematic view of the self-locating module with detail of the interior open hole in a vertical and centered position.
    [0048] According to these drawings, the object of this invention is a system for the self-localization of a module in position, orientation and rotation from a computerized tomography. In these figures, this module is shaped, by way of example, as a post applied to dental implants.
    [0050] In these figures, the self-locating module is made of a piece (1) with an upper body (11) extended by an anchor post (12), the upper body (11) being internally drilled with a hole open at both ends, ( 21) (22) with a previously known inclination and / or shape. In Figures 1 and 2, the open hole (21) is arranged in an oblique position with respect to the mentioned upper body of the part (1) while in Figure 3, the open hole (22) is located in a longitudinal position with respect to the body. (11) of part (1).
    [0052] In any of these examples and in any other configuration of the module, that is, of the piece, regular or irregular, known or unknown, the inclination and / or shape of the hole are previously known and are the only geometrically recognizable part of the piece, for what these data constitute the only information that will allow that, by means of a computerized tomography of any type (CT, CBCT, etc ...), compiling the geometric data that identify the described open hole and using such data for the tomographic reconstruction of the Based on a mathematical algorithm of computer-processed software, the position, orientation and rotation of the aforementioned part are determined.
    [0054] Based on the above, it is obvious that it is the special technical characteristics of the module or part, that is, the predetermined and known inclination and / or shape of its interior hole, which make said module a self-locating body through the system. described. Without said hole and without knowledge of its shape and / or inclination, locating the module or part inserted in an artificial or natural physical body is much more complex and does not guarantee satisfactory results.
    [0056] Obviously, the system for the self-localization of a module in position, orientation and rotation from a computerized tomography that is claimed is functional in diverse applications in fields such as medicine, biology, archeology, among others.
    [0057] In the matter, understand the scope of the invention and the advantages derived from it. The materials, shape, size and arrangement of the elements will be susceptible to variation as long as this does not imply an alteration in the essentiality of the invention. The terms in which this report has been written should always be taken in a broad and non-limiting sense.
    权利要求:
    Claims (2)
    [1]
    1st System for the self-localization of a module in position, orientation and rotation from a computerized tomography essentially because it comprises a physical part and a mathematical software support that works with known geometric coordinates of the physical part, specifying the physical part in a module or part (1) of undefined configuration and internally perforated, forming an open hole (21) (22) at both ends, regular or irregular, said open hole (21) (22) having a predetermined geometric shape and / or inclination and known, participating in the self-location of the module or part (1) the mathematical software in which a computer system for repositioning or "best fit" of a pattern of points corresponding to the inclination and / or shape of the open hole (21) ( 22), allowing said open hole (21) (22) to be visible, locating and positioning the module or part (1) of which it is part, as well as the orientation and rotation of it.
    [2]
    2nd System for the self-localization of a module in position, orientation and rotation from a computerized tomography, according to claim 1, essentially characterized in that the open hole (21) (22) is empty
    3 System for the self-localization of a module in position, orientation and rotation from a computerized tomography, according to claim 1, essentially characterized in that the open hole (21) (22) contains a filling material in solid, semisolid state, pasty, liquid or gaseous.
    4th System for self-locating a module in position, orientation and rotation from a computerized tomography, according to claim 1, essentially characterized in that the self-locating module or part (1) is inserted into a second artificial or natural physical body, being this second body hidden from view or being partially or totally exposed to view.
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    同族专利:
    公开号 | 公开日
    ES2779503R1|2020-08-19|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    BE1015916A3|2004-02-25|2005-11-08|Clerck Rene De|MARKING ELEMENT AND METHOD FOR DETERMINING THE POSITION OF A dental implant.|
    WO2014128054A1|2013-02-20|2014-08-28|Gc Europe|Precalibrated dental implant aid|
    US10327869B2|2015-10-21|2019-06-25|Biomet 3I, Llc|Attachment members with internally located radiopaque information markers for CT scan|
    法律状态:
    2020-08-17| BA2A| Patent application published|Ref document number: 2779503 Country of ref document: ES Kind code of ref document: A2 Effective date: 20200817 |
    2020-08-19| EC2A| Search report published|Ref document number: 2779503 Country of ref document: ES Kind code of ref document: R1 Effective date: 20200812 |
    2021-08-23| PC2A| Transfer of patent|Owner name: JOSE JAIME RICO IRIBARNE Effective date: 20210817 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201930929A|ES2779503R1|2019-10-19|2019-10-19|SYSTEM FOR THE SELF-LOCATION OF A MODULE IN POSITION, ORIENTATION AND ROTATION FROM A COMPUTERIZED TOMOGRAPH|ES201930929A| ES2779503R1|2019-10-19|2019-10-19|SYSTEM FOR THE SELF-LOCATION OF A MODULE IN POSITION, ORIENTATION AND ROTATION FROM A COMPUTERIZED TOMOGRAPH|
    PCT/ES2020/070633| WO2021074475A1|2019-10-19|2020-10-19|System for the self-localistion of a module in terms of position, direction and rotation from computerised tomography|
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