TWI397402B - Integral method for implant orientation and dental implant drilling guide plate design - Google Patents

Description

Integral method for implant orientation and dental implant drilling guide plate design

The present invention relates to the application of dental implant technology, and more particularly to an integrated method for automatically planning a preferred implant orientation and transferring it to a dental implant guide plate, thereby establishing a precise guide plate.

With the advancement of 3D image display technology, non-invasive image processing methods such as computed tomography (CT), magnetic resonance imaging (MRI), X-ray photography, ultrasound, etc. have been applied in many fields of medicine, making tradition rely on personal experience. Only two-dimensional images are used to infer the diagnosis and surgical practice of three-dimensional space, and gradually evolve into a reference three-dimensional model to provide more intuitive reference information. In the field of implants, the same evolution was also made. In 1999, the first SurgiGuide system developed by Materials was used to make the first surgical template for implants. In 2002 and 2003, mucosa-guide templates were also proposed (mucosa- Supported SurgiGuide) and tooth-supported SurgiGuide, which has now entered the era of computer-assisted implants.

The dental implant-oriented software on the market includes Nobel Biocare ^TM NobelGuide ^TM , Materialise's SimPlant, and Taiwan's Bao Cheng Enterprise's self-developed TDS system.

A. NobelGuide ^TM

Developed by Nobel Biocare ^TM , at With the aid of CAD/CAM computer 3D software, the 3D model can be reconstructed by CT scan, and then the direction and position of the implant can be simulated in advance, so that the surgical procedure is fast and safe compared to other similar systems. NobelGuide ^{TM is} in the dental implant guide plate. The design is relatively perfect. After the design of the guide plate is completed, the surgical guide plate is output by NobelGuide, and then The system provides surgical drilling tools for drilling the implant path. Only one piece of dental guide plate is used during the operation, which can reduce the error of the operation cost and the secondary alignment. Before the operation plan, the patient needs to scan the computerized tomography image first, and the plaster dental mold also needs to be scanned to establish the model, so as to improve the crown appearance of the dental guide plate.

B. SimPlant Planner

Developed by Materialise, the company is a global supplier of rapid prototyping, rapid tooling (RT), and rapid manufacturing (RM). Since 1990, it has been working on RP development and research. SimPlant and It can be said that it is the most common two sets of dental implant system software on the market today. SimPlant is characterized by the ability to design different types of dental implant guide plates according to different dental implant conditions, namely bone support, dental support and gingival support.

C. TDS ImplantSmart & SmartGuide

The TDS (TurboDent System) is a 3D tooth engraving system, and the ImplantSmart is a software for the implant orientation planning in the implant surgery program. SmartGuide is a software for the auxiliary surgery plan to manufacture the dental implant guide plate. The dental implant guide plate is produced in the same way as the ImplantMax3D, and is produced through the CNC machine.

As far as the above-mentioned dental implant systems are concerned, not every system gives the function of the implant path planning, so the distribution and orientation of the implants still need to be manually set by the physician. On the other hand, in the design of the guide plate, the interference problem that may occur in the guide plate is not considered, and a plurality of distance detection functions are not provided to further ensure the accuracy of the implant path planning.

In view of the above, the present invention provides an implant distribution and a method for establishing a drill guide plate, through the distribution of the implant distribution range and the number of implants, and automatically determining the orientation information of the implant by using the expert experience and rules of data digitization, and When designing the drilling guide plate, various factors such as the position of the implant, the covering range of the guiding plate, and the working height of the drilling device are considered to establish an accurate dental implant guiding guide plate for clinical dental implant surgery.

The main technique used to achieve the above objectives is to integrate the implant orientation planning and implant drilling guide plate design method: to obtain a computerized tomographic image, a patient's plaster dental mold is subjected to computerized tomography or Optical scanning to obtain a gypsum dental scan image, and obtain a real scan image of the same name patient after computerized tomography scan; reconstruct the humeral tissue image model, and fit the gypsum dental model scan image with the actual scan image to reconstruct An imaging model of the humerus tissue is included, and the imaging model of the tibia tissue includes information such as roots, teeth, and nerve vessels; establishing a dynamic occlusal surface of the patient; setting a reference surface and a reference axis, and incorporating the sacral tissue image model and the dynamic The occlusal surface is integrated into a three-dimensional tibia model, and a reference plane and a reference axis are set on the three-dimensional tibia model, the reference axis is orthogonal to the reference plane; the section partition and the section display are based on the axial angle θ ^{start of the} reference axis θ ^end to do the partitions, a target area on the three-dimensional model of the jaw bone as a unit of measurement is partitioned The humeral cross-sectional contour image is generated at different angles; the end point and the entry point of the implant are calculated, and a safe end line is established according to the relative positions of the tibia, nerve blood vessels and roots in the three-dimensional tibia model; Further comprising the steps of setting a cladding guide plate cladding area, establishing a guide panel inner wall mesh, establishing a guide plate outer wall mesh, joining the inner and outer wall mesh, and guiding the guide plate model output, wherein: establishing the drilling hole In the step of guiding the inner wall grid of the guide plate, the data points are first established, and in each partition divided by θ ^start to θ ^end , the depth is divided into multiple equal parts, and the highest point is found in each aliquot, as The height value of each point to avoid interference.

Please refer to the first figure, which is a flow chart of the method of the present invention. The main steps include: obtaining a computed tomography image (CT) (101), and for a patient who needs to receive dental implants, the patient's teeth produce a plaster tooth mold. There are two main functions of the dental mold. One is for fixing the marker positioning plate. The marker converts the coordinate between the image model and the solid model, so that the patient only needs to try and fine-tune before scanning the computed tomography image. Yes, the second is to provide soft tissue and flank information sources. Soft tissue can be modeled in the computerized tomographic image through the grayscale difference in the image, but it is difficult to separate from the surrounding tissue, such as the gray scale between the gums and the lips. The value of the same separation is not easy, or due to the metal denture patch in the patient's mouth, resulting in metal scattering artifacts of the CT image, the present invention provides a scanned geometric appearance of the gypsum dental mold to replace the patient tooth model. After the marker positioning plate is fixed on the plaster dental mold, the plaster dental mold is subjected to computerized tomography or optical image scanning to generate a gypsum dental model scanning image; on the other hand, the patient wears the same positioning plate for computer tomographic image scanning. To get the actual scanned image you need.

Reconstructing the humeral tissue image model (102), using the aforementioned markers to collate the scanned image of the gypsum dental model with the actual scanned image of the patient, and reconstruct a more accurate image of the sacral tissue image, since the actual scanned tissue image is With information on the roots, teeth, nerve vessels, muscles, etc., the reconstructed image of the humerus tissue has the above information for reference in subsequent steps.

A dynamic occlusal surface (103) is created. The occlusal motion includes a bulge motion, a mouth opening motion, and a side bit motion. These trajectories can be tracked and mathematically parameterized to establish a parameter line of the individual occlusion motion in the space. The personal dynamic occlusal surface is generated. As shown in the second figure, taking the molars as an example, since the crown shape of the missing tooth portion can be determined by the maximum intercuspal position of the contralateral dentition, the tracking can fully display the molar grinding. The side bite chewing movement of the food can establish a personalized dynamic occlusal surface at the limit contact position, which serves as a reference for the top shape of the contralateral crown. Among them, the technique of how to establish a dynamic occlusal surface of the patient is a patent for invention in the country. The publication No. 200920322 "Establishing a personal tooth occlusal surface and its method for establishing a denture model" is disclosed in detail.

The reference plane and the reference axis (104) are set, and the reconstructed sacral tissue image model and the patient dynamic occlusal surface are merged, and the sacral tissue image model and the dynamic occlusal surface are integrated into a occlusal information and plaster through the same coordinate positioning manner. A composite three-dimensional tibia model of dentition and tibia tissue information, and a reference coordinate is defined by a cylinder reference coordinate on the three-dimensional tibia model, as shown in Annex I (b), the arrow is a cylindrical coordinate system In the axial direction of the shaft, the reference plane formed by the fan-shaped line is orthogonal to the z-axis, so that the reference surface is as close as possible to a statically defined occlusal plane (the midpoint of the incisors and the most prominent points of the distal teeth of the two large molars) The occlusal surface, which is shown by the triangle in the figure.

The section partitioning and section display (105) is based on the axial angle of the reference axis, and a target area on the three-dimensional tibia model is partitioned by degrees to produce a contour image of the tibia section at different angles.

The implant entry point (106) is calculated. After obtaining the humeral cross-sectional contour image generated by the foregoing steps, the region to which each humeral cross-sectional contour belongs is recorded, and the depth of the sampling point of the tibia contour in each cross-sectional image is calculated in the reference coordinate system ( r) and height (z) information, and then calculating the implant entry point based on the shape of the tibia, the position of the nerve, and the aforementioned dynamic occlusal surface; the present invention provides two different embodiments in the manner of calculating the point of entry of the implant, one of which is based on the individual The dynamic occlusal surface seeks the extreme position of the occlusal surface in the tibia section, which determines the appropriate implant entry point, and the second determines the implant entry point through the tibia section inertia axis.

Please refer to the third and third B diagrams. When looking for the implant entry point according to the personalized dynamic occlusal surface, the difference between the upper and lower teeth according to the missing teeth is slightly different. The proximal cheek side bite (cusp) of the molar is in close contact with the buccal groove of the first large molar of the lower jaw, and the buccal bite of the lower molar is aligned with the upper molar groove. According to this characteristic, the dynamic occlusal surface can be engaged. Find the local pit to form the valley line as the axial starting point of the implant. The normal vector of the occlusal surface is used as the implantation direction of the implant. The intersection of this direction and the surface of the humerus is the entry point of the implant. The third A diagram shows the lingual local settlement point of the above occlusal surface as the axial starting point of the iliac implant (11), and the third B diagram shows the local high point of the buccal side of the following occlusal surface as the axial starting point of the upper iliac implant (12) Please refer to the fourth Figure A for the following examples. The following examples show the upper occlusal surface (21), the implant (22), the safe implant range (23), the humerus wall (24) and the implant. The relative positional relationship of the end point (25) of the tooth is used to find the axial starting point of the implant by using the occlusal surface. The purpose is to make the occlusal force direction F and the axial direction of the implant as parallel as possible, so that a relatively average stress distribution can be obtained. In contrast, as shown in the fourth figure, although the implant (22) is connected to the denture (26), the angle between the axial direction of the implant and the force F is too large, and it is easy to cause bone atrophy at the stress concentration point. Causes the implant (22) to shake or even fall off.

Although the personal dynamic occlusal surface can provide a good indication of the entry point of the implant, but the patient who has too much unilateral missing teeth or can not perform the side bite and chewing exercise stably, or the metal object in the oral cavity on the computed tomography image The false shadow causes the marker to be unrecognizable, which is easy to cause the model to fit the error. Therefore, the present invention can also use the inertia axis to determine the implant entry point, and find the long axis with the smallest angular inertia of the angular partition section as the implant insertion axis. Please refer to the fifth figure, in order to determine the method of implanting the axial direction of the implant by using the inertia axis, first obtain the coordinate information of the data points on the tibia contour, and use the feature square matrix to process and solve the coordinate information. The eigenvalue and the eigenvector are determined, wherein the solved eigenvector is the axis of the moment of inertia, and the maximum length of the skeletal contour to the eigenvector is the best orientation.

Specifically, if the model is composed of a grid of a plurality of triangles, p, q, r may represent vertex coordinates of each triangle mesh, and μ is the total average of all coordinates, ie, centroid. The vector that shapes the object to the point p , the total number of triangle meshes is n:

Then the three elements of the 3×3 feature matrix in space can be expressed as:

However, the present invention finds that the inertia axis is a triangle mesh formed on a two-dimensional angular section, and then applies the above formula. Since it is a two-dimensional plane, the feature matrix of the above formula is reduced to the second order, that is, expressed as:

The eigenvector of the characteristic equation of the above 2×2 matrix is the inertia axis vector, and this vector makes it pass the μ point to form a linear equation, which is the inertia axis.

Determining the end point of the implant (107), when determining the end point of the implant, because the implant is not allowed to enter the dangerous area (a limited range of important tissues such as nerve vessels, roots, and nasal hernia), the implantation direction has been determined, so The end point of the body can be determined by the safe distance from the opposite nerve vessels. If the implant enters a dangerous area, such as implants that are too close to or penetrate the nerve vessels, excessively close to the bone wall or penetrate the lateral bone wall, the implant end point must be re-determined, and the implant entry point is invariant. Lower the axial direction to avoid the nerves and blood vessels in the upper and lower tibia and maintain a safe distance. Please refer to Figure 6A. When determining the end point of the implant, the image model is also used to observe the tibia (31). The relative position of the nerve (32) and the tooth (33), first set the safe distance of the nerve area, for example, the height of the nerve (32) is 2 mm or the height of the nerve area is 10 mm below the top of the tibia (31). A safety end point (34) can be initially defined, and the center of the bone wall at the height z is determined as the safe end point of the implant according to the reference coordinate system. After the initial decision, as shown in Figure 6B, the end line is removed in a region with insufficient depth of implant, and finally the end of the tooth (33) is removed as shown in Figure 6C. At the same time, it is judged whether the minimum distance between the implant and the root maintains a safe distance of 3 mm, and the line segment of the remaining finish line is the end point of the implantable region.

The dental implant drilling guide plate (108) is established. In this embodiment, the dental support type guiding plate is used as an example. The guiding plate acts on the transfer implant plan to the patient's mouth, and the precise guide The drilling of the implanted teeth and the positioning of the implants should be considered in the design of the implant position, support type, coverage range, and instrument operation height. Referring to the seventh figure, in the process of establishing the dental implant drilling guide plate, further comprising setting a guiding plate covering area (701), establishing a guiding plate inner wall mesh (702), and establishing a guiding plate. The outer wall mesh (703), the inner and outer wall meshes, the guide plate model output (704), and the like.

Before describing the process of establishing the guide plate in detail, please refer to Annexes (a) to (c). The present invention considers the approximate curved shape of the humeral groove. Therefore, it is proposed to establish an angular partition data structure to accelerate the cylindrical coordinate system. Calculation and processing time. A fan-shaped auxiliary reference plane and a reference axis (Z-axis) are established as shown in Annex 1 (a). When the reference plane is determined, as shown in Annex 1 (b), partitioning is performed in units of "degrees". A total of 180 regions are covered by a coating start angle θ ^start to a coating end angle θ ^end , and each region can generate a cross-sectional image, and the nerve contour and the tibia contour are displayed in the cross-sectional image, wherein each data point in each partition is displayed. Considering the depth (r) and height (d) where it is located, as shown in Annex I (c), the depth r is the distance from the reference point of the data point, and the height d is the height in the parallel z-axis.

In the step of setting the guide plate coverage range (701), please refer to the attachments A and B. According to the height of the z-value in the partition, the highest and lowest ranges in the cross-sectional image of each angle can be defined, so 180 partitions There are 180 sets of extreme points. In the height-expanded view, the blue and green curves will correspond to the lingual or buccal mesh models of the gums, respectively, to obtain the guide plate coverage defined by the lingual (blue line) and buccal (green line). The coating depth of the guiding plate is determined by setting the lingual and buccal coating curves, and the grid of the yellow range serves as the basis for establishing the inner wall of the guiding plate.

The inner wall grid (702) of the guide plate is established. When the definition of the coating range is completed, the mesh data captured cannot be directly used as the inner wall of the dental drill guiding plate. The main reason is that the toothed area may be original. The phenomenon of tooth tilting causes interference, so that the implant drilling guide plate cannot be installed into the patient's mouth.

Taking the eighth A diagram as an example, the curve C1 represents a predetermined coverage area of the guide plate. If the curve C1 is used as the inner wall of the guide plate, the guide plate may interfere with the teeth due to the narrow opening, and cannot be correctly placed. In. In order to solve this problem, the present invention automatically adjusts the design of the guide plate.

Referring to FIG. 8B, in each partition divided by angle, according to the depth r, respectively, N-1 equal parts, and N=32 is taken as an example to generate internal points of P ₂ to P ₃₁ , and Find the highest point in the share, as the z value of each data point, and define the depth value (r value) of the starting point P ₁ and the end point P ₃₂ as P ₂ and P ₃₁ , and the height values z of P ₁ to P ₃₂ respectively. Each corresponds to the height definition of the lingual and buccal coating curves (blue lines and green lines in Annex II), thus ensuring that the inner wall opening of the guiding plate has a sufficient width to avoid interference.

In some cases, for example, when a single tooth is implanted, there is often insufficient space for the insertion of the guiding collar. The guiding plate must be suspended to increase the space for the collar. At this time, the height of the coating curve is moved to the height near the crown. As shown in the area selected in Annex III A, the coverage of the lingual and buccal sides is suspended above the humerus, that is, the width of the left and right sides of the humerus is 15 mm and the width is P ₁ to P ₃₂ . As shown in FIG. 3B, the design of the dangling guide plate can be generated by inserting the tongue side buccal height curve data point to the height value z of P1 to P32.

Establish the outer wall data point (703) of the guide plate. When the data point of the inner wall of the guide plate is determined, the outer wall data point is determined according to the inner wall data point. Please refer to the figure ninth, set the outer wall data points P' ₂ to P' ₃₁ depth equal to the inner wall points P ₂ to P ₃₁ depth, take the maximum height z in the coverage range plus the preset 4mm as P' ₂ to P 'height value of _31, 3mm final expansion outwardly in the direction of each P ₁ to P _32, the definition of the P' ₁ position P 'and a predetermined thickness ₃₂ of the guide plate.

The common problem between the guide plate partitions is that the thickness is insufficient, which makes the finished product too soft, which leads to the inability to accurately position the correct target due to softening deformation during use, resulting in misalignment of the guide. Such phenomena often occur in the intersection of missing teeth and teeth. At the office. Please refer to the figure 10A. The frame selection area in the figure is the height drop area (40) between the tooth and the missing tooth, which easily leads to insufficient thickness of the joint between the two. Therefore, the present invention further compares the height values of the data points between adjacent partitions. When the height difference between the two exceeds a preset value (for example, 5 mm), the height is lower relative to the inner wall height, and the height of the low point is raised. Raise the height position to an appropriate proportion from the high point. As shown in the tenth B, the preferred ratio is about 1/3 of the height. The line A is connected to the inner wall of the data point after the interpolation to improve the height direction. Schematic diagram of insufficient thickness.

For the insufficient thickness of the guide plate in the depth direction, as shown in FIG. 11A, the area B indicated by the broken line in the figure is a phenomenon in which the guide plate is too thin in the depth direction. It can be determined whether the adjustment should be made by comparing the depth r of the adjacent zone. When it is found that there is a domain with a large depth difference, the interpolation is also performed, as shown in Fig. 11B, for example, when the difference is When it is larger than 3 mm, the lower point of the r value is raised to a depth position which is an appropriate ratio from the high point, and the preferred ratio is about 1/4 depth, so that the guide plate is not excessively thin.

Model output (704), according to the design of the implant orientation and the guiding plate, the drilling path and the position of the ring seat and the drilling guide collar can be determined on the guiding plate, and finally the prototype is used. Output the designed dental drill guide plate.

In the case of implants, the first and second large molar areas of patients are often incapable of using the guide plate due to insufficient patient opening. In order to avoid difficulty in implanting the patient with insufficient opening degree, the physician should first measure the opening degree of the implanted area in the clinical diagnosis of the patient. As shown in the twelfth figure, the opening degree (50) is defined as the gingival dentition at the time of opening the mouth. To the opposite side of the tooth or gum height, the degree of opening (50) will limit the clinical implant device workspace and guide plate design. As shown in Fig. 13, the instruments used in clinical operations include a hand-held drill (52), a drill aid (53), a drill bit (54), a guide plate (55), and a guide collar. The patient's opening degree shall be greater than the height of the clinical device and the height of the guide plate (57) plus one of the clinical maximum heights (60), otherwise the height of the guide plate shall be lowered (57). The invention can determine whether the data can meet the condition after obtaining the opening degree data of the patient, and if the data is not met, the recommendation can be automatically given.

(11). . . Axial starting point of the lower plant

(12). . . Axial starting point of the upper plant

(twenty one). . . Upper occlusal surface

(twenty two). . . Implant

(twenty three). . . Safe implant range

(twenty four). . . Tibia wall

(25). . . End point of implant

(26). . . Denture

(31). . . jawbone

(32). . . nerve

(33). . . tooth

(34). . . Safety finish line

(40). . . Height drop area

(50). . . Opening degree

(52). . . Electric drill

(53). . . Drilling aid

(54). . . drill

(55). . . Guide plate

(57). . . Guide plate suspended height

(60). . . Clinical maximum height

First Figure: Flow chart of the method of the present invention.

Second figure: Schematic diagram of the creation of the occlusal surface of the present invention.

The third A and B diagrams: The present invention utilizes a dynamic occlusal surface to find a schematic view of the implant entry point.

Figure 4A: The present invention utilizes a dynamic occlusal surface to determine the relationship between the orientation of the implant and the occlusal force.

Figure 4B: Schematic diagram of the relationship between improper implant orientation and occlusal force.

Fig. 5 is a flow chart showing the steps of the invention for determining the implantation axis of the implant using the inertia axis.

Sixth A to Six C: The schematic diagram of the end point of the implant of the present invention.

Seventh: The flow chart of the steps of the invention for establishing a dental drilling guide plate.

Figures 8A and 8B: The present invention determines a schematic view of the data points on the inner wall of the dental drill guide plate.

Ninth figure: The present invention determines the distribution of data points on the outer wall of the dental drill guide plate.

Figure 10A: Schematic diagram of the insufficient thickness of the dental implant guide plate in the height direction.

Figure XB: Schematic diagram of the reduction of the thickness in the height direction of the dental drill guide plate.

Figure 11A: Schematic diagram of insufficient thickness of the dental implant guide plate in the depth direction.

Figure 11B: Schematic diagram of the reduction of the thickness in the depth direction of the dental implant guide plate.

Figure 12: Schematic diagram of the definition of opening degree.

Figure 13: Schematic diagram of the definition of the maximum clinical height.

Annex I: A schematic diagram of how the present invention defines a reference plane and a reference axis.

Annex II A: Two-dimensional development of the definition of the guide plate cladding range.

Annex II B: Sectional view of the definition of the guide plate cladding range.

Annex III A: Two-dimensional development of the guide plate suspension design.

Annex III B: Sectional view of the guide plate suspended design.

Claims (6)

An integrated method for planting azimuth planning and implanting drilling guide plate design includes: obtaining a computerized tomographic image, scanning a patient's plaster dental mold to obtain a gypsum dental model scan image, and obtaining a computer of the same name by computer One of the images after the tomographic scan is actually scanned; the sacral tissue image model is reconstructed, and the scanned image of the plaster is matched with the actual scanned image to reconstruct a sacral tissue image model, which contains the root and teeth. , neurovascular information; establish the dynamic occlusal surface of the patient; set the reference plane and the reference axis, merge into the aforementioned sacral tissue image model and the dynamic occlusal surface and integrate into a composite with occlusion information, gypsum dentition and tibia tissue information a three-dimensional tibia model, wherein a reference plane and a reference axis are set on the three-dimensional tibia model, the reference axis is orthogonal to the reference plane; the section zoning and the tangential display are started by a coating according to the axial angle of the reference axis angle θ ^start to the end of a cladding angle θ ^end do partition, a target area on the three-dimensional model of the jaw bone in degrees The unit of measurement is divided to generate the humeral cross-sectional contour image at different angles; the entry point and the end point of the implant are calculated, and an implant entry point is calculated according to the dynamic occlusal surface or the humeral cross-sectional contour image, and then according to the humerus in the three-dimensional tibia model, A safe end line is established for the relative position of the nerve vessel and the root; the dental implant guide plate is established, which includes setting the cladding guide plate covering area, establishing the inner wall of the drilling guide plate, and establishing the drilling hole. a step of guiding the outer wall of the guide plate, joining the inner and outer wall meshes, and guiding the model output, wherein: in the step of establishing the inner wall mesh of the drill guide plate, at the coating start angle θ ^start to the end of the coating In each partition divided by the angle θ ^{end, it} is divided into multiple equal parts according to the depth (r), and the highest point is found in each aliquot as the height value of each data point, and the depth value starting point and the depth value ending point are defined. The height values each correspond to the height definition of the lingual cover curve and the buccal cover curve, ensuring that the inner wall opening of the guide plate has a sufficient width to avoid interference. For example, in the method of integrating the azimuth planning of the implant implant and the design of the dental implant guide plate according to the first application of the patent scope, in the step of calculating the entry point and the end point of the implant, the implant entry point is based on a personification The dynamic occlusal surface is determined by finding a local concave point on the dynamic occlusal surface to form a valley connection. As an axial starting point of the implant, the axial starting point of the implant is in the normal occlusal surface normal vector as the implant implantation direction. The intersection of this direction and the surface of the humerus is the point of entry of the implant. For example, in the method of integrating the azimuth planning of the implant implant and the design of the dental implant guide plate according to the first application of the patent scope, in the step of calculating the entry point and the end point of the implant, the implant entry point is according to the inertia axis And determining that the calculation step of the inertia axis comprises: forming a plurality of triangular meshes on the cross-sectional contour image of the tibia, wherein the coordinate points of the vertices of each triangular mesh are respectively p, q, r, and the total average of all the coordinates is the centroid μ, where Where n is the total number of triangular meshes; the coordinate information of the triangular meshes is processed by a feature square matrix, which is: Solving the feature value of the feature square and determining the feature vector, wherein the feature vector is the inertia axis vector, and the vector passes it through a centroid, that is, the inertia axis. The method for integrating the azimuth planning of the implant implant and the design of the dental implant guide plate according to any one of the claims 1 to 3, in calculating the end point of the implant, comprises: initially defining a safety finish line, Maintaining a first set distance from the nerve vessel or initially defining a safe endpoint at a height of the second set distance from the top of the humerus in the non-neural region, and using the center point of the bone wall as the safe end point; A safety finish line in areas where the depth of the implant is insufficient; remove the safe finish line with the tooth area and the remaining end line as the end point of the implant area. For example, the method for integrating the orientation of the implant implant and the design of the dental implant guide plate according to the fourth application of the patent scope further includes: obtaining the opening degree data of the patient; and determining whether the opening degree is greater than a clinical maximum height. The maximum clinical height is the overall height of the intra-oral height of the clinical device and the suspended height of the guide plate. For example, in the method of integrating the azimuth planning of the implanted implant and the design of the implanted guide plate, the reference plane and the reference axis set by the three-dimensional tibia model are determined according to the cylindrical coordinate system.