Method and device for determining motion trail of mandible and electronic equipment

Abstract

The invention discloses a method and a device for determining a movement track of a mandible and electronic equipment. The method comprises the steps that an auxiliary part, fixed to the gingiva, in the mouth of a target object is scanned through intraoral scanning equipment, intraoral scanning data are obtained, and the auxiliary part is provided with a feature structural part; acquiring mark point track data corresponding to the mark points on the feature structural component through face scanning equipment; and according to the mark point trajectory data and the intraoral scanning data, determining the motion trajectory of the mandible of the target object. The technical problem that mandible movement measurement in the prior art is not suitable for edentulous jaw patients is solved.

Description

Technical Field

[0001] The present application relates to the technical field of stomatology, and in particular, to a method, device, and electronic device for determining the movement trajectory of the mandible. Background Art

[0002] In the measurement of mandibular movement in stomatology, for edentulous patients, since the alveolar ridges in the mouths of edentulous patients are flat, it is difficult to fix the occlusal fork; while using the method of attaching fiducial points to the mandible, it is easily affected by the oral environment and the movement of the upper and lower jaws, resulting in the occlusion or loss of reflectivity of the fiducial points, making it difficult to scan; at the same time, for the measurement of mandibular movement, it is necessary to bind the intraoral scan data with the mandibular data obtained by facial scanning. However, for edentulous patients, it is very difficult to obtain mandibular data through facial scanning, and the splicing accuracy of the data scanned by facial scanning and the intraoral scan cannot be constrained; and it is difficult to unify the coordinate systems of the facial scan data and the intraoral scan data, resulting in the inability to effectively track the movement trajectory of the mandible.

[0003] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0004] Embodiments of the present application provide a method, device, and electronic device for determining the movement trajectory of the mandible, so as to at least solve the technical problem that the measurement of mandibular movement in related technologies is not applicable to edentulous patients.

[0005] According to one aspect of the embodiments of the present application, a method for determining the movement trajectory of the mandible is provided, including: scanning an auxiliary member fixed on the gums in the mouth of a target object by an intraoral scanning device to obtain intraoral scan data, wherein a feature structure member is provided on the auxiliary member; collecting fiducial point trajectory data corresponding to fiducial points on the feature structure member by a facial scanning device; and determining the movement trajectory of the mandible of the target object based on the fiducial point trajectory data and the intraoral scan data.

[0006] In some embodiments of the present application, the auxiliary member includes an installation groove for installing an occlusal fork including a feature structure member.

[0007] In some embodiments of the present application, the fiducial points are fixed on the feature structure member, and the fiducial points are located outside the mouth of the target object, and the position where the fiducial points are located meets the requirements of three-dimensional scanning and tracking.

[0008] In some embodiments of the present application, before scanning the auxiliary member fixed on the gums in the mouth of the target object by the intraoral scanning device, it further includes: scanning the gums by the intraoral scanning device to obtain three-dimensional scan data of the gums; and determining the shape of the auxiliary member based on the three-dimensional scan data of the gums.

[0009] In some embodiments of the present application, landmark trajectory data corresponding to the landmarks on the feature structure is collected by a facial scanning device, including: when the target object makes a mandibular movement, the landmarks on the feature structure are scanned by the facial scanning device to obtain the landmark trajectory data.

[0010] In some embodiments of the present application, before determining the movement trajectory of the mandible of the target object, it further includes: obtaining the first coordinate system where the intraoral scan data is located, and before the target object makes a mandibular movement, obtaining the initial landmark data corresponding to the landmarks on the feature structure; aligning the landmark trajectory data to the first coordinate system according to the initial landmark data.

[0011] In some embodiments of the present application, determining the movement trajectory of the mandible of the target object includes: when the landmark trajectory data and the intraoral scan data are in the same coordinate system, splicing the landmark trajectory data and the intraoral scan data to obtain the movement trajectory of the mandible of the target object.

[0012] According to another aspect of the embodiments of the present application, there is also provided a device for determining the movement trajectory of the mandible, including: a scanning module, configured to scan the gums in the mouth of the target object and the auxiliary member fixed on the gums by an intraoral scanning device to obtain intraoral scan data, where the target object is a user without teeth, and a jaw fork including a feature structure is fixed on the auxiliary member; a collection module, configured to collect landmark trajectory data corresponding to the landmarks on the feature structure by a facial scanning device; a determination module, configured to determine the movement trajectory of the mandible of the target object according to the landmark trajectory data and the intraoral scan data.

[0013] According to yet another aspect of the embodiments of the present application, there is also provided an auxiliary member, which is applied to the method for determining the movement trajectory of the mandible. The auxiliary member is fixedly connected to the jaw fork through a mounting groove. The jaw fork includes a feature structure, and landmarks are provided on the feature structure.

[0014] According to yet another aspect of the embodiments of the present application, there is also provided an electronic device, including: a memory and a processor. The memory is used to store program instructions; the processor is connected to the memory and is configured to execute program instructions for implementing the following functions: scanning the gums in the mouth of the target object and the auxiliary member fixed on the gums by an intraoral scanning device to obtain intraoral scan data, where the target object is a user without teeth, and a jaw fork including a feature structure is fixed on the auxiliary member; collecting landmark trajectory data corresponding to the landmarks on the feature structure by a facial scanning device; determining the movement trajectory of the mandible of the target object according to the landmark trajectory data and the intraoral scan data.

[0015] According to another aspect of the embodiments of the present application, a non-volatile storage medium is further provided. The non-volatile storage medium includes a stored computer program. Wherein, the device where the non-volatile storage medium is located executes the above-mentioned method for determining the mandibular movement trajectory by running the computer program.

[0016] According to another aspect of the embodiments of the present application, a computer program product is further provided, including computer instructions, which implement the above-mentioned method for determining the mandibular movement trajectory when executed by a processor.

[0017] In the embodiments of the present application, by fixing an auxiliary part with a feature structure on the gums of edentulous patients, combining an intraoral scanning device and a facial scanning device to determine the mandibular movement trajectory, the purpose of improving the accuracy of obtaining the mandibular movement trajectory of edentulous patients is achieved. Thus, the technical effects of more efficient, precise design and production of personalized dentures and improved patient comfort are realized, and further the technical problem that the mandibular movement measurement in the related art is not applicable to edentulous patients is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0019] Figure 1 is a hardware structure block diagram of a computer terminal for the method of determining the mandibular movement trajectory according to an embodiment of the present application;

[0020] Figure 2 is a flowchart of the method for determining the mandibular movement trajectory according to an embodiment of the present application;

[0021] Figure 3 is a schematic diagram of an auxiliary part for the method of determining the mandibular movement trajectory according to an embodiment of the present application;

[0022] Figure 4 is a schematic diagram of a feature structure part for the method of determining the mandibular movement trajectory according to an embodiment of the present application;

[0023] Figure 5 is a flowchart of the facial scanning for the method of determining the mandibular movement trajectory according to an embodiment of the present application;

[0024] Figure 6 is a schematic structural diagram of a device for determining the mandibular movement trajectory according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In order to enable those skilled in the art to better understand the solution of this application, the technical solution in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the protection scope of this application.

[0026] It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or devices.

[0027] The mandibular movement measurement system adopted by the related technology is not applicable to edentulous patients. The main reason is that the alveolar ridge in the mouth of edentulous patients is flat, and there is no place to fix the occlusal fork. For the mandibular movement measurement system, it is necessary to paste the tracking landmark points on the patient's mandible in order to effectively track the movement trajectory of the mandible. Moreover, in order to realize the repositioning of the mandibular jaw relationship and accurately give the specific position of the mandible, it is essential to be able to bind the oral scan data with the mandibular data. However, for edentulous patients, it is very difficult to scan the gingival data in the mouth, and the splicing accuracy of the scanned data and the oral scan cannot be constrained. In addition, the related technology needs to paste landmark points on the gums. However, the oral environment is moist, and the pasted landmark points after drying will be wetted during the mandibular movement with the secretion of saliva, thus losing the reflective characteristics and cannot be effectively recognized by the surface scan. Moreover, in most edentulous patients, the mandibular alveolar ridge is relatively low, and the landmark points pasted in the mouth are easily blocked by the lips during the movement.

[0028] In order to solve the above technical problems, the embodiments of this application provide corresponding solutions, which will be described in detail below.

[0029] The embodiment of the method for determining the mandibular movement trajectory provided by the embodiments of this application can be executed in a mobile terminal, a computer terminal, or a similar computing device. Figure 1 The hardware structure block diagram of a computer terminal for implementing the method for determining the mandibular movement trajectory is shown. As Figure 1As shown, the computer terminal 10 may include one or more processors (illustrated as 102a, 102b, ……, 102n in the figure) (the processor may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission module 106 for communication functions connected via wired and / or wireless networks. In addition, it may further include: a display, a keyboard, a cursor control device, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, and a BUS bus. Those of ordinary skill in the art can understand that Figure 1 the structure shown is only schematic and does not limit the structure of the above-mentioned electronic device. For example, the computer terminal 10 may further include more or fewer components than Figure 1 shown in the figure, or have a different configuration from Figure 1 that shown in the figure.

[0030] It should be noted that the above one or more processors and / or other data processing circuits are generally referred to as "data processing circuits" herein. The data processing circuit may be embodied in whole or in part as software, hardware, firmware, or any combination thereof. In addition, the data processing circuit may be a single independent processing module, or be incorporated in whole or in part into any one of other elements in the computer terminal 10. As involved in the embodiments of the present application, the data processing circuit is a kind of processor control (such as the selection of a variable resistance terminal path connected to an interface).

[0031] The memory 104 may be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the method for determining the mandibular movement trajectory in the embodiments of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implements the above-mentioned method for determining the mandibular movement trajectory. The memory 104 may include a high-speed random access memory, and may further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0032] The transmission module 106 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission module 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission module 106 can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0033] The display can be, for example, a touch-screen liquid crystal display (LCD), which enables the user to interact with the user interface of the computer terminal 10.

[0034] It should be noted here that in some alternative embodiments, the above Figure 1 illustrated computer terminal may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware elements and software elements. It should be pointed out that Figure 1 is only an example of a specific specific instance and is intended to illustrate the types of components that may exist in the above computer terminal.

[0035] Under the above operating environment, an embodiment of a method for determining the movement trajectory of the mandible is provided in an embodiment of the present application. It should be noted that the steps illustrated in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is illustrated in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0036] Figure 2 is a flowchart of a method for determining the movement trajectory of the mandible according to an embodiment of the present application. As Figure 2 shown, the method includes the following steps:

[0037] Step S202, scanning an auxiliary member fixed on the gums in the mouth of the target object through an intraoral scanning device to obtain intraoral scanning data, wherein a feature structure member is provided on the auxiliary member.

[0038] In the above step S202, the intraoral scanning device is a device specifically used for collecting three-dimensional data inside the oral cavity, and can accurately obtain three-dimensional information of oral structures such as teeth, gums, and palate. In some embodiments of the present application, the intraoral scanning device can be used to obtain three-dimensional scanning data of the gums and three-dimensional data of the auxiliary member (including the feature structure member) fixed on the gums.

[0039] The target object refers to an edentulous patient for whom the mandibular movement trajectory needs to be determined, that is, a person without natural teeth.

[0040] The auxiliary part refers to a personalized base plate designed for the patient's oral cavity, on which characteristic structural parts are integrated, aiming to provide a stable marker for easy identification and tracking by the facial scanning device. The auxiliary part is fixed on the patient's gums to ensure the relative stability of the marker point position, thereby providing accurate movement trajectory data. The characteristic structural parts are installed on the auxiliary part and are components with special geometric shapes or markings, used to enhance the facial scanning device's recognition ability of the marker point.

[0041] The intraoral scan data refers to the three-dimensional information data of the internal oral structures (such as teeth and gums) and the characteristic structural parts on the auxiliary part obtained by the intraoral scanning device.

[0042] In some embodiments of the present application, the auxiliary part includes a mounting groove for mounting a jaw fork containing characteristic structural parts.

[0043] The mounting groove is a specific groove design on the auxiliary part for precisely mounting the jaw fork, ensuring that the characteristic structural parts on the jaw fork can be stably and accurately positioned on the patient's gums. The mounting groove is used to improve the stability and accuracy of the jaw fork installation, reduce the position offset during movement, and thus ensure the recognition accuracy of the marker point during facial scanning and the continuity of the movement trajectory.

[0044] The jaw fork is a part on the auxiliary part for carrying and displaying characteristic structural parts, and its shape and structure can ensure that the distribution of the marker points in the three-dimensional space meets the tracking requirements, providing a fixed and clear marker point display platform for easy identification and tracking by the facial scanning device.

[0045] To ensure the perfect fit of the auxiliary part to the gums and reduce the patient's discomfort, before scanning the auxiliary part fixed on the gums in the target object's mouth through the intraoral scanning device, it further includes: scanning the gums through the intraoral scanning device to obtain the three-dimensional scan data of the gums; determining the shape of the auxiliary part based on the three-dimensional scan data of the gums.

[0046] The three-dimensional scan data of the gums refers to the three-dimensional data obtained by scanning the patient's gums through the intraoral scanning device, which can include information such as the shape, texture, and spatial position of the gums. The three-dimensional scan data of the gums is the basis for designing the personalized auxiliary part, ensuring that the auxiliary part can closely fit and adhere to the gums, improving the accuracy and comfort of collecting the mandibular movement trajectory.

[0047] Based on the three-dimensional scan data of the gums, the three-dimensional shape of the auxiliary part can be personalized designed. By considering the specific characteristics of the patient's gums in the shape design of the auxiliary part, it can ensure that the auxiliary part has good adaptability and fixation, and at the same time provide a suitable position for the installation of the jaw fork and the feature structure part. It should be noted that the shape of the auxiliary part mainly refers to the shape of the contact position between the auxiliary part and the gums, which needs to closely fit the gum contour of the patient, so that it can be firmly and comfortably adsorbed in the patient's oral cavity to ensure good fixation effect and comfort, and at the same time can achieve an accurate match between the auxiliary part and the internal structure of the oral cavity, ensuring the relative position relationship between the fiducial points and the gum data.

[0048] In some embodiments of the present application, before designing and using the auxiliary part, a three-dimensional scan of the gums of the target object can be first performed using an intraoral scanning device. During the data acquisition process, scans can be performed from multiple angles and positions to cover all important areas of the gums and avoid missing key information. Based on the acquired three-dimensional scan data of the gums, the design of the auxiliary part can be carried out to ensure that the shape of the auxiliary part matches the gum shape, achieving the best adsorption effect and comfort. In addition, the design of the auxiliary part can also consider the installation position and method of the jaw fork to ensure that the position of the feature structure part is conducive to the recognition and tracking of the surface scanning device. After the design of the auxiliary part is completed, the auxiliary part can be manufactured by 3D printing or other customization processes to ensure that its shape is consistent with the three-dimensional model during design, so that it can be stably adsorbed on the gums during actual use and ensure the accurate installation of the jaw fork and the feature structure part.

[0049] Step S204, collect the fiducial point trajectory data corresponding to the fiducial points on the feature structure part through a facial scanning device.

[0050] In the above step S204, the facial scanning device is a device capable of obtaining three-dimensional geometric information and texture information of the face, mainly used for the recognition and tracking of facial features. In some embodiments of the present application, the facial scanning device is used to capture the position change of the fiducial points on the feature structure part during movement and obtain the motion trajectory data of the fiducial points.

[0051] The fiducial point refers to a specific marked point preset on the feature structure part, used to identify and track the mandibular movement. The selection and layout of the fiducial points can consider their non-collinearity in three-dimensional space to ensure that the position of each point in space can be uniquely determined and avoid confusion and errors during the tracking process. In some embodiments of the present application, the fiducial points can be coated with special reflective materials or have unique shapes or colors to facilitate effective recognition and tracking by the facial scanning device under various lighting conditions.

[0052] The landmark trajectory data refers to the sequence of position changes of landmarks in space continuously collected by a facial scanning device, which is used to record the spatial displacement of landmarks with the movement of the mandible and is the basis for analyzing the mandibular movement trajectory.

[0053] In some embodiments of the present application, to avoid the interference of the oral internal environment on landmark recognition, the landmarks are fixed on the feature structure member, and the landmarks are located outside the mouth of the target object, and the position where the landmarks are located meets the requirements of three-dimensional scanning and tracking.

[0054] The landmarks are fixed on the feature structure member and are located outside the mouth of the target object. This design solves two major problems encountered in the measurement of the mandibular movement trajectory of traditional edentulous patients: namely, the landmarks are affected by the oral internal environment (such as saliva), and the landmarks are easily blocked by the lips, resulting in unstable tracking and decreased data quality. By fixing the landmarks on the feature structure member outside the oral cavity, the stability and visibility of the landmarks during mandibular movement can be ensured. Even when the oral internal environment changes, the recognition and tracking of the landmarks will not be affected, thereby improving the accuracy of three-dimensional tracking.

[0055] The selection and layout of the landmarks need to meet the requirements of three-dimensional scanning and tracking, that is, they can be effectively recognized and tracked in the directions of three mutually perpendicular coordinate axes (X, Y, and Z axes). Specifically, the requirements for three-dimensional scanning and tracking may include but are not limited to the following key points:

[0056] (1) Non-collinearity: The landmarks should not be located on the same straight line in three-dimensional space because linearly arranged landmarks cannot provide sufficient independent information to determine a complete three-dimensional coordinate system. Non-collinearity ensures the independence between landmarks;

[0057] (2) Visibility: The landmarks need to be arranged at positions that can be clearly recognized and tracked by the facial scanning device, avoiding being blocked or losing tracking due to changes in the head position during oral movement. In some embodiments of the present application, by fixing the landmarks on the feature structure member outside the mouth, it is ensured that the landmarks always remain within the field of view of the facial scanning device during mandibular movement, thus meeting the requirement of visibility;

[0058] (3) Stability: The positions of the landmarks need to remain relatively stable when the patient performs opening and closing movements of the mouth, avoiding unexpected changes in the positions of the landmarks caused by the oral internal environment (such as saliva, deformation of oral soft tissues) or external factors (such as slight head shaking). In some embodiments of the present application, through the design of a metal jaw fork, its rigid structure can effectively resist the pressure of the lips and ensure the relative position stability of the landmarks during movement;

[0059] (4) Recognizability: The shape, size, and color of the fiducial points should be convenient for the tracking system to recognize. For example, the fiducial points can be designed with a white center and a black outer ring. The strong contrast between black and white can improve the efficiency and accuracy of the tracking system in recognizing the fiducial points.

[0060] In some embodiments of the present application, the fiducial points can be distributed at different heights, widths, and depths to form a three-dimensional dot matrix, ensuring accurate recognition by the facial scanning device from any angle. For example, a feature structure member with multiple levels can be designed, and different fiducial points are distributed on each level to form a three-dimensional tracking framework.

[0061] In some embodiments of the present application, the facial scanning device can continuously and dynamically collect the three-dimensional position information of the fiducial points. As the patient's mandible opens and closes, the positions of the fiducial points in space continuously change. The facial scanning device tracks and records these changes in real time to form fiducial point trajectory data. During the scanning process, the facial scanning device can adopt various visual recognition technologies (such as structured light scanning, laser scanning, etc.) to ensure the effective recognition and tracking of the fiducial points under various lighting conditions. In some embodiments of the present application, the data processing system of the facial scanning device can automatically remove background interference and only retain the dynamic information of the fiducial points to improve the purity and accuracy of the data.

[0062] To comprehensively understand the range and pattern of mandibular movement, the fiducial point trajectory data can be obtained through the following steps: When the target object makes mandibular movements, the fiducial points on the feature structure member are scanned by the facial scanning device to obtain the fiducial point trajectory data.

[0063] Mandibular movement refers to the natural opening and closing of the mouth by edentulous patients during the acquisition process. This is a basic form of the dynamic movement of the mandible and also the basis for recording the mandibular movement trajectory. By observing and recording the mandibular movement, dynamic change information of the mandible at different positions and angles can be obtained.

[0064] In some embodiments of the present application, mandibular movement acquisition can be carried out in a natural state. During the acquisition process, the patient naturally makes mandibular movements without additional auxiliary tools (such as an oral opener) or special postures, which helps to reduce the influence of external factors on the movement trajectory and improve the naturalness and accuracy of the data. The facial scanning device continuously tracks the fiducial points on the feature structure member and records the position changes caused by the mandibular movement to form continuous fiducial point trajectory data. To improve the accuracy and integrity of the data, multiple angles can also be captured during the scanning process to ensure accurate recording of the three-dimensional positions of the fiducial points even in the case of complex mandibular movements.

[0065] To correct the coordinate system offset caused by movement in real time and ensure the precise correspondence between the landmark trajectory data and the static three-dimensional scan data of the gingiva, when the facial scan device acquires the landmark trajectory data, it can adopt dynamic three-dimensional reconstruction technology to combine the position information of the landmarks obtained in real time with the previously acquired static three-dimensional scan data of the gingiva for real-time registration in three-dimensional space, so as to analyze and update the three-dimensional coordinates of the landmarks in real time. Even during rapid mandibular movement, the continuity and accuracy of the landmark trajectory data can be maintained.

[0066] Step S206: Determine the movement trajectory of the mandible of the target object based on the landmark trajectory data and the intraoral scan data.

[0067] In the above step S206, the movement trajectory of the mandible refers to a three-dimensional path representing the opening and closing and lateral movement trajectories of the mandible obtained by analyzing and calculating the continuous position changes of the landmarks in three-dimensional space based on the landmark trajectory data and the intraoral scan data.

[0068] In some embodiments of the present application, the landmark trajectory data and the intraoral scan data can be unified by data registration technology (such as the ICP algorithm) so that the auxiliary parts and the jaw fork coordinate system in the intraoral scan data are in the same coordinate system as the landmark trajectory data obtained by the facial scan device, to ensure that the dynamic changes of the landmarks can be accurately reflected on the three-dimensional model of the mandible. Then, based on the registered data, calculate the continuous position changes of the landmarks in three-dimensional space, and combine the fixed relationship between the landmarks and the mandible to reconstruct the movement trajectory of the mandible.

[0069] To ensure the consistency between the intraoral scan data and the landmark trajectory data, before determining the movement trajectory of the mandible of the target object, the coordinate system alignment can be performed in the following way: obtain the first coordinate system where the intraoral scan data is located, and before the target object makes mandibular movement, obtain the initial landmark data corresponding to the landmarks on the feature structure; align the landmark trajectory data to the first coordinate system based on the initial landmark data.

[0070] The first coordinate system refers to the spatial coordinate reference system where the intraoral scan data is located, which is used to record the three-dimensional spatial positions of the internal oral structures, including the gingiva and the personalized auxiliary parts.

[0071] The initial landmark data refers to the three-dimensional position data of the landmarks on the feature structure in the static state obtained by the facial scan device before the target object makes mandibular movement, which is used to establish the initial position of the landmarks in the first coordinate system and is the starting reference for determining the movement trajectory.

[0072] In some embodiments of the present application, a three-dimensional coordinate registration technique can be used to align the landmark trajectory data to the first coordinate system. Specifically, an intraoral scanning device is used to obtain the three-dimensional internal oral structure data of the target object, including the gingiva and the auxiliary member, and record the first coordinate system in which these data are located; when the patient is not making mandibular movements, the initial position data of the landmarks on the feature structure member can be obtained through a facial scanning device; the point cloud registration algorithm (such as the ICP algorithm) is used to align the initial position data of the landmarks to the first coordinate system to ensure that the coordinate systems of the landmarks and the internal oral structures are unified in the initial state; when the trajectory data of the landmarks during movement is obtained, the same three-dimensional coordinate registration technique is used to convert these dynamic data to the first coordinate system to complete the unified coordinate reference of the data.

[0073] In some embodiments of the present application, coordinate system alignment can also be performed using feature matching. In the intraoral scan data, regions with unique geometric shapes on the auxiliary member can be identified and marked as feature points or feature regions during the registration process. Similarly, in the landmark trajectory data obtained from facial scanning, the landmark information corresponding to these feature points should also be identified. By matching the landmark positions in the landmark trajectory data with the feature point positions in the intraoral scan data, coordinate system alignment of the two data sets can be achieved. Specifically, when implementing, feature matching algorithms such as RANSAC (Random Sample Consensus algorithm) or feature point cloud alignment algorithm can be used to determine the positions of the landmarks in the first coordinate system, so as to accurately reflect the movement changes in the landmark trajectory data on the three-dimensional model of the mandible and achieve accurate reconstruction of the mandibular movement trajectory.

[0074] In order to obtain three-dimensional data that accurately reflects the mandibular movement trajectory of the target object, the mandibular movement trajectory of the target object can be determined through the following steps: when the landmark trajectory data and the intraoral scan data are in the same coordinate system, the landmark trajectory data and the intraoral scan data are spliced to obtain the mandibular movement trajectory of the target object.

[0075] The landmark trajectory data and the intraoral scan data being in the same coordinate system means that the landmark trajectory data obtained through facial scanning and the intraoral scan data obtained through an intraoral scanning device are converted to a shared coordinate system to facilitate data fusion and analysis.

[0076] Stitching refers to the process of aligning and fusing two or more datasets from different sources (i.e., landmark trajectory data and intraoral scan data) in three-dimensional space. This process combines the dynamic position change information of the landmarks with the static structure information inside the oral cavity to obtain complete data reflecting the movement trajectory of the mandible. The stitching process can ensure accurate alignment between datasets through geometric registration, feature matching, or using specific algorithms. In some embodiments of the present application, the stitching of the landmark trajectory data and the intraoral scan data can be achieved through feature matching. Specifically, significant features such as inflection points and edges of surfaces can be selected from the landmarks and the internal structures of the oral cavity (such as auxiliary parts and gums); these features are respectively identified in the landmark trajectory data and the intraoral scan data and matched, and the coordinate transformation parameters are calculated through the matching results; applying these coordinate transformation parameters, the landmark trajectory data is adjusted to the same coordinate system as the intraoral scan data, and then data fusion is performed to analyze the dynamic changes of the landmarks and reconstruct the movement trajectory of the mandible.

[0077] Through the above steps S202 to S206, by fixing an auxiliary part with a feature structure on the gums of an edentulous patient, combining an intraoral scan device and a facial scan device, the movement trajectory of the mandible is determined, achieving the purpose of improving the accuracy of obtaining the movement trajectory of the mandible of an edentulous patient, thus realizing the technical effects of more efficient, precise design and production of personalized dentures and improving the comfort of patients, and further solving the technical problem that the mandibular movement measurement in the related art is not applicable to edentulous patients.

[0078] One aspect of the present application provides an auxiliary part, which is applied to a method for determining the movement trajectory of the mandible. The auxiliary part is fixedly connected to a jaw fork through a mounting groove. The jaw fork includes a feature structure, and landmarks are arranged on the feature structure.

[0079] In some embodiments of the present application, the three-dimensional data of the gums of an edentulous patient can be obtained through intraoral scanning technology, and an auxiliary part (base plate) can be designed personalized based on these data. When designing the auxiliary part, the specific contour of the patient's oral cavity can be considered to ensure good fit and comfort. The base plate is provided with a mounting groove for fixedly connecting to the jaw fork. A feature structure is mounted on the jaw fork, and landmarks are arranged on the feature structure. The position and layout of the landmarks need to meet the requirements of three-dimensional tracking. When the patient makes a mandibular movement, the jaw fork is fixedly connected to the auxiliary part through the mounting groove, and the facial scan device tracks the landmarks to obtain landmark trajectory data, thereby indirectly obtaining the movement trajectory of the mandible.

[0080] Figure 3 is a schematic diagram of a jaw fork of a method for determining the movement trajectory of the mandible according to an embodiment of the present application, as Figure 3As shown, the 301 part of the jaw fork is used to connect with the auxiliary part fixed on the gum in the mouth through the installation groove, and the 302 part of the jaw fork is used to connect with the feature structure part.

[0081] Figure 4 It is a schematic diagram of the feature structure part of a method for determining the mandibular movement trajectory according to an embodiment of the present application. As Figure 4 shown, the feature structure part is installed on the jaw fork and is adapted to the structure of the jaw fork. Among them, the 401 part of the feature structure part can be used to paste fiducial points (such as the dots in the 401 part), and the 402 part of the feature structure part corresponds to the position of the 302 part in Figure 3 so that the feature structure part can be fixed on the jaw fork. In some embodiments of the present application, letters or patterns can be added to the feature structure part. The letters or patterns can be used as an additional visual feature. For example, the letters or patterns can be composed of multiple different lines and corners to form a series of feature points with unique shapes. By adding letter patterns to the feature structure part, more recognition information can be provided for the tracking algorithm. Especially when the fiducial points may cause unstable tracking due to light, occlusion or ghosting, the lines and shapes of the letter patterns can be used as auxiliary features. Even if some fiducial points are occluded or lost, other feature points in the letter patterns can still be effectively tracked, thus ensuring the continuity and integrity of the overall movement trajectory.

[0082] Figure 5 It is a facial scanning flow chart of a method for determining the mandibular movement trajectory according to an embodiment of the present application. In some embodiments of the present application, facial scanning may include the following steps:

[0083] Step 1: Align the upper target and the labial surface of the upper tray in RPS. First, stably adsorb the customized base plate on the gums of the patient's upper jaw. The jaw fork is fixedly connected to the base plate through the installation groove. Fiducial points are set on the feature structure part of the jaw fork, and these fiducial points are used for the recognition and tracking of the facial scanning device. The facial scanning device first scans the three-dimensional coordinates of the upper target (i.e., the fiducial points on the jaw fork), and then scans the three-dimensional features of the labial surface of the upper tray (i.e., the labial surface of the base plate). Through RPS (Rigid Point Set) alignment, the scanned data of the labial surface of the upper tray is accurately registered with the coordinates of the fiducial points of the upper target, so that the three-dimensional data of the labial surface of the upper tray and the fiducial point trajectory data are unified in a coordinate system.

[0084] Step 2: Perform RPS alignment on the lower target and the labial surface of the lower tray. Similar to the treatment method for the upper jaw, the base plate and the jaw fork designed for the lower jaw also have fixed landmark points. The facial scanning device first obtains the three-dimensional coordinates of the lower target (the landmark points on the jaw fork), and then scans the three-dimensional features of the labial surface of the lower tray (the labial surface of the base plate). Through RPS alignment, the scanned data of the labial surface of the lower tray is registered with the coordinates of the landmark points of the lower target, ensuring that the three-dimensional data of the labial surface of the lower tray is also in the same coordinate system as the trajectory data of the landmark points.

[0085] Through Step 1 and Step 2, the three-dimensional data of the labial surfaces of the upper and lower trays located in the trajectory coordinate system can be obtained.

[0086] Step 3: Perform ICP registration on the scans of the upper and lower trays. After the landmark trajectory data of the upper and lower jaws and the three-dimensional data of the trays have been unified into the same coordinate system, the ICP (Iterative Closest Point) algorithm is used to further optimize the alignment between the scan data of the upper and lower trays (the base plate together with the jaw fork). The ICP algorithm can register the closest points iteratively, gradually adjusting the data until the two sets of data reach the best matching state, ensuring the precise fusion of the scan data of the upper and lower trays in the unified coordinate system.

[0087] Step 4: Optimally fit the scan data of the upper jaw model and the lower jaw model with the alveolar ridge crest as the common area. After completing the ICP registration, the scan data of the upper jaw model (including the labial surface of the upper tray and the gingival data transmitted through the base plate) and the scan data of the lower jaw model (including the labial surface of the lower tray and the gingival data) are optimally fitted. This process takes the alveolar ridge crest area as the common feature for precise alignment between the three-dimensional models. Through this step, the model data of the upper and lower jaws are unified, and they are in the same trajectory coordinate system as the movement trajectory data of the landmark points, thus being able to comprehensively and accurately describe the movement trajectory of the mandible of edentulous patients.

[0088] In this application, by means of the intraoral personalized design auxiliary, the landmark points are fixed on the base plate through the feature structure parts, improving the problem that it is not easy to attach points intraorally, and the problem that the points are wet or blocked, which affects the surface scan acquisition. And according to the data of the personalized design auxiliary, the intraoral gingival features are transferred outside the mouth, facilitating the surface scan acquisition and improving the splicing accuracy with the oral scan. Compared with the related technology that uses surface scanning to scan the gingival data intraorally, in this application, the feature data (i.e., landmark point data) designed outside the mouth is scanned by surface scanning. During the acquisition process, the patient can collect without wearing an oral opener, so they can move more naturally, the result is more accurate, the alignment accuracy with the oral scan is higher, and at the same time, the problem of wetting or blocking of the landmark points is also solved.

[0089] Figure 6 It is a structural diagram of a device for determining the movement trajectory of the mandible according to an embodiment of the present application, asFigure 6 As shown, the device includes:

[0090] A scanning module 602, configured to scan the gums in the mouth of a target object and an auxiliary member fixed to the gums through an intraoral scanning device to obtain intraoral scanning data, where the target object is a edentulous user, and a jaw fork including a feature structure member is fixed to the auxiliary member;

[0091] An acquisition module 604, configured to acquire landmark trajectory data corresponding to landmark points on the feature structure member through a facial scanning device;

[0092] A determination module 606, configured to determine the movement trajectory of the mandible of the target object based on the landmark trajectory data and the intraoral scanning data.

[0093] It should be noted that Figure 6 The device for determining the movement trajectory of the mandible shown is used to execute Figure 2 the method for determining the movement trajectory of the mandible shown, and therefore Figure 2 the relevant explanations in the method for determining the movement trajectory of the mandible in Figure 6 also apply to the device for determining the movement trajectory of the mandible shown, which will not be elaborated here.

[0094] An embodiment of the present application further provides an electronic device, which includes a memory and a processor. The memory is used to store program instructions; the processor is connected to the memory and is configured to execute the steps of implementing the method for determining the movement trajectory of the mandible in each embodiment of the present application.

[0095] For example, the processor executes the following functions by executing the program instructions stored in the memory:

[0096] Scanning an auxiliary member fixed to the gums in the mouth of a target object through an intraoral scanning device to obtain intraoral scanning data, where a feature structure member is provided on the auxiliary member; acquiring landmark trajectory data corresponding to landmark points on the feature structure member through a facial scanning device; determining the movement trajectory of the mandible of the target object based on the landmark trajectory data and the intraoral scanning data.

[0097] An embodiment of the present application further provides a non-volatile storage medium, which includes a stored computer program. The device where the non-volatile storage medium is located executes the steps of the method for determining the movement trajectory of the mandible in each embodiment of the present application by running the computer program.

[0098] An embodiment of the present application further provides a computer program product, including computer instructions, which implement the steps of the method for determining the movement trajectory of the mandible in each embodiment of the present application when executed by a processor.

[0099] An embodiment of the present application also provides a computer program. When the computer program is executed by a processor, it implements the steps of the method for determining the mandibular movement trajectory in each embodiment of the present application.

[0100] The serial numbers of the above embodiments of the present application are only for description and do not represent the superiority or inferiority of the embodiments.

[0101] In the above embodiments of the present application, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0102] In several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in electrical or other forms.

[0103] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0104] In addition, the functional units in each embodiment of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0105] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs.

[0106] The above are only the preferred embodiments of this application. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of this application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of this application.

Claims

1. A method for determining the trajectory of mandibular movement, characterized in that: include: Scanning an auxiliary part fixed on the gums in the mouth of a target object by an intraoral scanning device to obtain intraoral scanning data, wherein the auxiliary part is provided with a characteristic structural part; Collecting the marker point trajectory data corresponding to the marker points on the characteristic structural part by means of a facial scanning device; The movement trajectory of the mandible of the target object is determined based on the landmark point trajectory data and the intraoral scan data.

2. The method according to claim 1, characterized in that The auxiliary component includes a mounting groove, and the mounting groove is used to install the jaw fork including the characteristic structural component.

3. The method according to claim 1, characterized in that The marker point is fixed on the characteristic structural part, and the marker point is located outside the mouth of the target object, and the position of the marker point meets the requirements of three-dimensional scanning and tracking.

4. The method according to claim 1, characterized in that Before scanning the auxiliary component fixed on the gums in the mouth of the target object by the intraoral scanning device, the method further includes: Scanning the gums with the intraoral scanning device to obtain three-dimensional scanning data of the gums; The shape of the auxiliary component is determined based on the gingival three-dimensional scanning data.

5. The method according to claim 3, characterized in that: Collecting the marker point trajectory data corresponding to the marker points on the characteristic structural part by means of a facial scanning device includes: When the target object performs mandibular movement, the marker points on the characteristic structural component are scanned by a facial scanning device to obtain the marker point trajectory data.

6. The method according to claim 5, characterized in that Before determining the movement trajectory of the mandible of the target object, the method further includes: Acquire a first coordinate system where the intraoral scan data is located, and acquire initial marker point data corresponding to the marker points on the characteristic structural component before the target object performs mandibular movement; The marker point trajectory data is aligned to the first coordinate system according to the initial marker point data.

7. The method according to claim 6, characterized in that Determining the movement trajectory of the mandible of the target object includes: When the marker point trajectory data and the intraoral scan data are in the same coordinate system, the marker point trajectory data and the intraoral scan data are spliced ​​to obtain the motion trajectory of the mandible of the target object.

8. A device for determining the trajectory of mandibular movement, characterized in that: include: A scanning module, used for scanning the gums in the mouth of a target object and an auxiliary component fixed on the gums by an intraoral scanning device to obtain intraoral scanning data, wherein the target object is an edentulous user, and a jaw fork including a characteristic structural component is fixed on the auxiliary component; A collection module, used for collecting the marker point trajectory data corresponding to the marker points on the characteristic structural part through a facial scanning device; A determination module is used to determine the movement trajectory of the mandible of the target object based on the landmark point trajectory data and the intraoral scanning data.

9. An auxiliary component, characterized in that: The method for determining the movement trajectory of the mandible applied to claim 1, wherein the auxiliary component is fixedly connected to the jaw fork via a mounting groove, and the jaw fork includes a characteristic structural component on which a marking point is arranged.

10. An electronic device, characterized in that: include: A memory for storing program instructions; A processor is connected to the memory and is used to execute program instructions to implement the following functions: scanning the gums in the mouth of a target object and an auxiliary part fixed on the gums by an intraoral scanning device to obtain intraoral scanning data, wherein the target object is an edentulous user and a jaw fork including a characteristic structural part is fixed on the auxiliary part; collecting landmark point trajectory data corresponding to landmark points on the characteristic structural part by a facial scanning device; and determining the movement trajectory of the mandible of the target object based on the landmark point trajectory data and the intraoral scanning data.

11. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the method for determining the mandibular motion trajectory according to any one of claims 1 to 7 by running the computer program.

12. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by the processor, the method for determining the mandibular motion trajectory as described in any one of claims 1 to 7 is implemented.

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