Multi-source data fitting method and system for oral edentulous jaw implantation

Abstract

The invention provides a multi-source data fitting method and system for oral edentulous jaw implantation, and the method comprises the steps: S1, assembling a scanning rod on an implant of the oral cavity of a patient, carrying out the intraoral three-dimensional scanning of the scanning rod, and obtaining the intraoral scanning data of the three-dimensional positions of all implants; s2, assembling an implant surface scanning positioner on the first implant, performing extraoral three-dimensional photography on the facial information of the patient and the visual target, and obtaining the facial information of the patient and three-dimensional position facial scanning data of the first implant corresponding to the facial information of the patient; and S3, performing three-dimensional coordinate system alignment processing on the three-dimensional position intraoral scanning data of all the implants and the three-dimensional position facial scanning data of the first implant, so that the three-dimensional position intraoral scanning data of all the implants are registered with the facial information of the patient, and generating a temporary restoration model. According to the invention, the precise relation between all the implants in the oral cavity and the facial information of the patient can be established, so that the restoration adaptive to the personalized features of the facial of the patient is generated.

Description

Technical Field

[0001] The present invention belongs to the technical field of dental implantation, and particularly relates to a multi-source data fitting method and system for edentulous jaw implantation in the oral cavity. Background Technique

[0002] Edentulous jaw implantation refers to a treatment method in which, when the patient's upper and lower jaws are completely lacking natural teeth (i.e., in the edentulous jaw state), artificial implants (usually threaded columns made of titanium alloy or zirconium material) are implanted into the jawbone to provide fixation and support for the patient, thereby restoring masticatory function and facial aesthetics. This technology is widely used in the restoration treatment of patients with complete edentulous oral cavities.

[0003] In order to obtain a good dental restoration and aesthetic effect and fabricate a precise and beautiful prosthesis, during the edentulous jaw implantation process, multiple groups of data such as the implant position information inside the patient's oral cavity, the patient's facial information, and the soft tissue information inside the patient's oral cavity need to be considered in multiple dimensions. However, under the existing technology, it is difficult for conventional edentulous jaw implantation methods to find the common morphological features among multi-source data, and it is impossible to achieve the fitting of multi-source data, which easily leads to the prosthesis not meeting the patient's facial proportion and aesthetic requirements, increasing the treatment cost and time. Summary of the Invention

[0004] The present invention aims to provide a multi-source data fitting method and system for edentulous jaw implantation in the oral cavity to solve the technical problem that, under the existing technology, it is difficult for conventional edentulous jaw implantation methods to find the common morphological features among multi-source data of the patient's oral cavity and face, resulting in the prosthesis not meeting the patient's facial proportion and aesthetic requirements.

[0005] To solve the above problems, the technical solution of the present invention is: A multi-source data fitting method for edentulous jaw implantation in the oral cavity, comprising the following steps: S1: Implant a plurality of implants in the patient's oral alveolar bone. After the implants are osseointegrated with the bone tissue, assemble scanning rods on all the implants, and perform intraoral three-dimensional scanning on the scanning rods in the patient's mouth to obtain the intraoral three-dimensional position scanning data of all the implants; S2: Select any one implant as the first implant, and assemble an implant surface scanning locator on the first implant. The visual target of the implant surface scanning locator extends outside the patient's oral cavity, and perform extraoral three-dimensional stereophotography on the patient's facial information and the visual target to obtain the patient's facial information and the three-dimensional position facial scanning data of the first implant corresponding to the patient's facial information; S3: Register the intraoral scan data of the three-dimensional positions of all implants with the facial scan data of the three-dimensional position of the first implant, so as to establish a connection between the intraoral scan data of the three-dimensional positions of all implants and the patient's facial information, and generate a temporary restoration model adapted to the patient's facial personalized features based on the intraoral scan data of the three-dimensional positions of the implants.

[0006] Preferably, the implant facial scan locator is further provided with an anchoring base, the anchoring base is fixedly connected to the visual target through a connecting rod, and the visual target, the anchoring base and the connecting rod are all made of and connected with rigid structures; When the anchoring base is sleeved on the first implant, the three-dimensional position of the anchoring base is kept in the same pose as the three-dimensional position of the first implant.

[0007] Preferably, before assembling the implant facial scan locator on the first implant in S2, the following steps are further included: S21: Perform three-dimensional scanning on the implant facial scan locator to be used, obtain the three-dimensional modeling data of the implant facial scan locator, and upload the three-dimensional modeling data of the implant facial scan locator to the computing terminal. In the three-dimensional modeling data of the implant facial scan locator, the three-dimensional position of the visual target and the three-dimensional position of the anchoring base have a fixed mapping relationship, and the computing terminal can automatically generate the corresponding three-dimensional position of the anchoring base based on the visual image of the visual target.

[0008] Preferably, the visual target is provided with a polygonal marker board, the plane extension direction of the marker board is perpendicular to the length extension direction of the connecting rod, several identifiers are marked on the side of the marker board facing away from the patient's oral cavity, and the visual target is configured to perform three-dimensional stereophotography on the visual target, and based on the geometric feature pose offset of the marker board body and its identifiers, calculate the three-dimensional positions of the anchoring base and the first implant by inverse deduction; The identifiers on the surface of the marker board include any one or several combinations of characters, stripes, dot matrices or non-circular geometric figures.

[0009] Preferably, when performing three-dimensional stereophotography on the patient's facial information in S2, the following steps are further included: S22: Perform three-dimensional stereophotography on the patient's facial information to obtain several diagrams of the patient's facial information at different shooting angles and oral postures; S23: Use computer vision algorithms to automatically extract the single patient facial information diagram of the patient wearing the implant facial scan locator and the facial feature points in the diagrams of the patient's facial information at different shooting angles and oral postures; S24: Match the single patient facial information diagram of the patient wearing the implant surface scanning locator with the facial feature points in the patient facial information diagrams under several different shooting perspectives and oral postures. According to the matching results of the facial feature points, calculate and obtain the three-dimensional position facial scan data of the first implant in the patient facial information diagrams under different shooting perspectives and oral postures.

[0010] Preferably, the patient facial information diagrams under different shooting perspectives include the patient's frontal facial view, the patient's lateral facial view rotated by a specific angle to the left and right of the patient's head midline, the patient's top facial view, and the patient's bottom facial view; The patient facial information diagrams under different oral postures include the patient's natural facial view, the patient's smiling facial view, the patient's open-mouth facial view, the patient's occlusion facial view, and the patient's pronunciation facial view.

[0011] Preferably, in S3, registering the three-dimensional position intraoral scan data of all implants with the three-dimensional position facial scan data of the first implant includes the following steps: S31: Perform an intraoral three-dimensional scan on the first implant with the implant surface scanning locator assembled in the patient's mouth to obtain the three-dimensional position intraoral supplementary scan data of the first implant and the implant surface scanning locator; S32: Overlap and superimpose the three-dimensional position intraoral supplementary scan data of the first implant and the implant surface scanning locator with the three-dimensional position intraoral scan data of all implants to determine the corresponding setting positions and layout postures of the first implant and the implant surface scanning locator among all implants, thereby establishing a connection between the three-dimensional position intraoral scan data of all implants and the three-dimensional position facial scan data of the first implant.

[0012] Preferably, in S3, registering the three-dimensional position intraoral scan data of all implants with the three-dimensional position facial scan data of the first implant further includes the following steps: S33: Manually set the implant in the intraoral scan data that is in the same position in the jawbone as the first implant as the second implant; Obtain the three-dimensional position parameters of the first implant in the facial scan data and the three-dimensional position parameters of the second implant in the intraoral scan data; S34: Taking the three-dimensional position parameters of the first implant as the adjustment target, calculate the translation amount and rotation amount required to adjust the three-dimensional position parameters of the second implant to the three-dimensional position parameters of the first implant, thereby establishing a rigid transformation matrix, and the rigid transformation matrix is used to align the three-dimensional coordinates of the implant three-dimensional positions in different modalities. S35: Adjust the three-dimensional position parameters of all implants in the intraoral scan data to the coordinate system where the first implant is located through a rigid transformation matrix, and update and obtain the three-dimensional position intraoral scan data of all implants registered with the patient's facial information.

[0013] Preferably, the method further includes the following steps: S41: Assemble the temporary restoration model on the implant, and obtain the restoration occlusion data of the patient wearing the temporary restoration model; S42: Assemble a reverse scanning rod in each implant connection interface of the temporary restoration model, perform three-dimensional scanning on the temporary restoration model and the reverse scanning rod, and obtain the three-dimensional position scan data of the temporary restoration model and the reverse scanning rod; The three-dimensional position of the reverse scanning rod is in the same pose as the three-dimensional position of the implant connection interface of the temporary restoration model and the three-dimensional position of the implant fixedly connected to the temporary restoration model; S43: Generate a restoration forming part based on the three-dimensional position of the reverse scanning rod and the restoration occlusion data of the temporary restoration model. The restoration forming part has connection interfaces adapted to the three-dimensional positions of the implants in the patient's mouth and a restoration shape adapted to the patient's occlusion habit and facial personalized features.

[0014] Based on the same concept, the present invention also provides a multi-source data fitting system for implanting edentulous jaws in the oral cavity, which is used to execute a multi-source data fitting method for implanting edentulous jaws in the oral cavity as described in any one of the above, including: An intraoral scanning module for scanning and obtaining the three-dimensional position parameters of the scanning rod inside the patient's oral cavity; A facial imaging module for photographing and obtaining the patient's facial information and the three-dimensional stereoscopic image data of the visual target of the implant surface scanning locator; A computing terminal for obtaining the three-dimensional position intraoral scan data of all implants and the three-dimensional position facial scan data of the first implant, performing fitting processing on the three-dimensional position intraoral scan data of all implants and the three-dimensional position facial scan data of the first implant, and generating temporary restoration model data adapted to the patient's facial personalized features; Moreover, obtain the three-dimensional position scan data of the reverse scanning rod, perform fitting processing on the three-dimensional position scan data of the reverse scanning rod, the three-dimensional position intraoral scan data of all implants, and the three-dimensional position facial scan data, and generate restoration forming part data with connection interfaces adapted to the three-dimensional positions of the implants in the patient's mouth and the patient's occlusion habit and facial personalized features.

[0015] Due to the above technical solutions, the present invention has the following advantages and positive effects compared with the prior art: The present invention provides a multi-source data fitting method and system for implanting in the edentulous jaw of the oral cavity. By assembling a scanning rod and an intraoral scanning locator for the implant surface on the implant, and respectively performing three-dimensional scanning processing of the oral cavity interior and three-dimensional scanning processing of the face, the three-dimensional position intraoral scanning data of all implants, the facial information of the patient, and the three-dimensional position facial scanning data of the implants corresponding to the patient's facial information are obtained. Finally, through the fitting of the three-dimensional position intraoral scanning data and the three-dimensional position facial scanning data of the implants, an accurate connection between all implants in the oral cavity interior and the patient's facial information is established, and thus a prosthesis adapted to the personalized characteristics of the patient's face is generated. Therefore, through the present invention, the prosthesis can fully conform to the patient's facial proportion and aesthetic requirements, and during the configuration process, relying on digital processing technology, the accuracy and operation efficiency of steps such as implant position measurement, establishment of the relationship between facial information and dentition, and generation of a temporary prosthesis model are effectively improved, reducing the treatment cost and treatment time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Flow chart of a multi-source data fitting method for implanting in the edentulous jaw of the oral cavity provided by the present invention; Figure 2 Structural schematic diagram of the intraoral scanning locator for the implant surface provided by the present invention.

[0017] Description of reference numerals: 1: Visual target; 2: Anchoring base; 3: Connecting rod; 4: First implant. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The following further elaborates in detail a multi-source data fitting method and system for implanting in the edentulous jaw of the oral cavity provided by the present invention in conjunction with the drawings and specific embodiments. The advantages and features of the present invention will be clearer according to the following description and the claims.

[0019] First Embodiment Refer to Figure 1 - Figure 2 , this embodiment provides a multi-source data fitting method for implanting in the edentulous jaw of the oral cavity, which is used to establish a connection between the implants in the patient's oral cavity interior and the patient's facial information, and generate a prosthesis that conforms to the patient's facial proportion and aesthetic requirements. The specific steps are as follows: S1: A number of implants are implanted in the patient's oral alveolar bone, and a temporary healing abutment is assembled on the implant. After waiting for a healing time of 3 - 4 months, when the implant and the bone tissue complete osseointegration, the temporary healing abutment is removed to expose the implant, and a fixed interface is provided at the top of the implant. After assembling scanning rods on all implants, three-dimensional scanning processing is performed on the scanning rods in the patient's oral cavity to obtain the three-dimensional position intraoral scanning data of all implants.

[0020] Among them, the scanning rod is an auxiliary device that can be temporarily installed on the implant. Due to its shape and size being precisely designed to be fully adapted to the implant, when the scanning rod is fixedly connected to the implant, there is a clear geometric relationship and fixed posture between the two. For example, the central axis of the scanning rod coincides exactly with the central axis of the implant, and the height and direction of the scanning rod can directly reflect the implant depth and angle in the jawbone. Therefore, by obtaining the three-dimensional position of the scanning rod that is easy to be digitized and scanned and entered, the accurate three-dimensional position of the implant can be indirectly calculated, that is, the intraoral scanning data of the three-dimensional position of the implant.

[0021] The methods for three-dimensional scanning of the scanning rod in the patient's mouth include the intraoral optical surface scanning method, the intraoral photographic scanning method, and the extraoral cone beam CT scanning method.

[0022] In this embodiment, the shapes of the implants include cylinders, square columns, prisms, etc.

[0023] S2: Select any implant in the patient's mouth as the first implant 4, assemble the implant surface scanning locator on the first implant 4. The visual target 1 of the implant surface scanning locator extends to the outside of the patient's mouth, and perform three-dimensional stereoscopic photography on the patient's facial information and the visual target 1 to obtain the patient's facial information and the three-dimensional position facial scanning data of the first implant 4 corresponding to the patient's facial information.

[0024] In this embodiment, there is an implant surface scanning locator. One end of the implant surface scanning locator can be fixed to the implant, and the visual target 1 at the other end extends to the outside of the patient's mouth. A specific identifier is provided on the visual target 1 of the implant surface scanning locator. Therefore, when performing three-dimensional stereoscopic photography on the patient's facial information and the visual target 1, a diagram recording the patient's facial information and the visual target 1 can be obtained. At the same time, since the relative positions between the position where the patient is photographed and the imaging unit are determined, based on the information such as the size, angular offset, and position presented by the visual target 1 of the implant surface scanning locator in the image diagram, the approximate three-dimensional position of the implant equipped with the implant surface scanning locator can be indirectly calculated, and thus the connection between the implant and the patient's facial information can be established, that is, the three-dimensional position facial scanning data of the implant.

[0025] S3: Register the intraoral scanning data of the three-dimensional positions of all implants with the three-dimensional position facial scanning data of the first implant, that is, register the intraoral scanning data of the three-dimensional positions of all implants with the patient's facial information, and generate a temporary restoration model adapted to the patient's facial personalized characteristics based on the intraoral scanning data of the three-dimensional positions of the implants.

[0026] In this embodiment, after obtaining the intraoral scan data of the three-dimensional positions of all implants and the facial scan data of the three-dimensional position of the first implant, since the two sets of data are not in the same coordinate system and are obtained simultaneously, the intraoral scan data of the three-dimensional positions of the implants cannot be directly related to the patient's facial information for the time being. Since the approximate three-dimensional position of the first implant equipped with the implant facial scan locator is known during the facial scan, by registering and fitting the intraoral scan data of the three-dimensional positions of all implants with the facial scan data of the three-dimensional position of the first implant, a connection is established between the intraoral scan data of the three-dimensional positions of all implants and the patient's facial information. Thus, while determining the three-dimensional position parameters of all implants, the relationship between all implants and the patient's facial personalized features can be fully understood, and a temporary restoration model that meets the patient's facial proportion and aesthetic requirements can be generated in combination with the facial personalized features of different patients.

[0027] In summary, this embodiment provides a multi-source data fitting method for implanting edentulous jaws in the oral cavity. First, the intraoral scan data of the three-dimensional positions of all implants are obtained to accurately represent the implant positions of all implants on the jawbone. Second, the patient's facial information and the facial scan data of the three-dimensional position of the first implant in the patient's facial information are obtained. The facial scan data of the three-dimensional position of the first implant includes the approximate implant position of the first implant on the jawbone and the corresponding relationship between the first implant and the patient's facial information. Finally, the intraoral scan data of the three-dimensional positions of all implants are registered with the facial scan data of the three-dimensional position of the first implant, so that all implants can be accurately related to the patient's facial information, and a restoration that adapts to the patient's facial personalized features is generated, realizing the personalized design of the restoration.

[0028] Next, the specific steps of a multi-source data fitting method for implanting edentulous jaws in the oral cavity provided in this embodiment will be further described in detail: Preferably, in one embodiment, the implant facial scan locator is provided with a visual target 1, an anchor base 2, and a connecting rod 3. The anchor base 2 and the visual target 1 are fixedly connected by the connecting rod 3, and the visual target 1, the anchor base 2, and the connecting rod 3 are all made of and connected with rigid structures.

[0029] See Figure 2 , an accommodation chamber is provided inside the anchor base 2, which can be sleeved on the first implant 4. Similar to the scanning rod, since there is a clear geometric relationship and fixed posture between the anchor base 2 and the first implant 4, the anchor base 2 can reflect the accurate three-dimensional position of the first implant 4, that is, the three-dimensional position of the anchor base 2 is synchronized with the three-dimensional position of the first implant 4.

[0030] Therefore, in this embodiment, since the relative positions of the visual target 1 and the anchoring base 2 are fixed, by determining the three-dimensional position of the visual target 1, the three-dimensional position of the anchoring base 2 can be automatically deduced, and further, the three-dimensional position of the first implant 4 can be automatically deduced, realizing the indirect measurement function. And since the visual target 1 extends outside the patient's oral cavity, during the facial scanning process, the corresponding relationship between the visual target 1 and the patient's facial information can also be obtained, and further, the corresponding relationship between the first implant 4 and the patient's facial information can be obtained.

[0031] Specifically, in S2, before assembling the implant facial scanning locator on the first implant, the following steps are further included: S21: Perform high-precision three-dimensional scanning on the implant facial scanning locator to be used, obtain the three-dimensional modeling data of the implant facial scanning locator body, and upload the three-dimensional modeling data of the implant facial scanning locator to the computing terminal. In the three-dimensional modeling data of the implant facial scanning locator, the three-dimensional positions of the visual target and the anchoring base have a fixed mapping relationship. Based on the visual image of the visual target, the computing terminal can automatically generate the corresponding three-dimensional position of the anchoring base, and thus determine the three-dimensional position of the first implant 4.

[0032] Preferably, in one embodiment, the visual target 1 is provided with a polygonal marker plate, the plane extension direction of the marker plate is perpendicular to the length extension direction of the connecting rod 3, and several identifiers are marked on the side of the marker plate facing away from the patient's oral cavity. The visual target 1 is configured to perform three-dimensional stereoscopic photography on the visual target 1, and based on the geometric feature postural offsets of the marker plate body and its identifiers, the three-dimensional positions of the anchoring base 2 and the first implant 4 and the facial scanning data can be inversely calculated.

[0033] Furthermore, the identifiers on the surface of the marker plate include any one or several combinations of characters, stripes, dot matrices, or non-circular geometric figures.

[0034] In this embodiment, during the facial scanning process, since the relative positions between the patient's head and the imaging unit are determined, and the relative positions between the visual target 1 and the anchoring base 2 are fixed, when the polygonal marker plate body and the identifiers rotate, tilt, or change in size, the three-dimensional positions of the anchoring base 2 and the first implant 4 can be indirectly determined. And setting the polygonal marker plate and the identifiers including characters, stripes, dot matrices, or non-circular geometric figures can improve the positioning accuracy and data acquisition efficiency of the first implant 4, and enhance the anti-interference ability and robustness of the detection. Among them, the higher the complexity of the identifier setting, the higher the accuracy of the measured three-dimensional position of the visual target 1.

[0035] Preferably, in one embodiment, in S2, when performing three-dimensional stereoscopic photography on the patient's facial information, the following steps are further included: S22: Perform three-dimensional stereophotography on the patient's facial information to obtain diagrams of the patient's facial information under several different shooting perspectives and oral postures.

[0036] S23: Use computer vision algorithms (such as SIFT, SURF or deep learning methods) to automatically extract the facial feature points in a single diagram of the patient's facial information with the implant surface scan locator worn by the patient, and diagrams of the patient's facial information under several different shooting perspectives and oral postures.

[0037] S24: Match the single diagram of the patient's facial information with the implant surface scan locator worn by the patient with the facial feature points in the diagrams of the patient's facial information under several different shooting perspectives and oral postures. According to the matching results of the facial feature points, calculate the three-dimensional position facial scan data of the first implant in the diagrams of the patient's facial information under several different shooting perspectives and oral postures.

[0038] In this embodiment, in addition to shooting and obtaining a single diagram of the patient's facial information with the implant surface scan locator worn by the patient, it is also necessary to shoot and obtain diagrams of the patient's facial information under several different shooting perspectives and oral postures. Subsequently, extract the facial feature points in the single diagram of the patient's facial information with the implant surface scan locator worn by the patient, and the diagrams of the patient's facial information under several different shooting perspectives and oral postures. The facial feature points include features such as the center of the eyes, the tip of the nose, and special skin marks. Establish a mapping relationship between the diagrams of the patient's facial information of the same patient under several different shooting perspectives and oral postures and the single diagram of the patient's facial information with the implant surface scan locator worn by the patient. Finally, synchronously map the three-dimensional position of the first implant in the single diagram of the patient's facial information with the implant surface scan locator worn by the patient to the diagrams of the patient's facial information under several different shooting perspectives and oral postures. That is, in the diagrams of the patient's facial information under several different shooting perspectives and oral postures, the connection between the first implant and the patient's facial information can also be synchronously established. Finally, fit the three-dimensional position intraoral scan data of all implants with the three-dimensional position facial scan data of the first implant to obtain the connection between all implants and the patient's facial information in the diagrams of the patient's facial information under several different shooting perspectives and oral postures.

[0039] By means of the facial information of the patient under different shooting perspectives and oral postures, the data samples can be effectively enriched, which can more comprehensively reflect the facial structure of the patient and the positional relationship of the implant, avoiding the data limitations caused by a single perspective. Moreover, the mapping relationships between multiple groups of data can be mutually corrected, reducing the errors that may be introduced by single-shot or single-perspective shooting, thereby improving the reliability of the overall data. At the same time, theoretically, it is only necessary to shoot at least one single facial information diagram of the patient wearing the implant surface scanning locator. Subsequently, the generation of the mapping of the three-dimensional position of the implant in the facial information diagrams of the patient under different shooting perspectives and oral postures is all realized by visual algorithms, reducing the data volume for the image processing of the visual target 1 and improving the data processing efficiency.

[0040] Among them, the facial information diagrams of the patient under different shooting perspectives include the front view of the patient's face, the side view of the patient's face rotated by a specific angle to the left and right of the midline of the patient's head, the top view of the patient's face, and the bottom view of the patient's face.

[0041] The facial information diagrams of the patient under different oral postures include the natural facial diagram of the patient, the smiling facial diagram of the patient, the open-mouth facial diagram of the patient, the occlusal facial diagram of the patient, and the pronunciation facial diagram of the patient.

[0042] Preferably, in one embodiment, in S3, the three-dimensional position intraoral scan data of all implants is registered with the three-dimensional position facial scan data of the first implant, and the following steps can be adopted: S31: Perform three-dimensional intraoral scanning on the first implant with the implant surface scanning locator assembled in the patient's mouth to obtain the three-dimensional position intraoral supplementary scan data of the first implant and the implant surface scanning locator. S32: Overlap and stack the three-dimensional position intraoral supplementary scan data of the first implant and the implant surface scanning locator with the three-dimensional position intraoral scan data of all implants to determine the corresponding setting positions and arrangement postures of the first implant and the implant surface scanning locator among all implants, so as to establish a connection between the three-dimensional position intraoral scan data of all implants and the three-dimensional position facial scan data of the first implant.

[0043] That is, in this embodiment, if all the implants are cylindrical structures, it is impossible to directly register the three-dimensional position of the first implant 4 obtained by inferring from the facial scan data with all the implants in the intraoral scan data (that is, it is impossible to determine which one of all the implants the first implant 4 actually corresponds to). Therefore, it is necessary to perform an additional intraoral scan on the first implant and the facial scan locator of the implant. Since the internal space position of the oral cavity is relatively fixed during the intraoral scan, the three-dimensional position intraoral supplementary scan data of the first implant and the facial scan locator of the implant can be superimposed on the three-dimensional position intraoral scan data of all the implants. Then, according to the corresponding relationship between the first implant and the patient's facial information, the corresponding relationship between all the implants and the patient's facial information can be determined.

[0044] Preferably, in another embodiment, when registering the three-dimensional position intraoral scan data of all the implants with the three-dimensional position facial scan data of the first implant in S3, the following steps can also be adopted: S33: By visual method, on the premise of clarifying the installation position of the first implant in the oral cavity, manually set the implant in the intraoral scan data that is in the same position as the first implant in the jawbone as the second implant.

[0045] Obtain the three-dimensional position parameters of the first implant in the facial scan data and the three-dimensional position parameters of the second implant in the intraoral scan data. Since the implant is a three-dimensional structure, a single implant is represented as a three-dimensional model with multiple three-dimensional position data in the computer.

[0046] S34: Taking the multi-point three-dimensional position parameters of the first implant as the adjustment target, calculate the translation amount and rotation amount required to adjust the multi-point three-dimensional position parameters of the second implant to the multi-point three-dimensional position parameters of the first implant, and thus establish a rigid transformation matrix. The rigid transformation matrix is used to align the three-dimensional positions of the implants in different modalities in a three-dimensional coordinate system.

[0047] It should be noted that the rigid transformation matrix can describe and implement the rigid body motion of an object in three-dimensional space. The three-dimensional transformation includes translation, rotation, and a combination of both, but does not include changes that alter the shape and size of the object. Therefore, in this embodiment, if there are differences in the sizes of the three-dimensional models obtained for the first implant and the second implant, before step S32, corresponding scaling processing must be performed on the three-dimensional models of the first implant and the second implant to make the volumes of the three-dimensional models of the first implant and the second implant consistent.

[0048] S35: Adjust the three-dimensional position parameters of all the implants in the intraoral scan data to the coordinate system where the first implant is located through the rigid transformation matrix, and update and obtain the three-dimensional position intraoral scan data of all the implants registered with the patient's facial information.

[0049] At this time, the three-dimensional position intraoral scan data of the implant is fitted with the three-dimensional position facial scan data, that is, the accurate three-dimensional positions of all implants obtained through intraoral scanning can be associated with the patient's facial information. By combining the patient's facial information with the three-dimensional positions of the implants, a temporary restoration model adapted to the patient's facial personalized features can be generated.

[0050] Preferably, in one embodiment, the multi-source data fitting method for implanting edentulous jaws in the oral cavity further includes the following steps: S41: Assemble a temporary restoration model on the implant, and use methods such as the T-Scan system, three-dimensional scanning technology, or pressure sensor array to obtain the restoration occlusion data of the patient wearing the temporary restoration model.

[0051] Among them, the restoration occlusion data includes data such as the occlusal contact points, occlusal pressure distribution, occlusal trajectory, occlusal balance, occlusal height, and occlusal interference of the upper and lower jaw restorations. The actual occlusion situation of the restoration has an important impact on the comfort and chewing efficiency of the patient using the restoration after surgery.

[0052] S42: Remove the temporary restoration model, assemble a reverse scanning rod in various implant connection interfaces of the temporary restoration model, and perform three-dimensional scanning on the temporary restoration model and the reverse scanning rod to obtain the three-dimensional position scan data of the temporary restoration model and the reverse scanning rod.

[0053] Among them, the reverse scanning rod is similar to the scanning rod. The reverse scanning rod is provided with an outwardly convex fixed interface. The fixed interface of the reverse scanning rod can be completely inserted into the inner cavity of the implant connection interface of the temporary restoration model. Therefore, there are clear geometric correspondence and fixed postures between the connection interface inner cavity of the reverse scanning rod and the temporary restoration model, and between the inner cavity of the connection interface of the temporary restoration model and the implant that can be worn.

[0054] That is, the three-dimensional position of the reverse scanning rod is synchronized with the three-dimensional position of the implant connection interface of the temporary restoration model and the three-dimensional position of the implant fixedly connected to the temporary restoration model.

[0055] S43: Based on the three-dimensional position of the reverse scanning rod and the restoration occlusion data of the temporary restoration model, a restoration forming part is generated. The restoration forming part has a connection interface adapted to the three-dimensional position of the implant in the patient's oral cavity and a restoration shape adapted to the patient's occlusion habit and facial personalized features.

[0056] That is, in this embodiment, the finally generated prosthesis forming part not only has an implant connection interface adapted to the three-dimensional positions of the implants in the patient's mouth, but also adapts to the patient's occlusion habit. At the same time, since the temporary prosthesis model itself is generated based on the three-dimensional position intraoral scan data of all implants and the three-dimensional position facial scan data of the first implant, the prosthesis forming part also fully adapts to the patient's facial proportion and aesthetic requirements.

[0057] Second Embodiment Based on the same concept, the present invention also provides a multi-source data fitting system for edentulous implant in the oral cavity, which is used to execute a multi-source data fitting method for edentulous implant in the oral cavity as described in any one of the first embodiments, and is provided with an intraoral scan module, a facial imaging module and a computing terminal.

[0058] Among them, the intraoral scan module is used to scan and obtain the three-dimensional position parameters of the scan bar inside the patient's oral cavity.

[0059] The facial imaging module is used to photograph and obtain the patient's facial information and the three-dimensional stereoscopic image data of the visual target 1 of the implant facial scan locator.

[0060] The computing terminal is used to obtain the three-dimensional position intraoral scan data of all implants and the three-dimensional position facial scan data of the first implant, perform fitting processing on the three-dimensional position intraoral scan data of all implants and the three-dimensional position facial scan data of the first implant, and generate temporary prosthesis model data adapted to the patient's facial personalized features.

[0061] And obtain the three-dimensional position scan data of the reverse scan bar, perform fitting processing on the three-dimensional position scan data of the reverse scan bar, the three-dimensional position intraoral scan data of all implants and the three-dimensional position facial scan data, and generate prosthesis forming part data with a connection interface adapted to the three-dimensional positions of the implants in the patient's mouth, as well as the patient's occlusion habit and facial personalized features.

[0062] In summary, the present embodiment provides a multi-source data fitting system for edentulous oral implant. By assembling a scanning rod and an intraoral scanning locator on the implant, and respectively using an intraoral scanning module and a facial imaging module to perform three-dimensional scanning processing of the oral cavity and three-dimensional scanning processing of the face, the three-dimensional position intraoral scanning data of all implants, the patient's facial information, and the three-dimensional position facial scanning data of the implants corresponding to the patient's facial information are obtained. Finally, the computing terminal fits the three-dimensional position intraoral scanning data of the implants and the three-dimensional position facial scanning data, establishes an accurate connection between all the implants in the oral cavity and the patient's facial information, and thus generates a prosthesis adapted to the patient's facial personalized features. Therefore, through this embodiment, the prosthesis can fully conform to the patient's facial proportion and aesthetic requirements, and in the configuration process, relying on digital processing technology, the accuracy and operation efficiency of steps such as implant position measurement, establishment of the relationship between facial information and dentition, and generation of a temporary prosthesis model are effectively improved, reducing the treatment cost and treatment time.

[0063] The above has described in detail the embodiments of the present invention in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, provided that these changes fall within the scope of the claims of the present invention and their equivalent technologies, they still fall within the protection scope of the present invention.

Claims

1. A multi-source data fitting method for edentulous jaw implant in oral cavity, characterized in that, It includes the following steps: S1: Implant a number of implants in the alveolar bone of the patient's oral cavity. After the implants are osseointegrated with the bone tissue, assemble scanning rods on all the implants, and perform intraoral three-dimensional scanning on the scanning rods in the patient's mouth to obtain the intraoral three-dimensional position scanning data of all the implants; S2: Select any one implant as the first implant, and assemble an implant surface scanning locator on the first implant. The visual target of the implant surface scanning locator extends outside the patient's oral cavity, and perform extraoral three-dimensional stereophotography on the patient's facial information and the visual target to obtain the patient's facial information and the three-dimensional position facial scanning data of the first implant corresponding to the patient's facial information; S3: Register the intraoral three-dimensional position scanning data of all the implants with the three-dimensional position facial scanning data of the first implant, that is, establish a connection between the intraoral three-dimensional position scanning data of all the implants and the patient's facial information, and generate a temporary restoration model adapted to the patient's facial personalized features based on the intraoral three-dimensional position scanning data of the implants.

2. The multi-source data fitting method for edentulous jaw implantation in the oral cavity according to claim 1, characterized in that, The implant surface scanning locator is further provided with an anchoring base, the anchoring base and the visual target are fixedly connected by a connecting rod, and the visual target, the anchoring base and the connecting rod are all made of and connected with a rigid structure; When the anchoring base is sleeved on the first implant, the three-dimensional position of the anchoring base is kept in the same pose as the three-dimensional position of the first implant.

3. The multi-source data fitting method for edentulous oral implant according to claim 2, wherein Before assembling the implant surface scanning locator on the first implant in S2, it further includes the following steps: S21: Perform three-dimensional scanning on the implant surface scanning locator to be used to obtain the three-dimensional modeling data of the implant surface scanning locator, and upload the three-dimensional modeling data of the implant surface scanning locator to the computing terminal. In the three-dimensional modeling data of the implant surface scanning locator, the three-dimensional position of the visual target and the three-dimensional position of the anchoring base have a fixed mapping relationship, and the computing terminal can automatically generate the corresponding three-dimensional position of the anchoring base based on the visual image of the visual target.

4. The multi-source data fitting method for implanting in edentulous maxilla and mandible of oral cavity according to claim 2, wherein The visual target is provided with a polygonal marker board, the plane extension direction of the marker board is perpendicular to the length extension direction of the connecting rod, several identifiers are marked on the side of the marker board facing away from the patient's oral cavity, and the visual target is configured to perform three-dimensional stereophotography on the visual target, and based on the geometric feature pose offset of the marker board body and its identifiers, inversely calculate the three-dimensional positions of the anchoring base and the first implant; The identifiers on the surface of the marker board include any one or several combinations of characters, stripes, dot matrices or non-circular geometric figures.

5. The multi-source data fitting method for implant in edentulous maxilla and mandible as claimed in claim 1, wherein When performing three-dimensional stereophotography on the patient's facial information in S2, it further includes the following steps: S22: Perform three-dimensional stereophotography on the patient's facial information to obtain diagrams of the patient's facial information under several different shooting perspectives and oral postures; S23: Use computer vision algorithms to automatically extract the single patient facial information diagram of the patient wearing the implant surface scanning locator and the facial feature points in the diagrams of the patient's facial information under several different shooting perspectives and oral postures; S24: Match the facial information diagram of a single patient wearing the implant surface scanning locator with the facial feature points in the facial information diagrams of the patient under several different shooting perspectives and oral postures. According to the matching results of the facial feature points, calculate and obtain the three-dimensional position facial scan data of the first implant in the facial information diagrams of the patient under different shooting perspectives and oral postures.

6. The multi-source data fitting method for implanting in edentulous jaws of the oral cavity according to claim 5, characterized in that The facial information diagrams of the patient under different shooting perspectives include the front view of the patient's face, the side view of the patient's face rotated by a specific angle to the left and right of the midline of the patient's head, the top view of the patient's face, and the bottom view of the patient's face. The facial information diagrams of the patient under different oral postures include the natural facial diagram of the patient, the smiling facial diagram of the patient, the open-mouth facial diagram of the patient, the occlusal facial diagram of the patient, and the pronunciation facial diagram of the patient.

7. The multi-source data fitting method for implanting in edentulous jaws of the oral cavity according to claim 1, wherein In S3, register the three-dimensional position intraoral scan data of all implants with the three-dimensional position facial scan data of the first implant, including the following steps: S31: Perform an intraoral three-dimensional scan on the first implant with the implant surface scanning locator assembled in the patient's mouth to obtain the three-dimensional position intraoral supplementary scan data of the first implant and the implant surface scanning locator. S32: Overlap and superpose the three-dimensional position intraoral supplementary scan data of the first implant and the implant surface scanning locator with the three-dimensional position intraoral scan data of all implants to determine the corresponding setting positions and layout postures of the first implant and the implant surface scanning locator among all implants, thereby establishing a connection between the three-dimensional position intraoral scan data of all implants and the three-dimensional position facial scan data of the first implant.

8. The multi-source data fitting method for edentulous jaw implant in the oral cavity according to claim 1, wherein In S3, registering the three-dimensional position intraoral scan data of all implants with the three-dimensional position facial scan data of the first implant further includes the following steps: S33: Manually set the implant in the intraoral scan data that is in the same position as the first implant in the jawbone as the second implant. Obtain the three-dimensional position parameters of the first implant in the facial scan data and the three-dimensional position parameters of the second implant in the intraoral scan data. S34: Taking the three-dimensional position parameters of the first implant as the adjustment target, calculate the translation amount and rotation amount required to adjust the three-dimensional position parameters of the second implant to the three-dimensional position parameters of the first implant, thereby establishing a rigid transformation matrix, which is used to align the three-dimensional coordinates of the implant three-dimensional positions in different modalities. S35: Adjust the three-dimensional position parameters of all implants in the intraoral scan data to the coordinate system where the first implant is located through the rigid transformation matrix, and update and obtain the three-dimensional position intraoral scan data of all implants registered with the patient's facial information.

9. The multi-source data fitting method for implant in edentulous maxillofacial region according to claim 1, characterized in that, It further includes the following steps: S41: Assemble the temporary restoration model on the implant to obtain the restoration occlusion data of the patient wearing the temporary restoration model. S42: Assemble the reverse scanning rod in each implant connection interface of the temporary restoration model, and perform a three-dimensional scan on the temporary restoration model and the reverse scanning rod to obtain the three-dimensional position scan data of the temporary restoration model and the reverse scanning rod. The three-dimensional position of the reverse scanning rod is synchronized with the three-dimensional position of the implant connection interface of the temporary restoration model and the three-dimensional position of the implant fixedly connected to the temporary restoration model. S43: Based on the three-dimensional position of the reverse scanning rod and the restoration occlusion data of the temporary restoration model, a restoration forming part is generated. The restoration forming part has a connection interface adapted to the three-dimensional position of the implant in the patient's mouth and a restoration form adapted to the patient's occlusion habit and facial personalized features.

10. A multi-source data fitting system for edentulous jaw implant in oral cavity, characterized in that, A multi-source data fitting method for edentulous implant in the oral cavity, which is used to execute any one of claims 1-9, includes: An intraoral scanning module for scanning and obtaining the three-dimensional position parameters of the scanning rod inside the patient's oral cavity. A facial imaging module for photographing and obtaining the patient's facial information and the three-dimensional stereoscopic image data of the visual target of the implant surface scanning locator. A computing terminal for obtaining the intraoral scanning data of the three-dimensional positions of all implants and the facial scanning data of the three-dimensional position of the first implant, and performing fitting processing on the intraoral scanning data of the three-dimensional positions of all implants and the facial scanning data of the three-dimensional position of the first implant to generate temporary restoration model data adapted to the patient's facial personalized features. Moreover, obtain the three-dimensional position scanning data of the reverse scanning rod, and perform fitting processing on the three-dimensional position scanning data of the reverse scanning rod, the intraoral scanning data of the three-dimensional positions of all implants, and the three-dimensional position facial scanning data to generate restoration forming part data with a connection interface adapted to the three-dimensional position of the implant in the patient's mouth and the patient's occlusion habit and facial personalized features.

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