Oral cavity digital impression equipment, three-dimensional oral cavity model reconstruction method and equipment and storage medium

Abstract

The invention discloses oral cavity digital impression equipment, a three-dimensional oral cavity model reconstruction method and equipment and a storage medium. An oral cavity digital impression device comprises a structured light control module used for projecting structured light to a target oral cavity; the infrared band control module is used for projecting infrared light to a target oral cavity; the main control unit controls the structured light control module to project structured light, controls the image sensor to collect a first image and transmits the first image to the upper computer, and the first image is a deformed two-dimensional image; the main control unit controls the infrared band control module to project infrared light, controls the image sensor to collect a second image and transmits the second image to the upper computer, and the second image is a gray level image; and the upper computer constructs the initial three-dimensional oral cavity model based on the first image, and performs contour optimization processing on the initial three-dimensional oral cavity model through the second image to obtain the target three-dimensional oral cavity model, so that the accuracy of the boundary between the tooth area and the gingival area is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of oral digital impressions, and in particular to an oral digital impression device and a three-dimensional oral model reconstruction method, device and storage medium. Background Art

[0002] In the field of dental restoration, the application of oral digital impression technology has important scientific significance and clinical value.

[0003] Conventional oral digital impression machines utilize 3D structured light technology to achieve high-precision intraoral scans. Using the red, green, and blue light components of structured light, a specially coded light pattern is projected onto oral lesions. Due to the unevenness of the tooth surface, the coded light pattern is distorted, and the image sensor captures this distorted light pattern to reconstruct the oral cavity in 3D. However, due to the humid environment and complex light reflections within the oral cavity, the distorted image captured by the image sensor makes it difficult to accurately distinguish the boundary between the tooth and gum regions. This results in low accuracy in the boundary between the tooth and gum regions in the final 3D oral model. Summary of the Invention

[0004] The present invention provides an oral digital impression device and a three-dimensional oral model reconstruction method, device and storage medium to improve the accuracy of determining the boundary between the tooth area and the gum area.

[0005] According to one aspect of the present invention, a digital oral impression device is provided, comprising: a host computer, a main control unit, an image sensor, a structured light control module, and an infrared band control module; wherein the structured light control module is used to project structured light toward a target oral cavity; and the infrared band control module is used to project infrared light toward a target oral cavity;

[0006] The main control unit controls the structured light control module to project structured light toward the target oral cavity, and controls the image sensor to capture a first image of the target oral cavity under the structured light projection condition, and transmits the first image to the host computer, where the first image is a deformed two-dimensional image.

[0007] The main control unit controls the infrared band control module to project infrared light toward the target oral cavity, and controls the image sensor to capture a second image of the target oral cavity under the infrared light projection condition, and transmits the second image to the host computer. The second image is a grayscale image.

[0008] The host computer constructs an initial three-dimensional oral cavity model based on the first image, and optimizes the contour of the initial three-dimensional oral cavity model through the second image to obtain a target three-dimensional oral cavity model.

[0009] According to another aspect of the present invention, a method for reconstructing a three-dimensional oral cavity model is provided, the method comprising:

[0010] Acquire a first image of the oral cavity captured under structured light projection, and perform three-dimensional reconstruction based on the first image to obtain an initial three-dimensional oral cavity model, where the first image is a deformed two-dimensional image;

[0011] Acquire a second image of the oral cavity captured under infrared light projection, and identify contour information in the initial three-dimensional oral cavity model based on the second image, where the second image is a grayscale image;

[0012] The initial 3D oral cavity model is optimized based on the contour information to obtain the target 3D oral cavity model.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the three-dimensional oral model reconstruction method of any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for enabling a processor to implement the three-dimensional oral model reconstruction method of any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention is to set up a host computer, a main control unit, an image sensor, a structured light control module and an infrared band control module; wherein the structured light control module is used to project structured light to the target oral cavity; the infrared band control module is used to project infrared light to the target oral cavity, thereby realizing the projection of structured light and infrared light; the main control unit controls the structured light control module to project structured light to the target oral cavity, and controls the image sensor to collect a first image of the target oral cavity under the structured light projection condition, and transmits the first image to the host computer, wherein the first image is a deformed two-dimensional image, thereby realizing the collection of the deformed two-dimensional image and providing data support for subsequent analysis and processing; the main control unit controls the infrared band control module to project infrared light to the target oral cavity, And control the image sensor to collect a second image of the target oral cavity under infrared light projection, and transmit the second image to the host computer, wherein the second image is a grayscale image, thereby realizing the collection of the second image, and performing subsequent analysis and processing based on the collected second image; the host computer constructs an initial three-dimensional oral model based on the first image, and optimizes the contour of the initial three-dimensional oral model through the second image to obtain the target three-dimensional oral model, which solves the problem of low accuracy of the boundary between the tooth area and the gum area in the process of constructing the three-dimensional oral model of the oral digital impression equipment in the existing technology, improves the accuracy of the boundary between the tooth area and the gum area in the process of constructing the three-dimensional oral model, and provides accurate data support for subsequent treatment.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 This is a schematic diagram of light path propagation of a conventional oral digital impression device provided by the present invention;

[0022] Figure 2 This is a schematic structural diagram of an oral digital impression device provided in Example 1 of the present invention;

[0023] Figure 3 Schematic diagram of light path propagation of an oral digital impression device provided by an embodiment of the present invention;

[0024] Figure 4This is a control schematic diagram of an oral digital impression device provided by an embodiment of the present invention;

[0025] Figure 5 is a comparison diagram of a target three-dimensional oral cavity model provided by an embodiment of the present invention;

[0026] Figure 6 This is a flow chart of a three-dimensional oral model reconstruction method provided in Example 3 of the present invention;

[0027] Figure 7 This is a structural diagram of an electronic device provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] In the prior art, traditional oral digital impression equipment projects red light, green light, and blue light into the oral cavity through a projector or other device, and projects a specifically coded light pattern onto the tooth surface. The specific codes include sinusoidal stripes, Gray code, random speckle, and phase-shifted grating. The specifically coded light pattern is regular when projected on a plane. When the specifically coded light pattern is projected onto the tooth surface, the specifically coded light pattern is distorted due to the unevenness of the tooth surface. The distorted pattern is collected by an image sensor, and the collected distorted pattern is converted into a three-dimensional image through triangulation. A three-dimensional oral model is constructed based on the three-dimensional image to achieve the construction of a three-dimensional oral model. For example, see Figure 1 , Figure 1The figure is a schematic diagram of the optical path propagation of a conventional oral digital impression device provided by the present invention. Here, blue light and green light are respectively reflected by a single-band mirror. Red light, the reflected blue light, and green light are sequentially reflected by a collimating lens (a compound eye), an integrating lens, and a digital micromirror device (DMD). The light is then projected onto the oral cavity through a projection lens. An image sensor captures a first image of the oral cavity under structured light projection. This first image is a deformed two-dimensional image, which can also be a deformed two-dimensional color image. The geometric relationship between the dual cameras and the projector is used to convert pixel coordinates into three-dimensional point cloud data. De-noising, registration, and reconstruction of the three-dimensional point cloud data are then performed to obtain a three-dimensional oral model.

[0031] When constructing a three-dimensional oral model using the above method, it is difficult to accurately distinguish the boundary between the tooth area and the gum area based on the color image captured by the image sensor, resulting in low accuracy of the boundary between the tooth area and the gum area in the three-dimensional oral model. To address this problem, the present invention adds an infrared band control module to the existing oral digital impression device. The image sensor captures a first image of the oral cavity projected by structured light and a second image (i.e., a grayscale image) of the oral cavity projected by infrared light, and constructs a three-dimensional oral model based on the first and second images.

[0032] Example 1

[0033] Figure 2 This is a structural diagram of an oral digital impression device provided by the first embodiment of the present invention. This embodiment is applicable to the case of determining the boundary between the tooth area and the gum area during the construction of a three-dimensional oral model. Figure 2 As shown, the oral digital impression device includes: a host computer 110, a main control unit 120, an image sensor 130, a structured light control module 140, and an infrared band control module 150. The structured light control module 140 is used to project structured light toward the target oral cavity; the infrared band control module 150 is used to project infrared light toward the target oral cavity. The main control unit 120 controls the structured light control module 140 to project structured light toward the target oral cavity, and controls the image sensor 130 to capture a first image of the target oral cavity under the structured light projection, and transmits the first image to the host computer 110. The first image is a deformed two-dimensional image. The main control unit 120 controls the infrared band control module 150 to project infrared light toward the target oral cavity, and controls the image sensor 130 to capture a second image of the target oral cavity under the infrared light projection, and transmits the second image to the host computer 110. The second image is a grayscale image. The host computer 110 constructs an initial three-dimensional oral cavity model based on the first image, and performs contour optimization processing on the initial three-dimensional oral cavity model using the second image to obtain a target three-dimensional oral cavity model.

[0034] The structured light control module 140 and the main control unit 120 are electrically or communicatively connected, enabling signal transmission between the structured light control module 140 and the main control unit 120. The structured light control module 140 is a component for projecting structured light onto a target oral cavity. The target oral cavity is the oral cavity that needs to be digitally scanned and modeled. The structured light control module 140 includes a structured light source, and the structured light includes red light, blue light, and green light. The structured light control module 140 also includes a first switch corresponding to the structured light source. When the first switch is closed, the structured light source can emit structured light. Optionally, the red light source, blue light source, and green light source in the structured light control module 140 correspond to the first switches respectively, or the red light source, blue light source, and green light source in the structured light control module 140 are connected to a common first switch. In some embodiments of the present invention, the oral digital impression device also includes a projection lens. The projection lens is an optical component used to optically process the light emitted by the light source and accurately project it onto the target oral cavity. The main control unit 120 sends a first start-up instruction to the structured light control module 140. The structured light control module 140 starts the structured light source according to the first start-up instruction, that is, controls the first switch to be closed, and the structured light is projected to the target oral cavity through the projection lens. After the structured light source is started for a preset time, the main control unit 120 sends a first shut-down instruction to the structured light control module 140. The structured light control module 140 shuts down the structured light source according to the first shut-down instruction, that is, controls the first switch to be disconnected.

[0035] In some embodiments of the present invention, the structured light control module 140 includes a red light source, a blue light source, a green light source, and a lens assembly. The red light emitted by the red light source, the blue light emitted by the blue light source, and the green light emitted by the green light source are each formed into structured light through the lens assembly and projected into the target oral cavity through a projection lens. In the structured light control module 140, the red light source is configured to emit red light, the blue light source is configured to emit blue light, and the green light source is configured to emit green light. The lens assembly includes lenses for assisting the propagation of light emitted by each light source along an optical path, including but not limited to single-band mirrors, collimating lenses, compound eyes, integrating lenses, and digital micromirror devices (DMDs). The red light source, the blue light source, and the green light source each correspond to a single-band mirror, and each color light source corresponds to a different single-band mirror. A given color light source has a high reflectivity for light of that color and a low reflectivity for structured light of the remaining colors. For example, the single-band mirror corresponding to red light has a high reflectivity for red light and a low reflectivity for blue and green light. The red light emitted by the red light source, the blue light emitted by the blue light source, and the green light emitted by the green light source respectively pass through the lens group to form structured light to ensure that the pattern of the structured light is clear. The projection lens is an optical component used to project structured light into the target oral cavity. The structured light projected by the projection lens can be accurately projected to a part in the target oral cavity. In some embodiments of the present invention, the structured light control module 140 can emit red light, blue light, and green light at the same time, and can also emit light of corresponding colors at a time according to the order of instructions. It can be set according to needs and is not limited here. In some optional embodiments, the wavelength of the red light emitted by the red light source is 650mm, the wavelength of the blue light emitted by the blue light source is 450mm, and the wavelength of the green light emitted by the green light source is 550mm.

[0036] The infrared band control module 150 can be electrically connected or communicatively connected to the main control unit 120 to achieve signal transmission. The infrared band control module 150 is a component for projecting infrared light into the target oral cavity and can project infrared light into the target oral cavity according to the control signal transmitted by the main control unit 120. In some embodiments of the present invention, the infrared band control module 150 includes an infrared light source and a single-band reflector, wherein the infrared light emitted by the infrared light source is reflected by the single-band reflector to the projection lens for projection into the target oral cavity. The infrared light source is a component for emitting infrared light, and the single-band reflector is an optical component for reflecting infrared light. The single-band reflector has a high reflectivity for infrared light and a low reflectivity for light in other bands. The infrared band control module 150 also includes a second switch corresponding to the infrared light source. When the second switch is closed, the infrared light source can emit infrared light. The infrared band control module 150 receives a second activation command from the main control unit 120 via communication. Based on this command, it activates the infrared light source, i.e., controls the second switch to close. Infrared light emitted by the infrared light source is reflected by the single-band reflector to the projection lens. After projection by the projection lens, the infrared light is projected into the target oral cavity, achieving precise projection of structured light. In some optional embodiments, the infrared light emitted by the infrared light source has a wavelength of 950 mm.

[0037] The main control unit 120 is a component used to control the structured light control module 140 and the infrared band control module 150 to activate and deactivate the light source. The main control unit 120 sends a first activation command to the structured light control module 140 via communication. Upon receiving the first activation command, the structured light control module 140 activates the light source corresponding to the structured light, projecting the structured light toward the target oral cavity. After the structured light has been projected for a preset time, the main control unit 120 sends a first deactivation command to the structured light control module 140. The structured light control module 140 deactivates the light source corresponding to the structured light according to the first deactivation command. The main control unit 120 sends a second activation command to the infrared band control module 150. Upon receiving the second activation command, the infrared band control module 150 activates the infrared light source. The infrared light source emits infrared light, which is then reflected by a single-band reflector to the projection lens. The projection lens projects the reflected infrared light into the target oral cavity, achieving precise projection of infrared light.

[0038] In some embodiments of the present invention, the main control unit 120 can first control the structured light control module 140 to project structured light into the target oral cavity, and when the image sensor 130 finishes collecting the image, turn off the structured light light source, and then control the infrared band control module 150 to project infrared light into the target oral cavity, and when the image sensor 130 finishes collecting the image, turn off the infrared light source.

[0039] The image sensor 130 and the main control unit 120 can be electrically or communicatively connected to enable signal transmission. The image sensor 130 is an electronic component used to capture images of the target oral cavity under different light sources. The main control unit 120 controls the structured light control module 140 to project structured light onto the target oral cavity. The image sensor 130 captures a first image of the target oral cavity under the structured light projection. The first image is a deformed two-dimensional image. The first image is a geometrically deformed image captured by the image sensor 130 due to the unevenness of the tooth surface caused by the structured light projection. The main control unit 120 controls the infrared band control module 150 to project infrared light onto the target oral cavity. The image sensor 130 captures a second image of the target oral cavity under the infrared light projection. The second image is a two-dimensional grayscale image captured by the image sensor 130 under the infrared light projection, using grayscale values ​​to represent image information. In the second image, the color of each pixel is uniquely determined by a grayscale value from 0 to 255. The second image includes the teeth and gum regions. In the target oral cavity, the gum region reflects infrared light less strongly than the teeth. Therefore, in the second image captured by image sensor 130, the gum region appears darker than the teeth, and the boundary between the teeth and gum regions is distinct. Image sensor 130 transmits the captured first and second images to main control unit 120 via communication.

[0040] In some embodiments of the present invention, the main control unit 120 sends a first start instruction to the structured light control module 140. The structured light control module 140 activates the structured light source according to the first start instruction and projects structured light into the target oral cavity. The main control unit 120 sends an image acquisition instruction to the image sensor 130. The image sensor 130 responds to the image acquisition instruction, captures a first image, and sends the captured first image to the main control unit 120. After receiving the first image, the main control unit 120 sends a first shutdown instruction to the structured light control module 140. The structured light control module 140 shuts down the structured light source according to the first shutdown instruction. The main control unit 120 sends a second start instruction to the infrared band control module 150. The infrared band control module 150 activates the infrared light source according to the second start instruction and projects infrared light into the target oral cavity. The main control unit 120 sends an image acquisition instruction to the image sensor 130. The image sensor 130 responds to the image acquisition instruction, captures a second image, and sends the captured second image to the main control unit 120. The main control unit 120 receives the second image and sends a second shut-down instruction to the infrared band control module 150 . The infrared band control module 150 shuts down the infrared light source according to the second shut-down instruction.

[0041] The host computer 110 and the main control unit 120 are electrically or communicatively connected. The host computer 110 is the control and processing unit of the oral digital impression device, and includes, but is not limited to, a computer and an embedded system. The host computer 110 includes functions for data processing, algorithm execution, system control, and human-computer interaction.

[0042] The initial 3D oral model is 3D data of the target oral cavity initially established based on the first image. The initial 3D oral model includes 3D coordinate information of the target oral cavity. In some embodiments of the present invention, the initial 3D oral model includes a tooth region and a gingival region, and the contour is the boundary between the tooth region and the gingival region. Contour optimization processing is processing the boundary between the tooth region and the gingival region in the initial 3D oral model, which helps improve the accuracy of the boundary between the tooth region and the gingival region and ensures the clarity of the boundary between the tooth region and the gingival region. The target 3D oral model is 3D data of the target oral cavity obtained by performing contour optimization processing on the boundary between the tooth region and the gingival region based on the initial 3D oral model. Contour optimization processing of the boundary between the tooth region and the gingival region can calculate the curvature of each point in the contour based on the 3D coordinate information of the boundary between the tooth region and the gingival region. The curvature of each point is smoothed to obtain the target 3D oral model. The target 3D oral model can accurately reflect the boundary between the tooth region and the gingival region in the target oral cavity, providing accurate data support for subsequent treatment.

[0043] In some embodiments of the present invention, the main control unit 120 pre-stores an execution program for constructing a target three-dimensional oral model. The host computer 110 sends a third startup instruction to the main control unit 120. The main control unit 120 triggers the pre-stored execution program according to the startup instruction to realize control of the structured light control module 140, the infrared band control module 150 and the image sensor 130.

[0044] In some embodiments of the present invention, a user initiates a control operation through the interactive interface of the host computer 110. The control operation includes controlling a first image acquisition operation and controlling a second image acquisition operation. The host computer 110 generates a corresponding first image acquisition control instruction and a second image acquisition control instruction based on the control operation, and sends the first image acquisition control instruction and the second image acquisition control instruction to the main control unit 120, respectively. The main control unit 120 generates a first image acquisition instruction based on the first image acquisition control instruction and sends the first image acquisition instruction to the image sensor 130. The image sensor 130 captures a first image based on the first image acquisition instruction. The main control unit 120 generates a second image acquisition instruction based on the second image acquisition control instruction and sends the second image acquisition instruction to the image sensor 130. The image sensor 130 captures a second image based on the second image acquisition instruction.

[0045] The technical solution of this embodiment is to set up a host computer, a main control unit, an image sensor, a structured light control module and an infrared band control module; wherein the structured light control module is used to project structured light into the target oral cavity; the infrared band control module is used to project infrared light into the target oral cavity, thereby realizing the projection of structured light and infrared light; the main control unit controls the structured light control module to project structured light into the target oral cavity, and controls the image sensor to capture a first image of the target oral cavity under the structured light projection condition, and transmits the first image to the host computer, thereby realizing the capture of the first image and providing data support for subsequent analysis and processing; the main control unit controls the infrared band control module to project infrared light into the target oral cavity, and controls the image sensor to capture a second image of the target oral cavity under the infrared light projection condition, and transmits the second image to the host computer, thereby realizing the capture of the second image, and performing subsequent analysis and processing based on the captured second image; the host computer constructs an initial three-dimensional oral cavity model based on the first image, and optimizes the contour of the initial three-dimensional oral cavity model through the second image to obtain a target three-dimensional oral cavity model, thereby realizing the accurate determination of the target three-dimensional oral cavity model, improving the accuracy of the boundary between the tooth area and the gum area, and providing accurate data support for subsequent treatment.

[0046] Example 2

[0047] This embodiment is a refinement of the above embodiment. Based on the above embodiment, the host computer constructs an initial 3D oral model based on the first image, and then optimizes the contours of the initial 3D oral model using the second image to obtain a target 3D oral model. The oral digital impression device includes: a host computer 110, a main control unit 120, an image sensor 130, a structured light control module 140, and an infrared band control module 150. Among them, the structured light control module 140 is used to project structured light to the target oral cavity; the infrared band control module 150 is used to project infrared light to the target oral cavity; the main control unit 120 controls the structured light control module 140 to project structured light to the target oral cavity, and controls the image sensor 130 to collect a first image of the target oral cavity under the condition of structured light projection, and transmits the first image to the host computer 110, where the first image is a deformed two-dimensional image; the main control unit 120 controls the infrared band control module 150 to project infrared light to the target oral cavity, and controls the image sensor 130 to collect a second image of the target oral cavity under the condition of infrared light projection, and transmits the second image to the host computer 110, where the second image is a grayscale image; the host computer 110 identifies the contour information corresponding to the initial three-dimensional oral cavity model based on the second image, and performs contour optimization processing on the initial three-dimensional oral cavity model based on the contour information to obtain the target three-dimensional oral cavity model.

[0048] The contour information may include boundary contours corresponding to the gum region and / or the tooth region in the initial three-dimensional oral model. Optionally, the contour information includes data for characterizing the boundary between the tooth region and the gum region, and the contour information includes but is not limited to three-dimensional coordinate information of the boundary between the tooth region and the gum region. In some embodiments of the present invention, the host computer 110 may determine the corresponding contour information in the initial three-dimensional oral model based on the contour information in the second image, mark the corresponding contour information in the initial three-dimensional oral model, and obtain a target three-dimensional oral model. The marking of the corresponding contour information in the initial three-dimensional oral model includes but is not limited to color marking and brightness marking. The host computer 110 determines the corresponding contour information in the initial three-dimensional oral model based on the contour information in the second image, updates the corresponding contour information in the initial three-dimensional oral model, and obtains a target three-dimensional oral model, thereby achieving accurate determination of the target three-dimensional oral model, improving the accuracy of the boundary between the tooth region and the gum region, and providing accurate data support for subsequent treatment.

[0049] In some embodiments of the present invention, the host computer 110 is further used to reconstruct the second image into a three-dimensional grayscale image, perform edge detection based on the pixel difference between adjacent pixels in the three-dimensional grayscale image, and obtain contour information corresponding to the initial three-dimensional oral model.

[0050] The second image (i.e., a two-dimensional grayscale image) captured by the image sensor 130 is reconstructed to obtain a three-dimensional grayscale image of the target oral cavity. The host computer 110 can reconstruct the second image into a three-dimensional grayscale image based on the triangulation method. The calculation principle of the triangulation method is as follows: two cameras are set, and the two cameras and the projector in the oral digital impression device form a triangulation baseline. According to the distance between the projector and the two cameras, as well as the parameters of the two cameras, the pixels in the second image are converted into three-dimensional point cloud data. By performing denoising, registration, and reconstruction operations on the three-dimensional point cloud data, a three-dimensional grayscale image is obtained. Edge detection is performed based on the pixel difference between adjacent pixels in the three-dimensional grayscale image. When the pixel difference exceeds a preset threshold, the contour information between the adjacent pixels is determined as the contour information corresponding to the initial three-dimensional oral model.

[0051] In some embodiments of the present invention, an image reconstruction model can be used to reconstruct the second image captured by the image sensor 230. By inputting the second image into a pre-trained image reconstruction model, a three-dimensional grayscale image can be obtained. The image reconstruction model includes but is not limited to a convolutional neural network model and a machine learning model, which is set according to needs and is not limited here.

[0052] The host computer 110 reconstructs the second image into a three-dimensional grayscale image based on the triangulation method, and performs edge detection based on the pixel difference between adjacent pixel points in the three-dimensional grayscale image. When the pixel difference exceeds a preset threshold, the contour information between the adjacent pixel points is determined as the contour information corresponding to the initial three-dimensional oral model, thereby achieving accurate determination of the contour information corresponding to the initial three-dimensional oral model and providing data support for subsequent analysis and processing.

[0053] In some embodiments of the present invention, an edge detection model can be used to perform edge detection on the 3D grayscale image to obtain contour information corresponding to the initial 3D oral model. Edge detection models include, but are not limited to, neural network models and transformer models, and can be configured as needed. This is not a limitation here.

[0054] In some embodiments of the present invention, the second image and the first image may be acquired within a preset time range, that is, the second image and the first image are acquired while the position and state of the image acquisition object remain unchanged, and the second image and the first image may be considered to be in the same coordinate system. In some embodiments of the present invention, because the position of the image acquisition object changes during the process of image sensor 130 acquiring the second image, in order to ensure the accuracy of the target three-dimensional oral model, before identifying the contour information corresponding to the initial three-dimensional oral model based on the second image, the second image may be aligned to ensure that the second image and the first image are in the same coordinate system, thereby improving the accuracy of the target three-dimensional oral model.

[0055] In some embodiments of the present invention, the host computer 110 is further configured to input the contour information and the initial three-dimensional oral cavity model into a pre-trained fusion model to obtain a target three-dimensional oral cavity model.

[0056] The fusion model includes, but is not limited to, a neural network model and is configured as needed, without limitation herein. The host computer 110 stores a pre-trained fusion model. The host computer 110 inputs the contour information and the initial 3D oral model into the pre-trained fusion model. The pre-trained fusion model then fuses the contour information and the initial 3D oral model to obtain a target 3D oral model, thereby accurately determining the target 3D oral model.

[0057] Optionally, the fusion model may include a Laplacian pyramid model.

[0058] Optionally, the fusion model may fuse the contour information with the initial 3D oral model by extracting the low-frequency and high-frequency information of the initial 3D oral model and fusing the contour information of the second image with the low-frequency information of the initial 3D oral model to obtain the target 3D oral model. By replacing the high-frequency information of the initial 3D oral model with the contour information of the second image and fusing it with the low-frequency information of the initial 3D oral model, the contour of the initial 3D oral model is optimized by replacing the unclear contour information of the initial 3D oral model with clear contour information.

[0059] The fusion calculation formula of each layer in the Laplace pyramid model is as follows:

[0060] L i 12 =R i L i 1+(1-R i )L i 2;

[0061] Among them, L i 12 Represents the fusion information of the i-th layer Laplace pyramid model, R i represents the fusion weight, L i 1 represents the contour information of the second image in the i-th layer Laplacian pyramid model, L i 2 represents the low-frequency information of the initial 3D oral model in the i-th layer Laplacian pyramid model.

[0062] In some embodiments of the present invention, the host computer 110 is further configured to adjust the rendering properties of the contours in the initial three-dimensional oral cavity model based on the contour information to obtain a target three-dimensional oral cavity model.

[0063] The rendering attributes are parameters of the contours in the initial 3D oral model, including one or more of the color and brightness of the contours in the initial 3D oral model. The host computer 110 can adjust the color of the contours in the initial 3D oral model based on the contour information to obtain a target 3D oral model, thereby ensuring the clarity and accuracy of the boundary between the tooth region and the gum region in the initial 3D oral model. The host computer 110 can also adjust the brightness of the contours in the initial 3D oral model based on the contour information to obtain a target 3D oral model. The host computer 110 can also adjust at least one of the color and brightness of the contours in the initial 3D oral model based on the contour information to obtain a target 3D oral model.

[0064] The host computer 110 adjusts the color and / or brightness of the contour in the initial three-dimensional oral model based on the contour information to obtain the target three-dimensional oral model, thereby achieving accurate determination of the target three-dimensional oral model and improving the accuracy and clarity of the boundary between the tooth area and the gum area.

[0065] For example, see Figure 3 and Figure 4 , Figure 3 Schematic diagram of light path propagation of an oral digital impression device provided by an embodiment of the present invention. Figure 4 This is a control diagram of an oral digital impression device provided by an embodiment of the present invention. Figure 3 As shown in the figure, the red light, blue light, and green light represent the red, blue, and green light sources, respectively, and the lesion represents the target oral cavity. The blue light emitted by the blue light and the green light emitted by the green light are reflected by the corresponding single-band reflectors. The reflected blue light, green light, and red light are sequentially passed through the collimating lens, compound eye, integrating lens, and DMD micromirror, and then projected onto the lesion through the projection lens. The image sensor captures the first image of the lesion under structured light projection. Infrared represents the infrared light source, ① represents the infrared band control module, and the infrared and single-band reflectors constitute ①. The infrared light emitted by the infrared light source is transmitted to the projection lens through the single-band reflector. The static projection lens projects the light onto the lesion, and the image sensor captures the second image of the lesion under infrared light projection.

[0066] The light path propagates through Figure 4 For control. Figure 4 As shown, the red light, blue light, and green light represent the red light source, blue light source, and green light source, respectively. The red, green, and blue light control module represents the structured light control module, and infrared represents the infrared light source. The main control unit is connected to the red, green, and blue light control module, the infrared band control module, the image sensor, and the host computer. The structured light control module projects structured light toward the target oral cavity, and the infrared band control module projects infrared light toward the target oral cavity. The main control unit controls the structured light control module to project structured light toward the target oral cavity, and controls the image sensor to capture a first image of the target oral cavity under the structured light projection, and transmits the first image to the host computer. The main control unit controls the infrared band control module to project infrared light toward the target oral cavity, and controls the image sensor to capture a second image of the target oral cavity under the infrared light projection, and transmits the second image to the host computer. The host computer constructs an initial three-dimensional oral cavity model based on the first image, and optimizes the contour of the initial three-dimensional oral cavity model using the second image to obtain the target three-dimensional oral cavity model.

[0067] For example, see Figure 5 , Figure 5 This is a comparison diagram of a target three-dimensional oral model provided by an embodiment of the present invention. Figure 5As shown, the left figure shows the target three-dimensional oral model obtained by using the oral digital impression device of the present invention, and the right figure shows the target three-dimensional oral model obtained by using the traditional oral digital impression device. It can be seen that the boundary between the tooth area and the gum area in the left figure is clearer than the boundary between the tooth area and the gum area in the right figure, indicating that the oral digital impression device of the present invention has higher accuracy than the traditional oral digital impression device.

[0068] The technical solution of this embodiment is to set up a host computer, a main control unit, an image sensor, a structured light control module and an infrared band control module; wherein the structured light control module is used to project structured light into the target oral cavity; the infrared band control module is used to project infrared light into the target oral cavity, thereby realizing the projection of structured light and infrared light; the main control unit controls the structured light control module to project structured light into the target oral cavity, and controls the image sensor to capture a first image of the target oral cavity under the structured light projection condition, and transmits the first image to the host computer, thereby realizing the acquisition of the first image, providing data support for subsequent analysis and processing; the main control unit controls the infrared band control module to project infrared light into the target oral cavity, and controls the image sensor to capture a second image of the target oral cavity under the infrared light projection condition, and transmits the second image to the host computer, thereby realizing the acquisition of the second image, and performing subsequent analysis and processing based on the captured second image; the host computer identifies the contour information corresponding to the initial three-dimensional oral cavity model based on the second image, and performs contour optimization processing on the initial three-dimensional oral cavity model based on the contour information to obtain the target three-dimensional oral cavity model, thereby realizing the accurate determination of the target three-dimensional oral cavity model, improving the accuracy of the boundary between the tooth area and the gum area, and providing accurate data support for subsequent treatment.

[0069] Example 3

[0070] Figure 6 This is a flow chart of a three-dimensional oral model reconstruction method provided by the third embodiment of the present invention. Figure 6 As shown, the three-dimensional oral model reconstruction method includes:

[0071] S310 , obtaining a first image of the oral cavity captured under structured light projection, and performing three-dimensional reconstruction based on the first image to obtain an initial three-dimensional oral cavity model, wherein the first image is a deformed two-dimensional image.

[0072] S320: Acquire a second image of the oral cavity captured under infrared light projection, and identify contour information in the initial three-dimensional oral cavity model based on the second image, wherein the second image is a grayscale image.

[0073] In some embodiments of the present invention, S320 includes: reconstructing the second image into a three-dimensional grayscale image, performing edge detection based on pixel differences between adjacent pixels in the three-dimensional grayscale image, and obtaining contour information corresponding to the initial three-dimensional oral model.

[0074] S330 , performing contour optimization processing on the initial three-dimensional oral cavity model based on the contour information to obtain a target three-dimensional oral cavity model.

[0075] In some embodiments of the present invention, the initial three-dimensional oral model includes a tooth region and a gum region, and the contour is a boundary between the tooth region and the gum region.

[0076] In some embodiments of the present invention, S330 further includes: inputting the contour information and the initial three-dimensional oral cavity model into a pre-trained fusion model to obtain a target three-dimensional oral cavity model.

[0077] In some embodiments of the present invention, S330 further includes: adjusting rendering properties of contours in the initial three-dimensional oral cavity model based on the contour information to obtain a target three-dimensional oral cavity model.

[0078] The technical solution of this embodiment is to obtain a first image of the oral cavity under structured light projection, and perform three-dimensional reconstruction based on the first image to obtain an initial three-dimensional oral cavity model, thereby achieving accurate determination of the initial three-dimensional oral cavity model, and performing subsequent analysis and processing based on the initial three-dimensional oral cavity model; obtain a second image of the oral cavity under infrared light projection, and identify contour information in the initial three-dimensional oral cavity model based on the second image, thereby achieving accurate determination of the contour information, which is beneficial to improving the accuracy of the boundary between the tooth area and the gum area; perform contour optimization processing on the initial three-dimensional oral cavity model based on the contour information to obtain a target three-dimensional oral cavity model, thereby achieving accurate determination of the target three-dimensional oral cavity model, improving the accuracy and clarity of the boundary between the tooth area and the gum area, and providing accurate data support for subsequent treatment.

[0079] Example 4

[0080] Figure 7 1 is a structural diagram of an electronic device provided in Embodiment 4 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0081] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the random access memory (RAM) 13. The processor 11, the read-only memory (ROM) 12, and the random access memory (RAM) 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0082] Various components in the electronic device 10 are connected to an input / output (I / O) interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0083] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the three-dimensional oral model reconstruction method.

[0084] In some embodiments, the three-dimensional oral model reconstruction method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via a read-only memory (ROM) 12 and / or a communication unit 19. When the computer program is loaded into a random access memory (RAM) 13 and executed by the processor 11, one or more steps of the three-dimensional oral model reconstruction method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the three-dimensional oral model reconstruction method in any other appropriate manner (for example, by means of firmware).

[0085] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0086] The computer programs for implementing the three-dimensional oral model reconstruction method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a standalone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0087] Example 5

[0088] The fifth embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause a processor to execute a three-dimensional oral cavity model reconstruction method, the method comprising:

[0089] A first image of the oral cavity captured under structured light projection is obtained, and an initial three-dimensional oral cavity model is obtained by performing three-dimensional reconstruction based on the first image, wherein the first image is a deformed two-dimensional image; a second image of the oral cavity captured under infrared light projection is obtained, and contour information in the initial three-dimensional oral cavity model is identified based on the second image, wherein the second image is a grayscale image; contour optimization processing is performed on the initial three-dimensional oral cavity model based on the contour information to obtain a target three-dimensional oral cavity model.

[0090] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0091] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0092] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0093] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0094] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0095] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. An oral digital impression device, characterized in that: include: A host computer, a main control unit, an image sensor, a structured light control module, and an infrared band control module; wherein the structured light control module is used to project structured light toward the target oral cavity; and the infrared band control module is used to project infrared light toward the target oral cavity; The main control unit controls the structured light control module to project structured light toward the target oral cavity, and controls the image sensor to capture a first image of the target oral cavity under the structured light projection condition, and transmits the first image to the host computer, wherein the first image is a deformed two-dimensional image; The main control unit controls the infrared band control module to project infrared light toward the target oral cavity, and controls the image sensor to capture a second image of the target oral cavity under the infrared light projection condition, and transmits the second image to the host computer, wherein the second image is a grayscale image; The host computer constructs an initial three-dimensional oral cavity model based on the first image, and performs contour optimization processing on the initial three-dimensional oral cavity model through the second image to obtain a target three-dimensional oral cavity model.

2. The oral digital impression device according to claim 1, characterized in that: The oral digital impression device also includes a projection lens; The infrared band control module includes an infrared light source and a single-band reflector, wherein the infrared light emitted by the infrared light source is reflected by the single-band reflector to the projection lens to be projected into the target oral cavity.

3. The oral digital impression device according to claim 2, characterized in that: The structured light control module includes a red light source, a blue light source, a green light source and a lens group. The red light emitted by the red light source, the blue light emitted by the blue light source and the green light emitted by the green light source respectively form structured light through the lens group and are projected to the target oral cavity through the projection lens.

4. The oral digital impression device according to claim 1, characterized in that: The host computer is used to: identify contour information corresponding to the initial three-dimensional oral model based on the second image, and perform contour optimization processing on the initial three-dimensional oral model based on the contour information to obtain a target three-dimensional oral model.

5. The oral digital impression device according to claim 4, characterized in that: The host computer is further configured to perform at least one of the following: Inputting the contour information and the initial three-dimensional oral cavity model into a pre-trained fusion model to obtain the target three-dimensional oral cavity model; Based on the contour information, the rendering properties of the contours in the initial three-dimensional oral cavity model are adjusted to obtain the target three-dimensional oral cavity model.

6. The oral digital impression device according to claim 4, characterized in that: The host computer is also used for: The second image is reconstructed into a three-dimensional grayscale image, and edge detection is performed based on pixel differences between adjacent pixels in the three-dimensional grayscale image to obtain contour information corresponding to the initial three-dimensional oral cavity model.

7. The oral digital impression device according to claim 1, characterized in that: The initial three-dimensional oral model includes a tooth area and a gum area, and the contour is a boundary between the tooth area and the gum area.

8. A three-dimensional oral model reconstruction method, characterized in that: include: Acquire a first image of the oral cavity captured under structured light projection, and perform three-dimensional reconstruction based on the first image to obtain an initial three-dimensional oral cavity model, wherein the first image is a deformed two-dimensional image; Acquire a second image of the oral cavity captured under infrared light projection, and identify contour information in the initial three-dimensional oral cavity model based on the second image, wherein the second image is a grayscale image; The initial three-dimensional oral cavity model is subjected to contour optimization processing based on the contour information to obtain a target three-dimensional oral cavity model.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the three-dimensional oral model reconstruction method according to claim 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the three-dimensional oral model reconstruction method according to claim 8 when executed.

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