Method and system for generating model for intraoral navigation of patient

Abstract

A computer-implemented method (100) for generating, by one or more computer processors, a 3-dimensional model (10D) for assisted navigation of a patient's oral cavity, the method based at least on a first scan of an anatomical region of the patient's oral cavity, the method comprising: receiving a first data set comprising surface boundary information from the first scan, and generate a 3-dimensional digital patient model from at least a portion of the first data set; performing a 3-dimensional surface scan on a portion of the oral lumen using a 3-dimensional surface scanner, and thereby obtaining a 3-dimensional surface scan, the 3-dimensional surface scan comprising the region of interest; matching the acquired 3-dimensional surface scan with at least a portion of the 3-dimensional digital patient model; determining a spatial transformation using the acquired 3-dimensional surface scan and the digital patient model, the spatial transformation configured to align the acquired 3-dimensional surface scan with the 3-dimensional digital patient model or to reach a predetermined degree of registration; determining position and orientation information of the 3-dimensional surface scanner relative to the 3-dimensional digital patient model using at least the transformation; and generating a second data set including the position and orientation information of the 3-dimensional surface scanner relative to the 3-dimensional digital patient model.

Description

Technical Field

[0001] The present invention relates to a method and system for generating a model for oral navigation for patients, particularly but not exclusively for planning dental procedures. Background Technology

[0002] Digital software tools for dental surgery and planning utilize accurate scans of the oral cavity, which may contain anatomical objects of interest (e.g., teeth) and anatomical structures (e.g., bone and gingival tissue), as well as artificial structures (e.g., dental prostheses, prostheses, and anchoring systems). Accurate scans of the oral cavity are particularly beneficial for the construction and positioning of dental prostheses and anchoring systems.

[0003] In the field of digital dentistry, anatomical scanning data is typically determined optically or radiographically. Optical scanners (i.e., those using visible wavelengths and, in some cases, infrared and / or UV wavelengths) are widely available and cost-effective for three-dimensional measurement directly from intraoral or extraoral impressions of oral surface structures. Typically, surface data is represented by a surface mesh comprising triangular elements, which are routinely stored and exchanged between systems in STL or similar digital surface definition formats.

[0004] For example, radiographic scanners such as digital volumetric computed tomography (DVT) or computed tomography (CT) use X-rays to generate volumetric datasets of anatomical structures. Surface representations can also be determined from these datasets by applying thresholding methods, where the intensity values ​​of individual scan elements (voxels) are analyzed (e.g., measured in Hounsfield units) to determine whether they exceed or fall below certain thresholds. Radiometrically compact structures, such as teeth (hereinafter referred to as "volume density" structures or objects), can be identified in this way, and the boundary surfaces of the identified volume density scan structures can be modeled as triangulated surface data (e.g., triangular surface meshes) and again saved and exchanged between systems in STR or similar digital surface definition formats.

[0005] The computation with MRI (magnetic resonance imaging) scan data is more complex, where contour analysis methods are preferably applied, which operate based on the gradients of adjacent scan elements. However, in these cases, volumetric structures or objects, such as gingiva, gums, and other tissues that are primarily soft tissue, can also be identified, and their boundary surfaces can be modeled as triangulated surface data for further processing.

[0006] For the aforementioned scanning methods, such as surface scanning using infrared, visible, or UV radiation, and volumetric methods, such as radiological methods like DVT or CT, and similarly MRI, there are so-called landmark elements designed to be clearly visible in the three-dimensional measurement data of one or more of the corresponding surface or volumetric scanning methods—sometimes even possessing features that not only help determine their position and orientation with greater accuracy. Therefore, when placed and fixed in place relative to the patient's dentition or jawbone before scanning, they can be used to define precise landmarks within the dataset. In this way, landmark elements enable the definition of a reference frame within the corresponding scan data with high accuracy.

[0007] In the context of this disclosure, the term dental restoration includes every type of tooth replacement, either partial or complete, of one or more teeth. The term virtual dental restoration (more simply referred to as dental restoration below) should be understood to include a suitable electronic representation of the dental restoration, i.e., a digital three-dimensional representation, preferably a surface representation, of the jawbone, gingival tissue, landmark elements, anchoring systems, etc., with sufficient accuracy.

[0008] When designing dental prostheses, the prosthesis is typically designed to replace an anatomical object removed from the existing oral condition. In addition to the importance of precision in the fabrication of dental prostheses (e.g., crowns), preparation steps (e.g., drilling the alveoli for anchoring systems) must be performed with very high accuracy, and it is necessary to accurately model the patient's anatomy to properly plan the prosthesis. Similarly, in terms of position and orientation, it is necessary to reproduce with very high accuracy at the planning stage the positioning of any elements (e.g., anchoring systems) placed in the model of the patient's anatomy within the corresponding locations of the patient's actual anatomy.

[0009] To facilitate the latter, existing technologies employ the placement and fixation of marker elements in dental templates and / or relative to the patient's dentition or jawbone, thereby allowing for a reference system within a digital model of the patient's dental condition. This reference system provides the basis for digital implant planning and subsequently for the fabrication of drill guides, such as 3D-printed, molded, or thermoformed templates, which can be placed on the patient's remaining teeth, screwed into the jawbone, or otherwise anchored in place, and includes one or more guide holes for controlling the correct orientation and position of the drill and subsequent postings for anchoring the dental prosthesis. This process is highly complex and therefore expensive, often requiring multiple patient visits to the dentist's office, and despite its achievements in precision, it still contains numerous sources of error.

[0010] In dental treatment, there is a growing need for more immediate and lower-cost procedures. In particular, there is a search for novel methods to shorten the planning and execution of dental treatments, particularly for procedures that can be completed in a single office visit or with at least fewer visits than previously possible. Therefore, the objective of this invention is to alleviate at least some of the drawbacks of known dental restorative procedures. Summary of the Invention

[0011] The objective is addressed at least in part by a computer-implemented method for generating a 3D model for navigation of a patient's oral cavity. One embodiment includes a method for generating such a 3D model according to Independent Claim 1. Another embodiment provides a system for generating a 3D model according to Independent Claim 16.

[0012] Dependent technical solutions 2 to 15 represent various embodiments of the present invention.

[0013] According to one aspect of the present invention, a computer-implemented method is provided for generating a 3D model of a patient's oral cavity for assisted navigation by one or more computer processors, the method being based at least on a first scan of an anatomical region of the patient's oral cavity. The method includes:

[0014] Receive a first dataset containing surface boundary information from the first scan (note that the first dataset may contain surface scan data obtained from the surface scan or generated from the volume density scan data);

[0015] Generate a 3D digital patient model from at least a portion of the first dataset;

[0016] A 3D surface scanner is used to perform a 3D surface scan on a portion of the oral cavity, thereby obtaining a 3D surface scan containing a region of interest.

[0017] Match the acquired 3D surface scan with at least a portion of the 3D digital patient model;

[0018] A spatial transformation is determined using the acquired 3D surface scan and digital patient model, and the spatial transformation is configured to align the acquired 3D surface scan with the 3D digital patient model or to achieve a predetermined degree of registration.

[0019] At least one transformation should be used to determine the position and orientation information of the 3D surface scanner relative to the 3D digital patient model; and

[0020] A second dataset is generated, which contains the position and orientation information of the 3D surface scanner relative to the 3D digital patient model.

[0021] Anatomical regions typically contain at least one type of tissue from the patient. Tissue types in a patient's anatomical regions may include bone and / or dentin (i.e., enamel, dentin, and / or cementum), as well as soft tissues (e.g., gingival tissue). Similarly, a 3D digital patient model may include the jawbone, gingival tissue, and one or more portions of one or more teeth.

[0022] The present invention recognizes that the surface of a patient's teeth represents a very unique and highly detailed topology, which can be used to accurately place objects relative to it with very high precision. Therefore, once a detailed 3D digital model of the patient's anatomy has been created, the navigation-aided system can very precisely inform the user or the robotic dental treatment system of the position and orientation of the 3D surface scanner's field of view (and thus the device itself) relative to the patient's dentition (or its impression) based on surface scans acquired by the 3D surface scanner of the patient's anatomy or separate dental impressions.

[0023] Furthermore, where the first dataset may include surface boundary information of the patient's jawbone, and thus the digital patient model also accurately represents the jawbone relative to the patient's dentition, the method of the present invention is also used to inform the position and orientation of the field of view of the 3D surface scanner relative to such jawbone of the patient, even if there is no visible skeletal structure in the field of view of the 3D surface scanner.

[0024] Therefore, using this invention, the use of marker elements can be avoided or at least substantially reduced, and the process of digital treatment planning to assist dental surgery or the creation of drill guides for placing dental anchoring systems is no longer necessary. Instead, more direct feedback and aided treatment can be provided by allowing users or alternative robotic navigation and treatment systems to determine their exact position relative to the patient's dentition or oral anatomy. In fact, in some cases, even exposure to X-rays can be minimized by employing the system of this invention.

[0025] In one embodiment, the second dataset also includes at least a portion of a 3D digital patient model.

[0026] In one embodiment, the surface boundary information of the first dataset includes surface segments with labels associated with identifying tissue types, each surface segment representing a tissue type selected from a group including gingival tissue, bone tissue, and dentin tissue.

[0027] This may include, in the context of performing the methods of the present invention, elements that identify anatomical regions of a patient’s oral cavity in a 3D digital patient model by a user or an appropriately trained artificial neural network, and may include retaining labels associated with surface segments that identify tissue types during the generation of the 3D digital patient model, i.e., for example, when a first dataset is based on a previously obtained volumetric density scan and is post-edited, previously assigned labels associated with such surface segments are retained.

[0028] Surface boundary information of the first dataset has been generated from a set of density scan segments from a second dataset, which is cross-mounted with a corresponding set of surface scan segments from a surface scan in a common 3D coordinate system. This cross-mounting can be implemented by using correspondingly marked surface scan segments, and preferably geometrically matching these to volumetric density scan segments, such as by determining surface scan segments and volumetric density scan segments of similar shape and volume. Therefore, in the prior art, such cross-mounting may have relied on the position and orientation of one or more marker elements within the three-dimensional measurement data, which can be avoided in the application of this invention. This invention may include scaling, translation, and rotation transformations applied to the surface scan segments and / or volumetric density scan segments to achieve the best possible registration of the surface scan segments and volumetric density scan segments in a common 3D coordinate system. In particular, elements indicating the tooth surface of a person's dentition from both the surface scan and volumetric scan can be employed during the cross-mounting of the surface scan segments and volumetric density scan segments, i.e., to closely register the two scan segments, for example, in the presence of geometric overlap.

[0029] The second dataset may include a digital representation of the 3D surface scanner in a common reference frame, the digital representation of the 3D surface scanner being positioned and oriented according to location and orientation. The digital representation of the 3D surface scanner may be schematic, i.e., through a 3D surface model containing the geometry of the 3D surface scanner, the positioning and orientation of the 3D surface model of the surface scanner corresponding to the position and orientation of the 3D surface scanner when acquiring a 3D surface scan of the region of interest.

[0030] In one embodiment, the second dataset may be transmitted to a visualization system configured to visualize at least a portion of the second dataset to a user as a 2D, pseudo-3D, or 3D image representation. The visualization system may also be configured to enhance or overlay the display of portions of the second dataset with a view of the patient's oral cavity.

[0031] These embodiments enable users to obtain a very smooth and natural view of the patient's oral cavity (either through image representation or real-time view), while simultaneously providing users with visual feedback on the position and orientation of the 3D surface scanner within the patient's oral cavity relative to the patient's technician and jaw.

[0032] In one embodiment, a second dataset can be generated as a 3D output model, thereby allowing for simplified post-processing of the information contained in the second dataset, for example, in the design of dental prostheses or in the generation of treatment or examination plans for dental procedures that include the placement of dental anchoring systems.

[0033] In one embodiment, a region of interest can be determined in a 3D output model based on a dental treatment or examination plan, and the region of interest can be identified in the 3D output model, for example by applying specific markers to portions of the 3D output model that are located within the region of interest, thus allowing such portions to be more easily highlighted, for example, in the output of a visualization system, or defining “forbidden” zones, wherein the 3D output model is loaded into a robot navigation and treatment system for use in dental procedures via a robot (assisted) system.

[0034] In one example, the method includes generating a second dataset as a 3D output model. For instance, the method may include transmitting the second dataset to a navigation system configured to display the 3D output model. In addition to the 3D patient model, the navigation system may also receive dental treatment or examination plans, determine one or more deviations between the 3D output model and the dental treatment or examination plans, and identify the deviations in the 3D output model.

[0035] In one embodiment, the method includes continuously or in real-time acquiring and updating 3D surface scans. This ensures immediate or near-immediate updates to generate a second dataset, and thus helps to make the experience of using, for example, (robotic) visualization and navigation systems in conjunction with such embodiments nearly realistic for the user. Consequently, barriers to using such systems can be reduced, and the benefits become particularly apparent for patients due to the increased navigation accuracy achievable with the system of the present invention.

[0036] In one embodiment, the 3D surface scanner may include dental instruments, such as dental drills, dental probes, or any other dental instruments suitable for determining the condition of a patient's teeth or manipulating a patient's teeth, gums, or jawbone, integrated with or mounted on said dental instruments. Such embodiments are particularly useful if the invention is used as a navigation aid system for a user during a dental examination or treatment procedure, because it ensures that the field of view of the 3D surface scanner always precisely "sees" the portion of the dental instruments that will be engaged.

[0037] In another embodiment, as indicated above, the invention includes transmitting a second dataset to a robot navigation system configured to control or assist in the navigation of dental instruments, such as dental drills, dental probes, or other types of dental instruments, based on the position and orientation information contained in the second dataset.

[0038] In one embodiment, the matching of at least a portion of the 3D digital patient model with the acquired 3D surface scan uses only the tooth surfaces of the 3D digital patient model. For example, such matching can be performed by applying least squares to determine the best fit between the surface structure (topology) encoded in the 3D digital patient model and the 3D surface scan. Alternative known methods for determining the best fit of the topology are known in the art and will therefore not be described in further detail.

[0039] In another embodiment, the matching of at least a portion of the 3D digital patient model with the acquired 3D surface scan utilizes only surface boundary information from a first dataset containing fragments labeled as dentin tissue. This enhances the determination of the best fit between the 3D digital patient model and the acquired 3D surface scan, as the patient's tooth surface represents a unique, highly detailed, and static topology that can serve as the basis for a high-precision matching between the acquired 3D surface scan and the 3D digital patient model.

[0040] In one embodiment, the first dataset includes labeled surface scan segments, each surface scan segment including a 3D surface model of a corresponding object identified and segmented from the surface scan data, and each surface scan segment having an associated label identifying the surface scan segment. In these embodiments, the method includes: receiving a third dataset of labeled volume density scan segments, each volume density scan segment including a 3D volume density model of the boundary surface of a corresponding object identified and segmented from volume density scan data of a volume density scan of an anatomical region, and each volume density scan segment having an associated label identifying the volume density scan segment;

[0041] The labeled surface scan fragments from the first dataset and the labeled volume density scan fragments from the third dataset are cross-mounted in a common 3D coordinate system; and

[0042] A 3D digital patient model is generated from at least a portion of the labeled volume density scan fragments from the first dataset.

[0043] In this regard, a computer-based method for planning dental procedures is also provided, comprising:

[0044] A method for generating a 3D model of a patient's oral cavity for navigation using one or more computer processors, as described above; and

[0045] Generate an overlay dataset comprising at least a portion of a digital patient model and at least a portion of a 3D surface scan.

[0046] In one embodiment, dental procedures include the implantation of a dental prosthesis or dental prosthesis support structure, such as a dental anchoring system.

[0047] According to another aspect, the present invention provides a system for generating a 3D model for assisted navigation of a patient's oral cavity. The system includes: at least one computer processor; a storage unit; a 3D surface scanner for performing a 3D surface scan of a portion of the patient's intraoral cavity to acquire a 3D surface scan containing a region of interest; and optionally, at least one visualization device and / or a robot navigation (assisted) system, wherein the storage unit stores instructions that, when executed by the computer processor, implement the method of the present invention as described above and / or in any of the embodiments.

[0048] In particular, such systems include: a 3D digital patient model generator configured to generate a 3D digital patient model from at least a portion of a first dataset of surface boundary model data from intraoral scans of anatomical regions of a patient's oral cavity;

[0049] A surface scan matcher configured to match an acquired 3D surface scan with at least a portion of a 3D digital patient model;

[0050] A spatial transformation determination engine is configured to determine a spatial transformation using an acquired 3D surface scan and a digital patient model, the spatial transformation being configured to align or register the acquired 3D surface scan with the 3D digital patient model.

[0051] A scanner position and orientation determination engine, configured to determine the position and orientation of a 3D surface scanner relative to a 3D digital patient model using at least transformations; and

[0052] An output generator is configured to output a second dataset containing at least a portion of a 3D digital patient model and position and orientation information of a 3D surface scanner relative to the 3D digital patient model.

[0053] In one embodiment, the system output generator is configured to generate a second dataset in such a way that the portion of the 3D digital patient model and the digital representation of the 3D surface scanner are transformed in a common reference frame, wherein the digital representation of the 3D surface scanner can be located and oriented according to the position and orientation determined by the scanner position and orientation determination engine.

[0054] In one embodiment, the system is configured to continuously or in real-time read additional 3D surface scan information from a 3D surface scanner and continuously or in real-time update the 3D surface scan of the second dataset.

[0055] In one embodiment, the 3D surface scanner includes a dental instrument, such as a dental drill, dental probe, or any other dental instrument suitable for determining the condition of a patient's teeth or manipulating the patient's teeth, gums, or jawbone, integrated with or mounted on the dental instrument.

[0056] This invention benefits from the understanding that the geometry and specific locations of human tooth surfaces are highly unique and can therefore be considered as a highly accurate 3D topology, which in itself can be considered to define a specific frame of reference. Therefore, the use of marker elements can be avoided in the process of obtaining any of the three-dimensional measurement data and generating a dataset based on it. Thus, in one embodiment, the digital patient model of this invention does not include a digital representation of marker elements.

[0057] In another aspect, the invention includes computer program code that, when loaded into a storage device and executed by a computer processor communicatively connected to a 3D surface scanner for performing 3D surface scanning of a portion of a patient's oral cavity, implements the method of the invention as described above in a suitably configured computer and / or embodiments, to create a system for generating a 3D model for auxiliary navigation of a patient's oral cavity. Attached Figure Description

[0058] The invention is further described in conjunction with the drawings and in the following detailed description. In the following detailed description, unless otherwise indicated, similar reference numerals denote similar elements.

[0059] While the following detailed description describes certain embodiments of the invention in more detail, it should be noted that features described in the context of only one of the embodiments are intended to also be used in the context of any other embodiment of the invention or in combination with any other embodiment of the invention, whether or not they are described in the detailed description, unless such combination of features would result in meaningless results.

[0060] The following detailed description is in no way intended to limit the invention to the specific embodiments and combinations of features therein; rather, the invention is exclusively limited and defined by the appended claims.

[0061] Figure 1A This is an architecture diagram of a system for generating a model for intraoral navigation of a patient, according to embodiments of the present disclosure.

[0062] Figure 1B According to embodiments of this disclosure Figure 1A The system's processor and memory architecture diagram;

[0063] Figure 2A and Figure 2B An exemplary flowchart illustrating a method for generating a model for intraoral navigation of a patient, according to an embodiment of the present disclosure;

[0064] Figures 3A to 3O An exemplary embodiment of a method for generating a model for intraoral navigation of a patient, according to embodiments of the present disclosure, is shown;

[0065] Figure 4A , Figure 4B , Figure 5A and Figure 5B A first exemplary graphical user interface implementation depicting various aspects of this disclosure;

[0066] Figures 6A to 6J A second exemplary graphical user interface implementation depicting various aspects of this disclosure;

[0067] Figures 7A to 7T A third exemplary graphical user interface implementation depicting various aspects of this disclosure. Detailed Implementation

[0068] One aspect of the present invention is to generate a 3D model for navigation in a patient's oral cavity. One embodiment includes a method for generating such a 3D model.

[0069] Figure 1A This is an architecture diagram of a computer-enabled system 100 with external or remote services 102, illustrating an embodiment of the present disclosure for generating a model for intraoral navigation for patients. Figure 1B According to embodiments of this disclosure Figure 1A The architecture diagram of the processor 104 and memory 106 of the system 100.

[0070] refer to Figure 1A and Figure 1B System 100 includes at least one processor 104, memory 106 (which includes local memory 108 and mass storage 110), one or more input devices 112 (including an intraoral scanner in the form of a 3D surface scanner 114), one or more output devices 116 (including at least one display 118 on which a graphical user interface (GUI) 120 is generated), and one or more network adapters 122. System 100 also includes a bus 124 for facilitating communication between the processor 104, memory 106, input devices 112, output devices 116, and network adapters 122. It should be noted that the 3D surface scanner 114 communicates data with the bus 124, and this data communication may be wired or wireless; in the latter case, data communication is facilitated via a wireless protocol (not shown), such as Bluetooth (trademark) or Wi-Fi (trademark).

[0071] Remote service 102 includes surface scanning service 130, volume density scanning service 132, segmentation service 134, and dental planning service 136.

[0072] Processor 104 implements programs and application programs for various functions of implementation system 100 read from memory 106, as described below. Therefore, processor 104 includes a scan fragment cross-mounter 230, a 3D digital patient model generator 232, a 3D surface scan updater 234, a surface scan matcher 236 (which includes, for example, an object identifier 238 that performs object identification), a spatial transformation determiner 240, a scanner position and orientation determiner 242, a navigation system 244 (which includes a display manipulator 246 and a deviation determiner 248), a display generator 250, and an output generator 252.

[0073] The memory 106 contains program and application code 260 configured to be read and executed by the processor 104 to enable the processor 104 to perform the various functions described above.

[0074] The memory 106 also contains a surface boundary model 262 (which may include marked surface scan segments) received from the surface scan service 130 or the volume density scan service 132 of the remote service 102, volume density scan data 264 (which may include marked volume density scan segments) received from the volume density scan service 132 of the remote service 102, cross-mounted surface and volume density scan segments 266 (generated and output by the scan segment cross-mounter 230), acquired 3D surface scans 268 (received from the 3D surface scanner 114), 3D scanner position and orientation 270 (generated and output by the scanner position and orientation determiner 242), dental treatment or examination plans 272 (received from the external dental planning service 136), and display content 274 (generated and output by the display generator 250).

[0075] Network adapter 122 facilitates communication between system 100 and remote service 102.

[0076] Figure 2A and Figure 2B Exemplary flowcharts of methods 300 and 320 for generating models for intraoral navigation of patients, according to embodiments of the present disclosure, are shown respectively. Figure 2A Method 300 can be considered a simple method for generating such models, while Figure 2B Method 320 can be considered a complex method for generating such models, but it should be understood that methods 300 and 320 share several common steps and embody the same core technology.

[0077] refer to Figure 2A Method 300 is a method for automatically generating a 3D model of a patient's oral cavity for navigation by a processor 104. For this purpose, method 300 employs at least an intraoral surface scan of an anatomical region of the patient's oral cavity. The anatomical region contains at least one tissue of the patient.

[0078] At step 302, system 100 receives a first dataset of surface boundary model data from an intraorific scan. The first dataset may be surface scan data, which can be obtained from a surface scan and received from a remote surface scan service 130 of remote service 102. Alternatively, the first dataset may be generated from and received by a volume density scan service 132 of remote service 102.

[0079] Step 302 may include storing the first dataset in the surface boundary model 262.

[0080] In this embodiment, the first dataset includes one or more labeled surface scan segments, each labeled surface scan segment comprising an individual segment corresponding to an object and / or feature identified via image recognition and segmentation processing (e.g., via segmentation service 134) in a surface scan of the oral cavity, and particularly an anatomical region of interest. In this embodiment, the surface scan data is generated by a remote surface scan service 130, which may perform any or any combination of the following: collecting surface scan data from a surface scanner (e.g., an optical scanner or camera); converting the surface scan data into a 3D model, which may be accessed and read by one or more processors 104 of system 100, manipulated or converted to another format if necessary, to prepare for display on display 118, and stored in a computer-readable file as a surface boundary model 262 in memory 106. In alternative embodiments, system 100 includes surface scan service 130; in these embodiments, method 300 includes steps performed by surface scan service 130.

[0081] Remote service 102 may also include segmentation service 134, which is configured to receive scan data (whether surface (IOS) or volumetric density (CBCT or CT) scan data) and segment the received scan images containing anatomical regions of interest into various identified objects using image processing, extraction, and classification, and associate classification labels with each segment. Segmentation service 134 can provide segments in the form of individual virtual 3D segment models, wherein each individual virtual 3D segment model (also referred to herein as a “segment model”) is a digital 3D representation of an actual anatomical portion or feature of a patient’s anatomy. In one embodiment, segmentation service 134 provides each segment as an individual digital 3D model, preferably (but not limited to) in STR format as a triangular mesh or point cloud.

[0082] In an alternative embodiment, system 100 includes a segmentation service 134. In such an embodiment, method 300 includes steps performed by the segmentation service 134.

[0083] At step 304, the 3D patient model generator 232 generates a 3D digital patient model from at least a portion of the first dataset.

[0084] GUI 120 may include a 3D model view pane for displaying a 3D digital patient model (in this embodiment, based on a surface scan of the region of interest). GUI 120 includes various user controls to allow the user to guide the display generator 250 to perform various operations, such as, but not limited to: selecting and loading the patient's scan records, selecting and manipulating the display view, selecting content to be displayed in GUI 120, selecting objects of interest and / or identifiers of objects of interest that may be included in the patient's scan data, selecting and viewing identifiers, descriptions, and images of implants, prostheses, materials, etc., related to planning dental treatment for the patient.

[0085] At step 306, a 3D surface scan is performed on at least a portion of the patient's intraoral cavity using a 3D surface scanner 114, thereby obtaining a 3D surface scan containing a region of interest. The region of interest may be or include, for example, a diseased tooth or a proposed site such as a dental implant or prosthesis.

[0086] At step 308, surface scan matcher 236 matches the 3D surface scan acquired in step 306 with at least a portion of the 3D digital patient model generated in step 304, for example, by identifying common features using object or feature recognition (implemented by object recognizer 238). Surface scan matcher 236 outputs the result of this process, for example, in the form of data associated with pixels or voxels of the 3D surface scan acquired in step 306 that were found to match pixels or voxels of the 3D digital patient model.

[0087] At step 310, the spatial transformation determiner 240 uses the 3D surface scan acquired in step 306 as input to determine the output of the 3D digital patient model generated in step 304 and the surface scan matcher 236. The spatial transformation is configured to align the acquired 3D surface scan with the 3D digital patient model or to register them.

[0088] At step 312, the scanner position and orientation determiner 242 uses at least a transformation to determine the position and orientation of the 3D surface scanner 114 relative to the 3D digital patient model. At step 314, the generator 252 generates a second dataset containing the position and orientation of the 3D surface scanner 114 relative to the 3D digital patient model. The second dataset can be output to a storage device, such as a memory or a non-transitory storage device. The storage device can be remote from system 100 or comprised of the graphics memory of system 100 (or a remote system), such that the position and orientation can be used to generate a display.

[0089] It should be noted that method 300 uses only patient-related surface scan data (obtained from surface scan service 130) when generating a 3D digital patient model. Figure 2B Method 320 is also a method for automatically generating a 3D model for navigation of a patient's oral cavity by using intraoral surface scans of anatomical regions of the patient's oral cavity by processor 104. However, when generating the 3D digital patient model, method 320 additionally uses volumetric density scan data (from, for example, CT or CBCT scans) from volumetric density scan service 132.

[0090] Therefore, refer to Figure 2B At step 322, system 100 receives a first dataset (in the form of labeled surface scan segments) of surface scan data of the intraorific surface from surface scan service 130 of remote service 102. Each segment includes a 3D surface model of the corresponding object identified and segmented from the surface scan data. This step may include storing the first dataset in surface boundary model 262. The first dataset is as described above in the context of method 300.

[0091] At step 324, system 100 receives a dataset of labeled volume density scan segments of the intraoral surface from volume density scan service 132 of remote service 102. Each volume density scan segment includes a 3D volume density model of the boundary surface of the corresponding object identified and segmented from volume density scan data of a volume density scan of the patient's oral cavity. This step may include storing the dataset in volume density scan data 264.

[0092] The dataset of labeled volume density scan segments includes individual segments corresponding to objects and / or features identified via image recognition and segmentation processing (e.g., via segmentation service 134) in one or more CT or CBCT volume density scans of the oral cavity and surrounding tissues, which typically contain a region of interest. The labeled volume density scan segments are generated and received by a remote volume density scan service 132. The volume density scan service 132 may perform any or any combination of the following: collect volume density scan data from a volume density scanner (using a volume scanning device, such as a cone-beam computed tomography (CBCT) scanner); convert the volume density scan data into a 3D model that can be accessed and read by the processor 104 of system 100, manipulated or converted to another format if necessary, to prepare for display on display 118, and stored in a computer-readable file that can be received by system 100 and stored as volume density scan data 264 in memory 106.

[0093] In some alternative embodiments, system 100 includes a volume density scanning service 132; in these embodiments, method 320 includes steps performed by the volume density scanning service 132.

[0094] Similarly, in an embodiment where system 100 includes segmentation service 134, method 320 includes steps performed by segmentation service 134.

[0095] At step 326, the scan fragment cross-mounter 230 cross-mounts the marked surface scan fragment and the marked volumetric density scan fragment in a common 3D coordinate system. The received surface scan fragments and volumetric density scan fragments are typically obtained using different modes (and therefore different—and often independent—scanners / devices), and thus the scan data generated by each scan mode is collected and stored according to the 3D coordinate system inherent to the specific scanner / device from which the data was collected. Therefore, it becomes important to align the obtained scan data from each scanner into the common 3D coordinate system so that the same objects from each scan match and can be displayed as occupying—the same spatial volume as they should occupy—because they each represent the same object or feature.

[0096] The result of cross-mounting to a common 3D coordinate system is that for each pair of surface and volumetric density scan segments corresponding to the same patient subject or feature from the scanned region of interest, there should be one or more corresponding points that "match" in the 3D space of the common 3D coordinate system (i.e., points from each segment in the segment pair should substantially or exactly coincide). These matching points correspond to their respective points on the actual object / feature of the patient's actual anatomy. Matching points will only exist in the regions of the patient's anatomy that the specific scanning modality can capture.

[0097] Therefore, since surface scan data contains only visible surface image data, and volumetric scan data contains both surface image data and subsurface image data, point matching can only occur at points of one or more volumetric density scan segments corresponding to visible points on the surface of the scanned object (because one or more surface scan segments do not contain subsurface data points). Ideally, the points of each corresponding (or co-represented) pair of surface scan segments and the associated volumetric density scan segment should perfectly match in a common 3D coordinate system. However, due to differences in accuracy between scanning modes and differences in the resolution and generation accuracy of the 3D scan segment models generated for each scanning mode, these points may only substantially match (i.e., coincide within the error range). However, the cross-mounting step 326 should result in the surface scan segment corresponding to (or co-represented in) the scanned object occupying almost the same space in the 3D coordinate system as the similar region of the associated object represented by the corresponding volumetric density scan segment.

[0098] Therefore, step 326 makes the two fragment sets (surface and volume) visible, for example, in a common 3D coordinate system, overlapping or otherwise combined as needed.

[0099] At step 328, the 3D patient model generator 232 generates a 3D digital patient model from at least a portion of the first dataset that is cross-mounted with labeled volumetric density scan segments. At step 330, a 3D surface scan is performed on at least a portion of the intraoral cavity using a 3D surface scanner 114, thereby obtaining a 3D surface scan containing a region of interest. The region of interest may be or include a proposed site, such as a diseased tooth or a dental implant or prosthesis. Optionally, at step 332, the 3D surface scan is continuously or in real-time repeated or updated using the 3D surface scanner 114, for example, to capture the surface scan that evolves as the 3D surface scanner 114 moves in position or orientation.

[0100] The 3D model view pane of GUI 120 can be used to display a 3D digital patient model (in this embodiment, based on surface scan and volume density scan data of the region of interest).

[0101] At step 334, surface scan matcher 236 matches the 3D surface scan acquired in step 330 (or as updated in step 332) with at least a portion of the 3D digital patient model generated in step 328, for example, by identifying common features of both using objects or features. Surface scan matcher 236 outputs the result of this process, for example, in the form of data associated with pixels or voxels of the 3D surface scan acquired in step 330 or 332 that were found to match pixels or voxels of the 3D digital patient model.

[0102] At step 336, the spatial transformation determiner 240 uses the 3D surface scan acquired in steps 330 / 332 as input to determine the output of the 3D digital patient model generated in step 328 and the surface scan matcher 236. The spatial transformation is configured to align the acquired 3D surface scan with the 3D digital patient model or to register them.

[0103] At step 338, the scanner position and orientation determiner 242 uses at least a transformation to determine the position and orientation of the 3D surface scanner 114 relative to the 3D digital patient model.

[0104] At step 340, generator 250 generates a second dataset that includes at least a portion of the digital patient model and a digital representation of the 3D surface scanner 114 in a common reference frame, wherein the digital representation of the 3D surface scanner is positioned and oriented according to the position and orientation determined in step 338.

[0105] The second dataset can be saved or exported (e.g., via output generator 252) to display content 274 of memory 106 and is suitable for display on the screen of a computer or other computing device (e.g., a 3D model view pane with GUI 120 on display 118), allowing a user to examine the digital representation of the 3D digital patient model and the 3D surface scanner 114 that are correctly positioned and oriented relative to each other. Display generator 250 may optionally generate the second dataset as a manipulable 3D model.

[0106] The second dataset is particularly applicable to embodiments in which the 3D surface scanner 114 includes a dental drill, dental probe, or other dental instrument, either integral with or mounted thereon, because it allows the user to determine whether the 3D surface scanner 114 (and thus the dental instrument) is positioned and oriented relative to the intraoral region of interest as needed.

[0107] At step 342, the display generator 250 outputs a second dataset (e.g., in the form of a manipulated 3D model) to the navigation system 244. The navigation system 244 is configured to convert the second dataset into display content for display and manipulation using the 3D model view pane of the GUI 120. The display manipulator 246 of the navigation system 244 provides user controls to the GUI 120 to allow the user to control the GUI 120 to perform various operations, such as, but not limited to: selecting and loading the patient's scan records; selecting and manipulating the display view (e.g., rotating, expanding, or collapsing the display content); selecting content to be displayed in the GUI 120; selecting objects of interest and / or identifiers of objects of interest that can be included in the patient's scan data; selecting and viewing identifiers, descriptions, and images of implants, prostheses, materials, etc., related to planning dental treatment for the patient. Therefore, the user can navigate the 3D digital patient model while viewing the model of the 3D surface scanner 114 in the correct position and orientation relative to the 3D digital patient model, including the position and orientation evolving in response to the user's manipulation of the 3D surface scanner 114 and / or the patient's movement of his or her head or jaw.

[0108] Dental treatment or examination plans are received from remote dental planning service 136 by system 100 and stored by system 100 in dental treatment or examination plan 272 in memory 106. The deviation determiner 248 of navigation system 244 is configured to retrieve dental treatment or examination plans from dental treatment or examination plan 272 or from dental planning service 136 to determine one or more deviations between the second dataset and the dental treatment or examination plan, and to modify the display content to identify those deviations. Deviations can be detected by surface scan matcher 236 using the corresponding dental treatment or examination plan and a 3D digital patient model as input. Modifying the display content to identify deviations can be achieved by overlaying the deviations—e.g., by marking or coloring the deviation areas—on a manipulated 3D model.

[0109] Figures 3A to 3O Exemplary embodiments of aspects of the present invention are shown, according to which, Figure 2B Method 320 is used to generate a 3D alveolar model from 3D surface scan segments (a 3D surface model of the corresponding object identified and segmented from surface scan data) and volume density scan segments (3D volume density patterns of the boundary surfaces of the corresponding object identified and segmented from volume density scan data). In the illustrated embodiment, the object is a tooth, and the generated alveolar model is an alveolar bone, which is equivalent to the portion of the tooth located below the gingival line, i.e., the portion of the external shape of the tooth root.

[0110] Figure 3A An example of a 3D surface boundary model 1a generated based on a volumetric density scan is shown. Individual structures in model 1a correspond to the actual structures of a patient's oral cavity. As shown, the 3D surface boundary model 1a represents the anatomical structure of the patient's actual gingival tissue 2, bone 3, and teeth (shown as 11, 12, 13, 14, 15, 16, and 17 according to the World Dental Federation (FDI) notation (a commonly used tooth numbering system in the dental industry), as well as other individual teeth (unlabeled). In one embodiment, the surface boundary model 1a is generated from the 3D volumetric structure represented in the volumetric density scan and extracted through image recognition and segmentation techniques, such as thresholding the intensity values ​​(measured in Huntsfield units) of individual scan elements in a stack of radiographs. In one embodiment, the surface boundary model 1a includes point clouds, triangular or other polygonal meshes, or other 3D digital models.

[0111] Figure 3B Showing based on and Figure 3A An instance of a 3D surface model 1b generated from a surface scan of the same anatomical region. Individual structures in model 1b correspond to the actual structures of the patient's oral cavity. As shown, 3D surface model 1b represents the anatomical structure of the patient's actual gingival tissue 2 and teeth (shown as 11, 12, 13, 14, 15, 16, and 17 according to FDI symbols). Since the bones in the patient's oral cavity are located beneath the surfaces of the gums and teeth, skeletal information is typically absent in surface scan model 1b.

[0112] Surface scans and volumetric density scans were obtained from the same oral region of interest, so both models 1a and 1b contain corresponding model anatomical structures representing certain or one or more of the same anatomical structures of the patient (e.g., teeth 11, 12, 13, 14, 15, 16, and 17, and gingiva 2). Model 1b includes point clouds, triangular or other polygonal meshes, or other 3D digital models generated from the 3D surface structures represented in the surface scans.

[0113] like Figure 3A and Figure 3B As indicated, both volumetric density scan model 1a and surface scan model 1b are surface models of (largely identical) anatomical regions. 3D surface models 1a and 1b do not contain a representation of internal anatomical structures. This means that neither model contains information about the alveolar bone or other structures beneath the visible outer surface of the object in the model. In the illustrative instance where the object is a tooth, this means that the anatomical structure of the alveolar bone where the tooth is placed cannot be determined because the alveolar bone is not represented in the 3D volumetric density scan model ( Figure 3A ) or 3D surface scanning model ( Figure 3B It is not visible in )

[0114] exist Figure 3A Model 1a and Figure 3B In models 1a and 1b, only the crown portion of the tooth is modeled; neither scan model includes the anatomical structure of the tooth root or alveolar bone on which the tooth rests. While surface detail is helpful in planning dental treatment for patients, the lack of subsurface information related to the patient's anatomy beneath the visible surface of the oral cavity, available in models 1a and 1b, hinders accurate planning and design for surgical procedures and prostheses.

[0115] To facilitate accurate 3D alveolar model generation, in one embodiment, each of the corresponding volumetric density scan data and surface scan data for generating the corresponding 3D surface models 1a and 1b is submitted to a segmentation application. The segmentation application may be a remote service 244 or a local application (stored in local memory 204 and executed by one or more processors 201). The segmentation processor processes each of the received surface scan data and volumetric density scan data to automatically identify (via image recognition functionality), extract individual identified objects, and classify them into labeled types or categories (via segmentation functionality).

[0116] For example, in an embodiment where the object is a tooth in a patient's mouth, the segment processor receives each of intraoral surface scan data and CBCT or other volumetric density scan data, and processes each of the scan data sets to identify and label the identified object as an individually identified tooth, gingiva, bone, and possibly other objects, such as fillings, implants, etc., identified in the received scan data. The segment processor labels the identified object with a corresponding object type tag associated with the object type (or classification) of the identified object.

[0117] For example, a segmentation processor can identify objects in a 3D model or scan data that correspond to tooth type 16 and assign an object type label “16” to the identified object (or any unique label that classifies the identified object as a unique object type corresponding to the actual tooth 16 of that patient). The segmentation processor identifies identified data segments in the scan data and classifies (i.e., “labels”) them into multiple individual segments corresponding to various identified object types.

[0118] Preferably, each segment includes a 3D surface model representing the actual scanned object (e.g., scanned teeth, gum tissue, bone, implants, etc.). In one embodiment, each segment corresponds to an individual object in the patient's oral cavity and is therefore labeled with an associated marker. Each segment includes an independent 3D model represented as a 3D triangular (or other polygonal) mesh.

[0119] refer to Figure 3C The processor can identify representations of individual teeth 11, 12, 13, 14, 15, 16, and 17 in a patient's volumetric density scan, and can segment each identified representation of any of teeth 11, 12, 13, 14, 15, 16, and 17, gingiva 2, and bone 3 into corresponding independent segments 11a, 12a, 13a, 14a, 15a, 16a, 17a, 2a, and 3a, thereby collectively forming a segmented volumetric density scan surface model 10a. Each segment is converted into an independent surface mesh, such as a 3D triangular mesh, and each segment can be selected independently (e.g., when the segmented model is presented in a graphical user interface (GUI), as discussed below.

[0120] It is noteworthy that, since segments 11a to 17a, 2a, and 3a are extracted from volumetric scan data, each segment contains complete, usable information from the volumetric density scan. This means that objects (e.g., nerve canals) and object portions (e.g., tooth roots) that could not be imaged in surface scans due to their location beneath visible surfaces inside and outside the patient's mouth are still modeled in the volumetric density scan segments. Each volumetric density scan segment contains complete object information (based on information imaged in the volumetric scan data), even beneath the surface of the scanned anatomical region of the patient. Therefore, each of teeth 11a to 17a contains clearly visible root information in the segmented model.

[0121] Similarly, refer to Figure 3DThe segmentation processor can identify representations of individual teeth 11, 12, 13, 14, 15, 16, and 17 in a patient's surface scan, and can segment each identified representation of any of teeth 11, 12, 13, 14, 15, 16, and 17, as well as gingiva 2, into corresponding independent optional segments 11b, 12b, 13b, 14b, 15b, 16b, 17b, and 2b, thereby collectively forming a segmented surface scan surface model 10b. Each segment is converted into an independent surface mesh, such as a 3D triangular mesh.

[0122] Although the segmented model 10b contains all segments of the patient's scanned anatomical region, each segment is an independent, optional 3D model of the corresponding scanned object. Therefore, each segment 11b to 17b and 2b can be viewed individually, for example... Figure 3I (As shown in the image, which is a tooth segment 16b corresponding solely to the patient's tooth 16). Tooth segment 16b contains only the portion of tooth 16 present in the surface scan. Therefore, tooth segment 16b represents only the crown of tooth 16, as only the crown (the portion of tooth 16 above the gingival line) is visible during the surface scan.

[0123] Figure 3E Segmented volumetric density scan surface models 10a and 10b are shown, interleaved and mounted in a common 3D coordinate system. Independent imaging systems are typically used to capture each of the surface scan and volumetric density scan data. For example, an intraoral scanner (IOS) can be used to capture surface scans of the patient's oral cavity regions of interest, while a CBCT scanner can be used to capture volumetric density scans of the patient. Both scans are valuable in providing important information and complement each other to provide a more complete image of the patient's actual oral cavity condition. Surface scanners (e.g., optical scanners) can capture very high-resolution details of the visual topography of the patient's dentition, but only capture surface details, not internal details.

[0124] In contrast, volumetric density scans (such as CT or CBCT scans) capture the internal volume and density details of a patient's dentition, such as jaw size and density, complete teeth (including roots), and neural pathways. Surface scans and volumetric density scans together form the basis for dental treatment planning and prosthesis fabrication processes.

[0125] Because independent imaging systems capture image data relative to the specific 3D coordinate system of the capturing scanning system, the two scans must be aligned with each other in order to cross-mount them within a single view pane that has its own 3D coordinate system. This process is often referred to as scan matching or registration. Methods exist for aligning 3D meshes into a single 3D coordinate system.

[0126] In one embodiment, each of the surface scan data and volumetric density scan data is segmented into 3D triangular mesh segments corresponding to individual teeth and jaws. Key points for the corresponding tooth segment are then determined from each of the surface scan and volumetric density scan for each tooth, and these key points are subsequently aligned in a common 3D coordinate system. This process can, for example, use CoDiagnostix provided by DentalWings, Inc. (Straumann Group). TM Dental implant planning software is used to execute this.

[0127] It is worth noting that, in Figure 3E In the diagram, the positions of the corresponding segments (11a, 12a, 13a, 14a, 15a, 16a, 17a, 2a and 11b, 12b, 13b, 14b, 15b, 16b and 17b and 2b) from the corresponding segmented models 10a and 10b correspond to the same corresponding actual anatomical structures (11, 12, 13, 14, 15, 16, 17 and 2b) in the patient's mouth. As can be seen, it is crucial to mount segments corresponding to portions of the same actual anatomical structure from each scan type (e.g., internal or surface) in the same 3D coordinate system. When they are properly cross-mounted, the segments representing the same actual anatomical structure substantially overlap, as shown.

[0128] In one embodiment, the segmentation processor processes scan data to identify portions of the scan data and classify them into individual segments classified as anatomical structure types based on a training dataset containing labeled instances of multiple instances of each of these types. In one embodiment, the segmentation processor is a trained convolutional neural network (CNN) trained on a large dataset of scan images obtained from a large number of different individuals with different anatomical conditions, including or with missing teeth, gums, bones, and other natural and artificial (e.g., implants, prostheses, etc.) anatomical structures.

[0129] Figure 3F This shows the results of a tooth scan segment 16b (see [link]). Figure 3D Problems encountered during removal from the surface scan. As shown, the removal of crown fragment 16b results in the hole 16c where crown 16b previously resided in model 10b. This is expected because the segmented surface scan 3D model 10b is generated solely based on surface scan data, which does not contain information about the bone or other subsurface structures, such as the tooth root. Therefore, when tooth fragment 16b is selected from the segmented surface scan model 10b (see...), Figure 3D Furthermore, when removed, there is no available alveolar information, and the surface scan model 10b only has the hole 16c where the tooth fragment 16b was located before removal.

[0130] Figure 3G Displaying a 3D model of the segmented surface after tooth fragment 16b has been removed, and derived from a 3D model of the segmented volume density scan (from...). Figure 3C The tooth segments 16a are mounted together in the same 3D coordinate system. Figure 3H This shows a separate and isolated tooth segment 16a, distinct from other segments of the volumetric density scan model 10b. Tooth segment 16a includes the crown portion 16a. c and root portion 16a r It is worth noting that the root portion 16a of tooth 16... r Includes trunk 16a t and three individual tooth roots (lingual root 16a) r_l 16a of the root on the mid-buccal side r_mbs ( Figure 3H (not visible in the middle) and distal buccal root 16a r_dbr While tooth 16 may have three individual roots, other teeth may have only one root, or two or more roots. For simplicity, the trunk and individual roots of any given tooth may be collectively referred to as the "root" of the tooth herein. Only crown 16a is visible above the gingival line in surface scans. c Root portion 16a r It is not visible to the naked eye or to a camera in an intraoral scanner above the gum line.

[0131] Figure 3I Showing individual tooth fragments 16b (from) Figure 3G The segmented surface scan 3D model 10b). As noted, tooth segment 16b represents only the crown of tooth 16, because only the crown of the tooth is visible to the surface scan camera (because they are above the gingival line and can be seen by both the naked eye and one or more camera lenses).

[0132] It is worth noting that since both surface scanning and volumetric density scanning image the same region of interest, both scans contain surface information related to the same actual corresponding anatomical structure (assuming the same region is scanned in each scan). This means that for the visible surface of, for example, the crown of a tooth, both surface scanning and volumetric density scanning will each contain surface information or surface boundary information related to the crown of the tooth, respectively.

[0133] Surface scans using optical sensors often produce higher resolution images, resulting in highly detailed 3D models of the surface. Volumetric density scans typically use modalities that are not as accurate as optical scans, or are medically unsafe to achieve the same level of accuracy. For example, volumetric density scans generated using X-ray techniques that include CT or CBCT modalities are based on X-ray radiation, and while highly accurate images can be obtained using high doses of X-rays, this would be medically unsafe for patients. Therefore, CT and CBCT modalities used for patients need to be set to very low levels of X-ray radiation to make them safer for humans. The trade-off is lower image accuracy. Therefore, crown surface data from surface scans will typically contain more detail than crown surface data from volumetric density scans.

[0134] To generate a 3D model of the patient's oral condition after tooth removal, the application retains the root portion of tooth fragment 16a from a volumetric density scan. r And remove part of the crown 16a c To this end, the application determines the gingival line around the tooth segment 16b based on points along the lower edge of the surface scan of the tooth segment 16b.

[0135] Figure 3J The cross-mounted surface scan tooth segment 16a and volume density scan tooth segment 16b are shown (both displayed in the same 3D coordinate system). As shown, the gingival line 16b... gl This is the set of points corresponding to the lower edge of the tooth segment 16b in the surface scan. This is because the application knows the gingival line 16b. gl The position, therefore it will place the crown portion 16a c Calculate all points on the same side of the gingival line (also known as the cutting line) within the specific 3D coordinate system of the application for the surface scan tooth fragment 16b.

[0136] In simple terms, the application removes all points in the same volume that coincide with or substantially fall within the same volume region of the 3D coordinate system as the volume density scan tooth segment 16a and the surface scan tooth segment 16b (i.e., the crown). That is, corresponding portions of the volume density scan tooth segment and the surface scan tooth segment are represented together. More simply, the root portion 16a... r It is obtained by subtracting 16b from 16a (and removing any outliers if necessary).

[0137] Figure 3K The image shows the removal of the crown portion 16a from a volumetric density scan of a tooth fragment 16a. c Root 16a rSince this is a surface model, only the outer points of the segment exist in the 3D model; therefore, when the crown portion 16a is removed from segment 16a... c At that time, inner side 16a r_interior Empty. Root portion 16a r The shape and form are determined solely by the root 16a r Points on the outer surface are defined, as defined by the surface model of individual segments obtained from volume density scanning.

[0138] Therefore, the contour of the inner surface of the root follows the contour of the outer surface of the root itself. Therefore, the remaining root 16a r Can be with Figure 3F The surface model 10a (in which the crown fragment 16a is removed) is displayed together to generate a surface 3D model 10d representing the patient's oral condition, in which the extracted tooth 16 is shown. Figure 3L , Figure 3M and Figure 3N It is displayed in the middle. Figure 3L The 3D model 10d is presented in a lingual view, essentially along the horizontal plane, to show the orifice 16c and alveolar contour 16s. Figure 3M Model 10d is shown from the rear of the model, viewed from another orientation along the same horizontal plane as in Figure 3l. From this angle, the alveolar contour is more visible. Figure 3N This shows another view of model 10d, observing the alveolar bone where tooth 16 was actually extracted. The outline of the alveolar bone 16 is visible, showing the positions of two of the three individual root apexes before the virtual extraction of tooth 16.

[0139] The alveolar 16s encompasses the outline of each of the trunk and individual roots placed prior to the extraction of the dummy tooth. As shown, the alveolar 16s follows the outline of the extracted root and includes the trunk alveolar portion 16a. t and three individual root alveoli, the three individual root alveoli comprising corresponding to the lingual root 16a respectively. r_l 16a of the root on the mid-buccal side r_mbr and distal buccal root 16a r_dbr lingual alveolar 16s r_l 16s mesiobuccal alveolar fossa r_mbr and distal buccal alveolar 16s r_dbr .

[0140] The volumetric density scan fragment model of a tooth only contains the outer (boundary) surface of the tooth object, and therefore does not contain information about the interior of the tooth itself. That is, for segments, the segmentation processor generates a 3D mesh of the outer surface of the tooth, without any modeling of the inner surface. For a closed object, such as a tooth, the 3D mesh model is also a closed triangular mesh (the number of edges and triangular facets associated with any given vertex is equal). Therefore, due to the truncated root segment 16a r The inner side (i.e., the part of the crown removed 16a) c Fragment 16) is empty, therefore root fragment 16a r The inner surface follows the direction of root segment 16a r The outer surface has the same contour. That is to say, the inner surface is merely the root segment 16a. r It has the same outer wall, but is viewed from the inside of the wall.

[0141] Remove the crown portion 16a from volume density scan fragment 16a c An open mesh is generated (i.e., a mesh in which at least one vertex has more edges associated with that vertex than the number of triangular facets associated with that vertex). An edge facet, as used herein, is a facet whose number of adjacent facets (which share an edge) is not equal to the number of edges of that facet. In the crown portion 16a of the volume density scan segment 16a... c In the context of the volume density scan segment 16a, the remaining portion, i.e., the severed root segment 16a r It includes a set of edge facets along the boundary line (where the crown meets the gingival line), making it an open mesh. This is due to the cut root segment 16a r There is no information on the inner side, therefore the inner surface of the open mesh is connected to the severed root fragment 16a. r Their outer surfaces are the same.

[0142] At any point after the segmented volume density scanning surface model 10a and the segmented surface scanning surface model 10b have been cross-mounted in a common 3D coordinate system (see...) Figure 3E The user can examine the patient's oral cavity or actually intervene in the oral cavity (e.g., by removing tooth enamel with a dental drill). To do this, the user inserts the head of an appropriate dental instrument into the oral cavity. The surface scanner 114 of the system 100 scans the oral cavity, and as referenced above... Figure 2B As shown, system 100 generates a second dataset (i.e., at least a portion of the digital patient model) and a digital representation of surface scanner 114 on GUI 120, both in their display environment, wherein surface scanner 114 is positioned and oriented according to its real-world position and orientation relative to the digital patient model.

[0143] Figure 3OThis is a schematic diagram of the display environment 400 of the GUI 120, which includes a depiction of the digital patient model 402 and a digital representation 404 of the surface scanner 114. In this example, the surface scanner 114 is integrated into or contains a dental drill (shown without a drill bit for clarity). In this example, the surface scanner 114 includes a pair of lateral extruders to either side of the head of the dental drill, and these are also depicted in the digital representation 404 of the surface scanner 114 (at 406a, 406b). (This arrangement maximizes the 3D sensitivity of the optics of the surface scanner 114 (i.e., one or more light sources and one or more photodetectors).)

[0144] When a user manipulates the intraoral surface scanner 114, the system 100 updates the view displayed in the GUI 120 display environment 400 based on the scan data continuously received by the system 100 from the surface scanner 114. Therefore, the user can precisely inspect the position of the surface scanner 114 within the oral cavity, including the position and orientation of the drill bit.

[0145] Figure 4A , Figure 4B , Figure 5A and Figure 5B An exemplary embodiment of a display environment 500 for a GUI 120 is shown during various steps in a dental treatment planning workflow. The GUI display environment 500 may be displayed on an electronic display 118 of a system 100 implementing the dental treatment planning application. The GUI display environment 500 includes one or more controls 501 (not shown individually) to allow a user to select patient scan data which is loaded into the system 100's memory 106, or onto an external storage device (not shown) accessible through the system 100 or accessible from a remote service 102 via one or more network adapters 122.

[0146] In the context of the aspects described in this invention, the scanning data includes surface scan data and volumetric density scan data of the patient's anatomical region of interest. In one embodiment, both surface scans and volumetric density scans are obtained prior to dental treatment planning; in other embodiments, one or both of the surface scan data and volumetric density scan data are obtained in conjunction with the use of dental treatment planning.

[0147] For example, remote surface scanning service 130 may include an optical scanner application that communicates with an optical scanner and transmits optical scan data to system 100 during or after completing an intraoral scan of a region of interest in a patient's oral cavity. Similarly, volume density scanning service 132 may include a volume density scanner application that communicates with a volume density scanner and transmits volume density scan data to system 100 during or after completing an intraoral scan of a region of interest in a patient's oral cavity.

[0148] As described above, system 100 manages the display of graphical content in the GUI display environment 500 of GUI 120, including detecting user input received via one or more user input devices 112, such as a mouse, keyboard, joystick, voice recognition, etc. User input may correspond to an action to be taken, such as invoking various application functions specific to the application or GUI functions for changing the layout or content of features displayed on the screen. More specifically, the front-end GUI displays user input controls and monitors user input associated with functional controls. Upon receiving user input associated with a user input control, the GUI invokes the appropriate function corresponding to the specific user input control and the type and content of the user input. The GUI also responds to one or more back-end processes communicating with a back-end GUI, which in turn communicates with the front-end GUI to display information on an electronic display, remove information from the display, and / or modify the display of information.

[0149] These user-selected functions may result in, but are not limited to: displaying models, views, fragments, and / or annotations; removing models, views, fragments, and / or annotations from the display; and modifying the display of models, views, fragments, and / or annotations; displaying various user controls and information displayed in the GUI display environment 500; removing said user controls and information from the display; and updating the appearance of said user controls and information; and receiving and returning information to facilitate the substantive functional features of system 100, including but not limited to: substantive treatment assessment, substantive treatment planning, and virtual execution of treatment or procedures (e.g., removal, implant placement, prosthesis design and placement, etc.).

[0150] refer to Figure 4A The GUI display environment 500 includes global controls 501, such as file management, general display controls, and other controls common to the GUI display environment. For example, controls 501 may include file selection controls, file save / export controls, view pane formatting controls, etc. The GUI display environment 500 also includes patient data-specific controls 502, such as dental arch and individual tooth model controls.

[0151] The GUI display environment 500 includes functional controls 503, which include a tooth extraction control 512. The tooth extraction control 512 is generally presented as a single control, but may include multiple controls, such as a guided dialog box that pops up a display panel, or other well-known GUI interaction techniques for displaying information and requesting information, and for receiving user input. The GUI 500 also includes and displays at least one view pane 503 for displaying a 3D model of the selected patient's oral cavity condition (or a selected portion thereof), such as that obtained from the patient's scan data and selected via the selection controls in control 502.

[0152] Control 501 includes one or more controls (not shown) that, when selected, allow the user to select patient surface and volume density scan data from the memory 106 of system 100. In one embodiment, when patient scan data is initially loaded, the GUI display environment 500 may display one or more view panes 503 (only one shown) to present a visual overview of the patient's oral cavity condition on the display. Figure 4A In this context, view pane 503 is displayed as a 3D model showing the volumetric density scan. Environment 500 may also contain various additional views of the patient's oral cavity condition based on the volumetric density scan data. For example, environment 500 may contain a panoramic view pane, an axial view pane, a cross-sectional view pane, and a tangential view pane (not shown).

[0153] A key objective of the virtual tooth extraction tool, accessible via control 512, is to virtually represent the patient's oral condition during the virtual removal of one or more teeth or other objects selected for extraction. For example, if a tooth is virtually removed and displayed within the GUI display environment 500, the resulting displayed 3D model should include a representation of the alveolar bone that becomes visible to the naked eye during the removal of the target tooth. This ensures that system 100 generates a digital patient model to be displayed in the display environment 500 along with a digital representation by surface scanner 114, the digital patient model being realistic and modifiable, for example, by virtual tooth extraction surgery to reflect the planned tooth extraction.

[0154] like Figure 4A As shown, the user can activate the virtual tooth extraction tool by moving the graphic cursor 520 on the tooth extraction control 512 with the mouse (not shown) and clicking on the control 512. Figure 4B An embodiment is shown where a pop-up dialog box 513 is displayed in the GUI environment 500 when the tooth extraction control 512 is activated. As shown, the dialog box may contain a tooth selection map that allows a user of system 100 to select one or more individual teeth for virtual tooth extraction.

[0155] In one embodiment, a user can click on individual teeth in the diagram to select them as target teeth for extraction. The user can optionally select instructions to save the alveolar model generated by the tool during alveolar bone generation and / or the extraction model of the extracted teeth (which contains the model in view pane 503 minus one or more target teeth for extraction plus the alveolar model generated for these one or more target teeth for extraction) by selecting the appropriate selection click box, radio button, or other such selection feature. When the user has completed selecting one or more target teeth for extraction and the save / selection option, the user can click the selection button 517 to invoke the tooth extraction tool.

[0156] Figure 5A A rear view of the 3D tooth extraction model 10D (viewing the maxillary arch from the patient's posterior to anterior perspective) is presented, which more conveniently displays the 3D alveolar model 16s corresponding to the alveolar bone from which tooth 16 was extracted. The alveolar model 16s is displayed together with a 3D surface scan model of the extracted tooth 16. Figure 5B The same model 10D is shown in the bottom view (viewed from the bottom towards the maxilla). As shown, tooth 16 is missing, but the interior 16c of alveolar bone 16s is visible and follows the outline of one or more roots of the extracted tooth 16.

[0157] Figure 6A Depicting by system 100 (e.g. by Figure 1B The GUI display environment 700 generated by the display generator 250 contains the patient’s surface and volume density scans that have been imported and loaded into the memory 106 of the system 100. Figure 6A This describes the condition of a patient's teeth after a dental professional has selected and virtually placed an implant. Techniques for virtually placing implants in a virtual model of a patient's dentition are known in the art, for example, according to... The use of dental implant planning software. Figure 6A In this context, the virtual implant column 710 is placed and displayed in various types of views in the corresponding view panes of the graphics environment 700. In the examples shown, the implant column 710 is displayed as virtually placed in a cross-sectional view (view pane 703d), an axial view (view pane 703c), a panoramic view (view pane 703b), a tangential view (view pane 703e), and a 3D view (view pane 703a).

[0158] As shown in the various views in panes 703a to 703e, the placement of the implant is indicated by the placement of an implant post or screw 710, which forms the base of the complete implant. The complete implant comprises the implant post 710, an adjoint (not shown) attached to the implant post 710, and an adjoint (also not shown) for a prosthesis or dental restoration, which may be a crown, bridge, or denture.

[0159] At the initial planning stage, only virtual placement of the implant column 710 is required. The implant planning software application provides one or more virtual implant placement guides 711, which do not correspond to physical components—they are merely visual indicators to assist dental professionals in placing the implant at the correct angle. Figure 6A In the 3D view pane 703a, the virtual guide 711 is displayed as an elongated cylindrical rod whose central axis coincides with the central axis of the implant post 710, and whose diameter corresponds to the diameter of the adjacent alveolar bone inside the implant post. Preferably, the cylinder of the virtual implant placement guide 711 extends along its central axis above the occlusal plane of the tooth, such that the length of the cylinder is much longer than its diameter. Preferably, the guide 711 is displayed in a color that contrasts with the colors used in the 3D model and other view panes, allowing the application user to immediately see the guide in relation to the content in each view pane.

[0160] The GUI display environment 700 includes a tooth extraction control 712, which, in an exemplary embodiment, is accessed by selecting a control corresponding to the portion of the patient's dentition where the implant under consideration is placed, from a view pane display control 702. In the illustrated embodiment, a dental professional selects the lower arch control, right-clicks it, pulls up a context menu, and selects the tooth extraction control 712 from the context menu. The tooth extraction control can be selected to instruct a dental treatment planning application to automatically perform a virtual tooth extraction (using the principles described above). Many ways exist to implement controls that invoke an automated virtual tooth extraction tool—the key is to provide one or more controls that allow the user to invoke a tooth extraction workflow.

[0161] Figure 6B A pop-up window 713 appears in the GUI display environment 700 when the user selects the tooth extraction control 712. The pop-up window presents several options and user input controls for obtaining the input required by the virtual tooth extraction tool, including a tooth selection control 713 and a mode control 714. Figure 6B In the embodiment shown, the tooth selection control 713 displays teeth corresponding to the patient's dentition, as if the user were... Figure 6AThe selection section contains a set of selectable tooth icons. The user (i.e., the dental professional) can select the tooth corresponding to the tooth on which the virtual implant post 710 is placed. In this example, the user selects tooth 35, which corresponds to the tooth on the upper left side of the lower dental arch on which the virtual implant post 710 is placed. For the mode, the user selects "Mode: Alveolar Resection" 715 from the options drop-down menu 714, checks the checkbox control 716 to indicate that the extracted tooth should be saved as a separate file for future planning, and invokes the virtual tooth extraction tool by clicking the extraction control 717.

[0162] Figure 6C A 3D surface model of the patient's dentition is displayed in view pane 703a. Upon completion, the virtual tooth extraction tool adds two 3D model files to the list of available model scans and 3D models in the control section 702 of the GUI display environment 700. The user can select these files to display them in the pane. One file is the extracted tooth model (indicated at 721 in the file list). The extracted tooth model is created by the virtual tooth extraction tool according to the technique described in conjunction with Figures 1 and 4. The extracted tooth model is a 3D surface model of the patient's dentition (including the previously placed implant post 310), in which the selected tooth 35 is removed from the model, and the alveolar bone is generated and contained in its position in the model. The second file is the extracted tooth model in the file list (indicated at 722), and is a model of tooth 35, in which the crown has been removed from the root.

[0163] Once these files have been created, the user can click the planning menu 723 in the GUI display environment 700, such as... Figure 6D As shown in the image, select the virtual planning export control 724. Next, in... Figure 6E In the next step shown, the user can select the format of the exported file in the format selection control 727 of the pop-up window 726E. In the example, the user selects the STL format option 728 and clicks Next 729 to move to the next menu. Figure 6F In the next step shown, the user selects button control 732 to activate the option to export the selected model scan or segment without further processing.

[0164] Click the Next button 733, in Figure 6G In the export file selection pop-up window 730, select the tooth extraction file 731. Click the Next button 732, which brings up the implant selection pop-up window 735. Figure 6HThe image shows a scan body selection control 736. The scan body selection control 736 includes a scan selection control 737 that displays and allows selection of a suitable scan body from a set of possible scan body types. The user can select a scan body from a menu to add the selected scan body to the model for export. The scan body will allow verification of the correct postoperative positioning of the implant (or other anchoring element) relative to the tooth surfaces of the patient's dentition after implantation and, depending on the healing period. This can be achieved by registering three-dimensional measurement data from surface scans obtained from the patient's postoperative oral cavity with a 3D digital patient model containing the selected scan body.

[0165] Next, the user clicks the next button 738. Figure 6I In the process, users can select additional options, such as choosing the 3D coordinate system to which the model should be exported, and whether the exported objects should be exported as individual files in a shared coordinate system. Clicking export plan line 741 invokes the export function based on the options and parameters selected by the user in the previous screen. The exported file is saved in a known location on computer-readable storage.

[0166] exist Figure 6J In this process, the same procedure can be followed to derive surface scan crown fragments (and optionally, antagonistic crown fragments—i.e., crown fragments from the teeth that meet the target extracted tooth in the occlusal plane in the opposing jaw when the jaw is closed). It is important to ensure that the surface scan tooth fragments are derived in the same coordinate system as the derived virtual tooth extraction model.

[0167] The resulting exported file includes a 3D model of the patient's dentition, featuring virtual tooth extractions of the teeth where the intended implant replacement will be placed. Replacing the extracted teeth is a virtual alveolar bone in which the virtual teeth were previously located. The model contains virtual implant posts placed within the alveolar bone, which dental professionals will position during implant planning.

[0168] Figures 7A to 7T A GUI display environment 900 is depicted for a prosthetic design application, such as a computer-aided design (CAD) or computer-aided manufacturing (CAM) tool. In one embodiment, the prosthetic design tool is designed using a previously referenced... Figure 1A and Figure 1B The application that operates in the described system 100.

[0169] Figure 7A A GUI display environment 900 is provided for display on the GUU 120 of the electronic display 118 and has user input controls and display areas as described below. For designing the prosthesis, the user clicks on control 901 (… Figure 7ATo begin a new case, the user inputs case information (e.g., Case ID, Patient ID, and Dentist ID into text boxes to associate with the new case) and selects a 3D model generated from the patient's scan data, loading it into memory for use by System 100. In this example, a dental crown will be designed. The user inputs the filenames of the virtual tooth extraction file (in this case, the lower tooth model) and the extracted tooth file (as the lower tooth wax model), and loads the files into the system (e.g., by clicking the save button). Figure 7B System 100 in view pane 903 ( Figure 7C The system displays 3D models from one or more selected virtual tooth extraction files. If needed, the system 100 provides controls in environment 900 for cleaning the scan (e.g., filling holes in the scan data, smoothing scan lines, removing noise, etc.). Subsequently, if needed, the system 100 provides tools to adjust the orientation of one or more models relative to the occlusion plane. Figure 7D ).

[0170] Before proceeding with the design, the user annotates the tooth locations in the displayed model to indicate to the system 100 the locations of one or more teeth for which prostheses are to be designed, and which teeth are adjacent to one or more teeth for which prostheses are to be designed (see [link to system 100]). Figure 7E Next, in Figure 7F In this process, the user selects the platform (implant manufacturer, implant type, and connection) and the scanner. These selections should match the implant and scanner chosen in the dental implantation or treatment planning application, and the virtual tooth extraction file is generated based on the implant and scanner.

[0171] Once the setup is complete, the user can proceed with designing the repair. Figure 6J In this process, surface scan crown fragments from a 3D model are exported as individual fragments in a matching 3D coordinate system as a virtual tooth extraction model. Since the surface scan crown model is generated from an optical scan of the patient's original teeth (before the actual extraction of the real teeth), the surface scan crown fragments can be used as a digital wax model without having to scan the patient's mouth again. Because the surface scan crown fragments are exported as individual fragments matching the same 3D coordinate system as the virtual tooth extraction model, the surface scan crown fragments of the virtual extracted tooth can be mounted into a view pane containing the virtual tooth extraction model and can be directly used by the system 100 as the upper portion of a prosthetic crown. This is achieved by importing the surface scan crown fragment file as a wax model file (…). Figure 7B Designers can choose to clone wax model controls. Figure 7GThe system 100 instructs its prosthesis design application to clone a wax model from a wax model file for use as the surface of the prosthesis crown. Once the wax cloning tool clones the wax model into the prosthesis, the user can fine-tune the prosthesis shape using fitting, shaping, and sculpting controls available in the GUI display environment 900. Environment 900 also includes controls for rotating and changing the view of the model displayed in the view pane 903, allowing the user to examine the prosthesis 904 from all angles. For example, in... Figure 7H In the model 905, the prosthesis 904 is rotated so that it can be viewed from the buccal side. This allows the designer to adjust the prosthesis by viewing it in situ within the virtual tooth extraction model 905.

[0172] Once the visible surface of the crown is designed based on a scanned fragment of the crown obtained during the tooth extraction procedure, the user can design the base of the prosthesis. System 100 provides designers with controls for inputting restoration specifications (see [link to documentation]). Figure 7I For example, material type, color, and what should be output (e.g., output STL file, output order placement (which can be direct communication to a remote manufacturing facility)).

[0173] exist Figure 7J In the view pane 903, a virtual tooth extraction model 905 is displayed. Because... Figures 7A to 7T The example case in the example is a new case for the design of the prosthesis for the implant, and the virtual tooth extraction model 905 is exported together with the implant placed in the model (e.g., using a combination). Figures 6A to 6J The process described above is such that the virtual tooth extraction model 905 includes a virtual implant post. In this example, a temporary abutment is selected and automatically and virtually connected to the implant post as shown. The user can then select the thickness of the adhesive gap (…). Figure 7K Set the material thickness ( Figure 7L ), and the prosthesis 904 is displayed within model 905, the model including alveolar contour (or "transgingival contour") ( Figure 7M Next, the user can turn off the model 905's display to show only the prosthesis. Figure 7N ).

[0174] Figure 7O Model 905 was reopened for display (see Figure 7OThe on / off button (used to display various models) is rotated to obtain a good external lateral view of the alveolar 910. With the anatomical transparency level set low (to examine the implant post and adjacent parts inside the alveolar 910), it is evident that one can design an anatomically correct prosthesis 904 that conforms to the patient's oral anatomy by using the alveolar contour to guide the design of the lower crown portion of the prosthesis to fit the contour inside the alveolar 910. In this regard, the prosthesis design application provides controls for adjusting the shape and fit of the lower portion of the crown.

[0175] Once the base of the dental crown prosthesis is shaped to conform to the contour of alveolar bone 910, the designer can proceed to specify the shell of the prosthesis. The application can automatically calculate the proximal distance information between the prosthesis surface and the tooth on either side of the prosthesis (when the prosthesis is virtually attached to the virtual implant post 906). Figure 7P And generate a shell surface (in) Figure 7Q Examine from the cheek side and in Figure 7R (Observe the occlusal plane from the middle downwards). Figure 7S The final prosthesis design is displayed within the model, with both the maxilla and mandible featuring partially transparent anatomical models to partially reveal the implant post 906, adjacent pieces, and prosthetic crown. Users can easily inspect the placement and shape of the prosthesis through visual examination of the model. Figure 7S . Figure 7T Display and Figure 7S The crown uses the same model and orientation, but the anatomy is completely opaque. The workflow will proceed with the usual steps, after which the crown will be sent for production.

[0176] Upon completion of the prosthesis design, the design file can be exported and used to manufacture the design. In one embodiment, the exported design file can be sent to a manufacturing facility or a remote manufacturing service. In another embodiment, the exported prosthesis design file can be used to generate 3D printer instructions for submission to a 3D printer, which responds to such instructions to 3D print the prosthesis.

[0177] The above aspects and embodiments of the present invention offer several advantages in virtual alveolar visualization, anatomical treatment planning, and anatomical prosthesis design. According to one advantage, anatomical treatment professionals and prosthesis designers can plan treatments and design anatomically accurate prostheses based on an accurate 3D model of the alveolar cavity, which is the site for treatment planning and prosthesis design and models the specific alveolar anatomy of the patient.

[0178] A model can be generated before the anatomical object is removed from the patient, allowing for accurate treatment planning and design of the prosthesis before or simultaneously with (i.e., in parallel) the actual surgical removal of the anatomical object. This means that patients can access treatment professionals in as few as a single visit. During as few as one or two office visits, the patient's anatomical region of interest, containing the anatomical object targeted for removal, can be scanned. The scan data can be imported into a digital treatment planning tool that includes a virtual alveolar model generation tool and / or a virtual object removal tool, each of which generates a virtual alveolar model contained within a display of a virtual anatomical model of the patient's anatomical region of interest (i.e., the region containing the target anatomical object and adjacent anatomical objects or features).

[0179] Using a virtual alveolar model included within the displayed virtual anatomical model, therapeutic professionals can more accurately place implants or other therapeutic devices virtually within the virtual alveolar model, design and print 3D-printable surgical guides, and export the virtual anatomical and alveolar models for use in separate prosthesis design software tools to design anatomically accurate prostheses. If the therapeutic professional has access to direct prosthesis manufacturing equipment, the prosthesis can be fabricated while the patient is still in the office. Alternatively, the prosthesis can be sent to a laboratory for fabrication, and the patient can return to the office once the anatomical area around the implant has healed sufficiently for attachment.

Claims

1. A computer-implemented method (100) for generating a 3D model (10D) for assisted navigation of a patient's oral cavity using one or more computer processors, the method being based at least on a first scan of an anatomical region of the patient's oral cavity, the method comprising: Receive a first dataset containing surface boundary information from the first scan, and generate a 3D digital patient model from at least a portion of the first dataset; A portion of the oral cavity is scanned using a 3D surface scanner, and a 3D surface scan containing a region of interest is obtained therefrom. The acquired 3D surface scan is matched with at least a portion of the 3D digital patient model; The acquired 3D surface scan and the digital patient model are used to determine a spatial transformation, which is configured to align the acquired 3D surface scan with the 3D digital patient model or to achieve a predetermined registration degree. At least the transformation is used to determine the position and orientation information of the 3D surface scanner relative to the 3D digital patient model; as well as A second dataset is generated, which contains the position and orientation information of the 3D surface scanner relative to the 3D digital patient model.

2. The method of claim 1, wherein the second dataset further comprises at least a portion of the 3D digital patient model.

3. The method of claim 1 or claim 2, wherein the surface boundary information of the first dataset comprises surface segments having markers associated with identifying tissue types, each surface segment representing a tissue type selected from a group comprising gingival tissue, bone tissue, and dentin tissue.

4. The method of claim 3, further comprising elements for identifying the anatomical regions of the patient's oral cavity in the 3D digital patient model, including retaining markers associated with surface segments that identify the tissue type during the generation of the 3D digital patient model.

5. The method according to any one of the preceding claims, wherein the second dataset further comprises a digital representation of the 3D surface scanner in a common reference frame, the digital representation of the 3D surface scanner being positioned and oriented according to the position and orientation information.

6. The method according to any one of the preceding claims, comprising generating the second dataset as a 3D output model.

7. The method of claim 6, further comprising: a navigation system receiving a dental treatment or examination plan; determining a region of interest in the 3D output model based on the dental treatment or examination plan; and identifying the region of interest in the 3D output model.

8. The method according to any one of the preceding claims, comprising transmitting the second dataset to a visualization system configured to visualize at least a portion of the second dataset using a 3D or pseudo-3D display device.

9. The method of claim 8, further comprising using the visualization system to enhance or overlay the display of said portion of the second dataset with a view of the patient's oral cavity.

10. The method according to any one of the preceding claims, comprising continuously or in real time acquiring and updating the 3D surface scan.

11. The method according to any one of the preceding claims, comprising transmitting the second dataset to a robot navigation system configured to control the navigation of a dental instrument, such as a dental drill, dental probe, or another type of dental instrument, based on the position and orientation information contained in the second dataset.

12. The method according to any one of the preceding claims, wherein the 3D surface scanner comprises a dental instrument, such as a dental drill, dental probe or another type of dental instrument, integral with or mounted on the dental instrument.

13. The method according to any one of the preceding claims, wherein matching at least a portion of the 3D digital patient model with the acquired 3D surface scan uses only surface boundary information of the first dataset containing fragments labeled as dentin tissue.

14. The method according to any one of the preceding claims, wherein the surface boundary information from the first scan is determined based on surface scans and / or volume density scans of the anatomical region of the patient's oral cavity.

15. The method of any of the preceding claims, wherein the digital patient model does not include a digital representation of a marker element.

16. A system for generating a 3D model for assisted navigation in a patient's oral cavity, the system (100) comprising: At least one computer processor (104); Storage unit (106); A 3D surface scanner (114) for performing a 3D surface scan of a portion of the patient's intraoral cavity; and optionally, a display device and / or a robot navigation (assist) system. The storage unit (106) stores instructions that, when executed by the computer processor (104), implement the method according to any one of claims 1 to 15.

17. A computer program code that, when executed by a computer processor (104) communicatively connected to a 3D surface scanner (114) for performing 3D surface scanning of a portion of a patient's oral cavity, performs the method according to any one of claims 1 to 15.

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