Method, device, equipment and medium for determining mandibular motion trajectory

Abstract

The present disclosure relates to a method, device, equipment and medium for determining the mandibular motion trajectory, the method comprising: aligning the first coordinate system of an intraoral scanning unit to the reference coordinate system of a reference calibration unit; aligning a mouth scan model to the reference coordinate system based on the intraoral scanning unit; determining the motion trajectory of the mandibular motion tracking unit in the reference coordinate system based on a positioning tracking unit, thereby determining the mandibular motion trajectory of the mouth scan model in the reference coordinate system, wherein the mouth scan model is a model of the upper and lower jaws of a user, and the user is a person who needs to determine the mandibular motion trajectory of his or her own. Based on the above method, the mandibular motion trajectory of the user can be accurately determined.

Description

Technical Field

[0001] The present disclosure relates to the field of scanner technology, and in particular to a method, device, equipment and medium for determining a mandibular motion trajectory. Background Art

[0002] The process of mandibular movement acquisition based on optical tracking technology generally involves first wearing a device with identifiable landmarks on a relatively stable part of the subject's head to establish a measurement reference coordinate system; then selecting the coordinates of the corresponding points on the model in the mouth through optical positioning markings, and aligning the model data in the mouth to the current measurement reference coordinate system through the corresponding points; then wearing a device with identifiable landmarks on the subject's mandible, making various mandibular movements, and tracking the movement trajectory of the landmarks on the device during the process, so as to determine the movement trajectory of the mandible of the model in the mouth relative to the maxilla.

[0003] In the existing mandibular motion acquisition process based on optical tracking technology, it is necessary to manually specify three or more position points corresponding to the feature points on the intraoral model in the mouth, so as to obtain the corresponding coordinate points of the feature points on the model in the current optical measurement reference coordinate system, and then align the intraoral model to the current measurement coordinate system by splicing the feature points. Since the feature points need to be manually specified, there may be certain operating errors, which may lead to deviations in the splicing alignment of the intraoral model and the inability to accurately determine the movement trajectory of the mandible. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a method, device, equipment and medium for determining the mandibular motion trajectory.

[0005] In a first aspect, the present disclosure provides a method for determining a mandibular motion trajectory, the method being applied to a mandibular motion trajectory determining device, the device comprising at least a positioning tracking unit, a mandibular motion tracking unit, an intraoral scanning unit and a reference calibration unit, the reference calibration unit being relatively fixed to the user's head; the mandibular motion tracking unit being relatively fixed to the user's mandible and moving synchronously with the user's mandibular motion, the positioning tracking unit being used to determine the positions of the mandibular motion tracking unit and the reference calibration unit; the method comprising:

[0006] Aligning the first coordinate system of the intraoral scanning unit to the reference coordinate system of the reference calibration unit;

[0007] Aligning the oral scan model to the reference coordinate system based on the intraoral scanning unit;

[0008] The motion trajectory of the mandibular motion tracking unit in the reference coordinate system is determined based on the positioning tracking unit, thereby determining the mandibular motion trajectory of the mouth scanning model in the reference coordinate system, wherein the mouth scanning model is an upper and lower jaw model of the user, and the user is a person who needs to determine his or her own mandibular motion trajectory.

[0009] Optionally, the intra-oral scanning unit sets a first marking point, and aligning the first coordinate system of the intra-oral scanning unit to the reference coordinate system of the reference calibration unit includes:

[0010] Align the second coordinate system corresponding to the first marker point to the reference coordinate system;

[0011] The first coordinate system is aligned to the second coordinate system, and then the first coordinate system is aligned to the reference coordinate system.

[0012] Optionally, the reference calibration unit sets a second marker point, the reference calibration unit further sets a reference feature, the positioning tracking unit is further used to determine the position of the intraoral scanning unit, and the aligning of the second coordinate system corresponding to the first marker point to the reference coordinate system includes:

[0013] Collecting first three-dimensional data of the reference feature by the intraoral scanning unit, and determining the relative position between the first marker point and the second marker point by the positioning tracking unit, wherein the first three-dimensional data is based on the first coordinate system;

[0014] Determine the coordinates of the first marker point in the reference coordinate system based on the relative position between the first marker point and the second marker point;

[0015] Determine a first transformation matrix between the second coordinate system and the reference coordinate system based on the coordinates of the first marker point in the second coordinate system and the coordinates of the first marker point in the reference coordinate system;

[0016] and,

[0017] The aligning the first coordinate system to the second coordinate system, and then aligning the first coordinate system to the reference coordinate system, comprises:

[0018] splicing the first three-dimensional data with the standard model of the reference feature object, determining a temporary transformation matrix between the first coordinate system and the reference coordinate system, and determining a second transformation matrix between the first coordinate system and the second coordinate system based on the temporary transformation matrix and the first transformation matrix;

[0019] Based on the second transformation matrix, the first coordinate system is aligned to the second coordinate system, and further based on the first transformation matrix, the first coordinate system is aligned to the reference coordinate system.

[0020] Optionally, aligning the oral scan model to the reference coordinate system based on the intraoral scanning unit includes:

[0021] Acquire second three-dimensional data of teeth in the user's mouth by means of an intraoral scanning unit, and determine the coordinates of the first marker point in the reference coordinate system by means of the positioning tracking unit; wherein the second three-dimensional data is three-dimensional data of teeth in the upper jaw of the user;

[0022] Based on the first transformation matrix, the second transformation matrix and the coordinates of the first marker point in the reference coordinate system, aligning the second three-dimensional data to the reference coordinate system;

[0023] The second three-dimensional data is spliced ​​with the oral scan model to align the oral scan model to the reference coordinate system.

[0024] Optionally, the mandibular motion tracking unit sets a third marker point, and the positioning tracking unit determines the motion trajectory of the mandibular motion tracking unit in the reference coordinate system of the reference calibration unit, thereby determining the mandibular motion trajectory of the oral scanning model, including:

[0025] Determine the coordinates of the third marker point in the reference coordinate system by the positioning tracking unit;

[0026] Collecting the motion trajectory of the third marker point by the positioning and tracking unit;

[0027] The mandibular movement trajectory of the oral scanning model is determined according to the movement trajectory of the third landmark point.

[0028] Optionally, before determining the coordinates of the third marker point in the reference coordinate system by the positioning tracking unit, the method further includes:

[0029] Keep the user's upper and lower jaws in a clenched state.

[0030] Optionally, collecting the motion trajectory of the third marker point by the positioning and tracking unit includes:

[0031] Collecting the real-time coordinates of the third marker point by the positioning tracking unit;

[0032] Determine a motion trajectory of the third marker point based on the real-time coordinates of the third marker point and the initial coordinates of the third marker point;

[0033] and,

[0034] The step of determining the mandibular motion trajectory of the oral scan model according to the motion trajectory of the third landmark point comprises:

[0035] Determine a motion matrix of the third marker point according to the motion trajectory of the third marker point;

[0036] Determine the motion trajectory of the mouth scanning model according to the motion matrix;

[0037] Among them, the initial coordinates of the third marker point are the coordinates of the third marker point in the reference coordinate system collected by the positioning tracking unit when the upper and lower jaws of the user are in a occluded state.

[0038] In a second aspect, the present disclosure further provides a device for determining a mandibular motion trajectory, the device comprising:

[0039] A first alignment module, configured to align a first coordinate system of the intra-oral scanning unit to a reference coordinate system of the reference calibration unit;

[0040] A second alignment module, configured to align the oral scan model to the reference coordinate system based on the intraoral scanning unit;

[0041] A trajectory determination module is configured to determine the motion trajectory of the mandibular motion tracking unit in the reference coordinate system based on the positioning tracking unit, thereby determining the mandibular motion trajectory of the mouth scanning model in the reference coordinate system, wherein the mouth scanning model is an upper and lower jaw model of the user, and the user is a person who needs to determine his or her own mandibular motion trajectory.

[0042] In a third aspect, the present disclosure further provides an electronic device, including: a processor and a memory;

[0043] The processor is used to execute the steps of any method described in the first aspect by calling the program or instruction stored in the memory.

[0044] In a fourth aspect, the present disclosure further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a program or instruction, wherein the program or instruction enables a computer to execute the steps of any method described in the first aspect.

[0045] The present disclosure provides a method for determining the mandibular motion trajectory, which can align the coordinate system of the intraoral scanning unit to the reference coordinate system of the reference calibration unit, align the mouth scan model to the reference coordinate system based on the intraoral scanning unit, and determine the motion trajectory of the mandibular motion tracking unit in the reference coordinate system based on the positioning tracking unit, thereby determining the mandibular motion trajectory of the mouth scan model in the reference coordinate system. Based on this method, since the mouth scan model can be aligned to the reference coordinate system through the intraoral scanning unit, and then the motion trajectory of the mandibular motion tracking unit in the reference coordinate system is determined by the positioning tracking unit, the mandibular motion tracking unit moves synchronously with the user's mandible, so the motion trajectory of the mandible in the reference coordinate system can actually be determined by the positioning tracking unit, and the mouth scan model is a model of the upper and lower jaws of the user, so the mandibular motion trajectory of the mouth scan model in the reference coordinate system can be accurately determined, and then the mandibular motion trajectory of the user can be displayed through the mouth scan model. Compared with the prior art, the present solution can directly align the oral scan model to the reference coordinate system based on the intraoral scanning unit. There is no need to manually specify the position points in the user's mouth corresponding to the feature points of the intraoral model, and then splice the intraoral model. Therefore, the deviation in model splicing caused by the deviation of the manually selected position points can be avoided. Therefore, compared with the prior art, the method for determining the mandibular motion trajectory provided by the present disclosure can determine the mandibular motion trajectory more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic flow chart of a method for determining a mandibular motion trajectory provided by an embodiment of the present disclosure;

[0047] Figure 2 A schematic diagram of the structure of a first mandibular motion trajectory determination device provided in an embodiment of the present disclosure;

[0048] Figure 3 A schematic diagram of the structure of a second mandibular motion trajectory determination device provided in an embodiment of the present disclosure;

[0049] Figure 4 A schematic diagram of the structure of a third mandibular motion trajectory determination device provided in an embodiment of the present disclosure;

[0050] Figure 5 A schematic diagram of the structure of a fourth mandibular motion trajectory determination device provided in an embodiment of the present disclosure;

[0051] Figure 6 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0052] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0053] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0054] The following is an exemplary description of the mandibular movement trajectory determination device, method, equipment and medium provided by the embodiments of the present disclosure in conjunction with the accompanying drawings.

[0055] like Figure 1 As shown, Figure 1 A flow chart of a method for determining a mandibular motion trajectory provided by an embodiment of the present disclosure is provided. The method is applied to a mandibular motion trajectory determining device, the device at least comprising a positioning tracking unit, a mandibular motion tracking unit 13, an intraoral scanning unit 14 and a reference calibration unit 12, the reference calibration unit 12 being relatively fixed to the user's head; the mandibular motion tracking unit 13 being relatively fixed to the user's mandible and moving synchronously with the user's mandibular motion, the positioning tracking unit being used to determine the positions of the mandibular motion tracking unit 13 and the reference calibration unit 12; the method comprising:

[0056] S101: Align the first coordinate system of the intraoral scanning unit to the reference coordinate system of the reference calibration unit.

[0057] S102: Aligning the oral scan model to a reference coordinate system based on the intraoral scanning unit.

[0058] S103: Determine the motion trajectory of the mandibular motion tracking unit in the reference coordinate system based on the positioning tracking unit, thereby determining the mandibular motion trajectory of the mouth scanning model in the reference coordinate system.

[0059] Among them, the mouth scanning model is the user's upper and lower jaw models, and the user is a person who needs to determine the movement trajectory of his or her own lower jaw.

[0060] A method for determining the mandibular motion trajectory provided by an embodiment of the present disclosure is implemented by a mandibular motion trajectory determination device, which can align the coordinate system of the intraoral scanning unit 14 to the reference coordinate system of the reference calibration unit 12, align the oral scan model to the reference coordinate system based on the intraoral scanning unit 14, and determine the motion trajectory of the mandibular motion tracking unit 13 in the reference coordinate system based on the positioning tracking unit, thereby determining the mandibular motion trajectory of the oral scan model in the reference coordinate system. Based on this method, since the oral scan model can be aligned to the reference coordinate system through the intraoral scanning unit 14, and then the motion trajectory of the mandibular motion tracking unit 13 in the reference coordinate system is determined by the positioning tracking unit, the mandibular motion tracking unit 13 moves synchronously with the user's mandible, so the motion trajectory of the mandible in the reference coordinate system can actually be determined by the positioning tracking unit, and the oral scan model is a model of the upper and lower jaws of the user, so the mandibular motion trajectory of the oral scan model in the reference coordinate system can be accurately determined, and then the mandibular motion trajectory of the user can be displayed through the oral scan model. Compared with the prior art, the present solution can directly align the oral scan model to the reference coordinate system based on the intraoral scanning unit. There is no need to manually specify the position points in the user's mouth corresponding to the feature points of the intraoral model, and then splice the intraoral model. Therefore, the deviation in model splicing caused by the deviation of the manually selected position points can be avoided. Therefore, compared with the prior art, the method for determining the mandibular motion trajectory provided by the present disclosure can determine the mandibular motion trajectory more accurately.

[0061] In some embodiments, the intraoral scanning unit sets a first marker point, and S101 may include:

[0062] Align the second coordinate system corresponding to the first marker point to the reference coordinate system.

[0063] Align the first coordinate system to the second coordinate system, and then align the first coordinate system to the reference coordinate system.

[0064] Figure 2 A schematic diagram of the structure of the first mandibular motion trajectory determination device provided in the embodiment of the present disclosure. In some embodiments, the reference calibration unit 12 sets a second marker point 17, the reference calibration unit 12 also sets a reference feature 16, and the positioning tracking unit is also used to determine the position of the intraoral scanning unit 14, and align the second coordinate system corresponding to the first marker point 15 to the reference coordinate system, including:

[0065] The first three-dimensional data of the reference feature 16 is collected by the intraoral scanning unit 14, and the relative position between the first marking point 15 and the second marking point 17 is determined by the positioning tracking unit, wherein the first three-dimensional data is based on the first coordinate system.

[0066] The coordinates of the first marking point 15 in the reference coordinate system are determined based on the relative position between the first marking point 15 and the second marking point 17 .

[0067] Based on the coordinates of the first marking point 15 in the second coordinate system and the coordinates of the first marking point 15 in the reference coordinate system, a first transformation matrix between the second coordinate system and the reference coordinate system is determined.

[0068] In some embodiments, aligning the first coordinate system to the second coordinate system, and then aligning the first coordinate system to the reference coordinate system, includes:

[0069] The first three-dimensional data is spliced ​​with the standard model of the reference feature 16 to determine a temporary transformation matrix between the first coordinate system and the reference coordinate system, and based on the temporary transformation matrix and the first transformation matrix, a second transformation matrix between the first coordinate system and the second coordinate system is determined.

[0070] Based on the second transformation matrix, the first coordinate system is aligned to the second coordinate system, and then based on the first transformation matrix, the first coordinate system is aligned to the reference coordinate system.

[0071] Specifically, the intraoral scanning unit 14 may be an intraoral scanner, or a mouth scanning scanner, and a first marking point 15 is arranged on the intraoral scanning unit 14. The reference calibration unit 12 may be a device with a reference feature 16 fixed on the user's head, and a second marking point 17 is arranged on the reference calibration unit 12. The reference feature 16 is a part of the reference calibration unit 12 with a clear characteristic shape and used as a reference. The positioning tracking unit may be a binocular optical positioning tracker, or a scanner. The mandibular movement tracking unit 13 may be a device with a third marking point fixed at the user's mouth, and moves synchronously with the movement of the user's mandible. The three-dimensional data generated by the intraoral scanning unit 14 is in the local coordinate system of the intraoral scanning unit 14 itself, and the transformation relationship of converting the three-dimensional data generated by the intraoral scanning unit 14 to the three-dimensional data in the reference coordinate system, such as a transformation matrix, needs to be determined by the above method.

[0072] First, the reference calibration unit 12 and the intraoral scanning unit 14 are kept within the field of view of the positioning tracking unit, so that the positioning tracking unit can obtain the positions of the first marker point 15 and the second marker point 17, and at the same time, the first three-dimensional data of the reference feature 16 is collected through the intraoral scanning unit 14. The coordinates of the second marker point 17 in the reference coordinate system are determined and fixed, and the coordinates of the first marker point 15 in the second coordinate system are determined and fixed, so based on the relative positions of the first marker point 15 and the second marker point 17, the coordinates of the first marker point 15 in the reference coordinate system can be determined, and then the first transformation matrix RT1 between the second coordinate system and the reference coordinate system can be determined by the coordinates of the first marker point 15 in the second coordinate system.

[0073] By splicing the first three-dimensional data with the standard model of the reference feature 16, the temporary transformation matrix RT0 between the first coordinate system and the reference coordinate system can be determined. Since there is a definite relationship RT1×RT2=RT0, where RT2 represents the second transformation matrix between the first coordinate system and the second coordinate system, that is, the transformation matrix between the first coordinate system and the reference coordinate system is equal to the transformation matrix between the second coordinate system and the reference coordinate system multiplied by the transformation matrix between the first coordinate system and the second coordinate system. Therefore, it can be concluded that the second transformation matrix RT2=(RT1^-1)×RT0, where RT1^-1 represents the inverse matrix of RT1. Through the above method, the second matrix can be determined, and based on the first transformation matrix and the second transformation matrix, the first coordinate system can be aligned to the reference coordinate system. It should be noted that, although the temporary transformation matrix RT0 between the first coordinate system and the reference coordinate system can be determined by the model splicing method in the above embodiment, when the position of the intraoral scanning unit 14 changes, the temporary transformation matrix RT0 changes. Therefore, it is impossible to directly align the first coordinate system to the reference coordinate system based on the temporary transformation matrix RT0 when tracking the user's mandibular movement trajectory. The first transformation matrix RT1 and the second transformation matrix RT2 determined by the above method will not change with the change of the position of the intraoral scanning unit 14. Therefore, the first coordinate system can be aligned to the reference coordinate system based on the first transformation matrix and the second transformation matrix.

[0074] In the above embodiment, the coordinates of each marker point in the reference coordinate system are directly determined, but in the actual scene, the position of each marker point is determined by the positioning and tracking unit, that is, the position of each marker point is first determined in the third coordinate system corresponding to the positioning and tracking unit, and the position of each marker point needs to be first converted from the third coordinate system to the reference coordinate system. There is a third transformation matrix RT3 between the third coordinate system and the reference coordinate system, and there is a fourth transformation matrix RT4 between the second coordinate system and the third coordinate system. Therefore, RT2 can also be determined by the following method, that is, since RT3×RT4×RT2=RT0, therefore, RT2=(RT4^-1)×(RT3^-1)×RT0.

[0075] In the above embodiment, the first three-dimensional data of a reference feature 16 can be collected by the intraoral scanning unit 14 to determine the temporary transformation matrix RT0. In some embodiments, in order to make the determined temporary transformation matrix RT0 more accurate, the first three-dimensional data can be collected multiple times from multiple angles by the intraoral scanning unit 14, and then the temporary transformation matrix RT0 can be determined based on the principle of least squares method to improve the accuracy of the temporary transformation matrix RT0, thereby making the user's mandibular movement trajectory tracking more accurate; or the first three-dimensional data can be collected from multiple angles by the intraoral scanning unit 14, and an actual model of the reference feature 16 is established based on the first three-dimensional data, and the actual model is spliced ​​with the standard model to improve the accuracy of the temporary transformation matrix RT0, thereby making the user's mandibular movement trajectory tracking more accurate.

[0076] Through the above method, the first coordinate system can be aligned to the reference coordinate system.

[0077] Figure 3 A schematic diagram of the structure of a second mandibular motion trajectory determination device provided in an embodiment of the present disclosure. In some embodiments, the oral scan model is aligned to a reference coordinate system based on an intraoral scanning unit, including:

[0078] The second three-dimensional data of the teeth in the user's mouth is obtained by the intraoral scanning unit 14, and the coordinates of the first marker 15 in the reference coordinate system are determined by the positioning tracking unit. The second three-dimensional data is the three-dimensional data of the teeth in the upper jaw of the user.

[0079] Based on the first transformation matrix, the second transformation matrix and the coordinates of the first marker point 15 in the reference coordinate system, the second three-dimensional data is aligned to the reference coordinate system.

[0080] The second three-dimensional data is spliced ​​with the oral scan model to align the oral scan model to the reference coordinate system.

[0081] Specifically, the intraoral scanning unit 14 can be used to scan the user's teeth inside the mouth, and ensure that the positioning tracking unit can determine the position of the marker point of the intraoral scanning unit 14, and at the same time determine the position of the reference calibration unit 12 based on the positioning tracking unit. The reference calibration unit 12 remains relatively fixed with respect to the user's head during this process. Based on the above method, the coordinates of the marker points of the intraoral scanning unit 14 are converted to the reference coordinate system. The intraoral scanning unit 14 is used to obtain the second three-dimensional data of the user's teeth, such as the three-dimensional data of two teeth in the upper jaw, and then the second three-dimensional data of the two teeth are used to splice with the oral scan model. Since the coordinates of the second three-dimensional data of the two teeth are based on the reference coordinate system, the oral scan model can be converted to the reference coordinate system by the above method. The oral scan model is a complete upper and lower jaw model obtained by the oral scan scanner, which can also be called a three-dimensional tooth model.

[0082] Figure 4 A schematic diagram of the structure of a third mandibular motion trajectory determination device provided in an embodiment of the present disclosure. In some embodiments, the mandibular motion tracking unit 13 sets a third marker point 18, and the motion trajectory of the mandibular motion tracking unit 13 in the reference coordinate system of the reference calibration unit 12 is determined by the positioning tracking unit, thereby determining the mandibular motion trajectory of the mouth scanning model, including:

[0083] The coordinates of the third marker point 18 in the reference coordinate system are determined by the positioning and tracking unit.

[0084] The motion trajectory of the third marker point 18 is collected by the positioning and tracking unit.

[0085] The mandibular movement trajectory of the oral scanning model is determined according to the movement trajectory of the third landmark point 18 .

[0086] In some embodiments, before determining the coordinates of the third marker point 18 in the reference coordinate system by the positioning tracking unit, the method further includes:

[0087] Keep the user's upper and lower jaws in occlusion.

[0088] In some embodiments, collecting the motion trajectory of the third marker 18 by the positioning tracking unit includes:

[0089] The real-time coordinates of the third marker point 18 are collected by the positioning and tracking unit.

[0090] Based on the real-time coordinates of the third marker point 18 and the initial coordinates of the third marker point 18 , the movement trajectory of the third marker point 18 is determined.

[0091] In some embodiments, determining the mandibular motion trajectory of the oral scan model according to the motion trajectory of the third marker point 18 includes:

[0092] The motion matrix of the third marking point 18 is determined according to the motion trajectory of the third marking point 18 .

[0093] The motion trajectory of the mouth scanning model is determined according to the motion matrix.

[0094] Among them, the initial coordinates of the third marker point 18 are the coordinates of the third marker point 18 in the reference coordinate system collected by the positioning tracking unit when the upper and lower jaws of the user are in a occluded state.

[0095] Specifically, the reference calibration unit 12 can be kept fixed on the user's head and the mandibular motion tracking unit 13 can be fixed on the user's mandible, and the mandibular motion tracking unit 13 can move synchronously with the movement of the mandible. First, the user is allowed to maintain the natural occlusion state of the upper and lower jaws for a certain period of time, and the position of the third marker point 18 in the reference coordinate system is determined by the positioning tracking unit. Then, the user's mandible starts to move slowly. During this process, the real-time position of the third marker point 18 in the reference coordinate system is obtained by the positioning tracking unit, and then the motion RT matrix of the marker point of the mandibular motion tracking unit 13 at each moment is determined by the real-time position relative to the position of the third marker point 18 in the natural occlusion state. This motion RT matrix is ​​applied to the oral scanning model to determine the mandibular motion trajectory of the oral scanning model.

[0096] Through the above method, the mandibular movement trajectory of the exit scanning model can be determined.

[0097] like Figure 5 As shown, Figure 5 A schematic diagram of the structure of a fourth mandibular motion trajectory determination device provided in an embodiment of the present disclosure, the device comprising:

[0098] The first alignment module 51 is configured to align the first coordinate system of the intra-oral scanning unit to the reference coordinate system of the reference calibration unit.

[0099] The second alignment module 52 is configured to align the oral scan model to a reference coordinate system based on the intra-oral scanning unit.

[0100] The trajectory determination module 53 is configured to determine the motion trajectory of the mandibular motion tracking unit in the reference coordinate system based on the positioning tracking unit, thereby determining the mandibular motion trajectory of the mouth scanning model in the reference coordinate system.

[0101] Among them, the mouth scanning model is the user's upper and lower jaw models, and the user is a person who needs to determine the movement trajectory of his or her own lower jaw.

[0102] The mandibular motion trajectory determination device provided in the embodiment of the present disclosure corresponds to the mandibular motion trajectory determination method in the above embodiment, and therefore can also achieve the same technical effect as the above mandibular motion trajectory determination method.

[0103] The embodiment of the present disclosure also provides an electronic device, including: a processor and a memory; the processor calls the program or instruction stored in the memory to execute the steps of any method provided in the above implementation mode to achieve corresponding beneficial effects.

[0104] Figure 6 The structure diagram of an electronic device provided by the embodiment of the present disclosure is shown in FIG. Figure 6 As shown, the electronic device includes one or more processors 601 and a memory 602 .

[0105] The processor 601 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0106] The memory 602 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 601 may run the program instructions to implement the method of the embodiment of the present disclosure described above, and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0107] In one example, the electronic device may further include: an input device 603 and an output device 604, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0108] In addition, the input device 603 may also include, for example, a keyboard, a mouse, and the like.

[0109] The output device 604 can output various information to the outside, including the determined distance information, direction information, etc. The output device 604 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0110] Of course, to simplify, Figure 6 Only some of the components related to the present disclosure in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device may further include any other appropriate components.

[0111] The embodiments of the present disclosure also provide a computer-readable storage medium, which stores a program or instruction, and the program or instruction enables a computer to execute the steps of any method provided in the above embodiments.

[0112] In some embodiments, the computer executable instructions, when executed by a computer processor, can also be used to execute the technical solution of the above-mentioned jaw motion trajectory tracking method provided in the embodiments of the present disclosure to achieve corresponding beneficial effects.

[0113] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0114] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for determining the trajectory of mandibular motion, characterized in that: The method is applied to a mandibular motion trajectory determination device, which at least includes a positioning tracking unit, a mandibular motion tracking unit, an intraoral scanning unit and a reference calibration unit, wherein the intraoral scanning unit is provided with a first marker point, and the reference calibration unit is relatively fixed to the user's head; the reference calibration unit is provided with a second marker point and a reference feature, the mandibular motion tracking unit is relatively fixed to the user's mandible and moves synchronously with the mandibular motion of the user, and the positioning tracking unit is used to determine the positions of the mandibular motion tracking unit and the reference calibration unit, as well as the position of the intraoral scanning unit; the method includes: Aligning the first coordinate system of the intraoral scanning unit to the reference coordinate system of the reference calibration unit; Aligning the oral scan model to the reference coordinate system based on the intraoral scanning unit; Determine the motion trajectory of the mandibular motion tracking unit in the reference coordinate system based on the positioning tracking unit, thereby determining the mandibular motion trajectory of the mouth scan model in the reference coordinate system, wherein the mouth scan model is an upper and lower jaw model of the user, and the user is a person who needs to determine his or her own mandibular motion trajectory; The step of aligning the first coordinate system of the intra-oral scanning unit to the reference coordinate system of the reference calibration unit comprises: Align the second coordinate system corresponding to the first marker point to the reference coordinate system; Aligning the first coordinate system to the second coordinate system, and then aligning the first coordinate system to the reference coordinate system; The aligning the second coordinate system corresponding to the first marker point to the reference coordinate system includes: Collecting first three-dimensional data of the reference feature by the intraoral scanning unit, and determining the relative position between the first marker point and the second marker point by the positioning tracking unit, wherein the first three-dimensional data is based on the first coordinate system; Determine the coordinates of the first marker point in the reference coordinate system based on the relative position between the first marker point and the second marker point; Determine a first transformation matrix between the second coordinate system and the reference coordinate system based on the coordinates of the first marker point in the second coordinate system and the coordinates of the first marker point in the reference coordinate system; and, The aligning the first coordinate system to the second coordinate system, and then aligning the first coordinate system to the reference coordinate system, comprises: splicing the first three-dimensional data with the standard model of the reference feature object, determining a temporary transformation matrix between the first coordinate system and the reference coordinate system, and determining a second transformation matrix between the first coordinate system and the second coordinate system based on the temporary transformation matrix and the first transformation matrix; Based on the second transformation matrix, align the first coordinate system to the second coordinate system, and further based on the first transformation matrix, align the first coordinate system to the reference coordinate system; The step of aligning the oral scan model to the reference coordinate system based on the intra-oral scanning unit includes: Acquire second three-dimensional data of teeth in the user's mouth by means of an intraoral scanning unit, and determine the coordinates of the first marker point in the reference coordinate system by means of the positioning tracking unit; wherein the second three-dimensional data is three-dimensional data of teeth in the upper jaw of the user; Based on the first transformation matrix, the second transformation matrix and the coordinates of the first marker point in the reference coordinate system, aligning the second three-dimensional data to the reference coordinate system; The second three-dimensional data is spliced ​​with the oral scan model to align the oral scan model to the reference coordinate system.

2. The method for determining the mandibular motion trajectory according to claim 1, characterized in that: The mandibular motion tracking unit sets a third marker point, and the positioning tracking unit determines the motion trajectory of the mandibular motion tracking unit in the reference coordinate system of the reference calibration unit, thereby determining the mandibular motion trajectory of the oral scanning model, including: Determine the coordinates of the third marker point in the reference coordinate system by the positioning tracking unit; Collecting the motion trajectory of the third marker point by the positioning and tracking unit; The mandibular movement trajectory of the oral scanning model is determined according to the movement trajectory of the third landmark point.

3. The method for determining the mandibular motion trajectory according to claim 2, characterized in that: Before determining the coordinates of the third marker point in the reference coordinate system by the positioning tracking unit, the method further includes: Keep the user's upper and lower jaws in a clenched state.

4. The method for determining the mandibular movement trajectory according to claim 3, characterized in that: The collecting the motion trajectory of the third marker point by the positioning and tracking unit includes: Collecting the real-time coordinates of the third marker point by the positioning tracking unit; Determine a motion trajectory of the third marker point based on the real-time coordinates of the third marker point and the initial coordinates of the third marker point; and, The step of determining the mandibular motion trajectory of the oral scan model according to the motion trajectory of the third landmark point comprises: Determine a motion matrix of the third marker point according to the motion trajectory of the third marker point; Determine the motion trajectory of the mouth scanning model according to the motion matrix; Among them, the initial coordinates of the third marker point are the coordinates of the third marker point in the reference coordinate system collected by the positioning tracking unit when the upper and lower jaws of the user are in a occluded state.

5. A device for determining the trajectory of mandibular movement, characterized in that: The device comprises: A first alignment module, configured to align a first coordinate system of the intra-oral scanning unit to a reference coordinate system of the reference calibration unit; A second alignment module, configured to align the oral scan model to the reference coordinate system based on the intraoral scanning unit; a trajectory determination module, configured to determine the motion trajectory of the mandibular motion tracking unit in the reference coordinate system based on the positioning tracking unit, thereby determining the mandibular motion trajectory of the mouth scan model in the reference coordinate system, wherein the mouth scan model is a model of the upper and lower jaws of the user, and the user is a person who needs to determine the mandibular motion trajectory of his or her own; The intra-oral scanning unit sets a first marking point, and the first coordinate system of the intra-oral scanning unit is aligned to the reference coordinate system of the reference calibration unit, including: Align the second coordinate system corresponding to the first marker point to the reference coordinate system; Aligning the first coordinate system to the second coordinate system, and then aligning the first coordinate system to the reference coordinate system; The reference calibration unit sets a second mark point, the reference calibration unit also sets a reference feature, the positioning tracking unit is also used to determine the position of the intraoral scanning unit, and the second coordinate system corresponding to the first mark point is aligned to the reference coordinate system, including: Collecting first three-dimensional data of the reference feature by the intraoral scanning unit, and determining the relative position between the first marker point and the second marker point by the positioning tracking unit, wherein the first three-dimensional data is based on the first coordinate system; Determine the coordinates of the first marker point in the reference coordinate system based on the relative position between the first marker point and the second marker point; Determine a first transformation matrix between the second coordinate system and the reference coordinate system based on the coordinates of the first marker point in the second coordinate system and the coordinates of the first marker point in the reference coordinate system; and, The aligning the first coordinate system to the second coordinate system, and then aligning the first coordinate system to the reference coordinate system, comprises: splicing the first three-dimensional data with the standard model of the reference feature object, determining a temporary transformation matrix between the first coordinate system and the reference coordinate system, and determining a second transformation matrix between the first coordinate system and the second coordinate system based on the temporary transformation matrix and the first transformation matrix; Based on the second transformation matrix, align the first coordinate system to the second coordinate system, and further based on the first transformation matrix, align the first coordinate system to the reference coordinate system; The step of aligning the oral scan model to the reference coordinate system based on the intra-oral scanning unit includes: Acquire second three-dimensional data of teeth in the user's mouth by means of an intraoral scanning unit, and determine the coordinates of the first marker point in the reference coordinate system by means of the positioning tracking unit; wherein the second three-dimensional data is three-dimensional data of teeth in the upper jaw of the user; Based on the first transformation matrix, the second transformation matrix and the coordinates of the first marker point in the reference coordinate system, aligning the second three-dimensional data to the reference coordinate system; The second three-dimensional data is spliced ​​with the oral scan model to align the oral scan model to the reference coordinate system.

6. An electronic device, characterized in that: include: Processor and memory; The processor is used to execute the steps of the method according to any one of claims 1 to 4 by calling the program or instruction stored in the memory.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or instruction, and the program or instruction enables a computer to execute the steps of the method according to any one of claims 1 to 4.

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