A method for adjusting the position of an oral scanning model, a storage medium and an electronic device

Abstract

The application provides a position adjustment method of a mouth scanning model, a storage medium and an electronic device. The method comprises the following steps: recognizing a first mouth scanning model in a first coordinate system, and segmenting a plurality of tooth images on the first mouth scanning model; extracting first gravity center coordinates of teeth contained in the plurality of tooth images, determining a second coordinate system according to the extracted first gravity center coordinates, and calculating a transformation matrix of the first coordinate system and the second coordinate system; and adjusting the position of the first mouth scanning model in the first coordinate system according to the transformation matrix to obtain an adjusted second mouth scanning model. The tooth images on the first mouth scanning model are segmented, and then the first mouth scanning model is adjusted based on the gravity center coordinates on the segmented tooth images and the second coordinate system to obtain the standardized and adjusted second mouth scanning model, which facilitates further analysis and processing of the images.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of image processing, and in particular to a method for adjusting the position of an intraoral scan model, a storage medium and an electronic device. BACKGROUND

[0002] With the continuous development of digital oral technology, oral auxiliary diagnosis and treatment systems based on three-dimensional digital technology rely on the establishment of three-dimensional digital models of patient teeth and gums. Through traditional patient bite silicon rubber and then cast a plaster model, scanning the plaster model, or using a digital intraoral scanner to directly obtain a three-dimensional digital tooth model and gum model, the obtained tooth model data has high precision.

[0003] However, the coordinate systems of 3D models output by different manufacturers of intraoral scanners are inconsistent. For example, some are based on the occlusal plane as the xoy plane of the three-dimensional space, some are based on the gum edge plane as the xoy plane, and some are based on the occlusal plane as the xoz plane. These differences make it difficult for subsequent model processing and analysis. SUMMARY

[0004] Therefore, it is necessary to provide a technical solution for generating a dental model to solve the problem that the coordinates of intraoral scan models obtained by intraoral scanners produced by different manufacturers are inconsistent, which is not conducive to subsequent model analysis and processing.

[0005] In a first aspect, the present application provides a method for adjusting the position of an intraoral scan model, comprising the following steps:

[0006] S1: identifying a first intraoral scan model in a first coordinate system, and segmenting a plurality of tooth images from the first intraoral scan model;

[0007] S2: extracting first center of gravity coordinates of teeth contained in the plurality of tooth images, determining a second coordinate system according to the extracted plurality of first center of gravity coordinates, and calculating a transformation matrix of the first coordinate system and the second coordinate system;

[0008] S3: adjusting the position of the first intraoral scan model in the first coordinate system according to the transformation matrix to obtain an adjusted second intraoral scan model.

[0009] In some embodiments, all the extracted tooth images are divided into at least three tooth image groups, each tooth image group containing one or more tooth images;

[0010] The second coordinate system is determined according to the plurality of center of gravity positions, comprising the following steps:

[0011] S21: calculating second barycentric coordinates of at least three dental image groups; the second barycentric coordinates of the dental image group are calculated according to the first barycentric coordinates of all dental images contained in the dental image group;

[0012] S22: determining a second coordinate system with the three second barycentric coordinates.

[0013] In some embodiments, the second barycentric coordinates of the dental image group are calculated according to the first barycentric coordinates of all dental images contained in the dental image group, including:

[0014] If the dental image group contains only one dental image, the first barycentric coordinates corresponding to the dental image are determined as the second barycentric coordinates of the dental image group;

[0015] If the dental image group contains multiple dental images, the average of the first barycentric coordinates of the multiple dental images in the dental image group is calculated, and the calculated coordinate average is taken as the second barycentric coordinates.

[0016] In some embodiments, the dental image group includes a first dental image group, a second dental image group and a third dental image group; the second barycentric coordinates of the first dental image group are marked as A, the second barycentric coordinates of the second dental image group are marked as B, and the second barycentric coordinates of the third dental image group are marked as C; the midpoint of BC is marked as point D;

[0017] The second coordinate system is determined with the three second barycentric coordinates, including:

[0018] The midpoint of triangle ABC is taken as the coordinate origin O of the second coordinate system, the vector OD is taken as the Y-axis of the second coordinate system, the normal vector of the plane on which the triangle ABC is located is taken as the Z-axis of the second coordinate system, and the X-axis of the second coordinate system is determined according to the Y-axis and the Z-axis of the second coordinate system.

[0019] In some embodiments, the distance BC between the second barycentric coordinates B and the second barycentric coordinates C is the longest side of triangle ABC.

[0020] In some embodiments, the first dental image group contains dental images as follows: taking the vertex of the dental arch curve as the center, extending a first preset number of dental images to the left and right sides;

[0021] The second dental image group contains dental images as follows: taking the left endpoint of the dental arch curve as the starting point, extending a second preset number of dental images corresponding to the dental images along the middle part of the dental arch curve;

[0022] The third dental image group comprises dental images as follows: starting from the right end point of the dental arch curve, extending along the middle part of the dental arch curve, and obtaining a second preset number of dental images corresponding to the teeth.

[0023] In some embodiments, the first preset number is 1-2, the second preset number is 2-6, and the third preset number is 2-6.

[0024] In some embodiments, the first oral scanning model comprises an oral scanning model corresponding to a complete dental arch curve or an oral scanning model corresponding to a partial dental arch curve.

[0025] In a second aspect, the present application further provides a storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method steps of the first aspect of the present application.

[0026] In a third aspect, the present application further provides an electronic device, which comprises a processor and a storage medium, and the storage medium is the storage medium of the second aspect.

[0027] The processor is configured to execute the computer program stored in the storage medium to implement the method steps of the first aspect.

[0028] Compared with the prior art, the present application provides a position adjustment method of an oral scanning model, a storage medium and an electronic device, which comprises the following steps: identifying a first oral scanning model in a first coordinate system, segmenting a plurality of dental images from the first oral scanning model; extracting first barycentric coordinates of the teeth in the plurality of dental images, determining a second coordinate system according to the extracted first barycentric coordinates, and calculating a transformation matrix of the first coordinate system and the second coordinate system; adjusting the position of the first oral scanning model in the first coordinate system according to the transformation matrix to obtain an adjusted second oral scanning model. By segmenting the dental images on the first oral scanning model and adjusting the first oral scanning model based on the barycentric coordinates on the segmented dental images, a standardized and adjusted second oral scanning model can be obtained, which is convenient for further analysis and processing of the images. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 A flowchart of the position adjustment method of the oral scanning model according to an embodiment of the present application;

[0030] Figure 2 A flowchart of the position adjustment method of the oral scanning model according to another embodiment of the present application;

[0031] Figure 3 A schematic diagram of the first oral scanning model before tooth segmentation according to an embodiment of the present application;

[0032] Figure 4 A schematic diagram of a first mouth scan model after tooth segmentation according to an embodiment of the present application;

[0033] Figure 5 A schematic diagram of tooth gravity extraction according to an embodiment of the present application;

[0034] Figure 6 A comparative schematic diagram of a first mouth scan model and a second mouth scan model according to an embodiment of the present application;

[0035] Figure 7 A schematic diagram of a module of an electronic device according to an embodiment of the present application;

[0036] Reference Signs:

[0037] 10, an electronic device;

[0038] 101, a processor;

[0039] 102, a storage medium. DETAILED DESCRIPTION

[0040] To make the possible application scenarios, technical principles, specific schemes that can be implemented, purposes and effects that can be achieved of the present application clear, the following will be described in detail in combination with the specific embodiments listed and the accompanying drawings. The embodiments described in the present text are only used to more clearly illustrate the technical schemes of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0041] In the present text, the term “embodiment” means that the specific features, structures or characteristics described in combination with the embodiments can be included in at least one embodiment of the present application. The term “embodiment” appearing at various positions in the specification does not necessarily refer to the same embodiment, and does not particularly limit the independence or association between other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, each technical feature mentioned in each embodiment can be combined in any way to form a corresponding implementable technical scheme.

[0042] Unless otherwise defined, the meanings of the technical terms used in the present text are the same as those commonly understood by the person skilled in the art to which the present application belongs; the use of related terms in the present text is only for the purpose of describing specific embodiments, and is not intended to limit the present application.

[0043] In the description of the present application, the phrase “and / or” is a description of the logical relationship between the objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases: A exists, B exists, and A and B exist at the same time. In addition, the character “ / ” in the present text generally represents that the associated objects before and after are a kind of “or” logical relationship.

[0044] In the present application, the terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual number, primary or secondary, or order relationship between the entities or operations.

[0045] In the present application, the "includes", "contains", "has" or other similar expressions used in the statements are intended to cover non-exclusive inclusion, and these expressions do not exclude the presence of additional elements in the process, method or product comprising the elements, so that the process, method or product comprising a series of elements can not only include those defined elements, but also include other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0046] As the same understanding as in the "Guidelines for Examination", in the present application, the expressions such as "greater than", "less than", "exceed" are understood as not including the number; the expressions such as "above", "below", "within" are understood as including the number. In addition, in the description of the embodiments of the present application, the meaning of "multiple" is more than two (including two), and similar expressions related to "multiple" are also understood in this way, for example, "multiple groups", "multiple times" and the like, unless otherwise explicitly limited.

[0047] As Figure 1 shown, in a first aspect, the present application provides a position adjustment method of a mouth scan model, which adjusts the position of the mouth scan model by segmenting teeth of the mouth scan model and extracting the center of gravity of each tooth to calculate a new coordinate system, and completes the position adjustment of the mouth scan model according to the new coordinate system, so that the adjusted mouth scan model is more convenient for subsequent image analysis processing. Specifically, the method comprises the following steps:

[0048] S1: recognizing a first mouth scan model in a first coordinate system, and segmenting a plurality of tooth images on the first mouth scan model;

[0049] S2: extracting first center of gravity coordinates of teeth contained in the plurality of tooth images, determining a second coordinate system according to the extracted plurality of first center of gravity coordinates, and calculating a transformation matrix of the first coordinate system and the second coordinate system;

[0050] S3: adjusting the position of the first mouth scan model in the first coordinate system according to the transformation matrix to obtain an adjusted second mouth scan model.

[0051] As Figure 3As shown in Fig. 1, a schematic diagram of the first mouth scanning model before tooth segmentation is shown. Preferably, the first mouth scanning model is a three-dimensional mesh model. The first mouth scanning model is placed in a first coordinate system, which is a three-dimensional spatial coordinate system. The three-dimensional spatial coordinate system can be a coordinate system with the occlusal plane as the xoy plane, or a coordinate system with the gingival edge plane as the xoy plane, or a coordinate system with the occlusal plane as the xoz plane.

[0052] As shown in Fig. 2, a schematic diagram of the first mouth scanning model after tooth segmentation is shown. After tooth segmentation, a plurality of tooth images can be obtained in the first mouth scanning model in units of individual teeth. The method of identifying and segmenting the tooth images can be calculated according to the following manner: performing grayscale processing on the first mouth scanning model, performing binary processing on the grayscale processed image according to the size comparison of each pixel point with a preset grayscale value, and comparing the region where the pixel point with a grayscale value greater than the preset grayscale value in the binary processed image with a preset region size (preferably the size range of a normal tooth) to identify each tooth image in the first mouth scanning model. Figure 4

[0053] In step S2, one tooth image corresponds to the region of one tooth on the first mouth scanning model. Since the first mouth scanning model is placed in the first coordinate system, each tooth image has its own spatial coordinates of the region of the tooth. Based on these spatial coordinates, the first barycentric coordinates of each tooth can be calculated. For example, the spatial coordinate positions of all pixel points corresponding to the tooth in a tooth image can be counted, and the average values of the coordinates in the X, Y and Z directions of these pixel points are counted respectively. The average values counted are taken as the first barycentric coordinates of the tooth image. Alternatively, the first barycentric coordinates of the tooth image can be taken as the average values of the tooth edge pixel points obtained by edge detection of the tooth image.

[0054] In the extraction of the first barycentric coordinates, the first barycentric coordinates of one tooth image can be determined as a base point, and the first barycentric coordinates of more than two other tooth images can be determined to participate in the calculation. The distance between the first barycentric coordinates of the more than two other tooth images and the base point is preferably more than a preset distance. In this way, the second coordinate system established is more representative.

[0055] After the first barycentric coordinates are extracted, the second coordinate system can be determined according to the first barycentric coordinates. For example, after the first barycentric coordinates of three tooth images are determined, the center of the triangle formed by the connecting lines of the three first barycentric coordinates can be taken as the coordinate origin, and the normal vector of the plane where the triangle is located can be taken as the Z axis, and the midpoint of the connecting line between one first barycentric coordinate and the other two first barycentric coordinates can be taken as the Y axis, thereby establishing the second coordinate system.

[0056] ​The above scheme can obtain the second mouth scanning model after standardization and conversion by segmenting the tooth image on the first mouth scanning model and adjusting the first mouth scanning model based on the gravity center coordinates on the segmented tooth image. Since the second coordinate system is calculated based on the gravity center coordinates of the tooth image in the first mouth scanning model, the second coordinate system calculated can more easily observe the angle of the mouth scanning model. After the first mouth scanning images obtained by different mouth scanners are adjusted to similar angles by the above method, further analysis and processing of multiple different model images can be facilitated.

[0057] In the embodiment, the analysis and processing of the second mouth scanning model includes any one or more of image dimension reduction processing, image segmentation processing, and image detection processing. The coordinate systems of the first mouth scanning models obtained by mouth scanners of different manufacturers are not the same, which can cause large deviations in the calculation of key indicators in subsequent further analysis and processing of the mouth scanning model images. The application can effectively overcome the problem of large deviations in the calculation of key indicators by uniformly converting the coordinate system of the first mouth scanning model.

[0058] In some embodiments, all the extracted tooth images are divided into at least three tooth image groups, and each tooth image group contains one or more tooth images.

[0059] As shown in Figure 2 The second coordinate system determined according to the extracted multiple gravity center positions includes the following steps: S21: calculating second gravity center coordinates of at least three tooth image groups; the second gravity center coordinates of the tooth image group are calculated according to the first gravity center coordinates of all tooth images contained in the tooth image group; S22: determining a second coordinate system with the three second gravity center coordinates.

[0060] Generally, the first mouth scanning model contains more than three teeth, i.e., the tooth images obtained after tooth segmentation processing are often more than three. In order to improve the accuracy of the second coordinate system and enable the second mouth scanning model obtained after adjustment to observe more tooth texture details, in the embodiment, when calculating the second coordinate system based on the first gravity center coordinates, the second gravity center coordinates are calculated according to one or more first gravity center coordinates contained in the tooth image group first, and then the second coordinate system is determined according to the three second gravity center coordinates. Since the first gravity center coordinates of more tooth images are fully considered in the calculation of the second coordinate system, the details of each tooth in the first mouth scanning model adjusted by the second coordinate system can be fully displayed, which facilitates observation by medical personnel.

[0061] Preferably, the second barycentric coordinates of the tooth image group are calculated according to the first barycentric coordinates of all the tooth images contained in the tooth image group, including: if the tooth image group contains only one tooth image, determining the first barycentric coordinates corresponding to the tooth image as the second barycentric coordinates of the tooth image group; if the tooth image group contains multiple tooth images, calculating the average of the first barycentric coordinates of the multiple tooth images in the tooth image group, and taking the calculated coordinate average as the second barycentric coordinates.

[0062] In some embodiments, after determining the second barycentric coordinates corresponding to the three tooth image groups, the second coordinate system can be determined according to the following manner: taking the center of the triangle formed by the connecting lines of the three second barycentric coordinates as the coordinate origin, and taking the normal vector of the plane where the triangle is located as the Z axis, and taking the midpoint of the connecting line between one of the second barycentric coordinates and the other two second barycentric coordinates as the Y axis, thereby establishing the second coordinate system.

[0063] In other embodiments, the tooth image group includes a first tooth image group, a second tooth image group, and a third tooth image group. As shown, the second barycentric coordinates of the first tooth image group are marked as A, the second barycentric coordinates of the second tooth image group are marked as B, and the second barycentric coordinates of the third tooth image group are marked as C; the midpoint of BC is marked as point D; Figure 5

[0064] The second barycentric coordinates of the tooth image group are calculated according to the first barycentric coordinates of all the tooth images contained in the tooth image group, including: if the tooth image group contains only one tooth image, determining the first barycentric coordinates corresponding to the tooth image as the second barycentric coordinates of the tooth image group; if the tooth image group contains multiple tooth images, calculating the average of the first barycentric coordinates of the multiple tooth images in the tooth image group, and taking the calculated coordinate average as the second barycentric coordinates.

[0065] Taking the midpoint of the triangle ABC as the coordinate origin O of the second coordinate system, taking the vector OD as the Y axis of the second coordinate system, and taking the normal vector of the plane where the triangle ABC is located as the Z axis of the second coordinate system, the X axis of the second coordinate system is determined according to the Y axis and the Z axis of the second coordinate system.

[0066] Preferably, the distance BC between the second barycentric coordinates B and C is the longest side of the triangle ABC. That is, the distance BC between the second barycentric coordinates B and C is greater than the distance AC between the second barycentric coordinates A and C, and the distance BC between the second barycentric coordinates B and C is greater than the distance AB between the second barycentric coordinates A and B. In this way, the determined Y axis direction vector is the connecting line from the center point of the three barycentric coordinates to the longest side of the triangle formed by the three barycentric coordinates, which can make the determined second coordinate system more representative, and facilitate further analysis and processing of the second oral scanning model after the correction.

[0067] In some embodiments, the tooth image group contains tooth images as follows: taking the top point of the dental arch curve as the center, and extending a first predetermined number of tooth images corresponding to the teeth to the left and right sides; ​

[0068] The second set of tooth images includes the following tooth images: starting from the left end of the dental arch curve, extending along the middle of the dental arch curve, a second preset number of tooth images are included.

[0069] The third set of tooth images includes the following tooth images: multiple tooth images corresponding to a second preset number of teeth, starting from the right end of the dental arch curve and extending along the middle of the dental arch curve.

[0070] Further, the first preset quantity is 1-2, the second preset quantity is 2-6, and the third preset quantity is 2-6. Preferably, the first preset quantity is 2, the second preset quantity is 4, and the third preset quantity is also 4. Of course, in other embodiments, the first preset quantity, the second preset quantity, and the third preset quantity can be other values.

[0071] like Figure 5 The image shown is an oral scan model of the mandibular teeth. The area containing the middle teeth is the first tooth image group. The second tooth image group is located to the left of the first tooth image group, and the third tooth image group is located to the right of the first tooth image group. The two middle teeth are labeled as left 1 on the left and right 1 on the right. Starting from left 1, the teeth extending to the left along the dental arch curve are labeled left 2, left 3, and so on. Similarly, starting from right 1, the teeth extending to the right along the dental arch curve are labeled right 2, right 3, and so on.

[0072] exist Figure 5 In the image, the average centroid of the mandibular teeth (left 1, left 2, right 1, right 2) is A; the average centroid of the mandibular teeth (left 4, left 5, left 6, left 7) is B; and the average centroid of the mandibular teeth (right 4, right 5, right 6, right 7) is C. D is the midpoint between B and C. The second coordinate system is determined as follows: the center point of ABC is taken as the origin O, the unit vector OD is the Y-axis, the cross product of vectors AB and BC is the Z-axis, and the cross product of Y and Z is the X-axis. This establishes a new spatial coordinate system (the second coordinate system). Then, the position of the intraoral scan model image in the three-dimensional spatial coordinate system is adjusted according to the transformation matrix of the first and second coordinate systems. The intraoral scan model images before and after adjustment are shown below. Figure 6 As shown.

[0073] Of course, in other embodiments, the origin of the second coordinate system can also be the focus of the three perpendicular bisectors or angle bisectors of triangle ABC. If the distribution of the three selected second centroid coordinates is relatively dense, for example, located on the left or right side of the mandible, then when determining the origin of the second coordinate system, it can be determined based on the average shape of the current first oral scan model (i.e., the current oral cavity scan model). For example, if the distribution direction of the three second centroid coordinates is all to the left of the dental arch curve, then when determining the origin of the second coordinate system, it is preferable to determine the origin on the central axis of the dental arch curve or to the right of the central axis; conversely, if the distribution direction of the three second centroid coordinates is all to the right of the dental arch curve, then when determining the origin of the second coordinate system, it is preferable to determine the origin on the central axis of the dental arch curve or to the left of the central axis.

[0074] In some embodiments, the first oral scan model includes an oral scan model corresponding to the complete dental arch curve or an oral scan model corresponding to a partial dental arch curve. In short, the first oral scan model whose position is to be adjusted can be an oral scan model containing a complete image of the teeth in the upper or lower jaw of the human oral cavity, or it can be an oral scan model containing an image of the teeth in a portion of the upper or lower jaw of the human oral cavity, as long as the number of teeth contained in the first oral scan model is greater than three.

[0075] Furthermore, the method also includes issuing a prompt message when it is detected that the first oral scan model has fewer than three tooth images (each tooth image contains only one tooth) after tooth segmentation.

[0076] Specifically, the prompts include one or more of the following: audio prompts, image prompts, lighting prompts, and video prompts. Audio prompts include voice prompts reminding the user to re-upload the first scan model; image prompts include pop-up prompts reminding the user to re-upload the first scan model; video prompts include video prompts reminding the user to re-upload the first scan model; and lighting prompts include lighting prompts reminding the user to re-upload the first scan model.

[0077] In a second aspect, the present invention also provides a storage medium storing a computer program that, when executed by a processor, implements the method steps of the first aspect of the present invention.

[0078] like Figure 7 As shown, in a third aspect, the present invention also provides an electronic device 10, including a processor 101 and a storage medium 102, the storage medium 102 being the storage medium as described in the second aspect; the processor 101 is configured to execute a computer program stored in the storage medium 102 to implement the method steps as described in the first aspect.

[0079] In the embodiments, the electronic device is a computer device, including but not limited to: an oral scanner, a personal computer, a server, a general-purpose computer, a special-purpose computer, a network device, an embedded device, a programmable device, a smart mobile terminal, a smart home device, a wearable smart device, a vehicle-mounted smart device, and the like. The storage medium includes but is not limited to: RAM, ROM, a magnetic disk, a magnetic tape, an optical disc, a flash memory, a U disk, a mobile hard disk, a memory card, a memory stick, network server storage, network cloud storage, and the like. The processor includes but is not limited to: a CPU (central processing unit), a GPU (graphics processing unit), an MCU (microprocessor), and the like.

[0080] Those skilled in the art should understand that the above-mentioned embodiments can be provided as a method, a device, or a computer program product. These embodiments can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. All or part of the steps in the method related to the above-mentioned embodiments can be completed by instructing related hardware by a program, which can be stored in a storage medium readable by a computer device, for executing all or part of the steps of the above-mentioned embodiments.

[0081] The above-mentioned embodiments are described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of the computer device to generate a machine, so that the instructions executed by the processor of the computer device generate a process for implementing the specified function of one or more flows and / or blocks in one or more flows and / or blocks. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the function specified in one or more flows and / or blocks.

[0082] These computer program instructions can also be stored in a computer device readable memory that can guide the computer device to work in a specific way, so that the instructions stored in the computer device readable memory generate a product including instruction apparatus, which implements the specified function of one or more flows and / or blocks in one or more flows and / or blocks. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the function specified in one or more flows and / or blocks.

[0083] These computer program instructions can also be loaded into the computer device, so that a series of operation steps are performed on the computer device to generate a computer-implemented process, so that the instructions executed on the computer device provide a process for implementing the specified function of one or more flows and / or blocks in one or more flows and / or blocks. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the function specified in one or more flows and / or blocks.

[0084] Although the above-mentioned embodiments have been described, those skilled in the art can make further changes and modifications to the embodiments once they know the basic inventive concept, and therefore the above-mentioned embodiments are only the embodiments of the present application, and are not intended to limit the patent protection scope of the present application, and any equivalent structure or equivalent process transformation made by using the content of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method of adjusting the position of an oral scan model, characterized by, The method comprises the following steps: S1: identifying a first mouth scan model in a first coordinate system, and segmenting a plurality of tooth images on the first mouth scan model; S2: extracting first barycentric coordinates of teeth contained in the plurality of tooth images, determining a second coordinate system according to the extracted first barycentric coordinates, and calculating a transformation matrix of the first coordinate system and the second coordinate system; S3: adjusting the position of the first mouth scan model in the first coordinate system according to the transformation matrix to obtain an adjusted second mouth scan model; all the extracted tooth images are divided into at least three tooth image groups, and each tooth image group contains one or more tooth images; The step of determining the second coordinate system according to the extracted barycentric coordinates comprises the following steps: S21: calculating second barycentric coordinates of at least three tooth image groups, wherein the second barycentric coordinates of the tooth image group are calculated according to the first barycentric coordinates of all tooth images contained in the tooth image group; S22: determining the second coordinate system with the three second barycentric coordinates; The step of calculating the second barycentric coordinates of the tooth image group according to the first barycentric coordinates of all tooth images contained in the tooth image group comprises: if the tooth image group contains only one tooth image, the first barycentric coordinate corresponding to the tooth image is determined as the second barycentric coordinate of the tooth image group; if the tooth image group contains multiple tooth images, the average of the first barycentric coordinates of the multiple tooth images in the tooth image group is calculated, and the calculated coordinate average is taken as the second barycentric coordinate.

2. The position adjustment method of the oral scanning model according to claim 1, wherein The tooth image group comprises a first tooth image group, a second tooth image group and a third tooth image group; the second barycentric coordinate of the first tooth image group is marked as A, the second barycentric coordinate of the second tooth image group is marked as B, and the second barycentric coordinate of the third tooth image group is marked as C; the midpoint of BC is marked as point D; The step of determining the second coordinate system with the three second barycentric coordinates comprises: taking the midpoint of triangle ABC as the coordinate origin O of the second coordinate system, taking the vector OD as the Y-axis of the second coordinate system, taking the normal vector of the plane on which triangle ABC is located as the Z-axis of the second coordinate system, and determining the X-axis of the second coordinate system according to the Y-axis and the Z-axis of the second coordinate system.

3. The position adjustment method of the oral scanning model according to claim 2, wherein, The distance BC between the second barycentric coordinate B and the second barycentric coordinate C is the longest side of triangle ABC.

4. The method for adjusting the position of the mouth scan model according to claim 2, wherein the first tooth image group contains tooth images as follows: a plurality of tooth images corresponding to a first preset number of teeth are extended to the left and right sides of the top point of the dental arch curve; the second tooth image group contains tooth images as follows: a plurality of tooth images corresponding to a second preset number of teeth are extended along the middle part of the dental arch curve from the left end point of the dental arch curve; the third tooth image group contains tooth images as follows: a plurality of tooth images corresponding to a third preset number of teeth are extended along the middle part of the dental arch curve from the right end point of the dental arch curve.

5. The position adjustment method of the oral scanning model according to claim 4, wherein, The first preset number is 1-2, the second preset number is 2-6, and the third preset number is 2-6.

6. The position adjustment method of the oral scanning model according to claim 4, wherein, The first mouth sweep model comprises a complete dental arch curve corresponding mouth sweep model or a partial dental arch curve corresponding mouth sweep model.

7. A storage medium, characterized by The storage medium stores a computer program, and the computer program is executed by the processor to implement the method steps in any one of claims 1 to 6.

8. An electronic device, comprising: The storage medium comprises a processor and a storage medium, and the storage medium is the storage medium in claim 7. The processor is configured to execute the computer program stored in the storage medium to implement the method steps in any one of claims 1 to 6.

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