Scanning method, system and storage medium of scanning rod

Abstract

The present application provides a scanning method, system and storage medium for a scanning rod, the method comprising: scanning a scanning scene in a first scanning rod assembly state to obtain first scanning data; scanning a scanning scene in a second scanning rod assembly state to obtain second scanning data; and obtaining position information of the assembly position in the scanning scene based on the first scanning data and the second scanning data. The present application adopts a batch scanning method, in the first scanning, the scanning rod is installed on the third assembly position and the first assembly position to scan and obtain the first scanning data, in the second scanning, the scanning rod is installed on the third assembly position and the second assembly position to scan and obtain the second scanning data, and then the position information of the scanning rods at each assembly position is obtained based on the first and second scanning data. This effectively solves the problem that when the distance between adjacent implants is too close, the two scanning rods cannot be placed in place at the same time.

Description

Technical Field

[0001] The present application belongs to the field of scanning technology of scanning rods, and in particular, relates to a scanning method, system and storage medium of a scanning rod. Background Art

[0002] The acquisition of digital impressions for oral implant restoration is to connect the scanning rod to the implant / base through tightening screws to scan the inside of the oral cavity to obtain a scanned image, and to obtain the scanning rod feature information by analyzing the scanned image to determine the position of the implant. In actual applications, there may be situations where adjacent implants are too close and the two scanning rods cannot be placed in place at the same time. The existing technology cannot effectively solve the problem of adjacent implants being too close and the two scanning rods cannot be placed in place at the same time when using scanning rods for digital impression making, resulting in the inability to obtain complete scanning rod feature information inside the oral cavity, and thus the inability to determine the exact position of the implant, so there are many deficiencies.

[0003] In view of this, the present application proposes a scanning method that can effectively solve the problem that when the distance between adjacent implants is too close, the two scanning rods cannot be placed in place at the same time, resulting in the inability to obtain the overall positioning information of the intra-oral scanning rod. Summary of the invention

[0004] Embodiments of the present application provide a scanning method, system, and storage medium for a scanning rod.

[0005] In a first aspect, the present application provides a scanning method of a scanning rod, which is applied to a scanning scene with a scanning rod, and the method comprises:

[0006] Scanning a scanning scene in a first scanning rod assembly state to obtain first scanning data, wherein the third assembly position and the first assembly position in the scanning scene in the first scanning rod assembly state are assembled with the scanning rod;

[0007] Scanning a scanning scene in a second scanning rod assembly state to obtain second scanning data, wherein a third assembly position and a second assembly position in the intra-oral scanning scene in the second scanning rod assembly state are assembled with the scanning rod;

[0008] The position information of the assembly position in the scanning scene is obtained according to the first scanning data and the second scanning data.

[0009] In an optional embodiment, the distance between the first assembly position and the second assembly position is less than a set threshold.

[0010] In an optional embodiment, when scanning a scanning scene in the assembled state of the first scanning rod, the first assembly position and the third assembly position scanning rod are scanned to obtain the first scanning data;

[0011] Acquire a display image based on the first scan data;

[0012] When scanning the scanning scene in the second scanning rod assembly state, cancel the scanning rod data corresponding to the first assembly position in the displayed image, scan the second assembly position scanning rod and the third assembly position scanning rod to obtain second scanning data;

[0013] The display image is updated based on the second scan data.

[0014] In an optional embodiment, the assembly state of the scanning rod at the third assembly position in the scanning scene in the first scanning rod assembly state is the same as the assembly state of the scanning rod at the third assembly position in the scanning scene in the second scanning rod assembly state, and obtaining the position information of the assembly position in the scanning scene according to the first scanning data and the second scanning data further includes:

[0015] splicing the first scan data and the second scan data to obtain a spliced ​​image;

[0016] The position information of the assembly position in the scanning scene is obtained based on the spliced ​​image.

[0017] In an optional embodiment, obtaining the position information of the assembly position in the scanning scene according to the first scanning data and the second scanning data includes:

[0018] Determine an orientation vector between a first assembly position and a third assembly position scan bar based on the first scan data;

[0019] Determining an orientation vector between a second assembly position and a third assembly position scan bar based on the second scan data;

[0020] The position information of the assembly positions in the scanning scene is determined based on the orientation vector between the first assembly position and the third assembly position scanning rod and the orientation vector between the second assembly position and the third assembly position scanning rod.

[0021] In an optional embodiment, the assembly state of the scanning rod at the third assembly position in the scanning scene in the first scanning rod assembly state is the same as the assembly state of the scanning rod at the third assembly position in the scanning scene in the second scanning rod assembly state, and obtaining the position information of the assembly position in the scanning scene according to the first scanning data and the second scanning data further includes:

[0022] Determine the orientation vector between the marking points on the surface of the third assembly position scanning rod based on the first scanning data;

[0023] Determine the orientation vector between the marking points on the surface of the third assembly position scanning rod based on the second scanning data;

[0024] The position information of the assembly position in the scanning scene is determined based on the orientation vector between the marking points on the surface of the third assembly position scanning rod.

[0025] In an optional embodiment, a characteristic pattern is provided on the scanning rod, and obtaining the position information of the assembly position in the scanning scene based on the spliced ​​image includes:

[0026] Determine the position information of the first assembly position, the second assembly position, and the third assembly position based on the characteristic patterns of all scanning rods in the stitched image; or,

[0027] The scanning rod is provided with a marking point, and the position information of the assembly position in the scanning scene is obtained based on the spliced ​​image, including:

[0028] Based on the marking points of the marking point scanning rod in the spliced ​​image, relative position information between the first assembly position, the second assembly position and the third assembly position is determined.

[0029] In a second aspect, an embodiment of the present application provides a scanning system of a scanning rod, comprising:

[0030] A first scanning module is used to scan a scanning scene in a first scanning rod assembly state to obtain first scanning data, wherein the third assembly position and the first assembly position in the scanning scene in the first scanning rod assembly state are assembled with the scanning rod;

[0031] A second scanning module is used to scan a scanning scene in which a second scanning rod is assembled to obtain second scanning data, wherein a third assembly position and a second assembly position in the intra-oral scanning scene in which the second scanning rod is assembled are assembled with scanning rods;

[0032] A position information acquisition module is used to obtain the position information of the assembly position in the scanning scene according to the first scanning data and the second scanning data.

[0033] In a third aspect, an embodiment of the present application provides a terminal device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described above when executing the computer program.

[0034] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described above is implemented.

[0035] The present application provides a scanning method. When the distance between adjacent implants is too close and two scanning rods cannot be placed in place at the same time, a batch scanning method is adopted. In the first scan, the scanning rod is installed on the third assembly position and the first assembly position to scan and obtain the first scanning data. In the second scan, the scanning rod is installed on the third assembly position and the second assembly position to scan and obtain the second scanning data, and then the position information of the scanning rods in each assembly position is obtained according to the first and second scanning data. This effectively solves the problem that when the distance between adjacent implants is too close, the two scanning rods cannot be placed in place at the same time, which is conducive to obtaining complete scanning rod feature information inside the oral cavity, thereby determining the overall distribution position of the implant. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 is a schematic diagram of a scanning method of a scanning rod provided in an embodiment of the present application;

[0038] Figure 2 It is a schematic diagram of adjacent implants being too close to each other provided in an embodiment of the present application;

[0039] Figure 3 is a schematic diagram of a scanning scene in an assembled state of the first scanning rod provided in an embodiment of the present application;

[0040] Figure 4 is a schematic diagram of a scanning scene in which the second scanning rod is assembled according to an embodiment of the present application;

[0041] Figure 5a and Figure 5b is a schematic diagram of a scanning image generation process provided by an embodiment of the present application;

[0042] Figure 6 is a schematic diagram of a stitched image acquisition process provided in an embodiment of the present application;

[0043] Figure 7 is a scanning flow chart of a scanning rod provided in an embodiment of the present application;

[0044] Figure 8 is a structural schematic diagram of a scanning system of a scanning rod provided in an embodiment of the present application;

[0045] Fig. 9 It is a schematic diagram of the structure of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0047] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0048] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0049] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0050] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0051] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0052] The acquisition of digital impressions for oral implant restoration is to connect the scanning rod to the implant through tightening screws to scan the inside of the oral cavity to obtain a scanned image, and to obtain the scanning rod feature information by analyzing the scanned image to determine the position of the implant. In actual applications, adjacent implants may be too close and the two scanning rods cannot be placed in place at the same time. In the prior art, when using scanning rods for digital impression making, the scanning rods are usually ground until the two can be placed in place at the same time, and then silicone rubber molds are taken. The methods in the prior art will cause deformation of the scanning rod data surface or incomplete scanning rod data, resulting in low data matching, easy errors in implant sites, and not conducive to accurately determining the position of implants.

[0053] The scanning method of the present application can effectively solve the problem that when the distance between adjacent implants is too close, the two scanning rods cannot be placed in place at the same time. By scanning in batches and then fusing the images obtained by the batch scanning, it is ensured that the scanning rod data surface is not deformed, and the complete scanning rod feature information inside the oral cavity is obtained. The scanning data has a high matching degree, which is conducive to accurately determining the position of the implant.

[0054] In the batch scanning method of the present application, the first scan is in the first scanning rod assembly state, and the second scan is in the second scanning rod assembly state, and the first scanning data and the second scanning data are obtained respectively. During the two scanning processes, the positions of the three scanning rod assembly positions, namely the first assembly position, the second assembly position and the third assembly position, appear. When the scanning rod layout assembly is performed in the oral cavity, the two assembly positions where the scanning rod interference occurs are determined as the first assembly position and the second assembly position, and the assembly position where no interference occurs is determined as the third assembly position. The first assembly position and the second assembly position are usually close to each other, usually adjacent or separated by one assembly position, but interference caused by unreasonable layout by the user is not excluded. The distance between the first assembly position and the second assembly position is less than the set threshold, and the assembly state of the scanning rod at the third assembly position in the scanning scene under the first scanning rod assembly state is the same as the assembly state of the scanning rod at the third assembly position in the scanning scene under the second scanning rod assembly state.

[0055] like Figure 1 As shown, Figure 1 is a schematic diagram of a scanning method of a scanning rod provided in an embodiment of the present application, the method comprising:

[0056] Step 100 , scanning a scanning scene in a first scanning rod assembly state to obtain first scanning data, wherein a third assembly position and a first assembly position in the scanning scene in the first scanning rod assembly state are assembled with the scanning rod.

[0057] Step 200 , scanning a scanning scene in a second scanning rod assembly state to obtain second scanning data, wherein the third assembly position and the second assembly position inside the oral cavity are assembled with scanning rods in the second scanning rod assembly state.

[0058] Step 300: Obtain position information of an assembly position in the scanning scene according to the first scanning data and the second scanning data.

[0059] The digital impression collection for oral implant restoration is to connect the scanning rod to the implant by tightening screws to scan the inside of the oral cavity to obtain a scanned image. The position where the scanning rod needs to be assembled is called the assembly position. In the embodiment of the present application, a batch scanning method is adopted to address the situation where adjacent implants are too close and two scanning rods cannot be placed in place at the same time.

[0060] like Figure 2 As shown, Figure 2 A schematic diagram of adjacent implants being too close is shown. If the distance between the first assembly position C and the second assembly position D is less than a set threshold, the implants corresponding to the C assembly position and the D assembly position are judged to be adjacent implants. Since the adjacent implants at the C and D assembly positions are too close, the two scanning rods cannot be placed in place at the same time.

[0061] It should be noted that since the scanning rod is installed on the implant, the assembly position corresponding to the scanning rod is the position of the implant. In addition to the scenario where two adjacent implants are too close, the embodiments of the present application are also applicable to other scenarios in actual operation, such as the scenario where three or more consecutive teeth are close to each other, or the scenario where the scanning rod layout in the oral cavity is unreasonable and the scanning rod interference occurs, resulting in the interference The scanning rod cannot be placed in place on the implant. This application will be combined with Figure 2-Figure 4 Detailed description of the scenario where two adjacent implants are too close. The principle is applicable to the application scenario where all scanning rods cannot be in place at the same time. Figure 2-Figure 4 The A, B, C, and D marked in the figure refer to the implants at the positions A, B, C, and D being equipped with scanning rods. Therefore, A, B, C, and D specifically refer to the positions where the scanning rods are equipped, not the names of the scanning rods.

[0062] In an embodiment of the present application, the scanning rod assembled on the implant during the first scanning process is called the first scanning rod, and scanning is performed according to the scanning scene in the assembled state of the first scanning rod, wherein the scanning scene generally refers to the scene inside the oral cavity. In the assembled state of the first scanning rod, scanning rods are configured at the first assembly position and the third assembly position.

[0063] In the embodiment of the present application, the first assembly position and the second assembly position refer to the assembly positions corresponding to the two scanning rods when the distance between the two scanning rods is too close. Specifically, when the spacing between the two scanning rods is less than a fixed value, it can be defined as the distance between the two scanning rods is too close and interferes with each other. At this time, the assembly positions corresponding to the two scanning rods are the first assembly position and the second assembly position respectively. It should be noted that since the diameter of the scanning rod is known data, when the spacing between the scanning rods is less than a fixed value, the distance between the first assembly position and the second assembly position is also less than a known threshold, that is, the distance between the first assembly position and the second assembly position is less than the set threshold. The set threshold can be determined based on the fixed value and the diameter of the scanning rod, and the present application does not limit this.

[0064] For example Figure 2 When the distance between C and D is less than a set threshold, C can be defined as the first assembly position, and correspondingly, D can be defined as the second assembly position, or D can be defined as the first assembly position, and correspondingly, C can be defined as the second assembly position. This application does not impose any restrictions on this.

[0065] The third assembly position refers to an assembly position whose distance from the first assembly position or the second assembly position is greater than a set threshold, and the scanning rod on this assembly position does not interfere with the scanning rods on other assembly positions, for example Figure 2 In the embodiment, when the distance between A and C and D is greater than the set threshold, A can be determined as the third assembly position. Similarly, when the distance between B and C and D is greater than the set threshold, B can be determined as the third assembly position. This application does not elaborate on this. It should be noted that when the distance between A and B is greater than the set threshold, both A and B can be determined as the third assembly position. When the distance between A and B is less than the set threshold, if the interference of C and D is scanned in batches at this time, only one of A and B can be determined as the third assembly position.

[0066] It should be noted that the above distance can be judged by the distance between the assembly positions in the scanning data, or a scanning rod digital layout scheme can be generated based on the assembly positions, and the distance between the scanning rods in the scanning rod digital layout scheme can be used for judgment, that is, the spacing between the above scanning rods is a fixed value, and then it can be calculated by converting it into the distance between the assembly positions based on the diameter of the scanning rod. This application does not impose any restrictions on this.

[0067] Combination Figure 2 and Figure 3 As shown, Figure 2 is a schematic diagram of adjacent implants being too close to each other provided in an embodiment of the present application, Figure 3A schematic diagram of a scanning scene in the first scanning rod assembly state is shown, wherein, in a possible implementation, the distance between positions C and D is less than a set threshold, the implants at positions C and D are adjacent implants, and the scanning rods at positions C and D will interfere, so scanning rods cannot be placed at positions C and D at the same time. At this time, the assembly position C corresponding to one of the scanning rods is called the first assembly position, and correspondingly, the assembly position D corresponding to the other scanning rod is called the second assembly position. The distances between A and C and A and D are both greater than the set threshold, then A is the third assembly position, the distances between B and C and B and D are both greater than the set threshold, and the distance between B and A exceeds the set threshold, then B and A are both the third assembly positions, and in Figure 3 In the illustrated first scanning rod assembly state, three first scanning rods at the third assembly position (A and B) and the first assembly position (C) are scanned to obtain first scanning data.

[0068] In another possible implementation, based on the interference between the scanning rods of C and D in the previous embodiment, if the distance between A and B is greater than the set threshold (that is, no interference occurs, and the spacing between the scanning rods corresponding to A and B is greater than the fixed value), but the distance between A and C is less than the set threshold, this case indicates that the scanning rods at A and C interfere with each other, that is, the scanning rods at A and C cannot be placed at the same time. For the four assembly positions ABCD in the embodiment, at this time, only position B can be used as the only third assembly position.

[0069] In another possible implementation, based on the interference between the scanning rods at C and D in the previous embodiment, there is no interference between the scanning rods at A and C, A and D, and there is no interference between the scanning rods at B and C, B and D. If there is interference between the scanning rods at A and B, then C and D can be determined as the first assembly position and the second assembly position, A or B can be determined as the third assembly position, A and B can be determined as the first assembly position and the second assembly position, and C or D can be determined as the third assembly position. For example, scanning rods can be assembled at A and C for scanning, scanning rods can be assembled at A and D for scanning, and scanning rods can be assembled at B and C for scanning, and the overall distribution information of A, B, C and D can be obtained through three rounds of scanning.

[0070] In another possible implementation, based on the interference of the scanning rods at C and D in the previous embodiment, if the distance between A and C is less than the set threshold, and the distance between B and D is less than the set threshold, this case indicates that the scanning rods at A and C interfere with each other, that is, the scanning rods at A and C cannot be placed at the same time, the scanning rods at C and D interfere with each other, that is, the scanning rods at C and D cannot be placed at the same time, and the scanning rods at B and D also interfere with each other, that is, the scanning rods at B and D cannot be placed at the same time. At this time, for the four assembly positions ABCD in the embodiment, there is no position that can be used as the third assembly position, and it is necessary to select another position where the scanning rod does not interfere with the scanning rods at the first assembly position and the second assembly position as the third assembly position.

[0071] In the embodiment of the present application, the scanning rod assembled on the implant during the second scanning process is called the second scanning rod. Figure 2 and Figure 4 As shown, Figure 2 is a schematic diagram of adjacent implants being too close to each other provided in an embodiment of the present application, Figure 4 A schematic diagram of the scanning scene in the second scanning rod assembly state is shown. The distance between positions C and D is less than the set threshold. The implants at positions C and D are adjacent implants. The assembly position C corresponding to one of the scanning rods is called the first assembly position. Conversely, the assembly position D corresponding to the other scanning rod is called the second assembly position. If the distance between A and C or D is greater than the set threshold, then A is the third assembly position. Similarly, if the distance between B and C or D is greater than the set threshold, then B is the third assembly position. Figure 4 In the second scanning rod assembly state shown, the three second scanning rods at the third assembly position (A and B) and the second assembly position (D) are scanned to obtain second scanning data, wherein the first scanning data and the second scanning data are both three-dimensional data.

[0072] In addition, it should be further explained that in the embodiment of the present application, in a specific scanning process, the scanning rods on all assembly positions configured in the oral cavity can be scanned, and the scanning rods on some assembly positions can also be scanned. Specifically, the minimum scanning number of the scanning rods can be three, corresponding to the first assembly position, the second assembly position, and the third assembly position respectively. Of course, a greater number of scanning rods corresponds to higher accuracy, and the present application does not impose any restrictions on this.

[0073] It should be noted that the first assembly position and the second assembly position in this application are not fixed. Figure 2-Figure 4 C and D are only examples, and the position where the scanning rod is assembled on any one of the adjacent implants can be the first assembly position, and the other one can be the second assembly position, that is, C can also be used as the second assembly position, and D can also be used as the first assembly position. The method for determining the third assembly position and the various third assembly position situations are as described above and are not specifically limited here.

[0074] In the embodiment of the present application, the first scanning data and the second scanning data are three-dimensional data, and the identification points on the scanning rod are provided with identification points, and the first scanning data and the second scanning data are obtained, including:

[0075] S1: When scanning a scanning scene in the assembled state of the first scanning rod, the identification points of the scanning rods at the first assembly position and the third assembly position are scanned to obtain first scanning data.

[0076] In the embodiment of the present application, by scanning the identification points on the scanning rod, three-dimensional scanning data of the scanning rod is generated according to the identification points, and a scanning image is generated according to the three-dimensional scanning data of the scanning rod. Figure 5a The top view of each scanning rod shown, the hexagonal area is the top view of the scanning rod body, and the rectangular area is the top view of the scanning rod extension rod. Figure 1-Figure 4 The scan bar shown in the figure only shows the main part of the scan bar. Figure 5a and Figure 5b As shown, the scanning rod body and the scanning rod extension rod have identification points ( Figure 5a Figure 5b The black dots on the scanning rod are obtained by scanning the marking points on the scanning rod. In the first scanning rod assembly state, Figure 3 As shown, the identification points of the scanning rod on the first assembly position C and the third assembly positions A and B are scanned to obtain the first scanning data.

[0077] S2: Acquire a display image based on the first scanning data.

[0078] In this embodiment, a visualized display image can be formed based on the first scan data. It should be noted that the visualized image can be selectively generated. In specific processing, even if the visualized display image is not generated, subsequent analysis can be directly performed based on the first scan data, such as Figure 5b As shown, the first scanning data is generated by acquiring the three-dimensional data of the scanning rod through the scanned black marking points.

[0079] S3: When scanning the scanning scene in the second scanning rod assembly state, cancel the scanning rod data corresponding to the first assembly position in the displayed image, scan the second assembly position scanning rod and the third assembly position scanning rod to obtain second scanning data; and update the displayed image based on the second scanning data.

[0080] In the embodiment of the present application, the scanning process in the second scanning rod assembly state refers to the scanning process in the first scanning rod assembly state in S1, and will not be described in detail here. Figure 4As shown, when scanning is performed in the second scanning rod assembly state, it is necessary to cancel the scanning rod data at the first assembly C in the first scanning data, and only scan the scanning rod identification point at the second assembly position D and the scanning rod identification points in the neighborhood of the second assembly position D (for example, A and B) are scanned.

[0081] It should be noted that in the embodiment of the present application, the scanning rod data at the first assembly C in the first scanning data can also be hidden, that is, not visually displayed.

[0082] In a possible implementation, there are multiple third assembly positions between assembly position A and assembly position D or between assembly position B and assembly position D. During the scanning process, there is no need to scan all the third assembly positions. Only the marking points of the scanning rod on the third assembly positions in the vicinity of the second assembly position D need to be scanned. This is beneficial to reducing the time cost of scanning and improving scanning efficiency.

[0083] Scanning is performed according to the identification point of the scanning rod in the neighborhood according to the identification point of the scanning rod at the second assembly position to obtain second scanning data, and the first data obtained in step S1 is updated and displayed according to the obtained second scanning data.

[0084] In the embodiment of the present application, there are two ways to obtain the position information of each assembly position according to the first scan data and the second scan data. The first way is to update the second scan data according to the first scan data to obtain an updated image of the second scan data, and the updated image of the second scan data includes the coordinates of the third assembly position and the second assembly position. Combined with the coordinates of the third assembly position and the first assembly position in the first scan data, the position information of the first assembly position, the second assembly position and the third assembly position are identified. The identification points of the scanning rod in the first scan data and the updated image are respectively identified by the first way to obtain the position information of each assembly position. The first and second scan data are obtained by scanning in batches, and then the accurate position information of each assembly position is obtained by identifying the updated second scan data. When the distance between adjacent implants is too close, the two scanning rods cannot be placed at the same time, resulting in the inability to obtain complete and accurate position information of the scanning rod configuration position. At the same time, the method of updating the second image by the first image reduces the error that the third assembly position in the first scan data and the second scan data may have an offset, which is conducive to ensuring the acquisition of the complete position information of the scanning rod assembly position inside the oral cavity, improving the matching degree of the scanning data, and thus facilitating the accurate determination of the position of the implant.

[0085] The second way is to splice the first scanning data and the second scanning data. In this embodiment, the assembly state of the scanning rod at the third assembly position in the scanning scene in the first scanning rod assembly state is the same as the assembly state of the scanning rod at the third assembly position in the scanning scene in the second scanning rod assembly state. The position information of the assembly position in the scanning scene is obtained according to the first scanning data and the second scanning data. The method further includes:

[0086] splicing the first scan data and the second scan data to obtain a spliced ​​image;

[0087] The position information of the assembly position in the scanning scene is obtained based on the spliced ​​image.

[0088] In this embodiment, a stitched image is obtained, and analysis is performed on the stitched image to obtain position information of each assembly position. The first scan data and the second scan data are stitched into a stitched image according to the identification point of the third assembly position in the first scan data and the second scan data through the second method. The method of performing information analysis based on the stitched image effectively solves the problem that when the distance between adjacent implants is too close, the two scan rods cannot be placed at the same time, resulting in the inability to obtain complete and accurate position information of the scan rod configuration positions, and provides a visual image interaction method.

[0089] With respect to the first method of respectively parsing the first scan data and the updated image, two embodiments of obtaining the updated image of the second scan data are provided in the embodiments of the present application. In the first embodiment, the standard orientation vector between the identification points on the scanning rod of the third assembly position is obtained by first parsing the coordinates of the third assembly position A and B in the first scan data. Since the position information of the third assembly position is unchanged, the non-standard orientation vector of the identification point on the scanning rod of the third assembly position in the second scan data should be the same as the standard orientation vector in the first scan data. The non-standard orientation vector in the second scan data is obtained through the standard orientation vector. The second scan data is updated through this process to obtain the updated image of the second scan data. It should be noted that the orientation vector in the embodiments of the present application can be an orientation vector between the identification points of multiple scan rods, or it can be an orientation vector between the identification points of a single scan rod itself.

[0090] In the second embodiment, a registration matrix is ​​obtained by using the third assembly position on the coordinates of the first scan data and the second scan data. The coordinates on the second scan data can be converted to the coordinate system of the first scan data according to the registration matrix to obtain an updated image of the second scan data.

[0091] Combination Figure 3 and Figure 4The first embodiment of the first implementation mode of the above step 300 is described. Specifically, obtaining the position information of the assembly position in the scanning scene according to the first scanning data and the second scanning data includes:

[0092] Determine an orientation vector between a first assembly position and a third assembly position scan bar based on the first scan data;

[0093] Determining an orientation vector between a second assembly position and a third assembly position scan bar based on the second scan data;

[0094] The position information of the assembly positions in the scanning scene is determined based on the orientation vector between the scanning rods of the first assembly position and the third assembly position and the orientation vector between the scanning rods of the second assembly position and the third assembly position.

[0095] The above steps are described in detail below. Specifically, obtaining the position information of the assembly position in the scanning scene according to the first scanning data and the second scanning data includes:

[0096] A1: Analyze the first scanning data and the second scanning data to obtain the coordinates of the third assembly position in the first scanning data and the second scanning data.

[0097] In this embodiment, each scanning rod is provided with a marking point. For example, the scanning rod of the third assembly position A has multiple marking points such as a1, a2, a3, a4, and the scanning rod of the third assembly position B also has multiple marking points such as b1, b2, b3, b4. For a group of marking points (a1, b1), the distance between a1 and b1 is called a standard directional vector. In the embodiment of the present application, a group of marking points (a1, b1) is taken as an example, where the superscript of the coordinate is the number of scanned images, and the subscript is the marking point.

[0098] Analyze the coordinates of the identification point a1 on the scanning rod at the third assembly position A in the first scanning data as ( ), the coordinates of the marking point b1 on the scanning rod at the third assembly position B are ( ), the coordinates of the identification point a1 on the scanning rod at the third assembly position A in the second scanning data are analyzed as ( ), the coordinates of the marking point b1 on the scanning rod at the third assembly position B are ( ). Since the position of the identification point of the scanning rod is fixed, the position of the third assembly position is also fixed. The coordinates of the identification points on the scanning rods A and B at the third assembly position in the first scanning data and the second scanning data should be unified, that is, ( ) = ( ), ) = ( ), wherein the first scanning data includes three-dimensional data of scanning rod identification points at the third assembly positions A and B and three-dimensional data of scanning rod identification points at the first assembly position C.

[0099] A2: Obtaining a standard orientation vector between at least one pair of identification points of the scanning rod of the third assembly position according to the coordinates of the third assembly position in the first scanning data.

[0100] In this embodiment, the standard orientation vector refers to the distance between the marking points of the scanning rod at the third assembly position in the first scanning data, according to the coordinates of the marking point a1 on the scanning rod at the third assembly position A and the marking point b1 on the scanning rod at the third assembly position B in the first scanning data ( )and( ), obtain the standard orientation vector between at least one pair of identification points of the third assembly position scanning rod ( ).

[0101] A3: Determine the non-standard orientation vector between the identification points of the third assembly position scanning rod in the second scanning data based on the coordinates of the third assembly position in the first scanning data and in combination with at least one pair of standard orientation vectors between the identification points of the third assembly position scanning rod.

[0102] In this embodiment, the non-standard directional vector refers to the distance between the identification points of the scanning rod of the third assembly position in the second scanning data. Since the third assembly position is fixed in the first scanning data and the second scanning data, the distance between the identification points of the scanning rod of the third assembly position is also unchanged. It should be understood that ( ) = ( ), ) = ( ), we can get the non-standard directional vector ( ) = ( ).

[0103] A4: Obtain an updated image of the second scanning data according to the non-standard orientation vector and the corresponding standard orientation vector between the identification points of the third assembly position scanning rod in the second scanning data.

[0104] In this embodiment, according to a set of standard orientation vectors of the identification points ) and non-standard directional vectors ( ), there are standard directional vectors and non-standard directional vectors between each group of identification points, and an updated image of the second scanning data is calculated based on the distances between all the identification points, wherein the updated image includes the three-dimensional data of the scanning rod identification points at the third assembly positions A and B and the three-dimensional data of the scanning rod identification point at the second assembly position D.

[0105] A5: Identify the identification points of the identification point scanning rod in the updated image and the first scanning data, and obtain the position information of the assembly position in the scanning scene.

[0106] In this embodiment, image analysis is performed based on the updated image and the first scanning data, and based on the coordinates of the identification points of the scanning rods A and B at the third assembly position and the identification points of the scanning rods at the first assembly position C and the second assembly position D, the three-dimensional data information of the scanning rods at A, B, C, and D is obtained, and the position information of the assembly positions at A, B, C, and D is obtained.

[0107] Combination Figure 3 and Figure 4 The second embodiment of the first implementation mode in the above step 300 is described. Specifically, the assembly state of the scanning rod at the third assembly position in the scanning scene in the first scanning rod assembly state is the same as the assembly state of the scanning rod at the third assembly position in the scanning scene in the second scanning rod assembly state. The position information of the assembly position in the scanning scene is obtained according to the first scanning data and the second scanning data. The method further includes:

[0108] Determine the orientation vector between the marking points on the surface of the third assembly position scanning rod based on the first scanning data;

[0109] Determine the orientation vector between the marking points on the surface of the third assembly position scanning rod based on the second scanning data;

[0110] The position information of the assembly position in the scanning scene is determined based on the orientation vector between the marking points on the surface of the third assembly position scanning rod.

[0111] In this embodiment, specifically, the above steps can be broken down into:

[0112] B1: Analyze the first scanning data and the second scanning data to obtain the coordinates of the third assembly position in the first scanning data and the second scanning data.

[0113] In this embodiment, the coordinates of the third assembly position A in the first scan data are analyzed as follows: ), the coordinates of the third assembly position B are ( ), the coordinates of the third assembly position A in the second scan data are analyzed as ( ), the coordinates of the third assembly position B are ( ).

[0114] B2: Obtaining a registration matrix of the first scanning data and the second scanning data according to the coordinates of the third assembly position in the first scanning data and the second scanning data.

[0115] In this embodiment, the registration matrix k is obtained according to the four coordinates of the third assembly positions A and B obtained in step B1 under the first scan data and the second scan data.

[0116] B3: performing image registration on the second scan data according to the registration matrix, converting the second scan data into an image coordinate system of the first scan data, and obtaining an updated image of the second scan data.

[0117] In this embodiment, that is, ( ) multiplied by the matrix k gives ( ), ) multiplied by the matrix k gives ( ), converting the second scan data into the image coordinate system of the first scan data to obtain an updated image of the second scan data, wherein the updated image includes the coordinates of the third assembly positions A and B and the coordinates of the second assembly position D.

[0118] B4: Obtaining position information of the assembly position in the scanning scene according to the updated image and the first scanning data.

[0119] In this embodiment, image analysis is performed based on the updated image and the first scan data, and the position information at A, B, C, and D is obtained based on the coordinates of the third assembly positions A and B and the first assembly positions C and the second assembly positions D.

[0120] For the second method, the first scan data and the second scan data are spliced ​​to obtain a spliced ​​image for analysis. Specifically, obtaining the position information of the assembly position in the scan scene according to the first scan data and the second scan data includes:

[0121] S1: Splicing the first scan data and the second scan data to obtain a spliced ​​image.

[0122] S2: Obtaining position information of the assembly position in the scanning scene based on the stitched image.

[0123] In this embodiment, if Figure 6 As shown, Figure 6 A schematic diagram of a spliced ​​image acquisition process is provided, wherein first scanning data and second scanning data are obtained by scanning a scanning scene in a first scanning rod assembly state and scanning a scanning scene in a second scanning rod assembly state, and the two images are spliced ​​to obtain a spliced ​​image, wherein the spliced ​​image includes three-dimensional data information at third assembly positions A and B, and three-dimensional data information at first assembly position C and second assembly position D, and the position information of each assembly position can be obtained by analyzing the spliced ​​image.

[0124] Specifically, a characteristic pattern is provided on the scanning rod, and the position information of the assembly position in the scanning scene is obtained based on the spliced ​​image, including:

[0125] Determine the position information of the first assembly position, the second assembly position, and the third assembly position based on the characteristic patterns of all scanning rods in the stitched image; or,

[0126] The scanning rod is provided with a marking point, and the position information of the assembly position in the scanning scene is obtained based on the spliced ​​image, including:

[0127] Based on the marking points of the marking point scanning rod in the spliced ​​image, relative position information between the first assembly position, the second assembly position and the third assembly position is determined.

[0128] Exemplarily, a characteristic pattern is provided on the scanning rod, and the characteristic pattern of the scanning rod at the third assembly position, the first assembly position and the second assembly position in the spliced ​​image is analyzed to determine the position information of the first assembly position, the second assembly position and the third assembly position.

[0129] Exemplarily, the scanning rod characteristic information is provided with identification points to identify the identification points of the scanning rod at the third assembly position, the first assembly position and the second assembly position in the spliced ​​image, and determine the position information of the first assembly position, the second assembly position and the third assembly position.

[0130] By analyzing the characteristic patterns and identification points on the scanning rod, the position information of the corresponding assembly position of the scanning rod can be clearly analyzed, which is conducive to obtaining complete and accurate position information of the assembly position inside the oral cavity. It should be noted that the scanning rod can have not only characteristic patterns and identification points, but also other marks containing characteristic meanings for analysis and identification, which are not specifically limited here.

[0131] In the embodiment of the present application, a scanning flowchart of a scanning rod is also provided, such as Figure 7As shown, taking 4 implants as an example, first install the scanning rod on two assembly positions A and B that are far away, select one of the two adjacent assembly positions to install the scanning rod C, perform the first scan, parse and obtain the data of the scanning rods at positions A, B, and C, delete the data of the scanning rod at C, retain the data of the scanning rods at A and B, select another assembly position from the two adjacent assembly positions to install the scanning rod D, perform the second scan, parse and obtain the data of the scanning rods at positions A, B, and D, and then splice through software to obtain the position data of the scanning rod assembly positions at A, B, C, and D. The above method effectively solves the problem that when the distance between adjacent implants is too close, the two scanning rods cannot be placed in place at the same time, which is conducive to ensuring the acquisition of complete scanning rod feature information inside the oral cavity, improving the matching degree of scanning data, and thus facilitating the accurate determination of the position information of the assembly position.

[0132] See also Figure 8 , shows a schematic structural diagram of a scanning system of a scanning rod provided in an embodiment of the present application. For the sake of convenience of explanation, only the parts related to the embodiment of the present application are shown.

[0133] The scanning system 400 of the scanning rod may specifically include the following modules:

[0134] A first scanning module 410 is used to scan a scanning scene in a first scanning rod assembly state to obtain first scanning data, wherein the third assembly position and the first assembly position in the scanning scene in the first scanning rod assembly state are assembled with the scanning rod;

[0135] The second scanning module 420 is used to scan the scanning scene in the second scanning rod assembly state to obtain second scanning data, wherein the third assembly position and the second assembly position inside the oral cavity are equipped with the scanning rod in the second scanning rod assembly state;

[0136] The position information acquisition module 430 is used to obtain the position information of the assembly position in the scanning scene according to the first scanning data and the second scanning data.

[0137] The distance between the first assembly position and the second assembly position is less than a set threshold, and the assembly state of the scanning rod at the third assembly position in the scanning scene when the first scanning rod is assembled is the same as the assembly state of the scanning rod at the third assembly position in the scanning scene when the second scanning rod is assembled.

[0138] The first scanning module 410 and the second scanning module 420 are specifically used for:

[0139] When scanning the scanning scene in the assembled state of the first scanning rod, scanning the first assembly position and the third assembly position scanning rods are scanned to obtain the first scanning data;

[0140] Acquire a display image based on the first scan data;

[0141] When scanning the scanning scene in the second scanning rod assembly state, cancel the scanning rod data corresponding to the first assembly position in the displayed image, scan the second assembly position scanning rod and the third assembly position scanning rod to obtain second scanning data;

[0142] The display image is updated based on the second scan data.

[0143] The location information acquisition module 430 further specifically includes an image updating module 431, an image splicing module 432, and a parsing and identifying module 433. The image updating module 431 is specifically used for:

[0144] Determine an orientation vector between a first assembly position and a third assembly position scan bar based on the first scan data;

[0145] Determining an orientation vector between a second assembly position and a third assembly position scan bar based on the second scan data;

[0146] The position information of the assembly positions in the scanning scene is determined based on the orientation vector between the first assembly position and the third assembly position scanning rod and the orientation vector between the second assembly position and the third assembly position scanning rod.

[0147] The image updating module 431 is further specifically used for:

[0148] Determine the orientation vector between the marking points on the surface of the third assembly position scanning rod based on the first scanning data;

[0149] Determine the orientation vector between the marking points on the surface of the third assembly position scanning rod based on the second scanning data;

[0150] The position information of the assembly position in the scanning scene is determined based on the orientation vector between the marking points on the surface of the third assembly position scanning rod.

[0151] The image stitching module 432 is specifically used for:

[0152] splicing the first scan data and the second scan data to obtain a spliced ​​image;

[0153] The position information of the assembly position in the scanning scene is obtained based on the spliced ​​image.

[0154] The analysis and identification module 433 is specifically used for:

[0155] Determine the position information of the first assembly position, the second assembly position, and the third assembly position based on the characteristic patterns of all scanning rods in the stitched image; or,

[0156] The scanning rod is provided with a marking point, and the position information of the assembly position in the scanning scene is obtained based on the spliced ​​image, including:

[0157] Based on the marking points of the marking point scanning rod in the spliced ​​image, relative position information between the first assembly position, the second assembly position and the third assembly position is determined.

[0158] The scanning system of the scanning rod provided in the embodiment of the present application can be applied in the aforementioned method embodiment. For details, please refer to the description of the aforementioned method embodiment, which will not be repeated here.

[0159] Fig. 9 Schematic diagram of the structure of the terminal device provided in the embodiment of the present application. Fig. 9 As shown, the terminal device 700 of this embodiment includes: at least one processor 710 ( Fig. 9 Only one is shown in the figure), a memory 720, and a computer program 721 stored in the memory 720 and executable on the at least one processor 710, wherein the processor 710 implements the steps in the above-mentioned scanning method embodiment of the scanning rod when executing the computer program 721.

[0160] The terminal device 700 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor 710 and a memory 720. Those skilled in the art will appreciate that Fig. 9 It is only an example of the terminal device 700 and does not constitute a limitation on the terminal device 700. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0161] The processor 710 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0162] In some embodiments, the memory 720 may be an internal storage unit of the terminal device 700, such as a hard disk or memory of the terminal device 700. In other embodiments, the memory 720 may also be an external storage device of the terminal device 700, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the terminal device 700. Further, the memory 720 may also include both an internal storage unit of the terminal device 700 and an external storage device. The memory 720 is used to store an operating system, an application program, a boot loader (Boot Loader), data and other programs, such as the program code of the computer program, etc. The memory 720 may also be used to temporarily store data that has been output or is to be output.

[0163] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0164] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0165] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0166] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0167] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0168] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0169] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0170] The present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed through a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing.

[0171] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A scanning method of a scanning rod, applied to a scanning scene with a scanning rod, characterized in that: The method comprises: Scanning a scanning scene in a first scanning rod assembly state to obtain first scanning data, wherein the third assembly position and the first assembly position in the first scanning rod assembly state are assembled with scanning rods; Scanning a scanning scene in a second scanning rod assembly state to obtain second scanning data, wherein the third assembly position and the second assembly position in the intra-oral scanning scene in the second scanning rod assembly state are assembled with scanning rods, wherein the second scanning rod assembly state is to adjust the assembly state of the scanning rod at the first assembly position and the assembly state of the scanning rod at the second assembly position based on keeping the assembly state of the scanning rod at the third assembly position unchanged in the first scanning rod assembly state; The position information of the assembly position in the scanning scene is obtained according to the first scanning data and the second scanning data.

2. The method according to claim 1, characterized in that: The distance between the first assembly position and the second assembly position is smaller than a set threshold.

3. The method according to claim 1, characterized in that: When scanning the scanning scene in the assembled state of the first scanning rod, scanning the first assembly position and the third assembly position scanning rods are scanned to obtain the first scanning data; Acquire a display image based on the first scan data; When scanning the scanning scene in the second scanning rod assembly state, cancel the scanning rod data corresponding to the first assembly position in the displayed image, scan the second assembly position scanning rod and the third assembly position scanning rod to obtain the second scanning data; The display image is updated based on the second scan data.

4. The method according to claim 1, characterized in that: The assembly state of the scanning rod at the third assembly position in the scanning scene in the first scanning rod assembly state is the same as the assembly state of the scanning rod at the third assembly position in the scanning scene in the second scanning rod assembly state, and the obtaining of position information of the assembly position in the scanning scene according to the first scanning data and the second scanning data also includes: splicing the first scan data and the second scan data to obtain a spliced ​​image; The position information of the assembly position in the scanning scene is obtained based on the spliced ​​image.

5. The method according to claim 1, characterized in that: The obtaining, according to the first scanning data and the second scanning data, position information of the assembly position in the scanning scene includes: Determine an orientation vector between a first assembly position and a third assembly position scan bar based on the first scan data; Determining an orientation vector between a second assembly position and a third assembly position scan bar based on the second scan data; The position information of the assembly positions in the scanning scene is determined based on the orientation vector between the first assembly position and the third assembly position scanning rods and the orientation vector between the second assembly position and the third assembly position scanning rods.

6. The method according to claim 1, characterized in that: The assembly state of the scanning rod at the third assembly position in the scanning scene in the first scanning rod assembly state is the same as the assembly state of the scanning rod at the third assembly position in the scanning scene in the second scanning rod assembly state, and the obtaining of position information of the assembly position in the scanning scene according to the first scanning data and the second scanning data also includes: Determine the orientation vector between the marking points on the surface of the third assembly position scanning rod based on the first scanning data; Determine the orientation vector between the marking points on the surface of the third assembly position scanning rod based on the second scanning data; The position information of the assembly position in the scanning scene is determined based on the orientation vector between the marking points on the surface of the third assembly position scanning rod.

7. The method according to claim 4, characterized in that: The scanning rod is provided with a characteristic pattern, and the position information of the assembly position in the scanning scene is obtained based on the spliced ​​image, including: Determine the position information of the first assembly position, the second assembly position, and the third assembly position based on the characteristic patterns of all scanning rods in the stitched image; or, The scanning rod is provided with a marking point, and the position information of the assembly position in the scanning scene is obtained based on the spliced ​​image, including: Based on the marking points of the marking point scanning rod in the spliced ​​image, relative position information between the first assembly position, the second assembly position and the third assembly position is determined.

8. A scanning system for a scanning rod, characterized in that: The system comprises: A first scanning module is used to scan a scanning scene in a first scanning rod assembly state to obtain first scanning data, wherein the third assembly position and the first assembly position in the scanning scene in the first scanning rod assembly state are assembled with the scanning rod; A second scanning module is used to scan a scanning scene in a second scanning rod assembly state to obtain second scanning data, wherein the third assembly position and the second assembly position in the oral cavity scanning scene in the second scanning rod assembly state are assembled with scanning rods, wherein the second scanning rod assembly state is to adjust the assembly state of the scanning rod at the first assembly position and the assembly state of the scanning rod at the second assembly position based on keeping the assembly state of the scanning rod at the third assembly position unchanged in the first scanning rod assembly state; A position information acquisition module is used to obtain the position information of the assembly position in the scanning scene according to the first scanning data and the second scanning data.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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