Oral jaw model presentation method, device and equipment and storage medium

Abstract

The invention discloses an oral jaw model presentation method, device and equipment and a storage medium. The method comprises the following steps: acquiring a jaw three-dimensional model; when the oral cavity is in a preset state and one jaw wears a jaw fork, acquiring facial three-dimensional model data, and determining the position of the first mark point; and determining a model relative position relationship between the face three-dimensional model data and the jaw three-dimensional model based on the other jaw. Under the condition that the oral cavity is in a preset state and the upper jaw and the lower jaw wear the jaw forks at the same time, a second mark point corresponding to the upper jaw and a third mark point corresponding to the lower jaw are determined according to the worn jaw forks respectively. According to the first mark point, the second mark point, the third mark point and the model relative position relation, the jaw model relative position relation between the upper jaw three-dimensional model and the lower jaw three-dimensional model is determined when the lower jaw moves, the three-dimensional oral jaw model is presented in a time-sharing jaw fork wearing mode, the consumed time is short, and the efficiency is high. Meanwhile, the accuracy of determining the relative position relation of the jaw model can be improved.

Description

Technical Field

[0001] The present invention relates to the field of oral clinical technology, and in particular to an oral and jaw model presentation method, device, equipment and storage medium. Background Art

[0002] In oral health and facial aesthetics, the state and position of the jaws have an important impact on chewing function, pronunciation clarity, and the aesthetics of facial contours. Therefore, for jaw-related diseases or deformities, such as jaw fractures, jaw joint disorders, and jaw development abnormalities, it is necessary to seek medical attention in a timely manner and receive treatment and guidance from professional doctors.

[0003] At present, the traditional transfer jaw frame is usually used in clinical practice to simulate the mandibular movement trajectory. The transfer face bow is needed to simulate the three-dimensional position relationship between the maxillary occlusal plane and the condylar hinge axis on the articulator, and the occlusion is recorded in the central position in the mouth of the Gothic arch. Based on the occlusion recording in the central position, the upper and lower impressions are fixed on the jaw frame, and the condylar guide and incisal guide are recorded and transferred.

[0004] The traditional jaw frame transfer process is complicated and takes a long time. Its operation requires repeated bite records and has high requirements on the operator's experience and sense of responsibility. The patient also needs to cooperate highly. It is time-consuming, the patient experience is poor, and the accuracy is difficult to guarantee, which cannot meet the actual application needs. Summary of the invention

[0005] The present invention provides a method, device, equipment and storage medium for presenting an oral and jaw model, which presents a three-dimensional oral and jaw model by wearing a jaw fork in a time-sharing manner, which takes a short time and can improve the accuracy of determining the relative position relationship of the jaw model.

[0006] According to one aspect of the present invention, a method for presenting an oral and jaw model is provided. The method comprises:

[0007] Acquire a three-dimensional model of the jaw of the target object in a preset state of the oral cavity, wherein the oral cavity includes an upper jaw and a lower jaw, and the three-dimensional model of the jaw includes a three-dimensional model of the upper jaw and a three-dimensional model of the lower jaw;

[0008] When the oral cavity is in the preset state and one of the jaws is wearing a jaw fork, acquiring the facial three-dimensional model data of the target object, and determining the position of the first landmark point according to the facial three-dimensional model data, wherein the one of the jaws is a first jaw;

[0009] Based on another jaw, determining a model relative position relationship between the facial three-dimensional model data and the jaw three-dimensional model, the other jaw being a second jaw;

[0010] When the oral cavity is in the preset state and the upper jaw and the lower jaw are wearing jaw forks at the same time, the second landmark point corresponding to the upper jaw and the third landmark point corresponding to the lower jaw are determined according to the jaw forks respectively worn;

[0011] According to the relative position relationship among the first marker point, the second marker point, the third marker point and the model, the relative position relationship among the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model is determined when the lower jaw of the target object moves.

[0012] According to another aspect of the present invention, a device for presenting an oral and jaw model is provided. The device comprises:

[0013] A jaw model determination module, used to obtain a jaw three-dimensional model of the target object's oral cavity in a preset state, wherein the oral cavity includes an upper jaw and a lower jaw, and the jaw three-dimensional model includes an upper jaw three-dimensional model and a lower jaw three-dimensional model;

[0014] A facial model determination module, configured to obtain the facial three-dimensional model data of the target object when the oral cavity is in the preset state and one of the jaws is wearing a jaw fork, and determine the position of a first landmark point according to the facial three-dimensional model data, wherein the one of the jaws is a first jaw;

[0015] A position relationship determination module, used for obtaining a three-dimensional model of the jaw of a preset state of a target object, wherein the oral cavity includes an upper jaw and a lower jaw, and the three-dimensional model of the jaw includes a three-dimensional model of the upper jaw and a three-dimensional model of the lower jaw;

[0016] A landmark point determination module, for determining a second landmark point corresponding to the upper jaw and a third landmark point corresponding to the lower jaw according to the respectively worn jaw forks when the oral cavity is in the preset oral state and the upper jaw and the lower jaw are wearing jaw forks at the same time;

[0017] A model presentation module is used to determine the relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model when the mandible of the target object moves based on the relative position relationship between the first marker point, the second marker point, the third marker point and the model.

[0018] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0019] at least one processor; and

[0020] a memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the oral and jaw model presentation method described in any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the oral and jaw model presentation method described in any embodiment of the present invention when executed.

[0023] The technical solution of the embodiment of the present invention is to obtain a three-dimensional model of the jaw corresponding to the oral cavity of the target object when the oral cavity is in a preset oral state, so as to improve the accuracy of jaw presentation, wherein the oral cavity includes two jaws, the two jaws are the upper jaw and the lower jaw, and the three-dimensional model of the jaw includes the upper jaw three-dimensional model and the lower jaw three-dimensional model. When the oral cavity maintains the same preset oral state and one of the jaws wears a jaw fork, the facial three-dimensional model of the target object is obtained, and the first landmark point is determined according to the jaw fork in the facial three-dimensional model. The first landmark point is used to represent the position information of the jaw in the facial three-dimensional model, which can improve the accuracy of determining the position of the jaw during movement. The relative position relationship between the facial three-dimensional model and the jaw three-dimensional model is determined by another jaw that does not wear a jaw fork, so that the coordinates of the two are aligned. When the oral cavity maintains the same preset oral state and the upper jaw and the lower jaw wear jaw forks at the same time, the second landmark point is determined according to the jaw fork worn by the upper jaw, and the third landmark point is determined according to the jaw fork worn by the lower jaw. According to the mutual correspondence between the first mark point, the second mark point, the third mark point and the relative position relationship of the model, the relative position relationship of the jaw model between the upper jaw three-dimensional model and the lower jaw three-dimensional model when the lower jaw moves is determined. By wearing the jaw fork in a time-sharing manner, the acquisition time of the oral jaw can be reduced, and the accuracy of determining the relative position relationship of the jaw model can be improved.

[0024] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1is a flow chart of a method for presenting an oral and jaw model according to Embodiment 1 of the present invention;

[0027] Figure 2 A schematic diagram of a three-dimensional facial model provided in Embodiment 1 of the present invention;

[0028] Figure 3 is a flow chart of a method for presenting an oral and jaw model according to Embodiment 2 of the present invention;

[0029] Figure 4 A schematic diagram of the relative position relationship of the marker points provided in the second embodiment of the present invention;

[0030] Figure 5 A schematic diagram of the relative position relationship of the jaw model provided in the second embodiment of the present invention;

[0031] Figure 6 is a structural diagram of an oral and jaw model presentation device provided according to Embodiment 3 of the present invention;

[0032] Figure 7 It is a schematic diagram of the structure of an electronic device for implementing the oral and jaw model presentation method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Embodiment 1

[0036] Figure 1A flowchart of an oral and jaw model presentation method is provided for the first embodiment of the present invention. This embodiment is applicable to presenting the positional relationship between the upper and lower jaw three-dimensional models. The method can be performed by an oral and jaw model presentation device. The oral and jaw model presentation device can be implemented in the form of hardware and / or software. The oral and jaw model presentation device can be configured in an electronic device. Figure 1 As shown, the method includes:

[0037] S101, obtaining a three-dimensional model of the jaw of a target object in a preset oral state.

[0038] The target object may be an object for which an oral and jaw model is to be presented, which may be an oral patient, an experimenter, or an oral bionic component.

[0039] The oral cavity may include two jaws, which are the upper jaw and the lower jaw. In medicine and anatomy, the upper jaw and the lower jaw are both components related to the oral cavity, and each of them has a unique function and position. The upper jaw and the lower jaw can be collectively referred to as "jaw" or "jaw". In oral health and facial aesthetics, the state and position of the jaw have an important impact on the chewing function, pronunciation clarity, and the aesthetics of the facial contour. The preset oral state can be determined according to actual conditions, for example, it can be determined based on historical scanning data of multiple target objects or multiple historical scanning data of the target object, or it can be an empirical state set according to experience, etc., which is not specifically limited here. Exemplarily, the preset oral state of the embodiment of the present disclosure can be a state in which the upper jaw and the lower jaw are closed and the lips are opened using an opener. The jaw three-dimensional model may include a three-dimensional model of the upper jaw corresponding to the upper jaw and a three-dimensional model of the lower jaw corresponding to the lower jaw.

[0040] Specifically, the intraoral 3D data of the target object is scanned by an intraoral scanning device when the oral cavity is in a preset oral state, and the scanned data is imported into the 3D modeling software, and any impurities or unnecessary parts in the scan are removed, such as excess soft tissue, saliva or bubbles, so that the 3D model of the jaw can be obtained. At the same time, the maxillary 3D data and the mandibular 3D data can be separated from the entire scan data, and the modeling software can be used to generate the maxillary 3D model corresponding to the maxillary and the mandibular 3D model corresponding to the mandibular.

[0041] S102, when the oral cavity is in the preset state and one of the jaws is wearing a jaw fork, obtaining the facial three-dimensional model data of the target object, and determining the position of the first landmark point according to the facial three-dimensional model data.

[0042] It should be noted that in the embodiment of the present disclosure, one of the jaws may be the first jaw, wherein the first jaw may refer to any jaw, such as the maxilla or the mandible. The jaw fork may be made of a photocurable resin that is harmless to the body, and the jaw fork itself may be provided with special marking points that are easy for the scanning device to identify. One end of the jaw fork may be adhered to a part of the jaw, such as the maxillary bone, maxillary teeth, mandibular bone and mandibular teeth, etc., by means of an adhesive material. In the embodiment of the present disclosure, the jaw fork may be worn by the jaw teeth adhering to the jaw fork. The other end of the jaw fork may be directly adhered to the face of the target object. The relative positional relationship between the jaw and the face of the target object may be indicated by the special marking points of the jaw fork itself. It is worth noting that one jaw fork can only be adhered to one jaw. The first marking point may refer to the special marking point of the jaw fork itself in the facial three-dimensional model data.

[0043] Figure 2 Schematic diagram of a facial three-dimensional model provided in Embodiment 1 of the present invention. Figure 2 As shown, when the oral cavity of the target object presents the same preset oral state and one of the two jaws is wearing a jaw fork, the static facial data of the target object is scanned in all directions by a 3D scanning device, and a model is built according to the static facial data by a 3D modeling software, so that the facial 3D model data ( Figure 2 An example is a jaw fork worn on the lower jaw). At the same time, when the 3D scanning device omni-directionally scans the static facial data of the target object, the position information of the special landmark point attached to the jaw fork is identified, and then according to the position information of the special landmark point, the first landmark point is determined in the process of constructing the facial 3D model data, based on which the accuracy of the correspondence between the 3D model of one of the jaws and the facial 3D model data is ensured, thereby ensuring the accuracy of the presentation of the oral jaw model.

[0044] S103: Based on another jaw, determine the relative position relationship between the facial three-dimensional model data and the jaw three-dimensional model.

[0045] It should be noted that in the disclosed embodiment, another jaw may refer to another jaw other than the first jaw, that is, the second jaw. For example, if the first jaw refers to the upper jaw, the second jaw refers to the lower jaw; if the first jaw refers to the lower jaw, the second jaw refers to the upper jaw. The relative position relationship may refer to the conversion relationship between the facial three-dimensional model data and the jaw three-dimensional model.

[0046] It is worth noting that the preset state is the occlusal state of the upper jaw and the lower jaw. In the technical solution of the present invention, the first jaw is preferably the lower jaw, and the second jaw is preferably the upper jaw. The facial 3D model data at least partially overlaps with the second jaw 3D model data.

[0047] The second jaw 3D model data may be 3D mesh data, texture data, point cloud data, feature point data, etc. The maxilla is generally more fully exposed, with more exposed data and features, and is more suitable for registration and alignment with the facial 3D model data.

[0048] Specifically, since the second jaw is not wearing a jaw fork, it is fully exposed. At the same time, both the facial 3D model and the jaw 3D model include the fully exposed jaw, so the fully exposed jaw can be used as a reference to further analyze and determine the relative position relationship between the facial 3D model and the jaw 3D model.

[0049] Exemplarily, determining the model relative position relationship between the facial three-dimensional model data and the jaw three-dimensional model based on another jaw includes: determining a first outer surface feature of the second jaw, and determining a second outer surface feature of the second jaw in the facial three-dimensional model; aligning the facial three-dimensional model with the jaw three-dimensional model according to the first outer surface feature and the second outer surface feature to determine the model relative position relationship.

[0050] The first outer surface feature may refer to an outer surface feature of the second jaw in the three-dimensional jaw model; and the second outer surface feature may refer to an outer surface feature of the second jaw in the three-dimensional facial model.

[0051] Specifically, the first outer surface feature and the second outer surface feature are scanned and analyzed, and alignment processing is performed based on the first outer surface feature and the second outer surface feature, so as to determine the relative position relationship between the first outer surface feature and the second outer surface feature, that is, determine the relative position relationship between the facial three-dimensional model data and the jaw three-dimensional model.

[0052] Exemplarily, the facial 3D model data and the jaw 3D model are aligned according to the first outer surface feature and the second outer surface feature to determine the relative position relationship of the models, including: determining a model transformation matrix between the facial 3D model data and the jaw 3D model according to the first outer surface feature and the second outer surface feature; determining the model relative position relationship between the facial 3D model data and the jaw 3D model according to the model transformation matrix.

[0053] The model transformation matrix may refer to the transformation matrix between the facial three-dimensional model data and the jaw three-dimensional model.

[0054] Specifically, the first outer surface feature and the second outer surface feature are aligned, and a model transformation matrix between the two is determined, and then the model relative position relationship between the facial three-dimensional model data and the jaw three-dimensional model is determined according to the model transformation matrix.

[0055] S104. When the oral cavity is in the preset state and the upper jaw and the lower jaw are wearing jaw forks at the same time, determine the second landmark point corresponding to the upper jaw and the third landmark point corresponding to the lower jaw according to the jaw forks respectively worn.

[0056] The second landmark point may refer to a special landmark point of the upper jaw fork when the upper and lower jaws are wearing the fork at the same time. The third landmark point may refer to a special landmark point of the lower jaw fork when the upper and lower jaws are wearing the fork at the same time.

[0057] Specifically, when the target object's upper and lower jaws wear their own jaw forks at the same time and the mouth is in a preset oral state, the target object's facial information is scanned, and the position information of the special marking points attached to the upper and lower jaw forks is identified at the same time, and the special marking points attached to the upper jaw fork are determined as the second marking points, and the special marking points attached to the lower jaw fork are determined as the third marking points.

[0058] It should be noted that this step determines the second and third landmarks by scanning the face. However, the focus of scanning the face in this step is to scan and obtain the three-dimensional data of the second and third landmarks. There is no need to accurately scan the facial information, and there is no need to perform three-dimensional reconstruction and data generation on the face.

[0059] S105. Determine the relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model when the mandible of the target object moves according to the relative position relationship among the first marker point, the second marker point, the third marker point and the model.

[0060] The relative position relationship of the jaw models may be to display or present the position relationship between the maxillary three-dimensional model and the mandibular three-dimensional model, and then record and analyze the oral problems of the target object according to the position relationship.

[0061] Specifically, a landmark point belonging to the same jaw as the first landmark point is determined from the second landmark point and the third landmark point. According to the landmark point relative position relationship between the second landmark point and the third landmark point, and with reference to the model relative position relationship, a target landmark point that meets the landmark point relative position relationship with the first landmark point is determined in the facial three-dimensional model, so that the first landmark point and the target landmark point can be obtained in the facial three-dimensional model, and then according to the first landmark point and the target landmark point, the relative position relationship of the jaw model between the upper three-dimensional model and the lower three-dimensional model is determined when the lower jaw of the target object moves.

[0062] The technical solution of the embodiment of the present invention is to obtain a three-dimensional model of the jaw corresponding to the oral cavity of the target object when the oral cavity is in a preset oral state, so as to improve the accuracy of jaw presentation, wherein the oral cavity includes two jaws, the two jaws are the upper jaw and the lower jaw, and the three-dimensional model of the jaw includes the upper jaw three-dimensional model and the lower jaw three-dimensional model. When the oral cavity maintains the same preset oral state and one of the jaws wears a jaw fork, the facial three-dimensional model of the target object is obtained, and the first landmark point is determined according to the jaw fork in the facial three-dimensional model. The first landmark point is used to represent the position information of the jaw in the facial three-dimensional model, which can improve the accuracy of determining the position of the jaw during movement. The relative position relationship between the facial three-dimensional model and the jaw three-dimensional model is determined by another jaw that does not wear a jaw fork, so that the coordinates of the two are aligned. When the oral cavity maintains the same preset oral state and the upper jaw and the lower jaw wear jaw forks at the same time, the second landmark point is determined according to the jaw fork worn by the upper jaw, and the third landmark point is determined according to the jaw fork worn by the lower jaw. According to the mutual correspondence between the first mark point, the second mark point, the third mark point and the relative position relationship of the model, the relative position relationship of the jaw model between the upper jaw three-dimensional model and the lower jaw three-dimensional model when the lower jaw moves is determined. By wearing the jaw fork in a time-sharing manner, the acquisition time of the oral jaw can be reduced, and the accuracy of determining the relative position relationship of the jaw model can be improved.

[0063] Embodiment 2

[0064] Figure 3 This is a flow chart of a method for presenting an oral and jaw model provided in Embodiment 2 of the present invention. This embodiment is based on the above embodiments.

[0065] Determining the relative position relationship of the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model of the target object according to the relative position relationship between the first marker point, the second marker point, the third marker point and the model, includes:

[0066] Determining a relative position relationship between the second marker point and the third marker point;

[0067] Based on the first marker point, and according to the relative position relationship of the marker points, determining a fourth marker point mapped by the second marker point in the three-dimensional facial model;

[0068] The relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model of the target object is determined according to the first landmark point and the fourth landmark point in the facial three-dimensional model.

[0069] like Figure 3 As shown, the method includes:

[0070] S201. Acquire a three-dimensional jaw model of the target object's oral cavity in a preset state, wherein the oral cavity includes an upper jaw and a lower jaw, and the three-dimensional jaw model includes an upper jaw three-dimensional model and a lower jaw three-dimensional model.

[0071] S202. When the oral cavity is in the preset state and one of the jaws is wearing a jaw fork, obtain the three-dimensional facial model data of the target object, and determine the position of a first landmark point according to the three-dimensional facial model data, wherein the one of the jaws is a first jaw.

[0072] S203: Determine a model relative position relationship between the facial three-dimensional model data and the jaw three-dimensional model based on another jaw, wherein the other jaw is a second jaw.

[0073] S204. When the oral cavity is in the preset state and the upper jaw and the lower jaw are wearing jaw forks at the same time, determine the second landmark point corresponding to the upper jaw and the third landmark point corresponding to the lower jaw according to the jaw forks respectively worn.

[0074] S205: Determine a relative position relationship between the second marker point and the third marker point.

[0075] The relative position relationship of the landmark points may refer to the relative position relationship between the second landmark point and the third landmark point, that is, the relative position relationship between the upper jaw and the lower jaw.

[0076] Figure 4 This is a schematic diagram of the relative position relationship of the marker points provided in the second embodiment of the present invention. Figure 4 As shown, according to the position information of the second marking point and the position information of the third marking point, a transformation matrix between the two is determined, and then the relative position relationship of the marking points is determined using the transformation matrix.

[0077] S206. Based on the first marker point and according to the relative position relationship of the marker points, determine a fourth marker point mapped by the second marker point in the facial three-dimensional model data.

[0078] The fourth marker point may refer to a marker point that has a relative position relationship with the first marker point.

[0079] It should be explained that the first landmark point can be a landmark point in the upper jaw or a landmark point in the lower jaw. Therefore, the first landmark point and the second landmark point belong to the same jaw landmark point, or the first landmark point and the third landmark point belong to the same jaw landmark point. When determining the relative position relationship between the second landmark point and the third landmark point, the first landmark point of the facial three-dimensional model can be used as a reference to obtain a fourth landmark point that has a relative position relationship with the first landmark point.

[0080] S207. Determine, based on the first landmark point and the fourth landmark point in the facial three-dimensional model, a relative position relationship of the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model when the lower jaw of the target object moves.

[0081] Figure 5 This is a schematic diagram of the relative position relationship of the jaw model provided in the second embodiment of the present invention. Figure 5 As shown, the first marker point and the fourth marker point are used to represent the upper jaw and the lower jaw respectively, and based on the position information of the first marker point and the position information of the fourth marker point, the relative position relationship of the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model during the mandibular movement of the target object is determined.

[0082] Exemplarily, the relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model is determined based on the first marker point and the fourth marker point in the facial three-dimensional model data when the mandible of the target object moves, including: when the upper and lower jaws of the target object are in a preset state, determining the first static position of the first marker point and the second static position of the fourth marker point; when the upper and lower jaws of the target object are in a moving state, determining the first moving position of the first marker point and the second moving position of the fourth marker point for each frame of motion data; when the upper and lower jaws of the target object move, the relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model is determined based on the first static position, the first moving position, the second static position and the second moving position.

[0083] The first static position may refer to the position information of the first mark point when the target object's mouth is in a closed state. The second static position may refer to the position information of the fourth mark point when the target object's mouth is in a closed state. The first moving position may refer to the position information of the first mark point when the target object's mouth is in a moving state. The second moving position may refer to the position information of the fourth mark point when the target object's mouth is in a moving state.

[0084] Specifically, the first static position of the first mark point target object when the mouth is in a closed state, and the second static position of the fourth mark point target object when the mouth is in a closed state are determined. At the same time, for each frame of motion data, the first moving position of the first mark point target object when the mouth is in a moving state, and the second moving position of the fourth mark point target object when the mouth is in a moving state are determined. Then, according to the relative positional relationship between the first static position, the first moving position, the second static position, and the second moving position, the relative positional relationship of the jaw model can be determined.

[0085] Exemplarily, the determining the relative position relationship of the jaw models based on the first static position, the first moving position, the second static position and the second moving position includes: determining a first transformation matrix corresponding to the maxillary three-dimensional model based on the first static position and the first moving position; determining a second transformation matrix corresponding to the mandibular three-dimensional model based on the second static position and the second moving position; and determining the relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model when the mandible of the target object moves based on each of the first transformation matrices and each of the second transformation matrices.

[0086] The first transformation matrix may refer to a transformation matrix between a first static position and a first moving position, and the second transformation matrix may refer to a transformation matrix between a second static position and a second moving position.

[0087] Specifically, based on the first static position and the first moving position, a first transformation matrix between the first marker point when the mouth is closed and when it is in the moving state is determined. Based on the second static position and the second moving position, a second transformation matrix between the second marker point when the mouth is closed and when it is in the moving state is determined. That is, the transformation matrix between the maxillary three-dimensional model when the mouth is closed and when it is in the moving state, and the transformation matrix between the mandibular three-dimensional model when the mouth is closed and when it is in the moving state are determined respectively. Then, based on each first transformation matrix and each second transformation matrix, the relative position relationship of the jaw models of the maxillary three-dimensional model and the mandibular three-dimensional model in each frame of motion is determined.

[0088] Exemplarily, the three-dimensional motion relationship between the upper and lower jaws is determined based on each of the first transformation matrices and each of the second transformation matrices, including: for each frame of motion data, determining the relative position relationship of motion corresponding to the motion data based on the first transformation matrix and the second transformation matrix; establishing a reference system based on the maxillary three-dimensional model, and determining, based on the motion relative position relationship, the relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model when the mandible of the target object moves.

[0089] Specifically, for each frame of oral motion frame, the transformation matrix between the upper and lower jaw models during the movement of the oral cavity is calculated according to the first transformation matrix and the second transformation matrix, and the maxillary three-dimensional model is established as a reference system. For each frame of motion data, the transformation matrix between the upper and lower jaw models is maintained, and the movement of the mandibular three-dimensional model relative to the maxillary three-dimensional model is determined, until the movement of the mandibular three-dimensional model relative to the maxillary three-dimensional model is determined for each frame of oral motion data, so that the relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model when the mandible moves can be determined.

[0090] The technical solution of the embodiment of the present invention determines the relative position relationship of the landmarks between the second landmark and the third landmark. By using the relative position relationship of the landmarks of the upper and lower jaws, a fourth landmark corresponding to the first landmark is mapped in the facial three-dimensional model, and then the relative position relationship of the jaw model between the upper and lower jaw three-dimensional models of the target object is determined according to the first and fourth landmarks in the facial three-dimensional model, thereby improving the accuracy of determining the relative position relationship of the jaw models, and facilitating a more detailed analysis of the tooth occlusion of the target object.

[0091] Embodiment 3

[0092] Figure 6 This is a schematic diagram of the structure of an oral and jaw model presentation device provided in Embodiment 3 of the present invention. Figure 6 As shown, the device comprises:

[0093] The jaw model determination module 301 is used to obtain a jaw three-dimensional model of the target object's oral cavity in a preset state, wherein the oral cavity includes an upper jaw and a lower jaw, and the jaw three-dimensional model includes an upper jaw three-dimensional model and a lower jaw three-dimensional model;

[0094] The facial model determination module 302 is used to obtain the facial three-dimensional model data of the target object when the oral cavity is in the preset state and one of the jaws is wearing a jaw fork, and determine the position of the first landmark point according to the facial three-dimensional model data, wherein the one of the jaws is a first jaw;

[0095] The position relationship determination module 303 is used to obtain a three-dimensional model of the jaw of the target object in a preset state, wherein the oral cavity includes an upper jaw and a lower jaw, and the three-dimensional model of the jaw includes a three-dimensional model of the upper jaw and a three-dimensional model of the lower jaw;

[0096] The landmark point determination module 304 is used to determine the second landmark point corresponding to the upper jaw and the third landmark point corresponding to the lower jaw according to the respectively worn jaw forks when the oral cavity is in the preset oral state and the upper jaw and the lower jaw are wearing jaw forks at the same time;

[0097] The model rendering module 305 is used to determine the relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model when the mandible of the target object moves based on the relative position relationship of the first marker point, the second marker point, the third marker point and the model.

[0098] The technical solution of the embodiment of the present invention is to obtain a three-dimensional model of the jaw corresponding to the oral cavity of the target object when the oral cavity is in a preset oral state, so as to improve the accuracy of the jaw presentation, wherein the oral cavity includes two jaws, the two jaws are the upper jaw and the lower jaw, and the three-dimensional model of the jaw includes the upper jaw three-dimensional model and the lower jaw three-dimensional model. When the oral cavity maintains the same preset oral state and one of the jaws wears a jaw fork, the facial three-dimensional model of the target object is obtained, and the first landmark point is determined according to the jaw fork in the facial three-dimensional model. The first landmark point is used to represent the position information of the jaw in the facial three-dimensional model, which can improve the accuracy of determining the position of the jaw during movement. The relative position relationship between the facial three-dimensional model and the jaw three-dimensional model is determined by another jaw that does not wear a jaw fork, so that the coordinates of the two are aligned. When the oral cavity maintains the same preset oral state and the upper jaw and the lower jaw wear jaw forks at the same time, the second landmark point is determined according to the jaw fork worn by the upper jaw, and the third landmark point is determined according to the jaw fork worn by the lower jaw. According to the mutual correspondence between the first mark point, the second mark point, the third mark point and the relative position relationship of the model, the relative position relationship of the jaw model between the upper jaw three-dimensional model and the lower jaw three-dimensional model when the lower jaw moves is determined. By wearing the jaw fork in a time-sharing manner, the acquisition time of the oral jaw can be reduced, and the accuracy of determining the relative position relationship of the jaw model can be improved.

[0099] Optionally, the preset state is the occlusal state of the upper jaw and the lower jaw, the first jaw is the lower jaw, the second jaw is the upper jaw, and the facial three-dimensional model data at least partially overlaps with the second jaw three-dimensional model data.

[0100] Optionally, the position relationship determination module 303 includes:

[0101] The outer surface feature determination unit is used to determine the first outer surface feature of the second jaw, and to determine the second outer surface feature of the second jaw in the three-dimensional facial model; the position relationship determination unit is used to align the three-dimensional facial model data with the three-dimensional jaw model according to the first outer surface feature and the second outer surface feature, and to determine the relative position relationship between the models. Optionally, the position relationship determination unit is specifically used to: determine the model transformation matrix between the three-dimensional facial model data and the three-dimensional jaw model according to the first outer surface feature and the second outer surface feature;

[0102] According to the model transformation matrix, the model relative position relationship between the facial three-dimensional model data and the jaw three-dimensional model is determined.

[0103] Optionally, the model presentation module 305 includes:

[0104] A relative position relationship determination submodule, used to determine the relative position relationship between the second marker point and the third marker point;

[0105] a fourth marker point determination submodule, configured to determine, based on the first marker point and according to the relative position relationship of the marker points, a fourth marker point mapped by the second marker point in the facial three-dimensional model data;

[0106] The jaw model presentation submodule is used to determine the relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model when the mandible of the target object moves according to the first landmark point and the fourth landmark point in the facial three-dimensional model data.

[0107] Optionally, the jaw model presentation submodule comprises:

[0108] a static position determining unit, configured to determine, when the upper and lower jaws of the target object are in a preset state, a first static position where the first marker point is located, and a second static position where the fourth marker point is located;

[0109] a motion position determining unit, configured to determine, for each frame of motion data, a first motion position of the first marker point and a second motion position of the fourth marker point when the upper and lower jaws of the target object are in motion;

[0110] A jaw model presentation unit is used to determine the relative position relationship of the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model when the lower jaw of the target object moves according to the first static position, the first moving position, the second static position and the second moving position.

[0111] Optionally, the jaw model presentation unit comprises:

[0112] a transformation matrix determination subunit, configured to determine a first transformation matrix corresponding to the maxillary three-dimensional model according to the first static position and the first moving position;

[0113] The transformation matrix determination subunit is further used to determine a second transformation matrix corresponding to the mandibular three-dimensional model according to the second static position and the second moving position;

[0114] The jaw model presentation subunit is used to determine the relative position relationship of the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model when the lower jaw of the target object moves according to each of the first transformation matrices and each of the second transformation matrices.

[0115] Optionally, the jaw model presents a subunit, specifically for:

[0116] For each frame of motion data, determining a relative position relationship of motion corresponding to the motion data according to the first transformation matrix and the second transformation matrix;

[0117] A reference system is established based on the maxillary three-dimensional model, and according to the relative position relationship of movement, the relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model is determined when the mandible of the target object moves.

[0118] The oral and jaw model presentation device provided in the embodiment of the present invention can execute the oral and jaw model presentation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0119] Embodiment 4

[0120] Figure 7 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0121] like Figure 7 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0122] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0123] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method of oral jaw model presentation.

[0124] In some embodiments, the method of oral and jaw model presentation can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method of oral and jaw model presentation described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the method of oral and jaw model presentation in any other appropriate manner (for example, by means of firmware).

[0125] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0126] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0127] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0128] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0129] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0130] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0131] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0132] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for presenting an oral and jaw model, characterized in that: include: Acquire a three-dimensional model of the jaw of the target object in a preset state of the oral cavity, wherein the oral cavity includes an upper jaw and a lower jaw, and the three-dimensional model of the jaw includes a three-dimensional model of the upper jaw and a three-dimensional model of the lower jaw; When the oral cavity is in the preset state and one of the jaws is wearing a jaw fork, acquiring the facial three-dimensional model data of the target object, and determining the position of the first landmark point according to the facial three-dimensional model data, wherein the one of the jaws is a first jaw; Based on another jaw, determining a model relative position relationship between the facial three-dimensional model data and the jaw three-dimensional model, the other jaw being a second jaw; When the oral cavity is in the preset state and the upper jaw and the lower jaw are wearing jaw forks at the same time, the second landmark point corresponding to the upper jaw and the third landmark point corresponding to the lower jaw are determined according to the jaw forks respectively worn; According to the relative position relationship among the first marker point, the second marker point, the third marker point and the model, the relative position relationship among the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model is determined when the lower jaw of the target object moves.

2. The method according to claim 1, characterized in that The preset state is the occlusal state of the upper jaw and the lower jaw, the first jaw is the lower jaw, the second jaw is the upper jaw, and the facial three-dimensional model data at least partially overlaps with the second jaw three-dimensional model data.

3. The method according to claim 1, characterized in that The determining of the relative position relationship between the facial three-dimensional model data and the jaw three-dimensional model based on another jaw includes: determining a first outer surface feature of the second jaw, and determining a second outer surface feature of the second jaw in the three-dimensional facial model; According to the first outer surface feature and the second outer surface feature, the facial three-dimensional model data is aligned with the jaw three-dimensional model to determine the relative position relationship of the models.

4. The method according to claim 3, characterized in that The aligning the facial three-dimensional model with the jaw three-dimensional model according to the first outer surface feature and the second outer surface feature to determine the relative position relationship of the models includes: Determining a model transformation matrix between the facial three-dimensional model data and the jaw three-dimensional model according to the first outer surface feature and the second outer surface feature; According to the model transformation matrix, the model relative position relationship between the facial three-dimensional model data and the jaw three-dimensional model is determined.

5. The method according to claim 1, characterized in that The determining, according to the relative positional relationship among the first marker point, the second marker point, the third marker point and the model, the relative positional relationship among the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model when the lower jaw of the target object moves, comprises: Determining a relative position relationship between the second marker point and the third marker point; Based on the first marker point, determining a fourth marker point mapped by the second marker point in the facial three-dimensional model data according to a relative position relationship of the marker points; The relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model is determined according to the first marker point and the fourth marker point in the facial three-dimensional model data when the mandible of the target object moves.

6. The method according to claim 5, characterized in that The determining, based on the first marker point and the fourth marker point in the facial three-dimensional model data, a relative position relationship of the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model when the lower jaw of the target object moves, comprises: When the upper and lower jaws of the target object are in a preset state, determining a first static position where the first marker point is located, and a second static position where the fourth marker point is located; When the upper and lower jaws of the target object are in motion, determining, for each frame of motion data, a first motion position of the first marker point and a second motion position of the fourth marker point; According to the first static position, the first moving position, the second static position and the second moving position, the relative position relationship of the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model is determined when the lower jaw of the target object moves.

7. The method according to claim 6, characterized in that The determining, according to the first static position, the first moving position, the second static position, and the second moving position, the relative position relationship of the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model when the lower jaw of the target object moves, comprises: Determining a first transformation matrix corresponding to the maxillary three-dimensional model according to the first static position and the first moving position; Determining a second transformation matrix corresponding to the mandibular three-dimensional model according to the second static position and the second moving position; According to each of the first transformation matrices and each of the second transformation matrices, a relative position relationship of the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model is determined when the lower jaw of the target object moves.

8. The method according to claim 7, characterized in that Determining, according to each of the first transformation matrices and each of the second transformation matrices, a relative position relationship of the jaw models between the upper jaw three-dimensional model and the lower jaw three-dimensional model when the lower jaw of the target object moves, comprises: For each frame of motion data, determining a relative position relationship of motion corresponding to the motion data according to the first transformation matrix and the second transformation matrix; A reference system is established based on the maxillary three-dimensional model, and according to the relative position relationship of movement, the relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model is determined when the mandible of the target object moves.

9. An oral and jaw model presentation device, characterized in that: include: A jaw model determination module, used to obtain a jaw three-dimensional model of the target object's oral cavity in a preset state, wherein the oral cavity includes an upper jaw and a lower jaw, and the jaw three-dimensional model includes an upper jaw three-dimensional model and a lower jaw three-dimensional model; A facial model determination module, configured to obtain the facial three-dimensional model data of the target object when the oral cavity is in the preset state and one of the jaws is wearing a jaw fork, and determine the position of a first landmark point according to the facial three-dimensional model data, wherein the one of the jaws is a first jaw; A position relationship determination module, used for obtaining a three-dimensional model of the jaw of a preset state of a target object, wherein the oral cavity includes an upper jaw and a lower jaw, and the three-dimensional model of the jaw includes a three-dimensional model of the upper jaw and a three-dimensional model of the lower jaw; A landmark point determination module, for determining a second landmark point corresponding to the upper jaw and a third landmark point corresponding to the lower jaw according to the respectively worn jaw forks when the oral cavity is in the preset oral state and the upper jaw and the lower jaw are wearing jaw forks at the same time; A model presentation module is used to determine the relative position relationship of the jaw models between the maxillary three-dimensional model and the mandibular three-dimensional model when the mandible of the target object moves based on the relative position relationship between the first marker point, the second marker point, the third marker point and the model.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the oral and jaw model presentation method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the oral and jaw model presentation method according to any one of claims 1 to 8 when executed.

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