Dental image display method and dental mobile phone

Abstract

The present invention relates to the field of dental image display technology, and specifically to a dental image display method and a dental mobile phone, the method comprising: scanning to form a three-dimensional image of teeth; obtaining a first partial dental arch image captured by a light-sensitive component at each moving position, and obtaining a second partial dental arch image captured by a first camera at each moving position; establishing a position association between the first partial dental arch image captured at each moving position and the second partial dental arch image; obtaining a first real-time image captured by a second camera when the dental mobile phone is operated in the oral cavity, determining the partial dental arch image to which the working part of the dental mobile phone is aligned according to the first real-time image; and displaying the partial dental arch image to which the working part of the dental mobile phone is aligned on the display screen of the dental mobile phone. The present invention is conducive to solving the problem in the prior art that the doctor's line of sight is blocked when operating the dental mobile phone, which is inconvenient to operate, and enables the dental mobile phone to realize the function of an oral mirror through the display screen.

Description

Technical Field

[0001] The invention relates to the technical field of dental image display, and in particular to a dental image display method and a dental mobile phone. Background Art

[0002] A dental mirror, also known as an oral camera or endoscope, is a professional device used in the field of oral medicine, mainly used to take high-definition images or videos of the inside of the oral cavity. It can help doctors or dentists diagnose and treat oral diseases more accurately.

[0003] There are three types of commonly used dental mirrors: front surface mirrors (also called surface plane mirrors), concave mirrors and flat mirrors. In addition, there are double-sided mirrors, but they are not commonly used in clinical practice.

[0004] Dental mirrors have many uses, including:

[0005] Get indirect vision and indirect lighting;

[0006] Retracting soft tissues, such as blocking the tongue or retracting the corners of the mouth, to obtain a better view and a safer intraoral operating environment;

[0007] Through transillumination examination, it is diagnosed whether the patient has dead pulp teeth, cracked teeth, broken teeth, etc.

[0008] Obtaining indirect vision is one of the important uses. Obtaining indirect vision means using a dental mirror to observe the tooth surface or oral structures that cannot be seen directly. The operator can see the dental instruments in the mirror.

[0009] Oral mobile phones are also called dental mobile phones. Oral medical mobile phones are different from the commonly used mobile phones in life. They are special medical equipment for dentistry. They are used to clean tartar, grind carious teeth or perform alveolar bone surgery.

[0010] Dental handpieces are important tools used in dental treatment to clean, repair and treat teeth. Although the design of dental handpieces has been continuously improved, in actual use, the dental handpieces themselves will block the operating position in the patient's mouth, thereby blocking the doctor's working field and making it inconvenient for the doctor to perform intraoral operations.

[0011] Therefore, in the prior art, when a doctor operates a dental handpiece, his vision is blocked, making the operation inconvenient. Summary of the invention

[0012] The main purpose of the present invention is to provide a dental image display method, which aims to solve the problem in the prior art that the doctor's vision is blocked when operating a dental handpiece, making the operation inconvenient.

[0013] To achieve the above-mentioned purpose, in the dental image display method proposed by the present invention, an intraoral scanner is provided with a photosensitive component and a first camera arranged on the back of the photosensitive component; the dental handpiece comprises a main structure, one end of the main structure is provided with a working end of the dental handpiece, and the other end is a handheld end, a display screen is arranged between the working end and the handheld end of the dental handpiece, a working component is arranged on the front of the working end of the dental handpiece, and a second camera is arranged on the back of the working end; the positional relationship of the second camera relative to the working component of the dental handpiece is the same as the positional relationship of the first camera relative to the photosensitive component; the dental handpiece and the intraoral scanner are respectively connected to the processing module for executing the method through the processing module; the method comprises the following steps:

[0014] Acquire a three-dimensional image of teeth formed by scanning the patient's oral cavity by the optical sensing component of the intraoral scanner;

[0015] When the light-sensing component of the intraoral scanner moves along the dental arch, a first partial dental arch image captured by the light-sensing component at each moving position is obtained, and a second partial dental arch image captured by the first camera at each moving position is obtained; wherein the first partial dental arch image is a partial image of one of the upper dental arch and the lower dental arch in the three-dimensional dental image, and the second partial dental arch image is a partial image of the other of the upper dental arch and the lower dental arch in the three-dimensional dental image;

[0016] Establishing a position association between the first partial dental arch image and the second partial dental arch image acquired at each moving position to form paired data;

[0017] Acquire a first real-time image captured by a second camera when the dental handpiece is operated in the oral cavity, and query the pairing data according to the first real-time image to determine a local dental arch image to which the working part of the dental handpiece is aligned;

[0018] The partial dental arch image aligned with the working part of the dental handpiece is displayed on the display screen of the dental handpiece.

[0019] Preferably, a third camera is further provided on one side of the dental handpiece close to the working end, and the third camera is used to capture an image of a working component installed on the working end of the dental handpiece; the method further includes:

[0020] Acquire a second real-time image captured by a third camera when the dental handpiece is operated in the oral cavity, wherein the second real-time image is an image of a working component installed at the working end of the dental handpiece working in a local dental arch;

[0021] The step of aligning the working part of the dental mobile phone with the partial dental arch image and displaying it on the display screen of the dental mobile phone comprises:

[0022] Processing the local dental arch image aligned with the working part of the dental mobile phone and the second real-time image to obtain a display image of the working part in the local dental arch;

[0023] The display image of the working parts in the partial dental arch is displayed on the display screen of the dental handpiece.

[0024] Preferably, the handheld end of the dental handpiece is provided with a fourth camera for collecting doctor images; the method further comprises:

[0025] Establish a three-dimensional coordinate system based on the three-dimensional image of the teeth;

[0026] Calculate the position coordinates of the working end of the dental handpiece in the three-dimensional coordinate system through the first real-time image acquired by the second camera when the working end of the dental handpiece moves at different positions in the oral cavity;

[0027] The doctor's image is acquired by the fourth camera, and the doctor's image is established in a three-dimensional coordinate system to determine the doctor's coordinates and the doctor's field of vision;

[0028] Identify the affected area from the three-dimensional image of the tooth and extract the coordinates of the affected area, wherein the affected area includes the affected tooth and the tissue surrounding the affected tooth;

[0029] Calculate the blind spot coordinates of the three-dimensional tooth image relative to the doctor's coordinates;

[0030] When the position coordinates of the working end of the dental handpiece are in the overlapping area of ​​the blind spot coordinates and the affected area coordinates, the local dental arch image aligned with the working part of the dental handpiece and the first real-time image captured by the second camera are displayed on the display screen.

[0031] Preferably, the step of establishing a three-dimensional coordinate system based on the three-dimensional image of the teeth includes:

[0032] A reference plane is established in the lower dental arch in the three-dimensional image of the teeth, and the x-axis direction of the three-dimensional coordinate system is determined by the center line of the dental arch below the reference plane;

[0033] In the reference plane, the y-axis direction of the three-dimensional coordinate system is determined from the left alveolar to the right alveolar;

[0034] Determine the z-axis direction of the three-dimensional coordinate system in directions perpendicular to the x-axis and the y-axis respectively;

[0035] A three-dimensional coordinate system is established according to the x-axis direction, the y-axis direction, the z-axis direction, and the selected coordinate origin.

[0036] Preferably, the doctor image acquired by the fourth camera, establishing the doctor image in a three-dimensional coordinate system, determining the doctor coordinates, and determining the doctor's line of sight, comprises:

[0037] Obtaining the doctor's image captured by the fourth camera at each set time;

[0038] Obtaining the position of the working end of the dental handpiece in the three-dimensional coordinate system at each set moment;

[0039] The doctor's image at each set moment is converted into a three-dimensional coordinate system according to the position coordinates of the working end of the dental handpiece in the three-dimensional coordinate system to determine the doctor's coordinates;

[0040] Determine the doctor's field of view based on the doctor's coordinates and the set observation angle.

[0041] Preferably, the step of calculating the coordinates of the blind spot of the three-dimensional tooth image relative to the doctor's coordinates includes:

[0042] According to the three-dimensional image of teeth, simulate the covering condition of the three-dimensional image of teeth in the oral environment;

[0043] The coordinates of the doctor's blind spot are determined based on the doctor's field of vision and the coverage of the three-dimensional image of the teeth in the oral environment.

[0044] Preferably, the method further comprises:

[0045] Calculate the perspective deviation between the doctor's coordinates and the three-dimensional image of the tooth;

[0046] Calculate the comfortable display angle of the three-dimensional tooth image according to the viewing angle deviation;

[0047] The step of displaying the local dental arch image aligned with the working part of the dental handpiece and the first real-time image captured by the second camera on the display screen when the position coordinates of the working end of the dental handpiece are in the overlapping area of ​​the blind spot coordinates and the affected area coordinates comprises:

[0048] When the position coordinates of the working end of the dental handpiece are in the overlapping area of ​​the blind spot coordinates and the affected area coordinates, the display screen displays the local dental arch image aligned with the working part of the dental handpiece and the first real-time image captured by the second camera at a comfortable display angle.

[0049] Preferably, the step of calculating the viewing angle deviation between the doctor's coordinates and the three-dimensional image of the tooth includes:

[0050] Establishing a first reference direction using a sight line direction determined according to the doctor's coordinates;

[0051] Establishing a second reference direction based on the front-back direction of the three-dimensional tooth image;

[0052] Obtaining an operation angle between a first reference direction and a second reference square line;

[0053] The operating angle is taken as the viewing angle deviation.

[0054] Preferably, the step of determining the doctor's visual range according to the doctor's coordinates and the set observation angle includes:

[0055] Obtain the coordinates of the doctor's eyes, and calculate the coordinates of the doctor's eye midpoints and the doctor's sight direction based on the coordinates of the doctor's eyes;

[0056] According to the preset observation angle, the coordinates of the midpoints of the doctor's eyes and the doctor's sight direction, the doctor's sight range is constructed in the three-dimensional coordinate system;

[0057] The step of determining the coordinates of the doctor's blind spot according to the doctor's visual range and the coverage of the three-dimensional image of the teeth in the oral environment includes:

[0058] Display the covering condition of the three-dimensional image of the teeth in the oral environment in a three-dimensional coordinate system;

[0059] According to the covering condition of the three-dimensional image of the teeth in the oral environment and the blocking range of the doctor's field of vision, the doctor's blind spot is determined, and the coordinates of the doctor's blind spot are calculated according to the coordinate points within the blind spot.

[0060] To achieve the above-mentioned purpose, the present invention also proposes a dental handpiece, which is communicatively connected to a processing module, and the processing module is communicatively connected to an intraoral scanner; the intraoral scanner is provided with a photosensitive component and a first camera arranged on the back of the photosensitive component; the dental handpiece includes a main structure, one end of the main structure is provided with a working end of the dental handpiece, and the other end is a handheld end, a display screen is arranged between the working end and the handheld end of the dental handpiece, the working component is arranged on the front of the working end of the dental handpiece, and the second camera is arranged on the back of the working end; the positional relationship of the second camera relative to the working component of the dental handpiece is the same as the positional relationship of the first camera relative to the photosensitive component; the processing module is used to execute the method.

[0061] In the technical solution of the present invention, the intraoral scanner is provided with a photosensitive component for scanning a three-dimensional image of teeth, and a first camera is provided on the back of the photosensitive component. The dental handpiece is divided into two ends, one end is a handheld end for the doctor to operate by hand, and the other end is a working end that can be inserted into the oral cavity for operation on the teeth. Among them, the handheld end is connected to the display screen, the working component is provided on the front of the working end of the dental handpiece, and the second camera is provided on the back of the working end. After the three-dimensional image of the patient's teeth is formed by scanning with the intraoral scanner, the doctor uses the photosensitive component of the intraoral scanner to move along the dental arch in the oral cavity, so that the photosensitive component collects the first partial dental arch image of one of the upper dental arch and the lower dental arch at each moving position, and the first camera on the back of the photosensitive component collects the second partial dental arch image of the other of the upper dental arch and the lower dental arch at each moving position, so the first partial dental arch image and the second partial dental arch image at the same moving position can be associated to establish paired data, which is equivalent to knowing one of the two and being able to determine the other. A working part is arranged on the front of the working end of the dental handpiece, and a second camera is arranged on the back of the working end. The positional relationship of the second camera relative to the working part of the dental handpiece is the same as the positional relationship of the first camera relative to the light-sensitive part. Therefore, when the doctor uses the dental handpiece to operate in the oral cavity, the working part of the working end of the dental handpiece is aimed at a local dental arch image, but this local dental arch image is blocked by the working part. However, the second camera can capture the first real-time image. By querying the matching data based on the first real-time image, the local dental arch image aimed at by the working part of the dental handpiece can be determined. The local dental arch image aimed at by the working part of the dental handpiece can be displayed on the display screen of the dental handpiece, so that the dental arch position image blocked by the working part of the dental handpiece can be displayed, which is conducive to solving the technical problem that the doctor's line of sight is blocked when operating the dental handpiece, which is inconvenient to operate, and the dental handpiece can realize the function of an oral mirror through the display screen. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, 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 invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0063] Figure 1 A flowchart of an embodiment of a dental image display method of the present invention;

[0064] Figure 2 A schematic diagram of a handheld terminal of a dental handpiece of the present invention connected to a display screen;

[0065] Figure 3A schematic diagram of the intraoral scanner of the present invention collecting a first partial dental arch image and a second partial dental arch image;

[0066] Figure 4 A schematic diagram of the dental handpiece of the present invention collecting a first real-time image and a second real-time image;

[0067] Figure 5 The upper dental arch image and the lower dental arch image in the present invention;

[0068] Figure 6 It is an image of the soft tissue covering the dental arch generated based on the three-dimensional image of the teeth;

[0069] Figure 7 is a schematic diagram of a three-dimensional coordinate system in the present invention;

[0070] Figure 8 Schematic diagram of blind spot and visual range.

[0071] Description of Figure Numbers:

[0072] 1-main structure; 2-ring; 3-display screen; 4-second connecting structure; 5-first connecting structure; 6-working end; 7-second camera; 8-handheld end; 9-working part; 10-intraoral scanner; 11-light sensing part; 12-first camera; 13-third camera; 14-fourth camera. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0074] See also Figures 1 to 8 To achieve the above-mentioned purpose, the first embodiment of the present invention proposes a dental image display method, wherein an intraoral scanner 10 is provided with a photosensitive component 11 and a first camera 12 arranged on the back of the photosensitive component 11; a dental handpiece comprises a main structure 1, one end of the main structure 1 is provided with a working end 6 of the dental handpiece, and the other end is a handheld end 8, a display screen 3 is arranged between the working end 6 of the dental handpiece and the handheld end 8, a working component 9 is arranged on the front of the working end 6 of the dental handpiece, and a second camera 7 is arranged on the back of the working end 6; the position relationship of the second camera 7 relative to the working part 9 of the dental handpiece is the same as the position relationship of the first camera 12 relative to the photosensitive component 11; the dental handpiece and the intraoral scanner 10 are respectively connected to the processing module for communication, so as to execute the method through the processing module; the method comprises the following steps:

[0075] Step S100, obtaining a three-dimensional image of teeth formed by scanning the patient's oral cavity by the light sensing component 11 of the intraoral scanner 10;

[0076] Step S200, when the light sensing component 11 of the intraoral scanner 10 moves along the dental arch, a first partial dental arch image captured by the light sensing component 11 at each moving position is acquired, and a second partial dental arch image captured by the first camera 12 at each moving position is acquired; wherein the first partial dental arch image is a partial image of one of the upper dental arch and the lower dental arch in the three-dimensional dental image, and the second partial dental arch image is a partial image of the other of the upper dental arch and the lower dental arch in the three-dimensional dental image;

[0077] Step S300, establishing a position association between the first partial dental arch image and the second partial dental arch image collected at each moving position to form pairing data;

[0078] Step S400, obtaining a first real-time image captured by the second camera 7 when the dental handpiece is operated in the oral cavity, querying the pairing data according to the first real-time image to determine the local dental arch image to which the working part 9 of the dental handpiece is aligned;

[0079] Step S500, the partial dental arch image is aligned with the working part 9 of the dental handpiece and displayed on the display screen 3 of the dental handpiece.

[0080] In the technical solution of the present invention, the intraoral scanner 10 is provided with a light-sensitive component 11 for scanning a three-dimensional image of teeth, and a first camera 12 is provided on the back of the light-sensitive component 11. The dental handpiece is divided into two ends, one end is a handheld end 8 for convenient operation by the doctor, and the other end is a working end 6 that can be inserted into the oral cavity for operation on the teeth. Among them, the handheld end 8 is connected to the display screen 3, the front of the working end 6 of the dental handpiece is provided with a working component 9, and the back of the working end 6 is provided with a second camera 7. After the three-dimensional image of the patient's teeth is formed by scanning with the intraoral scanner 10, the doctor uses the light-sensitive component 11 of the intraoral scanner 10 to move along the dental arch in the oral cavity, so that the light-sensitive component 11 collects a first partial dental arch image of one of the upper dental arch and the lower dental arch at each moving position, and the first camera 12 on the back of the light-sensitive component 11 collects a second partial dental arch image of the other of the upper dental arch and the lower dental arch at each moving position, so the first partial dental arch image and the second partial dental arch image at the same moving position can be associated to establish paired data, which is equivalent to knowing one of the two and being able to determine the other. A working part 9 is arranged on the front of the working end 6 of the dental mobile phone, and a second camera 7 is arranged on the back of the working end 6. The positional relationship of the second camera 7 relative to the working part 9 of the dental mobile phone is the same as the positional relationship of the first camera 12 relative to the light-sensitive part 11. Therefore, when the doctor uses the dental mobile phone to operate in the oral cavity, the working part 9 of the working end 6 of the dental mobile phone is aimed at a local dental arch image, but this local dental arch image is blocked by the working part 9. However, the second camera 7 can collect the first real-time image, and the local dental arch image aimed at by the working part 9 of the dental mobile phone can be determined by querying the matching data based on the first real-time image. According to the local dental arch image aimed at by the working part 9 of the dental mobile phone, it is displayed on the display screen 3 of the dental mobile phone, and the dental arch position image blocked by the working part 9 of the dental mobile phone can be displayed, which is conducive to solving the technical problem that the doctor's line of sight is blocked when operating the dental mobile phone, which is inconvenient to operate, and the dental mobile phone can realize the function of an oral mirror through the display screen 3.

[0081] Among them, dental mobile phones include but are not limited to: dental pneumatic high-speed mobile phones, dental implant mobile phones; if the dental mobile phones in this solution are replaced with root canal motors or dental scalers, it can also be applied.

[0082] The intraoral scanner 10 is an intraoral three-dimensional scanning device, which is provided with a photosensitive component 11. The solution of scanning in the oral cavity by the photosensitive component 11 to form a three-dimensional image of teeth is a prior art and will not be described in detail here. In the present invention, a first camera 12 is added to the side of the intraoral scanner 10 away from the photosensitive component 11. After the three-dimensional image of the teeth is established, the intraoral scanner 10 is used to scan inside the oral cavity again. At this time, the photosensitive component 11 collects the image of one of the upper dental arch and the lower dental arch, that is, the first partial dental arch image, and the first camera 12 simultaneously collects the image of the other of the upper dental arch and the lower dental arch, that is, the second partial dental arch image. Therefore, the first partial dental arch image and the second partial dental arch image collected at the same time form a pairing relationship. If one of the images in the pairing relationship is known, the other image can be queried.

[0083] Data transmission interfaces are respectively provided on the main structure 1 of the dental mobile phone and the intraoral scanner, and are connected to an external processing module through the data transmission interface, and the processing module may be a computer.

[0084] like Figure 5 As shown, the three-dimensional dental image includes an upper dental arch image and a lower dental arch image, wherein both the upper dental arch image and the lower dental arch image include: tooth structure (the tooth structure reflects the basic structure, pathological structure and repair structure of the tooth), the tissue structure around the tooth and the tooth arrangement.

[0085] The dental handpiece includes a main structure 1, a working part 9 is arranged on the front of the working end 6 of the dental handpiece, and a second camera 7 is arranged on the back of the working end 6; the position relationship of the second camera 7 relative to the working part 9 of the dental handpiece is the same as the position relationship of the first camera 12 relative to the light sensing part 11; therefore, the working end 6 of the dental handpiece faces the affected area in the mouth to be treated to treat the affected area (for example, grinding and drilling teeth), and the second camera 7 is used to collect the first real-time image on the back of the working part 9. Since the position relationship of the second camera 7 relative to the working part 9 of the dental handpiece is the same as the position relationship of the first camera 12 relative to the light sensing part 11, the first real-time image collected by the second camera 7 is brought into the pairing relationship between the first partial dental arch image and the second partial dental arch image, and the partial dental arch image on the other side paired with the first real-time image can be queried. Here, the "partial dental arch image on the other side" is the partial dental arch image aligned with the working part 9 of the dental handpiece. This image was originally blocked by the working part 9 of the dental handpiece, and it was inconvenient for the doctor to view it. Now, this image is displayed on the display screen 3 of the dental handpiece, which improves the convenience of the doctor's operation. And the doctor does not need to adjust his / her gaze from the situation inside the oral cavity to other large screens, which helps the doctor maintain a high degree of concentration and avoids the reduction of dental operation accuracy due to switching the gaze away from the oral cavity.

[0086] Based on the first embodiment of the present invention, in a second embodiment of the dental image display method of the present invention, a third camera 13 is further provided on one side of the dental mobile phone close to the working end 6, and the third camera 13 is used to capture an image of a working component 9 installed on the working end 6 of the dental mobile phone; the method further includes:

[0087] Step S600, obtaining a second real-time image captured by the third camera 13 when the dental handpiece is operated in the oral cavity, wherein the second real-time image is an image of the working component 9 installed at the working end 6 of the dental handpiece working in the local dental arch;

[0088] The step S500 includes:

[0089] Step S510, processing to obtain a display image of the working component 9 in the local dental arch according to the local dental arch image aligned with the working component 9 of the dental mobile phone and the second real-time image;

[0090] Step S520, displaying the display image of the working component 9 in the partial dental arch on the display screen 3 of the dental mobile phone.

[0091] Specifically, the following three images can be displayed on the display screen 3:

[0092] First, the partial dental arch image paired with the first real-time image, that is, the partial dental arch image aligned with the working part 9 of the dental handpiece is displayed. Since this method retrieves the paired image from the paired data according to the first real-time image for display, the displayed image does not include the working part 9 of the dental handpiece.

[0093] Second, the display image of the working component 9 in the local dental arch is displayed on the display screen 3 of the dental mobile phone. At this time, the display screen 3 displays the second real-time image collected by the third camera 13, and the operation of the working component 9 in the affected area can be seen.

[0094] Third, 3D image processing is performed on the images of the first and second cases to obtain a 3D image of the partial dental arch image aligned with the working part 9 . The 3D image may include the working part 9 or not.

[0095] The doctor can select the above three images for display, and a selection button can be set on the dental handpiece to switch the display.

[0096] Based on the first embodiment of the present invention, in a third embodiment of the dental image display method of the present invention, the handheld end 8 of the dental mobile phone is provided with a fourth camera 14 for collecting doctor images; the method further includes:

[0097] Step S700, establishing a three-dimensional coordinate system according to the three-dimensional image of the tooth;

[0098] Step S800, calculating the position coordinates of the working end 6 of the dental handpiece in the three-dimensional coordinate system through the first real-time image acquired by the second camera 7 when the working end 6 of the dental handpiece moves at different positions in the oral cavity;

[0099] Step S900, establishing the doctor image in a three-dimensional coordinate system through the doctor image captured by the fourth camera 14, determining the doctor coordinates, and determining the doctor's line of sight;

[0100] Step S1000, identifying the affected area from the three-dimensional image of the tooth and extracting the coordinates of the affected area, wherein the affected area includes the affected tooth and the tissue surrounding the affected tooth;

[0101] Step S1100, calculating the blind spot coordinates of the three-dimensional tooth image relative to the doctor's coordinates;

[0102] Step S1200, when the position coordinates of the working end 6 of the dental handpiece are in the overlapping area of ​​the blind spot coordinates and the affected area coordinates, the display screen 3 displays the local dental arch image aligned with the working part 9 of the dental handpiece and the first real-time image captured by the second camera 7.

[0103] The goal of this embodiment is that when the doctor operates the dental handpiece, even if the operation is in the blind spot (generally, the upper and lower dental arches are blocked), the doctor can obtain a good view of the oral cavity. Therefore, this embodiment calculates the overlapped area of ​​the doctor's blind spot coordinates and the affected area coordinates, and displays the partial dental arch image aligned with the working part 9 of the dental handpiece in the overlapped area, and also displays the first real-time image captured by the second camera 7. In this way, when the doctor operates, the upper and lower dental arches at the operating position can be displayed, and a better view can be obtained compared to displaying the operating position of the working part of the dental handpiece alone.

[0104] Specifically, the affected area is extracted from the three-dimensional image of the tooth according to the image recognition technology, and the coordinates of the affected area are formed according to the coordinates of the affected area in the three-dimensional coordinate system.

[0105] Please refer to Figure 6 , Figure 6 It is an image of the lip soft tissue covering the dental arch generated based on the three-dimensional image of the teeth.

[0106] Furthermore, due to the covering effect of the patient's soft tissue on the dental arch and the position of the doctor relative to the oral cavity, there are always some teeth that are in the doctor's blind spot. When the working end 6 of the dental handpiece moves in the oral cavity, it will be in different oral positions. If it is detected that the working end 6 of the dental handpiece is in the overlapping area of ​​the doctor's blind spot coordinate range and the affected area coordinate range, the three-dimensional images of the corresponding positions of the upper and lower dental arches are simultaneously displayed through the display screen 3, and the area within the doctor's blind spot can be presented through the display screen 3, which is convenient for the doctor to observe and diagnose.

[0107] Based on the third embodiment of the present invention, in a fourth embodiment of the dental image display method of the present invention, step S700 includes:

[0108] Step S710, establishing a reference plane below the dental arch in the three-dimensional image of the teeth, and determining the x-axis direction of the three-dimensional coordinate system below the reference plane and the center line of the dental arch;

[0109] Step S720, in the reference plane, determine the y-axis direction of the three-dimensional coordinate system in the direction from the left alveolar socket to the right alveolar socket;

[0110] Step S730, determining the z-axis direction of the three-dimensional coordinate system in directions perpendicular to the x-axis and the y-axis respectively;

[0111] Step S740, establishing a three-dimensional coordinate system according to the x-axis direction, the y-axis direction, the z-axis direction, and the selected coordinate origin.

[0112] Please refer to Figure 7 Specifically, the reference plane established by the lower dental arch is the reference plane where the curve shape of the lower dental arch is located.

[0113] The center line of the lower dental arch refers to the center line that divides the lower dental arch into the left alveolar and the right alveolar.

[0114] The selected coordinate origin may be located on the center line of the lower dental arch by default, or may be determined according to user input.

[0115] Based on the third embodiment of the present invention, in a fifth embodiment of the dental image display method of the present invention, step S900 includes:

[0116] Step S910, obtaining the doctor image captured by the fourth camera 14 at each set time;

[0117] Step S920, obtaining the position of the working end of the dental handpiece in the three-dimensional coordinate system at each set time;

[0118] Step S930, converting the doctor's image at each set moment into a three-dimensional coordinate system according to the position coordinates of the working end of the dental handpiece in the three-dimensional coordinate system to determine the doctor's coordinates;

[0119] Step S940, determining the doctor's field of view according to the doctor's coordinates and the set observation angle.

[0120] Specifically, the starting time when the working end 6 of the dental mobile phone starts working is detected. After the starting time, the fourth camera 14 calculates the acquisition time point according to the preset acquisition cycle and acquisition times, wherein each acquisition time point is each set moment, and the doctor's image is acquired at each set moment.

[0121] It is easy to understand that the patient's position is generally fixed when the dental handpiece is working, while the doctor is active. This embodiment captures the doctor's image multiple times when the dental handpiece is working, and based on the multiple captured doctor images, the doctor's static position after excluding the active state can be determined.

[0122] The doctor's static position at each set moment is converted into the three-dimensional coordinate system according to the position coordinates of the dental mobile phone in the three-dimensional coordinate system at each set moment (specifically, the position coordinates of the working end 6 of the dental mobile phone in the three-dimensional coordinate system are calculated. Based on the static image of the doctor acquired by the fourth camera 14, the position of the static image of the doctor relative to the working end 6 of the dental mobile phone is calculated, and then the static image of the doctor is converted into the three-dimensional coordinate system according to the position coordinates of the working end 6 of the dental mobile phone in the three-dimensional coordinate system) to determine the doctor's coordinates in the three-dimensional coordinate system.

[0123] The observation angle refers to the maximum observation angle set along the sight direction determined according to the doctor's coordinates, taking into account the doctor's adjustment of the sight direction by tilting his head at the set angle. It can be set according to requirements.

[0124] Based on the fifth embodiment of the present invention, in a sixth embodiment of the dental image display method of the present invention, the step S1100 includes:

[0125] Step S1110, simulating the covering condition of the three-dimensional tooth image in the oral environment according to the three-dimensional tooth image;

[0126] Step S1120, determining the coordinates of the doctor's blind spot according to the doctor's visual range and the coverage of the three-dimensional image of the teeth in the oral environment.

[0127] Please refer to Figure 6 The original three-dimensional image of teeth is only the upper and lower dental arch images, and the covering effect of lips is simulated based on the upper and lower dental arch images. In the present invention, the doctor's visual blind spot is mainly formed by the occlusion of teeth by the covering effect of lips.

[0128] Based on the sixth embodiment of the present invention, in a seventh embodiment of the dental image display method of the present invention, the method further includes:

[0129] Step S1300, calculating the viewing angle deviation between the doctor's coordinates and the three-dimensional image of the tooth;

[0130] Step S1400, calculating a comfortable display angle of the three-dimensional tooth image adjusted according to the viewing angle deviation;

[0131] Step S1200 includes:

[0132] Step S1210, when the position coordinates of the working end 6 of the dental mobile phone are in the overlapping area of ​​the blind spot coordinates and the affected area coordinates, the display screen 3 displays the local dental arch image aligned with the working part 9 of the dental mobile phone and the first real-time image captured by the second camera 7 at a comfortable display angle.

[0133] Since the x-axis, y-axis and z-axis are established by using the three-dimensional image of the teeth, and the doctor is generally located at the side of the patient, such as Figure 8 The doctor's coordinates are located on the left side of the oral cavity. Therefore, there will be a perspective deviation between the doctor's coordinates and the patient's oral cavity. The display angle of the three-dimensional image of the teeth is consistent with the patient's oral angle. Therefore, there will also be a perspective deviation between the doctor and the three-dimensional image of the teeth.

[0134] Under the influence of perspective deviation, in order to make his line of sight consistent with the angle of the patient's mouth, the doctor will try to tilt his body in the direction of the correct perspective, which requires twisting his body, for example, turning his head toward the direction of the patient's mouth, which will cause the doctor to operate at an uncomfortable angle.

[0135] In this embodiment, the comfortable display angle of the three-dimensional tooth image is calculated according to the adjustment of the viewing angle deviation, so that the position of the three-dimensional tooth image in the three-dimensional coordinate system does not change. However, when the blind spot coordinates and the affected area coordinates are displayed on the display screen 3, they are displayed according to the doctor's comfortable viewing angle. Therefore, when the doctor observes the tooth image on the display screen 3, he does not need to twist his body excessively, thereby improving the doctor's comfort in observing the image on the display screen 3.

[0136] It should be noted that the doctor does not need to focus his / her sight on healthy teeth, but can focus his / her attention on the affected area and the blind spot. Therefore, the display screen 3 will display the coordinates of the blind spot or the affected area at a comfortable display angle.

[0137] Based on the seventh embodiment of the present invention, in an eighth embodiment of the dental image display method of the present invention, step S1300 includes:

[0138] Step S1310, establishing a first reference direction based on the sight line direction determined according to the doctor's coordinates;

[0139] Step S1320, establishing a second reference direction based on the front-back direction of the three-dimensional tooth image;

[0140] Step S1330, obtaining an operation angle between the first reference direction and the second reference square line;

[0141] Step S1340: taking the operation angle as the viewing angle deviation.

[0142] The second reference direction is established based on the front-back direction of the three-dimensional tooth image, which refers to the x-axis direction.

[0143] The doctor coordinates refer to the coordinates along the left and right sides of the doctor's head. The sight direction determined according to the doctor coordinates is the direction perpendicular to the doctor coordinates, that is, the sight direction is considered to be perpendicular to the left and right sides of the doctor, that is, the front and back directions of the doctor.

[0144] Based on the eighth embodiment of the present invention, in a ninth embodiment of the dental image display method of the present invention, step S940 includes:

[0145] Step S941, obtaining the coordinates of the doctor's eyes, and calculating the coordinates of the doctor's eyes' midpoints and the doctor's sight direction according to the coordinates of the doctor's eyes;

[0146] Step S942, constructing the doctor's sight range in the three-dimensional coordinate system according to the preset observation angle, the coordinates of the midpoints of the doctor's eyes and the doctor's sight direction;

[0147] Step S1120 includes:

[0148] Step S1121, displaying the covering condition of the three-dimensional image of the teeth in the oral environment in a three-dimensional coordinate system;

[0149] Step S1122, according to the covering condition of the three-dimensional image of the teeth in the oral environment, the occlusion range of the doctor's field of vision is determined, and the coordinates of the doctor's field of vision are calculated according to the coordinate points within the field of vision blind spot.

[0150] Please refer to Figure 8 , determine the doctor's coordinates in the three-dimensional coordinate system ( Figure 8 After the doctor's sight range is determined according to the doctor's coordinates and the set observation angle (please refer to Figure 8 conical area in the ).

[0151] Simulate the coverage of the three-dimensional image of the teeth in the oral environment (please refer to Figure 8 The occlusion area enclosed by the two curves in the figure. Since the doctor's coordinates are on the left, the three-dimensional image of the teeth is mainly considered here. Figure 8 The coverage of the left lip in the middle, the coverage range is in the occluded area enclosed by the two curves on the left), according to the doctor's line of sight and the coverage of the three-dimensional image of the teeth in the oral environment, the doctor's blind spot can be determined, and then according to the blind spot of the three-dimensional image of the teeth, the blind spot coordinates within the blind spot can be determined.

[0152] Specifically, the doctor coordinates are determined by identifying the positions of both eyes in the doctor's image, taking the midpoints of both eyes respectively, and are expressed by the midpoint coordinates of both eyes, that is, the doctor coordinates are defined by point A: the midpoint coordinates of the left eye (x1, y1, z1), and point B: the midpoint coordinates of the right eye (x2, y2, z2);

[0153] The coordinates of the doctor's eyes are (x0, y0, z0);

[0154] The gaze point position is (x', y', z'), and the sight direction vector It is expressed as:

[0155]

[0156] Among them, the observation angle is set as θ c ;

[0157] The sight range is represented by a cone, the vertex of the cone is the coordinates of the midpoint of both eyes (x0, y0, z0), the sight direction is the sight direction vector, and the radius is θ c .

[0158] In addition, to achieve the above-mentioned purpose, the present invention also proposes a dental mobile phone, which is communicatively connected to a processing module, and the processing module is communicatively connected to an intraoral scanner 10; the intraoral scanner 10 is provided with a photosensitive component 11 and a first camera 12 arranged on the back of the photosensitive component 11; the dental mobile phone includes a main structure 1, one end of the main structure 1 is provided with a working end 6 of the dental mobile phone, and the other end is a handheld end 8, a display screen 3 is arranged between the working end 6 of the dental mobile phone and the handheld end 8, a working component 9 is arranged on the front of the working end 6 of the dental mobile phone, and a second camera 7 is arranged on the back of the working end 6; the positional relationship of the second camera 7 relative to the working component 9 of the dental mobile phone is the same as the positional relationship of the first camera 12 relative to the photosensitive component 11; the processing module is used to execute the method.

[0159] In a specific embodiment, the display screen 3 can rotate around the axial direction of the main structure 1; the display screen 3 can rotate around the axial direction of the main structure 1 to facilitate the doctor to watch the screen (in a specific embodiment, the specific structure of the display screen 3 can refer to Figure 2 ,like Figure 2 As shown, the outer sleeve of the handheld end 8 is provided with a ring 2, and a first connecting structure 5 is formed on the side of the ring 2 away from the main structure 1, the first connecting structure 5 is used to connect to the second connecting structure 4, and a display screen 3 is provided on the side of the second connecting structure 4 away from the first connecting structure 5, and the display screen 3 is connected to the first connecting structure 5 through the second connecting structure 4, and the display screen 3 is rotatably connected to the second connecting structure 4).

[0160] Further, such as Figure 2As shown, the second connection structure 4 can be a latch, and the first connection structure 5 can be a slot. Of course, the second connection structure 4 and the first connection structure 5 can also be other structures, which are also included in the protection scope of the present invention.

[0161] The display screen 3 can rotate in any direction around the connection point relative to the second connection structure 4, similar to a ball head structure.

[0162] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A dental image display method, characterized in that: The intraoral scanner is provided with a light-sensing component and a first camera arranged on the back of the light-sensing component; the dental handpiece comprises a main structure, one end of the main structure is provided with a working end of the dental handpiece, the other end is a handheld end, a display screen is arranged between the working end and the handheld end of the dental handpiece, the working component is arranged on the front of the working end of the dental handpiece, and the second camera is arranged on the back of the working end; The positional relationship of the second camera relative to the working part of the dental handpiece is the same as the positional relationship of the first camera relative to the light-sensitive part; the dental handpiece and the intraoral scanner are respectively connected to the processing module for communication so as to execute the method through the processing module; the method comprises the following steps: Acquire a three-dimensional image of teeth formed by scanning the patient's oral cavity by the optical sensing component of the intraoral scanner; When the light-sensing component of the intraoral scanner moves along the dental arch, a first partial dental arch image captured by the light-sensing component at each moving position is obtained, and a second partial dental arch image captured by the first camera at each moving position is obtained; wherein the first partial dental arch image is a partial image of one of the upper dental arch and the lower dental arch in the three-dimensional dental image, and the second partial dental arch image is a partial image of the other of the upper dental arch and the lower dental arch in the three-dimensional dental image; Establishing a position association between the first partial dental arch image and the second partial dental arch image acquired at each moving position to form paired data; Acquire a first real-time image captured by a second camera when the dental handpiece is operated in the oral cavity, and query the pairing data according to the first real-time image to determine a local dental arch image to which the working part of the dental handpiece is aligned; The partial dental arch image aligned with the working part of the dental handpiece is displayed on the display screen of the dental handpiece.

2. The dental image display method according to claim 1, characterized in that: A third camera is also provided on one side of the dental handpiece close to the working end, and the third camera is used to capture images of working parts installed on the working end of the dental handpiece; the method further includes: Acquire a second real-time image captured by a third camera when the dental handpiece is operated in the oral cavity, wherein the second real-time image is an image of a working component installed at the working end of the dental handpiece working in a local dental arch; The step of aligning the working part of the dental mobile phone with the partial dental arch image and displaying it on the display screen of the dental mobile phone comprises: Processing the local dental arch image aligned with the working part of the dental mobile phone and the second real-time image to obtain a display image of the working part in the local dental arch; The display image of the working parts in the partial dental arch is displayed on the display screen of the dental handpiece.

3. The dental image display method according to claim 1, characterized in that: The handheld end of the dental handpiece is provided with a fourth camera for collecting doctor images; the method further includes: Establish a three-dimensional coordinate system based on the three-dimensional image of the teeth; Calculate the position coordinates of the working end of the dental handpiece in the three-dimensional coordinate system through the first real-time image acquired by the second camera when the working end of the dental handpiece moves at different positions in the oral cavity; The doctor's image is acquired by the fourth camera, and the doctor's image is established in a three-dimensional coordinate system to determine the doctor's coordinates and the doctor's field of vision; Identify the affected area from the three-dimensional image of the tooth and extract the coordinates of the affected area, wherein the affected area includes the affected tooth and the tissue surrounding the affected tooth; Calculate the blind spot coordinates of the three-dimensional tooth image relative to the doctor's coordinates; When the position coordinates of the working end of the dental handpiece are in the overlapping area of ​​the blind spot coordinates and the affected area coordinates, the local dental arch image aligned with the working part of the dental handpiece and the first real-time image captured by the second camera are displayed on the display screen.

4. The dental image display method according to claim 3, characterized in that: The step of establishing a three-dimensional coordinate system according to the three-dimensional image of the teeth comprises: A reference plane is established in the lower dental arch in the three-dimensional image of the teeth, and the x-axis direction of the three-dimensional coordinate system is determined by the center line of the dental arch below the reference plane; In the reference plane, the y-axis direction of the three-dimensional coordinate system is determined from the left alveolar to the right alveolar; Determine the z-axis direction of the three-dimensional coordinate system in directions perpendicular to the x-axis and the y-axis respectively; A three-dimensional coordinate system is established according to the x-axis direction, the y-axis direction, the z-axis direction, and the selected coordinate origin.

5. The dental image display method according to claim 3, characterized in that: The steps of acquiring the doctor's image through the fourth camera, establishing the doctor's image in a three-dimensional coordinate system, determining the doctor's coordinates, and determining the doctor's line of sight include: Obtaining the doctor's image captured by the fourth camera at each set time; Obtaining the position of the working end of the dental handpiece in the three-dimensional coordinate system at each set moment; The doctor's image at each set moment is converted into a three-dimensional coordinate system according to the position coordinates of the working end of the dental handpiece in the three-dimensional coordinate system to determine the doctor's coordinates; Determine the doctor's field of view based on the doctor's coordinates and the set observation angle.

6. The dental image display method according to claim 5, characterized in that: The step of calculating the coordinates of the blind spot of the three-dimensional tooth image relative to the doctor's coordinates includes: According to the three-dimensional image of teeth, simulate the covering condition of the three-dimensional image of teeth in the oral environment; The coordinates of the doctor's blind spot are determined based on the doctor's field of vision and the coverage of the three-dimensional image of the teeth in the oral environment.

7. The dental image display method according to claim 6, characterized in that: The method further comprises: Calculate the perspective deviation between the doctor's coordinates and the three-dimensional image of the tooth; Calculate the comfortable display angle of the three-dimensional tooth image according to the viewing angle deviation; The step of displaying the local dental arch image aligned with the working part of the dental handpiece and the first real-time image captured by the second camera on the display screen when the position coordinates of the working end of the dental handpiece are in the overlapping area of ​​the blind spot coordinates and the affected area coordinates comprises: When the position coordinates of the working end of the dental handpiece are in the overlapping area of ​​the blind spot coordinates and the affected area coordinates, the display screen displays the local dental arch image aligned with the working part of the dental handpiece and the first real-time image captured by the second camera at a comfortable display angle.

8. The dental image display method according to claim 7, characterized in that: The step of calculating the viewing angle deviation between the doctor's coordinates and the three-dimensional image of the tooth includes: Establishing a first reference direction using a sight line direction determined according to the doctor's coordinates; Establishing a second reference direction based on the front-back direction of the three-dimensional tooth image; Obtaining an operation angle between a first reference direction and a second reference square line; The operating angle is taken as the viewing angle deviation.

9. The dental image display method according to claim 8, characterized in that: The step of determining the doctor's visual range according to the doctor's coordinates and the set observation angle includes: Obtain the coordinates of the doctor's eyes, and calculate the coordinates of the doctor's eye midpoints and the doctor's sight direction based on the coordinates of the doctor's eyes; According to the preset observation angle, the coordinates of the midpoints of the doctor's eyes and the doctor's sight direction, the doctor's sight range is constructed in the three-dimensional coordinate system; The step of determining the coordinates of the doctor's blind spot according to the doctor's visual range and the coverage of the three-dimensional image of the teeth in the oral environment includes: Display the covering condition of the three-dimensional image of the teeth in the oral environment in a three-dimensional coordinate system; According to the covering condition of the three-dimensional image of the teeth in the oral environment and the blocking range of the doctor's field of vision, the doctor's blind spot is determined, and the coordinates of the doctor's blind spot are calculated according to the coordinate points within the blind spot.

10. A dental handpiece, characterized in that: The dental handpiece is communicatively connected to the processing module, and the processing module is communicatively connected to the intraoral scanner; the intraoral scanner is provided with a photosensitive component and a first camera arranged on the back of the photosensitive component; the dental handpiece includes a main structure, one end of the main structure is provided with a working end of the dental handpiece, and the other end is a handheld end, a display screen is arranged between the working end and the handheld end of the dental handpiece, the working component is arranged on the front of the working end of the dental handpiece, and the second camera is arranged on the back of the working end; the positional relationship of the second camera relative to the working component of the dental handpiece is the same as the positional relationship of the first camera relative to the photosensitive component; the processing module is used to execute the method as described in any one of claims 1 to 9.

Images