Oral panorama generation method and device, equipment and storage medium

Abstract

The invention discloses an oral cavity panorama generation method and device, equipment and a storage medium. The oral cavity panorama generation method comprises the steps that an oral cavity scanning image is obtained, tooth recognition is conducted on the oral cavity scanning image, a tooth recognition result is obtained, and the tooth recognition result comprises a plurality of tooth areas and dentition information of the tooth areas; determining a tooth occlusion point location based on the position information and dentition information of the tooth area in the tooth identification result; obtaining a preset number of positioning point locations in the tooth occlusion point locations, wherein the preset number of positioning point locations are uniformly distributed in a tooth distribution area formed by the plurality of tooth areas; and generating a dental arch curve based on the preset number of positioning points, and re-splicing the plurality of two-dimensional images in the oral cavity scanning image based on the dental arch curve to obtain an oral cavity panorama. The dental arch curve is automatically generated, and the oral cavity panorama generation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of oral technology, and in particular to a method, device, equipment and storage medium for generating an oral panoramic image. Background Art

[0002] In the clinical application of cavities, oral cone beam computed tomography (CBCT) technology is widely used, and oral CBCT images have significant advantages in dental implant planning and periodontal disease diagnosis.

[0003] Traditional oral panorama generation relies on experienced doctors to manually mark points on 2D oral scan images, which results in low efficiency. In addition, different doctors have different marking habits, which leads to differences in the generated oral panorama images. Summary of the invention

[0004] The present invention provides a method, device, equipment and storage medium for generating an oral panoramic image, so as to solve the problem of low efficiency in generating an oral panoramic image.

[0005] According to one aspect of the present invention, a method for generating an oral panoramic image is provided, the method comprising:

[0006] Acquire an oral scan image, perform tooth recognition on the oral scan image, and obtain a tooth recognition result, wherein the tooth recognition result includes multiple tooth regions and dentition information of the tooth regions;

[0007] Determine the tooth occlusion point based on the position information of the tooth area and the dentition information in the tooth recognition result;

[0008] Acquire a preset number of positioning points in the tooth occlusal points, wherein the preset number of positioning points are evenly distributed in a tooth distribution area formed by a plurality of tooth areas;

[0009] A dental arch curve is generated based on a preset number of positioning points, and multiple two-dimensional images in the oral scan image are re-stitched based on the dental arch curve to obtain a panoramic view of the oral cavity.

[0010] According to another aspect of the present invention, a device for generating an oral panoramic image is provided, the device comprising:

[0011] A tooth recognition result acquisition module is used to acquire an oral scan image, perform tooth recognition on the oral scan image, and obtain a tooth recognition result, wherein the tooth recognition result includes multiple tooth regions and dentition information of the tooth regions;

[0012] A tooth occlusal point determination module, used to determine the tooth occlusal point based on the position information of the tooth area and the dentition information in the tooth recognition result;

[0013] A preset number of positioning point acquisition modules are used to acquire a preset number of positioning points in tooth occlusal points, wherein the preset number of positioning points are evenly distributed in a tooth distribution area formed by a plurality of tooth areas;

[0014] The oral panoramic image generation module is used to generate a dental arch curve based on a preset number of positioning points, and re-join multiple two-dimensional images in the oral scan image based on the dental arch curve to obtain an oral panoramic image.

[0015] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to at least one processor; wherein,

[0018] The memory stores a computer program executable by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the oral panoramic image generation method provided in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions, and the computer instructions are used to enable a processor to implement the oral panoramic image generation method provided by any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention obtains an oral scan image, performs tooth recognition on the oral scan image, and obtains a tooth recognition result, wherein the tooth recognition result includes multiple tooth areas and dentition information of the tooth areas; determines the tooth occlusion points based on the position information and dentition information of the tooth areas in the tooth recognition results; obtains a preset number of positioning points among the tooth occlusion points, and the preset number of positioning points are evenly distributed in the tooth distribution area formed by the multiple tooth areas; generates a dental arch curve based on the preset number of positioning points, and re-splices multiple two-dimensional images in the oral scan image based on the dental arch curve to obtain an oral panoramic view, which solves the problem of low efficiency in generating oral panoramic views, realizes automatic generation of dental arch curves, and thereby improves the efficiency in generating oral panoramic views.

[0021] 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

[0022] 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.

[0023] Figure 1 This is a flow chart of a method for generating an oral panoramic image provided by Embodiment 1 of the present invention;

[0024] Figure 2 is a schematic diagram of a dental arch curve diagram provided by an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of an oral panoramic view provided by an embodiment of the present invention;

[0026] Figure 4 It is a structural schematic diagram of an oral panoramic image generating device provided by Embodiment 2 of the present invention;

[0027] Figure 5 It is a structural schematic diagram of an electronic device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0028] 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.

[0029] 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.

[0030] Embodiment 1

[0031] Figure 1This is a flow chart of a method for generating an oral panoramic image provided in the first embodiment of the present invention. This embodiment is applicable to the case of automatically generating an oral panoramic image. The method can be executed by an oral panoramic image generating device. The oral panoramic image generating device can be implemented in the form of hardware and / or software. The oral panoramic image generating device can be configured in the electronic device provided in the embodiment of the present invention. The electronic device can be a server, a computer, a mobile terminal or a medical device, etc. For example, the mobile terminal can be a mobile phone, a tablet computer, etc. For example, the medical device can be a device equipped with a processor, such as an oral medical device, which can be equipped with an oral scanning device and / or an oral surgical instrument, etc. Figure 1 As shown, the method includes:

[0032] S110, obtaining an oral scan image, performing tooth recognition on the oral scan image, and obtaining a tooth recognition result, wherein the tooth recognition result includes multiple tooth regions and dentition information of the tooth regions.

[0033] In this embodiment, the oral scan image can be understood as an image obtained by scanning the oral cavity through an oral scanning device, for example, it can include an oral CBCT image, which can be used in oral fields such as dental implant planning and periodontal disease diagnosis. Optionally, the oral scanning device can be an oral CBCT. The oral scan image can include an oral scan image of the tooth area and an oral scan image of the background area, wherein the background area can include but is not limited to the gum area and the gum area. The oral scan image can be obtained by scanning the oral cavity with an oral scanning device, and can also be obtained by reading from a database, wherein the database stores oral scan images of multiple users, and by inputting user information, the oral scan image is matched with the user information in the database, and when the match is successful, the matched oral scan image is read.

[0034] The tooth recognition result can be understood as the result obtained by performing tooth recognition on the oral scan image, and the tooth recognition result includes the tooth area in the oral scan image and the dentition information of the tooth area. For example, the oral scan image can be processed by a pre-trained tooth recognition model to obtain the tooth recognition result. The tooth recognition model includes but is not limited to a neural network model, for example, it may include a convolutional neural network model, etc. The dentition information can be understood as the category information of the tooth area located in the upper and lower jaws. Optionally, the dentition information includes the upper dentition and the lower dentition. Among them, the dentition information of the tooth area is the upper dentition, which characterizes that the tooth area is located in the upper jaw, and the dentition information of the tooth area is the lower dentition, which characterizes that the tooth area is located in the lower jaw. The upper dentition refers to the whole set of teeth located in the maxilla, including all maxillary teeth, and the lower dentition refers to the whole set of teeth located in the mandible, including all mandibular teeth.

[0035] In some embodiments, the tooth recognition result may be an oral scan image with classification marks set. Exemplarily, the classification marks may include background marks, upper dentition marks and lower dentition marks. Each pixel in the tooth recognition result is respectively set with a classification mark. If the classification mark of the pixel is a background mark, it indicates that the pixel belongs to the background area; if the classification mark of the pixel is an upper dentition mark, it indicates that the pixel belongs to the tooth area, and the dentition information is the upper dentition; if the classification mark of the pixel is a lower dentition mark, it indicates that the pixel belongs to the tooth area, and the dentition information is the lower dentition.

[0036] Optionally, the tooth recognition model may be pre-trained based on a sample oral scan image and a label image corresponding to the sample oral scan image, and the label image may be an oral scan image with a classification mark.

[0037] S120: Determine the tooth occlusion point based on the position information of the tooth area and the dentition information in the tooth recognition result.

[0038] In this embodiment, the position information of the tooth area can be understood as being used to characterize the position of the tooth area in the oral scan image. Optionally, the position information of the tooth area includes coordinate information of pixel points in the tooth area, for example, the position information of the tooth area can include three-dimensional coordinate information of pixel points in the tooth area. The tooth occlusion point can be understood as the contact point between the upper dentition and the lower dentition when occluding. Optionally, the oral scan image can be an oral scan image collected in a static occlusion state. Accordingly, the tooth occlusion point in the static occlusion state can be determined by the position information of each tooth area in the tooth recognition result. Specifically, based on the dentition information of the tooth area, the tooth area is divided into an upper dentition tooth area and a lower dentition tooth area, and the contact point between the upper dentition tooth area and the lower dentition tooth area is used as the tooth occlusion point.

[0039] Optionally, based on the coordinate information of the pixel points in the tooth area in the upper dentition and the coordinate information of the pixel points in the tooth area in the lower dentition, the tooth occlusal point that meets the coordinate contact determination condition is determined.

[0040] Specifically, the coordinate contact determination condition can be understood as a determination condition for whether pixel points in different dentitions are in contact. For example, the coordinate contact determination condition can include that the distance between pixel points in tooth areas in different dentitions is less than a preset threshold.

[0041] For example, in order to determine whether any pixel point in the upper dental arch is a tooth occlusion point, the minimum distance between the pixel point in the upper dental arch and all the pixel points in the lower dental arch can be determined, and the minimum distance can be judged by the preset threshold in the coordinate contact judgment condition. If the minimum distance is less than the preset threshold in the coordinate contact judgment condition, the pixel point in the upper dental arch is determined to be a tooth occlusion point.

[0042] Optionally, a tooth model corresponding to the tooth recognition result is rendered in a three-dimensional view interface, the tooth contour contact points of the upper and lower dentitions in the tooth model are identified, and the tooth contour contact points of the upper and lower dentitions are determined as the tooth occlusion points.

[0043] Specifically, the tooth contour contact point can be understood as the point where the tooth contours of the teeth of the upper and lower dentitions in the tooth model contact in a static occlusion state, and the tooth contour contact point of the upper and lower dentitions is determined as the tooth occlusion point. The tooth model corresponding to the tooth recognition result is rendered in the three-dimensional view interface and displayed. In the display interface of the tooth model, in response to the marking operation of the tooth occlusion point in the tooth model, the marked point is determined as the tooth occlusion point.

[0044] In some embodiments, the tooth bite point can also be determined by a pre-selected trained bite point recognition model, and the bite point recognition model includes but is not limited to a neural network model. For example, the tooth model corresponding to the tooth recognition result can be input into the bite point recognition model to identify the tooth bite point, identify the tooth contour contact points of the upper and lower teeth in the tooth model, and determine the tooth contour contact points of the upper and lower teeth to obtain the tooth bite point. The tooth bite point can be determined according to different methods and can be set according to needs, and there is no limitation here.

[0045] In the process of determining the tooth occlusal point, the pixels in the background area affect the determination of the tooth occlusal point, resulting in inaccurate tooth occlusal point. Since there is a difference between the grayscale values ​​of the pixels in the tooth area and the grayscale values ​​of the pixels in the background area, in order to reduce the influence of the pixels in other areas on the determination of the tooth occlusal point, the grayscale values ​​of the tooth occlusal point can be verified.

[0046] Optionally, the method also includes: determining the grayscale value of the tooth occlusion points in the oral scan image; verifying the grayscale value of the tooth occlusion points based on a preset grayscale threshold, and removing the tooth occlusion points whose grayscale values ​​do not meet the preset grayscale threshold.

[0047] Specifically, the grayscale value of the tooth occlusion point can be determined by the pixel points of the tooth occlusion point, and the grayscale value of the tooth occlusion point can be verified according to the preset grayscale threshold. Since the grayscale value of the pixel points in the background area is lower than the grayscale value of the pixel points in the tooth area, the tooth occlusion points below the preset grayscale threshold can be removed, and the tooth occlusion points that meet the preset grayscale threshold are retained. Specifically, the grayscale value of each tooth occlusion point in the oral scan image is obtained, and the grayscale value of the tooth occlusion point is compared with the preset grayscale threshold. If the grayscale value of the tooth occlusion point is less than the preset grayscale threshold, the tooth occlusion point is removed; if the grayscale value of the tooth occlusion point is greater than or equal to the preset grayscale threshold, the tooth occlusion point is included.

[0048] In some embodiments, a tooth model corresponding to the determined tooth bite point can be displayed in a three-dimensional view interface, and the tooth model and the tooth bite point can be displayed in a tooth model display interface. By displaying the tooth bite point to the user, it is convenient for the user to calibrate the determined tooth bite point, thereby improving the accuracy of the tooth bite point.

[0049] Optionally, in response to an edit operation on the tooth occlusion point in the display interface, the tooth occlusion point is updated. The edit operation on the tooth occlusion point may include a delete operation and a mark operation on the tooth occlusion point. In response to a mark operation on the tooth occlusion point, a mark point corresponding to the mark operation is determined, and the mark point is determined as a new tooth occlusion point. In response to a delete operation on the tooth occlusion point, a tooth occlusion point corresponding to the delete operation is determined, and the tooth occlusion point corresponding to the delete operation is deleted. Optionally, an editing control may be provided in the display interface, such as a delete control and a mark control, and a delete mode or a mark mode may be entered by clicking on the delete control and the mark control. For example, in response to a click operation on the delete control, the delete mode is entered, and the delete operation on the tooth occlusion point is performed in the delete mode; for example, in response to a click operation on the mark control, the mark mode is entered, and the mark operation on the tooth occlusion point is performed in the mark mode.

[0050] S130, obtaining a preset number of positioning points among the tooth occlusal points, wherein the preset number of positioning points are evenly distributed in a tooth distribution area formed by a plurality of tooth areas.

[0051] In this embodiment, the positioning points can be understood as points that assist in generating the dental arch curve. The positioning points may include some or all of the tooth occlusion points. The preset number of positioning points may be greater than or equal to three, for example, five or nine. It can be set according to needs and is not limited here.

[0052] The tooth distribution area formed by multiple tooth areas can be the distribution area formed by all tooth areas in the tooth recognition result. A preset number of positioning points evenly distributed in the entire distribution area is determined to avoid the situation where the positioning points are strongly localized and cause inaccurate dental arch curves.

[0053] Optionally, according to a preset number of positioning points, the tooth distribution area formed by multiple tooth areas is divided into a preset number of sub-areas, and a positioning point is determined in the tooth occlusion point of each sub-area, which can be the tooth occlusion point closest to the center point of the sub-area.

[0054] Optionally, the distance between the occlusal points of the teeth can be calculated to determine a preset number of occlusal points of the teeth that meet the distance similarity condition as the positioning points. Specifically, the distance between any two occlusal points of the teeth is determined, and the preset number of distances in which the error value in the distance is less than the preset value, and the occlusal points corresponding to the preset number of distances are determined as the positioning points.

[0055] Optionally, the tooth recognition result may also include tooth position information corresponding to the tooth area. The tooth position information may be a serial number of the tooth area, for example, 1-16. Here, the upper and lower teeth are not distinguished, and the tooth position information of the corresponding teeth in the upper and lower teeth may be the same. A correspondence between a preset number of positioning points and tooth position information is pre-set. For example, when the preset number is 3, the tooth position information corresponding to the positioning point may be 1, 8, or 16. Accordingly, the positioning point is determined in the tooth occlusion point corresponding to the tooth area corresponding to the above-mentioned tooth position information. In the case where there are multiple tooth occlusion points corresponding to any tooth area, a tooth occlusion point may be randomly determined as the positioning point, or the tooth occlusion point with the smallest distance from the center point of the tooth area may be determined as the positioning point.

[0056] Optionally, the positioning points include at least tooth occlusal points of the edge tooth area and the central tooth area among the multiple tooth areas. For example, it may be a first positioning point and a second positioning point located in the edge tooth area among the multiple tooth occlusal points, and the first positioning point and the second positioning point are located on different edge sides. The third positioning point is determined in the central tooth area. For example, the number of pending positioning points located between the first positioning point and the third positioning point, and the number of pending positioning points located between the second positioning point and the third positioning point can be determined based on a preset number, and the corresponding positioning points are determined in the tooth occlusal points between the determined positioning points based on the number of pending positioning points. For example, a new positioning point is determined between two adjacent positioning points of the determined positioning points, and the new positioning point can be located at the center of the two adjacent positioning points. The above process is iteratively performed to determine a new positioning point until the number of positioning points reaches the preset number.

[0057] Exemplarily, the preset number may be five, and a fourth positioning point is determined among the tooth occlusal points between the first positioning point and the third positioning point, and a fifth positioning point is determined among the tooth occlusal points between the second positioning point and the third positioning point.

[0058] Optionally, an occlusal coordinate system is constructed to determine the coordinate information of the tooth occlusal points in the occlusal coordinate system; and the positioning points are determined based on the coordinate information of the tooth occlusal points in the occlusal coordinate system and a preset number.

[0059] Specifically, the occlusal coordinate system can be understood as a coordinate system established with any tooth occlusal point as the origin, for example, it can include a three-dimensional coordinate system in the horizontal direction, sagittal direction and coronal direction established with any tooth occlusal point as the origin. A conversion matrix can be generated based on the occlusal coordinate system and the coordinate system corresponding to the oral scan image, and the coordinate information of the tooth occlusal point in the coordinate system corresponding to the oral scan image can be converted into the coordinate information in the occlusal coordinate system according to the conversion matrix, and the positioning point can be determined according to the coordinate information of the tooth occlusal point in the occlusal coordinate system and the preset number.

[0060] S140, generating a dental arch curve based on a preset number of positioning points, and rejoining multiple two-dimensional images in the oral scan image based on the dental arch curve to obtain an oral panoramic image.

[0061] In this embodiment, the dental arch curve can be understood as a curve formed by the continuous arrangement of the teeth of the upper and lower jaws, which can represent the shape of the upper and lower teeth in a static occlusion. The oral panoramic view can be understood as an image showing the global perspective of the teeth and the upper and lower jaws, which can represent a comprehensive view of the upper and lower teeth. For example, see Figure 2 and Figure 3 , Figure 2 is a schematic diagram of a dental arch curve diagram provided by an embodiment of the present invention, Figure 3 It is a schematic diagram of an oral panoramic view provided by an embodiment of the present invention.

[0062] Optionally, a preset curvature corresponding to each positioning point is obtained; and a dental arch curve is generated based on the preset curvatures corresponding to a preset number of positioning points.

[0063] Due to the different position information of the teeth in the upper and lower dentition, the dental arch curves generated according to different preset numbers of positioning points are different. In order to generate a dental arch curve that meets the actual situation of the user, a preset curvature can be set for each positioning point. Optionally, the preset curvature of the positioning point can be determined based on the tooth position information of the tooth area where the positioning point is located. The correspondence between the pre-set tooth position information and the preset curvature can be matched from the correspondence based on the tooth position information of the tooth area where the positioning point is located.

[0064] The preset curvature can be set for each positioning point through a preset curvature setting model, and the preset curvature setting model includes but is not limited to a neural network model. For example, the positioning point can be input into the preset curvature setting model for processing, and the preset curvature corresponding to each positioning point can be obtained.

[0065] A preset number of positioning points and their corresponding preset curvatures are obtained, and a dental arch curve is generated according to the preset curvatures corresponding to the preset number of positioning points. Optionally, the dental arch curve can be generated by a dental arch curve generation model, and the dental arch curve generation model includes but is not limited to a neural network model. For example, a preset number of positioning points and the preset curvatures corresponding to the preset number of positioning points are input into the dental arch curve generation model for processing, and a dental arch curve is generated according to the preset number of positioning points and the preset curvatures corresponding to the preset number of positioning points. Optionally, the coordinate information and preset curvature of the positioning points are obtained, and the dental arch curve is drawn based on the coordinate information and preset curvature of the positioning points. For example, it can be generated by a curve drawing algorithm.

[0066] Since the dental arch curves of different users are different, the dental arch curves can be edited to make the generated dental arch curves conform to the actual conditions of the users, thereby improving the accuracy of dental arch curve generation.

[0067] Optionally, the method further includes: displaying at least one of the oral scan image and the tooth recognition result, and the dental arch curve on the display page; and updating the dental arch curve in response to an editing operation on the dental arch curve.

[0068] Specifically, the display page can display oral scan images and dental arch curves, and can also display tooth recognition results and dental arch curves. In order to improve the accuracy of dental arch curve generation and make the generated dental arch curve meet the actual situation of the user, the dental arch curve can be edited, and the dental arch curve can be updated according to the editing operation of the dental arch curve to obtain a new dental arch curve. According to the new dental arch curve, multiple two-dimensional images in the oral scan image are re-spliced ​​to obtain an oral panorama, so that the oral panorama meets the actual situation of the user and improves the accuracy of oral panorama generation.

[0069] In some embodiments, the tooth distribution area formed by multiple tooth areas can be determined based on the tooth recognition results, and can be obtained from the top view or the bottom view of the oral scan image. In order to obtain a dental arch curve that meets the situation, the center line of the tooth distribution area can be obtained, and the dental arch curve can be verified based on the center line of the tooth distribution area.

[0070] Optionally, a similarity match is performed between the center line of the tooth distribution area and the dental arch curve to determine similarity data. If the similarity data is greater than a preset threshold, it is determined that the dental arch curve verification is successful. If the similarity data is less than the preset threshold, it is determined that the dental arch curve verification has failed, and a dental arch curve verification failure prompt message is generated to prompt the user to correct the dental arch curve.

[0071] Optionally, a preset number of verification points are determined on the center line of the tooth distribution area, and the coordinate information and curvature information of the verification points are obtained. The coordinate information and curvature information of the verification points are compared with the coordinate information and curvature information of the positioning points on the dental arch curve. If the difference between the coordinate information of the positioning point and the coordinate information of the verification point is greater than a first threshold, and / or the difference between the curvature information of the positioning point and the curvature information of the verification point is greater than a second threshold, it indicates that the dental arch curve verification has failed. The coordinate information and curvature information of the corresponding positioning point can be replaced by the coordinate information and curvature information of the verification point, and the dental arch curve can be regenerated to realize the verification of the dental arch curve. Multiple two-dimensional images in the oral scan image can be re-spliced ​​according to the new dental arch curve to obtain an oral panoramic view, thereby improving the accuracy of generating the oral panoramic view.

[0072] Optionally, multiple coronal plane images are acquired from the oral scan image, and the multiple coronal plane images are rejoined so that the center points of the tooth regions in the multiple coronal plane images are respectively located on the dental arch curve.

[0073] Specifically, the coronal plane image can be understood as the image corresponding to the coronal direction in the oral scan image. The coronal plane image can be extracted from the oral scan image by multi-plane reconstruction technology, and the oral scan image can be processed by an image reconstruction algorithm to obtain the coronal plane image. By re-joining multiple coronal plane images so that the center points of the tooth areas in the multiple coronal plane images are respectively located on the dental arch curve, a panoramic view of the oral cavity can be obtained.

[0074] The technical solution of this embodiment is to obtain an oral scan image, perform tooth recognition on the oral scan image, and obtain a tooth recognition result, which includes multiple tooth areas and dentition information of the tooth areas; determine the tooth occlusion points based on the position information and dentition information of the tooth areas in the tooth recognition results; obtain a preset number of positioning points from the tooth occlusion points, and the preset number of positioning points are evenly distributed in the tooth distribution area formed by the multiple tooth areas; generate a dental arch curve based on the preset number of positioning points, and re-splice multiple two-dimensional images in the oral scan image based on the dental arch curve to obtain an oral panoramic view, thereby realizing the automatic generation of the dental arch curve and improving the generation efficiency of the oral panoramic view.

[0075] Embodiment 2

[0076] Figure 4 Schematic diagram of the structure of an oral panoramic image generation device provided by the second embodiment of the present invention. Figure 4 As shown, the device comprises:

[0077] A tooth recognition result acquisition module 210 is used to acquire an oral scan image, perform tooth recognition on the oral scan image, and obtain a tooth recognition result, wherein the tooth recognition result includes multiple tooth regions and dentition information of the tooth regions;

[0078] A tooth occlusal point determination module 220, for determining the tooth occlusal point based on the position information of the tooth region and the dentition information in the tooth recognition result;

[0079] A preset number of positioning point acquisition module 230 is used to acquire a preset number of positioning points in tooth occlusal points, wherein the preset number of positioning points are evenly distributed in a tooth distribution area formed by a plurality of tooth areas;

[0080] The oral panoramic image generation module 240 is used to generate a dental arch curve based on a preset number of positioning points, and re-join multiple two-dimensional images in the oral scan image based on the dental arch curve to obtain an oral panoramic image.

[0081] On the basis of the above embodiment, optionally, the dentition information includes the upper dentition and the lower dentition; the position information of the tooth area includes the coordinate information of the pixel points in the tooth area.

[0082] Optionally, the tooth occlusal point determination module 220 is further used to determine the tooth occlusal point that meets the coordinate contact determination condition based on the coordinate information of the pixel points of the tooth area in the upper dentition and the coordinate information of the pixel points of the tooth area in the lower dentition.

[0083] Optionally, the tooth occlusion point determination module 220 is also used to: render a tooth model corresponding to the tooth recognition result in a three-dimensional viewing interface, identify the tooth contour contact points of the upper and lower teeth in the tooth model, and determine the tooth contour contact points of the upper and lower teeth as the tooth occlusion points.

[0084] Optionally, the tooth occlusion point determination module 220 is also used to: determine the grayscale value of the tooth occlusion point in the oral scan image; verify the grayscale value of the tooth occlusion point based on a preset grayscale threshold, and remove the tooth occlusion point whose grayscale value does not meet the preset grayscale threshold.

[0085] Optionally, the preset number of positioning point acquisition modules 230 are also used to: construct an occlusal coordinate system to determine the coordinate information of the tooth occlusal points in the occlusal coordinate system; and determine the positioning points based on the coordinate information of the tooth occlusal points in the occlusal coordinate system and the preset number.

[0086] Optionally, the oral panoramic image generation module 240 is further used to: obtain a preset curvature corresponding to each positioning point; and generate a dental arch curve based on the preset curvatures corresponding to a preset number of positioning points.

[0087] Optionally, the oral panorama generation module 240 is further used to: display at least one of the oral scan image and the tooth recognition result, and the dental arch curve on the display page; and update the dental arch curve in response to an editing operation on the dental arch curve.

[0088] Optionally, the oral panoramic image generation module 240 is further used to obtain multiple coronal images in the oral scan image, and re-join the multiple coronal images so that the center points of the tooth areas in the multiple coronal images are respectively located on the dental arch curve.

[0089] The oral panoramic image generating device provided in the embodiment of the present invention can execute the oral panoramic image generating method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0090] Embodiment 3

[0091] Figure 5 1 is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. The electronic device 10 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 may 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.

[0092] like Figure 5 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.

[0093] 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.

[0094] 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 a method for generating an oral panoramic image.

[0095] In some embodiments, the oral panoramic image generation method may 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 may 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 oral panoramic image generation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the oral panoramic image generation method in any other appropriate manner (e.g., by means of firmware).

[0096] 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.

[0097] The computer program for implementing the oral panoramic image generation method of the present invention can be written in any combination of one or more programming languages. These computer programs can 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 can 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.

[0098] Embodiment 4

[0099] Embodiment 4 of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to execute a method for generating an oral panoramic image, the method comprising:

[0100] Acquire an oral scan image, perform tooth recognition on the oral scan image, and obtain a tooth recognition result, wherein the tooth recognition result includes multiple tooth areas and dentition information of the tooth areas; determine the tooth occlusion points based on the position information and dentition information of the tooth areas in the tooth recognition results; acquire a preset number of positioning points from the tooth occlusion points, wherein the preset number of positioning points are evenly distributed in a tooth distribution area formed by multiple tooth areas; generate a dental arch curve based on the preset number of positioning points, and re-join the multiple two-dimensional images in the oral scan image based on the dental arch curve to obtain a panoramic view of the oral cavity.

[0101] 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.

[0102] 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).

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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 generating an oral panoramic image, characterized in that: include: Acquire an oral scan image, perform tooth recognition on the oral scan image, and obtain a tooth recognition result, wherein the tooth recognition result includes multiple tooth regions and dentition information of the tooth regions; Determine the tooth occlusion point based on the position information of the tooth area and the dentition information in the tooth recognition result; Acquire a preset number of positioning points among the tooth occlusal points, wherein the preset number of positioning points are evenly distributed in the plurality of tooth regions; A dental arch curve is generated based on the preset number of positioning points, and multiple two-dimensional images in the oral scan image are re-joined based on the dental arch curve to obtain an oral panoramic view.

2. The method according to claim 1, characterized in that The dentition information includes the upper dentition and the lower dentition; the position information of the tooth area includes the coordinate information of the pixel points in the tooth area; The determining of the tooth occlusion point based on the position information of the tooth region in the tooth recognition result and the dentition information comprises: Determine the tooth occlusal point that meets the coordinate contact determination condition based on the coordinate information of the pixel points of the tooth area in the upper dentition and the coordinate information of the pixel points of the tooth area in the lower dentition; or, The tooth model corresponding to the tooth recognition result is rendered in a three-dimensional viewing interface, the tooth contour contact points of the upper and lower dentitions in the tooth model are identified, and the tooth contour contact points of the upper and lower dentitions are determined to obtain the tooth occlusion points.

3. The method according to claim 1 or 2, characterized in that: After determining the tooth occlusal point based on the position information of the tooth area and the dentition information in the tooth recognition result, the method further includes: Determine the grayscale value of the tooth occlusion point in the oral scan image; The grayscale values ​​of the tooth occlusion points are verified based on a preset grayscale threshold, and the tooth occlusion points whose grayscale values ​​do not meet the preset grayscale threshold are removed.

4. The method according to claim 1, characterized in that: The step of obtaining a preset number of positioning points among the tooth occlusal points comprises: Constructing an occlusal coordinate system and determining coordinate information of the tooth occlusal point in the occlusal coordinate system; The positioning point is determined based on the coordinate information of the tooth occlusion point in the occlusion coordinate system and the preset number.

5. The method according to claim 1, characterized in that The generating of the dental arch curve based on the preset number of positioning points comprises: Obtaining a preset curvature corresponding to each of the positioning points; The dental arch curve is generated based on the preset curvatures respectively corresponding to the preset number of positioning points.

6. The method according to claim 1 or 5, characterized in that: The method further comprises: At least one of the oral scan image and the tooth recognition result, as well as the dental arch curve, is displayed on a display page; and in response to an editing operation on the dental arch curve, the dental arch curve is updated.

7. The method according to claim 1, characterized in that The step of rejoining the multiple two-dimensional images in the oral scan image based on the dental arch curve to obtain an oral panoramic image includes: A plurality of coronal plane images in the oral scan image are acquired, and the plurality of coronal plane images are rejoined so that the center points of the tooth regions in the plurality of coronal plane images are respectively located on the dental arch curve.

8. An oral panoramic image generating device, characterized in that: include: A tooth recognition result acquisition module is used to acquire an oral scan image, perform tooth recognition on the oral scan data, and obtain a tooth recognition result, wherein the tooth recognition result includes multiple tooth regions and dentition information of the tooth regions; A tooth occlusal point determination module, used for determining the tooth occlusal point based on the position information of the tooth area and the dentition information in the tooth recognition result; A preset number of positioning point acquisition module, used to acquire a preset number of positioning points in the tooth occlusal points, wherein the preset number of positioning points are evenly distributed in the plurality of tooth regions; The oral panoramic image generation module is used to generate a dental arch curve based on the preset number of positioning points, and re-join the multiple two-dimensional images in the oral scan image based on the dental arch curve to obtain an oral panoramic image.

9. 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 execute the method for generating an oral panoramic image according to any one of claims 1 to 7.

10. 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 panoramic image generation method according to any one of claims 1 to 7 when executed.

Images