Oral scanning method, computing device and computer program product

Abstract

The invention provides an oral cavity scanning method, computing equipment and a computer program product. The method comprises the steps that oral cavity scanning data are obtained by scanning an oral cavity provided with a scanning rod, and the scanning rod is fixed to an implant or an abutment and shields a partial area of a dental arch; determining dental arch data and scanning rod data in the oral cavity scanning data through automatic identification; determining, based on the quality level of the dental arch data, whether a scan is required to be performed without a scan bar in the oral cavity; and determining overall spatial information of the oral cavity based on the dental arch data and the scanning rod data in response to determining that scanning without the scanning rod in the oral cavity does not need to be performed. According to the embodiment of the invention, the existing two-time scanning is combined into one-time scanning, and the overall spatial information of the oral cavity can be obtained only by scanning the data with the scanning rod.

Description

Background Art

[0001] Intraoral scanning is the process of using specialized optical technology to digitally obtain detailed three-dimensional (3D) images of the internal structures of the oral cavity (including teeth, gums and surrounding tissues). During intraoral scanning, dental professionals use a handheld device equipped with a camera and sensors (i.e., an intraoral scanner) to take multiple images of the oral cavity from different angles. These images are transmitted to a computer workstation and then quickly stitched together using complex algorithms to generate a 3D image of the patient's teeth and soft tissues.

[0002] In dental implant technology, the scanning body is a key auxiliary tool. It is a small component that usually has a specific shape and structure and is generally installed on the implant or abutment. Its main function is to help the intraoral scanner accurately obtain the three-dimensional position information of the implant or abutment and its surrounding tissues. The current scanning process usually requires two scans, one of which is performed with a scanning rod in the mouth to obtain the position information of the scanning rod, and the other is performed after the scanning rod is removed to obtain the dental arch data. The two scan data are merged to obtain the oral data. Summary of the invention

[0003] The embodiments of the present disclosure provide an oral scanning method, a computing device and a computer program product for implementing the method. The technical solution of the present disclosure combines the existing two scans into one scan, and only needs to scan the data with the scanning rod to obtain the overall spatial information of the oral cavity.

[0004] According to the implementation of the present disclosure, an oral scanning method is proposed. The method includes: obtaining oral scanning data by scanning an oral cavity with a scanning rod installed, the scanning rod is fixed on an implant or a base and covers a part of the dental arch; determining dental arch data and scanning rod data in the oral scanning data through automatic recognition; determining whether it is necessary to perform scanning without a scanning rod in the oral cavity based on the quality level of the dental arch data; and in response to determining that it is not necessary to perform scanning without a scanning rod in the oral cavity, determining the overall spatial information of the oral cavity based on the dental arch data and the scanning rod data.

[0005] According to a second aspect of the present disclosure, a computing device is provided, comprising: a processing unit; and a memory, coupled to the processing unit and containing instructions stored thereon, which, when executed by the processing unit, causes the device to perform the following actions: acquiring oral scanning data by scanning an oral cavity with a scanning rod installed, the scanning rod being fixed on an implant or a base and covering a partial area of ​​a dental arch; determining dental arch data and scanning rod data in the oral scanning data by automated recognition; determining whether it is necessary to perform a scan without a scanning rod in the oral cavity based on a quality level of the dental arch data; and determining overall spatial information of the oral cavity based on the dental arch data and the scanning rod data in response to determining that it is not necessary to perform a scan without a scanning rod in the oral cavity.

[0006] According to a third aspect of the present disclosure, there is provided a computer program product, which is tangibly stored in a computer storage medium and includes computer executable instructions, which, when executed by a device, cause the device to perform the following actions, the actions including: acquiring oral scanning data by scanning an oral cavity with a scanning rod installed, the scanning rod being fixed on an implant or a base and covering a partial area of ​​a dental arch; determining dental arch data and scanning rod data in the oral scanning data through automated recognition; determining whether it is necessary to perform a scan without a scanning rod in the oral cavity based on a quality level of the dental arch data; and determining overall spatial information of the oral cavity based on the dental arch data and the scanning rod data in response to determining that it is not necessary to perform a scan without a scanning rod in the oral cavity.

[0007] According to a fourth aspect of the present disclosure, an oral scanning device is provided. The device includes: a scanning data acquisition unit, configured to acquire oral scanning data by scanning an oral cavity with a scanning rod installed, the scanning rod being fixed on an implant or a base and covering a part of the dental arch; a scanning data recognition unit, configured to determine dental arch data and scanning rod data in the oral scanning data through automatic recognition; a dental arch quality determination unit, configured to determine whether it is necessary to perform scanning without a scanning rod in the oral cavity based on the quality level of the dental arch data; and an oral data determination unit, configured to determine the overall spatial information of the oral cavity based on the dental arch data and the scanning rod data in response to determining that it is not necessary to perform scanning without a scanning rod in the oral cavity.

[0008] This Summary is provided to introduce a selection of concepts in a simplified form that are further described in the Detailed Description below. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 An exemplary environment in which various embodiments of the present disclosure can be implemented is shown;

[0010] Figures 2A to 2C An example of an image acquired through an existing scanning process is shown;

[0011] Figure 3 A schematic flow chart of an oral scanning method according to some embodiments of the present disclosure is shown;

[0012] Figure 4 A schematic diagram showing the structure of a scanning rod according to some embodiments of the present disclosure;

[0013] Figures 5A to 5C An example of an image obtained by the oral scanning method according to an embodiment of the present disclosure is shown;

[0014] Figure 6 A schematic block diagram of an oral scanning device according to some embodiments of the present disclosure is shown;

[0015] Figure 7 A block diagram of a computing device capable of implementing some embodiments of the present disclosure is shown.

[0016] In these drawings, the same or similar reference symbols are used to represent the same or similar elements. The drawings are for illustrative purposes, and the sizes of the elements therein are not necessarily drawn to scale. DETAILED DESCRIPTION

[0017] The present disclosure will now be discussed with reference to several example implementations. It should be understood that these implementations are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0018] As used herein, the term "including" and variations thereof are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "an implementation" and "an implementation" are to be interpreted as "at least one implementation". The term "another implementation" is to be interpreted as "at least one other implementation". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0019] Implant scanning usually requires the use of some scanning rods, through an intraoral scanner or an extraoral scanner, to accurately locate the relative positions of multiple scanning rods and the position of the scanning rods relative to the dental arch in the mouth. When using an intraoral scanner, the three-dimensional data of the patient's dental arch exposed by the cuff is usually collected first, a copy of the scanned three-dimensional data is copied, and the cuff data is removed, retaining the dental arch data. Then, the scanning rod is installed on the cuff, and the three-dimensional data of the patient's dental arch with the scanning rod installed is continued to be collected on the copied and removed three-dimensional data of the cuff, so as to obtain the overall spatial information of the oral cavity. The above process requires two scans, which is cumbersome. Moreover, in the interval between the two scans, the gums in the free area may change and cause stratification, resulting in inaccurate oral data.

[0020] In view of this, a simplified scanning process is proposed. It only needs to scan a copy of the oral scan data with a scanning rod, and the scanning rod and dental arch are identified by automatic recognition. After post-processing, the dental arch data and scanning rod data are generated respectively, thereby obtaining complete oral data. In this way, the scanning process is simplified, the scanning time is shortened, and the stratification caused by the change of the free area gums between two scans is avoided. The following reference Figures 1 to 7 Exemplary embodiments of the present disclosure are described in detail.

[0021] Figure 1 An exemplary environment in which multiple embodiments of the present disclosure can be implemented is shown. The exemplary environment shows an intraoral scanning system 100, which includes an intraoral scanner 110 and a computing device 120 (e.g., a laptop computer, a desktop computer, etc.) coupled together. The communication link between the intraoral scanner 110 and the computing device 120 allows the captured images to be transferred from the intraoral scanner 110 to the computing device 120 for further processing. The communication link between the intraoral scanner 110 and the computing device 120 can be a wired connection (e.g., a Universal Serial Bus USB) or a wireless connection (e.g., Wireless Fidelity Wi-Fi). It should be understood that other communication implementations are also possible.

[0022] The intraoral scanner 110 can be a handheld device that a user (dentist or related professional) can insert into the patient's mouth to capture images. As shown, the intraoral scanner 110 includes a tip 101 and a body 102. The tip 101 can be a pluggable component or can be integrated with the intraoral scanner 100. There is a camera or optical system on the top of the tip 101 for capturing images of teeth and surrounding tissues (such as gums). During the scanning process, the intraoral scanner 110 can obtain detailed information about intraoral entities, such as scanning rods, teeth, gums, and surrounding soft tissues and other oral structures, and convert the physical morphology of the oral cavity into digital image data.

[0023] The computing device 120 is the data processing and computing center of the intraoral scanning system 100. It receives the image data transmitted by the intraoral scanner 110 and processes the data using computing power. The computing device 120 uses a specific algorithm to splice and fit a large number of discrete image data points to construct oral scan data. The oral scan data can be presented on the display screen 115 for users to browse and operate. The computing device 120 can also have data analysis capabilities, for example, automatically identifying the classification of data in the oral scan data, such as dental arches, teeth, scanning rods or other components), thereby achieving image segmentation.

[0024] In some embodiments, the computing device 120 may use a deep neural network based on machine learning to implement image segmentation. Generally, machine learning can roughly include three stages, namely a training stage, a testing stage, and a use stage (also referred to as an inference stage). In the training stage, a given model can be trained using a large amount of training data, and the parameter values ​​are continuously updated iteratively until the model can obtain consistent reasoning that meets the expected goals from the training data. Through training, the model can be considered to be able to learn the association between input and output (also referred to as input-to-output mapping) from the training data. The parameter values ​​of the trained model are determined. In the testing stage, the test input is applied to the trained model to test whether the model can provide the correct output, thereby determining the performance of the model. In the use stage, the model can be used to process the actual input based on the parameter values ​​obtained from the training to determine the corresponding output.

[0025] Figures 2A to 2C An example of an image acquired through an existing scanning process is shown. The existing scanning process includes two scans, one when there is no scanning rod in the oral cavity and the other when the scanning rod is installed.

[0026] Without the scanner arm installed, scan the mouth with the cuff and get Figure 2A The image shown shows a cuff 21 in which an implant or abutment is mounted. Figure 2A In the image shown, the user can mark the cuff area (including the implant or abutment) on the software 22, such as Figure 2B shown.

[0027] Then, if Figure 2C As shown, a scanning rod 23 is installed in the patient's mouth, and the scanning rod 23 is fixed on the implant or the base. The mouth with the scanning rod is scanned again to obtain oral scanning data with the scanning rod. Due to the existence of the scanning rod, a part of the dental arch is blocked and cannot be scanned. For example, the contact surface between the implant or the base and the scanning rod cannot be scanned, and in some cases, the light of the intraoral scanner is blocked by the scanning rod, resulting in a blind spot in the scanning.

[0028] The current cumbersome two-step scanning workflow aims to obtain a set of dental arch data with cuffs and a set of data with a scanbar. The embodiments of the present disclosure provide a simplified scanning process, which can obtain dental arch data and scanbar data by performing a single scan of the oral cavity with a scanbar installed, and obtain the overall spatial information of the oral cavity in combination with a software algorithm.

[0029] Figure 3 Schematic flow chart of an oral scanning method 300 according to some embodiments of the present disclosure is shown. The method 300 may be performed by, for example Figure 1 The method 300 is implemented by the computing device 120 shown. It should be understood that the method 300 may also include additional actions not shown and / or may omit the actions shown, and the scope of the present disclosure is not limited in this respect.

[0030] In block 310, oral scan data is acquired by scanning an oral cavity with a scan bar mounted thereon, wherein the scan bar is fixed to an implant or abutment and covers a portion of a dental arch. In this document, the term "dental arch" refers to tissues such as gums and teeth in the oral cavity, as well as an implant or abutment mounted thereon.

[0031] In some embodiments, in order to minimize the dental arch area blocked by the scanning rod, it is preferred to use a scanning rod with a conical structure, the smaller end of which is fixed to the implant or the abutment. Figure 4 The structure of an exemplary scanning rod is shown. As shown in the figure, the scanning rod is fixed to the implant or abutment via the contact surface 401. Due to the tapered structure, the size of the end of the scanning rod close to the implant or abutment is smaller than the other end away from the implant or abutment.

[0032] In block 320, dental arch data and scanbar data are determined in the oral scan data by automated identification. In some embodiments, to determine the dental arch data and the scanbar data, data representing the dental arch and data representing the scanbar are automatically identified in the oral scan data, and then the data representing the dental arch and the data representing the scanbar are separated as the dental arch data and the scanbar data.

[0033] Traditionally, separating dental arch data and scanbodies data requires human-computer interaction with manually specified ranges. To simplify the process and improve user efficiency, automated recognition can be achieved through deep neural networks. Deep neural networks can be trained to recognize point cloud categories in 3D data and determine whether they belong to scanbodies or dental arches. Then, dental arch data and scanbodies data are separated based on the results of automated recognition.

[0034] In some embodiments, a deep neural network can be trained by the following method. First, point cloud data of the oral cavity including the scanning rod is collected, and the point cloud data has annotated category information. The point cloud data may include three-dimensional point coordinate information, normal vector information, color information, etc. The point cloud is manually labeled, and different types of point clouds are labeled with unique labels, for example, the label of the dental arch is 0, the label of the scanning rod is 1, etc.

[0035] Then, the three-dimensional point cloud data is normalized and enhanced. Data normalization may include, but is not limited to, using methods such as maximum and minimum normalization and mean normalization to normalize information such as coordinates and normal vectors of the point cloud, in order to eliminate the impact of dimensional differences between data on the network. Data enhancement is used to enhance the collected point cloud to expand the amount of data, for example, to create one or more rotation matrices so that the dental arch and the scanning rod have various orientations to enhance the robustness of the network.

[0036] Then, the normalized and enhanced three-dimensional point cloud data is used as training data to train a deep neural network to obtain a trained deep neural network. A classification-related deep neural network (including but not limited to a dynamic graph convolutional network, etc.) is used to perform classification training based on the training data, wherein the input of the deep neural network is the enhanced point cloud data, and the output label is the label of each point cloud. After the deep network model converges, the final network for the classification task is determined.

[0037] At block 330, based on the quality level of the dental arch data, it is determined whether an intraoral scan without a scanbar is required. The quality level of the dental arch data determines whether additional intraoral scans are required to obtain the dental arch data.

[0038] As mentioned above, when a scanning rod with a conical structure is used, the dental arch area blocked by the scanning rod is smaller, the quality of the dental arch data is higher, and a second scan is usually not required. It can be understood that the quality level can also be determined by judging the integrity of the dental arch data. For example, if the crown or gum image near the scanning rod is complete, it can be determined that the quality of the dental arch data is good, and there is no need to perform a scan without a scanning rod in the oral cavity. In some embodiments, the dental arch data can be evaluated by a trained network, and if the score exceeds a certain threshold, it can be determined that a second scan is not required. Additionally or alternatively, it can also be determined by manual observation whether a second scan is required.

[0039] In order to obtain better dental arch data, partial dental arch data can be generated by software to fill the dental arch area blocked by the scanning rod. The generated dental arch data can be merged with the scanned dental arch data as complete dental arch data. In this article, the scanned dental arch data is also referred to as the first dental arch data, and the dental arch data generated by the software is referred to as the second dental arch data. The second dental arch data includes at least the data of the blocked dental arch area (for example, the contact surface between the bottom of the scanning rod and the implant or the abutment).

[0040] In order to achieve the fitting of the bottom of the scanning rod, first obtain the standard 3D model data of the scanning rod and the 3D model data of the implant or abutment fastened to the scanning rod, wherein the standard 3D model data of the scanning rod and the 3D model data of the implant or abutment are loaded in the same coordinate system and are in a fastened state. Then, match the identified scanning rod data (point cloud or mesh generated therefrom) with the standard 3D model of the scanning rod to obtain the transformation matrix of the scanned scanning rod data and the scanned standard 3D model. Use the transformation matrix to transform the 3D data of the top area of ​​the standard implant or abutment 3D model to the scanned scanning rod coordinate system, that is, the coordinate system of the dental arch. Then, splice the top area of ​​the standard implant or abutment 3D model to the dental arch as fitting data.

[0041] In response to determining that it is not necessary to perform a scan without a scanbar in the oral cavity, overall spatial information of the oral cavity is determined based on the dental arch data and the scanbar data at block 340. In some embodiments, if the scanbar bottom is fitted, the generated fitting data, dental arch data, and scan data may be fused to obtain overall spatial information of the oral cavity.

[0042] Figures 5A to 5C An example of an image obtained by the oral cavity scanning method according to an embodiment of the present disclosure is shown. Figure 5A The scanning data of the oral cavity with the scanning rod installed is shown, including the dental arch 51 and the scanning rod 52, which are used to locate the position information of the scanning rod relative to the dental arch. Figure 5B Shows from Figure 5A The image obtained by removing the scan rod data from the image is used to assist in the generation of crown morphology for dental implants on the dental arch. Figure 5C shows the splicing of the fitted data into Figure 5B The complete dental arch data obtained by scanning is shown

[0043] Under normal workflow, two relatively independent scans are required to obtain Figure 5A and Figure 5C According to the embodiment of the present disclosure, only Figure 5A The scan data is obtained when the scanning rod is fastened on the dental arch. At the same time, the position and range of the scanning rod are identified after being processed by the algorithm. The scanning rod is removed and the Figure 5B The scan data shown in the figure is then further stitched together to complete the thread model at the bottom according to the position where the scan rod is removed. Figure 5C In this way, a simplified scanning process is achieved, which can shorten the scanning time compared to the existing technology and avoid stratification caused by changes in the free area gums between two scans.

[0044] Figure 6 FIG. 6 is a schematic block diagram of a device 600 for oral scanning according to an embodiment of the present disclosure. The device 600 may be implemented in Figure 1 At the computing device 120 shown. Figure 6 As shown, the device 600 includes a scan data acquisition unit 610 , a scan data recognition unit 620 , a dental arch quality determination unit 730 , and an oral data determination unit 640 .

[0045] The scanning data acquisition unit 610 is configured to acquire oral scanning data by scanning an oral cavity with a scanning rod installed, the scanning rod being fixed on an implant or a base and covering a part of the dental arch. The scanning data recognition unit 620 is configured to determine the dental arch data and the scanning rod data in the oral scanning data through automatic recognition. The dental arch quality determination unit 730 is configured to determine whether it is necessary to perform scanning without a scanning rod in the oral cavity based on the quality level of the dental arch data. The oral data determination unit 640 is configured to determine the overall spatial information of the oral cavity based on the dental arch data and the scanning rod data in response to determining that it is not necessary to perform scanning without a scanning rod in the oral cavity.

[0046] In some embodiments, the scanning rod has a tapered structure, and a size of one end of the scanning rod close to the implant or the abutment is smaller than that of the other end far from the implant or the abutment.

[0047] In some embodiments, the scan data recognition unit 620 may be configured to recognize dental arch data and scanbore data in the oral scan data by using a trained deep neural network.

[0048] In some embodiments, a trained deep neural network is obtained by: collecting three-dimensional point cloud data of the oral cavity including a scanning rod, the three-dimensional point cloud data having labeled category information, the category information indicating the classification of the point cloud in the three-dimensional point cloud data, the classification including the scanning rod or the dental arch; normalizing and enhancing the three-dimensional point cloud data; and using the normalized and enhanced three-dimensional point cloud data to train the deep neural network to obtain a trained deep neural network.

[0049] In some embodiments, the scan data identification unit 620 can be configured to: identify data representing a dental arch and data representing a scan rod in the oral scan data; and determine the dental arch data and the scan rod data by separating the data representing a dental arch and the data representing a scan rod.

[0050] In some embodiments, the device 600 further includes a data generating unit configured to generate second dental arch data, the second dental arch data including data of the blocked partial area. The oral data determining unit 640 may be configured to determine the overall spatial information of the oral cavity based on the first dental arch data, the second dental arch data and the scanbar data.

[0051] In some embodiments, the data generation unit may also be configured to: determine fitting data of a portion of the dental arch blocked by the scanning rod based on the shape of the scanning rod; and splice the fitting data to the dental arch to generate second dental arch data.

[0052] In some embodiments, the data generation unit can also be configured to: obtain a standard three-dimensional model of the scanning rod and a standard three-dimensional model of the implant or the abutment; determine a conversion relationship between the standard three-dimensional model of the scanning rod and the scanning data of the scanning rod by matching the standard three-dimensional model of the scanning rod with the scanning data of the scanning rod; and determine the fitting data of a partial area of ​​the dental arch blocked by the scanning rod based on the conversion relationship and the standard three-dimensional model of the implant or the abutment.

[0053] In some embodiments, the data generation unit can also be configured to: load the standard three-dimensional model of the scanning rod and the standard three-dimensional model of the implant or the abutment into the same coordinate system, wherein the standard three-dimensional model of the scanning rod and the standard three-dimensional model of the implant or the abutment are in a fastened state.

[0054] In some embodiments, the data generation unit can also be configured to: based on a conversion relationship, convert the standard three-dimensional model of the implant or abutment to the coordinate system where the scanning data of the scanning rod is located; and determine the fitting data based on the three-dimensional data in the standard three-dimensional model of the implant or abutment that is in contact with the scanning rod.

[0055] The oral data determination unit 640 may be configured to: determine complete dental arch data by fusing the first dental arch data and the second dental arch data; and determine overall spatial information of the oral cavity based on the complete dental arch data and the scan arm data.

[0056] It should be noted that the reference Figure 3 Further actions or steps shown can be performed by Figure 6 For example, the device 600 may include more modules or units to implement the actions or steps described above, or Figure 6Some of the units or modules shown may be further configured to implement the actions or steps described above, which will not be repeated here.

[0057] Figure 7 A schematic block diagram of an example device 700 that can be used to implement an embodiment of the present disclosure is shown. As shown, the device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 702 or loaded from a storage unit 706 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0058] A number of components in the device 700 are connected to the I / O interface 705, including: an input unit 706, such as a keyboard, a mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a disk, an optical disk, etc.; and a communication unit 709, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0059] The computing unit 701 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 701 performs the various methods and processes described above, such as method 300. For example, in some embodiments, the method 300 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 700 via ROM 702 and / or communication unit 709. When the computer program is loaded into RAM 703 and executed by the computing unit 701, one or more steps of the method 300 described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the method 300 in any other appropriate manner (e.g., by means of firmware).

[0060] In some embodiments, the methods and processes described above may be implemented as a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for executing various aspects of the present disclosure.

[0061] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: 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), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0062] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0063] The computer program instructions for performing the disclosed operation may be assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, and conventional procedural programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, executed as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., utilizing an Internet service provider to connect via the Internet). In certain embodiments, by utilizing the state information of a computer-readable program instruction to customize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit may execute a computer-readable program instruction, thereby realizing various aspects of the present disclosure.

[0064] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0065] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0066] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the equipment, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0067] Some example implementations of the present disclosure are listed below.

[0068] In a first aspect, the present disclosure provides an oral scanning method, comprising: acquiring oral scanning data by scanning an oral cavity in which a scanning rod is installed, wherein the scanning rod is fixed on an implant or a base and covers a partial area of ​​a dental arch; determining dental arch data and scanning rod data in the oral scanning data through automatic recognition; determining whether it is necessary to perform a scan without a scanning rod in the oral cavity based on a quality level of the dental arch data; and in response to determining that it is not necessary to perform a scan without a scanning rod in the oral cavity, determining the overall spatial information of the oral cavity based on the dental arch data and the scanning rod data.

[0069] In some implementations, the scanning rod has a tapered structure, and a size of one end of the scanning rod close to the implant or the abutment is smaller than that of the other end away from the implant or the abutment.

[0070] In some implementations, determining dental arch data and scanboom data in the oral scan data includes identifying the dental arch data and the scanboom data in the oral scan data using a trained deep neural network.

[0071] In some implementations, the trained deep neural network is obtained by: collecting three-dimensional point cloud data of the oral cavity including a scanning rod, the three-dimensional point cloud data having labeled category information, the category information indicating the classification of the point cloud in the three-dimensional point cloud data, the classification including the scanning rod or the dental arch; normalizing and enhancing the three-dimensional point cloud data; and using the normalized and enhanced three-dimensional point cloud data to train the deep neural network to obtain the trained deep neural network.

[0072] In some implementations, determining the dental arch data and the scan arm data in the oral scan data includes: identifying data representing the dental arch and data representing the scan arm in the oral scan data; and determining the dental arch data and the scan arm data by separating the data representing the dental arch and the data representing the scan arm.

[0073] In some implementations, wherein the dental arch data is first dental arch data, the method further includes: generating second dental arch data, the second dental arch data including data of the obscured partial area, wherein determining the overall spatial information of the oral cavity includes: determining the overall spatial information of the oral cavity based on the first dental arch data, the second dental arch data and the scanning rod data.

[0074] In some implementations, generating the second dental arch data includes: determining fitting data of the partial area of ​​the dental arch obscured by the scanning rod based on the shape of the scanning rod; and splicing the fitting data to the dental arch to generate the second dental arch data.

[0075] In some implementations, determining the fitting data of the partial area of ​​the dental arch obscured by the scanning rod includes: acquiring a standard three-dimensional model of the scanning rod and a standard three-dimensional model of the implant or the abutment; determining a conversion relationship between the standard three-dimensional model of the scanning rod and the scanning data of the scanning rod by matching the standard three-dimensional model of the scanning rod with the scanning data of the scanning rod; and determining the fitting data of the partial area of ​​the dental arch obscured by the scanning rod based on the conversion relationship and the standard three-dimensional model of the implant or the abutment.

[0076] In some implementations, the method further includes: loading the standard three-dimensional model of the scanning rod and the standard three-dimensional model of the implant or the abutment into the same coordinate system, wherein the standard three-dimensional model of the scanning rod and the standard three-dimensional model of the implant or the abutment are in a fastened state.

[0077] In some implementations, determining the fitting data of the partial area of ​​the dental arch obscured by the scanning rod includes: based on the conversion relationship, converting the standard three-dimensional model of the implant or abutment to the coordinate system where the scanning data of the scanning rod is located; and determining the fitting data based on the three-dimensional data in contact with the scanning rod in the standard three-dimensional model of the implant or abutment.

[0078] In some implementations, determining the overall spatial information of the oral cavity based on the first dental arch data, the second dental arch data, and the scan rod data includes: determining complete dental arch data by fusing the first dental arch data and the second dental arch data; and determining the overall spatial information of the oral cavity based on the complete dental arch data and the scan rod data.

[0079] In some implementations, the method is performed by a computing device locally connected to an intraoral scanner.

[0080] In a second aspect, the present disclosure provides a computing device, comprising: a processing unit; and a memory, coupled to the processing unit and containing instructions stored thereon, which, when executed by the processing unit, causes the device to perform the following actions: determine, by automated identification, dental arch data and scanbar data in the oral scan data; determine, based on a quality level of the dental arch data, whether it is necessary to perform a scan without a scanbar in the oral cavity; and in response to determining that it is not necessary to perform a scan without a scanbar in the oral cavity, determine overall spatial information of the oral cavity based on the dental arch data and the scanbar data.

[0081] In some implementations, the scanning rod has a tapered structure, and a size of one end of the scanning rod close to the implant or the abutment is smaller than that of the other end away from the implant or the abutment.

[0082] In some implementations, determining the dental arch data and the scan arm data in the oral scan data includes: identifying data representing the dental arch and data representing the scan arm in the oral scan data; and determining the dental arch data and the scan arm data by separating the data representing the dental arch and the data representing the scan arm.

[0083] In some implementations, the dental arch data is first dental arch data, and the action also includes: generating second dental arch data, the second dental arch data including data of the obscured partial area, wherein determining the overall spatial information of the oral cavity includes: determining the overall spatial information of the oral cavity based on the first dental arch data, the second dental arch data and the scanning rod data.

[0084] In some implementations, generating the second dental arch data includes: determining fitting data of the partial area of ​​the dental arch obscured by the scanning rod based on the shape of the scanning rod; and splicing the fitting data to the dental arch to generate the second dental arch data.

[0085] In some implementations, determining the fitting data of the partial area of ​​the dental arch obscured by the scanning rod includes: acquiring a standard three-dimensional pattern of the scanning rod and a standard three-dimensional model of the implant or the abutment; determining a conversion relationship between the standard three-dimensional model of the scanning rod and the scanning data of the scanning rod by matching the standard three-dimensional model of the scanning rod with the scanning data of the scanning rod; and determining the fitting data of the partial area of ​​the dental arch obscured by the scanning rod based on the conversion relationship and the standard three-dimensional model of the implant or the abutment.

[0086] In some implementations, the action further includes: loading a standard three-dimensional model of the scan rod and a standard three-dimensional model of the implant or the abutment into the same coordinate system, wherein the standard three-dimensional model of the scan rod and the standard three-dimensional model of the implant are in a fastened state.

[0087] In some implementations, determining the fitting data of the partial area of ​​the dental arch obscured by the scanning rod includes: based on the conversion relationship, converting the standard three-dimensional model of the implant or the abutment to the coordinate system where the scanning data of the scanning rod is located; and determining the three-dimensional data in contact with the scanning rod in the standard three-dimensional model of the implant or the abutment as the fitting data.

[0088] In some implementations, determining the overall spatial information of the oral cavity based on the first dental arch data, the second dental arch data, and the scan rod data includes: determining complete dental arch data by fusing the first dental arch data and the second dental arch data; and determining the overall spatial information of the oral cavity based on the complete dental arch data and the scan rod data.

[0089] In a third aspect, a computer program product is provided, which is tangibly stored in a computer storage medium and includes computer executable instructions, which, when executed by a device, cause the device to perform the following actions, the actions including: acquiring oral scanning data by scanning an oral cavity with a scanning rod installed, the scanning rod being fixed on an implant or a base and covering a partial area of ​​a dental arch; determining dental arch data and scanning rod data in the oral scanning data through automatic recognition; determining whether it is necessary to perform a scan without a scanning rod in the oral cavity based on the quality level of the dental arch data; and in response to determining that it is not necessary to perform a scan without a scanning rod in the oral cavity, determining the overall spatial information of the oral cavity based on the dental arch data and the scanning rod data.

[0090] In a fourth aspect, the present disclosure provides a computer-readable medium having machine-executable instructions stored thereon, which, when executed by a device, cause the device to perform one or more implementations of the method of the first aspect described above.

[0091] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An oral scanning method, comprising: Acquire oral scan data by scanning an oral cavity with a scan bar mounted thereon, the scan bar being fixed on an implant or abutment and covering a portion of a dental arch; Determine dental arch data and scan arm data in the oral scan data through automated recognition; Based on the quality level of the dental arch data, determining whether it is necessary to perform intraoral scanning without a scanbar; as well as In response to determining that it is not necessary to perform an intra-oral scan without a scanboom, overall spatial information of the oral cavity is determined based on the dental arch data and the scanboom data.

2. The method according to claim 1, wherein: The scanning rod has a tapered structure, and a size of one end of the scanning rod close to the implant or the base is smaller than that of the other end far from the implant or the base.

3. The method according to claim 1, wherein: Determining dental arch data and scanbar data in the oral scan data includes: The dental arch data and the scanboom data in the oral scan data are identified by using a trained deep neural network.

4. The method according to claim 3, wherein: The trained deep neural network is obtained by: Collecting three-dimensional point cloud data of an oral cavity including a scanning rod, wherein the three-dimensional point cloud data has annotated category information, wherein the category information indicates a category of a point cloud in the three-dimensional point cloud data, wherein the category includes a scanning rod or a dental arch; Normalizing and enhancing the three-dimensional point cloud data; as well as The deep neural network is trained using the data-normalized and enhanced three-dimensional point cloud data to obtain the trained deep neural network.

5. The method according to claim 1, determining the dental arch data and the scan arm data in the oral scan data comprises: Identifying data representing a dental arch and data representing a scanbar in the oral scan data; The dental arch data and the scanboom data are determined by separating the data representing the dental arch and the data representing the scanboom.

6. The method according to claim 1, wherein the dental arch data is first dental arch data, the method further comprising: Generate second dental arch data, wherein the second dental arch data includes data of the blocked partial area, wherein determining the overall spatial information of the oral cavity includes: Based on the first dental arch data, the second dental arch data and the scanbodies data, overall spatial information of the oral cavity is determined.

7. The method according to claim 1, wherein: Generating the second dental arch data includes: Determining fitting data of the partial area of ​​the dental arch blocked by the scanning rod based on the shape of the scanning rod; and The fitting data is spliced ​​to the dental arch to generate the second dental arch data.

8. The method according to claim 7, wherein: Determining fitting data of the partial area of ​​the dental arch blocked by the scanning rod includes: Acquire a standard three-dimensional model of the scanning rod and a standard three-dimensional model of the implant or the abutment; Determining a conversion relationship between the standard three-dimensional model of the scanning rod and the scanning data of the scanning rod by matching the standard three-dimensional model of the scanning rod with the scanning data of the scanning rod; and Based on the conversion relationship and a standard three-dimensional model of the implant or the abutment, fitting data of the partial area of ​​the dental arch blocked by the scanning rod is determined.

9. The method according to claim 7, further comprising: The standard three-dimensional model of the scanning rod and the standard three-dimensional model of the implant or the abutment are loaded into the same coordinate system, wherein the standard three-dimensional model of the scanning rod and the standard three-dimensional model of the implant or the abutment are in a fastened state.

10. The method according to claim 7, wherein: Determining fitting data of the partial area of ​​the dental arch blocked by the scanning rod includes: Based on the conversion relationship, converting the standard three-dimensional model of the implant or abutment to the coordinate system where the scan data of the scanbar is located; and The fitting data is determined based on three-dimensional data in contact with the scanbar in a standard three-dimensional model of the implant or abutment.

11. The method according to claim 8, wherein: Determining the overall spatial information of the oral cavity based on the first dental arch data, the second dental arch data, and the scanbar data includes: Determine complete dental arch data by fusing the first dental arch data and the second dental arch data; and Based on the complete dental arch data and the scanbodies data, overall spatial information of the oral cavity is determined.

12. The method of claim 1 performed by a computing device locally connected to an intraoral scanner.

13. A computing device comprising: Processing unit; as well as A memory coupled to the processing unit and containing instructions stored thereon, which, when executed by the processing unit, cause the device to perform the following actions: Acquire oral scan data by scanning an oral cavity with a scan bar mounted thereon, the scan bar being fixed on an implant or abutment and covering a portion of a dental arch; Determine dental arch data and scan arm data in the oral scan data through automated recognition; Based on the quality level of the dental arch data, determining whether it is necessary to perform intraoral scanning without a scanbar; as well as In response to determining that it is not necessary to perform an intra-oral scan without a scanboom, overall spatial information of the oral cavity is determined based on the dental arch data and the scanboom data.

14. The computing device of claim 13, wherein: The scanning rod has a tapered structure, and a size of one end of the scanning rod close to the implant or the base is smaller than that of the other end far from the implant or the base.

15. The computing device of claim 13, determining dental arch data and scanboom data in the oral scan data comprises: Identifying data representing a dental arch and data representing a scanbar in the oral scan data; The dental arch data and the scanboom data are determined by separating the data representing the dental arch and the data representing the scanboom.

16. The computing device of claim 13, wherein the dental arch data is first dental arch data, the actions further comprising: Generate second dental arch data, wherein the second dental arch data includes data of the blocked partial area, wherein determining the overall spatial information of the oral cavity includes: Based on the first dental arch data, the second dental arch data and the scanbodies data, overall spatial information of the oral cavity is determined.

17. The computing device of claim 13, wherein: Generating the second dental arch data includes: Determining fitting data of the partial area of ​​the dental arch blocked by the scanning rod based on the shape of the scanning rod; and The fitting data is spliced ​​to the dental arch to generate the second dental arch data.

18. The computing device of claim 17, wherein: Determining fitting data of the partial area of ​​the dental arch blocked by the scanning rod includes: Acquire a standard three-dimensional mode of the scanning rod and a standard three-dimensional model of the implant or the abutment; Determining a conversion relationship between the standard three-dimensional model of the scanning rod and the scanning data of the scanning rod by matching the standard three-dimensional model of the scanning rod with the scanning data of the scanning rod; and Based on the conversion relationship and a standard three-dimensional model of the implant or the abutment, fitting data of the partial area of ​​the dental arch blocked by the scanning rod is determined.

19. The computing device of claim 17, the actions further comprising: The standard three-dimensional model of the scanning rod and the standard three-dimensional model of the implant or the abutment are loaded into the same coordinate system, wherein the standard three-dimensional model of the scanning rod and the standard three-dimensional model of the implant are in a fastened state.

20. The computing device of claim 17, wherein: Determining fitting data of the partial area of ​​the dental arch blocked by the scanning rod includes: Based on the conversion relationship, converting the standard three-dimensional model of the implant or the abutment to the coordinate system where the scan data of the scanbar is located; and The fitting data is determined based on three-dimensional data in contact with the scanning rod in a standard three-dimensional model of the implant or the abutment.

21. The computing device of claim 16, wherein: Determining the overall spatial information of the oral cavity based on the first dental arch data, the second dental arch data, and the scanbar data includes: Determine complete dental arch data by fusing the first dental arch data and the second dental arch data; and Based on the complete dental arch data and the scanbodies data, overall spatial information of the oral cavity is determined.

22. A computer program product tangibly stored in a computer storage medium and comprising computer executable instructions which, when executed by a device, cause the device to perform the following actions, the actions comprising: Acquire oral scan data by scanning an oral cavity with a scan bar mounted thereon, the scan bar being fixed on an implant or abutment and covering a portion of a dental arch; Determine dental arch data and scan arm data in the oral scan data through automated recognition; Based on the quality level of the dental arch data, determining whether it is necessary to perform intraoral scanning without a scanbar; as well as In response to determining that it is not necessary to perform an intra-oral scan without a scanboom, overall spatial information of the oral cavity is determined based on the dental arch data and the scanboom data.

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