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 implanted component; identifying scanning data of a scanning rod in the oral cavity scanning data; standard model data of a three-dimensional entity capable of being installed on the implanted part is converted into a coordinate system where oral cavity scanning data is located; and removing the scanning data of the scanning rod from the oral cavity scanning data, and splicing the converted standard model data of the three-dimensional entity to the oral cavity scanning data after the scanning data of the scanning rod is removed to obtain overall data of the oral cavity. In this way, scanning rod data can be replaced with data of different three-dimensional entities (such as an abutment or an expanded scanning rod) in the oral cavity scanning stage and spliced to oral cavity scanning data, the workflow is simplified, and expandability of oral cavity scanning is achieved.

Description

Background Art

[0001] Oral 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 oral 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 implanted component. Its main function is to help the intraoral scanner accurately obtain the three-dimensional position information of the implanted component and its surrounding tissue. Usually, after completing the oral scan, the organization that completes the oral scan sends the scanning data of the scanning rod and the scanning data of the dental arch to the downstream laboratory, and the laboratory positions the base to be installed to the dental arch in order to perform three-dimensional modeling of the oral cavity and customize dentures. 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. According to the method, during the oral scanning stage, the scanbar data can be replaced with data of different three-dimensional entities (such as a base or an extended scanbar) and spliced ​​into the oral scanning data, thereby simplifying the downstream workflow and achieving the scalability of oral scanning.

[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, wherein the scanning rod is fixed on an implanted component; identifying scanning data of the scanning rod in the oral scanning data; converting standard model data of a three-dimensional entity that can be installed on the implanted component to a coordinate system where the oral scanning data is located; and removing the scanning data of the scanning rod from the oral scanning data, and splicing the converted standard model data of the three-dimensional entity to the oral scanning data after the scanning data of the scanning rod is removed, to obtain the overall data of the oral cavity.

[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, wherein the scanning rod is fixed on an implanted component; identifying scanning data of the scanning rod in the oral scanning data; converting standard model data of a three-dimensional entity that can be installed on the implanted component to a coordinate system where the oral scanning data is located; and removing the scanning data of the scanning rod from the oral scanning data, and splicing the converted standard model data of the three-dimensional entity to the oral scanning data after the scanning data of the scanning rod is removed, to obtain overall data of the oral cavity.

[0006] According to a third aspect of the present disclosure, 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, wherein the scanning rod is fixed on an implanted component; identifying scanning data of the scanning rod in the oral scanning data; converting standard model data of a three-dimensional entity that can be installed on the implanted component to a coordinate system where the oral scanning data is located; and removing the scanning data of the scanning rod from the oral scanning data, and splicing the converted standard model data of the three-dimensional entity to the oral scanning data after the scanning data of the scanning rod is removed, to obtain overall data of the oral cavity.

[0007] According to a fourth aspect of the present disclosure, an oral scanning device is provided. The device comprises: a scanning data acquisition unit, configured to acquire oral scanning data by scanning an oral cavity with a scanning rod installed, wherein the scanning rod is fixed on an implanted component; a scanning data recognition unit, configured to recognize scanning data of the scanning rod in the oral scanning data; a conversion unit, configured to convert standard model data of a three-dimensional entity that can be installed on the implanted component to a coordinate system where the oral scanning data is located; and a data splicing unit, configured to remove the scanning data of the scanning rod from the oral scanning data, and splice the converted standard model data of the three-dimensional entity to the oral scanning data after the scanning data of the scanning rod is removed, so as to obtain the overall data of 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] Figure 2 A schematic diagram of an exemplary digital implantation system is shown;

[0011] Figure 3 A schematic diagram showing the structure of an exemplary dental implant;

[0012] Figure 4 A schematic flow chart of an oral scanning method according to some embodiments of the present disclosure is shown;

[0013] Figure 5 A schematic block diagram of an oral scanning device according to some embodiments of the present disclosure is shown;

[0014] Figure 6 A block diagram of a computing device capable of implementing some embodiments of the present disclosure is shown.

[0015] 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

[0016] 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.

[0017] 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.

[0018] Implant scanning usually requires the use of some scanning rods, and the relative positions of multiple scanning rods and the positions of the scanning rods relative to the dental arch in the mouth are accurately located through an intraoral scanner or an extraoral scanner. When using an intraoral scanner, the three-dimensional data of the dental arch of the patient with the cuff exposed is usually collected first, a copy of the scanned three-dimensional data is copied, and the cuff data is removed, and the dental arch data is retained. Then, the scanning rod is installed on the cuff, and the three-dimensional data of the dental arch of the patient with the scanning rod installed is continued to be collected on the copied and removed three-dimensional data of the cuff. The scanning mechanism sends the scanning data containing the scanning rod and the retained dental arch data to the downstream laboratory. Based on these two data, the laboratory positions the base to be installed on the implanted component to the dental arch, and performs three-dimensional modeling of the oral cavity in order to prepare dentures. However, this method has relatively high requirements for the modeling accuracy of the laboratory, and if problems are found during the modeling process (for example, alignment problems), the laboratory needs to communicate repeatedly with the oral scanning mechanism, which leads to additional communication and time costs.

[0019] In view of this, the present disclosure provides an improved workflow to implement oral modeling in an intraoral scanning system, thereby replacing the existing process of sending scanning rod data and dental arch data to a technician for modeling. In an exemplary method, the intraoral scanning system obtains oral scanning data and identifies the scanning rod data and dental arch data by scanning the oral cavity with a scanning rod installed therein, and then splices the standard model data of the three-dimensional entity (for example, the base to be installed on the implant or other different scanning rods) to the scanned dental arch data based on spatial coordinate conversion, obtains the overall data of the oral cavity, and completes oral modeling. The following reference Figures 1 to 6 Exemplary embodiments of the present disclosure are described in detail.

[0020] 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.

[0021] 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.

[0022] 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 three-dimensional scanning data. The three-dimensional scanning 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 three-dimensional scanning data, such as dental arches, scanning rods or other components, to achieve image segmentation.

[0023] 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.

[0024] Figure 2A schematic diagram of an exemplary digital implant system is shown. The digital implant system includes an intraoral scanning system 100 and a dental laboratory 200, which communicate with each other through a network. The intraoral scanning system 100 is responsible for collecting digital information of the patient's oral cavity. For example, when there is no scanning rod in the oral cavity, the intraoral scanner 110 is used to obtain the patient's pure dental arch data, and then the scanning rod data is obtained when the scanning rod is installed in the oral cavity. Alternatively, the intraoral scanning system 100 can perform only one scan, scan with a scanning rod in the oral cavity, and then use automated recognition technology (such as a deep network model) to identify the dental arch data and scanning rod data in the obtained oral scan data to achieve image segmentation. The intraoral scanning system 100 sends the dental arch data and scanning rod data to the dental laboratory 200 to make an oral model.

[0025] Dental Laboratory 200 is mainly responsible for the part of oral care that patients are not directly involved in, including making oral models, making dentures, polishing, etc. Dental Laboratory 200 uses professional materials and related technologies to make dentures based on oral models and the dentist's advice.

[0026] Figure 3 A schematic diagram showing the structure of an exemplary dental implant. As shown in the figure, the dental implant includes an implant, an abutment, and a crown. First, the implant is surgically implanted into the patient's alveolar bone. After the implant and the alveolar bone are stably combined, the abutment is installed on the implant, and the abutment and the implant can be fixed by screws. Then, the crown is fixed on the abutment to complete the dental implant process. The intraoral scan mentioned above can usually be performed after the implant has been reliably fixed and combined with the alveolar bone, thereby obtaining the position information of the implant.

[0027] In some implementations, since the implant goes deep under the gums, the abutment may be fastened directly after the implant is implanted. This abutment is a part that stays in the patient's mouth for a long time and is used to connect the implant and the crown. The shape of this abutment is usually customized, and may lack surface treatment or morphological design that is convenient for intraoral scanning, and sometimes it goes deep under the gums, so it is not convenient for scanning. Therefore, in the case where the abutment has been directly screwed on, it is still necessary to obtain the positioning information of the abutment through a scanning rod. To this end, the scanning rod can be fixed to the abutment and then an intraoral scan can be performed to obtain the scanning data, and the position information of the abutment can be obtained by positioning the scanning rod.

[0028] Figure 4 4 shows a schematic flow chart of an oral scanning method 400 according to some embodiments of the present disclosure. The method 400 may be performed by, for example Figure 1 The method 410 is implemented by the computing device 120 shown. It should be understood that the method 410 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.

[0029] The method 400 includes, at block 410, acquiring oral scan data by scanning an oral cavity with a scanbar mounted thereon, wherein the scanbar is fixed to an implanted component, which may be an implant or an abutment fixed to the implant.

[0030] In block 420, the scan data of the scanbar in the oral scan data is identified. The dental arch scan data and the scan data of the scanbar in the oral scan data can be determined by a human-computer interaction method of manually specifying a range or an automatic identification method, thereby achieving separation of the dental arch data and the scanbar data.

[0031] In order to simplify the process and improve user efficiency, automatic recognition can be achieved through deep neural networks. The deep neural network can be trained to recognize the point cloud category in the 3D data and determine whether it belongs to the scan body or the dental arch. Then, the dental arch data and the scan body data are separated based on the results of the automatic recognition.

[0032] 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.

[0033] 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.

[0034] In box 430, the standard model data of the three-dimensional entity that can be installed on the implanted component is converted to the coordinate system where the oral scan data is located. In some embodiments, the three-dimensional entity may include an abutment or another scanning rod different from the scanning rod. For example, in the case where the scanning rod is fixed on the implant, the three-dimensional entity may be an abutment, a scanning rod, or other components that can be connected to the implant; in the case where the scanning rod is fixed on the abutment, the three-dimensional entity may be a scanning rod or other components that can be connected to the abutment. For the convenience of explanation, the following explanation is taken as an example in which the scanning rod is fixed on the implant and the three-dimensional entity is the abutment. The standard model data of the implant, the abutment, and the scanning rod may be the standard mechanical size data of the implant, the abutment, and the scanning rod provided by the manufacturer or a third party, which may be stored in a three-dimensional data format, such as a polygon file format (PLF), a stereolithography modeling (STL) format, etc.

[0035] In order to convert the three-dimensional standard model data of the abutment to the coordinates of the oral scan data (called the "first coordinate system"), after obtaining the standard model data of the implant, the three-dimensional entity, and the scanning rod, the three are converted to the same coordinate system (called the "second coordinate system"). The same coordinate system means that if the implant morphology is used as the reference coordinate system, when the standard model data of the implant and the abutment are loaded at the same time, the two are in a screw-tightened state, that is, the relative position is fixed; when the standard model data of the implant and the scanning rod are loaded at the same time, the two are also in a screw-tightened state. In these two loadings, the implant and the scanning rod are in a fixed connection state, and the implant and the three-dimensional entity are also in a fixed connection state. Since the coordinate information of the implant in this coordinate system is the same, the standard three-dimensional models of the abutment and the scanning rod are positioned relative to this information.

[0036] Then, the three-dimensional data of the scanning rod obtained by scanning is matched with the standard model data of the scanning rod, and the conversion relationship between the standard model data of the scanning rod and the three-dimensional data of the scanning rod obtained by scanning is obtained, that is, the conversion relationship from the second coordinate system where the standard model data is located to the first coordinate system where the scanning data is located. The conversion relationship can be represented by a conversion matrix. Based on the obtained conversion relationship, the standard model data of the base in the second coordinate system is converted to the first coordinate system. By applying the conversion relationship to the standard model data of the base, the standard model data of the base in the first coordinate system can be obtained. Specifically, the coordinates of the points in the standard model data of the base can be multiplied by the conversion matrix to obtain the coordinates in the first coordinate system.

[0037] In block 440, the scan data of the scanbar is removed from the oral scan data, and the converted standard model data of the three-dimensional entity is spliced ​​to the oral scan data after the scan data of the scanbar is removed, to obtain the overall data of the oral cavity. The overall data of the oral cavity is obtained by combining the abutment data in the first coordinate system obtained in block 430 and the scan data of the dental arch obtained in block 420. Then, the computing device can send the overall data of the oral cavity to the technician for denture preparation.

[0038] Figure 5 FIG. 5 shows a schematic block diagram of a device 500 for oral scanning according to an embodiment of the present disclosure. The device 500 may be implemented in Figure 1 At the computing device 120 shown. Figure 5 As shown, the device 500 includes: a scan data acquisition unit 510, a scan data recognition unit 520, a conversion unit 430, and a data splicing unit 540.

[0039] The scanning data acquisition unit 510 is configured to acquire oral scanning data by scanning an oral cavity in which a scanning rod is installed, wherein the scanning rod is fixed on the implant. The scanning data recognition unit 520 is configured to recognize the scanning data of the scanning rod in the oral scanning data. The conversion unit 530 is configured to convert the standard model data of the three-dimensional entity that can be installed on the implanted component to the coordinate system where the oral scanning data is located. The data splicing unit 540 is configured to remove the scanning data of the scanning rod from the oral scanning data, and splice the converted standard model data of the three-dimensional entity to the oral scanning data after the scanning data of the scanning rod is removed, so as to obtain the overall data of the oral cavity.

[0040] In some embodiments, the coordinate system where the oral scanning data is located is a first coordinate system, and the device 400 also includes a data loading unit, which is configured to load standard model data of the implanted component and standard model data of the scanning rod in a second coordinate system, wherein the implanted component and the scanning rod are in a fixed connection state; and load standard model data of the implanted component and standard model data of the three-dimensional entity in the second coordinate system, wherein the implanted component and the three-dimensional entity are in a fixed connection state, wherein in the two loadings, the coordinate information of the implanted component in the second coordinate system is the same.

[0041] In some embodiments, the conversion unit 530 is also configured to determine the conversion relationship between the first coordinate system and the second coordinate system based on the scanning data of the scanning rod and the standard model data of the scanning rod; and based on the conversion relationship, convert the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system.

[0042] In some embodiments, the conversion unit 530 is further configured to determine a coordinate conversion matrix by matching the scan data of the scan rod in the first coordinate system with the standard model data of the scan rod in the second coordinate system.

[0043] In some embodiments, the conversion unit 530 is further configured to multiply the coordinates of the three-dimensional entity in the second coordinate system by the coordinate conversion matrix to obtain the coordinates in the first coordinate system.

[0044] In some embodiments, the scan data identification unit 420 is further configured to use a trained deep neural network to identify data belonging to a dental arch and data belonging to a scan arm in the oral scan data.

[0045] 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.

[0046] In some embodiments, the three-dimensional entity includes a base or another scanning rod different from the scanning rod.

[0047] In some embodiments, apparatus 500 is deployed at a computing device that is locally connected to an intraoral scanner.

[0048] In some embodiments, the device 500 further includes a sending unit configured to send the overall data of the oral cavity to a laboratory worker for use in denture preparation.

[0049] It should be noted that the reference Figure 4 Further actions or steps shown can be performed by Figure 5 For example, the device 500 may include more modules or units to implement the actions or steps described above, or Figure 4 Some of the units or modules shown may be further configured to implement the actions or steps described above, which will not be repeated here.

[0050] Figure 6 A schematic block diagram of an example device 600 that can be used to implement an embodiment of the present disclosure is shown. As shown, the device 600 includes a computing unit 601, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 602 or loaded from a storage unit 606 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the device 600 can also be stored. The computing unit 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0051] A number of components in the device 600 are connected to the I / O interface 605, including: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0052] The computing unit 601 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 601 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 601 performs the various methods and processes described above, such as method 400. For example, in some embodiments, the method 400 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by the computing unit 601, one or more steps of the method 400 described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the method 400 in any other appropriate manner (e.g., by means of firmware).

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] Some example implementations of the present disclosure are listed below.

[0061] In a first aspect, the present disclosure provides an oral scanning method, comprising: acquiring oral scanning data by scanning an oral cavity with a scanning rod installed, wherein the scanning rod is fixed on an implanted component; identifying scanning data of the scanning rod in the oral scanning data; converting standard model data of a three-dimensional entity that can be installed on the implanted component to a coordinate system where the oral scanning data is located; and removing the scanning data of the scanning rod from the oral scanning data, and splicing the converted standard model data of the three-dimensional entity to the oral scanning data after the scanning data of the scanning rod is removed, to obtain overall data of the oral cavity.

[0062] In some embodiments, the coordinate system where the oral scanning data is located is a first coordinate system, and the method further includes: loading standard model data of the implanted component and standard model data of the scanning rod in a second coordinate system, wherein the implanted component and the scanning rod are in a fixed connection state; and loading standard model data of the implanted component and standard model data of the three-dimensional entity in the second coordinate system, wherein the implanted component and the three-dimensional entity are in a fixed connection state, wherein in the two loadings, the coordinate information of the implanted component in the second coordinate system is the same.

[0063] In some embodiments, converting the standard model data of the three-dimensional entity that can be installed on the implanted component to the coordinate system where the oral scanning data is located includes: determining the conversion relationship between the first coordinate system and the second coordinate system based on the scanning data of the scanning rod and the standard model data of the scanning rod; and based on the conversion relationship, converting the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system.

[0064] In some embodiments, determining the conversion relationship between the first coordinate system and the second coordinate system includes: determining a coordinate conversion matrix by matching the scan data of the scan rod in the first coordinate system with the standard model data of the scan rod in the second coordinate system.

[0065] In some embodiments, converting the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system includes: multiplying the coordinates of the three-dimensional entity in the second coordinate system by the coordinate conversion matrix to obtain the coordinates in the first coordinate system.

[0066] In some embodiments, identifying scan data of the scanboom in the oral scan data includes using a trained deep neural network to identify data belonging to a dental arch and data belonging to the scanboom in the oral scan data.

[0067] In some embodiments, 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.

[0068] In some embodiments, the three-dimensional entity includes a base or another scanning rod different from the scanning rod.

[0069] In some embodiments, the method is performed by a computing device locally connected to the intraoral scanner.

[0070] In some embodiments, the method further comprises: sending the overall data of the oral cavity to a lab for use in denture preparation.

[0071] 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, wherein the instructions, when executed by the processing unit, cause the device to perform the following actions: acquire oral scanning data by scanning an oral cavity with a scanning rod installed, wherein the scanning rod is fixed on an implanted component; identify scanning data of the scanning rod in the oral scanning data; convert standard model data of a three-dimensional entity that can be installed on the implanted component to a coordinate system where the oral scanning data is located; and remove the scanning data of the scanning rod from the oral scanning data, and splice the converted standard model data of the three-dimensional entity to the oral scanning data after the scanning data of the scanning rod is removed, to obtain overall data of the oral cavity.

[0072] In some embodiments, the coordinate system where the oral scanning data is located is a first coordinate system, and the action also includes: loading the standard model data of the implanted component and the standard model data of the scanning rod in a second coordinate system, wherein the implanted component and the scanning rod are in a fixed connection state; and loading the standard model data of the implanted component and the standard model data of the three-dimensional entity in the second coordinate system, wherein the implanted component and the three-dimensional entity are in a fixed connection state.

[0073] In some embodiments, converting the standard model data of the three-dimensional entity that can be installed on the implanted component to the coordinate system where the oral scanning data is located includes: determining the conversion relationship between the first coordinate system and the second coordinate system based on the scanning data of the scanning rod and the standard model data of the scanning rod; and based on the conversion relationship, converting the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system.

[0074] In some embodiments, determining the conversion relationship between the first coordinate system and the second coordinate system includes: determining a coordinate conversion matrix by matching the scan data of the scan rod in the first coordinate system with the standard model data of the scan rod in the second coordinate system.

[0075] In some embodiments, converting the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system includes: multiplying the coordinates of the three-dimensional entity in the second coordinate system by the coordinate conversion matrix to obtain the coordinates in the first coordinate system.

[0076] In some embodiments, identifying scan data of the scanboom in the oral scan data includes using a trained deep neural network to identify data belonging to a dental arch and data belonging to the scanboom in the oral scan data.

[0077] In some embodiments, the three-dimensional entity includes a base or another scanning rod different from the scanning rod.

[0078] In some embodiments, the computing device is locally connected to the intraoral scanner.

[0079] In some embodiments, the action further comprises: sending the overall data of the oral cavity to a technician for use in denture preparation.

[0080] 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, wherein the scanning rod is fixed on an implanted component; identifying scanning data of the scanning rod in the oral scanning data; converting standard model data of a three-dimensional entity that can be installed on the implanted component to a coordinate system where the oral scanning data is located; and removing the scanning data of the scanning rod from the oral scanning data, and splicing the converted standard model data of the three-dimensional entity to the oral scanning data after the scanning data of the scanning rod is removed, to obtain overall data of the oral cavity.

[0081] 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.

[0082] 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: Acquiring oral scanning data by scanning an oral cavity with a scanning rod installed, wherein the scanning rod is fixed on the implanted component; Identifying the scan data of the scan rod in the oral scan data; Converting the standard model data of the three-dimensional entity that can be mounted on the implanted component to the coordinate system of the oral scan data; as well as The scanning data of the scanning rod is removed from the oral scanning data, and the converted standard model data of the three-dimensional entity is spliced ​​to the oral scanning data after the scanning data of the scanning rod is removed, so as to obtain the overall data of the oral cavity.

2. The method according to claim 1, wherein the coordinate system in which the oral scan data is located is a first coordinate system, and the method further comprises: Loading the standard model data of the implanted component and the standard model data of the scanning rod in a second coordinate system, wherein the implanted component and the scanning rod are in a fixed connection state; as well as loading the standard model data of the implanted component and the standard model data of the three-dimensional entity in the second coordinate system, wherein the implanted component and the three-dimensional entity are in a fixed connection state, In the two loadings, the coordinate information of the implanted component in the second coordinate system is the same.

3. The method according to claim 2, wherein: Converting the standard model data of the three-dimensional entity that can be mounted on the implant into the coordinate system where the oral scan data is located comprises: Determining a conversion relationship between the first coordinate system and the second coordinate system based on the scan data of the scan bar and the standard model data of the scan bar; and Based on the conversion relationship, the standard model data of the three-dimensional entity in the second coordinate system is converted to the first coordinate system.

4. The method according to claim 3, wherein: Determining a conversion relationship between the first coordinate system and the second coordinate system includes: A coordinate transformation matrix is ​​determined by matching the scan data of the scan rod in the first coordinate system with the standard model data of the scan rod in the second coordinate system.

5. The method according to claim 4, wherein: Converting the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system comprises: The coordinates of the three-dimensional entity in the second coordinate system are multiplied by the coordinate transformation matrix to obtain the coordinates in the first coordinate system.

6. The method according to claim 1, wherein: Identifying the scan data of the scan rod in the oral scan data includes: A trained deep neural network is used to identify data belonging to a dental arch and data belonging to the scan arm in the oral scan data.

7. The method according to claim 6, 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.

8. The method according to any one of claims 1 to 7, wherein: The three-dimensional entity includes a base or another scanning rod different from the scanning rod.

9. The method according to any one of claims 1 to 7, wherein: The method is performed by a computing device locally connected to the intraoral scanner.

10. The method according to any one of claims 1 to 7, further comprising: The overall data of the oral cavity is sent to a technician for use in denture preparation.

11. 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: Acquiring oral scanning data by scanning an oral cavity with a scanning rod installed, wherein the scanning rod is fixed on the implanted component; Identifying the scan data of the scan rod in the oral scan data; Converting the standard model data of the three-dimensional entity that can be mounted on the implanted component to the coordinate system of the oral scan data; as well as The scanning data of the scanning rod is removed from the oral scanning data, and the converted standard model data of the three-dimensional entity is spliced ​​to the oral scanning data after the scanning data of the scanning rod is removed, so as to obtain the overall data of the oral cavity.

12. The computing device according to claim 11, wherein the coordinate system in which the oral scan data is located is a first coordinate system, and the action further comprises: Loading the standard model data of the implanted component and the standard model data of the scanning rod in a second coordinate system, wherein the implanted component and the scanning rod are in a fixed connection state; as well as The standard model data of the implanted component and the standard model data of the three-dimensional entity are loaded in the second coordinate system, wherein the implanted component and the three-dimensional entity are in a fixed connection state.

13. The computing device of claim 12, wherein: Converting the standard model data of the three-dimensional entity that can be mounted on the implanted component to the coordinate system where the oral scan data is located comprises: Determining a conversion relationship between the first coordinate system and the second coordinate system based on the scan data of the scan bar and the standard model data of the scan bar; and Based on the conversion relationship, the standard model data of the three-dimensional entity in the second coordinate system is converted to the first coordinate system.

14. The computing device of claim 13, wherein: Determining a conversion relationship between the first coordinate system and the second coordinate system includes: A coordinate transformation matrix is ​​determined by matching the scan data of the scan rod in the first coordinate system with the standard model data of the scan rod in the second coordinate system.

15. The computing device of claim 14, wherein: Converting the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system comprises: The coordinates of the three-dimensional entity in the second coordinate system are multiplied by the coordinate transformation matrix to obtain the coordinates in the first coordinate system.

16. The computing device of claim 11, wherein: Identifying the scan data of the scan rod in the oral scan data includes: A trained deep neural network is used to identify data belonging to a dental arch and data belonging to the scan arm in the oral scan data.

17. A computing device according to any one of claims 11 to 16, wherein: The three-dimensional entity includes a base or another scanning rod different from the scanning rod.

18. The computing device according to any one of claims 11 to 16, wherein: The computing device is locally connected to the intraoral scanner.

19. The computing device according to any one of claims 11 to 16, wherein: The actions also include: The overall data of the oral cavity is sent to a technician for use in denture preparation.

20. 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: Acquiring oral scanning data by scanning an oral cavity with a scanning rod installed, wherein the scanning rod is fixed on the implanted component; Identifying the scan data of the scan rod in the oral scan data; Converting the standard model data of the three-dimensional entity that can be mounted on the implanted component to the coordinate system of the oral scan data; as well as The scanning data of the scanning rod is removed from the oral scanning data, and the converted standard model data of the three-dimensional entity is spliced ​​to the oral scanning data after the scanning data of the scanning rod is removed, so as to obtain the overall data of the oral cavity.

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