Tooth scanning method, device, equipment and medium

Abstract

The invention relates to a tooth scanning method and device, equipment and a medium, and the method comprises the steps: obtaining a target image comprising the three-dimensional shape and texture information of a tooth gingival lower edge line in response to the operation of carrying out three-dimensional scanning on the gingival lower edge line; performing feature extraction on the target image to obtain edge line distribution three-dimensional points; connecting the edge line distribution three-dimensional points into an edge line; and generating and displaying prompt information matched with the shape of the edge line, wherein the prompt information is used for prompting to continue or stop executing the three-dimensional scanning operation for the subgingival edge line. The accuracy of subgingival edge line extraction can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent oral medicine technology, and in particular to a tooth scanning method, device, equipment and medium. Background Art

[0002] The margin line (commonly known as the shoulder) is a circle of platform evenly ground near the gums where the restoration meets the natural tooth during tooth preparation. The production of the margin line requires high operation of all parts of the doctor and the processing plant. If there is a problem with the production of the margin line, the connection between the restoration and the tooth will form an overhang, which is not tight or smooth, and it is easy to cause mechanical and bacterial stimulation to the gums, affecting the restoration effect. Therefore, accurately obtaining the subgingival margin line is very important for dental restoration treatment and the close fit of the margin line when wearing teeth. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure provides a tooth scanning method, device, equipment and medium.

[0004] The present disclosure provides a tooth scanning method, comprising:

[0005] In response to the operation of performing three-dimensional scanning on the subgingival margin line, a target image including three-dimensional topography and texture information of the subgingival margin line of the tooth is acquired;

[0006] Extracting features of the target image to obtain edge line distribution three-dimensional points;

[0007] Connecting each of the edge line distribution three-dimensional points into an edge line;

[0008] Prompt information matching the shape of the margin line is generated and displayed, and the prompt information is used to prompt to continue or stop the three-dimensional scanning operation performed on the subgingival margin line.

[0009] In one embodiment, extracting features from the target image to obtain edge line distribution three-dimensional points includes:

[0010] Extracting features of the three-dimensional morphology and texture information of the subgingival margin line of the teeth in the target image to obtain a plurality of original three-dimensional points constituting the subgingival margin line;

[0011] Obtaining the discrete curvature and normal vector direction of each of the original three-dimensional points;

[0012] Dividing the plurality of original three-dimensional points into different distribution areas according to the discrete curvature and the normal vector direction;

[0013] According to the adaptive search strategy, edge line distribution three-dimensional points are searched from the original three-dimensional points of each distribution area respectively.

[0014] In one embodiment, the method further comprises:

[0015] The edge line distribution three-dimensional points in different distribution areas are marked according to different display identifiers.

[0016] In one embodiment, the step of connecting the edge line distribution three-dimensional points into an edge line includes:

[0017] As the three-dimensional scanning is performed, local feature lines are extracted from each of the obtained edge line distribution three-dimensional points in real time, and the extracted feature lines are rendered and displayed as edge lines.

[0018] In one embodiment, the generating and displaying prompt information matching the shape of the edge line includes:

[0019] Identify whether the current shape of the edge line is a closed loop curve;

[0020] If not, generating and displaying a prompt message for continuing the three-dimensional scanning;

[0021] If yes, a prompt message for stopping the three-dimensional scanning is generated and displayed.

[0022] In one embodiment, the generating and displaying prompt information matching the shape of the edge line includes:

[0023] Prompt information matching the shape of the edge line is generated and displayed according to a preset reminder method; wherein the reminder method includes: voice broadcast, text display and / or display light.

[0024] The present disclosure also provides a dental scanning device, comprising:

[0025] An image acquisition module, for acquiring a target image including three-dimensional topography and texture information of the subgingival margin line of the tooth in response to a three-dimensional scanning operation on the subgingival margin line;

[0026] A feature extraction module is used to extract features from the target image to obtain edge line distribution three-dimensional points;

[0027] A connection module, used for connecting each of the edge line distribution three-dimensional points into an edge line;

[0028] A prompt module is used to generate and display prompt information that matches the shape of the edge line, and the prompt information is used to prompt to continue or stop the three-dimensional scanning operation performed on the subgingival edge line.

[0029] In one embodiment, the feature extraction module is further used to:

[0030] Extracting features of the three-dimensional morphology and texture information of the subgingival margin line of the teeth in the target image to obtain a plurality of original three-dimensional points constituting the subgingival margin line;

[0031] Obtaining the discrete curvature and normal vector direction of each of the original three-dimensional points;

[0032] Dividing the plurality of original three-dimensional points into different distribution areas according to the discrete curvature and the normal vector direction;

[0033] According to the adaptive search strategy, edge line distribution three-dimensional points are searched from the original three-dimensional points of each distribution area respectively.

[0034] The present disclosure also provides an electronic device, the electronic device comprising:

[0035] processor;

[0036] a memory for storing instructions executable by the processor;

[0037] The processor is used to read the executable instructions from the memory and execute the instructions to implement the above-mentioned tooth scanning method.

[0038] The present disclosure also provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the above-mentioned tooth scanning method.

[0039] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0040] The tooth scanning method, device, equipment and medium provided by the disclosed embodiment include: in response to the operation of performing three-dimensional scanning on the subgingival margin line, obtaining a target image including the three-dimensional morphology and texture information of the subgingival margin line of the tooth; extracting features from the target image to obtain three-dimensional points of margin line distribution; connecting each three-dimensional point of margin line distribution into a margin line; generating and displaying prompt information matching the morphology of the margin line, the prompt information being used to prompt to continue or stop the operation of performing three-dimensional scanning on the subgingival margin line. The technical solution can remove the gums at the scanning position and expose the three-dimensional morphology and texture information of the subgingival margin line through three-dimensional scanning, so that the target image can more clearly and completely display the surface three-dimensional morphology data of the teeth and gums; in this way, more accurate three-dimensional points of margin line distribution can be obtained based on the target image, and they can be connected into margin lines to improve the accuracy of subgingival margin line extraction. In the process of three-dimensional scanning, with the help of prompt information, the workload of users to monitor the scanning progress can be reduced and the intuitiveness of the scanning progress can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 This is a flow chart of the tooth scanning method described in the embodiment of the present disclosure;

[0044] Figure 2 A schematic diagram of an interface during a three-dimensional scanning process according to an embodiment of the present disclosure;

[0045] Figure 3 A schematic diagram of the edge line described in the embodiment of the present disclosure;

[0046] Figure 4 A schematic diagram of the edge line of the preparation body according to the embodiment of the present disclosure;

[0047] Figure 5 is a structural block diagram of the tooth scanning device according to an embodiment of the present disclosure;

[0048] Figure 6 It is a schematic diagram of the structure of the electronic device described in the embodiment of the present disclosure. DETAILED DESCRIPTION

[0049] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0050] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0051] Considering that accurately obtaining the subgingival margin line is critical for tooth restoration treatment and the close fit of the margin line during tooth wearing, the embodiments of the present disclosure provide a tooth scanning method, device, equipment and medium. For ease of understanding, the embodiments of the present disclosure are described below.

[0052] Figure 1 This is a flow chart of a tooth scanning method provided by an embodiment of the present disclosure. The method can be executed by a tooth scanning device configured in a terminal, and the device can be implemented by software and / or hardware. Figure 1 As shown, the tooth scanning method may include the following steps.

[0053] S102: In response to the operation of performing three-dimensional scanning on the subgingival margin line, a target image including three-dimensional morphology and texture information of the subgingival margin line of the teeth is acquired.

[0054] In this embodiment, according to the operation of three-dimensional scanning of the subgingival margin line, the free gingiva can be temporarily retracted by using a gingival retractor or opening the blowing function of the intraoral three-dimensional scanner, and the gingiva can be dynamically retracted to fully expose the subgingival margin line. During the process of blowing air on the gingiva, the gingiva will move in real time, exposing several layers of morphological information of the subgingival margin line, such as three-dimensional morphology and texture information. In this case, the gingival area is three-dimensionally scanned in real time using an intraoral three-dimensional scanner to obtain a target image including the three-dimensional morphology and texture information of the subgingival margin line of the teeth. The target image obtained by blowing the gingiva and scanning can clearly and completely display the surface three-dimensional morphological data of the teeth and gingiva, which is conducive to improving the accuracy of edge line extraction during the later design of the crown.

[0055] S104, extracting features of the target image to obtain edge line distribution three-dimensional points.

[0056] This embodiment may include the following contents:

[0057] The three-dimensional morphology and texture information of the subgingival margin line of the teeth in the target image are extracted to obtain multiple original three-dimensional points that constitute the subgingival margin line. In specific implementation, the target image can be input into a pre-trained feature extraction model, and the geometric features of the teeth such as the three-dimensional morphology and texture information of the subgingival margin line of the teeth in the target image are extracted through the feature extraction model to obtain multiple original three-dimensional points that constitute the subgingival margin line. The original three-dimensional points are equivalent to discrete points.

[0058] The discrete curvature and normal vector direction of each original 3D point are obtained; and the multiple original 3D points are divided into different distribution areas according to the discrete curvature and normal vector direction.

[0059] Specifically, the original 3D points can be arranged in sequence according to the coordinate parameters of the original 3D points to obtain a continuous discrete point sequence. The discrete point sequence can form a curve, so the discrete curvature and normal vector direction of each original 3D point are calculated according to the discrete point sequence.

[0060] The identification of edge line distribution 3D points can generally be distinguished by discrete curvature and normal vector direction. Discrete curvature and normal vector direction are used to describe the local geometric features of the curve formed by the discrete point sequence. Furthermore, this embodiment can divide the original 3D points into different distribution areas according to the discrete curvature and normal vector direction of the original 3D points, and the optimal edge line distribution 3D points that can be connected as edge lines are distributed in the distribution area. In one example, multiple original 3D points can be divided into different distribution areas according to the difference in discrete curvature and the difference in normal vector directions between the original 3D points; between multiple original 3D points in the same distribution area, the difference in discrete curvature is within a preset curvature difference range, and the difference in normal vector directions is within a preset direction difference range.

[0061] Next, according to the adaptive search strategy, the optimal edge line distribution 3D points are searched from the original 3D points of each distribution area. This embodiment uses the adaptive search strategy to search for the optimal edge line distribution 3D points from each distribution area, thereby improving the accuracy of the edge line distribution 3D points.

[0062] In order to facilitate users to view the determined edge line distribution 3D points in real time during the scanning process, the present embodiment can mark the edge line distribution 3D points in different distribution areas according to different display identifiers. For example, using color as a display identifier, different colors are assigned to each edge line distribution 3D point on the software interface, and different edge line distribution 3D points are marked by different colors. The present embodiment marks the edge line distribution 3D points by displaying identifiers, which can make the edge line distribution 3D points more intuitive and visible, and easy to distinguish.

[0063] S106: Connect each edge line distribution three-dimensional point into an edge line.

[0064] As the 3D scanning proceeds, local feature lines are extracted from the 3D points of each edge line distribution in real time, and the extracted feature lines are rendered and displayed as edge lines. Figure 2 As shown in the interface diagram, while performing 3D scanning, the rendered edge lines are gradually displayed on the software cross-section diagram until the scanning is completed and the edge lines are fully displayed. Figure 3 From a top view, an edge line of a complete display is exemplarily shown, and the edge line is illustrated by a curve represented by a black line.

[0065] S108. Generate and display prompt information that matches the shape of the margin line, where the prompt information is used to prompt to continue or stop the three-dimensional scanning operation on the subgingival margin line.

[0066] In one implementation, it is possible to identify whether the current shape of the edge line is a closed loop curve; if not, it means that the edge line has not yet been completely formed, and it is necessary to continue scanning to obtain new edge line distribution 3D points. In this case, a prompt message to continue 3D scanning is generated and displayed. If yes, it means that the edge line has been completely scanned and identified. In this case, a prompt message to stop 3D scanning is generated and displayed.

[0067] In this embodiment, prompt information matching the shape of the edge line may be generated and displayed according to a preset prompting method; wherein the prompting method includes: voice broadcast, text display and / or display light.

[0068] exist Figure 2 In the example, the prompt information is displayed in the form of a text reminder. And, in some other examples, when the current shape of the edge line is not a closed loop curve, the user is reminded by voice broadcast that the three-dimensional points of the edge line distribution are increasing, please continue the three-dimensional scanning; at the same time, the bright yellow display light can be used to remind the user that the three-dimensional scanning is not yet completed and the three-dimensional scanning needs to be continued. When the current shape of the edge line is a closed loop curve, the user is reminded by voice broadcast that the edge line has been scanned and identified completely, and the three-dimensional scanning operation can be stopped to complete the scanning; and the display light is switched from yellow to green to remind the user that the three-dimensional scanning is completed.

[0069] This embodiment generates and displays prompt information that matches the shape of the edge line, so as to remind the user to continue scanning or stop scanning in real time. The user does not need to monitor the scanning progress, thus reducing the user's workload.

[0070] After the complete edge line is generated according to the above embodiment, the edge line can be used as a geometric constraint and the edge line of the prepared body can be generated according to preset parameters such as depth; the edge line of the prepared body can be Figure 4 shown.

[0071] In summary, the tooth scanning method provided by the embodiment of the present disclosure first responds to the operation of performing three-dimensional scanning on the subgingival margin line, and obtains a target image including the three-dimensional morphology and texture information of the subgingival margin line of the tooth; then performs feature extraction on the target image to obtain three-dimensional points of the margin line distribution; connects each three-dimensional point of the margin line distribution into an margin line; and at the same time, generates and displays prompt information matching the morphology of the margin line, and the prompt information is used to prompt to continue or stop the operation of performing three-dimensional scanning on the subgingival margin line.

[0072] This technical solution can remove the gums at the scanning position and expose the three-dimensional morphology and texture information of the subgingival margin line through three-dimensional scanning, so that the target image can clearly and completely display the surface three-dimensional morphology data of the teeth and gums; in this way, based on the target image, more accurate three-dimensional points of the margin line distribution can be obtained, which are connected into margin lines to improve the accuracy of subgingival margin line extraction. In the process of three-dimensional scanning, with prompt information, the workload of users to monitor the scanning progress can be reduced and the intuitiveness of the scanning progress can be improved.

[0073] Figure 5 This is a structural block diagram of a tooth scanning device provided in an embodiment of the present disclosure, and the device can be used to implement the tooth scanning method provided in the above embodiment. Figure 5 As shown, the dental scanning device may include the following modules.

[0074] An image acquisition module 210 is used to acquire a target image including three-dimensional topography and texture information of the subgingival margin line of the tooth in response to a three-dimensional scanning operation on the subgingival margin line;

[0075] A feature extraction module 220 is used to extract features from the target image to obtain edge line distribution three-dimensional points;

[0076] A connection module 230, used to connect each of the edge line distribution three-dimensional points into an edge line;

[0077] The prompt module 240 is used to generate and display prompt information that matches the shape of the edge line, and the prompt information is used to prompt to continue or stop the three-dimensional scanning operation performed on the subgingival edge line.

[0078] In one embodiment, the feature extraction module 220 is further used to:

[0079] Extracting features of the three-dimensional morphology and texture information of the subgingival margin line of the teeth in the target image to obtain a plurality of original three-dimensional points constituting the subgingival margin line;

[0080] Obtaining the discrete curvature and normal vector direction of each of the original three-dimensional points;

[0081] Dividing the plurality of original three-dimensional points into different distribution areas according to the discrete curvature and the normal vector direction;

[0082] According to the adaptive search strategy, edge line distribution three-dimensional points are searched from the original three-dimensional points of each distribution area respectively.

[0083] The implementation principle and technical effects of the device provided in this embodiment are the same as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0084] Figure 6 The structure diagram of an electronic device provided by the embodiment of the present disclosure is shown in FIG. Figure 6 As shown, the electronic device 300 includes one or more processors 301 and a memory 302 .

[0085] The processor 301 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 300 to perform desired functions.

[0086] The memory 302 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 301 may execute the program instructions to implement the dental scanning method of the embodiment of the present disclosure described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0087] In one example, the electronic device 300 may further include: an input device 303 and an output device 304 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0088] In addition, the input device 303 may also include, for example, a keyboard, a mouse, and the like.

[0089] The output device 304 can output various information to the outside, including the determined distance information, direction information, etc. The output device 304 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0090] Of course, to simplify, Figure 6 Only some of the components related to the present disclosure in the electronic device 300 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 300 may also include any other appropriate components.

[0091] Furthermore, this embodiment also provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the above-mentioned tooth scanning method.

[0092] The computer program product of a dental scanning method, device, electronic device and medium provided in the embodiments of the present disclosure includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be found in the method embodiments and will not be repeated here.

[0093] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0094] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tooth scanning method, characterized in that: include: In response to the operation of performing three-dimensional scanning on the subgingival margin line, a target image including three-dimensional topography and texture information of the subgingival margin line of the tooth is acquired; Extracting features of the target image to obtain edge line distribution three-dimensional points; Connecting each of the edge line distribution three-dimensional points into an edge line; Prompt information matching the shape of the margin line is generated and displayed, and the prompt information is used to prompt to continue or stop the three-dimensional scanning operation performed on the subgingival margin line.

2. The method according to claim 1, characterized in that The step of extracting features from the target image to obtain edge line distribution three-dimensional points includes: Extracting features of the three-dimensional morphology and texture information of the subgingival margin line of the teeth in the target image to obtain a plurality of original three-dimensional points constituting the subgingival margin line; Obtaining the discrete curvature and normal vector direction of each of the original three-dimensional points; Dividing the plurality of original three-dimensional points into different distribution areas according to the discrete curvature and the normal vector direction; According to the adaptive search strategy, edge line distribution three-dimensional points are searched from the original three-dimensional points of each distribution area respectively.

3. The method according to claim 2, characterized in that The method further comprises: The edge line distribution three-dimensional points in different distribution areas are marked according to different display identifiers.

4. The method according to claim 1, characterized in that The step of connecting the edge line distribution three-dimensional points into an edge line comprises: As the three-dimensional scanning is performed, local feature lines are extracted from each of the obtained edge line distribution three-dimensional points in real time, and the extracted feature lines are rendered and displayed as edge lines.

5. The method according to claim 1, characterized in that The generating and displaying prompt information matching the shape of the edge line includes: Identify whether the current shape of the edge line is a closed loop curve; If not, generating and displaying a prompt message for continuing the three-dimensional scanning; If yes, a prompt message for stopping the three-dimensional scanning is generated and displayed.

6. The method according to claim 1 or 5, characterized in that: The generating and displaying prompt information matching the shape of the edge line includes: Prompt information matching the shape of the edge line is generated and displayed according to a preset reminder method; wherein the reminder method includes: voice broadcast, text display and / or display light.

7. A tooth scanning device, characterized in that: include: An image acquisition module, for acquiring a target image including three-dimensional topography and texture information of the subgingival margin line of the tooth in response to a three-dimensional scanning operation on the subgingival margin line; A feature extraction module is used to extract features from the target image to obtain edge line distribution three-dimensional points; A connection module, used for connecting each of the edge line distribution three-dimensional points into an edge line; A prompt module is used to generate and display prompt information that matches the shape of the edge line, and the prompt information is used to prompt to continue or stop the three-dimensional scanning operation performed on the subgingival edge line.

8. The device according to claim 7, characterized in that The feature extraction module is also used for: Extracting features of the three-dimensional morphology and texture information of the subgingival margin line of the teeth in the target image to obtain a plurality of original three-dimensional points constituting the subgingival margin line; Obtaining the discrete curvature and normal vector direction of each of the original three-dimensional points; Dividing the plurality of original three-dimensional points into different distribution areas according to the discrete curvature and the normal vector direction; According to the adaptive search strategy, edge line distribution three-dimensional points are searched from the original three-dimensional points of each distribution area respectively.

9. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the method described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device implements the method according to any one of claims 1 to 6.

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