Oral cavity modeling method, system and device and nonvolatile storage medium

Abstract

The invention discloses an oral cavity modeling method, system and device and a nonvolatile storage medium. The method comprises the steps that multiple frames of first scanning data, obtained on the basis of a first condition, of the oral cavity are obtained, and the multiple frames of first scanning data comprise oral cavity morphology three-dimensional data and first mark point three-dimensional data; second scanning data, obtained on the basis of a second condition, of the oral cavity are obtained, and the second scanning data comprise three-dimensional data of a second mark point; and obtaining a target oral cavity model based on the first scanning data and the second scanning data. The technical problems of inaccurate intraoral data and large oral cavity modeling error caused by gingiva deformation and soft tissue jittering during scanning of an intraoral scanner are solved.

Description

Technical Field

[0001] The present application relates to the field of oral modeling, and in particular, to an oral modeling method, system, device, and non-volatile storage medium. Background Art

[0002] In the traditional method, intraoral data is obtained through impressions. With the development of intraoral scanners, digital intraoral scanners are increasingly used to obtain intraoral data. However, the intraoral environment is complex, especially in immediate edentulous cases. Due to factors such as tooth loss, weak features, and non-rigid soft tissue jitter, the dental arch data obtained by the intraoral scanner will have relatively large errors overall, especially for the case where a scanning cap is installed in the oral cavity. For the design of a Maryland bridge, the overall data of the dental arch and the scanning cap is required, and a relatively accurate relative position relationship between the scanning cap and the dental arch needs to be obtained. The jitter of non-rigid soft tissue will cause the position of the scanning cap relative to the dental arch to change during the scanning process. In related technologies, there are deviations in the position of the scanning cap relative to the dental arch in the obtained three-dimensional scan data, introducing great uncertainty for the subsequent design of the Maryland bridge.

[0003] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0004] Embodiments of the present application provide an oral modeling method, system, device, and non-volatile storage medium to at least solve the technical problems of inaccurate intraoral data and large errors in oral modeling caused by gingival deformation and soft tissue jitter during scanning by an intraoral scanner.

[0005] According to one aspect of the embodiments of the present application, an oral modeling method is provided, including: obtaining multiple frames of first scan data of the oral cavity obtained based on a first condition, where the multiple frames of first scan data include three-dimensional data of the oral cavity morphology and three-dimensional data of first fiducial points; obtaining second scan data of the oral cavity obtained based on a second condition, where the second scan data includes three-dimensional data of second fiducial points; and obtaining a target oral cavity model based on the first scan data and the second scan data.

[0006] Optionally, obtaining a target oral cavity model based on the first scan data and the second scan data includes: determining a fiducial point distribution framework according to the three-dimensional data of the second fiducial points; determining the corresponding relationship between the three-dimensional data of the first fiducial points and the three-dimensional data of the second fiducial points; and splicing the first scan data according to the fiducial point distribution framework and the corresponding relationship to obtain the target oral cavity model.

[0007] Optionally, obtaining the target intraoral model based on the first scan data and the second scan data includes: stitching multiple frames of the first scan data to obtain a first oral model, and determining a fiducial point distribution framework based on the second scan data; determining the correspondence between the three-dimensional data of the first fiducial points and the three-dimensional data of the second fiducial points; using the fiducial point distribution framework as the stitching reference, and adjusting the stitching relationship of the multiple frames of the first scan data in the first oral model according to the correspondence to obtain the target oral model.

[0008] Optionally, obtaining the first scan data of the oral cavity based on the first condition includes: when a scanning cap is installed in the oral cavity, collecting multiple frames of first images of the oral cavity through an intraoral scanner; and reconstructing multiple frames of the first scan data based on the multiple frames of the first images.

[0009] Optionally, the first image includes a first sub-image and a second sub-image. The first sub-image contains first reconstruction information for reconstructing the three-dimensional data of the oral cavity morphology, and the second sub-image contains second reconstruction information for reconstructing the three-dimensional data of the first fiducial points. The first sub-image and the second sub-image are the same frame of image, or the first sub-image and the second sub-image are different frames of images collected simultaneously or within a preset time.

[0010] Optionally, obtaining the second scan data of the oral cavity based on the second condition includes: when a scanning cap is installed in the oral cavity, collecting a second image of the oral cavity through an extraoral scanning device and reconstructing the three-dimensional data of the second fiducial points based on the second image; or when a scanning rod is installed in the oral cavity, collecting a second image of the oral cavity through an extraoral scanning device or an intraoral scanner and reconstructing the three-dimensional data of the second fiducial points based on the second image.

[0011] Optionally, the fiducial points corresponding to the three-dimensional data of the first fiducial points include the fiducial points on the surface of the scanning cap in the oral cavity; the fiducial points corresponding to the three-dimensional data of the second fiducial points include the fiducial points on the surface of the scanning cap in the oral cavity, or the fiducial points on the surface of the coded scanning rod in the oral cavity.

[0012] Optionally, the multiple frames of the first scan data further include the three-dimensional data of the first scanning cap; after obtaining the first scan data collected by the intraoral scanner, the oral cavity modeling method further includes: the first scan data is stitched based on the three-dimensional data of the first scanning cap and the feature of the corresponding standard scanning cap three-dimensional data to obtain a first oral model; or the first scan data is stitched based on the three-dimensional data of the first scanning cap and the feature of the corresponding standard scanning cap three-dimensional data, and after stitching, the three-dimensional data of the first scanning cap is replaced with the standard scanning cap three-dimensional data to obtain a first oral model.

[0013] Optionally, the first scanning cap three-dimensional data includes scanning cap topography three-dimensional data and first fiducial point three-dimensional data. The first scanning data based on the feature stitching of the first scanning cap three-dimensional data and the corresponding standard scanning cap three-dimensional data includes: the first scanning data performs fiducial point feature stitching based on the first fiducial point three-dimensional data and the corresponding standard scanning cap three-dimensional data; or, the first scanning data performs geometric feature stitching based on the scanning cap topography three-dimensional data and the corresponding standard scanning cap three-dimensional data.

[0014] Optionally, a scanning cap is installed in the oral cavity; obtaining a target oral cavity model based on the first scanning data and the second scanning data includes: stitching multiple frames of the first scanning data to obtain a first oral cavity model, and determining a fiducial point distribution framework according to the second scanning data; determining a first installation reference and a first installation direction of each scanning cap based on the first fiducial point three-dimensional data in the first oral cavity model; determining a second installation reference and a second installation direction of each scanning cap based on the fiducial point distribution framework; taking the fiducial point distribution framework as a reference, adjusting the stitching relationship of multiple frames of the first scanning data in the first oral cavity model according to the corresponding relationship between the first installation reference and the second installation reference and the corresponding relationship between the first installation direction and the second installation direction, to obtain the target oral cavity model.

[0015] According to another aspect of the embodiments of the present application, there is also provided an oral cavity modeling system, including a scanning device and a processing device. The scanning device is configured to obtain multiple frames of first scanning data of the oral cavity obtained based on a first condition, where the multiple frames of first scanning data include oral cavity topography three-dimensional data and first fiducial point three-dimensional data; obtain second scanning data of the oral cavity obtained based on a second condition, where the second scanning data includes second fiducial point three-dimensional data; and the processing device is configured to obtain a target oral cavity model based on the first scanning data and the second scanning data.

[0016] According to another aspect of the embodiments of the present application, there is also provided an oral cavity modeling device, including: a first scanning module, configured to obtain multiple frames of first scanning data of the oral cavity obtained based on a first condition, where the multiple frames of first scanning data include oral cavity topography three-dimensional data and first fiducial point three-dimensional data; a second scanning module, configured to obtain second scanning data of the oral cavity obtained based on a second condition, where the second scanning data includes second fiducial point three-dimensional data; and a registration module, configured to obtain a target oral cavity model based on the first scanning data and the second scanning data.

[0017] According to another aspect of the embodiments of the present application, there is also provided a non-volatile storage medium, in which a program is stored. When the program runs, it controls the device where the non-volatile storage medium is located to execute the oral cavity modeling method.

[0018] According to another aspect of the embodiments of the present application, an electronic device is further provided, including: a memory and a processor, where the processor is used to run a program stored in the memory, and when the program runs, it executes an oral cavity modeling method.

[0019] According to another aspect of the embodiments of the present application, a computer program product is further provided, including a computer program, and when the computer program is executed by a processor, it implements an oral cavity modeling method.

[0020] In the embodiments of the present application, multiple frames of first scan data of the oral cavity obtained based on a first condition are acquired, where the multiple frames of first scan data include three-dimensional data of the oral cavity morphology and three-dimensional data of first landmark points; second scan data of the oral cavity obtained based on a second condition is acquired, where the second scan data includes three-dimensional data of second landmark points; by combining different types of scan data in the manner of obtaining a target oral cavity model based on the first scan data and the second scan data, the purpose of improving the accuracy of the three-dimensional data of the landmark points is achieved, thereby realizing the technical effect of constructing a more accurate oral cavity model based on the three-dimensional data of the landmark points with higher accuracy, and further solving the technical problems of inaccurate intraoral data and large errors in oral cavity modeling caused by gingival deformation and soft tissue jitter during the scanning of an intraoral scanner. Description of the Drawings

[0021] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0022] Figure 1 is a schematic structural diagram of a computer terminal (mobile device) provided according to an embodiment of the present application;

[0023] Figure 2 is a schematic flowchart of an oral cavity modeling method provided according to an embodiment of the present application;

[0024] Figure 3 is a schematic structural diagram of an oral cavity modeling device provided according to an embodiment of the present invention. Detailed Embodiments

[0025] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] To better understand the embodiments of the present application, the technical terms involved in the embodiments of the present application are explained as follows:

[0028] Malong bridge framework: A fixed bridge technology used to replace one or two missing teeth. The Malong bridge is installed in the patient's oral cavity through implants. Since the Malong bridge is directly sleeved on the gums, the gum part needs to be adapted to the patient's gum area, so relatively accurate three-dimensional topography data of the gums is required.

[0029] In the related art, in the field of oral rehabilitation, especially when facing complex cases such as immediate implant placement for edentulous jaws, both traditional impression techniques and modern intraoral scanning techniques have shown their respective limitations:

[0030] (1) Obtaining intraoral data by traditional impression methods is inefficient, and often causes discomfort to patients during the impression-taking process, including the foreign body sensation of substances in the oral cavity, the inconvenience caused by the long setting time of the impression material, and the possible inaccuracy during subsequent processing. These directly affect the adaptability of the prosthesis and the patient's treatment experience. In addition, for the Malong bridge framework technology that requires highly personalized customization, traditional impression methods are difficult to provide sufficiently accurate three-dimensional topography data of the gingival tissue around the tooth loss area, which increases the difficulty of adapting the Malong bridge to the patient's gum area to a certain extent.

[0031] (2) Under intraoral scanning technology, data acquisition for immediate implant placement cases in edentulous jaws still faces challenges in data accuracy. Due to the non-rigid characteristics of tooth loss and soft tissues (such as gums), slight jitter or deformation of soft tissues during the scanning process will cause deviations in the scanning results, which not only affects the accuracy of the dental arch data, but also brings great uncertainty to the design of the Malong bridge based on the scanning data, thus affecting the precise design and production of the implant guide.

[0032] Therefore, when obtaining intraoral data in the prior art, it is difficult to balance efficiency, comfort, and data accuracy, which has become a key technical bottleneck that urgently needs to be solved. To address this issue, relevant solutions are provided in the embodiments of the present application, which will be described in detail below.

[0033] According to an embodiment of the present application, a method embodiment of an oral cavity modeling method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0034] The method embodiment provided by the embodiments of the present application can be executed in a mobile terminal, a computer terminal, or a similar computing device. Figure 1 The hardware structure block diagram of a computer terminal (or mobile device) for implementing the oral cavity modeling method is shown. As Figure 1 shown, the computer terminal 10 (or mobile device 10) may include one or more (shown as 102a, 102b,..., 102n in the figure) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition to this, it may further include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which can be included as one of the ports of the BUS bus), a network interface, a power supply, and / or a camera. Those of ordinary skill in the art can understand that Figure 1 the structure shown is only schematic and does not limit the structure of the above-mentioned electronic device. For example, the computer terminal 10 may further include more or fewer components than Figure 1 shown in the figure, or have a different configuration from Figure 1 shown in the figure.

[0035] It should be noted that the above one or more processors 102 and / or other data processing circuits can generally be referred to as "data processing circuits" in this article. The data processing circuit can be embodied in software, hardware, firmware, or any combination thereof, in whole or in part. In addition, the data processing circuit can be a single independent processing module, or be incorporated in whole or in part into any one of the other elements in the computer terminal 10 (or mobile device). As involved in the embodiments of the present application, the data processing circuit is used for processor control (such as the selection of a variable resistance terminal path connected to an interface).

[0036] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the oral cavity modeling method in the embodiments of the present application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implements the above-mentioned oral cavity modeling method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor 102, and these remote memories can be connected to the computer terminal 10 through a network. Examples of the above network include but are not limited to the Internet, enterprise intranet, local area network, mobile communication network, and combinations thereof.

[0037] The transmission device 106 is used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by a communication provider of the computer terminal 10. In one instance, the transmission device 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0038] The display can be, for example, a touch-screen liquid crystal display (LCD), and the liquid crystal display enables a user to interact with the user interface of the computer terminal 10 (or mobile device).

[0039] Under the above operating environment, the embodiments of the present application provide an oral cavity modeling method, as Figure 2 shown, the method includes the following steps:

[0040] Step S202, obtaining multiple frames of first scan data of the oral cavity obtained based on a first condition, where the multiple frames of first scan data include three-dimensional data of the oral cavity morphology and three-dimensional data of first landmark points;

[0041] In the technical solution provided in step S202, the step of obtaining the first scan data of the oral cavity obtained based on the first condition includes: when a scanning cap is installed in the oral cavity, collecting multiple frames of first images of the oral cavity through an intraoral scanner; reconstructing the multiple frames of first scan data based on the multiple frames of first images.

[0042] As an alternative embodiment, the first image includes a first sub-image and a second sub-image. The first sub-image contains first reconstruction information for reconstructing three-dimensional data of the oral cavity morphology, and the second sub-image contains second reconstruction information for reconstructing three-dimensional data of the first landmark. The first sub-image and the second sub-image are the same frame image, or the first sub-image and the second sub-image are different frame images acquired simultaneously or within a preset time.

[0043] It should be noted that the above-mentioned preset time is a very short time period and can be considered as being close to simultaneous. In addition, when the intraoral scanner is not scanning the area of the oral landmark (the area where the scanning cap or scanning rod is installed), the second sub-image does not contain the second reconstruction information for reconstructing the three-dimensional data of the first landmark. When performing three-dimensional reconstruction based on the first image to obtain the first scan data, the first scan data only includes the three-dimensional data of the oral cavity morphology and does not include the three-dimensional data of the first landmark. Therefore, in some embodiments of the present application, some of the multiple frames of the first scan data only contain the three-dimensional data of the oral cavity morphology, and some of the multiple frames of the first scan data contain both the three-dimensional data of the oral cavity morphology and the three-dimensional data of the first landmark. For example, the first frame of the first scan data only contains the three-dimensional data of the oral cavity morphology, and the second frame of the first scan data contains both the three-dimensional data of the oral cavity morphology and the three-dimensional data of the first landmark.

[0044] Specifically, when collecting the first image of the oral cavity by the intraoral scanner, information such as the landmarks and the oral cavity morphology in the oral cavity can be collected synchronously, that is, the landmarks and the oral cavity morphology are photographed simultaneously when taking the intraoral image. When using the asynchronous acquisition method, one or several frames of oral cavity morphology images can be taken first and then one or several frames of landmark images can be taken. It should be noted that some of the several frames of oral cavity morphology images taken by the asynchronous acquisition method may also contain landmark images.

[0045] In addition, as an alternative embodiment, when using the synchronous acquisition method, one frame of landmark image can also be taken when taking several frames of oral cavity morphology images. Generally, the acquisition unit for collecting oral cavity morphology images and the acquisition unit for collecting landmark images are distinguished by wavelength bands, and the wavelength bands of the two do not interfere with each other. Some of the several frames of oral cavity morphology images taken may contain landmark information or may not contain landmark information.

[0046] In some embodiments of the present application, a scanning cap can be installed in the patient's oral cavity to obtain a digital three-dimensional model of the dental arch with the scanning cap for designing a Marlon bridge. Specifically, an intraoral scanner can be used to perform a comprehensive scan of the dental arch with the scanning cap from multiple angles and multiple frames. Each frame of scan data (i.e., the first scan data) respectively includes three-dimensional contour data (i.e., the first three-dimensional contour data) of the local oral parts corresponding to each scan angle. By splicing the three-dimensional contour data of each frame, the three-dimensional contour of the entire oral cavity (i.e., obtaining the three-dimensional contour data of the entire oral cavity) can be covered, including the surface morphology of the gingiva, alveolar bone, and the scanning cap. At the same time, some frames of scan data also contain three-dimensional data of the fiducial points on the surface of the scanning cap (i.e., the first fiducial point three-dimensional data). The two frames of fiducial point three-dimensional data can be spliced to obtain the first splicing matrix. Since the fiducial point three-dimensional data and the three-dimensional contour data are obtained by synchronous scanning, the first splicing matrix can be used as the splicing matrix for the corresponding two frames of three-dimensional contour data to splice the two frames of three-dimensional contour data. It can be seen that the multi-frame three-dimensional contour data can be spliced through geometric features and fiducial point features to obtain the three-dimensional contour data of the entire oral cavity.

[0047] In some embodiments of the present application, the scanning cap with fiducial points has a plurality of fiducial points arranged in a specific pattern (i.e., encoded) on its surface. These fiducial points have unique identification information (i.e., encoded information) in three-dimensional space and can be accurately identified, located, and marked by an intraoral scanner. Their introduction solves the problem of unstable scan data caused by the non-rigid characteristics of soft tissues in immediate implant cases in edentulous jaws. As a reference system, for any scanning cap installed in the oral cavity, the relative positions of the multiple fiducial points on its surface do not change, so that even when the soft tissues undergo slight deformation or movement, the scan data can be corrected through these invariant fiducial points, thereby ensuring the accuracy and consistency of the scan data.

[0048] As an alternative embodiment, the first scan data further includes the three-dimensional data of the first scanning cap; after obtaining the first scan data collected by the intraoral scanner, the oral cavity modeling method further includes: the first scan data is spliced based on the three-dimensional data of the first scanning cap and the corresponding standard scanning cap three-dimensional data features to obtain the first oral cavity model; or, the first scan data is spliced based on the three-dimensional data of the first scanning cap and the corresponding standard scanning cap data features, and after splicing, the three-dimensional data of the first scanning cap is replaced with the corresponding standard scanning cap three-dimensional data to obtain the first oral cavity model.

[0049] Optionally, the first scanning cap three-dimensional data includes scanning cap topography three-dimensional data and first fiducial point three-dimensional data. Feature stitching based on the first scanning cap three-dimensional data and the corresponding standard scanning cap three-dimensional data includes: The first scanning data performs fiducial point feature stitching based on the first fiducial point three-dimensional data and the corresponding standard scanning cap three-dimensional data. Specifically, after obtaining one or more frames of first scanning data, fiducial point feature stitching is performed with multiple standard scanning cap three-dimensional data in the scanning cap database. Generally, the scanning cap database includes standard scanning cap three-dimensional data of multiple specifications of scanning caps. Each first fiducial point is identified based on the first fiducial point three-dimensional data. Based on the identified first fiducial points, the first fiducial point three-dimensional data is matched with the standard scanning cap fiducial point three-dimensional data of multiple standard scanning cap three-dimensional data to determine the standard scanning cap fiducial point three-dimensional data corresponding to the first fiducial point three-dimensional data. Then, a first stitching matrix is determined, and the oral cavity topography three-dimensional data and the standard scanning cap topography three-dimensional data are stitched based on the first stitching matrix to obtain a first oral cavity model. The first oral cavity model includes oral cavity topography three-dimensional data and the corresponding standard scanning cap topography three-dimensional data, and may also include first fiducial point three-dimensional data and standard fiducial point three-dimensional data.

[0050] Optionally, the first scanning cap three-dimensional data includes scanning cap topography three-dimensional data and first fiducial point three-dimensional data. Geometric feature stitching based on the first scanning cap three-dimensional data and the corresponding standard scanning cap three-dimensional data includes: The first scanning cap three-dimensional data and the standard scanning cap three-dimensional data are stitched geometrically to obtain a first oral cavity model. Specifically, since the oral cavity topography three-dimensional data includes the scanning cap topography three-dimensional data, geometric feature stitching of the oral cavity topography three-dimensional data with multiple standard scanning cap three-dimensional data in the scanning cap database is performed, that is, successful stitching of the oral cavity topography three-dimensional data and the corresponding standard scanning cap three-dimensional data is achieved to obtain a first oral cavity model. The first oral cavity model includes oral cavity topography three-dimensional data and the corresponding standard scanning cap topography three-dimensional data.

[0051] In some embodiments of the present application, the standard scanning cap three-dimensional data (one or more of surface contour, fiducial points, geometric center, etc.) of the scanning cap to be installed in the oral cavity is pre-recorded in the scanning cap database. This means that when an intraoral scanner scans such a scanning cap, the scanned scanning cap three-dimensional data can be matched and stitched in real time with the standard model data in the scanning cap database. Based on the standard scanning cap three-dimensional data of each scanning cap in the scanning cap database, through feature stitching technology, the successfully stitched standard scanning cap three-dimensional data is added to the first scanning data, thereby improving the accuracy of the scanning data.

[0052] It should be noted that replacing the first scanning cap three-dimensional data in the first scanning data with the standard scanning cap three-dimensional data is not a necessary step. And it can be a full replacement or a partial replacement.

[0053] Optionally, when the scanning cap has standard model data (i.e., standard three-dimensional data of the scanning cap), according to the scanning cap data reconstructed during scanning, the feature splicing and replacement with the standard model data of the scanning cap are completed; then the center point and axis of the scanning cap are determined from the standard model data of the scanning cap. That is, the positions of the center point and axis of the standard data of the scanning cap replaced in the coordinate system where the scanning data is located are determined.

[0054] Specifically, the intraoral scanner continuously collects three-dimensional data of the area in the patient's oral cavity where the scanning cap is installed. This process is carried out in real time, and the scanning device can immediately process and display the scanning results, providing immediate data support for subsequent feature matching. Based on the three-dimensional data of the scanning cap reconstructed during scanning, the system will complete the feature matching with the pre-stored standard model data of the scanning cap in real time. This matching process can be completed by matching the geometric features in the scanning data with the geometric features in the standard data, or by splicing the landmark features in the scanning data and the landmark features in the standard model data. Once the matching is successful, the system immediately performs data splicing and replacement, replacing the three-dimensional information of the scanning cap in the scanning data with its standard model data. This operation is completed in real time during the scanning process, effectively correcting the data deviation caused by soft tissue jitter or deformation. It can also be carried out after the scanning is completed.

[0055] Finally, after the optimization of the three-dimensional data of the scanning cap is completed, the system will determine its precise center point and axis position in the oral cavity based on the standard model data of the scanning cap.

[0056] Step S204, obtaining the second scanning data of the oral cavity obtained based on the second condition, where the second scanning data includes second landmark three-dimensional data;

[0057] In some embodiments of the present application, the step of obtaining the second scanning data of the oral cavity obtained based on the second condition includes: when a scanning cap is installed in the oral cavity, collecting a second image of the oral cavity through an extraoral scanning device and reconstructing the second landmark three-dimensional data based on the second image; or, when a scanning rod is installed in the oral cavity, collecting the second image of the oral cavity through the extraoral scanning device or the intraoral scanner and reconstructing the second landmark three-dimensional data based on the second image.

[0058] In some embodiments of the present application, the fiducial points corresponding to the three-dimensional data of the first fiducial points include the fiducial points on the surface of the scanning cap in the oral cavity, and the fiducial points corresponding to the three-dimensional data of the second fiducial points can be the fiducial points on the surface of the scanning cap or the fiducial points on the surface of the coded scanning rod. Moreover, the data accuracy of the fiducial point distribution framework determined based on the three-dimensional data of the second fiducial points is higher than that of the fiducial point distribution framework determined based on the three-dimensional data of the first fiducial points. The above-mentioned data accuracy refers to the deviation between the fiducial point distribution information indicated by the fiducial point distribution framework and the fiducial point distribution information in the actual oral cavity. The higher the accuracy, the smaller the deviation.

[0059] Specifically, for an intraoral scanner, when obtaining the first scan data, although comprehensive oral cavity topography data can be obtained, due to the small scanning range of the intraoral scanner, the number of fiducial points included in each image captured by the intraoral scanner is small, and even some images do not include fiducial points. Moreover, due to external factors such as the shaking of the dental arch, when the intraoral scanner captures the current frame image, the position of the scanning cap on the dental arch has changed compared with the position of the scanning cap on the dental arch when capturing the previous frame image, that is, the relative positions of multiple scanning caps have changed, and the overall distribution of fiducial points in the oral cavity has changed. This results in a large deviation between the fiducial point distribution indicated by the three-dimensional data of the first fiducial points and the actual fiducial point distribution after splicing multiple frames of first scan data containing the three-dimensional data of the first fiducial points reconstructed from multiple images captured by the intraoral scanner, resulting in insufficient accuracy of the relative distribution positions of multiple scanning caps determined solely based on the three-dimensional data of the first fiducial points. On the other hand, since multiple scanning caps are generally scattered in the oral cavity, the fiducial points are also discontinuously distributed in the oral cavity. Although some frames of the first scan data are spliced through fiducial points, a large number of frames of the first scan data need to be spliced through geometric features. As a result, the overall accuracy of the three-dimensional data of the dental arch spliced in this way is not high.

[0060] In this case, when obtaining the second scan data by an extraoral scanner, since the scanning range of the extraoral scanner is large, the second image captured by the extraoral scanner can contain more landmark points compared with the first image captured by the intraoral scanner, and even can contain all the landmark points in one frame of image. Thereby, the negative impact caused by the change in the distribution of landmark points due to reasons such as gum jitter is weakened or even eliminated. That is to say, the distribution of landmark points indicated by the three-dimensional data of the second landmark points in the second scan data reconstructed based on the image captured by the extraoral scanner is closer to the actual distribution of the landmark points. Therefore, the data accuracy of the landmark point distribution framework determined based on the three-dimensional data of the second landmark points is higher. Stitch multiple frames of the first scan data according to the landmark point distribution framework and the corresponding relationship to obtain the target oral model. Or rather, optimize the stitching of multiple frames of the first scan data according to the landmark point distribution framework and the corresponding relationship, so as to optimize the first oral model and obtain the target oral model.

[0061] When the landmark points corresponding to the three-dimensional data of the second landmark points are the landmark points on the surface of the coded scanning rod, since the landmark points on the surface of the coded scanning rod are continuously arranged on the two wings of the coded scanning rod, multiple frames of the first scan data can be stitched based on the three-dimensional data of the first landmark points according to the landmark point features. In this way, the stitched first oral model has a high stitching accuracy. Therefore, when obtaining the second landmark point data by using an intraoral scanner, the accuracy of the landmark point distribution framework determined based on the second landmark point data can still be ensured.

[0062] In some embodiments of the present application, when the landmark points corresponding to the three-dimensional data of the second landmark points are the landmark points on the surface of the coded scanning rod, the landmark points on the coded scanning rod and the landmark points on the scanning cap have been pre-registered in advance. That is to say, the landmark points on the scanning cap installed in the oral cavity corresponding to the landmark points in the coded scanning rod are corresponding to each other.

[0063] Step S206: Obtain the target oral model based on the first scan data and the second scan data.

[0064] In some embodiments of the present application, the accuracy of the target oral morphology data in the target oral model is higher than the accuracy of the three-dimensional oral morphology data directly stitched based on multiple frames of the first scan data.

[0065] In the technical solution provided in step S206, the steps of obtaining the target oral model based on the first scan data and the second scan data include: determining the landmark distribution framework according to the three-dimensional data of the second landmarks; determining the correspondence between the three-dimensional data of the first landmarks and the three-dimensional data of the second landmarks; optionally, when stitching the first scan data according to the stitching framework and the correspondence, the rotation and translation matrix of multiple frames of the three-dimensional data of the first landmarks can be determined according to the correspondence when aligning the three-dimensional data of the first landmarks in the first scan data with the three-dimensional data of the second landmarks in the corresponding stitching framework, and then the rotation and translation matrix is used as the rotation and translation matrix of the corresponding multiple frames of the first scan data to optimize the stitching of the multiple frames of the first scan data, and the multiple frames of the first scan data that do not contain the corresponding three-dimensional data of the first landmarks are adjusted based on feature stitching, so as to obtain the target oral model.

[0066] As an alternative embodiment, the steps of obtaining the target oral model based on the first scan data and the second scan data may further include: stitching multiple frames of the first scan data to obtain the first oral model, and determining the landmark distribution framework according to the second scan data; determining the correspondence between the three-dimensional data of the first landmarks and the three-dimensional data of the second landmarks; using the landmark distribution framework as the stitching reference, and adjusting the stitching relationship of the multiple frames of the first scan data in the first oral model according to the correspondence to obtain the target oral model. It can be understood that using the landmark distribution framework as the stitching reference and adjusting the stitching relationship of the multiple frames of the first scan data in the first oral model according to the correspondence to obtain the target oral model specifically includes: adjusting the multiple frames of the first scan data in the first oral model that contain the three-dimensional data of the first landmarks according to the correspondence, and then optimizing the stitching of the multiple frames of the first scan data that do not contain the three-dimensional data of the first landmarks based on feature stitching, so as to obtain the target oral model.

[0067] In some embodiments of the present application, a scanning cap is installed in the oral cavity; the steps of obtaining the target intraoral model based on the first scan data and the second scan data may further include: stitching multiple frames of the first scan data to obtain the first oral model, and determining the landmark distribution framework according to the second scan data; determining the first installation reference and the first installation direction of each scanning cap based on the three-dimensional data of the first landmarks in the first oral model; determining the second installation reference and the second installation direction of each scanning cap based on the landmark distribution framework; using the landmark distribution framework as the reference, and adjusting the stitching relationship of the multiple frames of the first scan data in the first oral model based on the correspondence between the first installation reference and the second installation reference and the correspondence between the first installation direction and the second installation direction to obtain the target oral model.

[0068] It should be noted that the first scan data may also include the scan data of the replaced standard scan cap, and the second scan data may also include the three-dimensional scan data of the second scan cap or the three-dimensional scan data of the coded scan rod. The following method may also be adopted when determining the target oral model:

[0069] Determine the first reference point and the second reference point of the first oral model, where the first reference point and the second reference point are digital expressions of the installation position of the scan cap in the oral cavity based on the first oral model; determine the third reference point and the fourth reference point of the landmark distribution framework, where the third reference point and the fourth reference point are digital expressions of the installation position of the scan cap or the coded scan rod in the oral cavity based on the landmark distribution framework, and register the first oral model and the landmark distribution framework according to the first reference point and the second reference point, and the third reference point and the fourth reference point. With the third reference point and the fourth reference point as the registration benchmark, align the first reference point and the second reference point with it, and adjust the pose of multiple frames of the first scan data of the first oral model while aligning, so as to obtain the target oral model.

[0070] The above reference points may include the axis and center of the coded scan rod and the scan cap. It should be noted that one of the axis and the center can be used as the installation benchmark of the scan cap it represents, and the line connecting the two constitutes the installation direction of the scan cap it represents. Of course, other reference points can also be selected to determine the installation benchmark and installation direction of the scan cap.

[0071] Specifically, the specific splicing process of obtaining the target oral model includes the following two stages:

[0072] The first stage is to obtain multiple frames of the first scan data and the second scan data, and determine the first oral model and the second oral model;

[0073] Specifically, the process of obtaining multiple frames of the first scan data and determining the first oral model can be divided into scanning the oral cavity with a scan cap and an intraoral scanner in the oral cavity to obtain multiple frames of reconstructed images (that is, the first images), three-dimensionally reconstructing the multiple frames of reconstructed images to obtain multiple frames of oral morphology three-dimensional data and multiple frames of first landmark three-dimensional data, and splicing the multiple frames of oral morphology three-dimensional data and the first landmark three-dimensional data to obtain a digital three-dimensional model of the dental arch. The digital three-dimensional model of the dental arch is the above-mentioned first oral model.

[0074] The second oral model can be determined in a variety of different ways.

[0075] In an alternative embodiment, the steps of determining the second oral model include installing a scanning cap in the oral cavity, scanning the oral cavity with an extraoral scanner to obtain a frame of reconstructed image, performing three-dimensional reconstruction based on the frame of reconstructed image to obtain a frame of three-dimensional data of second landmark points, and obtaining a digital three-dimensional model of full-mouth landmark points based on the three-dimensional data of second landmark points. The digital three-dimensional model of full-mouth landmark points is the above-mentioned second oral model.

[0076] In another alternative embodiment, the steps of determining the second oral model include installing a coded scanning rod in the oral cavity, scanning the oral cavity with an extraoral scanner to obtain a frame of reconstructed image (i.e., the above-mentioned second image), performing three-dimensional reconstruction based on the frame of reconstructed image to obtain a frame of three-dimensional data of second landmark points, and obtaining a digital three-dimensional model of full-mouth landmark points based on the three-dimensional data of second landmark points. The digital three-dimensional model of full-mouth landmark points is the above-mentioned second oral model.

[0077] In another alternative embodiment, the steps of determining the second oral model include installing a coded scanning rod in the oral cavity, scanning the oral cavity with an intraoral scanner to obtain multiple frames of reconstructed images (i.e., the above-mentioned second images), performing three-dimensional reconstruction based on the multiple frames of reconstructed images to obtain a frame of three-dimensional data of second landmark points, and obtaining a digital three-dimensional model of full-mouth landmark points based on the three-dimensional data of second landmark points. The digital three-dimensional model of full-mouth landmark points is the above-mentioned second oral model.

[0078] In the second stage, the digital three-dimensional model of dental arch is adjusted based on the digital three-dimensional model of full-mouth landmark points to obtain the target oral model.

[0079] Specifically, in the second stage, the landmark points in the digital three-dimensional model of dental arch can be first matched with the landmark points in the digital three-dimensional model of full-mouth landmark points (corresponding point matching). Based on the matching relationship, taking the distribution of the landmark points in the digital three-dimensional model of full-mouth landmark points as a reference, the distribution of the point cloud in the digital three-dimensional model of dental arch is adjusted, so as to obtain the target oral model.

[0080] It is also possible to match the center and axis corresponding to the three-dimensional data of the scanning cap in the digital three-dimensional model of dental arch with the center and axis corresponding to the digital three-dimensional model of full-mouth landmark points, and based on the matching relationship, taking the distribution of the center and axis corresponding to the digital three-dimensional model of full-mouth landmark points as a reference, adjust the distribution pose of the multiple frames of first scanning data and the three-dimensional data of the standard scanning cap in the digital three-dimensional model of dental arch, so as to obtain the target oral model.

[0081] By acquiring multiple frames of first scan data of the oral cavity obtained based on a first condition, where the multiple frames of first scan data include three-dimensional oral cavity morphology data and three-dimensional first landmark data; acquiring second scan data of the oral cavity obtained based on a second condition, where the second scan data includes three-dimensional second landmark data; and obtaining a target oral cavity model based on the first scan data and the second scan data, by combining different types of scan data, the purpose of improving the accuracy of the three-dimensional landmark data is achieved, thereby realizing the technical effect of constructing a more accurate oral cavity model based on the three-dimensional landmark data with higher accuracy, and further solving the technical problems of inaccurate intraoral data and large oral cavity modeling errors caused by gingival deformation and soft tissue jitter during intraoral scanner scanning.

[0082] In summary, the technical solution of the present application improves the accuracy of intraoral data, solves the problem of scan data error caused by soft tissue characteristics in the prior art, provides more accurate and reliable three-dimensional data support for oral rehabilitation and implant surgery, greatly improves the accuracy of subsequent design and surgical planning, and thus brings better treatment effects and experiences to patients. The embodiments of the present application improve the scanning efficiency, reduce the discomfort of patients during the scanning process, and demonstrate the great potential of digital technology in improving medical quality and patient satisfaction.

[0083] The embodiments of the present application provide an oral cavity modeling system, including a scanning device and a processing device. The scanning device is used to acquire multiple frames of first scan data of the oral cavity obtained based on a first condition, where the multiple frames of first scan data include three-dimensional oral cavity morphology data and three-dimensional first landmark data; acquire second scan data of the oral cavity obtained based on a second condition, where the second scan data includes three-dimensional second landmark data; and the processing device is used to obtain a target oral cavity model based on the first scan data and the second scan data.

[0084] The embodiments of the present application provide an oral cavity modeling device. Figure 3 is a schematic structural diagram of the device, as Figure 3 shown. The device includes: a first scanning module 30, configured to acquire multiple frames of first scan data of the oral cavity obtained based on a first condition, where the multiple frames of first scan data include three-dimensional oral cavity morphology data and three-dimensional first landmark data; a second scanning module 32, configured to acquire second scan data of the oral cavity obtained based on a second condition, where the second scan data includes three-dimensional second landmark data; and a registration module 34, configured to obtain a target oral cavity model based on the first scan data and the second scan data. In some embodiments of the present application, the step of the first scanning module 30 acquiring the first scan data of the oral cavity obtained based on the first condition includes: when a scanning cap is installed in the oral cavity, collecting multiple frames of first images of the oral cavity through an intraoral scanner; and reconstructing the multiple frames of first scan data based on the multiple frames of first images.

[0085] In some embodiments of the present application, the first image includes a first sub-image and a second sub-image. The first sub-image contains first reconstruction information for reconstructing three-dimensional data of the oral cavity morphology, and the second sub-image contains second reconstruction information for reconstructing three-dimensional data of the first fiducial point. The first sub-image and the second sub-image are the same frame image, or the first sub-image and the second sub-image are different frame images acquired simultaneously or within a preset time.

[0086] In some embodiments of the present application, the steps for the second scanning module 32 to obtain the second scanning data of the oral cavity based on the second condition include: when a scanning cap is installed in the oral cavity, acquiring a second image of the oral cavity through an extraoral scanning device and reconstructing three-dimensional data of the second fiducial point based on the second image; or, when a scanning rod is installed in the oral cavity, acquiring a second image of the oral cavity through an extraoral scanning device or an intraoral scanner and reconstructing three-dimensional data of the second fiducial point based on the second image. In some embodiments of the present application, the steps for the processing module 34 to obtain the target intraoral model based on the first scanning data and the second scanning data include: determining the fiducial point distribution framework according to the three-dimensional data of the second fiducial point; determining the correspondence between the three-dimensional data of the first fiducial point and the three-dimensional data of the second fiducial point; and splicing the first scanning data according to the fiducial point distribution framework and the correspondence to obtain the target oral model.

[0087] In some embodiments of the present application, the steps for the processing module 34 to obtain the target intraoral model based on the first scanning data and the second scanning data include: splicing multiple frames of the first scanning data to obtain a first oral model, and determining the fiducial point distribution framework according to the second scanning data; determining the correspondence between the three-dimensional data of the first fiducial point and the three-dimensional data of the second fiducial point; and using the fiducial point distribution framework as the splicing reference to adjust the splicing relationship of the multiple frames of the first scanning data in the first oral model to obtain the target oral model.

[0088] In some embodiments of the present application, the fiducial points corresponding to the three-dimensional data of the first fiducial point include the fiducial points on the surface of the scanning cap in the oral cavity; the fiducial points corresponding to the three-dimensional data of the second fiducial point include the fiducial points on the surface of the scanning cap in the oral cavity, or the fiducial points on the surface of the coded scanning rod in the oral cavity.

[0089] In some embodiments of the present application, the multi-frame first scan data further includes first scan cap three-dimensional data; after obtaining the first scan data collected by the intraoral scanner, the processing module 34 is further configured to: splice the first scan data based on the first scan cap three-dimensional data and the corresponding standard scan cap three-dimensional data features to obtain a first oral model; or, splice the first scan data based on the first scan cap three-dimensional data and the corresponding standard scan cap three-dimensional data features, and replace the first scan cap three-dimensional data with the standard scan cap three-dimensional data after splicing to obtain a first oral model. In some embodiments of the present application, the first scan cap three-dimensional data of the processing module 34 includes scan cap morphology three-dimensional data and first marker point three-dimensional data, and the splicing of the first scan data based on the first scan cap three-dimensional data and the corresponding standard scan cap three-dimensional data features includes: splicing the first scan data based on the first marker point three-dimensional data and the corresponding standard scan cap three-dimensional data for marker point feature splicing; or, splicing the first scan data based on the scan cap morphology three-dimensional data and the corresponding standard scan cap three-dimensional data for geometric feature splicing.

[0090] In some embodiments of the present application, a scan cap is installed in the oral cavity; the steps for the processing module 34 to obtain the target oral cavity model based on the first scan data and the second scan data include: splicing the multi-frame first scan data to obtain a first oral model, and determining the marker point distribution framework according to the second scan data; determining the first installation reference and the first installation direction of each scan cap based on the first marker point three-dimensional data in the first oral model; determining the second installation reference and the second installation direction of each scan cap based on the marker point distribution framework; taking the marker point distribution framework as a reference, adjusting the splicing relationship of the multi-frame first scan data in the first oral model based on the corresponding relationship between the first installation reference and the second installation reference and the corresponding relationship between the first installation direction and the second installation direction to obtain the target oral cavity model.

[0091] It should be noted that each module in the above oral cavity modeling device may be a program module (for example, a set of program instructions for implementing a specific function), or a hardware module. For the latter, it may be presented in the following forms, but not limited to this: the presentation form of each of the above modules is a processor, or the functions of each of the above modules are implemented by a processor.

[0092] The embodiments of the present application provide a non-volatile storage medium, in which a program is stored. When the program runs, it controls the device where the non-volatile storage medium is located to execute the following oral cavity modeling method: obtaining multi-frame first scan data of the oral cavity obtained based on a first condition, where the multi-frame first scan data includes oral cavity morphology three-dimensional data and first marker point three-dimensional data; obtaining second scan data of the oral cavity obtained based on a second condition, where the second scan data includes second marker point three-dimensional data; obtaining a target oral cavity model based on the first scan data and the second scan data.

[0093] An embodiment of the present application provides an electronic device, including: a memory and a processor, where the processor is configured to run a program stored in the memory. When the program runs, it executes the following oral cavity modeling method: obtaining multiple frames of first scan data of the oral cavity obtained based on a first condition, where the multiple frames of first scan data include three-dimensional data of the oral cavity morphology and three-dimensional data of first landmark points; obtaining second scan data of the oral cavity obtained based on a second condition, where the second scan data includes three-dimensional data of second landmark points; and obtaining a target oral cavity model based on the first scan data and the second scan data.

[0094] An embodiment of the present application provides a computer program product, including a computer program that, when executed by a processor, implements the following oral cavity modeling method: obtaining multiple frames of first scan data of the oral cavity obtained based on a first condition, where the multiple frames of first scan data include three-dimensional data of the oral cavity morphology and three-dimensional data of first landmark points; obtaining second scan data of the oral cavity obtained based on a second condition, where the second scan data includes three-dimensional data of second landmark points; and obtaining a target oral cavity model based on the first scan data and the second scan data.

[0095] In the above embodiments of the present application, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0096] In several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed with each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in electrical or other forms.

[0097] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0098] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0099] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the related technology, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0100] The above are only the preferred embodiments of this application. It should be noted that for those of ordinary skill in the art, without departing from the principle of this application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of this application.

Claims

1. An oral modeling method, characterized in that: include: Acquire multiple frames of first scanning data of the oral cavity obtained based on the first condition, wherein the multiple frames of first scanning data include three-dimensional data of the oral cavity morphology and three-dimensional data of the first landmark point; Acquire second scan data of the oral cavity obtained based on a second condition, wherein the second scan data includes three-dimensional data of a second marker point; A target oral cavity model is obtained based on the first scanning data and the second scanning data.

2. The oral cavity modeling method according to claim 1, characterized in that: Obtaining a target intraoral model based on the first scanning data and the second scanning data includes: Determining a marker point distribution framework according to the second marker point three-dimensional data; Determine a correspondence between the first marker point three-dimensional data and the second marker point three-dimensional data; The first scan data is spliced ​​according to the landmark point distribution framework and the corresponding relationship to obtain the target oral cavity model.

3. The oral cavity modeling method according to claim 1, characterized in that: Obtaining a target intraoral model based on the first scanning data and the second scanning data includes: splicing the multiple frames of first scan data to obtain a first oral cavity model, and determining a landmark point distribution framework according to the second scan data; Determine a correspondence between the first marker point three-dimensional data and the second marker point three-dimensional data; The target oral model is obtained by taking the landmark point distribution framework as a splicing reference and adjusting the splicing relationship of multiple frames of first scanning data in the first oral model according to the corresponding relationship.

4. The oral cavity modeling method according to claim 1, characterized in that: Acquiring first scanning data of the oral cavity based on the first condition includes: With the scanning cap installed in the oral cavity, collecting multiple frames of first images of the oral cavity by an intraoral scanner; The multiple frames of first scan data are reconstructed based on the multiple frames of first images.

5. The oral cavity modeling method according to claim 4, characterized in that: The first image includes a first sub-image and a second sub-image, the first sub-image contains first reconstruction information for reconstructing three-dimensional data of oral morphology, and the second sub-image contains second reconstruction information for reconstructing three-dimensional data of a first landmark point. The first sub-image and the second sub-image are the same frame image, or the first sub-image and the second sub-image are different frame images collected at the same time or within a preset time.

6. The oral cavity modeling method according to claim 1, characterized in that: Acquiring second scan data of the oral cavity based on the second condition includes: When a scanning cap is installed in the oral cavity, a second image of the oral cavity is acquired by an extraoral scanning device, and the three-dimensional data of the second landmark point is reconstructed based on the second image; or, When a scanning rod is installed in the oral cavity, the second image of the oral cavity is collected by the extraoral scanning device or the intraoral scanner, and the three-dimensional data of the second landmark points are reconstructed based on the second image.

7. The oral cavity modeling method according to claim 1, characterized in that: The landmark points corresponding to the first landmark point three-dimensional data include landmark points on the surface of the scanning cap in the oral cavity; The marker points corresponding to the second marker point three-dimensional data include marker points on the surface of a scanning cap in the oral cavity, or marker points on the surface of a coding scanning rod in the oral cavity.

8. The oral cavity modeling method according to claim 4, characterized in that: The multiple frames of first scanning data also include first scanning cap three-dimensional data; After acquiring the first scan data collected by the intraoral scanner, the oral modeling method further includes: The first scanning data is based on the first scanning cap three-dimensional data and the corresponding standard scanning cap three-dimensional data feature splicing to obtain a first oral cavity model; or, The first scanning data is based on the first scanning cap three-dimensional data and the corresponding standard scanning cap three-dimensional data feature splicing, and after splicing, the first scanning cap three-dimensional data is replaced with the standard scanning cap three-dimensional data to obtain a first oral model.

9. The oral cavity modeling method according to claim 4, characterized in that: The first scanning cap three-dimensional data includes scanning cap shape three-dimensional data and first marker point three-dimensional data, and the first scanning data is based on the first scanning cap three-dimensional data and the corresponding standard scanning cap three-dimensional data feature splicing includes: The first scanning data is subjected to marker point feature stitching based on the first marker point three-dimensional data and the corresponding standard scanning cap three-dimensional data; or, The first scanning data is geometrically spliced ​​based on the scanning cap morphology three-dimensional data and the corresponding standard scanning cap three-dimensional data.

10. The oral cavity modeling method according to claim 1, characterized in that: A scanning cap is installed in the oral cavity; Obtaining a target intraoral model based on the first scanning data and the second scanning data includes: splicing the multiple frames of first scan data to obtain a first oral cavity model, and determining a landmark point distribution framework according to the second scan data; Determine a first installation reference and a first installation direction of each scanning cap based on the three-dimensional data of the first marker point in the first oral model; Determine a second installation reference and a second installation direction of each scanning cap based on the marker point distribution framework; Taking the landmark point distribution framework as a reference, based on the correspondence between the first installation reference and the second installation reference and the correspondence between the first installation direction and the second installation direction, the splicing relationship of multiple frames of first scanning data in the first oral model is adjusted to obtain the target oral model.

11. An oral modeling system, characterized in that: It includes scanning equipment and processing equipment, wherein: The scanning device is used to obtain multiple frames of first scanning data of the oral cavity obtained based on a first condition, wherein the multiple frames of first scanning data include three-dimensional data of the oral cavity morphology and three-dimensional data of first marker points; and obtain second scanning data of the oral cavity obtained based on a second condition, wherein the second scanning data includes three-dimensional data of second marker points; The processing device is used to obtain a target oral cavity model based on the first scanning data and the second scanning data.

12. An oral modeling device, characterized in that: include: A first scanning module, used for acquiring a plurality of frames of first scanning data of the oral cavity based on the first condition, wherein the plurality of frames of first scanning data include three-dimensional data of the oral cavity morphology and three-dimensional data of the first landmark point; A second scanning module, used for acquiring second scanning data of the oral cavity based on a second condition, wherein the second scanning data includes three-dimensional data of a second marker point; A registration module is used to obtain a target oral cavity model based on the first scanning data and the second scanning data.

13. A non-volatile storage medium, characterized in that: The non-volatile storage medium stores a program, wherein when the program is executed, the device where the non-volatile storage medium is located is controlled to execute the oral modeling method according to any one of claims 1 to 10.

14. An electronic device, characterized in that: include: A memory and a processor, wherein the processor is used to run a program stored in the memory, wherein the program executes the oral modeling method according to any one of claims 1 to 10 when running.

15. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the oral cavity modeling method according to any one of claims 1 to 10.

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