Data processing method, device and equipment for assisting oral scanning

Abstract

The present disclosure provides a data processing method, device and equipment for assisting oral scanning, and relates to the technical field of stomatology. The data processing method for assisting oral scanning comprises the following steps: acquiring internal oral scanning data, wherein the relative position relationship between the gums and the teeth is included in the internal oral scanning data; establishing a model according to the internal oral scanning data; and determining the target pose of the nozzle of the pneumatic gingival retraction device according to the model and the parameters of the pneumatic gingival retraction device.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of stomatology, and in particular to a data processing method, device and equipment for assisting oral scanning. BACKGROUND

[0002] In the process of subgingival shoulder scanning, pneumatic gingival retraction technology is needed to obtain a better field of view and improve the comprehensiveness of scanning. The pneumatic gingival retraction technology separates the gingival tissue by high-speed airflow, and the clinician adjusts the angle of the device at any time to adjust the direction of the airflow, and then cooperates with the intraoral scanning device to obtain scanning data of the area covered by the gingiva. SUMMARY

[0003] One purpose of the present disclosure is to improve the efficiency and user-friendliness of oral scanning and reduce the difficulty of operation.

[0004] According to an aspect of some embodiments of the present disclosure, a data processing method for assisting oral scanning is provided, including: obtaining internal oral scanning data, the internal oral scanning data including the relative position relationship between the gingiva and the teeth; establishing a model according to the internal oral scanning data; and determining a target pose of a nozzle of a pneumatic gingival retraction device according to the model and parameters of the pneumatic gingival retraction device.

[0005] In some embodiments, the data processing method further includes: determining a target pose of a scanning device according to the model and the scanning data.

[0006] In some embodiments, the data processing method further includes: determining a current position of the scanning device; and determining a moving path of the scanning device according to the current position of the scanning device and a target position of the scanning device.

[0007] In some embodiments, determining the target pose of the nozzle of the pneumatic gingival retraction device according to the model and the parameters of the pneumatic gingival retraction device includes: determining an included angle of an edge of a target gingiva relative to an axis of a corresponding tooth according to the model; and determining a target attitude of the nozzle according to the included angle, wherein the target pose of the nozzle includes the target attitude of the nozzle.

[0008] In some embodiments, determining the target pose of the nozzle of the pneumatic gingival retraction device according to the model and the parameters of the pneumatic gingival retraction device includes: determining a distance between a target position of the nozzle and the target gingiva based on a target pressure at the target gingiva according to the parameters of the pneumatic gingival retraction device; and determining the target position of the nozzle based on the model according to the position of the target gingiva and the distance, wherein the target pose of the nozzle includes the target position of the nozzle.

[0009] In some embodiments, the acquiring the intra-oral scanning data comprises: acquiring scanning data of the intra-oral cavity including tooth surfaces and gum surfaces collected by the scanning device through multi-frame scanning, wherein the scanning device projects a structured light image to the intra-oral cavity; and the establishing the model according to the intra-oral scanning data comprises: determining depth information of each position in the image of the scanning data based on the projected structured light image according to the structured light image in the scanning data; obtaining a positional relationship between scanning data of different frames through key point matching; and establishing the model according to the image of the scanning data of different frames, the positional relationship and the depth information.

[0010] In some embodiments, the establishing the model according to the intra-oral scanning data further comprises: determining a corresponding relationship between a relative position and posture of the scanning device in the intra-oral cavity and a scanning area of the scanning device according to the scanning data collected by the scanning device and the relative position information of the teeth and the gums in the intra-oral cavity, wherein the model further comprises the corresponding relationship between the posture of the scanning device in the intra-oral cavity and the scanning area of the scanning device.

[0011] In some embodiments, the data processing method further comprises: determining a target pose of the scanning device based on the corresponding relationship in the model according to a region for which scanning data is required.

[0012] In some embodiments, the data processing method further comprises: sending the target pose of the nozzle to a display device.

[0013] In some embodiments, the data processing method further comprises: sending the target pose and the movement path of the scanning device to the display device.

[0014] According to an aspect of some embodiments of the present disclosure, a data processing device for assisting in intra-oral scanning is provided, comprising: a scanning data acquisition unit configured to acquire intra-oral scanning data, wherein the intra-oral scanning data comprises a relative position relationship between gums and teeth; a modeling unit configured to establish a model according to the intra-oral scanning data; and a pose determination unit configured to determine a target pose of a nozzle of a pneumatic gingival retraction device according to the model and parameters of the pneumatic gingival retraction device.

[0015] In some embodiments, the data processing device further comprises: a data sending unit configured to send information determined by the pose determination unit to a display device.

[0016] According to an aspect of some embodiments of the present disclosure, a data processing device for assisting in intra-oral scanning is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute any of the data processing methods for assisting in intra-oral scanning according to instructions stored in the memory.

[0017] According to an aspect of some embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement any of the above data processing methods for assisting in oral scanning.

[0018] According to an aspect of some embodiments of the present disclosure, there is provided a computer program product comprising computer programs or instructions, which, when executed by a processor, implement any of the above data processing methods for assisting in oral scanning.

[0019] According to an aspect of some embodiments of the present disclosure, there is provided an apparatus for assisting in oral scanning, comprising: any of the above data processing apparatuses for assisting in oral scanning; and a display device configured to acquire and display data from the data processing apparatus.

[0020] In some embodiments, the apparatus for assisting in oral scanning further comprises a scanning device configured to acquire scanning data of the inside of the oral cavity.

[0021] In some embodiments, the apparatus for assisting in oral scanning further comprises a pneumatic gingiva displacement device configured to output gas from a nozzle to separate gingival tissue from teeth. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which are included to provide a further understanding of the present disclosure and constitute a part of this disclosure, illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the present disclosure, and do not limit the present disclosure in any manner.

[0023] Figure 1 Flowchart for some embodiments of the data processing method for assisting in oral scanning of the present disclosure.

[0024] Figure 2 Flowchart for some other embodiments of the data processing method for assisting in oral scanning of the present disclosure.

[0025] Figure 3 Schematic diagram for some embodiments of the light projection path of the structured light in the data processing method for assisting in oral scanning of the present disclosure.

[0026] Figure 4 Schematic diagram for some embodiments of the depth calculation in the data processing method for assisting in oral scanning of the present disclosure.

[0027] Figure 5 Schematic diagram for some embodiments of the data processing apparatus for assisting in oral scanning of the present disclosure.

[0028] Figure 6 Schematic diagram for some other embodiments of the data processing apparatus for assisting in oral scanning of the present disclosure.

[0029] Figure 7 Schematic diagram of some embodiments of the device for assisting oral scanning of the present disclosure.

[0030] Figure 8 Schematic diagram of some embodiments of the device for assisting oral scanning of the present disclosure.

[0031] Figure 9 Flowchart of performing oral scanning by using the device for assisting oral scanning of the present disclosure.

[0032] Figure 10 Effect schematic diagram of performing oral scanning by using the device for assisting oral scanning of the present disclosure. DETAILED DESCRIPTION

[0033] The technical solutions of the present disclosure are described in further detail below through the accompanying drawings and embodiments.

[0034] In modern digital dental restoration processes, the accurate scanning of subgingival shoulder is a key link to obtain high-quality digital impressions. However, due to the complex anatomical structure and narrow space of the subgingival area, traditional scanning methods often face challenges. To solve the problem caused by gingival obstruction, the pneumatic gingival retraction technology emerged as the times require. This technology uses high-speed airflow to temporarily separate the gingival tissue, making it easier for intraoral three-dimensional scanners to obtain clear subgingival shoulder data. However, although pneumatic gingival retraction improves the accuracy of scanning to some extent, it still faces some technical bottlenecks in clinical application.

[0035] The inventors found that due to the single direction of airflow of the pneumatic gingival retraction device, it is difficult to achieve the ideal separation effect in areas with thick gingiva or complex anatomical structure, especially in some clinical situations, the airflow is difficult to reach the best exposure angle. Secondly, the operation angle of the intraoral scanning device is limited by the patient's mouth opening and the design characteristics of the device itself, especially in the posterior region, it is difficult for the doctor to find a suitable operation angle for accurate scanning, which forces the clinician to adjust the angle and airflow direction multiple times during operation, prolonging the operation time and increasing the complexity. In addition, long-term airflow action may cause the patient's mouth to dry, causing discomfort, and may even cause gingival pain or damage, reducing the patient's treatment comfort. Finally, the pneumatic gingival retraction technology requires high operation skills from the doctor, especially for inexperienced doctors, it is difficult to quickly master the operation essentials, thereby affecting the scanning quality and efficiency.

[0036] To solve the above problems, the present disclosure proposes a data processing method, device and equipment for assisting oral scanning, which can generate data in real time to guide the doctor to perform oral scanning operation, reduce the operation difficulty of the pneumatic gingival retraction device and the dependence on the doctor's experience, improve the scanning efficiency, at the same time reduce the operation time of the doctor, improve the user friendliness of the patient.

[0037] A flowchart of some embodiments of the data processing method for assisting oral scanning of the present disclosure is shown in FIG. 1, including steps S11-S13. The method can be implemented by a computer device connected to one or more of other devices (such as a scanning device, a pneumatic gingival retraction device, or a display device) through wired or wireless means. Figure 1

[0038] In step S11, intraoral scanning data is acquired, which includes the relative position relationship between the gingiva and the teeth. For example, a doctor can use a scanning device (such as an intraoral scanning device) to perform multi-frame scanning on the patient's intraoral cavity to obtain the relative position relationship between the gingiva and the teeth within the field of view of the scanning device.

[0039] In some embodiments, the doctor can acquire as comprehensive intraoral scanning data as possible using only the scanning device or in conjunction with a device for assisting in opening the patient's oral cavity. The scanning data does not require detailed completeness and can be supplemented by the data processing method for assisting oral scanning proposed by the present disclosure, thereby improving the efficiency of the initial scanning and further improving the comprehensiveness and completeness of the data through the supplementary scanning.

[0040] In some embodiments, the scanning data of the patient's pre-scanning of the oral cavity can be acquired by reading the storage or data transmission, thereby shortening the data preparation process and improving the data processing efficiency.

[0041] In some embodiments, the scanning head of the scanning device can have a three-dimensional camera to acquire the depth information of each point.

[0042] In some embodiments, the scanning device can project structured light into the intraoral cavity and acquire the intraoral cavity image with the projected structured light through an image acquisition device. For example Figure 2 As shown in FIG. 1, the scanning head of the scanning device has a light emitter 1 and a camera 2. The light emitter 1 emits a specific structured light pattern, and the camera 2 captures the reflected light pattern in real time. The scanning device scans the surface 3 of the object.

[0043] In step S12, a model is established according to the intraoral scanning data.

[0044] In some embodiments, the same feature points can be obtained by analyzing the feature points in the scanning data of different frames, and then the scanning data can be spliced based on the feature points to realize three-dimensional reconstruction of the intraoral environment. The result of the three-dimensional reconstruction is used as the model for subsequent use.

[0045] ​In some embodiments, the obtained scanning data may be image data including a structured light image. Based on the structured light image in the scanning data, and based on the projected structured light image, the depth information of each position in the image of the scanning data is determined by comparison. For example, by comparing the differences between a standard pattern and a reflective pattern, the three-dimensional depth data is analyzed to obtain the depth information of each pixel in the scanned image, thus obtaining the three-dimensional scanning data. Figure 3 The diagram shows a simplified representation of continuous light rays on the surface of the object being scanned. 1' is the light emitter, 2' is the built-in camera, and 3' is the surface being scanned (the surface being scanned is...). Figure 2 As shown in Figure 3), D is the surface being scanned. Figure 2 At position shown in Figure 4, b represents the parallax between the light emitter and the camera, and Z... O Z represents the distance from the farthest intersection point of the straight lines in the direction of region D from the viewpoints of the camera and the light emitter to the camera coordinate reference plane, f is the camera focal length, d is the parallax observed in camera coordinates, and Z... K (For depth). From Figure 2 From this, we can obtain:

[0046]

[0047] The above calculation formula can be used to obtain the distance between the surface of the scanned object and the scanning head, that is, the depth data in the image.

[0048] Furthermore, the positional relationship (including the queuing position and relative angle relationship) between the scan data of different frames is obtained by key point matching. Based on the image, positional relationship and depth information of the scan data of different frames, the scan data is stitched together to realize the three-dimensional reconstruction of the oral cavity environment. The result of the three-dimensional reconstruction is used as a model for subsequent use.

[0049] This method enables the use of structured light data to improve the accuracy of depth information analysis in narrow and poorly lit oral environments, thereby improving the accuracy of three-dimensional reconstruction of the oral environment and enhancing the matching degree between the model and the patient's oral environment.

[0050] In step S13, the target pose of the nozzle of the pneumatic gingival retraction device is determined based on the model and the parameters of the pneumatic gingival retraction device.

[0051] In some embodiments, the target pose of the nozzle includes the target orientation of the nozzle. This can be achieved by first determining the angle between the edge of the target gingiva and the axis of the corresponding tooth based on a model, and then determining the direction of the required airflow based on this angle, thus obtaining the target orientation of the nozzle. This method improves the targeting of pneumatic gingival retraction, reduces the impact on other areas of the oral cavity, reduces the required airflow intensity, thereby reducing patient discomfort and improving user-friendliness.

[0052] For example, according to the preliminary data obtained from the first scanning process, the tooth axis is fitted, the angle between the tooth axis and the gum edge is measured to obtain the angle θ, and the angle a between the jet port axis and the tooth axis is within θ±15°.

[0053] In some embodiments, the target pose of the jet port includes a target position of the jet port. The target position of the jet port can be determined according to the parameters of the pneumatic gingival retraction device based on the target pressure at the target gingiva, and the distance between the target position of the jet port and the target gingiva is determined. Then, according to the position of the target gingiva and the distance, the position suitable for placing the jet port based on the model and having a distance from the target gingiva comparable to the calculated distance is obtained as the target position of the jet port. By this method, the realizability of the position for placing the jet port can be ensured, which is convenient for the doctor to operate; and the discomfort of the patient caused by excessive airflow or the influence of gingival retraction caused by insufficient airflow due to inappropriate distance can be avoided, which helps to improve the convenience and accuracy of subsequent scanning.

[0054] For example, the pressure P2 at a distance x from the jet port can be shown as follows in formula (2):

[0055]

[0056] In formula (2)-(6), P1 is the pressure at the jet port, v1 is the airflow velocity, ρ is the airflow density, A is the jet port cross-sectional area, P atm is the ambient pressure, and L is the characteristic length of jet diffusion. Among the above parameters, P1, v1, ρ, A are known parameters of the pneumatic gingival retraction device, the ambient pressure P atm and the characteristic length L of jet diffusion are also known quantities. The information at a distance x from the jet port can be calculated by the structured light formula by the intraoral three-dimensional scanner.

[0057] The specific derivation formula is as follows:

[0058] According to Bernoulli equation, we have:

[0059] According to the law of conservation of momentum, we have:

[0060] where v2 is the velocity at x, A x is the cross-sectional area at x.

[0061] Assuming that the jet airflow diffuses with the increase of the distance x, the cross-sectional area A x is approximately:

[0062]

[0063] Therefore, the velocity v2 is:

[0064] The Bernoulli equation is applied to obtain the pressure at the nozzle and at a distance x from the nozzle:

[0065]

[0066] Finally, the above formula (2) is obtained.

[0067] Based on the target pressure P2 at the target gingiva, the distance x can be calculated.

[0068] Based on the method in the above embodiment, the ideal target pose of the air jet nozzle for the pneumatic gingival retraction operation on the required scanning position can be determined, and data for guiding the doctor to perform the oral scanning operation can be generated in real time, thereby reducing the operation difficulty of the pneumatic gingival retraction device and the dependence on the doctor's experience, improving the scanning efficiency, reducing the operation time of the doctor, and improving the user friendliness of the patient.

[0069] In some embodiments, as shown in Figure 1 The data processing method for assisting oral scanning further includes step S14.

[0070] In step S14, the target pose of the nozzle is sent to the display device.

[0071] Based on the method in the above embodiment, the target pose of the nozzle can be displayed on the display device, for example, by displaying the nozzle in the target pose state in the model image, which is beneficial to the doctor to intuitively obtain the target pose and facilitate the operation according to the target pose, thereby further reducing the operation difficulty.

[0072] The flowchart of another embodiment of the data processing method for assisting oral scanning of the present disclosure is shown in Figure 4 .

[0073] Step S11 is the same as or similar to the above Figure 1 embodiment.

[0074] In step S12, on the basis of the above step S12, the result of the three-dimensional reconstruction of the oral cavity can be further supplemented, so that the model further includes the pose and relative position of the scanning device in the oral cavity, and the correspondence between the scanning device and the scanned area.

[0075] For example, the correspondence between the relative position and pose of the scanning device in the oral cavity and the scanned area can be determined according to the scanning data collected by the scanning device and the relative position information of the teeth and gingiva in the oral cavity.

[0076] In step S15, the target pose of the scanning device is determined according to the model and the scanning data. In some embodiments, the target pose of the scanning device can be determined according to the region of the scanning data as needed, based on the corresponding relationship in the model. For example, after the air flow blows open the gum, the three-dimensional coordinates and depth information obtained in combination with the initial scanning can be used to deduce the position and angle required for adjustment of the scanning device. By adjusting the scanning device to the target pose of the scanning device, a clear and accurate scanning result of the region where the gum is blown open can be obtained.

[0077] In some embodiments, the data processing method for assisting oral scanning further comprises step S18.

[0078] In step S18, the target pose of the scanning device is sent to the display device. For example, the scanning device (scanning head) that meets the target pose of the scanning device can be displayed on the basis of the three-dimensional reconstruction result of the oral cavity, thereby providing intuitive reference information for the doctor.

[0079] In some embodiments, the data processing method for assisting oral scanning further comprises steps S16-S17.

[0080] In step S16, the current position of the scanning device is determined. In some embodiments, the current position of the scanning device can be obtained by matching the current scanning data of the scanning device in the model, obtaining the pose of the scanning device corresponding to the current scanning data, and extracting the position data therein as the current position.

[0081] In step S17, the movement path of the scanning device is determined according to the current position of the scanning device and the target position of the scanning device. In some embodiments, the movement path of the scanning device can be obtained by path planning in combination with the three-dimensional reconstruction result of the oral cavity in the model. Then in step S18, the target pose and the movement path of the scanning device are sent to the display device.

[0082] Through such a method, real-time path planning can be generated and displayed on the display to accurately guide the movement direction and distance of the scanning device, so as to achieve accurate supplementary scanning of the subgingival region. The doctor can clearly see the direction, distance and angle that the scanning device needs to move, and the visualization can help the doctor quickly adjust the position of the scanner to ensure that the supplementary scanning region is fully covered.

[0083] Based on the method in the above-mentioned embodiments of the present disclosure, through automatic calculation and real-time feedback, the experience dependence of doctors in the pneumatic gingival retraction operation is significantly reduced, the learning curve is shortened, the operation efficiency and accuracy are improved, and the uncertainty in clinical operation is reduced. This not only improves the scanning quality, but also greatly improves the comfort of the patient and reduces the complexity and operation risk of subgingival scanning. In clinical operation, the intraoral scanner is used to obtain the three-dimensional data of the oral cavity, the pneumatic gingival retraction is used for supplementary scanning, the results of the supplementary scanning are combined with the previously obtained three-dimensional data of the oral cavity, the completeness of the data is improved, and finally the accuracy of the overall repair design and the clinical effect are improved.

[0084] The schematic diagram of some embodiments of the data processing device for assisting oral scanning of the present disclosure is shown in Figure 5 .

[0085] The scanning data acquisition unit 511 can obtain intraoral scanning data, which includes the relative position relationship between the gingiva and the teeth. In some embodiments, the scanning data acquisition unit 511 can perform the method in the above-mentioned embodiment of step S11.

[0086] The modeling unit 512 can establish a model according to the intraoral scanning data. In some embodiments, the modeling unit 512 can perform the method in the above-mentioned embodiment of step S12.

[0087] The pose determination unit 513 can determine the target pose of the nozzle of the pneumatic gingival retraction device according to the model and the parameters of the pneumatic gingival retraction device. In some embodiments, the pose determination unit 513 can perform the method in the above-mentioned embodiment of step S13.

[0088] Using the device in the above-mentioned embodiments of the present disclosure, the ideal jet nozzle target pose for the pneumatic gingival retraction operation on the required scanning position can be determined, the data for guiding the doctor to perform the oral scanning operation can be generated in real time, the operation difficulty of the pneumatic gingival retraction device and the dependence on the doctor's experience are reduced, the scanning efficiency is improved, and the operation time of the doctor is reduced, and the user friendliness of the patient is improved.

[0089] In some embodiments, the data processing device further includes a data sending unit 514, which can send the information determined by the pose determination unit to a display device. Such a device can display the target pose of the nozzle through the display device, for example, by displaying the nozzle in the target pose state in the model image, which is beneficial to the doctor to intuitively obtain the target pose and facilitate operation according to the target pose, and further reduces the operation difficulty.

[0090] In some embodiments, the pose determination unit 513 can also determine the target pose of the scanning device according to the model and the scanning data. In some embodiments, the pose determination unit 513 can perform the method in the embodiment shown in step S15 above. Such a device can derive the position and angle required for adjustment of the scanning device, provide guidance information for the doctor to adjust the scanning device to the target pose of the scanning device, and obtain a clear and accurate scanning result of the area where the gum is blown open, thereby improving the accuracy of the scanning result and the scanning efficiency.

[0091] In some embodiments, the data sending unit 514 can send the target pose of the scanning device to the display device. For example, the scanning device (scanning head) that meets the target pose of the scanning device can be displayed on the basis of the oral three-dimensional reconstruction result, thereby providing intuitive reference information for the doctor.

[0092] In some embodiments, the pose determination unit 513 can also determine the current position of the scanning device, and determine the movement path of the scanning device according to the current position of the scanning device and the target position of the scanning device. For example, the pose determination unit 513 can perform matching in the model according to the current scanning data of the scanning device, obtain the pose of the scanning device corresponding to the current scanning data, and extract the position data therein as the current position. Further, the scanning device can be path planned in combination with the oral three-dimensional reconstruction result in the model, and the movement path can be obtained. The data sending unit 514 can also send the target pose and the movement path of the scanning device to the display device.

[0093] Such a device can generate path planning in real time, display the path planning through the display, accurately guide the movement direction and distance of the scanning device, and achieve accurate supplementary scanning of the subgingival area; the doctor can clearly see the direction, distance and angle that the scanning device needs to move, and the doctor can be presented in a visual manner, thereby helping the doctor quickly adjust the position of the scanning device and ensuring that the supplementary scanning area is fully covered.

[0094] An embodiment of the data processing device for assisting oral scanning of the present disclosure is shown in the structural schematic diagram Figure 6 The data processing device for assisting oral scanning includes a memory 601 and a processor 602. The memory 601 can be a disk, a flash memory or any other non-volatile storage medium. The memory is used to store the instructions in the corresponding embodiment of the data processing method for assisting oral scanning described above. The processor 602 is coupled to the memory 601 and can be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller. The processor 602 is used to execute the instructions stored in the memory, can generate data in real time to guide the doctor to perform the oral scanning operation, reduce the operation difficulty of the pneumatic gum blowing device and the dependence on the experience of the doctor, improve the scanning efficiency, and at the same time reduce the operation time of the doctor and improve the user friendliness of the patient.

[0095] In one embodiment, the data processing apparatus 700 for assisting oral scanning can also include a memory 701 and a processor 702 as shown. Figure 7 The processor 702 is coupled to the memory 701 through a BUS 703. The data processing apparatus 700 for assisting oral scanning can also be connected to an external storage device 705 through a storage interface 704 to call external data, and can also be connected to a network or another computer system (not shown) through a network interface 706. Details are not described here.

[0096] In this embodiment, the data instruction is stored in the memory, and the above-mentioned instruction is processed by the processor, so that the data guiding the doctor to perform the oral scanning operation can be generated in real time, the operation difficulty of the pneumatic gingival retraction device and the dependence on the doctor's experience are reduced, the scanning efficiency is improved, the operation time of the doctor is reduced, and the user friendliness of the patient is improved.

[0097] In another embodiment, a computer readable storage medium has computer program instructions stored thereon, which, when executed by a processor, implement the steps of the method in the corresponding embodiment of the data processing method for assisting oral scanning. Those skilled in the art should understand that the embodiments of the present disclosure can be provided as a method, an apparatus, or a computer program product. Therefore, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0098] A schematic diagram of some embodiments of the device for assisting oral scanning of the present disclosure is shown in Figure 8 .

[0099] The data processing apparatus 81 for assisting oral scanning can be any of the data processing apparatuses for assisting oral scanning described above.

[0100] The display device 82 can acquire and display data from the data processing apparatus.

[0101] The device in the above-mentioned embodiments can generate data guiding the doctor to perform the oral scanning operation in real time, reduce the operation difficulty of the pneumatic gingival retraction device and the dependence on the doctor's experience, improve the scanning efficiency, reduce the operation time of the doctor, improve the user friendliness of the patient, display the guiding information through the display device, help the doctor to intuitively obtain the target pose, facilitate the operation according to the target pose, and further reduce the operation difficulty.

[0102] In some embodiments, the device for assisting oral scanning further comprises a scanning device 83 capable of acquiring scanning data of the inside of the oral cavity, so as to facilitate the data processing device to obtain the scanning data and generate a model based on the scanning data, thereby improving the processing efficiency.

[0103] In some embodiments, the device for assisting oral scanning further comprises a pneumatic gingiva displacement device 84 capable of outputting gas from a nozzle to separate the gingival tissue from the teeth, so as to avoid missing scanning data caused by gingival obstruction, thereby improving the comprehensiveness and accuracy of the scanning results.

[0104] The flowchart of performing oral scanning by using the device for assisting oral scanning of the present disclosure is shown in Figure 9 .

[0105] In step 901, without implementing pneumatic gingiva displacement, the doctor uses an intraoral three-dimensional scanner (the scanning device mentioned above) to perform a complete scanning of the patient's oral cavity. The purpose of this scanning step is to obtain three-dimensional data of the teeth, gingiva and related oral structures to form a digital model. This model provides basic data for subsequent pneumatic gingiva displacement operations. The scanning data generated in this operation can be used to generate guidance information for the doctor based on any one of the data processing methods mentioned above for assisting oral scanning. Then step 902 is performed.

[0106] In step 902, after the initial complete three-dimensional data acquisition is completed, the pneumatic gingiva displacement technology is started, and the guidance information is displayed. Based on the target pose information of the nozzle in the guidance information, the pneumatic gingiva displacement is started, and based on the target pose information and the movement path information of the scanning device, the position of the scanning device is adjusted, and steps 903 and 904 are triggered. The function of pneumatic gingiva displacement aims to gently blow the gingiva open by precisely controlling the airflow, thereby maximizing the exposure of the subgingival area and ensuring that the scanner can capture the gingival edge and subgingival details. The system will calculate the optimal airflow angle, intensity and airflow action area required for gingival blowing based on the three-dimensional data generated by the initial scanning, to ensure that the airflow is effective and does not cause discomfort to the patient.

[0107] In step 903, as the mobile scanning device (or scanner, specifically the position of the scanning head) is moved, the real-time confirmation of the position of the scanning area in the oral cavity is performed. In some embodiments, when the doctor starts the supplementary scanning operation (i.e., the first frame of data of the subgingival area is captured by the scanner), the system automatically identifies the spatial position of the scanner through three-dimensional registration technology. By comparing the current position of the scanner with the previously established three-dimensional model, and according to the calculated optimal scanning path, guidance is provided through a real-time display. For example, the display can visually present the required movement direction, angle, and distance of the scanner in a visualized manner. For example, the display can show an arrow or path prompt to guide the doctor to move the scanner to the correct direction to ensure accurate coverage of the subsequent scanning area.

[0108] In step 904, as the scanning device is moved, the current position of the scanning device is determined, and the movement path is updated. Based on the guidance information, the doctor adjusts the position and angle of the scanner to gradually complete the supplementary scanning operation of the subgingival area. The device dynamically adjusts the navigation prompt according to the real-time captured data to ensure that the doctor always operates the scanner along the optimal path. This navigation method based on real-time feedback can greatly reduce the possibility of missing areas during scanning and improve the completeness and accuracy of scanning.

[0109] In addition, the angle and intensity of the air flow can also be automatically optimized during the operation of the doctor to cope with the differences in oral cavity structure and subgingival morphology of different patients. By comparing the real-time captured three-dimensional data of the gum margin with the original data, the system can intelligently judge whether further adjustment of the position of the scanner or the air flow parameters is needed.

[0110] In step 905, under the guidance of the information displayed on the display device, the doctor is guided to complete the scanning, especially the supplementary scanning operation of the missing areas in step 901. After completing the supplementary scanning operation of all areas, the data of the initial scanning and the supplementary scanning are integrated to generate a high-precision three-dimensional model of the teeth, gums, and subgingival area. The doctor can use this model for subsequent diagnosis and treatment plan design.

[0111] For example, Figure 10 As shown in the arrow pointing position, the scanning result before the pneumatic gingival displacement is shown in the left side of the figure, and the data of the position covered by the gum can be completed after the pneumatic gingival displacement, and the scanning result shown in the right side of the figure is obtained. Figure 10 The scanning effect shown in the figure is only a schematic and does not constitute an improper limitation on the present disclosure.

[0112] Based on the method in the above-mentioned embodiments of the present disclosure, the scanner can be accurately positioned, and the operation is guided by intelligent navigation, greatly reducing human errors in the scanning process, and significantly improving the efficiency and accuracy of scanning; through the combination of the intelligent navigation system and the pneumatic gingival retraction technology, the doctor can complete the accurate scanning of the subgingival area in a short time, improve the smoothness of the overall operation, and at the same time, ensure the comfort of the patient.

[0113] The present disclosure is described with reference to flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the functions specified in one or more blocks or flows.

[0114] These computer program instructions can also be stored in a computer-readable memory that can guide the computer or other programmable data processing devices to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the functions specified in one or more blocks or flows.

[0115] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide a process for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the functions specified in one or more blocks or flows.

[0116] So far, the present disclosure has been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

[0117] The methods and apparatus of the present disclosure can be implemented in numerous ways, such as with software, hardware, firmware, or any combination of software, hardware, and firmware. The order of any steps described herein are merely exemplary and the steps need not be performed in the order described, unless otherwise specifically stated. Furthermore, any steps described herein can be performed in any order, unless otherwise specifically stated. Additionally, any of the steps described herein can be performed by a method, apparatus, or computer program product (e.g., software) that is recorded on a recording medium. Thus, the present disclosure is also directed to recording media that store computer readable instructions that implement the methods described herein.

[0118] It should be noted that the terms "first", "second", and the like, herein do not necessarily have an ordinal or chronological significance. Rather, these terms are used to distinguish different components or steps in the present disclosure from each other. It is to be understood that the terms "comprises", "comprising", "includes", "including" and the like, when used in this specification, specify the presence of stated features, integers, steps, or components, but do not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof. It is also to be understood that the term such as "and / or" comprises any and all combinations of one or more of the associated listed items.

[0119] Finally, it should be noted that the above-mentioned embodiments are merely used to illustrate the technical solutions of the present disclosure, but are not intended to limit the present disclosure; even though the present disclosure has been described in detail with reference to the preferred embodiments, it is understood by those skilled in the art that the specific implementation manners of the present disclosure can be modified, or some technical features can be replaced by equivalent; without departing from the spirit of the technical solutions of the present disclosure, all of them should be covered in the technical solution range of the present disclosure.

Claims

1. A data processing method for assisting oral cavity scanning, comprising: Acquire intraoral scan data, which includes the relative positional relationship between the gums and teeth; A model was built based on the intraoral scan data. Based on the model and the parameters of the pneumatic gingival retraction device, the target pose of the nozzle of the pneumatic gingival retraction device is determined.

2. The data processing method according to claim 1 further includes: Based on the model and the scanning data, the target pose of the scanning device is determined.

3. The data processing method according to claim 2 further includes: Determine the current position of the scanning device; The movement path of the scanning device is determined based on its current position and its target position.

4. The data processing method according to claim 1, wherein, The step of determining the target pose of the nozzle of the pneumatic gingival retraction device based on the model and the parameters of the pneumatic gingival retraction device includes: The angle between the edge of the target gingiva and the axis of the corresponding tooth is determined based on the model. The target orientation of the nozzle is determined based on the included angle, wherein the target orientation of the nozzle includes the target orientation of the nozzle.

5. The data processing method according to claim 1 or 4, wherein, The step of determining the target pose of the nozzle of the pneumatic gingival retraction device based on the model and the parameters of the pneumatic gingival retraction device includes: Based on the parameters of the pneumatic gingival retraction device and the target pressure at the target gingiva, the distance between the target position of the nozzle and the target gingiva is determined. Based on the location of the target gingiva and the distance, the target position of the nozzle is determined according to the model, wherein the target pose of the nozzle includes the target position of the nozzle.

6. The data processing method according to claim 1, wherein, The acquisition of intraoral scanning data includes: acquiring scanning data of the intraoral cavity, including the tooth surface and gingival surface, collected by the scanning device through multi-frame scanning, wherein the scanning device projects structured light images into the intraoral cavity; The step of establishing a model based on the intraoral scan data includes: determining the depth information of each position in the scan data image by comparison based on the structured light image projected in the scan data; The positional relationship between scan data from different frames is obtained through keypoint matching; The model is established based on the images of the scanned data from different frames, the positional relationships, and the depth information.

7. The data processing method according to claim 1 or 6, wherein, The process of building a model based on the intraoral scan data further includes: Based on the scanning data collected by the scanning device and the relative position information of the teeth and gums inside the oral cavity, the relative position and orientation of the scanning device inside the oral cavity, and the correspondence between the scanning device and the area scanned by the scanning device, are determined. The model also includes the orientation of the scanning device and its relative position inside the oral cavity, and the correspondence between these two positions and the area scanned by the scanning device.

8. The data processing method according to claim 7 further includes: Based on the correspondence in the model, the target pose of the scanning device is determined according to the area where the scanned data is acquired as needed.

9. The data processing method according to any one of claims 1-4, 6 or 8, further comprising: The target pose of the nozzle is sent to the display device.

10. The data processing method according to claim 3, further comprising: The target pose of the scanning device and the movement path are sent to the display device.

11. A data processing device for assisting oral cavity scanning, comprising: The scanning data acquisition unit is configured to acquire intraoral scanning data, which includes the relative positional relationship between the gums and teeth. The modeling unit is configured to build a model based on the intraoral scan data; The pose determination unit is configured to determine the target pose of the nozzle of the pneumatic gingival device based on the model and the parameters of the pneumatic gingival device.

12. The data processing apparatus according to claim 11, further comprising: The data transmission unit is configured to send the information determined by the pose determination unit to the display device.

13. A data processing device for assisting oral cavity scanning, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the data processing method for assisting oral scanning as described in any one of claims 1 to 10 based on instructions stored in the memory.

14. A computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the data processing method for assisting oral cavity scanning as described in any one of claims 1 to 10.

15. A computer program product comprising a computer program or instructions that, when executed by a processor, implement the data processing method for assisting oral scanning as described in any one of claims 1 to 10.

16. A device for assisting in oral cavity scanning, comprising: The data processing apparatus for assisting oral cavity scanning according to any one of claims 11-13; A display device is configured to acquire and display data from the data processing device.

17. The device of claim 16, further comprising at least one of the following: The scanning device is configured to acquire scanning data of the interior of the oral cavity; or A pneumatic gingival retraction device is configured to output gas from a nozzle to separate gingival tissue from the tooth.

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