Systems, methods, and electronic devices for path cues for intraoral scanning

Abstract

Example embodiments of the present invention provide systems, methods, and electronic devices for path cues for intraoral scanning. A computing device coupled with the intraoral scanner is configured to execute the following steps aiming at accumulated scanning data of the intraoral scanner on the three-dimensional surface of the oral cavity at the current moment: acquiring a plurality of key points; determining whether the target key point is a to-be-reinforced key point based on a connection relationship between the target key point and a plurality of neighborhood key points of the target key point on the relationship network; determining a dental arch form profile curve of the three-dimensional surface of the oral cavity based on the plurality of acquired key points; and determining a scanning prompt path for subsequent supplementary scanning of a pair of target to-be-reinforced key points based on the dental arch form profile curve and the determined position relationship between the pair of target to-be-reinforced key points in the plurality of to-be-reinforced key points.

Description

Technical Field

[0001] Embodiments of the present invention mainly relate to the field of intraoral tooth scanning, and more particularly, to a system, method, and electronic device for path prompting in intraoral scanning. Background Art

[0002] In existing intraoral scanning systems, most do not provide real-time scanning prompts. Generally, a demonstration video is presented to guide users through teaching. Even if there are path prompts, the displayed prompt paths are relatively rough and are generally similar in direction, mainly being inside-outside prompts. However, many users need appropriate and effective guidance to help them perform efficient scanning during the scan. Without path guidance, many users may not know how to improve their scan results during the scan and may spend more time. Therefore, good path prompts can enable users to complete high-quality scans more easily and efficiently. Summary of the Invention

[0003] According to an exemplary embodiment of the present invention, there is provided a system, method, and electronic device for path prompting in intraoral scanning.

[0004] According to a first aspect of the present invention, there is provided a system for path prompting in intraoral scanning, including an intraoral scanner; and a computing device coupled to the intraoral scanner. The computing device is configured to perform the following steps on the cumulative scan data of the oral three-dimensional surface at the current moment by the intraoral scanner: Step S1: Analyze the cumulative scan data to obtain a plurality of key points and a relationship network including the plurality of key points; Step S2: Take each key point among the plurality of key points as a target key point, and perform the following operations for each target key point: Based on the relationship network, determine the strength of the connection relationship between the target key point and a plurality of neighboring key points of the target key point on the relationship network, and compare the strength with a strength threshold to determine whether the target key point is a key point to be strengthened, and the distance between the plurality of neighboring key points and the target key point is within a first threshold range; Step S3: Based on the obtained plurality of key points, determine the arch shape contour curve of the oral three-dimensional surface; and Step S4: Determine the relative positions of a pair of target key points to be strengthened among the determined plurality of key points to be strengthened with respect to the arch shape contour curve, and based on the determined relative positions, determine a scan prompt path for subsequent supplementary scanning of the pair of target key points to be strengthened.

[0005] In some embodiments, to perform step S2, the computing device is configured to: pair the target key point with at least one neighboring key point among the multiple neighboring key points to obtain at least one pair of paired key points; for each pair of paired key points among the at least one pair of paired key points, fit a target plane based on the two paired key points and the normal vectors of the two paired key points; and for each pair of paired key points, determine the sum of the vertical distances from the multiple target path points on the target path from the target key point to the neighboring key point paired with it to the target plane as the strength of the connection relationship for each pair of paired key points; and based on the comparison between the strength and the strength threshold, determine whether the target key point is a key point to be strengthened.

[0006] In some embodiments, to determine whether the target key point is a key point to be strengthened, the computing device is configured to: determine the intersection line of the target plane and the relationship network as the target path; calculate the sum of the vertical distances from the multiple target path points on the target path to the target plane; determine whether the sum of the vertical distances is less than a second distance threshold, where the second distance threshold is the strength threshold; and based on determining that the sum of the vertical distances is greater than the second distance threshold, determine that the target key point is a key point to be strengthened.

[0007] In some embodiments, to perform step S3, the computing device is configured to: project the multiple key points onto a two-dimensional plane, where the two-dimensional plane includes the vertical projection surface of the three-dimensional oral surface; and based on the coordinate information of the multiple key points on the two-dimensional plane, determine the dental arch contour curve of the three-dimensional oral surface.

[0008] In some embodiments, to perform step S4, the computing device is configured to: determine multiple key points to be strengthened that have a connection relationship with a target key point to be strengthened in the relationship network to obtain multiple pairs of key points to be strengthened for the target key point to be strengthened that belong to a group; select each pair of key points to be strengthened among the multiple pairs of key points to be strengthened as a pair of target key points to be strengthened; perform the following operations for a pair of target key points to be strengthened: based on the position of the extension line of the normal vector of each target key point to be strengthened in the pair of target key points to be strengthened relative to the dental arch contour curve, determine the relative position relationship of each target key point to be strengthened relative to the dental arch contour curve; and based on the determined relative position relationship and the dental arch contour curve, determine the scanning prompt path for the subsequent supplementary scan for the pair of target key points to be strengthened.

[0009] In some embodiments, the computing device is further configured to: determine a plurality of scanning prompt paths for multiple pairs of key points to be strengthened; assign weights to the plurality of scanning prompt paths respectively based on the vertical intersection degrees of the respective plurality of scanning prompt paths and the dental arch morphological contour curve; and select a target scanning prompt path with a weight higher than a threshold weight for display.

[0010] In some embodiments, the computing device further assigns weights to the scanning prompt paths for each pair of key points to be strengthened based on the normal vector angle difference of each pair of key points to be strengthened among the multiple pairs of key points to be strengthened.

[0011] In some embodiments, the computing device is further configured to: perform steps S1 to S4 on the cumulative scanning data after the global scanning of the oral three-dimensional surface by the intraoral scanner, so as to obtain an updated relationship network and a relationship region to be optimized of the relationship network.

[0012] In some embodiments, the computing device is further configured to: after the global scanning of the oral three-dimensional surface by the intraoral scanner is completed, divide the oral three-dimensional surface into multiple regions based on the scanned point cloud, and assign corresponding weights to the multiple regions respectively.

[0013] In some embodiments, the corresponding weight includes a scanning quality metric threshold, and the computing device is further configured to: after the global scanning of the oral three-dimensional surface by the intraoral scanner is completed, calculate a scanning quality metric for a target vertex in a three-dimensional mesh model mesh of the oral three-dimensional surface based on the quality of the neighborhood point cloud of the target vertex, so as to compare it with the scanning quality metric threshold.

[0014] In some embodiments, the corresponding weight includes a curvature threshold, and the computing device is further configured to: after the global scanning of the oral three-dimensional surface by the intraoral scanner is completed, perform curvature detection on the three-dimensional mesh model mesh, and perform a diffusion operation on a region with a curvature greater than the curvature threshold so as to enlarge the region.

[0015] According to a second aspect of the present invention, there is provided a method for path prompting for intraoral scanning. The method includes performing the following steps for the cumulative scanning data of the oral three-dimensional surface at the current moment by an intraoral scanner: Step S1: Analyze the cumulative scanning data to obtain a plurality of key points and a relationship network including the plurality of key points; Step S2: Take each key point among the plurality of key points as a target key point, and perform the following operations for each target key point: Based on the relationship network, determine the strength of the connection relationship between the target key point and a plurality of neighboring key points of the target key point on the relationship network, and compare the strength with a strength threshold to determine whether the target key point is a key point to be strengthened, and the distance between the plurality of neighboring key points and the target key point is within a first threshold range; Step S3: Based on the obtained plurality of key points, determine the arch shape contour curve of the oral three-dimensional surface; and Step S4: Determine the relative positions of a pair of target key points to be strengthened among the determined plurality of key points to be strengthened with respect to the arch shape contour curve, and based on the determined relative positions, determine the scanning prompt path for the subsequent supplementary scanning of the pair of target key points to be strengthened.

[0016] In some embodiments, Step S2 includes: Pairing the target key point with at least one neighboring key point among the plurality of neighboring key points to obtain at least one pair of paired key points; For each pair of paired key points among the at least one pair of paired key points, fit a target plane based on the two paired key points and the normal vectors of the two paired key points; and For each pair of paired key points, determine the sum of the vertical distances from a plurality of target path points on the target path from the target key point to the neighboring key point paired with it to the target plane as the strength of the connection relationship for each pair of paired key points, and based on the comparison of the strength with the strength threshold, determine whether the target key point is a key point to be strengthened.

[0017] In some embodiments, determining the sum of the vertical distances from a plurality of target path points on the target path from the target key point to the neighboring key point paired with it to the target plane as the strength of the connection relationship for each pair of paired key points, and based on the comparison of the strength with the strength threshold, determining whether the target key point is a key point to be strengthened: Determine the intersection line of the target plane and the relationship network as the target path; Calculate the sum of the vertical distances from a plurality of target path points on the target path to the target plane; Determine whether the sum of the vertical distances is less than a second distance threshold, where the second distance threshold is the strength threshold; and Based on determining that the sum of the vertical distances is greater than the second distance threshold, determine that the target key point is a key point to be strengthened.

[0018] In some embodiments, Step S3 includes: Projecting the plurality of key points onto a two-dimensional plane, where the two-dimensional plane includes the vertical projection surface of the oral three-dimensional surface; and Based on the coordinate information of the plurality of key points on the two-dimensional plane, determine the arch shape contour curve of the oral three-dimensional surface.

[0019] In some embodiments, step S4 includes: determining a plurality of key points to be strengthened that have connection relationships with a target key point to be strengthened in a relationship network, so as to obtain multiple pairs of key points to be strengthened for the target key point to be strengthened that belong to a group; selecting each pair of key points to be strengthened in the multiple pairs of key points to be strengthened as a pair of target key points to be strengthened; performing the following operations for a pair of target key points to be strengthened: determining the relative position relationship of each target key point to be strengthened with respect to the dental arch form contour curve based on the position of the extension line of the normal vector of each target key point to be strengthened in the pair of target key points to be strengthened relative to the dental arch form contour curve; and determining a scanning prompt path for subsequent supplementary scanning for the pair of target key points to be strengthened based on the determined relative position relationship and the dental arch form contour curve.

[0020] In some embodiments, the method further includes: determining a plurality of scanning prompt paths for the multiple pairs of key points to be strengthened; assigning weights to the plurality of scanning prompt paths respectively based on the vertical intersection degrees of the plurality of scanning prompt paths with the dental arch form contour curve; and selecting a target scanning prompt path with a weight higher than a threshold weight for display.

[0021] In some embodiments, the method further includes: after the global scanning of the oral three-dimensional surface by the intraoral scanner is completed, performing steps S1 to S4 on the cumulative scanning data to obtain an updated relationship network and a relationship area to be optimized in the relationship network.

[0022] In some embodiments, the method further includes: after the global scanning of the oral three-dimensional surface by the intraoral scanner is completed, dividing the oral three-dimensional surface into a plurality of regions based on the scanned point cloud, and respectively assigning corresponding weights to the plurality of regions; the corresponding weights include a scanning quality metric threshold, and after the global scanning of the oral three-dimensional surface by the intraoral scanner is completed, for a target vertex in the three-dimensional mesh model mesh of the oral three-dimensional surface, calculating a scanning quality metric for the target vertex based on the quality of the neighborhood point cloud of the target vertex to compare with the scanning quality metric threshold; or the corresponding weights include a curvature threshold, and after the global scanning of the oral three-dimensional surface by the intraoral scanner is completed, performing a curvature detection on the three-dimensional mesh model mesh, and performing a diffusion operation on a region with a curvature greater than the curvature threshold to make the region larger.

[0023] According to a third aspect of the present invention, there is provided an electronic device, comprising: a processor; and a memory storing executable instructions which, when executed by the processor, cause the electronic device to at least: for the cumulative scan data of the oral three-dimensional surface at the current moment by an intraoral scanner, perform the following steps: Step S1: Analyze the cumulative scan data to obtain a plurality of key points and a relationship network including the plurality of key points; Step S2: Take each of the plurality of key points as a target key point, and perform the following operations for each target key point: Based on the relationship network, determine the strength of the connection relationship between the target key point and a plurality of neighboring key points of the target key point on the relationship network, and compare the strength with a strength threshold to determine whether the target key point is a key point to be strengthened, the distance between the plurality of neighboring key points and the target key point being within a first threshold range; Step S3: Based on the obtained plurality of key points, determine the arch shape contour curve of the oral three-dimensional surface; and Step S4: Determine the relative positions of a pair of target key points to be strengthened among the determined plurality of key points to be strengthened with respect to the arch shape contour curve, and based on the determined relative positions, determine the scan prompt path for the subsequent supplementary scan of the pair of target key points to be strengthened.

[0024] It should be understood that the content described in the summary of the invention section is not intended to limit the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In conjunction with the accompanying drawings and with reference to the following detailed description, the above and other features, advantages and aspects of the embodiments of the present invention will become more apparent. In the drawings, the same or similar reference numerals denote the same or similar elements, where: Figure 1 An intraoral scanning system according to some exemplary embodiments of the present invention is shown; Figure 2 A schematic diagram of the flow of a method for intraoral scanning according to some embodiments of the present invention is shown; Figure 3A A schematic diagram of a relationship network for a part of an arch according to some embodiments of the present invention is shown, in which there are path points, a plurality of key points, and the determined key points to be strengthened; Figure 3B A schematic diagram of a curve obtained by performing convex hull detection according to some embodiments of the present invention is shown; Figure 3C A schematic diagram of a curve obtained by performing concave hull detection according to some embodiments of the present invention is shown; Figure 4AShows a schematic diagram of a scanning prompt path for a target key point to be strengthened according to some embodiments of the present invention; Figure 4B Shows according to some embodiments of the present invention Figure 4A An enlarged schematic diagram of a part of; Figures 5A to 5E Shows a schematic diagram of a scanning path prompt according to some embodiments of the present invention; Figure 6A Shows a schematic diagram for quality detection of an entire dental arch according to some embodiments of the present invention; Figure 6B And Figure 6C Shows a schematic diagram of hierarchical area diffusion display according to some embodiments of the present invention; and Figure 7 Shows a block diagram of a computing device capable of implementing multiple embodiments of the present invention. Detailed implementation manners

[0026] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the protection scope of the present invention.

[0027] In the description of the embodiments of the present invention, the term "including" and its like terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions below.

[0028] Figure 1 Shows an intraoral scanning system 100 according to some example embodiments of the present invention. The intraoral scanning system 100 includes an intraoral scanner 110 and a computing device 120 (such as a laptop computer, a desktop computer, etc.) coupled together. This communication link between the intraoral scanner 110 and the computing device 120 allows the captured images and control commands to be transmitted from the intraoral scanner 110 to the computing device 120 for further processing. The communication link can be implemented through a wired connection (such as a Universal Serial Bus (USB)) or a wireless connection (such as Wi-Fi (Wireless Fidelity)). It should be understood that other communication implementations are also possible.

[0029] The intraoral scanner 110 can be a handheld device that a dentist (or dental assistant) can insert into a patient's oral cavity to capture images. As shown in the figure, the intraoral scanner 110 includes a tip 101 and a body 102. The tip 101 can be a detachable component or integrated with the intraoral scanner 110. At the top of the tip 101, there is a camera or optical system 103 for capturing images of teeth and surrounding tissues such as gums. In addition, the intraoral scanner 110 can include one or more buttons (not shown), and the dentist can press the (one or more) buttons to control the system 100, including but not limited to capturing images of the patient's oral cavity, starting or stopping the scan, selecting the mode of the system, or controlling the view of the 3D image of the oral structure.

[0030] The computing device 120 can include a screen 115 or be connected to the screen 115 for displaying a user interface such as a graphical user interface (GUI). The GUI may include visualization of scan data, such as a 3D representation of the patient's oral cavity, and UI elements such as menus or icons. The dentist can interact with the UI elements to control the intraoral scanning system 100 and examine the 3D representation displayed on the screen 115. Most commonly, the dentist uses an input device 125 (such as a mouse or keyboard connected to the computing device 120) to interact with the UI elements.

[0031] During intraoral scanning, for areas with poor scan quality, it generally refers to areas where the amount of data captured by the scan is poor (possibly due to issues such as scan duration, angle, exposure, etc.), or the roughness of the scanning technique causes errors in the connection relationship of the data network, resulting in layering or insufficient details in the constructed geometric form. For example, during the scanning process, different areas of the entire dental arch may have different scan durations. Generally, the scan time for the anterior tooth area is shorter than that for the molar area, and coupled with the relatively less obvious characteristics of the anterior tooth area, the scan data for the anterior teeth will be relatively sparse.

[0032] For example, the prompts generated by different scanning techniques are also very different. The main prompt for loop scanning is to prompt the user to make up for the connection between the inner and outer sides, and the main prompt for the Z-shaped scanning method is the connection of one side. Different device users have different techniques, and the data networks constructed by loop scanning and Z-shaped scanning vary greatly. For example, the overall error caused by loop scanning will be larger.

[0033] For the above-mentioned areas with poor scans, supplementary scans need to be performed, and the user needs to be prompted on how to perform the supplementary scan. Many users need appropriate and effective guidance to help them perform efficient scans when scanning. Without path guidance, many users may not know how to improve their scan results during scanning and will spend more time. Therefore, good path prompts will allow users to complete high-quality scans more easily and efficiently.

[0034] However, in the designs of most traditional manufacturers, there is no prompt for real-time scanning. Generally, a demonstration video is presented and users are guided through teaching. The prompts of manufacturers with path prompts are relatively rough, and the directions of the paths are roughly the same, all being inside and outside prompts, and cannot give specific prompts according to the actual scanning methods and areas. For example, traditional prompts only simply prompt the areas that have not been scanned and have gaps or holes, but these areas can be captured by users with the naked eye, and there is no need for prompts. As for other areas that cannot be observed by the naked eye, traditional scanning path methods often cannot prompt them.

[0035] Therefore, an improved scanning path optimization method is needed, which can not only prompt users of those areas visible to the naked eye, but also prompt users to optimize and improve the scanning path through internal data relationships. Among them, the direction of the optimized path needs to give specific prompts according to the actual scanning methods and areas (that is, according to the real-time scanning results, which may vary due to different scanning methods and areas).

[0036] The following will refer to Figures 2 to 7 to describe a method for intraoral scanning according to some embodiments of the present invention.

[0037] Figure 2 FIG. shows a schematic diagram of a process 200 of a method for intraoral scanning according to some embodiments of the present invention. Each step of this process 200 is performed on the cumulative scanning data of the oral three-dimensional surface at the current moment by an intraoral scanner. Figure 3A FIG. shows a schematic diagram of a relationship network 300 for a part of the dental arch according to some embodiments of the present invention. In this relationship network, there are path points (gray dots), multiple key points (green pentagrams), and determined key points to be strengthened (red pentagrams).

[0038] In block 210, based on the real-time scanning of the oral three-dimensional surface by the intraoral scanner (i.e., the cumulative scanning data at the current moment), multiple key points are obtained. In one embodiment, the multiple key points are obtained by downsampling the scanned data points (e.g., the above-obtained path points).

[0039] After processing the point cloud data of the real-time scanning of the oral three-dimensional surface, multiple path points can be obtained, as Figure 3A shown. The gray small dots are a series of path points obtained according to the scanning data. From the perspective of the movement of the scanner, these path points can reflect the movement trajectory and process of the scanner during scanning in the oral cavity, as if the scanner scans along the path connected by these path points.

[0040] In some embodiments, these path points can be spatially downsampled according to distance (e.g., within the range of 3 mm to 8 mm, such as 5 mm) and angle (e.g., within the range of 40° to 70°, such as 60°), and multiple key points can be selected. This can reduce the data volume while retaining representative points. For the distance condition, traverse the path points, calculate the distance between adjacent path points, and if the distance is less than, for example, 5 mm, then perform screening. For the angle condition, calculate the included angle between three adjacent path points, and if the included angle is less than, for example, 60°, then perform screening. As Figure 3A shown, the icons represented by the green pentagrams and red pentagrams are some key points obtained according to the downsampling, and these key points are some of the obtained path points. Those skilled in the art should understand that the above distance values and angle values are merely exemplary, and other distance values and angle values can be adopted according to the different point cloud data collected.

[0041] Registration relationship mapping can be performed on these path points. Constructing the registration relationship graph between path points helps to understand the spatial association between points subsequently. The method of graph theory can be used to construct a graph structure with each path point as a node of the graph and the registration relationship between nodes as edges. Path points are mainly used to provide path dependence for the connection network detection of key points. As Figure 3A shown, each path point represented by a gray small dot is used as a node of the graph, and the registration relationship between two nodes is used as an edge (e.g., the line segment connecting two path points as Figure 3A shown), Figure 3A The shown graph structure constitutes the relationship network 300 between path points. The shown relationship network 300 only targets a part of the dental arch, and a complete relationship network 300 for the entire dental arch can be established in a similar manner.

[0042] In block 220, based on the relationship network, determine the strength of the connection relationship between the target key point and multiple neighboring key points of the target key point on the relationship network, and compare the strength with a strength threshold to determine whether the target key point is a key point to be strengthened, that is, to determine whether the relationship between the target key point and one or more other key points needs to be strengthened. The target key point is each key point among the multiple key points obtained through the above downsampling. That is to say, for each key point, it is necessary to determine whether it is a key point that needs to be strengthened. As for the key points that need to be strengthened, it means that the connection relationship between the key point and at least one other key point is not strong enough, and the connection relationship between the key point and the at least one other key point needs to be strengthened. In some embodiments, the distance between multiple neighboring key points and the target key point is within a first threshold (e.g., 15 mm).

[0043] In one embodiment, the relationship network is a graph network constructed with each path point as a node of the graph and the registration relationship between path points as edges, as Figure 3A shown.

[0044] To determine whether a target key point is a key point to be strengthened, multiple operations can be performed. The operations include: for each target key point ( Figure 3A each green pentagram shown), search for multiple neighboring key points within its radius (e.g., 15 mm), from near to far, and pair the key points according to the principle of non-repetitive point selection within a threshold angle (e.g., 45°). That is, pair the target key point with at least one of the multiple neighboring key points to obtain at least one pair of paired key points. Those skilled in the art should understand that the above radius value and angle value are merely exemplary, and other radius values and angle values can be adopted according to different point cloud data collected.

[0045] The operation further includes: using a pair of paired key points and their normal vectors to fit a plane. That is, based on the normal vectors of each pair of paired key points and the pair of key points, a target plane can be fitted. For example, key point A and its neighboring key point B form the first pair of paired key points, and a first target plane can be fitted for the first pair of paired key points; key point A and its neighboring key point C form the second pair of paired key points, and a second target plane can be fitted for the second pair of paired key points.

[0046] When fitting the first target plane, offset key point A by a distance in the direction of its normal vector, offset key point B by a distance in the direction of its normal vector, and determine the center on the line connecting the offset key point A' and the offset key point B'. Then connect this center and key point A to obtain a first line segment, connect this center and key point B to obtain a second line segment, and fit the first target plane based on the first line segment and the second line segment. Similar processing is performed for the paired key point A and key point C to obtain the second target plane. The normal vector direction of the key point is calculated based on the normal of the scanned point cloud, for example, obtained by weighted averaging the normals of each point cloud near the key point. Therefore, a target plane of a pair of paired key points can be fitted based on the paired key points and the respective normal vectors of the two paired key points.

[0047] The intersection line of the fitted first target plane and the relationship network 300 is the first theoretical shortest path; the intersection line of the fitted second target plane and the relationship network 300 is the second theoretical shortest path, and the first or second theoretical shortest path can be used as the target path.

[0048] However, for each pair of paired key points, perform a breadth-first search (BFS) of the graph, that is, determine whether the sum of the distances from all path points on the theoretical shortest path (or target path) to the above-mentioned fitting plane falls within a threshold range (for example, 5 mm). For example, determine whether the sum of the first vertical distances from the path points on the first theoretical shortest path to the first target plane is within the threshold range, and whether the sum of the second vertical distances from the path points on the second theoretical shortest path to the second target plane is within the threshold range. The above sum of vertical distances is a way of representing the strength between two key points. Although the sum of the above vertical distances is used to represent the strength between two key points, those skilled in the art should be clear that other methods can be used to determine the strength of the connection relationship between two key points. As long as the strength of the connection relationship between two key points in the relationship network is determined to judge whether the relationship between the two key points needs to be strengthened, it falls within the scope of the present invention.

[0049] If the sum of the first vertical distances is within the threshold range, it is considered that the scanning path from key point A to key point B is a good scanning path, and the relationship between key point A and key point B does not need to be strengthened. Otherwise, it is considered that the scanning path from key point A to key point B is a poor scanning path, and the relationship between key point A and key point B needs to be strengthened. Therefore, based on the sum of the vertical distances from multiple target path points (preferably, path points on the relationship network 300) on the path from the target key point to a neighboring key point paired with it to the target plane, it can be determined whether the target key point is a key point to be strengthened. As Figure 3A shown, after the above calculation, it is determined that the relationship between the key points indicated by the red pentagrams needs to be further strengthened (the dotted lines shown in the figure indicate that their relationship needs to be further strengthened), and these red pentagrams are the determined key points to be strengthened.

[0050] In block 230, based on the multiple key points obtained, determine the dental arch morphological contour curve of the oral three-dimensional surface. The dental arch is a structure in three-dimensional space. When performing analysis, in order to simplify the problem, the key points in three-dimensional space need to be projected onto a two-dimensional plane (this two-dimensional plane is the dental arch fitting plane for the dental arch morphology), and this two-dimensional plane includes the vertical projection surface of the oral three-dimensional surface. This two-dimensional plane is obtained by fitting the multiple key points obtained, and it can retain the relative position relationship between the key points to the greatest extent. For example, when placing the dental arch model on the table, the table is the plane where the dental arch fitting plane is located. These key points projected onto the dental arch fitting plane form a two-dimensional point set. By performing a concave-convex hull detection on this point set, the boundary contour of the point set can be obtained, and this boundary contour is the dental arch morphological contour curve, that is, based on the coordinate information of multiple key points on the vertical projection surface, determine the dental arch morphological contour curve.

[0051] Figure 3B A schematic diagram of a curve obtained by performing convex hull detection according to some embodiments of the present invention; and Figure 3C A schematic diagram of a curve obtained by performing concave hull detection according to some embodiments of the present invention.

[0052] The convex hull is the smallest convex polygon that contains all key points, and it can reflect the general external contour of the dental arch. As Figure 3B shown, this curve shows the general external contour of the dental arch. The concave hull can further refine this contour, reflecting some concave parts in the dental arch, such as the gaps between teeth, etc., so as to more accurately reflect the shape of the dental arch. As Figure 3C shown, this curve has more detailed depressions to more accurately reflect the shape of the dental arch. That is to say, according to the convex and concave hull detection, the shape contour of the dental arch on the three-dimensional oral surface can be obtained accordingly.

[0053] As Figure 2 shown, in block 240, based on the positional relationship between the dental arch shape contour curve and a pair of target key points to be strengthened among the determined multiple key points to be strengthened, a scanning prompt path for the pair of target key points to be strengthened in subsequent supplementary scanning is determined.

[0054] Figure 4A A schematic diagram of a scanning prompt path for a target key point to be strengthened according to some embodiments of the present invention is shown.

[0055] Specifically, in order to determine the scanning prompt path for subsequent supplementary scanning, the computing device 120 can perform multiple operations. The operations may include: determining multiple key points to be strengthened that have a connection relationship with a target key point to be strengthened in the relationship network 300, so as to obtain multiple pairs of key points to be strengthened belonging to a group for the target key point to be strengthened.

[0056] As Figure 4A shown, for the target key point to be strengthened 41 (the target key point to be strengthened is shown as a five-pointed star in Figure 4A ), the key points to be strengthened that have a connection relationship with it in the relationship network 300 include four key points to be strengthened, namely points 411, 412, 413, and 414 (in order to distinguish them from the target key point to be strengthened, these key points to be strengthened are not shown in the shape of a five-pointed star in Figure 4A and are respectively at one end of the corresponding dotted line, and the other end of the corresponding dotted line is the target key point to be strengthened 41). There is a connection relationship between point 41 and points 411, 412, 413, and 414 in the relationship network 300. As Figure 4AAs shown, these key points to be strengthened in each rectangular box have connection relationships on the relationship network 300, so they belong to a group. For other target key points to be strengthened 42, 43, 44, 45, and 46, in the relationship network 300, there are also multiple key points to be strengthened with connection relationships respectively, and the multiple key points to be strengthened in the rectangular box belong to a group.

[0057] As Figure 4A shown, although the small rectangular box for the target key point to be strengthened 42 is located inside the large rectangular box for the target key point to be strengthened 41, it should be understood that the small rectangular box represents a different group of key points to be strengthened from the large rectangular box. The group of key points to be strengthened in the small rectangular box includes point 42 and one of its paired key points (not shown).

[0058] Therefore, point 41 and point 411 form a pair of target key points to be strengthened, point 41 and point 412 form a pair of target key points to be strengthened, point 41 and point 413 form a pair of target key points to be strengthened, and point 41 and point 414 form a pair of target key points to be strengthened. Select any one of them as the target key point to be strengthened and perform the following operations on it. For example, based on the normal vectors of each target key point in a pair of target key points to be strengthened (e.g., point 41 and point 411), determine the relative position relationship of each target key point with respect to the dental arch morphological contour curve (as Figure 3C shown); and based on the determined relative position relationship and the dental arch morphological contour curve, determine the scanning prompt path for the subsequent supplementary scanning of a pair of target key points to be strengthened. For example, extend the direction of the position of the normal vector of each target key point to determine whether there is an intersection or a point of intersection with the dental arch curve contour curve (i.e., the convex hull). In the case of an intersection or a point of intersection, determine the specific orientation of the point of intersection on the convex hull to determine whether the point of intersection is outside the convex hull or inside the concave hull, so as to determine whether the target key point is facing the oral cavity interior (e.g., the key point is on the inner surface side of the tooth) or facing the oral cavity exterior (e.g., the key point is on the outer surface side of the tooth). If both target key points in a pair are on the inner or outer side of the dental arch, the scanning prompt path is along one side of the dental arch. If one of the target key points in a pair is on the inner side and the other is on the outer side, the scanning prompt path intersects with the dental arch.

[0059] Therefore, detect the position correlation at the start and end of the connection of this pair of key points (e.g., point 41 and point 411). For example, according to the normal vector, it can be detected whether the two key points are on the inner or outer side of the convex hull (as Figure 3B described), and then combined with the dental arch information of the convex hull and the relative positions of these two key points, the accurate position of the prompt path on the dental arch can be fitted.

[0060] As Figure 4BShown in more detail, for a pair of target key points to be strengthened consisting of point 41 and point 411, an scanning hint path as shown by line segment L1 can be determined through the above operations. For a pair of target key points to be strengthened consisting of point 41 and point 412, an scanning hint path as shown by line segment L2 can be determined through the above operations. For a pair of target key points to be strengthened consisting of point 41 and point 413, an scanning hint path as shown by line segment L3 can be determined through the above operations. For a pair of target key points to be strengthened consisting of point 41 and point 414, an scanning hint path as shown by line segment L4 can be determined through the above operations. Therefore, for the target key point 41 to be strengthened, four scanning hint paths L1, L2, L3, and L4 are determined.

[0061] When displaying these paths, the optimal one can be selected for display. To determine the optimal path, the computing device 120 can perform the following operations: Based on the vertical crossing degrees of each of the multiple scanning hint paths (e.g., scanning hint paths L1, L2, L3, and L4) with the dental arch contour curve (as Figure 3C shown), weights are assigned to the multiple scanning hint paths respectively, and the target scanning hint path with a weight higher than the threshold weight is selected for display.

[0062] For example, the key points to be strengthened in the same connection network are grouped together (shown by the rectangular frame), and the scanning hint path with the highest score is selected for display. The score of each scanning hint path is determined by the angle difference of the normal vectors connecting the two endpoints and / or its vertical crossing degree with the dental arch form. Generally, the points on both sides (inner and outer) of the tooth have the largest difference, and the information provided by the supplementary scan is also more comprehensive. For the fitting path groups with close intersections and distances, the display is also selected according to the above calculated scores.

[0063] For example, as Figure 4B shown, according to the scores of each scanning hint path, it is determined that the score of scanning path L2 is the highest, so the scanning path L2 is displayed. As Figure 4B shown, the white three-dimensional arrow shows the hint scanning path corresponding to path L2. Similar operations are performed for other target key points to be strengthened 42, 43, 44, 45, and 46, so as to screen out the scanning path with the highest score for display.

[0064] The method 200 for scanning path prompting according to an embodiment of the present invention analyzes from the scanned data source, establishes a relationship network to optimize the entire result. It not only prompts the user for the areas visible to the naked eye, but also, based on the internal data relationships, prompts the user to optimize and improve. The data source obtained from the intraoral scanning instrument is usually point cloud data, which records the three-dimensional structural information of the oral cavity. To make full use of this data and optimize the scanning result, a relationship network can be constructed to associate different data points and mine the internal relationships therein. Through the analysis of this relationship network, not only can the problem areas visible to the naked eye be discovered, but also the hidden data associations can be revealed, thereby providing comprehensive optimization suggestions for the user.

[0065] In addition, the scanning path prompting method according to the present invention performs basic real-time scanning path prompting for the current scanning result, and the scanned areas at different times are different. When the user scans different areas, according to the real-time scanning path prompting of the present invention, different prompts can be given for different areas, making the prompted path more in line with the user's scanning technique. For example, the connection between the inner and outer sides, the connection of the unilateral outer side and the unilateral inner side, the prompting at the maxilla, etc. The prompts generated by different scanning techniques are also very different. The prompt for the loop scanning mainly prompts the user to make up for the connection between the inner and outer sides, and the prompt for the Z-shaped scanning method is mainly for the unilateral connection. In addition, the prompt for the implant will be relatively different because the scanning data of the implant is sparser than the data collected from normal teeth, so the path prompt for the implant enables the user to collect more comprehensive data of the implant.

[0066] Figures 5A to 5E The schematic diagram of the scanning path prompting according to some embodiments of the present invention is shown.

[0067] Figure 5A The shown arrow is the prompting path that needs to be strengthened in the subsequent scanning. Figure 5B The shown square is the currently scanned area. Figure 5B The area corresponding to the shown arrow is the area that has been scanned at the moment before the current scanning. The presence of an arrow in this area indicates that the previous scanning result was not good, and it needs to be scanned again in the subsequent scanning. The arrow shows the scanning path for the supplementary scanning. During the user's scanning process, arrow prompts will appear. Generally, the arrow prompts will be delayed so as not to block the user's current scanning area and also to keep the current scanning area stable. Then the user operates the scanner according to the indicated direction of the arrow, and the prompt will disappear after the scanning network becomes rich.

[0068] In addition, the entire scanning process can be recorded, allowing the user to play it back. During the playback process, the scanning path will be prompted, enabling the user to observe their own technique and adjust and optimize it, thereby helping the user find a relaxed and efficient scanning technique suitable for themselves.

[0069] Figures 5C to 5D Shows a schematic diagram of the anti-arc of the arrow in the paradise area according to an embodiment of the present invention, which shows the scanning direction and scanning path for subsequent supplementary scanning of the paradise area. Figure 5E The green area indicates an area with poor scanning quality, so Figure 5E the path indicated by the prompt arrow follows these green areas, so as to perform supplementary scanning on these green areas in subsequent scans.

[0070] It should be noted that Figure 2 The process 200 shown is performed on the cumulative scan data of the current moment of the oral three-dimensional surface by the intraoral scanner. For the scan data obtained at the next moment of the current moment, the process 200 is also performed, so that the scan prompt path can be displayed basically in real time at the next moment. In addition, for the cumulative scan data after the global scan is completed, the process 200 is also performed, and an updated relationship network 300 and a relationship area to be optimized in the relationship network can be obtained. Therefore, according to the method for prompting the scanning path of the present invention, quality detection can also be performed after the scan stops, so as to be able to prompt the imperfect areas and the generated layered three-dimensional mesh model mesh. That is to say, after the user stops scanning, point cloud quality detection, mesh quality detection and network relationship detection will be performed, and the user will be prompted on the scan result where supplementary scanning is needed and in what way. During this process, the previously scanned data can also be imported for overall detection. Through iterative processing of multiple scans, the area or key points that need to be optimized in the relationship network can be found more accurately.

[0071] The quality detection after the scan will be described below with reference to Figures 6A to 6C to describe the quality detection after the scan ends. Figure 6A Shows a schematic diagram for quality detection of the entire dental arch according to some embodiments of the present invention; and Figure 6B and Figure 6C shows a schematic diagram of hierarchical area diffusion display according to some embodiments of the present invention.

[0072] During the scanning process, different scanning durations are generally required for different regions of the entire dental arch. Generally, the scanning time in the anterior tooth region is shorter than that in the molar region. Coupled with the different degrees of distinctiveness of the features in each region, the scanning data in each region will be sparse or dense. It is crucial to give a prompt for the sparse areas. Moreover, the sensitivity to data in different regions is also different. For example, the maxillary palate region is not a key region in the orthodontic mode, while the implant post is a quite crucial and special region in the implant mode. Therefore, the detection of different regions will consider the actual situation at that time to give necessary prompts to the user. In addition, the generated mesh will also have some local layered regions due to scanning errors and differences in scanning techniques. In the current situation where the requirements for mesh resolution and accuracy are getting higher and higher, the detection of these key regions is also quite crucial.

[0073] Considering the above problems, in some embodiments according to the present invention, during the quality inspection after scanning stops, prompts will be given for imperfect regions and the generated layered three-dimensional mesh model (mesh). Therefore, the point cloud of the entire scan is divided into regions to distinguish different regions such as teeth, gums, and implant posts, and different quality weights are given. That is to say, after the global scan of the oral three-dimensional surface by the intraoral scanner is completed, based on the scanned point cloud, the oral three-dimensional surface is divided into multiple regions, and corresponding weights are assigned to multiple regions (for example, teeth, gums, implant posts, etc.). Therefore, the weights of different regions are different. For example, the tooth region is more important for subsequent analysis and can be assigned a higher weight.

[0074] As Figure 6A shown, the area indicated by arrow 61 shows that there is a hole here, and this hole can be represented by a color different from that of other regions. From Figure 6A it can be seen that the color here is darker compared to other places.

[0075] As Figure 6A shown, the area indicated by arrow 62 shows that there is a layer here. This layered area may be caused by scanning errors and differences in scanning techniques, and it can be displayed for this layered area through different colors. From Figure 6A it can be seen that the color of this area is also darker and different from the colors of other regions. By using colors to distinguish the scanning quality of each region, the areas with poor scanning quality can be clearly seen at a glance.

[0076] In some embodiments, the corresponding weights include a scanning quality metric threshold. After the intraoral scanner finishes the global scan of the oral three-dimensional surface, for a target vertex (the target vertex is a point in the point cloud) in the three-dimensional mesh model mesh of the oral three-dimensional surface, a scanning quality metric for the target vertex is calculated based on the quality of the neighborhood point cloud of the target vertex, so as to be compared with the scanning quality metric threshold. If the comparison shows that the scanning quality is poor, the target vertex and its adjacent area will be highlighted when being displayed.

[0077] For example, in order to obtain Figure 6A the quality inspection schematic diagram shown, the scanning quality of the target vertex can be calculated according to the quality of the target vertex and its neighborhood point cloud. Similar processing is done for each target vertex, then the quality inspection schematic diagram of the entire dental arch can be obtained, and different qualities can be displayed in different colors.

[0078] Extract features that can distinguish teeth and gums according to the geometric features (such as the position, normal vector, curvature, etc. of the points) and color information (if any) of the point cloud data. For example, the tooth surface is usually smoother and has a relatively smaller curvature, while the gum surface may be rougher and has a larger curvature.

[0079] In some embodiments, the corresponding weights include a curvature threshold. After the intraoral scanner finishes the global scan of the oral three-dimensional surface, curvature detection is performed on the three-dimensional mesh model mesh, and a diffusion operation is performed on the area where the curvature is greater than the curvature threshold to make the area increase.

[0080] As Figure 6B and Figure 6C shown, it can be seen that there are wrinkles in the area around the teeth, that is to say, the curvature of this part is larger and greater than the curvature threshold. Therefore, a diffusion operation is performed on this area, so that this area increases. There may be a layering phenomenon in this area, and the diffused area can be marked with different colors to more clearly show the layered area.

[0081] Figure 6B and Figure 6C The left picture is the picture without diffusion processing, Figure 6B and Figure 6C the right picture of

[0082] In traditional methods, mostly the density of the scan and the holes are detected, without considering regional and type differences. By adding the distinction of different regions (such as teeth, gums, implant posts, etc.) and having different detection strategies for different regions (for example, different quality weights or curvature weights), users can better perform supplementary scans for a region of interest. The direct detection of the mesh also enables users to analyze the final required results. Analyzing the generated results may better meet the needs of users compared to analyzing the data source.

[0083] Figure 7 FIG. shows a schematic block diagram of an exemplary device 700 that can be used to implement embodiments of the present invention. Device 700 can be used to implement Figure 1 the computing device 120. As shown, device 700 includes a central processing unit (CPU) 701, which can execute various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 702 or computer program instructions loaded from a storage unit 708 into a random access memory (RAM) 703. In RAM 703, various programs and data required for the operation of device 700 can also be stored. The CPU 701, ROM 702, and RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0084] Multiple components in device 700 are connected to the I / O interface 705, including: an input unit 706, such as a keyboard, mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a disk, optical disc, etc.; and a communication unit 709, such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows device 700 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0085] The processing unit 701 executes the various methods and processes described above. For example, in some embodiments, any one of the above processes can be implemented as a computer software program that is tangibly contained in a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed onto device 700 via the ROM 702 and / or the communication unit 709. When the computer program is loaded into the RAM 703 and executed by the CPU 701, one or more steps of any one of the processes described above can be executed. Alternatively, in other embodiments, the CPU 701 can be configured to execute any one of the above processes by any other suitable means (such as by means of firmware).

[0086] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. By way of example, and without limitation, the types of hardware logic components that may be used include: Field Programmable Gate Arrays (FPGA), Application Specific Integrated Circuits (ASIC), Application Specific Standard Products (ASSP), Systems on Chip (SOC), Complex Programmable Logic Devices (CPLD), and the like.

[0087] In the context of this invention, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be either a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM or Flash memory), an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0088] Moreover, although the operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed to achieve the desired result. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although a number of specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the invention. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented separately or in any suitable sub-combination in multiple implementations.

[0089] Although the subject matter has been described in language specific to structural features and / or methodological acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A system for path prompting of intraoral scanning, comprising: Intraoral scanner; as well as The computing device coupled to the intraoral scanner is configured to perform the following steps for the accumulated scanning data of the three-dimensional surface of the oral cavity by the intraoral scanner at the current moment: Step S1: analyzing the accumulated scan data to obtain a plurality of key points and a relationship network including the plurality of key points; Step S2: taking each of the multiple key points as a target key point, and performing the following operations for each target key point: determining, based on the relationship network, the strength of the connection relationship between the target key point and multiple neighboring key points of the target key point on the relationship network, and comparing the strength with a strength threshold to determine whether the target key point is a key point to be strengthened, and the distance between the multiple neighboring key points and the target key point is within a first threshold range; Step S3: determining a dental arch morphology contour curve of the three-dimensional surface of the oral cavity based on the multiple key points obtained; as well as Step S4: Determine the relative positions of a pair of target key points to be strengthened among the multiple key points to be strengthened relative to the dental arch morphology contour curve, and based on the determined relative positions, determine a scanning prompt path for subsequent supplementary scanning of the pair of target key points to be strengthened.

2. The system according to claim 1, wherein to perform step S2, the computing device is configured to: Pairing the target keypoint with at least one of the plurality of neighborhood keypoints to obtain at least one pair of paired keypoints; For each pair of paired key points in the at least one pair of paired key points, fitting a target plane based on the two paired key points and the normal vectors of the two paired key points; as well as For each pair of paired key points, determine the sum of the vertical distances from multiple target path points on the target path from the target key point to the paired neighborhood key point on the relationship network to the target plane as the strength of the connection relationship for each pair of paired key points, and determine whether the target key point is the key point to be strengthened based on a comparison between the strength and the strength threshold.

3. The system according to claim 2, wherein in order to determine whether the target key point is the key point to be strengthened, the computing device is configured to: Determine an intersection line between the target plane and the relationship network as the target path; Calculating the sum of vertical distances from the plurality of target path points on the target path to the target plane; determining whether the sum of the vertical distances is less than a second distance threshold, the second distance threshold being the intensity threshold; and Based on determining that the sum of the vertical distances is greater than the second distance threshold, it is determined that the target key point is the key point to be strengthened.

4. The system according to claim 1, wherein to perform step S3, the computing device is configured to: Projecting the plurality of key points onto a two-dimensional plane, wherein the two-dimensional plane includes a vertical projection surface of the three-dimensional surface of the oral cavity; and Based on the coordinate information of the multiple key points on the two-dimensional plane, the dental arch morphology contour curve of the three-dimensional surface of the oral cavity is determined.

5. The system according to claim 1, wherein to perform step S4, the computing device is configured to: Determine a plurality of key points to be strengthened that have a connection relationship with a target key point to be strengthened in the relationship network, so as to obtain a plurality of key points to be strengthened that belong to a group and are used for the target key point to be strengthened; Selecting each of the plurality of key points to be strengthened as the pair of target key points to be strengthened; The following operations are performed for the pair of target key points to be strengthened: Determine the relative position relationship of each target key point to be strengthened relative to the dental arch morphology contour curve based on the position of the extension line of the normal vector of each target key point to be strengthened in the pair of target key points to be strengthened relative to the dental arch morphology contour curve; as well as Based on the determined relative position relationship and the dental arch morphology contour curve, the scanning prompt path for subsequent supplementary scanning of the pair of target key points to be strengthened is determined.

6. The system of claim 5, wherein the computing device is further configured to: For the plurality of key points to be strengthened, determining a plurality of scanning prompt paths; Based on the vertical intersection degree between each of the plurality of scanning hint paths and the dental arch morphology contour curve, respectively assigning weights to the plurality of scanning hint paths; and Select the target scan prompt path with weight higher than the threshold weight for display. 7 . The system of claim 6 , wherein the computing device further assigns a weight to the scanning hint path for each key point to be enhanced based on a normal vector angle difference of each key point to be enhanced among the plurality of key points to be enhanced.

8. The system according to any one of claims 1 to 5, wherein the computing device is further configured to: Steps S1 to S4 are performed on the accumulated scan data after the intraoral scanner completes the global scan of the three-dimensional surface of the oral cavity, so as to obtain the updated relationship network and the relationship region to be optimized of the relationship network.

9. The system according to any one of claims 1 to 5, wherein the computing device is further configured to: After the intraoral scanner completes the global scan of the three-dimensional surface of the oral cavity, the three-dimensional surface of the oral cavity is divided into a plurality of regions based on the scanned point cloud, and corresponding weights are assigned to the plurality of regions respectively.

10. The system of claim 9, wherein the corresponding weight comprises a scan quality metric threshold, the computing device being further configured to: After the intraoral scanner completes the global scan of the three-dimensional surface of the oral cavity, a scanning quality metric for the target vertex in the three-dimensional mesh model mesh of the three-dimensional surface of the oral cavity is calculated based on the quality of the neighborhood point cloud of the target vertex to compare with the scanning quality metric threshold.

11. The system according to claim 9, wherein the corresponding weight includes a curvature threshold, and the computing device is further configured to: after the intraoral scanner completes the global scan of the three-dimensional surface of the oral cavity, perform curvature detection on the three-dimensional mesh model mesh, and perform a diffusion operation on the area where the curvature is greater than the curvature threshold to increase the area.

12. A method for path prompting for intraoral scanning, the method comprising: For the current accumulated scan data of the three-dimensional surface of the oral cavity by the intraoral scanner, the following steps are performed: Step S1: analyzing the accumulated scan data to obtain a plurality of key points and a relationship network including the plurality of key points; Step S2: taking each of the multiple key points as a target key point, and performing the following operations for each target key point: determining, based on the relationship network, the strength of the connection relationship between the target key point and multiple neighboring key points of the target key point on the relationship network, and comparing the strength with a strength threshold to determine whether the target key point is a key point to be strengthened, and the distance between the multiple neighboring key points and the target key point is within a first threshold range; Step S3: determining a dental arch morphology contour curve of the three-dimensional surface of the oral cavity based on the multiple key points obtained; as well as Step S4: Determine the relative positions of a pair of target key points to be strengthened among the multiple key points to be strengthened relative to the dental arch morphology contour curve and a pair of target key points to be strengthened among the multiple key points to be strengthened, and based on the determined relative positions, determine a scanning prompt path for subsequent supplementary scanning of the pair of target key points to be strengthened.

13. The method according to claim 12, wherein step S2 comprises: Pairing the target keypoint with at least one of the plurality of neighborhood keypoints to obtain at least one pair of paired keypoints; For each pair of paired key points in the at least one pair of paired key points, fitting a target plane based on the two paired key points and the normal vectors of the two paired key points; as well as For each pair of paired key points, determine the sum of the vertical distances from multiple target path points on the target path from the target key point to the paired neighborhood key point on the relationship network to the target plane as the strength of the connection relationship for each pair of paired key points, and determine whether the target key point is the key point to be strengthened based on a comparison between the strength and the strength threshold.

14. The method according to claim 13, wherein determining the sum of vertical distances from a plurality of target path points on the target path from the target key point to the neighboring key point paired therewith to the target plane on the relationship network as the strength of the connection relationship for each pair of paired key points, and determining whether the target key point is the key point to be strengthened based on a comparison between the strength and the strength threshold comprises: Determine an intersection line between the target plane and the relationship network as the target path; Calculating the sum of vertical distances from the plurality of target path points on the target path to the target plane; determining whether the sum of the vertical distances is less than a second distance threshold, the second distance threshold being the intensity threshold; and Based on determining that the sum of the vertical distances is greater than the second distance threshold, it is determined that the target key point is the key point to be strengthened.

15. The method according to claim 12, wherein determining the dental arch morphology contour curve of the three-dimensional surface of the oral cavity based on the plurality of key points comprises: Projecting the plurality of key points onto a two-dimensional plane, wherein the two-dimensional plane includes a vertical projection surface of the three-dimensional surface of the oral cavity; as well as Based on the coordinate information of the multiple key points on the two-dimensional plane, the dental arch morphology contour curve of the three-dimensional surface of the oral cavity is determined.

16. The method according to claim 12, wherein step S4 comprises: Determine a plurality of key points to be strengthened that have a connection relationship with a target key point to be strengthened in the relationship network, so as to obtain a plurality of key points to be strengthened that belong to a group and are used for the target key point to be strengthened; Selecting each of the plurality of key points to be strengthened as the pair of target key points to be strengthened; The following operations are performed for the pair of target key points to be strengthened: Determine the relative position relationship of each target key point to be strengthened relative to the dental arch morphology contour curve based on the position of the extension line of the normal vector of each target key point to be strengthened in the pair of target key points to be strengthened relative to the dental arch morphology contour curve; as well as Based on the determined relative position relationship and the dental arch morphology contour curve, the scanning prompt path for subsequent supplementary scanning of the pair of target key points to be strengthened is determined.

17. The method according to claim 16, further comprising: For the plurality of key points to be strengthened, determining a plurality of scanning prompt paths; Based on the vertical intersection degree between each of the plurality of scanning hint paths and the dental arch morphology contour curve, respectively assigning weights to the plurality of scanning hint paths; and Select the target scan prompt path with weight higher than the threshold weight for display.

18. The method according to any one of claims 12 to 16, further comprising: Steps S1 to S4 are performed on the accumulated scan data after the intraoral scanner completes the global scan of the three-dimensional surface of the oral cavity, so as to obtain the updated relationship network and the relationship region to be optimized of the relationship network.

19. The method according to any one of claims 12 to 16, further comprising at least one of the following: After the intraoral scanner completes a global scan of the three-dimensional surface of the oral cavity, the three-dimensional surface of the oral cavity is divided into a plurality of regions based on the scanned point cloud, and corresponding weights are assigned to the plurality of regions respectively; The corresponding weight includes a scanning quality metric threshold. After the intraoral scanner completes the global scanning of the three-dimensional surface of the oral cavity, for a target vertex in a three-dimensional mesh model mesh of the three-dimensional surface of the oral cavity, a scanning quality metric for the target vertex is calculated based on the quality of a neighborhood point cloud of the target vertex to compare with the scanning quality metric threshold; or The corresponding weights include a curvature threshold. After the intraoral scanner completes a global scan of the three-dimensional surface of the oral cavity, a curvature detection is performed on the three-dimensional mesh model mesh, and a diffusion operation is performed on an area where the curvature is greater than the curvature threshold to increase the area.

20. An electronic device comprising: processor; as well as The memory stores executable instructions, which, in response to being executed by the processor, cause the electronic device to at least: For the current accumulated scan data of the three-dimensional surface of the oral cavity by the intraoral scanner, the following steps are performed: Step S1: analyzing the accumulated scan data to obtain a plurality of key points and a relationship network including the plurality of key points; Step S2: taking each of the multiple key points as a target key point, and performing the following operations for each target key point: determining, based on the relationship network, the strength of the connection relationship between the target key point and multiple neighborhood key points of the target key point on the relationship network, and comparing the strength with a strength threshold to determine whether the target key point is a key point to be strengthened, and the distances between the multiple neighborhood key points and the target key point are within a first threshold range; Step S3: determining a dental arch morphology contour curve of the three-dimensional surface of the oral cavity based on the multiple key points obtained; as well as Step S4: Determine the relative positions of a pair of target key points to be strengthened among the multiple key points to be strengthened relative to the dental arch morphology contour curve, and based on the determined relative positions, determine a scanning prompt path for subsequent supplementary scanning of the pair of target key points to be strengthened.

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