Data acquisition method for dental restoration in oral medicine department

Abstract

The invention relates to the technical field of data acquisition, in particular to a data acquisition method for dental restoration in the oral medicine department, which adopts a mechanical arm to control a probe to move to a corresponding position so as to obtain image information in an oral cavity, and compares tooth characteristics in the image information with preset tooth characteristics to obtain a dental restoration result. Whether the acquisition process of the tooth information is qualified or not is preliminarily analyzed according to the area proportion of the overlapped part, a model is constructed according to the acquired tooth characteristic data when the acquisition process is judged to be qualified, and the model is output to a display screen, so that the internal condition of the oral cavity of a patient is further analyzed conveniently; the control precision of the oral cavity internal information is improved, the oral cavity internal image information is obtained through the mechanical arm, and therefore the situation that when a handheld data acquisition instrument is adopted for data acquisition, images are unstable due to hand shaking is avoided, and the image quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data acquisition, and particularly relates to a data acquisition method for dental restoration in oral medicine. Background Art

[0002] By collecting tooth features, including the shape, size, position, arrangement of teeth, and details such as wear, caries, and defects on the tooth surface, dentists can accurately judge the type, degree, and scope of dental diseases. For example, by observing the color and texture changes on the tooth surface, early caries can be detected; measuring the tooth mobility and periodontal pocket depth can determine the severity of periodontitis, thereby providing a basis for formulating personalized restoration plans. The prior art obtains information inside the oral cavity through a handheld handle provided with a spherical camera. However, during the operation, slight shaking of the hand may cause the image captured by the camera to be unstable, affecting the image quality and the doctor's observation experience. Especially when it is necessary to observe the internal structure of the oral cavity for a long time and with high precision, stable handheld operation is quite difficult.

[0003] Chinese Patent Application No.: CN201711131711.2 discloses a flexible spherical omnidirectional oral data acquisition and imaging device, including a handheld handle, a transparent light guide glass strip, a transparent cover, a spherical camera, and a light-emitting body. There is a power supply inside the handheld handle, a display screen and buttons on the handheld handle. The end of the handheld handle is connected to the transparent cover through the transparent light guide glass strip. There is a spherical camera inside the transparent cover. The spherical camera is a fixed spherical camera or a fully rotatable spherical camera, and a light-emitting body is installed inside the transparent light guide glass strip. The present invention provides a flexible spherical omnidirectional oral data acquisition and imaging device, which is suitable for medical clinical use, making clinical examinations more convenient, accurate, time-saving and labor-saving; at the same time, it is also suitable for home use, enabling people to timely understand and master their own oral or dental conditions, and can also educate and guide children to take good care of their oral teeth.

[0004] However, the prior art still has the following problems:

[0005] During the operation, slight shaking of the hand may cause the image captured by the camera to be unstable, affecting the image quality and the doctor's observation experience. Especially when it is necessary to observe the internal structure of the oral cavity for a long time and with high precision, stable handheld operation is quite difficult. Summary of the Invention

[0006] Therefore, the present invention provides a data acquisition method for dental restoration in oral medicine to overcome the problem in the prior art that during the operation, slight shaking of the hand may cause the image captured by the camera to be unstable, affecting the image quality and the doctor's observation experience. Especially when it is necessary to observe the internal structure of the oral cavity for a long time and with high precision, stable handheld operation is quite difficult.

[0007] To achieve the above object, the present invention provides a data acquisition method for dental restoration in oral medicine. It includes:

[0008] Step S1, using a robotic arm to control the movement of a probe to obtain image information inside the target oral cavity, and preprocessing the obtained image information;

[0009] Step S2, extracting tooth features from the image information after preprocessing is completed, and preliminarily determining whether the data acquisition process for the teeth is qualified based on the obtained tooth features. When it is preliminarily determined that the data acquisition process for the teeth is unqualified,

[0010] secondarily determining whether the data acquisition process for the teeth is qualified based on the area ratio of the tooth features in the picture,

[0011] or analyzing the reason for unqualified based on historical image information;

[0012] Step S3, when it is determined that the data acquisition process for the teeth is qualified, constructing a tooth model based on the extracted tooth features, and outputting the constructed tooth model to a display screen to complete the data acquisition inside the oral cavity.

[0013] Further, in the step S2, preliminarily determining whether the data acquisition process for the teeth is qualified based on the obtained tooth features includes:

[0014] Comparing the tooth features with preset tooth features,

[0015] Determining the overlapping area of the overlapping part between the tooth features and the preset tooth features,

[0016] Calculating the ratio of the overlapping area to the total area of the preset tooth features to obtain the overlapping area ratio,

[0017] If the overlapping area ratio is greater than or equal to the first preset overlapping area ratio, it is determined that the data acquisition process for the teeth is qualified;

[0018] If the overlapping area ratio is less than the first preset overlapping area ratio and greater than or equal to the second preset overlapping area ratio, it is preliminarily determined that the data acquisition process for the teeth is unqualified, and secondarily determining whether the data acquisition process for the teeth is qualified based on the area ratio of the tooth features in the picture;

[0019] If the overlapping area ratio is less than the second preset overlapping area ratio, it is determined that the data acquisition process for the teeth is unqualified, and analyzing the reason for unqualified based on historical image information.

[0020] Further, the secondarily determining whether the data acquisition process for the teeth is qualified based on the area ratio of the tooth features in the picture includes:

[0021] Determine the area of the tooth feature,

[0022] Calculate the ratio of the area of the tooth feature to the total area of the acquired image frame to obtain the area ratio.

[0023] If the area ratio is less than or equal to the preset area ratio, it is determined that the angle of the image collector of the probe is unqualified;

[0024] If the area ratio is greater than the preset area ratio, it is determined that the data acquisition process for the tooth is unqualified, and the reason for the unqualified is analyzed based on the historical image information.

[0025] Further, under the condition that it is determined that the angle of the image collector of the probe is unqualified,

[0026] Determine the geometric center point of the tooth feature to obtain the first feature point,

[0027] Determine the center point of the acquired image frame to obtain the second feature point,

[0028] Solve the distance between the first feature point and the second feature point,

[0029] Adjust the angle between the image collector and the horizontal direction based on this distance,

[0030] wherein, the increase amount of the angle is positively correlated with this distance.

[0031] Further, the analysis of the reason for the unqualified based on the historical image information includes:

[0032] Obtain the historical scan information,

[0033] Determine the tooth feature in the historical scan information to obtain the historical tooth feature,

[0034] Compare the tooth feature with the historical tooth feature,

[0035] Determine the area of the overlapping part between the tooth feature and the historical tooth feature,

[0036] Calculate the ratio of the area of the overlapping part to the total area of the historical tooth feature to obtain the overlapping degree,

[0037] If the overlapping degree is less than or equal to the first preset overlapping degree, it is determined that the reason for the unqualified data acquisition process for the tooth is that the image obtained is distorted due to the unqualified moving speed of the probe;

[0038] If the overlapping degree is greater than the first preset overlapping degree and less than or equal to the second preset overlapping degree, it is determined to re-determine the reason for the unqualified data acquisition process for the tooth based on the distribution of the overlapping area between the tooth feature and the historical tooth feature;

[0039] If the degree of coincidence is greater than the second preset degree of coincidence, it is determined that the reason for the unqualified data acquisition process for the teeth is that the brightness of the oral environment is unqualified, resulting in the shadow being determined as a non-teeth feature.

[0040] Further, under the condition that it is determined that the moving speed of the probe is unqualified, resulting in distortion of the acquired image,

[0041] Calculate the difference between the first preset degree of coincidence and the degree of coincidence to obtain the degree of coincidence difference.

[0042] Adjust the moving speed of the probe based on the degree of coincidence difference, where the decrease in the moving speed is positively correlated with the degree of coincidence difference.

[0043] Further, the secondary determination of the reason for the unqualified data acquisition process for the teeth based on the distribution of the overlapping part of the tooth feature and the historical tooth feature includes:

[0044] Determine the area of the overlapping part of the tooth feature and the historical tooth feature to obtain the overlapping area.

[0045] If the overlapping area is concentrated, it is determined that the reason for the unqualified data acquisition process for the teeth is the unqualified preprocessing of the image information.

[0046] If the overlapping area is dispersed, it is determined that the reason for the unqualified data acquisition process for the teeth is that the brightness of the oral environment is unqualified, resulting in the shadow being determined as a non-teeth feature.

[0047] Further, under the condition that it is determined that the preprocessing of the image information is unqualified, a preprocessing unqualified signal is issued.

[0048] Further, under the condition that it is determined that the brightness of the oral environment is unqualified, resulting in the shadow being determined as a non-teeth feature,

[0049] Calculate the difference between the second preset overlapping area ratio and the overlapping area ratio to obtain the overlapping area ratio difference.

[0050] Adjust the light source brightness of the probe based on the overlapping area ratio difference.

[0051] Wherein, the increase in the light source brightness is positively correlated with the overlapping area ratio difference.

[0052] Compared with the prior art, the beneficial effects of the present invention are as follows. In the present invention, a robotic arm is used to control the probe to move to the corresponding position to obtain image information inside the oral cavity. The tooth features in the image information are compared with the preset tooth features, and based on the area ratio of the overlapping part, it is preliminarily analyzed whether the acquisition process of the tooth information is qualified. When it is determined that the acquisition process is qualified, a model is constructed according to the acquired tooth feature data and output to the display screen, so as to facilitate further analysis of the internal situation of the patient's oral cavity, improve the control accuracy of the internal information of the oral cavity, and use the robotic arm to obtain the image information inside the oral cavity, thus avoiding the instability of the picture caused by the shaking of the hand when using a handheld data acquisition instrument for data acquisition, thereby improving the picture quality.

[0053] Further, in the present invention, based on the area ratio of the overlapping part between the acquired tooth features and the preset tooth features, it is preliminarily analyzed whether the data acquisition process of the tooth features is qualified. When it is preliminarily determined that the data acquisition process of the teeth is unqualified, a secondary determination is made based on the area ratio of the tooth features in the picture, or the reason for the unqualified data acquisition process of the teeth is analyzed, so as to improve the control accuracy of the acquisition process of the tooth features, and further improve the analysis accuracy of the data acquisition process.

[0054] Further, in the present invention, the ratio of the area of the tooth features to the total area of the acquired image frame is calculated to analyze whether the data acquisition process of the teeth is qualified according to this ratio, so as to avoid the unclear tooth features in the acquired image due to the too small area of the tooth features in the acquired image, which will further affect the analysis accuracy of the subsequent internal situation of the oral cavity. In the present invention, when the area ratio is small, it is determined that the angle of the image collector of the probe is unqualified and the angle is adjusted, so as to improve the quality of the image and provide more accurate data support for the subsequent analysis process. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a flowchart of a data acquisition method for tooth restoration in oral medicine;

[0056] Figure 2 It is a determination flowchart for preliminarily determining whether the data acquisition process of the teeth is qualified;

[0057] Figure 3 It is a determination flowchart for secondary determination of whether the data acquisition process of the teeth is qualified;

[0058] Figure 4 It is a determination flowchart for analyzing the reason for the unqualified data acquisition process of the teeth. DETAILED DESCRIPTION OF THE INVENTION

[0059] In order to make the objectives and advantages of the present invention more clearly understood, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0060] It should be noted that the data in this embodiment are all obtained through comprehensive analysis and evaluation of the historical data of the previous six months and the corresponding historical determination results of the system described in the present invention before this determination. Those skilled in the art can understand that the determination method of the system described in the present invention for a single above-mentioned parameter can be to select the value with the highest proportion according to the data distribution as the preset standard parameter, use weighted summation to obtain the value as the preset standard parameter, substitute each historical data into a specific formula and use the value obtained by this formula as the preset standard parameter or other selection methods, as long as it satisfies that the system described in the present invention can clearly define different specific situations in the single determination process through the obtained values.

[0061] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0062] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0063] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0064] Please refer to Figure 1 as shown, which is a flowchart of a data acquisition method for dental restoration in oral medicine.

[0065] The data acquisition method for dental restoration in oral medicine provided in this embodiment includes:

[0066] Step S1, using a robotic arm to control the movement of a probe to obtain image information inside the target oral cavity and preprocess the obtained image information;

[0067] Step S2: Extract the tooth features from the image information after preprocessing, and preliminarily determine whether the data acquisition process for the teeth is qualified based on the obtained tooth features. When it is preliminarily determined that the data acquisition process for the teeth is unqualified,

[0068] Based on the area ratio of the tooth features in the picture, make a secondary determination on whether the data acquisition process for the teeth is qualified.

[0069] Or analyze the reasons for unqualified based on historical image information.

[0070] Step S3: When it is determined that the data acquisition process for the teeth is qualified, construct a tooth model based on the extracted tooth features, and output the constructed tooth model to the display screen to complete the data acquisition of the oral cavity.

[0071] Specifically, in this embodiment, the specific structure of the robotic arm is not limited, and it only needs to be able to achieve the corresponding functions, which belongs to the prior art and will not be elaborated here.

[0072] In the present invention, a robotic arm is used to control the probe to move to the corresponding position to obtain the image information of the oral cavity, compare the tooth features in the image information with the preset tooth features, and preliminarily analyze whether the data acquisition process for the tooth information is qualified according to the area ratio of the overlapping part. When it is determined that the acquisition process is qualified, a model is constructed based on the acquired tooth feature data and output to the display screen, so as to facilitate further analysis of the patient's oral cavity conditions, improve the control accuracy of the oral cavity information, and use the robotic arm to obtain the oral cavity image information, thereby avoiding the instability of the picture caused by the shaking of the hand when using a handheld data acquisition instrument for data acquisition, thus improving the picture quality.

[0073] Please refer to Figure 2 as shown, which is a flowchart for determining whether the data acquisition process for the teeth is qualified in the preliminary determination.

[0074] Specifically, in step S2, based on the obtained tooth features, preliminarily determining whether the data acquisition process for the teeth is qualified includes:

[0075] Compare the tooth features with the preset tooth features.

[0076] Determine the overlapping area of the overlapping part between the tooth features and the preset tooth features.

[0077] Calculate the ratio of the overlapping area to the total area of the preset tooth features to obtain the overlapping area ratio.

[0078] If the overlapping area ratio is greater than or equal to the first preset overlapping area ratio, it is determined that the data acquisition process for the teeth is qualified.

[0079] If the proportion of the overlapping area is less than the first preset proportion of the overlapping area and greater than or equal to the second preset proportion of the overlapping area, it is preliminarily determined that the data acquisition process for the teeth is unqualified, and it is determined again whether the data acquisition process for the teeth is qualified based on the proportion of the area of the tooth features in the picture;

[0080] If the proportion of the overlapping area is less than the second preset proportion of the overlapping area, it is determined that the data acquisition process for the teeth is unqualified, and the reason for the unqualified is analyzed based on the historical image information.

[0081] Specifically, in this embodiment, the preset tooth features are obtained in advance. Tooth feature images of several targets of the same age as the current patient in the historical data are obtained, and the tooth features with the largest overlapping part with the tooth features of the current target in the tooth feature images are selected as the preset tooth features.

[0082] In the present invention, it is preliminarily analyzed whether the data acquisition process for the tooth features is qualified according to the proportion of the overlapping area between the obtained tooth features and the preset tooth features. When it is preliminarily determined that the data acquisition process for the teeth is unqualified, a secondary determination is made based on the proportion of the area of the tooth features in the picture, or the reason for the unqualified data acquisition process for the teeth is analyzed, so as to improve the control accuracy of the acquisition process for the tooth features, and further improve the analysis accuracy of the data acquisition process.

[0083] Specifically, in this embodiment, the first preset area proportion is selected in the range of [0.9, 0.92], and the second preset area proportion is selected in the range of [0.8, 0.85].

[0084] Please refer to Figure 3 as shown, which is a flowchart for determining whether the data acquisition process for the teeth is qualified in the secondary determination.

[0085] Specifically, the secondary determination of whether the data acquisition process for the teeth is qualified based on the proportion of the area of the tooth features in the picture includes:

[0086] Determine the area of the tooth features,

[0087] Calculate the ratio of the area of the tooth features to the total area of the obtained image picture to obtain the area proportion,

[0088] If the area proportion is less than or equal to the preset area proportion, it is determined that the angle of the image collector of the probe is unqualified;

[0089] If the area proportion is greater than the preset area proportion, it is determined that the data acquisition process for the teeth is unqualified, and the reason for the unqualified is analyzed based on the historical image information.

[0090] Specifically, in this embodiment, the preset area ratio is obtained through pre-measurement. A number of qualified tooth feature images inside the oral cavity are acquired, and the ratio of the area of the tooth features in each image to the total area of the image frame is calculated respectively. Then, the average value of the ratios is solved to obtain the preset area ratio.

[0091] In the present invention, the ratio of the area of the tooth features to the total area of the acquired image frame is calculated to analyze whether the data acquisition process for the teeth is qualified according to this ratio, so as to avoid unclear tooth features in the acquired image due to too small an area of the tooth features in the acquired image, which in turn affects the accuracy of subsequent analysis of the internal situation of the oral cavity. In the present invention, when the area ratio is small, it is determined that the angle of the image collector of the probe is unqualified, and the angle is adjusted, thereby improving the quality of the image and providing more accurate data support for the subsequent analysis process.

[0092] Specifically, under the condition that it is determined that the angle of the image collector of the probe is unqualified,

[0093] Determine the geometric center point of the tooth features to obtain the first feature point,

[0094] Determine the center point of the acquired image frame to obtain the second feature point,

[0095] Solve the distance between the first feature point and the second feature point,

[0096] Based on this distance, adjust the included angle between the image collector and the horizontal direction,

[0097] Wherein, the increase amount of the included angle is positively correlated with this distance.

[0098] In this embodiment, optionally,

[0099] Compare the distance with a first preset distance and a second preset distance,

[0100] If the distance is less than or equal to the first preset distance, then increase the included angle to 1.05 times the initial value of the included angle;

[0101] If the distance is greater than the first preset distance and less than or equal to the second preset distance, then increase the included angle to 1.08 times the initial value of the included angle;

[0102] If the distance is greater than the second preset distance, then increase the included angle to 1.1 times the initial value of the included angle;

[0103] Wherein, the first preset distance and the second preset distance are obtained through pre-measurement. A number of qualified tooth feature images are acquired, and the distance between the first feature point and the second feature point in each tooth feature image is solved respectively. The minimum value and the maximum value among the obtained distances are respectively recorded as the first preset distance and the second preset distance.

[0104] Please refer to Figure 4 as shown, which is a decision flow chart for analyzing the reasons for the unqualified data acquisition process for teeth.

[0105] Specifically, the analysis of the reasons for unqualified based on historical image information includes:

[0106] Obtain historical scan information,

[0107] Determine the tooth features in the historical scan information to obtain historical tooth features,

[0108] Compare the tooth features with the historical tooth features,

[0109] Determine the area of the overlapping part between the tooth features and the historical tooth features,

[0110] Calculate the ratio of the area of the overlapping part to the total area of the historical tooth features to obtain the overlapping degree,

[0111] If the overlapping degree is less than or equal to the first preset overlapping degree, it is determined that the reason for the unqualified data acquisition process for teeth is that the image obtained is distorted due to the unqualified moving speed of the probe;

[0112] If the overlapping degree is greater than the first preset overlapping degree and less than or equal to the second preset overlapping degree, it is determined to re - judge the reason for the unqualified data acquisition process for teeth based on the distribution of the area of the overlapping part between the tooth features and the historical tooth features;

[0113] If the overlapping degree is greater than the second preset overlapping degree, it is determined that the reason for the unqualified data acquisition process for teeth is that the shadow is judged as a non - tooth feature due to the unqualified brightness of the oral cavity environment.

[0114] Specifically, in this embodiment, the historical scan information is the image information obtained from the previous scan.

[0115] Specifically, in this embodiment, the first preset overlapping degree is selected in the interval [0.8, 0.82], and the second preset overlapping degree is selected in the interval [0.75, 0.78].

[0116] Specifically, under the condition of determining that the image obtained is distorted due to the unqualified moving speed of the probe,

[0117] Calculate the difference between the first preset overlapping degree and the overlapping degree to obtain the overlapping degree difference,

[0118] Adjust the moving speed of the probe based on the overlapping degree difference, where the decrease in the moving speed is positively correlated with the overlapping degree difference.

[0119] In this embodiment, optionally,

[0120] Compare the coincidence degree difference with the first preset coincidence degree difference and the second preset coincidence degree.

[0121] If the coincidence degree difference is less than or equal to the first preset coincidence degree difference, reduce the moving speed of the probe to 0.95 times the initial value.

[0122] If the coincidence degree difference is greater than the first preset coincidence degree difference and less than or equal to the second preset coincidence degree difference, reduce the moving speed of the probe to 0.92 times the initial value.

[0123] If the coincidence degree difference is greater than the second preset coincidence degree difference, reduce the moving speed of the probe to 0.9 times the initial value.

[0124] Wherein, the first preset coincidence degree difference is 0.15 times the first preset coincidence degree, and the second preset coincidence degree difference is 0.2 times the first preset coincidence degree.

[0125] Specifically, the secondary determination of the unqualified reason for the data acquisition process of teeth based on the distribution of the overlapping part of the tooth characteristics and the historical tooth characteristics includes:

[0126] Determine the area of the overlapping part of the tooth characteristics and the historical tooth characteristics to obtain the overlapping area.

[0127] If the overlapping area is concentrated, it is determined that the reason for the unqualified data acquisition process of teeth is the unqualified preprocessing of the image information.

[0128] If the overlapping area is dispersed, it is determined that the reason for the unqualified data acquisition process of teeth is that the shadow is determined as a non-tooth feature due to the unqualified brightness of the oral environment.

[0129] Specifically, under the condition of determining that the preprocessing of the image information is unqualified, a preprocessing unqualified signal is sent.

[0130] Specifically, under the condition of determining that the shadow is determined as a non-tooth feature due to the unqualified brightness of the oral environment,

[0131] Calculate the difference between the second preset overlapping area ratio and the overlapping area ratio to obtain the overlapping area ratio difference.

[0132] Adjust the light source brightness of the probe based on the overlapping area ratio difference.

[0133] Wherein, the increase amount of the light source brightness is positively correlated with the overlapping area ratio difference.

[0134] Specifically, in this embodiment, after adjusting each parameter, the image information of the target oral cavity is re-acquired using the adjusted parameters, and the re-acquired image information is pre-processed to re-determine whether the data acquisition process for the teeth is qualified.

[0135] In this embodiment, optionally,

[0136] Compare the difference in the overlapping area ratio with the first preset difference in the overlapping area ratio and the second preset difference in the overlapping area ratio.

[0137] If the difference in the overlapping area ratio is less than or equal to the first preset difference in the overlapping area ratio, increase the light source brightness to 1.1 times the initial value;

[0138] If the overlapping area ratio is greater than the first preset difference in the overlapping area ratio and less than or equal to the second preset difference in the overlapping area ratio, increase the light source brightness to 1.15 times the initial value;

[0139] If the overlapping area ratio is greater than the second preset difference in the overlapping area ratio, increase the light source brightness to 1.2 times the initial value;

[0140] Wherein, the first preset difference in the overlapping area ratio is 0.1 times the second preset overlapping area ratio, and the second preset difference in the overlapping area ratio is 0.15 times the second preset overlapping area ratio.

[0141] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

[0142] The above are only the preferred embodiments of the present invention and are not used to limit the present invention; for those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A data acquisition method for dental restoration in oral medicine, characterized in that, Including: Step S1: Use a robotic arm to control the movement of a probe to obtain image information of the target oral cavity, and preprocess the obtained image information. Step S2: Extract tooth features from the image information after preprocessing. Based on the obtained tooth features, preliminarily determine whether the data acquisition process for teeth is qualified. When it is preliminarily determined that the data acquisition process for teeth is unqualified, Based on the area ratio of the tooth features in the picture, secondarily determine whether the data acquisition process for teeth is qualified. Or analyze the reason for unqualified based on historical image information. Step S3: When it is determined that the data acquisition process for teeth is qualified, construct a tooth model based on the extracted tooth features, and output the constructed tooth model to the display screen to complete the data acquisition of the oral cavity.

2. The data acquisition method for dental restoration in oral medicine according to claim 1, wherein In step S2, preliminarily determining whether the data acquisition process for teeth is qualified based on the obtained tooth features includes: Compare the tooth features with preset tooth features. Determine the overlapping area of the overlapping part between the tooth features and the preset tooth features. Calculate the ratio of the overlapping area to the total area of the preset tooth features to obtain the overlapping area ratio. If the overlapping area ratio is greater than or equal to the first preset overlapping area ratio, it is determined that the data acquisition process for teeth is qualified. If the overlapping area ratio is less than the first preset overlapping area ratio and greater than or equal to the second preset overlapping area ratio, preliminarily determine that the data acquisition process for teeth is unqualified, and secondarily determine whether the data acquisition process for teeth is qualified based on the area ratio of the tooth features in the picture. If the overlapping area ratio is less than the second preset overlapping area ratio, it is determined that the data acquisition process for teeth is unqualified, and analyze the reason for unqualified based on historical image information.

3. The data acquisition method for dental restoration in oral medicine according to claim 2, characterized in that The secondary determination of whether the data acquisition process for teeth is qualified based on the area ratio of the tooth features in the picture includes: Determine the area of the tooth features. Calculate the ratio of the area of the tooth features to the total area of the obtained image picture to obtain the area ratio. If the area ratio is less than or equal to the preset area ratio, it is determined that the angle of the image collector of the probe is unqualified. If the area ratio is greater than the preset area ratio, it is determined that the data acquisition process for teeth is unqualified, and analyze the reason for unqualified based on historical image information.

4. The data acquisition method for prosthodontics tooth restoration according to claim 3, characterized in that, Under the condition that it is determined that the angle of the image collector of the probe is unqualified, Determine the geometric center point of the tooth features to obtain the first feature point. Determine the center point of the obtained image picture to obtain the second feature point. Solve the distance between the first feature point and the second feature point. Adjust the angle between the image collector and the horizontal direction based on this distance. Wherein, the increase amount of the angle is positively correlated with this distance.

5. The data acquisition method for dental restoration in oral medicine according to claim 3, characterized in that Analyzing the reason for unqualified based on historical image information includes: Obtain historical scan information. Determine the tooth features in the historical scan information to obtain historical tooth features. Compare the tooth features with the historical tooth features. Determine the area of the overlapping part between the tooth features and the historical tooth features. Calculate the ratio of the area of the overlapping part to the total area of the historical tooth features to obtain the overlapping degree. If the coincidence degree is less than or equal to the first preset coincidence degree, it is determined that the reason for the unqualified data acquisition process for the tooth is that the image obtained is distorted due to the unqualified moving speed of the probe; If the coincidence degree is greater than the first preset coincidence degree and less than or equal to the second preset coincidence degree, it is determined that the reason for the unqualified data acquisition process for the tooth is determined again based on the distribution of the overlapping area between the tooth feature and the historical tooth feature; If the coincidence degree is greater than the second preset coincidence degree, it is determined that the reason for the unqualified data acquisition process for the tooth is that the shadow is determined as a non-tooth feature due to the unqualified brightness of the oral environment.

6. The data acquisition method for dental restoration in oral medicine according to claim 5, characterized in that Under the condition that it is determined that the image obtained is distorted due to the unqualified moving speed of the probe, Calculate the difference between the first preset coincidence degree and the coincidence degree to obtain the coincidence degree difference, Adjust the moving speed of the probe based on the coincidence degree difference, where the decrease in the moving speed is positively correlated with the coincidence degree difference.

7. The data acquisition method for dental restoration in oral medicine according to claim 5, wherein The determination of the reason for the unqualified data acquisition process for the tooth again based on the distribution of the overlapping area between the tooth feature and the historical tooth feature includes: Determine the overlapping area between the tooth feature and the historical tooth feature to obtain the overlapping area, If the overlapping area is concentrated, it is determined that the reason for the unqualified data acquisition process for the tooth is the unqualified preprocessing of the image information; If the overlapping area is dispersed, it is determined that the reason for the unqualified data acquisition process for the tooth is that the shadow is determined as a non-tooth feature due to the unqualified brightness of the oral environment.

8. The data acquisition method for dental restoration in oral medicine according to claim 7, wherein Under the condition that it is determined that the preprocessing of the image information is unqualified, a preprocessing unqualified signal is issued.

9. The data acquisition method for dental restoration in oral medicine according to claim 7, characterized in that Under the condition that it is determined that the shadow is determined as a non-tooth feature due to the unqualified brightness of the oral environment, Calculate the difference between the second preset overlapping area ratio and the overlapping area ratio to obtain the overlapping area ratio difference, Adjust the light source brightness of the probe based on the overlapping area ratio difference, where the increase in the light source brightness is positively correlated with the overlapping area ratio difference.

Images