Method, apparatus, computing device, and program product for displaying oral data

Abstract

The present disclosure proposes a method, device, computing equipment and program product for displaying oral data. The method comprises: obtaining first oral data, the first oral data comprising three-dimensional data of a dental arch, the dental arch comprising a tooth to be restored; obtaining second oral data by an intraoral scanner, the second oral data comprising scanning data of the tooth to be restored after tooth preparation; identifying a tooth region in the first oral data and the second oral data, and identifying a tooth site of the tooth to be restored based on a difference between the tooth region in the first oral data and the second oral data; combining the first oral data and the second oral data based on the identified tooth site of the tooth to be restored to obtain updated three-dimensional data of the dental arch; and displaying the updated three-dimensional data of the dental arch. In this way, an automated workflow is provided for efficiently generating an oral model containing both complete dental arch morphology and accurate tooth preparation morphology, without the need for manual marking of tooth preparation regions, thereby improving the accuracy and convenience of oral scanning.

Description

Technical Field

[0001] Embodiments of this disclosure relate to oral scanning technology, and more specifically to methods for displaying oral data, devices for displaying oral data, computing devices, and computer program products. Background Technology

[0002] An intraoral scan is a process that uses specialized optical technology to digitally acquire three-dimensional (3D) images of the oral cavity's internal structures, including teeth, gums, and surrounding tissues. During an intraoral scan, professionals use a handheld device equipped with a camera and sensors (an intraoral scanner) to capture multiple images of the oral cavity from different angles. These images are transmitted to a computer workstation, where sophisticated algorithms rapidly stitch them together to generate a three-dimensional image of the patient's teeth and soft tissues.

[0003] One application of oral scanning is in assisting with dental restoration. To achieve the desired restorative effect, tooth preparation, also known as tooth preparation, is necessary. Simply put, for subsequent restorations (such as crowns, bridges, veneers, etc.), a portion of the patient's own tooth structure is purposefully and precisely removed to create sufficient space and an ideal shape for the restoration. Obtaining and visualizing post-preparation oral data through oral scanning presents a challenge for relevant technicians. Summary of the Invention

[0004] According to a first aspect of this disclosure, a method for displaying oral cavity data is provided. The method includes: acquiring first oral cavity data, the first oral cavity data including three-dimensional data of a dental arch, the dental arch including a tooth to be restored; acquiring second oral cavity data via an intraoral scanner, the second oral cavity data including scan data of the tooth to be restored after tooth preparation; identifying tooth regions in the first oral cavity data and the second oral cavity data, and identifying the tooth position of the tooth to be restored based on differences between the tooth regions in the first oral cavity data and the second oral cavity data; combining the first oral cavity data and the second oral cavity data based on the identified tooth position of the tooth to be restored to obtain updated three-dimensional data of the dental arch; and displaying the updated three-dimensional data of the dental arch.

[0005] According to a second aspect of this disclosure, an apparatus for displaying oral cavity data is provided. The apparatus includes: a first acquisition unit configured to acquire first oral cavity data, the first oral cavity data including three-dimensional data of a dental arch, the dental arch including a tooth to be restored; a second acquisition unit configured to acquire second oral cavity data via an intraoral scanner, the second oral cavity data including scan data of the tooth to be restored after tooth preparation; an identification unit configured to identify tooth regions in the first oral cavity data and the second oral cavity data, and to identify the tooth position of the tooth to be restored based on differences between the tooth regions in the first oral cavity data and the second oral cavity data; a combination unit configured to combine the first oral cavity data and the second oral cavity data based on the identified tooth position of the tooth to be restored to obtain updated three-dimensional data of the dental arch; and a display unit configured to display the updated three-dimensional data of the dental arch.

[0006] According to a third aspect of this disclosure, a computing device is provided. The computing device includes: a processing unit; and a memory coupled to the processing unit and containing instructions stored thereon, the instructions, when executed by the processing unit, causing the device to perform the method according to a first aspect of this disclosure.

[0007] According to a fourth aspect of this disclosure, a computer program product is provided, which is tangibly stored in a computer storage medium and includes computer-executable instructions that, when executed by a device, cause the device to perform the method described according to a first aspect of this disclosure.

[0008] According to a fifth aspect of this disclosure, a computer-readable storage medium is provided, the computer-readable storage medium including computer-executable instructions that, when executed by a device, cause the device to perform the method according to a first aspect of this disclosure.

[0009] The summary section is provided to present the chosen concepts in a simplified form, which will be further described in the detailed description below. The summary section is not intended to identify key or principal features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter. Attached Figure Description

[0010] Figure 1 Exemplary environments in which various embodiments of this disclosure can be implemented are shown.

[0011] Figure 2 A schematic diagram of a tooth preparation scanning scheme based on relevant technologies is shown.

[0012] Figure 3 A schematic flowchart of a method for displaying oral cavity data according to some embodiments of the present disclosure is shown.

[0013] Figure 4A and 4B An exemplary interactive interface for displaying real-time oral data according to some embodiments of the present disclosure is shown.

[0014] Figure 5 An exemplary interactive interface for displaying oral cavity data through two windows is shown according to some embodiments of the present disclosure.

[0015] Figure 6 An exemplary interactive interface for displaying oral data via background and focus views is shown according to some embodiments of the present disclosure.

[0016] Figure 7 An exemplary interactive interface for displaying oral cavity data through transparent and non-transparent layers is shown according to some embodiments of the present disclosure.

[0017] Figure 8 A schematic block diagram of a device for displaying oral cavity data according to some embodiments of the present disclosure is shown.

[0018] Figure 9 A block diagram of a computing device capable of implementing some embodiments of the present disclosure is shown.

[0019] In these accompanying figures, the same or similar reference symbols are used to indicate the same or similar elements. The figures are for illustrative purposes only, and the sizes of the elements are not necessarily drawn to scale. Detailed Implementation

[0020] This disclosure will now be discussed with reference to several example implementations. It should be understood that these implementations are discussed only to enable those skilled in the art to better understand and thus implement this disclosure, and not to imply any limitation on the scope of this disclosure.

[0021] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "an implementation" and "an implementation" are to be interpreted as "at least one implementation". The term "another implementation" is to be interpreted as "at least one other implementation". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0022] Figure 1Exemplary environments in which various embodiments of the present disclosure can be implemented are illustrated. One exemplary environment shows an intraoral scanning system 100, which includes an intraoral scanner (also referred to as a digital impression device) 110 coupled together with a computing device 120 (e.g., a laptop computer, desktop computer, etc.). A communication link between the intraoral scanner 110 and the computing device 120 allows captured images to be transferred from the intraoral scanner 110 to the computing device 120 for further processing. The communication link between the intraoral scanner 110 and the computing device 120 can be a wired connection (e.g., Universal Serial Bus USB) or a wireless connection (e.g., Wi-Fi). It should be understood that other communication implementations are also possible.

[0023] The intraoral scanner 110 can be a handheld device that a user (dentist or related professional) can insert into a patient's mouth to capture images. As shown, the intraoral scanner 110 includes a tip 101 and a body 102. The tip 101 can be a pluggable component or integrated into the intraoral scanner 110. A camera or optical system is located at the top of the tip 101 for capturing images of teeth and surrounding tissues (such as gums). During the scan, the intraoral scanner 110 acquires information about intraoral entities, such as teeth, gums and surrounding soft tissues, and intraoral implants, converting the morphology of these entities into digitized image data. Because the intraoral scanner has a limited field of view, frame-by-frame scanning and stitching are necessary, for example, using 3D point cloud registration technology, to obtain complete dental arch data or dental arch data for a portion of the oral cavity.

[0024] The computing device 120 is the data processing and computing center of the intraoral scanning system 100. It receives image data transmitted from the intraoral scanner 110 and processes this data using its computing power. The computing device 120 can use 3D point cloud registration technology to stitch and fit numerous discrete image data points to construct 3D scan data. The first step of point cloud registration technology is to extract the spatial features of the 3D point cloud, such as the distance and angle from each point to its neighboring points, and then match points with similar features in two point clouds to obtain a precise matching pose. During the scanning of the dental arch, each frame of point cloud is registered with previously saved point clouds. If the registration is successful, the current point cloud is saved, and its pose is transformed. After scanning, all successfully registered point clouds are extracted, and a dental arch mesh model is obtained using 3D reconstruction technology. The oral cavity data obtained through scanning, registration, and reconstruction can be presented on the display screen 115 for user browsing and interaction. The computing device 120 can store the scanned oral cavity data on a storage medium for further processing.

[0025] When using an intraoral scanner to assist in dental restoration, the typical procedure involves two intraoral scans. First, the pre-operative teeth are scanned to obtain pre-operative dental arch data. Then, the prepared teeth are scanned. Tooth preparation is usually performed on only a few teeth, while most teeth remain unchanged from their pre-operative state. To improve dentist efficiency, the pre-operative dental arch data is often reused. After the post-preparation scan, the pre-operative teeth to be restored are replaced with the prepared teeth.

[0026] In some related technologies, the user first manually marks the preparation area on the dental arch before surgery, cuts off this area, and then obtains scan data of the prepared teeth through scanning. For example... Figure 2 As shown in (a), the preoperative dental arch data is displayed on the screen; at this point, the tooth to be restored has not yet undergone preparation. Figure 2 As shown in (b), the user, based on prior knowledge, interacts with the interface to cut and paste data of the prepared tooth area. Next, the user uses an intraoral scanner to scan the tooth to be restored after the preparation process, filling the dental arch data of the already cut and prepared area with the scanned data, as shown in (b). Figure 2 As shown in (c). However, cutting the preparation area requires high user precision, extensive practical experience, and is time-consuming. Furthermore, the user's cutting and re-scanning operations are decoupled; the preoperative dental arch data after cutting lacks data on the preparation area, making it difficult to register with the re-scanned preparation data, or requiring more scan data for registration, resulting in longer scanning times and compromised accuracy. To address these issues, embodiments of this disclosure provide an improved method for generating and displaying oral data. This method automatically identifies the prepared area within the dental arch based on preoperative dental arch data and preparation scan data, eliminating the need for manual cutting of the preparation area by the user. The preoperative dental arch data and preparation scan data can then be combined and displayed. This method not only simplifies the operational process but also improves the accuracy of the generated oral data.

[0027] Figure 3 A schematic flowchart of a method 300 for displaying oral cavity data according to some embodiments of the present disclosure is shown. Method 300 can be, for example... Figure 1 The method is implemented by the computing device 120 shown. It is understood that method 300 can also be implemented by a computing device decoupled from the intraoral scanner. It should be understood that method 300 may also include additional actions not shown and / or the actions shown may be omitted, and the scope of this disclosure is not limited in this respect.

[0028] In box 310, first oral cavity data is acquired, which includes three-dimensional data of the dental arch, wherein the dental arch includes the tooth to be restored. In some embodiments, the first oral cavity data may be preoperative dental arch data acquired by an intraoral scanner, at which point the tooth to be restored has not yet undergone tooth preparation. In this document, the first oral cavity data is sometimes also referred to as preoperative dental arch data, or simply preoperative dental arch, and these terms are used interchangeably. The first oral cavity data may be dental arch data obtained from on-site scanning or dental arch data that has been pre-scanned and stored.

[0029] In box 320, second dental arch data is acquired using an intraoral scanner. This second dental arch data includes scan data of the prepared tooth to be restored. In some embodiments, after the tooth to be restored has been prepared, the dental arch near the tooth to be restored is scanned using an intraoral scanner to obtain second oral data. In this document, the second oral data is sometimes also referred to as new scanned dental arch data, or simply new scanned dental arch; these terms are used interchangeably. The second oral data can be scan data obtained during on-site scanning, used for on-site synthesis with the first oral data, or it can be dental arch data pre-scanned and stored, retrieved when synthesis is required.

[0030] To obtain scan data of the tooth to be restored after preparation, an intraoral scanner is used to acquire point clouds of the tooth to be restored and the surrounding area. For example, the user can select the "Tooth Preparation Scan" mode, align the intraoral scanner with the region of interest on the dental arch, and acquire scan data within that region of interest.

[0031] During the scanning of the dental arch using an intraoral scanner, each acquired point cloud frame is registered with previously saved point clouds. If registration is successful, the current point cloud is saved, and its pose is transformed to ensure that all point clouds scanned in this session are in the same coordinate system. In some embodiments, based on the registration between the scanned point cloud and the first oral data, second oral data is generated, transforming the first and second oral data into the same coordinate system. For example, in tooth preparation scanning mode, the point cloud can be registered with the first oral data frame by frame, and successfully registered frames are stored as second oral data. When registration is successful, the newly scanned point cloud can be transformed into the coordinate system of the first oral data or the same coordinate system. If registration fails, the current point cloud is discarded, and registration of the next frame is performed.

[0032] In box 330, tooth regions in the first and second oral data are identified, and the position of the tooth to be restored is identified based on the differences between the tooth regions in the first and second oral data. Since tooth preparation is done by grinding on natural teeth, from the perspective of the occlusal surface, the prepared tooth is below the tooth before preparation. In some embodiments, the position of the tooth to be restored can be identified based on detecting the differences between the second and first oral data, as detailed below.

[0033] First, the 3D data for tooth classification is identified in the first and second oral cavity data. The purpose of this step is to identify teeth and gums in the point cloud. For example, a deep neural network can be used to perform semantic segmentation on each captured image frame, labeling the point type of each pixel, such as tooth, gum, or other. When converting to a point cloud, the pixel type is mapped to the corresponding 3D point. In this way, 3D data belonging to the tooth classification is extracted from the first and second oral cavity data, respectively. Simultaneously, the boundary between teeth and gums can be extracted for further tooth segmentation.

[0034] Then, based on the 3D data of tooth classification, tooth positions in the first and second oral cavity data are segmented. In some embodiments, the gaps between teeth can be identified based on curvature, thereby segmenting each tooth position, because the curvature of the gaps between teeth is large and connected to the tooth-gingival junction. Combining the gaps between teeth and the tooth-gingival junction, each tooth position in the first and second oral cavity data is identified respectively.

[0035] Next, the tooth positions of the teeth to be restored are identified by comparing the differences between the first and second oral data at each tooth position. In some embodiments, if it is determined that the second oral data is obscured by the first oral data at one or more tooth positions, these tooth positions can be identified as the tooth positions of the teeth to be restored. For example, the newly scanned dental arch data and the preoperative dental arch data are placed in the most visible position (i.e., the occlusal surface is facing the screen), and the differences between the newly scanned tooth point cloud and the preoperative tooth point cloud at each tooth position are compared. If more than a certain proportion of the newly scanned tooth point cloud at a certain tooth position is obscured by the preoperative tooth (shorter on the Z-axis, corresponding to the preparation tooth), then that tooth position is identified as the tooth to be restored after preparation, also known as the preparation tooth position.

[0036] In some embodiments, tooth regions in the second oral data can be identified in real time, and new scan data within the tooth region can be compared with the corresponding tooth region in the first oral data. If a difference exists (e.g., more than a threshold number or proportion of new scanned tooth point clouds are occluded by preoperative point clouds), the tooth position corresponding to that tooth region can be identified as a preparation tooth position.

[0037] In box 340, based on the identified tooth position of the tooth to be restored, the first oral cavity data and the second oral cavity data are combined to obtain updated three-dimensional data of the dental arch. The updated three-dimensional data of the dental arch is also referred to as the tooth preparation arch data, or simply the tooth preparation arch. In some embodiments, the three-dimensional data of the region corresponding to the tooth to be restored is removed from the first oral cavity data, and the scan data of the region corresponding to that region in the second oral cavity data is stitched to the first oral cavity data, thereby obtaining the combined dental arch data.

[0038] The first dental arch data to be removed can be a point cloud that perfectly matches the detected tooth position; that is, only the tooth data identified as being at that position is removed. In some embodiments, more data can be removed to fill in more new scan data in the vicinity of the tooth position, which can more accurately reflect the current oral condition. For example, the minimum bounding cylinder for each prepared tooth position can be calculated, and the point cloud on the preoperative dental arch within the cylinder can be truncated. Since the preoperative dental arch data and the new scan data are already in the same coordinate system, the newly scanned prepared tooth point cloud is correspondingly truncated, and they are stitched together to form the prepared dental arch.

[0039] In box 350, the updated 3D data of the dental arch is displayed. Specifically, the point cloud of the second oral cavity data can be reconstructed into a mesh to replace the parts of the first dental arch data that were removed, and the remaining part of the preoperative dental arch and the newly scanned dental arch are displayed on the screen.

[0040] In some embodiments, during the acquisition of second oral data via an intraoral scanner, updated 3D data of the dental arch is displayed in real time. The second oral data replaces areas in the first oral data that are obscured by the second oral data. To display the updated dental arch in real time, the position of the prepared tooth is detected during scanning. Once the prepared tooth position and its minimum bounding cylinder are determined, the corresponding tooth points on the preoperative dental arch are immediately removed. In subsequent scans, the prepared tooth point cloud will fill in the blank areas. In this way, even if the prepared tooth is not completely scanned, the prepared tooth position can be correctly identified, avoiding the error of the tooth to be restored overlapping with the preoperative dental arch.

[0041] According to the reference Figure 3 The method described herein provides an automated workflow for efficiently generating oral models that simultaneously include a complete dental arch morphology and a precise tooth preparation morphology. Users do not need to manually mark the tooth preparation area, and the accuracy and convenience of oral scanning are improved.

[0042] Figure 4A and 4BAn exemplary interactive interface for displaying real-time oral data according to some embodiments of the present disclosure is shown. As shown in the figure, only one dental arch is always displayed on the interactive interface. Before the tooth preparation scan, the preoperative dental arch is displayed. After the scan starts, if the currently captured point cloud is successfully matched, it is detected whether the current tooth position is a tooth preparation tooth. If it is determined to be a tooth preparation tooth, the point cloud of the corresponding tooth position on the preoperative dental arch is immediately subtracted, and then only the new point cloud is displayed for that tooth position.

[0043] Before scanning begins, the preoperative dental arch is displayed. During scanning, the newly scanned point cloud and the preoperative dental arch are displayed concurrently and can rotate with the current scanning perspective. Once a tooth position is identified as the tooth to be restored, points on the preoperative dental arch are removed within the minimum bounding cylinder corresponding to that tooth, displaying only the newly scanned point cloud. When scanning is paused, the results at the last moment of the scan can be displayed. After scanning is complete, the dental arch resulting from the splicing of the preoperative dental arch and the prepared dental arch is displayed.

[0044] In addition to the real-time display method described above, embodiments of this disclosure also provide a display method in which first oral cavity data and second oral cavity data are displayed separately through two windows. During the acquisition of second oral cavity data using an intraoral scanner, the first oral cavity data is displayed in the first window, and the second oral cavity data is displayed in the second window. When the scan is paused or completed, updated three-dimensional data of the dental arch, i.e., the stitched dental arch, is displayed.

[0045] Figure 5 An exemplary interactive interface displaying oral data through two windows is shown. As shown in the figure, the interactive interface is divided into a main window and a secondary window. The main window is located in the center of the interface and displays the prepared teeth being scanned, while the secondary window displays the preoperative dental arch, used to indicate the current position and orientation of the dental arch to the user.

[0046] The main and secondary windows behave as follows: Before scanning begins, the main window displays no content, while the secondary window displays the preoperative dental arch. During scanning, the main window displays the currently acquired scan data, and the preoperative dental arch in the secondary window rotates with the current scanning perspective, indicating the position and orientation of the dental arch being scanned. When scanning is paused or completed, the main window displays the dental arch formed by stitching together the preoperative dental arch and the newly scanned dental arch, while the secondary window displays the preoperative dental arch.

[0047] Embodiments of this disclosure also provide a method for displaying first oral cavity data and second oral cavity data in a single window, showing both a background view and a focused view. In some embodiments, during the acquisition of second oral cavity data using an intraoral scanner, the first and second oral cavity data are displayed within the same window, with the second oral cavity data magnified over the first oral cavity data. In other words, the preoperative dental arch serves as the background, while the newly scanned dental arch acts as the magnified foreground.

[0048] Figure 6An exemplary interactive interface for displaying oral data through background and focus views is shown. As shown, the background view displays the entire dental arch, indicating the user's current position and orientation within the arch, while the focus view displays the prepared teeth being scanned and is magnified relative to the background view.

[0049] Depending on the scanning stage, the background view and focus view display the following content. Before scanning begins, the focus view displays nothing, while the background view shows the preoperative dental arch. During scanning, the focus view magnifies to display the newly acquired dental arch, and the preoperative dental arch in the background view can rotate with the current scanning angle, indicating the position and orientation of the currently scanned dental arch. When scanning is paused or completed, the focus window displays nothing, and the background view displays the stitched result of the preoperative and newly scanned dental arches.

[0050] Embodiments of this disclosure also provide a method for displaying first oral cavity data and second oral cavity data within a single window using multiple layers. During the acquisition of second oral cavity data via an intraoral scanner, the first oral cavity data is displayed on a transparent or semi-transparent layer (i.e., with a mask layer), while the second oral cavity data is displayed on a non-transparent layer (without a mask layer).

[0051] Figure 7 An exemplary interactive interface for displaying oral data using transparent or semi-transparent layers and opaque layers is shown. As shown in the figure, the interactive interface is divided into transparent and opaque layers. The transparent layer displays the entire dental arch after the last scan or before the scan begins, indicating the current position and orientation of the dental arch to the user. The opaque layer displays the dental arch being scanned, specifically the prepared teeth.

[0052] Depending on the scanning stage, the content displayed in the transparent and non-transparent layers is as follows: Before scanning begins, the non-transparent layer displays the preoperative dental arch, while the transparent layer displays nothing. During scanning, the non-transparent layer displays the dental arch obtained in this scan, with the corresponding tooth positions coinciding with the transparent layer, and rotates with the current scanning angle; the transparent layer displays the preoperative dental arch, which also rotates with the current scanning angle. When scanning is paused or completed, the non-transparent layer displays the stitched result of the preoperative dental arch and the newly scanned dental arch, while the transparent layer displays nothing.

[0053] Figure 8 A schematic block diagram of a device 800 for displaying oral cavity data according to some embodiments of the present disclosure is shown. The device 800 can be implemented in... Figure 1 The computing device shown is located at location 120. (For example...) Figure 8 As shown, the device 800 includes a first acquisition unit 810, a second acquisition unit 820, an identification unit 830, a combination unit 840, and a display unit 850.

[0054] The first acquisition unit 810 is configured to acquire first oral cavity data, which includes three-dimensional data of a dental arch, including the tooth to be restored. The second acquisition unit 820 is configured to acquire second oral cavity data via an intraoral scanner, which includes scan data of the prepared tooth to be restored. The identification unit 830 is configured to identify tooth regions in the first and second oral cavity data, and based on the differences between the tooth regions in the first and second oral cavity data, identify the tooth position of the tooth to be restored. The combination unit 840 is configured to combine the first and second oral cavity data based on the identified tooth position of the tooth to be restored to obtain updated three-dimensional data of the dental arch. The display unit 850 is configured to display the updated three-dimensional data of the dental arch.

[0055] It should be noted that the reference Figures 3 to 7 More actions or steps can be shown through Figure 8 The illustrated device 800 is used to implement this. For example, device 800 may include more modules or units to implement the actions or steps described above, or Figure 8 Some of the units or modules shown can be further configured to implement the actions or steps described above. This will not be repeated here.

[0056] Figure 9 A schematic block diagram of an example device 900 that can be used to implement embodiments of the present disclosure is shown. As shown, device 900 includes a computing unit 901, which can perform various appropriate actions and processes according to computer program instructions stored in read-only memory (ROM) 902 or loaded from storage unit 906 into random access memory (RAM) 903. Various programs and data required for the operation of device 900 may also be stored in RAM 903. The computing unit 901, ROM 902, and RAM 903 are interconnected via bus 904. Input / output (I / O) interface 905 is also connected to bus 904.

[0057] Multiple components in device 900 are connected to I / O interface 905, including: input unit 906, such as keyboard, mouse, etc.; output unit 907, such as various types of monitors, speakers, etc.; storage unit 908, such as disk, optical disk, etc.; and communication unit 909, such as network card, modem, wireless transceiver, etc. Communication unit 909 allows device 900 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0058] The computing unit 901 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 901 performs the various methods and processes described above. For example, in some embodiments, method 300 may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed on device 900 via ROM 902 and / or communication unit 909. When the computer program is loaded into RAM 903 and executed by computing unit 901, one or more steps of any of the methods described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the methods provided in this disclosure by any other suitable means (e.g., by means of firmware).

[0059] In some embodiments, the methods and processes described above can be implemented as a computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for performing various aspects of this disclosure.

[0060] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0061] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper cables, fiber optic cables, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to computer-readable storage media within the respective computing / processing device.

[0062] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​and conventional procedural programming languages. The computer-readable program instructions may execute entirely on a user's computer, partially on a user's computer, as a standalone software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0063] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0064] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0065] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0066] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for displaying oral cavity data, comprising: Acquire first oral cavity data, which includes three-dimensional data of the dental arch, and the dental arch includes the tooth to be repaired; Second oral data is acquired by an intraoral scanner. The second oral data includes scan data of the tooth to be restored after tooth preparation and scan data of the surrounding area of ​​the tooth to be restored, wherein the first oral data and the second oral data are in the same coordinate system. Identify the tooth regions in the first oral data and the second oral data, and identify the tooth position of the tooth to be repaired based on the differences between the tooth regions in the first oral data and the second oral data; Based on the identified tooth position of the tooth to be repaired, the first oral data and the second oral data are combined to obtain updated three-dimensional data of the dental arch; as well as Displays the updated three-dimensional data of the dental arch.

2. The method according to claim 1, wherein, Second oral cavity data obtained through intraoral scanners includes: During the scan, the point cloud acquired by the intraoral scanner is registered frame by frame with the first oral cavity data; and The successfully registered frames are stored as the second oral cavity data.

3. The method according to claim 1, wherein, Identifying the tooth position of the tooth to be repaired includes: Identify three-dimensional data for tooth classification in the first and second oral data; Based on the three-dimensional data of the tooth classification, the tooth positions in the first oral cavity data and the second oral cavity data are segmented; The tooth position of the tooth to be repaired is identified by comparing the differences between the first oral data and the second oral data at each tooth position.

4. The method according to claim 3, wherein, Identifying the tooth position to be repaired by comparing the differences between the first oral cavity data and the second oral cavity data at the tooth position includes: In response to determining that the second oral data is obscured by the first oral data at the tooth position, the tooth position is determined to be the tooth position of the tooth to be repaired.

5. The method according to claim 1, wherein, Based on the identified tooth to be repaired, combining the first oral data and the second oral data to obtain updated three-dimensional data of the dental arch includes: Remove the three-dimensional data corresponding to the region of the tooth to be repaired from the first oral data; and The scan data corresponding to the region in the second oral cavity data is stitched together with the first oral cavity data.

6. The method according to claim 5, wherein, The region is a cylinder that accommodates the tooth to be repaired.

7. The method according to claim 1, wherein, The updated three-dimensional data of the dental arch includes: During the process of acquiring the second oral cavity data through an intraoral scanner, the updated three-dimensional data of the dental arch is displayed in real time, wherein the second oral cavity data replaces the area in the first oral cavity data that is obscured by the second oral cavity data.

8. The method according to claim 1, further comprising: During the acquisition of the second oral cavity data via an intraoral scanner, the first oral cavity data is displayed in a first window, and the second oral cavity data is displayed in a second window. The process of displaying the updated three-dimensional data of the dental arch includes: displaying the updated three-dimensional data of the dental arch in response to a pause or completion of the scan.

9. The method according to claim 1, further comprising: During the process of acquiring the second oral cavity data through an intraoral scanner, the first oral cavity data and the second oral cavity data are displayed in the same window, with the second oral cavity data magnified and displayed on top of the first oral cavity data. The process of displaying the updated three-dimensional data of the dental arch includes: displaying the updated three-dimensional data of the dental arch in response to a pause or completion of the scan.

10. The method according to claim 9, wherein, The first oral cavity data is displayed in a transparent or semi-transparent layer, while the second oral cavity data is displayed in a non-transparent layer.

11. A device for displaying oral cavity data, comprising: The first acquisition unit is configured to acquire first oral cavity data, the first oral cavity data including three-dimensional data of a dental arch, the dental arch including the tooth to be repaired; The second acquisition unit is configured to acquire second oral data via an intraoral scanner. The second oral data includes scan data of the tooth to be restored after tooth preparation and scan data of the surrounding area of ​​the tooth to be restored, wherein the first oral data and the second oral data are in the same coordinate system. The identification unit is configured to identify tooth regions in the first oral data and the second oral data, and to identify the tooth position of the tooth to be repaired based on the differences between the tooth regions in the first oral data and the second oral data; The combination unit is configured to combine the first oral cavity data and the second oral cavity data based on the identified tooth position of the tooth to be restored to obtain updated three-dimensional data of the dental arch; as well as The display unit is configured to display the updated three-dimensional data of the dental arch.

12. A computing device, comprising: Processing unit; as well as A memory, coupled to the processing unit and containing instructions stored thereon, which, when executed by the processing unit, cause the device to perform the method according to any one of claims 1 to 10.

13. A computer program product tangibly stored in a computer storage medium and comprising computer-executable instructions that, when executed by a device, cause the device to perform the method according to any one of claims 1 to 10.

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