Implant immediate denture precise manufacturing system based on preoperative planning and three-dimensional registration

Abstract

The invention provides an implant immediate denture precise manufacturing system based on preoperative planning and three-dimensional registration. An example method includes obtaining first oral data, the first oral data including three-dimensional data of a denture model and three-dimensional data of a marker; acquiring second oral cavity data, wherein the second oral cavity data comprises scanning data of a plurality of bases fixed in the oral cavity and a marker; registering the first scanning data and the second scanning data based on the matching of the three-dimensional data of the marker and the scanning data of the marker; a denture model to be processed is generated based on a result of the registration, the denture model to be processed comprising three-dimensional data of the denture model and positioning information of a plurality of holes, each hole being for accommodating one of the plurality of abutment. According to the embodiment of the invention, the accurate positioning of the false tooth model and the abutment is realized by using a digital technology, the accurate matching of the false tooth and the abutment is ensured, and the comfort and experience of a dental implant patient are improved.

Description

Technical Field

[0001] Embodiments of this disclosure relate to dental implant technology, specifically to a method, apparatus, and computer program product for denture fabrication based on oral data registration. Background Technology

[0002] With the aging of society, the number of patients with missing teeth is constantly increasing, leading to a growing demand for efficient and stable restorative methods. As a result, dental implant technology has gradually gained clinical application. This technology provides chewing efficiency and stability close to natural teeth by implanting a dental implant, effectively protecting the alveolar bone and improving patients' quality of life. However, dental implants typically require a long treatment period, and patients must wait for the prosthesis to be completed before regaining normal chewing function. Prefabricated denture technology allows patients to wear prefabricated dentures (also known as "ready-to-wear dentures") on the day of implant placement, restoring chewing function and avoiding the inconvenience of the transition period for edentulous or missing teeth in traditional methods.

[0003] Nevertheless, traditional prefabricated dentures often lack sufficient customization and have poor fitting accuracy with implants. This can easily lead to gaps or uneven stress distribution between the denture and implant, affecting the stability and comfort of the denture, reducing chewing efficiency, and potentially increasing the risk of implant failure. Therefore, improving the fitting accuracy and personalization of prefabricated dentures to ensure patients' chewing ability and comfort presents a challenge for relevant technicians. Summary of the Invention

[0004] According to a first aspect of this disclosure, a method for fabricating a denture is provided, comprising: acquiring first oral cavity data, the first oral cavity data including three-dimensional data of a denture model and three-dimensional data of markers; acquiring second oral cavity data, the second oral cavity data including scan data of multiple abutments fixed in the oral cavity and markers; registering the first scan data and the second scan data based on the matching of the three-dimensional data of the markers and the scan data of the markers; and generating a denture model to be processed based on the registration result, the denture model to be processed including three-dimensional data of the denture model and positioning information of multiple holes, each hole being used to accommodate one of the multiple abutments.

[0005] According to a second aspect of this disclosure, a denture fabrication apparatus is provided, comprising: a computing device including a processor and a memory, the memory storing instructions that, when executed by the processor, cause the computing device to: acquire first oral cavity data, the first oral cavity data including three-dimensional data of a denture model and three-dimensional data of markers; acquire second oral cavity data, the second oral cavity data including scan data of a plurality of abutments fixed in the oral cavity and the markers; register the first scan data and the second scan data based on the matching of the three-dimensional data of the markers and the scan data of the markers; and, based on the registration result, generate a denture model to be processed, the denture model to be processed including three-dimensional data of the denture model and positioning information of a plurality of holes, each hole being used to accommodate one of the plurality of abutments.

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

[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 medium is provided that stores machine-executable instructions thereon, which, when executed by a device, cause the device to perform the method described 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 flowchart of a method for fabricating dentures based on oral data registration according to some embodiments of the present disclosure is shown;

[0012] Figure 3 A visualization view of preoperative oral data that can be used for registration according to some embodiments of this disclosure is shown.

[0013] Figure 4A visualization view of preoperative oral data that can be used for registration according to some embodiments of this disclosure is shown.

[0014] Figure 5 A schematic diagram of oral data registration results according to some embodiments of the present disclosure is shown.

[0015] Figure 6 A schematic diagram of an opening device for fabricating dentures according to some embodiments of the present disclosure is shown.

[0016] Figure 7 A block diagram of a computing device capable of implementing some embodiments of the present disclosure is shown.

[0017] 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

[0018] 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.

[0019] 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.

[0020] Dental implants are a restorative technique that artificially restores the function and aesthetics of missing teeth. The core of the procedure involves three structural components: the implant itself, the abutment, and the crown. The implant, typically made of titanium or titanium alloy, is inserted into the patient's alveolar bone, acting as an artificial tooth root. After implantation, the implant integrates firmly with the alveolar bone through osseointegration, providing reliable support for the superstructure. This integration process usually takes several months. Once the implant has firmly integrated with the alveolar bone, the abutment is installed. The abutment is the transitional structure connecting the implant and the crown; one end connects to the implant, and the other end provides a platform for fixing the crown. The denture is the crown portion that ultimately appears in the oral cavity and directly performs the chewing function.

[0021] Using immediate implantation technology, a temporary abutment and temporary prosthesis (also known as "immediate prosthesis" or "pre-formed prosthesis") can be directly installed on the day of implant placement or within a few days. After the implant and alveolar bone have integrated, they are replaced with a permanent abutment and prosthesis. Patients do not need to experience an edentulous period, and the comfort and aesthetics are excellent.

[0022] However, current immediate implant techniques suffer from difficulties in precisely passively positioning the implant. This is due to discrepancies between preoperative planning and intraoperative execution. Factors such as limited oral operating space, alveolar bone anatomy, and changes in patient positioning during surgery result in slight deviations between the final intraoral position and angle of the implant and abutment and the ideal position planned preoperatively. Furthermore, current immediate prostheses have a low degree of customization; the placement holes are prefabricated based on a universal "ideal" position, which cannot accommodate actual positional deviations.

[0023] In some related techniques, to ensure a more precise passive placement of the denture, tedious adjustments are often required. When the denture cannot be properly positioned, the technician can only rely on experience to manually grind and adjust the positioning holes, repeatedly trying it on in the patient's mouth to verify its fit. This process is not only time-consuming and laborious, prolonging the operation time and increasing patient discomfort, but repeated adjustments can also easily lead to denture damage, poor fit, or disruption of the prosthesis's shape.

[0024] In view of this, embodiments of the present disclosure provide a method for denture fabrication based on oral data registration. This method achieves precise matching between the abutment and the denture through digital registration, significantly improving the accuracy of passive denture placement. According to this method, preoperative oral data and intraoral scan data are acquired. The preoperative oral data includes three-dimensional data of the denture model located in the planned position. The intraoral scan data includes scan data of the prosthesis abutment installed in the oral cavity. Subsequently, the preoperative oral data and intraoral scan data are registered using a digital registration algorithm. Registration relies on identical markers in the preoperative oral data and intraoral scan data. Through digital registration, the denture model in the preoperative oral data and the abutment in the intraoral scan data can be fused into the same space (i.e., the same coordinate system). This allows for the automatic calculation of the precise perforation position and direction of the abutment on the denture, generating a digital model of the denture to be processed with pre-marked perforation information. Furthermore, this model can directly drive drilling equipment (such as a robotic arm or milling machine) for automated drilling. This method allows for the simple and efficient fabrication of customized dentures, achieving precise matching between the denture, abutment, and implant, ensuring passive placement of the denture in one attempt, and avoiding repeated trial fittings and manual adjustments required in traditional methods.

[0025] The following is for reference Figures 1 to 5Exemplary embodiments of this disclosure are described below. The following primarily describes the denture fabrication process for edentulous patients (i.e., those who have no teeth at all). It is understood that the denture fabrication method and apparatus provided in this disclosure are also applicable to some edentulous patients (i.e., those who have some teeth in their mouths but also have edentulous areas).

[0026] Figure 1 Exemplary environments in which various embodiments of the present disclosure can be implemented are illustrated. One exemplary environment illustrates an intraoral scanning system 100 that can be used to fabricate dentures, comprising 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.

[0027] 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 integrally with 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 detailed information about intraoral entities, such as the abutment, scanning bar, teeth, gums, and surrounding soft tissues, converting the intraoral morphology into digitized image data.

[0028] 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 uses specific algorithms to stitch and fit numerous discrete image data points to construct three-dimensional scan data. The three-dimensional scan data can be displayed on the 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, including but not limited to preoperative planning, adding markers, and registering oral cavity data. The computing device 120 can also store other data, such as three-dimensional data of denture models, scanning rods, abutments, implant guides, guide retention screws, or bone screws.

[0029] Users can use computing device 120 for preoperative planning. During preoperative planning, three-dimensional data of the edentulous jaw model (a model with no edentulous jaw or partial edentulism) is presented on screen 115. The user places the prosthetic model at the planned position relative to the edentulous jaw model, serving as preoperative oral data. In some embodiments, the user can also add markers to the preoperative oral data for registration with actual oral scan data.

[0030] After implant placement and abutment installation, with markers in place in the oral cavity, actual oral data is acquired using an intraoral scanner 110. The actual oral scan data includes scan data of the markers and the abutment. Through registration of preoperative oral data and actual oral scan data, the prosthesis model and abutment can be transformed into the same coordinate system. This allows for the determination of the position and orientation of the placement holes in the prosthesis model to accommodate the abutment, achieving precise matching. The actual oral data used for registration can be oral data generated in real-time during the scanning process, or it can be stored on a post-scanning medium and retrieved when the prosthesis needs to be fabricated. Alternatively, the prosthesis manufacturer can obtain preoperative planning data and oral scan data from the implant placement provider to perform oral data registration. Therefore, the oral data registration process proposed in this disclosure can be independent of the oral scanning operation.

[0031] Figure 2 A schematic flowchart of a denture fabrication method 200 based on oral data registration according to some embodiments of the present disclosure is shown. Method 200 can be, for example... Figure 1 The method is implemented by the computing device 120 shown. It is understood that method 200 can also be implemented by a computing device decoupled from the intraoral scanner. It should be understood that method 200 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.

[0032] In box 210, first oral cavity data is acquired, which includes three-dimensional data of the denture model and three-dimensional data of the markers.

[0033] The first set of oral data includes the three-dimensional data of the edentulous jaw model. The edentulous jaw model can be an edentulous jaw model or a model with partial dentition loss. The three-dimensional data of the edentulous jaw model can be obtained through intraoral scanning or by scanning the impression after intraoral impression taking. Furthermore, based on the planned position of the prosthesis model within the edentulous jaw model and the positioning information of the markers, the three-dimensional data of the prosthesis model and the three-dimensional data of the markers can be obtained.

[0034] The first oral data corresponds to the preoperative oral data prior to implant placement, where the prosthesis model is located in the desired placement position within the oral cavity, i.e., the planned position. The three-dimensional data of the prosthesis model can be standard model data of the (unperforated) prosthesis to be used, or it can be three-dimensional data obtained by scanning a solid prefabricated prosthesis.

[0035] In some embodiments, the first oral data can be obtained through digital oral impressions, for example, by acquiring three-dimensional data of the edentulous jaw model through intraoral scanning, and then placing markers and three-dimensional data of the denture model at the corresponding planned locations. Through digital planning, the user can determine the planned position of the denture model in the edentulous jaw model on an interactive interface, and then add the three-dimensional data of the denture model to the edentulous jaw model based on the planned position.

[0036] Markers are used for registration purposes and can be rigid objects present in the oral cavity before implantation and abutment placement. In some embodiments, markers can be retention screws for fixing the implant guide or other bone screws that require additional installation (e.g., orthodontic anchorage screws). Alternatively, markers can be rigid or near-rigid structures in the oral cavity, such as feature points on the palatal fold.

[0037] First oral data can be obtained by scanning a physical oral impression. For example, an intraoral plaster model can be made from the impression, and the dentures and markers can be placed at the planned positions on the plaster model. Then, the first oral data can be obtained by scanning.

[0038] Figure 3 A visualization view of preoperative oral data that can be used for registration according to some embodiments of this disclosure is shown. Figure 3 (a) shows a model of an edentulous jaw (maxilla). Figure 3 (b) illustrates an exemplary marked denture model, wherein the denture model is positioned at the planned location on the edentulous jaw model, both being in the same coordinate system. The user can move the denture model within the digital interface to place it at the desired planned location. Figure 3 In (b), the markers are feature points on the palatal folds. Users can select palatal fold feature points as registration reference points on the interactive interface.

[0039] Figure 4 Another example of preoperative oral data that can be used for registration according to some embodiments of this disclosure is shown, wherein the markers are retention pins of the implant guide (hereinafter referred to as the "guide"). Figure 4 In (b), the denture model is located at the planned position on the edentulous jaw model. To add markers, in Figure 4Based on the edentulous jaw model in (a), three-dimensional data of the surgical guide is added through a digital interactive interface. The guide includes retention pin holes and implant holes for implant positioning. In practice, retention pins pass through the retention pin holes of the guide, fixing the guide immovably in the oral cavity. The implant passes through the implant holes and is inserted into the oral cavity. After implant placement, the abutment can pass through the implant holes, with one end of the abutment detachably fixed to the implant. Figure 4 As shown in (c), the position of the implant guide relative to the edentulous jaw model can be determined. Based on this position, the position of the retention pin holes can be determined, the three-dimensional data of the retention pins can be obtained, and added to that position. Figure 4 As shown in (d), the three-dimensional data of the retention screws are added to the oral cavity data based on the position of the retention screw holes on the guide plate. The planned position of the retention screws relative to the denture model is fixed and immovable. With the help of the guide plate, the relative positional relationship between the retention screws and the implant holes / abutment holes is fixed and immovable.

[0040] In frame 220, second oral cavity data is acquired, which includes scan data of multiple abutments and markers fixed within the oral cavity. To achieve precise positioning of the abutments and dentures, markers are present within the oral cavity during scanning, such that the second scan data includes scan data of the markers.

[0041] In some embodiments, acquiring second oral data may include: acquiring second scan data of the oral cavity using an intraoral scanner when multiple abutments and markers are fixed intraorally. Specifically, after implant placement is completed, multiple abutments are detachably attached to the implant. Then, an intraoral scan is performed using an intraoral scanner to acquire the second scan data.

[0042] It is understood that the oral scanning operation and the registration operation proposed in this disclosure can be performed independently. For example, the user uses an intraoral scanner to acquire second oral data and stores it in a medium. Subsequently, when a denture needs to be made, the second oral scan data is read and registered with the preoperative oral data. Alternatively, the user uses an intraoral scanner to acquire second oral data and transmits it to the denture manufacturer, who then performs the registration of the second oral scan data with the preoperative oral data to make the denture.

[0043] As mentioned above, the markers can be the fixation pins of the guide plate. After implantation, the fixation pins are retained, and an intraoral scanner is used to acquire three-dimensional data of the fixation pins and the abutment.

[0044] In box 230, the first scan data and the second scan data are registered based on the matching of the three-dimensional data of the marker and the scan data of the marker.

[0045] The purpose of registration is to transform the first scan data and the second scan data into the same coordinate system, so that the denture model in the first scan data and the abutment in the second scan data are located in the same space, thereby allowing the positioning hole of each abutment in the denture to be calculated.

[0046] In some embodiments, registration is performed based on manually selected feature points. For the first oral cavity data, the user selects a first set of marker points from the 3D data of the marker on the interactive interface; for the second oral cavity data, the user selects a second set of marker points from the scan data of the marker on the interactive interface. Then, based on the matching of the selected first and second sets of marker points, the first and second oral cavity data are transformed to the same coordinate system. The two sets of marker points selected on the interactive interface have the same number of points and are located close to each other. In some embodiments, point set registration methods, such as the iterative nearest point algorithm or robust point matching algorithm, can be used to calculate the translation and rotation matrices of the model to be matched and the target model, thereby transforming the two models to the same coordinate system. One set of marker points in the first and second sets represents the model to be matched, and the other set represents the target model.

[0047] In some embodiments, registration can be performed based on automatic feature matching. Specifically, regions corresponding to markers are segmented in the first and second oral cavity data, respectively. Then, based on 3D feature matching of the regions corresponding to the markers, the first and second oral cavity data are transformed to the same coordinate system. The method for segmenting the markers can be manual segmentation or automatic segmentation based on deep neural networks. 3D features are extracted from the segmented marker regions. The feature extraction method can be a fast point feature histogram algorithm or based on deep neural networks. The features of each point in the marker region can be represented by a fixed-length vector. 3D feature matching can use a nearest neighbor matching algorithm to calculate the best matching point, thereby calculating the translation and rotation matrices to transform the first and second oral cavity data into the same coordinate system.

[0048] Continue to refer to Figure 2 In box 240, based on the registration results, a denture model to be processed is generated. The denture model to be processed includes the three-dimensional data of the denture model and the positioning information of multiple holes, each hole being used to accommodate one of multiple abutments.

[0049] The registration result can be represented by a coordinate transformation matrix. Based on the coordinate transformation matrix, the three-dimensional data of the denture model and abutment in the same coordinate system can be obtained. In some embodiments, based on the relative positional relationship between multiple abutments and dentures in the same coordinate system, the penetration position and angle information of each abutment on the denture are determined as positioning information for the holes used to accommodate the abutments.

[0050] Figure 5A schematic diagram of oral data registration results according to some embodiments of the present disclosure is shown. As shown, the first oral data includes a denture model and markers located at the planned position, and the second oral data includes scan data of the markers and abutments. After registration based on the markers, the first and second oral data are fused together, including the oral mucosa, markers, denture model, and abutments. This allows the determination of the positioning information of each abutment on the denture model, including its position and angle. The positioning information of each abutment on the denture model corresponds to a through-hole, providing three-dimensional coordinates for the next step of precise drilling by the robotic arm.

[0051] The following describes the process of precisely drilling holes in a prefabricated denture based on the denture model obtained by method 200 using a drilling device (e.g., a robotic arm hand-eye calibration system). After obtaining the registered 3D model of the denture and the corresponding drilling coordinates and angles, it needs to be transformed into the coordinate system of the robotic arm. Therefore, the actual drilling can be completed using a drilling device with hand-eye calibration capabilities.

[0052] Figure 6 A schematic diagram of a drilling device according to some embodiments of the present disclosure, capable of drilling holes in a denture based on registered oral data, is shown. As shown, the drilling device 600 includes an image acquisition module 610, a control unit 620, and a robotic arm 630. The image acquisition module 610 can be mounted on the robotic arm 630.

[0053] The image acquisition module 610 captures image data of the denture on the worktable and the robotic arm, providing spatial position information for the drilling operation. The control unit 620 processes the acquired image data, combines it with the registered denture model, calculates the actual drilling position and angle of the denture, and sends instructions to the robotic arm for execution. The robotic arm 630 executes precise drilling actions according to the instructions of the control unit, realizing the machining of holes on the denture.

[0054] During processing, the image acquisition module 610 acquires images of the pre-formed denture fixed to the operating table of the robotic arm. Based on the image of the pre-formed denture, the control unit 620 transforms the denture model to be processed into the coordinate system of the robotic arm. Based on the denture model to be processed in the coordinate system of the robotic arm, the control unit 620 controls the robotic arm 630 to form multiple holes on the pre-formed denture. The control unit 620 can perform coordinate system transformation and motion planning in real time.

[0055] The image acquisition module 610 can be a depth camera, a monocular camera, a multi-view camera, a motion camera, etc. Depending on the type of image acquisition module 610, it can acquire two-dimensional images or three-dimensional images of the denture, or construct a three-dimensional model based on two-dimensional images.

[0056] When the image acquisition module 610 is a depth camera, the acquired images are 3D images. To transform the denture model to be processed into the coordinate system of the robotic arm, the control unit 620 can transform the denture model to be processed into the coordinate system of the robotic arm based on the registration of the 3D image and the denture model to be processed. The registration method of the 3D model can include two stages: coarse registration and fine registration. The purpose of coarse registration is to obtain the approximate pose of the dental arch, and fine registration is to fine-tune it to minimize the distance between the acquired image and the denture model, thereby obtaining the accurate pose. Coarse registration can use feature matching methods, such as the fast point feature histogram algorithm, while fine registration can use the iterative nearest point algorithm.

[0057] When the image acquisition module 610 is a non-depth camera (e.g., a monocular camera, a multi-view camera, or a motion camera), the acquired image is a two-dimensional image. To achieve coordinate system transformation, the control unit 620 can transform the denture model to be processed into the coordinate system of the robotic arm based on the registration of the two-dimensional image and the three-dimensional data of the denture model. For example, in the case of a monocular camera, deep learning-based multimodal fusion technology can be used to simultaneously extract the two-dimensional features of the image and the three-dimensional features of the denture model, perform nearest neighbor matching on the two sets of features to obtain matching point pairs, and then transform the denture model into the coordinate system of the robotic arm. Alternatively, the two-dimensional image can be reconstructed into a three-dimensional model, and then the denture model can be transformed into the coordinate system of the robotic arm based on the registration of the three-dimensional model and the denture model. For example, a deep neural network can be used to predict the depth information of the pixels, reconstruct the three-dimensional model, and then the denture model can be transformed into the coordinate system of the robotic arm using the registration method for three-dimensional images described above.

[0058] This disclosure also provides a denture fabrication apparatus. The apparatus includes a computing device comprising a processor and a memory, wherein the memory stores instructions that, when executed by the processor, cause the computing device to: acquire first oral cavity data, the first oral cavity data including three-dimensional data of a denture model and three-dimensional data of markers; acquire second oral cavity data, the second oral cavity data including scan data of a plurality of abutments fixed within the oral cavity and markers; register the first scan data and the second scan data based on the matching of the three-dimensional data of the markers and the scan data of the markers; and, based on the registration result, generate a denture model to be processed, the denture model to be processed including three-dimensional data of the denture model and positioning information of a plurality of holes, each hole for accommodating one of abutments from a plurality of abutments. The denture fabrication apparatus further includes a drilling device for forming a plurality of holes in a prefabricated denture corresponding to the denture model, based on the denture model to be processed. In some embodiments, the denture fabrication apparatus may further include an intraoral scanner for chairside denture fabrication.

[0059] The above is for reference only. Figures 1 to 6The features or contents of the described denture manufacturing method also apply to the denture fabrication apparatus provided in this disclosure, and will not be repeated here.

[0060] Figure 7 A schematic block diagram of an example device 700 that can be used to implement embodiments of the present disclosure is shown. As shown, device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to computer program instructions stored in read-only memory (ROM) 702 or loaded from storage unit 706 into random access memory (RAM) 703. Various programs and data required for the operation of device 700 may also be stored in RAM 703. The computing unit 701, ROM 702, and RAM 703 are interconnected via bus 704. Input / output (I / O) interface 705 is also connected to bus 704.

[0061] Multiple components in device 700 are connected to I / O interface 705, including: input unit 706, such as keyboard, mouse, etc.; output unit 707, such as various types of monitors, speakers, etc.; storage unit 708, such as disk, optical disk, etc.; and communication unit 707, such as network card, modem, wireless transceiver, etc. Communication unit 707 allows device 700 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0062] The computing unit 701 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 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 701 performs the various methods and processes described above. For example, in some embodiments, method 200 may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on device 700 via ROM 702 and / or communication unit 707. When the computer program is loaded into RAM 703 and executed by computing unit 701, one or more steps of any of the methods described above may be performed. Alternatively, in other embodiments, computing unit 701 may be configured to perform the methods provided in this disclosure by any other suitable means (e.g., by means of firmware).

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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 fabricating a denture, comprising: Acquire first oral cavity data, which includes three-dimensional data of the denture model and three-dimensional data of the markers; Acquire second oral cavity data, which includes scan data of multiple abutments and markers fixed in the oral cavity; Based on the matching of the three-dimensional data of the marker and the scan data of the marker, the first scan data and the second scan data are registered; Based on the registration result, a denture model to be processed is generated. The denture model to be processed includes the three-dimensional data of the denture model and the positioning information of multiple holes, each hole being used to accommodate one of the multiple abutments.

2. The method according to claim 1, wherein, Obtaining the first oral cavity data includes: Obtain 3D data of the edentulous jaw model; and Based on the planned position of the denture model in the edentulous jaw model and the positioning information of the markers, the three-dimensional data of the denture model and the three-dimensional data of the markers are obtained.

3. The method according to claim 1 or 2, wherein, The first oral cavity data is obtained through digital oral impressions or by scanning physical oral impressions.

4. The method according to claim 1, wherein, Obtaining the second oral cavity data includes: With the plurality of abutments and the markers fixed in the oral cavity, a second scan of the oral cavity is acquired using an intraoral scanner.

5. The method according to claim 1, wherein, Registration of the first scan data and the second scan data includes: For the first oral cavity data, select the first set of marker points in the three-dimensional data of the marker on the interactive interface; Regarding the second oral cavity data, select the second set of marker points in the scan data of the marker on the interactive interface; and Based on the matching of the first set of marker points and the second set of marker points, the first oral cavity data and the second oral cavity data are transformed to the same coordinate system.

6. The method according to claim 1, wherein, Registration of the first scan data and the second scan data includes: The regions corresponding to the markers are segmented in the first oral cavity data and the second oral cavity data, respectively; and Based on the three-dimensional feature matching of the region corresponding to the marker, the first oral cavity data and the second oral cavity data are transformed to the same coordinate system.

7. The method according to claim 1, wherein, Based on the registration results, a denture model to be processed is generated, including: Based on the relative positional relationship between the multiple abutments and the denture in the same coordinate system, the penetration position and angle information of each abutment on the denture are determined as positioning information for the hole used to accommodate the abutment.

8. The method according to claim 1, further comprising: Based on the denture model to be processed, the plurality of holes are formed on the prefabricated denture corresponding to the denture model.

9. The method according to claim 8, wherein, Based on the denture model to be processed, forming the plurality of holes on the denture includes: The image acquisition module acquires images of the prefabricated dentures fixed on the operating table of the robotic arm; Based on the image of the prefabricated denture, the denture model to be processed is transformed into the coordinate system of the robotic arm; and Based on the dental prosthesis model to be processed in the coordinate system of the robotic arm, the plurality of holes are formed on the prefabricated dental prosthesis.

10. The method according to claim 9, wherein, The image acquisition module includes a depth camera, the image is a three-dimensional image, and the process of converting the denture model to be processed into the coordinate system of the robotic arm includes: Based on the registration of the 3D image and the denture model to be processed, the denture model to be processed is transformed into the coordinate system of the robotic arm.

11. The method of claim 9, wherein, The image acquisition module includes a non-depth camera, the image is a two-dimensional image, and the process of converting the denture model to be processed into the coordinate system of the robotic arm includes: Based on the registration of the two-dimensional image and the three-dimensional data of the denture, the denture model to be processed is transformed into the coordinate system of the robotic arm; or The two-dimensional image is reconstructed into a three-dimensional model, and based on the registration of the three-dimensional model with the denture model to be processed, the denture model to be processed is transformed into the coordinate system of the robotic arm.

12. A denture fabrication apparatus, comprising: A computing device, comprising a processor and a memory, the memory storing instructions that, when executed by the processor, cause the computing device to: Acquire first oral cavity data, which includes three-dimensional data of the denture model and three-dimensional data of the markers; Acquire second oral cavity data, which includes scan data of multiple abutments and markers fixed in the oral cavity; Based on the matching of the three-dimensional data of the marker and the scan data of the marker, the first scan data and the second scan data are registered; Based on the registration result, a denture model to be processed is generated. The denture model to be processed includes the three-dimensional data of the denture model and the positioning information of multiple holes, each hole being used to accommodate one of the multiple abutments.

13. The denture fabrication apparatus according to claim 12, further comprising: A drilling device for forming the plurality of holes in a prefabricated denture corresponding to the denture model, based on the denture model to be processed.

14. 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 11.

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