Intraoral occlusion registration method and device, electronic equipment and computer program product

Abstract

The invention provides an intraoral occlusion registration method and device, electronic equipment and a computer program product. The method comprises the following steps: acquiring an upper dental arch model and a lower dental arch model of an upper dental arch and a lower dental arch in a non-occlusion state; acquiring an occlusion model of the upper dental arch and the lower dental arch in an occlusion state; respectively registering the upper dental arch model and the lower dental arch model with the occlusion model to generate a first dental arch model; determining one or more rigid modules in the first dental arch model; and registering the one or more rigid modules with the occlusion model to generate a second dental arch model. In this way, the shape of the dental arch is changed when the dental arch is subjected to occlusion stress, high-precision occlusion reconstruction of the upper dental arch and the lower dental arch in the actual stress state is achieved through two times of registration, and therefore the accuracy and stability of intraoral occlusion registration are remarkably improved.

Description

Technical Field

[0001] Embodiments of this disclosure relate to digital dental technology, specifically to precise occlusal registration optimization technology based on three-dimensional scanning. Embodiments of this disclosure provide oral scanning methods, apparatus, electronic devices, and computer program products. Background Technology

[0002] Intraoral scanning is the process of digitally acquiring detailed three-dimensional (3D) images of the oral cavity's internal structures, including teeth, gums, and surrounding tissues, using specialized optical techniques. During an intraoral scan, dental 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] Intraoral occlusal registration is a crucial step in digital dental restoration, used to obtain the spatial relationship between the patient's upper and lower dentitions in their natural occlusal state. Its purpose is to accurately reproduce the intraoral occlusal contact in the digital model, providing a precise basis for subsequent prosthesis design, implant restoration, and occlusal adjustment. Registration typically involves using an intraoral scanner to acquire contact data of the occlusal surfaces of the upper and lower dental arches in the patient's occlusal state and matching it with previously acquired digital models of the upper and lower jaws. Existing intraoral occlusal registration based on 3D scanning suffers from insufficient accuracy, resulting in a significant overall error between the registered intraoral occlusal model and the patient's actual occlusal state. This presents a challenge for relevant technicians. Summary of the Invention

[0004] The embodiments of this disclosure provide a precise occlusal registration optimization technique based on three-dimensional scanning.

[0005] According to a first aspect of this disclosure, an oral cavity scanning method is provided. The method includes: acquiring upper and lower dental arch models in a non-occlusal state; acquiring occlusal models of the upper and lower dental arches in an occlusal state; registering the upper and lower dental arch models with the occlusal models respectively to generate a first dental arch model, the first dental arch model including the occlusal poses of the upper and lower dental arch models in the occlusal state; determining one or more rigid modules in the first dental arch model; and registering the one or more rigid modules with the occlusal model to generate a second dental arch model, the second dental arch model including the occlusal poses of the one or more rigid modules in the occlusal state.

[0006] According to a second aspect of this disclosure, an intraoral occlusal registration device is provided, comprising: a first acquisition unit configured to acquire upper and lower dental arch models in a non-occlusal state; a second acquisition unit configured to acquire occlusal models of the upper and lower dental arches in an occlusal state; a first registration unit configured to register the upper and lower dental arch models with the occlusal models respectively to generate a first dental arch model, the first dental arch model including the occlusal poses of the upper and lower dental arch models in the occlusal state; a determination unit configured to determine one or more rigid modules in the first dental arch model; and a second registration unit configured to register the one or more rigid modules with the occlusal model to generate a second dental arch model, the second dental arch model including the occlusal poses of the one or more rigid modules in the occlusal state.

[0007] According to a third aspect of this disclosure, an electronic 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 the first aspect or the second method of this disclosure when executed by the processing unit.

[0008] 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 or second aspect of this disclosure.

[0009] 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 or second aspect of this disclosure.

[0010] 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

[0011] Figure 1 An illustrative flow diagram of an intraoral occlusal registration process including two registrations is shown according to an embodiment of the present disclosure.

[0012] Figure 2 A schematic flowchart of an intraoral occlusal registration method according to some embodiments of the present disclosure is shown.

[0013] Figure 3 A schematic flowchart of a secondary registration process according to some embodiments of the present disclosure is shown.

[0014] Figure 4 A schematic diagram showing the direction of tooth displacement during the secondary registration process is shown.

[0015] Figure 5 A schematic diagram of the force analysis of the teeth during the secondary registration process is shown.

[0016] Figure 6 A schematic block diagram of an intraoral occlusal registration device according to some embodiments of the present disclosure is shown.

[0017] Figure 7 A block diagram of an electronic device capable of implementing some embodiments of the present disclosure is shown.

[0018] 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

[0019] 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.

[0020] 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.

[0021] In existing technologies, occlusal analysis primarily relies on occlusal paper, occlusal wax, or extraoral analysis after intraoral impressions. While traditional occlusal paper or wax methods are simple and inexpensive, their thickness results in a wide marked occlusal point area, and the stained areas are often not the actual contact points due to friction between the upper and lower teeth, making it difficult to accurately reflect the actual occlusal situation. Although electronic occlusal pressure analyzers can measure occlusal strength, their spatial accuracy is still insufficient to accurately reconstruct the true occlusal relationship due to limitations in sensor diaphragm thickness. On the other hand, while intraoral impressions can improve accuracy, they are complex to perform, dependent on the doctor's experience, and offer a poor patient experience.

[0022] With the development of digital oral medicine, intraoral scanners have significantly improved efficiency and comfort in impression taking, but there are still key technical bottlenecks in acquiring occlusal data.

[0023] A typical procedure for acquiring occlusal data via intraoral scanning is as follows: First, the three-dimensional models of the upper and lower dental arches are scanned separately in a non-occlusal state. Then, an intraoral scan is performed in the occlusal state to acquire the occlusal model (including the labial regions of the closed upper and lower dental arches; the lingual regions cannot be scanned at this time). The upper and lower dental arch models are then registered with the occlusal model to obtain the pose of the upper and lower dental arches in the occlusal state, i.e., the final occlusal result. However, the above method ignores a physiological characteristic: the periodontal ligament is a connective tissue connecting teeth and alveolar bone, which has a certain degree of elasticity, allowing teeth to move under stress. In the above method, the separately scanned upper and lower dental arch models are obtained in a non-stressed state, while the occlusal model is obtained under stress. Different regions of the dental arch experience different degrees of stress, resulting in different directions and magnitudes of displacement. That is, the morphology of the occlusal model is not consistent with the upper and lower dental arch models acquired in the non-occlusal state. Therefore, when registering the upper and lower dental arches with the occlusal model, the calculated occlusal result deviates from the actual result. For example, the phenomenon of upper and lower dental arch penetration (i.e., the distance between the upper and lower dental arches is negative when occluding) cannot accurately reflect the actual contact or gap relationship.

[0024] In view of this, this disclosure proposes a precise occlusal registration optimization technique based on three-dimensional scanning, employing a two-stage registration process to obtain a more accurate intraoral occlusal model. Specifically, according to the scheme of this disclosure, the upper and lower dental arch models obtained by scanning in a non-occlusal state and the occlusal model obtained by scanning in an occlusal state are acquired, and an initial registration is performed. Based on this registration result, a secondary registration is performed. To achieve secondary registration, the upper and lower dental arch models can be divided into several rigid modules. The rigid modules can be single teeth, intraoral restorations (e.g., crown bridges), or other rigid bodies, whose morphology remains unchanged in both the non-occlusal and occlusal states, i.e., no internal deformation occurs during occlusion. During the secondary registration, the rigid modules are precisely registered with the occlusal model, and the pose of the rigid modules is fine-tuned. Based on the new pose, these rigid modules are spliced ​​together to synthesize a new upper and lower dental arch, resulting in a precise intraoral occlusal model. This disclosure takes into account the elasticity of the periodontal ligament and the physiological characteristics of tooth deformation under occlusion. It decomposes the dental arch model into rigid modules, adjusting the pose of each module individually. This achieves high-precision occlusal reconstruction of the upper and lower dental arches under actual stress conditions, thereby significantly improving the accuracy and stability of intraoral occlusal registration. (See the following reference.) Figures 1 to 7 Exemplary embodiments of this disclosure are described in detail below.

[0025] Figure 1A schematic flow diagram of an intraoral occlusal registration process 100, including two registrations, according to an embodiment of the present disclosure is shown. Process 100 can be implemented by a computing-capable electronic device (e.g., a laptop computer, desktop computer, etc.). In some embodiments, the electronic device can be coupled to an intraoral scanner to acquire intraoral images scanned by the intraoral scanner, stitch together the resulting three-dimensional model, and perform... Figure 1 The intraoral occlusal registration process 100 is shown. In some implementations, the electronic device can read a locally stored 3D model or obtain a scanned 3D model from another device to perform the process. Figure 1 The intraoral occlusal registration process shown is 100.

[0026] like Figure 1 As shown, an intraoral scan is used to obtain the upper and lower dental arch models 11 in a non-occlusal state and the occlusal model 12 in an occlusal state. In the non-occlusal state, the upper and lower dental arch models 11 contain complete dental arch data, while in the occlusal state, the intraoral scanner cannot scan the lingual data, so the occlusal model 12 only includes labial scan data.

[0027] Then, an initial registration 101 (also called "coarse registration") is performed between the upper and lower dental arch models 11 and the occlusal model 12 to obtain the approximate pose 13 of the upper and lower dental arch models 11 relative to the occlusal model 12. Through the initial registration 101, the three-dimensional transformation matrix from the upper and lower dental arch models 11 to the occlusal model 12 can be calculated. In some embodiments, a feature matching method can be used to implement the initial registration 101. The three-dimensional transformation matrix obtained after the initial registration represents the pose 13 of the upper and lower dental arch models matched to the occlusal model as a whole through translation or rotation. Through the initial registration 101, the upper and lower dental arch models 11 and the occlusal model 12 are transformed to the same coordinate system.

[0028] Next, rigid module identification 103 is performed on the upper and lower dental arch modules 11, dividing them into several rigid modules 14. The rigid modules 14 can be teeth or intraoral dental bridges (e.g., three-way bridges). As an example, in Figure 1 In the diagram, rigid module identification 103 is shown to be performed after initial registration 101. It can be understood that rigid module identification 103 can be completed before initial registration 101, for example, by identification algorithm or manually after scanning the upper and lower dental arch models, or by identifying rigid modules in real time during the scanning process.

[0029] Then, the rigid module and the occlusal model 12 are registered a second time 106 to obtain the precise occlusal pose 15 of the rigid module. Through the second registration, each rigid module is matched to the occlusal model 12, thereby adapting to their different forces and displacements under occlusal conditions. The specific method of the second registration 106 may differ from the initial registration 101. The embodiments of this disclosure provide an optimized iterative nearest-point method for precise occlusal registration to implement the second registration 106, which will be referred to below. Figures 3 to 5 Detailed description.

[0030] In some embodiments, each rigid module can be moved to the determined precise occlusal pose 15 and spliced ​​together to generate an intraoral occlusal model. The generated intraoral occlusal model can be stored and / or presented for use in subsequent denture design, implant restoration, etc.

[0031] Figure 2 A schematic flowchart of an intraoral occlusal registration method 200 according to some embodiments of the present disclosure is shown. Method 200 can be implemented by an electronic device. It should be understood that method 200 may also include additional actions not shown and / or actions shown may be omitted, and the scope of the present disclosure is not limited in this respect. For ease of explanation, in conjunction with... Figure 1 Let's describe method 200.

[0032] In box 210, the upper and lower dental arch models are acquired in a non-occlusal state. In some embodiments, the electronic device is coupled to an intraoral scanner, and the user operates the intraoral scanner to acquire scan data of the upper and lower dental arches in a non-occlusal state, resulting in upper and lower dental arch models 11. The upper and lower dental arch models 11 are full dental arch models acquired in a non-occlusal state, including three-dimensional data of the labial, buccal, and lingual sides of all teeth.

[0033] In box 220, an occlusal arch model of the upper and lower dental arches in occlusal state is acquired. In some embodiments, the user operates an intraoral scanner to acquire scan data in occlusal state, for example, scanning the labial regions of the closed upper and lower dental arches to generate occlusal model 12. Occlusal model 12 is the labial portion of all teeth acquired in occlusal state and includes three-dimensional data of the upper and lower teeth.

[0034] In frame 230, the upper and lower dental arch models are registered with the occlusal model to generate a first dental arch model. The first dental arch model includes the occlusal poses of the upper and lower dental arch models in the occlusal state. The registration of the upper and lower dental arch models 11 with the occlusal model 12 (i.e., initial registration 101) is used to obtain the occlusal poses 13 of the upper and lower dental arch models 11 matched to the occlusal model 12. The calculated occlusal poses 13 of the upper and lower dental arch models are moved to obtain the first dental arch model. In the first dental arch model, the upper dental arch model, the lower dental arch model, and the occlusal model are in the same coordinate system. It is worth noting that in the initial registration 101, the upper and lower dental arch models 11 are registered with the occlusal model 12 as a whole, which is different from the subsequent secondary registration 105.

[0035] The purpose of initial registration is to obtain the approximate pose of the dental arches. In some embodiments, initial registration can employ a feature matching method. Specifically, based on feature matching between the upper and lower dental arch models and the occlusal model, the poses of the upper and lower dental arch models in the occlusal state can be determined, and the upper and lower dental arch models can be moved to that pose. Then, based on the alignment of the matching point pairs between the moved upper and lower dental arch models and the occlusal model, the poses of the upper and lower dental arch models in the occlusal state are determined, serving as the occlusal poses of the upper and lower dental arch models in the occlusal state.

[0036] As an example of a feature matching method, we can first extract the 3D point cloud feature vectors of the upper and lower dental arch models and the occlusal model, such as Fast Point Feature Histogram (FPFH), and calculate the relationship between the 3D points and their surrounding neighboring points to characterize local features. Next, a high-dimensional vector nearest neighbor search algorithm is used to find all matching point pairs whose feature vectors have the minimum distance between them. Finally, the Random Sample Consensus (RANSAC) algorithm is used to find a set (e.g., three matching point pairs) from the matching point pairs that minimizes the distance between the two point clouds. The rotation and translation matrices from the upper and lower dental arch models to the occlusal model are then calculated to obtain the corresponding poses.

[0037] Optionally, the initial registration can be further performed using the Iterative Closest Point (ICP) algorithm to calculate a more accurate occlusal pose for the upper and lower dental arch models. Specifically, after moving the upper and lower dental arch models to the coarse registration pose obtained through feature matching, the sum of the Euclidean distances of the matching point pairs is calculated as the objective function to be solved. Singular value decomposition is then used to find the rotation and translation matrices that minimize the objective function, and the result is used as the initial pose for the next iteration. After multiple iterations, convergence is achieved, ultimately yielding the finely registered pose.

[0038] In box 240, one or more rigid modules in the first dental arch model are identified. In this document, a rigid module refers to an object that moves (translates / rotates) rigidly as a whole; for example, each natural tooth is a rigid module, or, when there is a restoration in the mouth, such as a three-bridge, it can be considered a rigid module. Several methods, as described below, can be used to identify or select rigid modules for subsequent secondary registration 105.

[0039] In some embodiments, rigid modules can be determined through image segmentation. Exemplary image segmentation methods may include using a deep neural network to predict the category of each 3D point in the upper and lower dental arch models, thereby achieving dental arch segmentation. For example, if each tooth is segmented, the category of the point is its corresponding tooth position number. The main structure of an exemplary deep neural network may include a feature extraction part and a classifier part, wherein the feature extraction part employs a 3D feature extraction network, such as PointNet and KPConv networks. A multi-layered stacked network structure can be used to gradually expand the feature representation range, ultimately obtaining a larger range of local or global features around each point. The classifier part can use fully connected layers to convert feature vectors into probabilities belonging to each category. The classifier is equivalent to a complex linear transformation operation, utilizing the backpropagation mechanism of the neural network to gradually improve prediction accuracy during training. Image segmentation methods also include feature-based segmentation. For example, feature points on the dental arch model can be obtained first, and clustering operations can be performed using these feature points to segment the entire dental arch into different modules based on its physiological characteristics. Methods for obtaining feature points on the dental arch include, but are not limited to, manual point selection, neural network prediction, and feature extraction operators.

[0040] In some embodiments, one or more rigid modules in the first dental arch model can be determined based on the region of interest input by the user. For example, the user can manually segment the dental arch into different modules on the interactive interface and mark the rigid modules that need to be registered twice.

[0041] In some embodiments, rigid modules with occlusal penetration after initial registration can be selected as rigid modules requiring secondary registration. Specifically, based on the occlusal poses of the upper and lower dental arch models in the occlusal state, one or more rigid modules in the upper and lower dental arch models that exhibit occlusal penetration are identified. For example, teeth and restorations in the first dental arch model where the upper and lower dental arches overlap are selected as requiring secondary registration 105.

[0042] In block 250, one or more rigid modules are registered with the occlusal model to generate a second dental arch model, which includes the occlusal poses of one or more rigid modules in the occlusal state. In some embodiments, to generate the second dental arch model, based on the registration between the rigid module 14 and the occlusal model 12 (i.e., secondary registration 105), the occlusal pose 15 of the rigid module 14 in the occlusal state is determined, and then the second dental arch model is generated based on the occlusal pose 15 of the rigid module. Specifically, the rigid modules can be moved to the determined corresponding occlusal pose, and all rigid modules moved to that occlusal pose can be spliced ​​together to generate the second dental arch model. In some embodiments, secondary registration with the occlusal model can be performed on each rigid module, or only on a portion of the rigid modules.

[0043] The exemplary secondary registration 105 can employ the Iterative Closest Point (ICP) method based on force analysis. The basic idea of ​​this method includes the following two considerations: First, after rigid transformation (including translation and rotation), the corresponding three-dimensional surface of each rigid module should coincide as much as possible with the three-dimensional surface of the occlusal model; second, in the occlusal state, if the rigid module is subjected to the force of the opposing tooth, its movement direction should be consistent with the force direction, that is, the displacement direction of the module from the non-occlusal state to the occlusal state should be the same as the direction of the occlusal force.

[0044] In the secondary registration process, optimization can be based on two differences: the geometric difference between the rigid module and the occlusal model, and the difference between the force direction and displacement direction of the rigid module. By jointly minimizing these two differences, the optimal pose of the rigid module in the occlusal state can be obtained. It should be noted that the secondary registration 105 calculates the pose of each rigid module matched to the occlusal model separately, which is different from the method of calculating the overall pose of the entire dental arch model (upper or lower dental arch) in the initial registration stage. Next, we will combine... Figures 3 to 5 The exemplary implementation process of secondary registration 105 is described in detail.

[0045] Figure 3 A schematic flowchart of a secondary precise registration process 300 according to some embodiments of the present disclosure is shown. Process 300 is executed iteratively, updating the poses of all rigid modules in each iteration. The iteration terminates when the cumulative loss value of all rigid modules is less than a preset threshold. At the start of process 300, a rigid module to be registered is first selected, and then the following steps are executed sequentially. Figure 3 The steps shown.

[0046] In box 310, for the selected rigid module, a first difference (also called the "first loss") between the rigid module and the occlusal model is calculated. In some embodiments, the distance from each point in the rigid module to the nearest point on the occlusal model can be calculated, and point pairs with a distance less than a threshold are selected to form a point set. Subsequently, an optimal transformation matrix is ​​calculated based on this point set, which represents the rotation and translation from the rigid module to the occlusal model, and the average distance from the transformed point set to the occlusal model is used as the first loss, which is used as one of the optimization objectives.

[0047] In box 320, calculate the second difference (also known as the "second loss") between the force direction and displacement direction of the rigid module. The second loss can serve as another optimization objective to constrain the consistency between the motion direction and the force direction of the rigid module.

[0048] Figure 4 A schematic diagram showing the direction of tooth displacement during the secondary registration process is provided. Figure 4 (a) shows the positions of the upper and lower teeth before each round of registration iterations. Figure 4 (b) shows the position and displacement direction of the upper and lower teeth after each iteration of registration. Figure 4 (c) shows the displacement direction (cross section) of the upper and lower teeth during each round of iterative registration.

[0049] In some embodiments, the displacement direction of the rigid module can be obtained by decomposing the optimal transformation matrix to be solved. Specifically, the transformation matrix is ​​decomposed into a rotation matrix and a translation vector, where the translation vector represents the displacement direction.

[0050] In some embodiments, the direction of force on the rigid module can be determined based on the overlapping area between the module and the opposite dental arch. In other words, when there is occlusal penetration between the upper and lower dental arches, the corresponding tooth (or restoration) is subjected to occlusal force, the direction of which can be deduced from the geometry of the penetration area.

[0051] Figure 5 A schematic diagram illustrating the force analysis of teeth during the secondary registration process is shown. Among them, Figure 5 (a) shows the force analysis of a single contact point of a single tooth (diagram of cross section). Figure 5 (b) shows the resultant force analysis of a single tooth. Figure 5(c) illustrates the overall force distribution of the contacting teeth. In some embodiments, the calculation process for the force direction of the rigid module is as follows: First, the distance between the upper and lower dental arches is calculated based on the transformation matrix of the current rigid module, where the pose of the rigid module at the opposite end of the dental arch is taken from the result of the previous iteration. This determines the regions with negative distances, i.e., the occlusal penetration regions of the upper and lower dental arches, or the occlusal contact regions. For each contact region, the pair of points with the largest penetration distance (located on the upper and lower dental arches respectively) is selected, and the direction of their connection and distance are used as the basis for estimating the force direction and intensity. Finally, the forces at each contact point are synthesized to obtain the overall force direction of the rigid module.

[0052] In box 330, the pose of the rigid module in the engagement state is calculated based on the first difference and the second difference. As mentioned earlier, the average distance from the point set of the transformed rigid module to the engagement model (first loss) and the difference between the force direction and the displacement direction (second loss) can be used together as optimization objectives. In some embodiments, the two can be weighted and summed according to a preset ratio to minimize the transformation matrix of the weighted loss as the optimization result.

[0053] In box 340, it is determined whether all rigid modules to be registered have been traversed. In this iteration, if not all rigid modules have been processed, the next rigid module is selected, and the steps in boxes 310 to 330 are repeated; if all rigid modules have been processed, the process proceeds to box 350 to determine whether the termination condition is met. The termination condition can be that the cumulative loss value of all rigid modules is less than a preset threshold, or the number of iterations has reached the upper limit. If the termination condition is not met, the next iteration begins, and the operations in boxes 310 to 340 are repeated; if the termination condition is met, the precise poses of all rigid modules are output in box 360.

[0054] Figure 6 A schematic block diagram of an intraoral occlusal registration device 600 according to some embodiments of the present disclosure is shown. The device 600 can be implemented by hardware, software, or a combination of hardware and software in an electronic device.

[0055] As shown in the figure, the intraoral occlusal registration device 600 includes a first acquisition unit 610, a second acquisition unit 620, a first registration unit 630, a determination unit 640, and a second registration unit 650. The first acquisition unit 610 is configured to acquire upper and lower dental arch models in a non-occlusal state. The second acquisition unit 620 is configured to acquire occlusal models of the upper and lower dental arches in an occlusal state. The first registration unit 630 is configured to register the upper and lower dental arch models with the occlusal models respectively to generate a first dental arch model, which includes the occlusal poses of the upper and lower dental arch models in the occlusal state. The determination unit 640 is configured to determine one or more rigid modules in the first dental arch model. The second registration unit 650 is configured to register the one or more rigid modules with the occlusal model to generate a second dental arch model, which includes the occlusal poses of the one or more rigid modules in the occlusal state.

[0056] It should be noted that the above is for reference only. Figures 1 to 5 Any methods or steps described herein can be implemented by corresponding units or modules within the device 600, and will not be described again here.

[0057] Figure 7 A schematic block diagram of an exemplary electronic device 700 that can be used to implement embodiments of the present disclosure is shown. As shown, the device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 702 or loaded from a storage unit 706 into a random access memory (RAM) 703. Various programs and data required for the operation of the device 700 may also be stored in the RAM 703. The computing unit 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0058] 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 709, such as network card, modem, wireless transceiver, etc. Communication unit 709 allows device 700 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0059] 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 500 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 709. When the computer program is loaded into RAM 703 and executed by the 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).

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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 intraoral occlusal registration, comprising: Obtain the upper and lower dental arch models in a non-occlusal state; Obtain the occlusal model of the upper and lower dental arches in the occlusal state; The upper dental arch model and the lower dental arch model are respectively registered with the occlusal model to generate a first dental arch model. The first dental arch model includes the occlusal pose of the upper dental arch model and the lower dental arch model in the occlusal state. Identify one or more rigid modules in the first dental arch model; as well as The one or more rigid modules are registered with the occlusal model to generate a second dental arch model, which includes the occlusal pose of the one or more rigid modules in the occlusal state.

2. The method according to claim 1, wherein, The registration of the upper dental arch model and the lower dental arch model with the occlusal model includes: Based on feature matching between the upper dental arch model and the lower dental arch model and the occlusion model, the pose of the upper dental arch model and the lower dental arch model in the occlusion state is determined; Move the upper dental arch model and the lower dental arch model to the pose; and Based on the alignment of the matching point pairs of the upper and lower dental arch models with the occlusal model after they have moved to the pose, the poses of the upper and lower dental arch models in the occlusal state are determined as the occlusal poses of the upper and lower dental arch models in the occlusal state.

3. The method according to claim 1, wherein, Determining one or more rigid modules in the first dental arch model includes: Based on the occlusal pose of the upper and lower dental arch models in the occlusal state, one or more rigid modules in the upper and lower dental arch models that experience occlusal penetration are determined.

4. The method according to claim 1, wherein, Determining one or more rigid modules from the first dental arch model includes: Based on image segmentation and / or user-inputted regions of interest, one or more rigid modules in the first dental arch model are determined.

5. The method according to claim 4, wherein, Determining one or more rigid modules in the first dental arch model includes: Based on the feature points in the upper and lower dental arch models, the first dental arch model is divided into multiple rigid modules.

6. The method according to claim 1, wherein, Each of the one or more rigid modules is a tooth or a restoration.

7. The method according to claim 1, wherein, Registering the one or more rigid modules with the occlusal model to generate a second dental arch model includes: Based on the registration between at least one of the one or more rigid modules and the occlusal model, the occlusal pose of the at least one rigid module in the occlusal state is determined; and The second dental arch model is generated based on the determined occlusal pose of the at least one rigid module.

8. The method according to claim 7, wherein, Determining the occlusal pose of the at least one rigid module in the occlusal state includes iteratively performing the following process. Based on the first difference between the at least one rigid module and the occlusal model, and the second difference between the force direction and displacement direction of the at least one rigid module, the occlusal posture of the at least one rigid module in the occlusal state is calculated.

9. The method according to claim 8, wherein, The force direction is obtained based on the overlap of the at least one rigid module with the opposing dental arch, and the displacement direction is obtained based on the decomposition of the transformation matrix from the at least one rigid module to the occlusal model.

10. The method of claim 7, wherein, Based on the determined occlusal pose of the at least one rigid module, generating the second dental arch model includes: Based on the engagement posture, move the at least one rigid module; and The at least one rigid module is spliced ​​and moved to generate the second dental arch model.

11. An intraoral occlusal registration device, comprising: The first acquisition unit is configured to acquire the upper and lower dental arch models in a non-occlusal state. The second acquisition unit is configured to acquire the occlusal model of the upper dental arch and the lower dental arch in an occlusal state; The first registration unit is configured to register the upper dental arch model and the lower dental arch model with the occlusal model respectively to generate a first dental arch model, wherein the first dental arch model includes the occlusal pose of the upper dental arch model and the lower dental arch model in the occlusal state; The determining unit is configured to determine one or more rigid modules in the first dental arch model; as well as The second registration unit is configured to register the one or more rigid modules with the occlusal model to generate a second dental arch model, the second dental arch model including the occlusal pose of the one or more rigid modules in the occlusal state.

12. An electronic 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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