Data processing method and device and storage medium

Abstract

The embodiment of the invention provides a data processing method and device and a storage medium. The method comprises the following steps: globally scanning the oral cavity of a patient provided with a first scanning body to obtain first scanning data comprising scanning data of the first scanning body and scanning data of the oral cavity of the patient, positioning related basic information of the implant by means of the scanning data of the first scanning body, and determining a to-be-removed area (a scanning body covering area, a gingival cuff area and the like); the method comprises the steps of obtaining first scanning data, removing scanning data corresponding to a to-be-removed area in the first scanning data to obtain to-be-complemented scanning data, locally complementing the oral cavity of a patient not provided with a first scanning body to obtain second scanning data, and complementing the oral cavity of the patient based on the second scanning data, the to-be-complemented scanning data and the scanning data of the first scanning body. The target data of the implant body posture information and the complete gingival morphology information of the oral cavity of the patient can be synchronously and accurately obtained. According to the scheme, invalid scanning and data redundancy are reduced, and the data processing flow is simplified.

Description

Technical Field

[0001] This application relates to the field of oral implant technology, and in particular to a data processing method, device and storage medium. Background Technology

[0002] In the field of dental implant restoration, to achieve a precise fit between the implant and the restoration, digital data containing implant position information and oral soft tissue (especially gingival) morphology information can be obtained through oral scanning equipment. This data serves as the core basis for the design and fabrication of the restoration. The scanning unit is a key auxiliary component; by being installed on the implanted implant, it provides a clear positioning reference for the oral scanning equipment, helping to accurately capture the spatial position information of the implant.

[0003] To accurately position implants, current scanning probes often incorporate reinforcing structures (e.g., wing plates), resulting in a relatively large probe size that can obstruct the gingival region. Currently, to obtain complete gingival morphology and implant position information, multiple scans of the patient's oral cavity are typically required. For example, the oral cavity without the probe is scanned first to obtain gingival morphology data, followed by a scan with the probe installed to obtain implant position information. The data from these multiple scans are then stitched together. Because performing a single global scan of the patient's oral cavity is time-consuming, the current scanning process is not only inefficient and prolongs clinical operation time but also increases patient discomfort.

[0004] Therefore, there is an urgent need for a solution that can simplify the scanning process and improve scanning efficiency. Summary of the Invention

[0005] This application provides a data processing method, device, and storage medium.

[0006] According to a first aspect of the embodiments of this application, a data processing method is provided, the method comprising: First scan data is obtained by performing a global scan of the patient's oral cavity in the first state; wherein, a first scanning body is installed on the implanted implant in the patient's oral cavity in the first state, and the first scan data includes the scan data of the first scanning body and the scan data of the patient's oral cavity; Based on the scanning data of the first scanning body, the scanning data corresponding to the area to be removed in the first scanning data is determined, and the area to be removed includes the area covered by the first scanning body and / or the gingival cuff area. Remove the scan data corresponding to the region to be removed from the first scan data to obtain the scan data to be completed; Second scan data is obtained by performing a partial scan of the oral cavity of a patient in the second state, wherein the first scanning body is not installed on the implanted implant in the oral cavity of the patient in the second state, and the second scan data is obtained by scanning the area to be removed in the oral cavity of the patient in the second state. Based on the second scan data, the scan data to be completed, and the scan data of the first scanning body, target data including the positional information of the implant and the complete gingival morphology information of the patient's oral cavity is obtained.

[0007] According to a second aspect of the embodiments of this application, a data processing method is provided, the method comprising: Acquire preoperative scanning data of the patient's oral cavity in the preoperative state, wherein the patient's oral cavity in the preoperative state is in a state without tooth extraction, and a second scanning body is installed on a miniature fixation device installed in the patient's oral cavity in the preoperative state. The preoperative scanning data includes scanning data of the second scanning body, scanning data of the patient's oral cavity, and the patient's preoperative occlusal data. Postoperative scanning data of a patient's oral cavity in the postoperative state is obtained, wherein a second scanning body is installed on a miniature positioning device installed in the patient's oral cavity in the postoperative state, and a first scanning body is installed on the implanted implant in the patient's oral cavity in the postoperative state; the postoperative scanning data includes scanning data of the second scanning body, scanning data of the patient's oral cavity, and scanning data of the first scanning body. The alignment relationship between the preoperative scan data and the postoperative scan data is determined based on the scan data of the second scanner.

[0008] According to a third aspect of the embodiments of this application, a data processing method is provided, the method comprising: A third scan data is obtained by performing a local scan of the patient's oral cavity in the first state; wherein, a first scanning body is installed on the implanted implant in the patient's oral cavity in the first state, and the third scan data includes the scan data of the first scanning body and the local scan data of the patient's oral cavity; Based on the scanning data of the first scanning body, the scanning data corresponding to the area to be removed in the third scanning data is determined, and the area to be removed includes the area covered by the first scanning body and / or the gingival cuff area; Remove the scan data corresponding to the region to be removed from the third scan data to obtain the scan data to be completed; A fourth scan data is obtained by performing a global scan of the oral cavity of a patient in the second state, wherein the first scanning body is not installed on the implanted implant in the oral cavity of the patient in the second state, and the fourth scan data includes scan data of the entire gingival region in the oral cavity of the patient in the second state. Based on the fourth scan data, the scan data to be completed, and the scan data of the first scanning body, target data including the positional information of the implant and the complete gingival morphology information of the patient's oral cavity is obtained.

[0009] According to a fourth aspect of the embodiments of this application, a data processing apparatus is provided, the apparatus comprising: The first acquisition module is used to acquire first scan data obtained by performing a global scan of the patient's oral cavity in the first state; wherein, the implanted implant in the patient's oral cavity in the first state is equipped with a first scanning body, and the first scan data includes the scan data of the first scanning body and the scan data of the patient's oral cavity. The region to be removed module is used to determine the scanning data corresponding to the region to be removed in the first scanning data based on the scanning data of the first scanning body. The region to be removed includes the area covered by the first scanning body and / or the gingival cuff area. The removal module is used to remove the scan data corresponding to the region to be removed from the first scan data to obtain the scan data to be completed. The second acquisition module is used to acquire second scan data obtained by performing a partial scan of the oral cavity of a patient in the second state, wherein the first scanning body is not installed on the implanted implant in the oral cavity of the patient in the second state, and the second scan data is obtained by scanning the area to be removed in the oral cavity of the patient in the second state. The stitching module is used to obtain target data, including the positional information of the implant and the complete gingival morphology information of the patient's oral cavity, based on the second scan data, the scan data to be completed, and the scan data of the first scan body.

[0010] According to a fifth aspect of the embodiments of this application, a data processing apparatus is provided, the apparatus comprising: The first acquisition module is used to acquire preoperative scanning data of the patient's oral cavity in the preoperative state, wherein the patient's oral cavity in the preoperative state is in a state without tooth extraction, and a second scanning body is installed on the miniature fixation device installed in the patient's oral cavity in the preoperative state. The preoperative scanning data includes the scanning data of the second scanning body, the scanning data of the patient's oral cavity, and the patient's preoperative occlusion data. The second acquisition module is used to acquire postoperative scanning data of the patient's oral cavity in the postoperative state, wherein a second scanning body is installed on the miniature positioning device installed in the patient's oral cavity in the postoperative state, and a first scanning body is installed on the implanted implant in the patient's oral cavity in the postoperative state; the postoperative scanning data includes scanning data of the second scanning body, scanning data of the patient's oral cavity, and scanning data of the first scanning body. An alignment module is used to determine the alignment relationship between the preoperative scan data and the postoperative scan data based on the scan data of the second scanning body.

[0011] According to a sixth aspect of the embodiments of this application, a data processing method is provided, the method comprising: The first acquisition module is used to acquire third scan data obtained by performing a partial scan of the patient's oral cavity in the first state; wherein, a first scanning body is installed on the implanted implant in the patient's oral cavity in the first state, and the third scan data includes the scan data of the first scanning body and the partial scan data of the patient's oral cavity. The region to be removed module is used to determine the scanning data corresponding to the region to be removed in the third scanning data based on the scanning data of the first scanning body. The region to be removed includes the area covered by the first scanning body and / or the gingival cuff area. The removal module is used to remove the scan data corresponding to the region to be removed from the third scan data to obtain the scan data to be completed. The second acquisition module is used to acquire fourth scan data obtained by performing a global scan of the patient's oral cavity in the second state, wherein the first scanning body is not installed on the implanted implant in the patient's oral cavity in the second state, and the fourth scan data includes scan data of the entire gingival region in the patient's oral cavity in the second state. The stitching module is used to obtain target data, including the positional information of the implant and the complete gingival morphology information of the patient's oral cavity, based on the fourth scan data, the scan data to be completed, and the scan data of the first scan body.

[0012] According to a seventh aspect of the present application, an electronic device is provided, the electronic device including a processor, a memory, and computer instructions stored in the memory that are executable by the processor, wherein when the processor executes the computer instructions, it can implement the method mentioned in the first aspect above.

[0013] According to an eighth aspect of the embodiments of this application, a computer-readable storage medium is provided, the storage medium storing computer instructions that, when executed, implement the method mentioned in the first aspect above.

[0014] In this embodiment, to obtain implant position information and complete oral gingival morphology data, a phased scanning strategy of "global scanning of the patient's oral cavity with the first scanner installed + local supplementary scanning of the patient's oral cavity without the first scanner installed" can be adopted. First, a global scan of the patient's oral cavity with the first scanner installed can be performed to obtain first scan data including the scan data of the first scanner and the scan data of the patient's oral cavity. The basic information related to the implant can be located and the area to be removed can be determined using the scan data of the first scanner (the area covered by the scanner, the gingival cuff area, etc.). The scan data corresponding to the area to be removed in the first scan data can be removed to obtain the scan data to be supplemented. By performing local supplementary scanning of the patient's oral cavity without the first scanner installed, the gingival data of the unobstructed area to be removed can be obtained. Finally, the second scan data, the scan data to be supplemented, and the first scanner data are merged to simultaneously and accurately obtain implant position information and complete oral gingival morphology information of the patient's oral cavity.

[0015] The above-described scheme ensures the accuracy of implant position information by utilizing the first scanning body, while avoiding occlusion of key gingival areas by the scanning body through local supplementary scanning, thus completing the gingival morphology data. This achieves simultaneous and reliable acquisition of both types of core information. The phased scanning is highly targeted, reducing invalid scans and data redundancy, simplifying the data processing workflow, and improving the efficiency and completeness of data acquisition. This provides high-quality data support for subsequent diagnostic and treatment procedures or prosthesis design. It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and not intended to limit the embodiments of this application. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments conforming to the present application and, together with the specification, serve to explain the technical solutions of the embodiments of the present application.

[0017] Figure 1 This is a schematic diagram of an implant repair surgery according to an embodiment of this application.

[0018] Figure 2 This is a flowchart of a data processing method according to an embodiment of this application.

[0019] Figure 3 This is a schematic diagram of a scanning body according to an embodiment of this application.

[0020] Figure 4 This is a flowchart of another data processing method according to an embodiment of this application.

[0021] Figure 5(a) is a flowchart of another data processing method according to an embodiment of this application.

[0022] Figure 5(b) is a schematic diagram of a local scan of a patient's oral cavity according to an embodiment of this application.

[0023] Figure 6(a) is a schematic diagram of scanning the oral cavity of a non-edentulous patient to prepare a restoration in a related technique.

[0024] Figure 6(b) is a schematic diagram of scanning the oral cavity of an edentulous patient to prepare a prosthesis in a related technique.

[0025] Figure 7 This is a schematic diagram of scanning the oral cavity of a non-edentulous patient to prepare a prosthesis, according to an embodiment of this application.

[0026] Figure 8 This is a schematic diagram of a three-dimensional model obtained by first removing the scanning rod and cuffs, and then re-scanning, according to an embodiment of this application.

[0027] Figure 9 This is a schematic diagram of scanning the oral cavity of an edentulous patient to prepare a prosthesis, as described in an embodiment of this application.

[0028] Figure 10 This is a schematic diagram of the logical structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0029] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0030] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items. Additionally, the term “at least one” herein means any combination of at least two of any one or more of a plurality.

[0031] It should be understood that although the terms first, second, third, etc., may be used to describe various information in the embodiments of this application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0032] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, and to make the above-mentioned objectives, features and advantages of the embodiments of this application more apparent and understandable, the technical solutions in the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0033] like Figure 1 As shown, implant restoration typically involves placing an implant 11 into the patient's mouth (e.g., the maxilla or mandible), then mounting an abutment 12 on the implant 11, and finally fixing a pre-fabricated restoration 13 (e.g., a crown, bridge, etc.) onto the abutment 12. The precise fit of the dental restoration directly determines the treatment outcome, and the precise design of the restoration relies on the complete and high-precision acquisition of two core data types: "implant spatial position" and "surrounding tissue morphology" within the patient's oral cavity. With the development of digital oral technology, digital scanning technology has gradually replaced traditional physical impressions, becoming the mainstream method of data acquisition. Its core advantages lie in its high data acquisition efficiency and direct integration with digital restoration design and manufacturing processes.

[0034] Currently, to achieve precise implant positioning, specialized scanning probes with positioning enhancement structures (such as wing plates and extension arms) are typically used. These probes usually have highly recognizable markers on their surface (such as dots with known spacing, regular geometric patterns, or geometric structures of specific shapes). Scanning these probes with dental scanning equipment allows for the acquisition of high-precision spatial pose information of the implant, meeting the rigid connection requirements between the prosthesis and the implant. However, to ensure the stability of marker recognition and measurement accuracy, the positioning enhancement structures of these probes are often quite large, significantly obstructing the soft tissues surrounding the implant, such as the gingiva and alveolar mucosa. Because the morphological data of the obstructed areas cannot be fully captured, the acquired soft tissue morphological data of the patient's oral cavity is incomplete. This missing data is precisely the key basis for prosthesis margin design and gingival fit optimization.

[0035] Currently, to obtain complete information on the gingival morphology and implant positioning in a patient's oral cavity, multiple scans are typically required. For example, the cavity without the scanner is scanned first to obtain gingival morphology data, then scanned again after the scanner is installed to obtain implant positioning information. The data from these multiple scans are then stitched together. Because performing a single global scan of the patient's oral cavity is time-consuming, the current scanning process is not only inefficient and prolongs clinical operation time, but also increases patient discomfort. Therefore, there is an urgent need for a solution that simplifies the scanning process and improves scanning efficiency.

[0036] Based on this, this application provides a data processing method. In order to obtain implant position information and complete oral gingival morphology data, a phased scanning strategy of "global scanning of the oral cavity of patients with the first scanning body installed + local supplementary scanning of the oral cavity of patients without the first scanning body installed" can be adopted. First, a global scan of the oral cavity of patients with the first scanning body installed can be performed to obtain first scan data including the scan data of the first scanning body and the scan data of all or part of the patient's gingiva. The basic information related to the implant can be located and the area to be removed can be determined using the scan data of the first scanning body (the area covered by the scanning body, the gingival cuff area, etc.). The scan data corresponding to the area to be removed in the first scan data is removed to obtain the scan data to be supplemented. By performing local supplementary scanning of the oral cavity of patients without the first scanning body installed, the gingival data of the unobstructed area to be removed can be obtained. Finally, the second scan data, the scan data to be supplemented and the first scanning body data are merged to simultaneously and accurately obtain implant position information and complete oral gingival morphology information of the patient.

[0037] It should be noted that the merging operation has multiple implementation schemes, including but not limited to: one scheme is to stitch and merge multiple data sets; another scheme is to unify the coordinate systems of multiple data sets. For user convenience, the target data has multiple display formats, including but not limited to: one format is to display the stitched and merged data in the interactive interface; another format is to overlay and display multiple data sets in a unified coordinate system in the interactive interface, but these multiple data sets are separate; and another format is to display multiple independent data files after coordinate system unification.

[0038] The above approach ensures the accuracy of implant position information by utilizing the first scanning body, while avoiding the obstruction of key gingival areas by the scanning body through local supplementary scanning, thus completing the complete gingival morphology data. This approach achieves the synchronous and reliable acquisition of two types of core information. The phased scanning is highly targeted, reduces invalid scans and data redundancy, simplifies the data processing process, and improves the efficiency and completeness of data acquisition, providing high-quality data support for subsequent diagnostic and treatment operations or prosthesis design.

[0039] The data processing method provided in this application can be executed by various electronic devices such as dental scanning devices, mobile phones, tablets, laptops, physical servers, server clusters, and cloud servers. For example, in some scenarios, a dental scanning device can scan a patient's oral cavity, and then the data processing device built into the dental scanning device can directly process the acquired scan data. In other scenarios, a dental scanning device can scan a patient's oral cavity and send the scan data to other devices that are connected to the dental scanning device via wired or wireless communication (such as a user's mobile phone or computer), and then these other devices can process the scan data.

[0040] like Figure 2 As shown, the data processing method of this application may include the following steps: S202. Obtain first scan data obtained by performing a global scan of the patient's oral cavity in the first state; wherein, the first scanning body is installed on the implanted implant in the patient's oral cavity in the first state, and the first scan data includes the scan data of the first scanning body and the scan data of the patient's oral cavity. In step S202, the state in which an implant is placed in the patient's oral cavity and a first scanning body is mounted on the implant can be defined as the first state. For example, an implant can be placed in the maxilla or mandible of the patient's oral cavity, and then one or more first scanning bodies can be fixed to the implant directly or indirectly. In some embodiments, the first scanning body can be directly fixed to the implant; in some embodiments, an abutment can be installed on the implant first, and then the first scanning body can be fixed to the abutment.

[0041] The first scanning body has a mounting interface (such as an internal hexagonal slot or threaded hole) that matches the implant or abutment to secure it to the implant or abutment. The central axis of the first scanning body is collinear with the axis of the implant. Because the first scanning body is rigidly connected to the implant, the position (location, angle, etc.) of the implant and / or abutment within the patient's oral cavity can be determined based on the first scanning body's position within the patient's mouth. In some embodiments, the first scanning body may include markers (e.g., coded markers, non-coded markers, or one or more geometric features) to provide clear positioning characteristics for subsequent scans.

[0042] Then, an oral scanning device can be used to scan the patient's oral cavity in the first state. During the scanning process, the entire oral cavity can be covered to collect the first scan data. The first scan data includes both the scan data of the first scanning body, which is used to provide a reference for implant positioning, and the scan data of the patient's oral cavity, such as the scan data of the gingiva, dental arch, and remaining teeth.

[0043] The scanning data of the first scan may include one or more of the following: the topographic data of the first scan body (e.g., a three-dimensional model of the first scan body) and the pose information of the markers on the first scan body (e.g., the three-dimensional coordinates of the markers on the first scan body). The scanning data of the patient's oral cavity may include the topographic data of the patient's soft tissues (e.g., a three-dimensional model of the patient's oral cavity, gingiva, and mucosa).

[0044] S204. Based on the scanning data of the first scanning body, determine the scanning data corresponding to the area to be removed in the first scanning data, the area to be removed includes the area covered by the first scanning body and / or the gingival cuff area; In step S204, based on the scanning data of the first scanning body, the scanning data corresponding to the area to be removed that needs to be scanned in the first scanning data can be located and determined. The area to be removed can flexibly cover the physical coverage area occupied by the first scanning body itself (the soft tissue data below cannot be obtained due to the scanning body blocking), the gingival cuff area around the implant neck, the abutment, and the root of the scanning bar (the key part of the prosthesis transgingival design), or include both of the above types of areas at the same time.

[0045] For example, in some embodiments, the scanning data of the first scanning body may include the pose information of the marker of the first scanning body. Therefore, the area covered by the first scanning body in the patient's oral cavity can be determined based on the pose information of the marker. Since some gingival areas are obscured by the first scanning body in this area, the scanning data of this area in the first scanning data obtained in the current scan may be incomplete. Therefore, this area can be regarded as an area to be removed so that the area can be scanned again.

[0046] In some embodiments, in order to obtain more accurate gingival cuff data so that the designed prosthesis can achieve a transgingival morphology (i.e., the gingiva wraps around the dental prosthesis to ensure aesthetics), the position of the implant in the patient's oral cavity can also be determined based on the positional information of the marker. Then, the gingival area around the implant is used as the area to be removed so that the area can be scanned again to obtain more accurate gingival morphology data.

[0047] In some embodiments, the scanning data of the first scanning body may include the morphological data of the first scanning body (e.g., a three-dimensional model of the first scanning body), or the area to be removed may be determined based on the morphological data of the first scanning body, for example, a three-dimensional region covering the three-dimensional model of the first scanning body. Alternatively, the location of the implant may be determined based on the morphological data of the first scanning body, and then the gingival region around the implant may be determined as the area to be removed.

[0048] By using the scanning data of the first scanner to accurately locate the area to be removed, redundancy in rescanning caused by dividing the area too large can be avoided, as well as the omission of key data caused by dividing the area too small. This provides clear guidance for subsequent targeted rescanning and improves the targeting and efficiency of the rescanning operation.

[0049] S206. Remove the scan data corresponding to the area to be removed from the first scan data to obtain the scan data to be completed; In step S206, the scan data corresponding to the area to be removed can be removed from the first scan data, ultimately obtaining scan data to be completed where the area to be removed has data gaps, while the data of the other non-removable areas is fully preserved. For example, taking the area to be removed as a three-dimensional spatial region including the first scan body, the scan data corresponding to the three-dimensional spatial region can be removed, such as the shape data of the first scan body, the gingival data around the first scan body, etc., thereby obtaining that the gingival data is missing. The missing gingival data includes the removed gingival data or the gingival data obscured by the first scan body. For example, the first scan data can include a three-dimensional model of the first scan body and a three-dimensional model of the patient's oral cavity. After removing the three-dimensional model of the first scan body, there may be some gaps in the remaining three-dimensional model. These gaps are the oral cavity areas (such as the gingiva) obscured by the first scan body, i.e., the three-dimensional model to be completed with missing data.

[0050] For example, taking the cuff area as the area to be removed, after removing the scanning data of the gingival area around the implant, the scanning data of the cuff area is missing, thus obtaining the missing scanning data of the cuff area to be completed.

[0051] There are several ways to remove the scan data corresponding to the area to be removed. One approach is to separate the scan data corresponding to the area to be removed from the first scan data. The display interface only retains the 3D model constructed from the remaining scan data after separation. In this approach, the removal operation is a selective retention of the display result, rather than a complete deletion of the scan data corresponding to the area to be removed; it simply removes the scan data corresponding to the area to be removed from the display interface. Another approach is to completely delete the scan data corresponding to the area to be removed from the source data (first scan data). Yet another approach is to separate the scan data corresponding to the area to be removed from the first scan data and increase the transparency of the separated scan data, such as displaying it semi-transparently, to highlight the remaining scan data on the display interface. A third approach is to delete the scan data corresponding to the area to be removed from the intermediate product of the reconstructed model or the reconstructed model, so that the display interface does not display the scan data corresponding to the area to be removed. By removing invalid data (the shape data of the scanning object itself) and missing area data that need to be updated from the first scan data caused by the scanning object's occlusion, the scan data to be completed has a clear "gap location". This makes it easier to determine whether the data has been completed during subsequent scans, thus stopping the scan. At the same time, deleting invalid data and data that need to be updated can also avoid these data interfering with subsequent stitching and integration.

[0052] S208. Obtain second scan data by performing a local scan of the oral cavity of the patient in the second state, wherein the implanted implant in the oral cavity of the patient in the second state is not equipped with the first scanning body, and the second scan data is obtained by scanning the area to be removed in the oral cavity of the patient in the second state. In step S208, the first scanning body on the implant installed in the patient's mouth can be removed to obtain the patient's mouth in a second state. Since the first scanning body on the implant has been removed, the area to be removed that was originally covered is completely exposed. Then, the exposed area to be removed can be scanned locally by an oral scanning device to obtain second scan data that includes the complete gingival cuff morphology and the soft tissue morphology of the area originally covered by the first scanning body.

[0053] Patients in the second stage do not have a scanner installed in their mouths, but may have implants, abutments, or scanning caps that do not obstruct or obstruct the gums.

[0054] Compared to the unfocused full-area scanning in related technologies, this step adopts a "targeted local scanning" mode, scanning only the key missing areas, which greatly reduces the scanning range and operation time, and reduces the patient's discomfort during intraoral scanning. At the same time, since the area to be removed has been precisely defined, the scanning process can focus on core areas such as the exposed gingival cuff, and can collect clearer, more complete and accurate soft tissue morphology data, providing high-quality data support for the design of the prosthesis's pergingival morphology.

[0055] S210. Based on the second scan data, the scan data to be completed, and the scan data of the first scan body, target data including the implant pose information and the complete gingival morphology information of the patient's oral cavity is obtained.

[0056] In step S208, after obtaining the second scan data, target data including implant pose information and complete gingival morphology information of the patient's oral cavity can be obtained based on the second scan data, the scan data to be completed, and the scan data of the first scanner. For example, the acquired second scan data can be stitched to the missing positions in the scan data to be completed to complete the soft tissue data of the entire oral cavity. Then, combined with the scan data of the first scanner, the implant pose information and the completed gingival morphology information can be accurately fused to generate target data that simultaneously contains precise implant pose information and complete gingival morphology information of the patient's oral cavity.

[0057] For example, in some embodiments, the first scan data may include a three-dimensional model of the first scan body obtained from the actual scan and a three-dimensional model of the patient's oral cavity. The scan data of the first scan body may be a three-dimensional model of the first scan body. The second scan data may be a three-dimensional model of the area to be removed obtained from the second scan. The scan data to be completed may be a three-dimensional model of the oral cavity with gaps left after deleting the three-dimensional model of the first scan body (for example, a gap in the gingival part obscured by the first scan body). In this case, the three types of three-dimensional models can be stitched together to finally obtain a target three-dimensional model including the first scan body and the complete oral cavity.

[0058] In some embodiments, the scanning data of the first scanning body can also be the pose information of the markers of the first scanning body, or a standard 3D model of the first scanning body can be retrieved from the feature library of the scanning body based on the pose information of the markers of the first scanning body. Then, the standard 3D model, the 3D model of the area to be removed, and the 3D model of the oral cavity with gaps are stitched together to obtain a target 3D model including the first scanning body and the complete oral cavity. In the process of obtaining the target 3D model, duplicate data can be replaced, stitched together in a preferred manner, covered, or overlapped.

[0059] In some embodiments, the scanning data of the first scanning body can also be the pose information of the markers of the first scanning body, or, based on the pose information of the markers of the first scanning body and the installation correspondence between the first scanning body and the abutment or implant, the standard three-dimensional model of the corresponding abutment or implant can be retrieved from the scanning body feature library. Then, the standard three-dimensional model of the abutment or implant, the three-dimensional model of the area to be removed, and the three-dimensional model of the oral cavity with gaps are stitched together to obtain a target three-dimensional model including the first scanning body and the complete oral cavity. During the process of obtaining the target three-dimensional model, duplicate data can be replaced, stitched together selectively, covered, or overlapped.

[0060] In some embodiments, the scanning data of the first scanning body can also be the pose information of the markers (geometric features or landmarks) of the first scanning body. The pose information of the implant is determined based on the pose information of the markers of the first scanning body. The pose information of the implant, the second scanning data and the three-dimensional oral cavity model with gaps are stitched together to obtain a complete oral gingival morphology model, thereby obtaining the target data of the implant pose information and the complete oral gingival morphology model of the patient.

[0061] During the rescanning of areas to be removed, to facilitate real-time monitoring of the gingival region (especially critical areas to be removed) and prevent data omissions in core areas (such as gingival cuffs) due to insufficient scanning, or redundant operations caused by excessive scanning, thus prolonging clinical operation time and increasing patient discomfort, in some embodiments, during the integration of second scan data, rescanning data, and first scan data, the second scan data acquired in real time can be dynamically stitched together with the rescanning data to continuously generate intermediate rescanning 3D data. This intermediate rescanning 3D data is then visualized in real-time on the interactive interface, allowing users to intuitively observe the shape of the scanned areas and unscanned gaps, clearly understanding the rescanning progress. For example, a 3D model can be generated and displayed based on the intermediate rescanning 3D data, allowing users to view the rescanning status of gaps in the 3D model. This enables users to adjust the position of the oral scanner based on the current gap position for rescanning, and also helps users determine whether the gap has been completely scanned. Once the user determines that the area to be removed has been scanned completely based on the intermediate 3D data displayed on the interactive interface, they can issue a stop scanning command to pause the scan.

[0062] In some embodiments, the system can also analyze intermediate three-dimensional data in real time through algorithms to automatically determine whether the gingival region to be scanned (including the cuff region and the original scan body coverage area) has been completely scanned. If the integrity requirement is met, the scanning will be automatically terminated.

[0063] Then, after pausing the supplementary scanning, the latest intermediate completed 3D data can be used as a basis, combined with the scanning data of the first scan, to accurately register and fuse the implant pose information with the complete gingival morphology information, ultimately generating the target data. This approach solves the problem of blind supplementary scanning, avoiding incomplete data due to missed scans and reducing redundant operations caused by over-scanning, significantly improving supplementary scanning efficiency and data acquisition accuracy, while also lowering the operational threshold for users and enhancing the convenience of clinical procedures.

[0064] Considering that when determining the area to be removed based on the scanning data of the first scanner, issues such as noise and incomplete local scanning may exist in the scanning data, resulting in only a rough definition of the area physically occupied by the first scanner itself, it is impossible to accurately associate and cover the key gingival areas related to the restoration design around the first scanner (such as the gingival cuff of the implant neck and adjacent soft tissue). This can lead to the omission of core gingival data or overscanning of irrelevant areas during re-scanning, affecting the efficiency of re-scanning and potentially reducing the adaptability of the restoration's perigender morphology design due to incomplete data. Based on this, in some embodiments, a method of determining the area to be removed can be adopted: "standard model matching + precise expansion". For example, a preset scanner feature library stores standard three-dimensional models of various types of scanners (including the precise size, structural morphology, and installation reference information of the scanner). Based on the scanning data of the first scanner (such as the shape features and marker information of the scanner), the standard model in the feature library is matched to accurately retrieve the corresponding standard three-dimensional model of the first scanner. Then, the area where the first scanner itself is located can be accurately located and delineated in the first scanning data using this standard three-dimensional model as a reference. Based on the gingival data requirements of the implant restoration design, the area where the first scanning body is located is reasonably expanded. The expanded range is adapted to the acquisition requirements of the gingival cuff and the surrounding soft tissues of the scanning body. Finally, a removal area is formed that includes the area of ​​the first scanning body itself and the surrounding key gingival areas. The scanning data outside the removal area is locked, and the scanning data outside the removal area remains unchanged.

[0065] By leveraging the precise benchmarks provided by the standard 3D model, errors in defining regions by directly relying on scan data are avoided. At the same time, targeted expansion ensures that the area to be removed not only covers the area obscured by the scan body but also accurately encompasses the surrounding key gingival areas. This solves the problems of inaccurate positioning and incomplete range of the area to be removed, effectively improving the targeting and efficiency of the re-scanning operation. It ensures that the gingival data obtained from the re-scanning is complete and conforms to the design requirements of the restoration, providing reliable support for the accurate integration of subsequent target data and the adaptation design of the restoration's transgingival morphology.

[0066] In some embodiments, the scanning data of the first scanned object may include the shape data of the first scanned object. For example, the scanning data of the first scanned object can be used to construct a three-dimensional model that can realistically restore the actual shape of the first scanned object through a three-dimensional reconstruction algorithm. The reconstructed three-dimensional model of the first scanned object is then compared with various standard three-dimensional models stored in a preset scanned object feature library in multiple dimensions (including size parameters, structural morphology, etc.). By calculating similarity, the standard three-dimensional model that best matches the reconstructed model is identified, thus completing the accurate retrieval of the standard three-dimensional model. Then, the standard three-dimensional model can be transformed into the coordinate system of the first scanned data to determine the scanning data corresponding to the area to be removed from the first scanned data based on the standard three-dimensional model.

[0067] In some embodiments, the scanning data of the first scanning body can also be the data of markers in the first scanning body (e.g., the shape of the markers, the pose information of the markers, etc.). Therefore, the unique markers preset by the first scanning body itself, such as coded marker points, geometric three-dimensional structures (e.g., easily identifiable, high-contrast structures such as spheres, cubes, and frustums), can be used to accurately extract the features of these markers (including core features such as the size, shape, and relative position relationship of the markers) from the scanning data of the first scanning body through feature recognition algorithms. Since these markers are the core identity identifiers of the scanning body, their features are stable and not easily affected by the scanning environment. Then, the extracted marker scanning data can be compared with the marker features corresponding to each standard three-dimensional model in the preset scanning body feature library. Since the marker feature data is small and highly recognizable, the standard three-dimensional model with consistent feature matching can be quickly locked to complete the retrieval.

[0068] By using biomarkers as a core feature to replace the overall scan data for matching, the amount of data processing is greatly reduced, the retrieval efficiency of the standard model is improved, and the stability and uniqueness of the biomarker features ensure the accuracy of the matching results. This effectively avoids the influence of the scanning environment and scanning angle on the matching, adapts to complex clinical scanning scenarios, and provides efficient support for the rapid and accurate definition of the area to be removed.

[0069] For implant surgery in edentulous patients (referring to cases where the maxilla, mandible, or both are edentulous after tooth extraction and implant placement), it's important to consider that before surgery, when edentulous patients are in a state without tooth extraction and implant placement, their oral cavity retains a natural dentition and stable occlusion. However, after tooth extraction and implant placement, because one of their upper or lower jaws is completely edentulous, an occlusal relationship cannot be achieved. Precise prosthesis design relies on the occlusal relationship; otherwise, problems such as malocclusion and chewing discomfort may occur, failing to match the patient's natural occlusal functional needs. Therefore, in some embodiments, for the oral cavity of edentulous patients, in addition to obtaining postoperative target data (including implant position information and complete gingival morphology information), preoperative scanning data of the patient's preoperative state can be additionally collected. This preoperative state refers to the patient's state before tooth extraction and implant placement. The corresponding preoperative scanning data not only includes preoperative oral morphology data recording the preoperative natural dentition, gingival tissue morphology, etc., but also covers preoperative occlusal data reflecting the patient's natural and stable relative positional relationship between the upper and lower jaws. Then, through precise registration algorithms, the spatial alignment relationship between postoperative target data and preoperative scan data can be established and determined, thereby achieving precise correlation between postoperative implant positioning information, gingival morphology data and preoperative occlusal data.

[0070] By scanning the patient's oral cavity before surgery to obtain stable occlusal data, and then stitching the preoperative scan data with the postoperative target data, the prosthesis is designed based on the stitched data. This ensures that the prosthesis can not only accurately connect with the implant, but also perfectly restore the patient's comfortable occlusal relationship before surgery, avoiding clinical fitting problems caused by malocclusion.

[0071] For edentulous patients, since they lack teeth, the alignment of pre- and post-operative data for implant restoration relies solely on soft tissues such as the gums. However, before surgery, patients are in a state where no teeth have been extracted and no implants have been placed. After procedures such as tooth extraction and implant placement, the soft tissues such as the gums undergo significant deformation, such as gum congestion and swelling. If only the easily deformable gum tissue is used for pre- and post-operative data splicing, the alignment accuracy will be extremely low, and the stable occlusal relationship before surgery may be lost. Ultimately, this can lead to problems such as malocclusion and discomfort with the restoration, severely affecting the implant restoration outcome. Based on this, in some embodiments, a precise alignment design of "miniature fixation device + second scanning body" can be adopted. For example, in both the pre-operative state (no teeth extracted, no implants placed) and the first state (implant placed and a first scanning body installed) of edentulous patients, a miniature fixation device is implanted in the patient's oral cavity (such as the maxillary tuberosity, palate, etc.). This miniature fixation device is small in size, causing minimal trauma to the patient's oral cavity, and a scanning body can be installed on this miniature fixation device. For example, a second scanning body can be mounted on a miniature fixation device. The surface of the second scanning body is equipped with markers, such as coded marker points or markers with unique three-dimensional geometric structures (e.g., easily identifiable geometric features like spheres, cubes, or frustums). Thus, the preoperative scan data obtained from scanning the patient's oral cavity includes not only preoperative oral morphology and occlusal data, but also simultaneously acquired scan data from the second scanning body (e.g., morphological data of the second scanning body or pose information of the markers on it). Similarly, the first scan data obtained from scanning the patient's oral cavity in the first state includes not only scan data from the first scanning body and patient oral cavity scan data, but also simultaneously acquired scan data from the second scanning body. Consequently, the postoperative target data also integrates the scan data from the second scanning body. Therefore, when determining the alignment relationship between the target data and the preoperative scan data, the core features of the second scan volume marker in the preoperative scan data (such as size, shape, relative position relationship, encoding information or one or more) and the corresponding features of the second scan volume marker in the target data are extracted by feature recognition algorithm. Based on these stable and unique marker features, a spatial coordinate transformation relationship is established, thereby achieving accurate alignment of preoperative and postoperative data.

[0072] In addition, when the patient's oral cavity is in the second state (i.e., the first scanning body is removed for supplementary scanning), the miniature fixation device can remain in the oral cavity but the second scanning body can be removed to avoid it obstructing the area to be removed and to ensure the integrity of the supplementary scanning data.

[0073] Due to the small size of the micro-fixation device, the surgical implantation process is minimally invasive and the postoperative recovery is fast. It can minimize damage to the patient's oral tissues and improve the acceptance of clinical operation. The micro-fixation device, together with the highly recognizable and interference-resistant markers on the second scanning body, can avoid relying on the gums to achieve data alignment, greatly reduce the error of preoperative and postoperative data splicing, and significantly improve the splicing accuracy. This allows for precise alignment of preoperative and postoperative data with minimal trauma and a good patient experience.

[0074] In some embodiments, the miniature fixation device includes any one of the following: anchorage screws and mini implants. Both anchorage screws and mini implants are mature applications in clinical dentistry. Both are small in size, and their miniaturized design significantly reduces implantation trauma, simplifies surgical procedures, and promotes rapid postoperative recovery. This minimizes damage to the patient's oral tissues and increases patient acceptance of the clinical procedure.

[0075] For edentulous patients, the lack of a stable dentition as a reference for scanning and stitching makes the stitching of multiple single-frame scans acquired from the initial scan of the patient's oral cavity susceptible to factors such as gingival soft tissue deformation and scanning angle deviations. This can lead to problems such as distorted arch morphology (e.g., width deviating from the natural physiological state) and local stitching misalignment in the stitched first scan data, thus interfering with the accuracy of subsequent delineation of the area to be removed, implant positioning, and pre- and post-operative data alignment. Therefore, in some embodiments, to improve the stitching accuracy of post-operative scan data and the accuracy of the final acquired first scan data, two miniature fixation devices (such as anchorage screws or mini implants) can be selected and installed at the two ends of the patient's dental arch (i.e., the outermost end region of the dental arch, adapted to the stable anatomical position near the third molar). Utilizing the stable anatomical structure of this location and its resistance to surgical manipulation, a bilateral baseline is provided for the scan stitching. Simultaneously, the maximum width of the patient's dental arch (i.e., the natural physiological width between the two ends of the dental arch) is accurately calculated using preoperative scan data (the patient's oral cavity in the preoperative state has not had any teeth extracted or implants placed, and the dental arch shape remains natural and stable). When acquiring the first scan data of the patient's oral cavity in the first state, multiple single-frame scan data covering the entire oral cavity are collected using the scanning device. Then, the maximum width of the dental arch determined preoperatively is used as a constraint condition to stitch these single-frame scan data together, ensuring that the width of the dental arch always conforms to the patient's natural physiological size during the stitching process, avoiding stitching deviations caused by soft tissue deformation or scanning errors.

[0076] By installing two miniature fixation devices at the end of the dental arch, a bilateral rigid reference can be provided for the stitching of single-frame data. The constraint of the maximum width of the dental arch before surgery effectively avoids the interference of soft tissue deformation and scanning errors on the stitching, ensuring that the dental arch morphology in the first scan data is highly consistent with the patient's natural physiological state, significantly improving the stitching accuracy and morphological authenticity of the first scan data. At the same time, the layout of the two miniature fixation devices does not obstruct key scanning areas inside the oral cavity, taking into account both the convenience of clinical operation and the patient's treatment comfort.

[0077] Considering that if the markers on the scanning body are concentrated in a single direction or a small area, they are easily obscured by the gums and adjacent teeth in the limited scanning space within the oral cavity, making it difficult for the scanning device to capture complete marker information from multiple angles. This reduces the implant positioning accuracy and fails to meet the high-precision requirements for rigid connection between the prosthesis and the implant. Therefore, a positioning enhancement structure can be set in the first scanning body to increase the positioning accuracy of the first scanning body. In some embodiments, such as Figure 3 As shown, the first scanning body includes a wing-shaped portion 31 and a main body extension portion 32. One end of the main body extension portion 32 is used to connect to the implant placed in the patient's oral cavity, and the other end is connected to the wing-shaped portion 31. Multiple markers 33 are provided on the surface of the wing-shaped portion and / or the main body extension portion. When the first scanning body is installed on the implant in the patient's oral cavity, the wing-shaped portion is perpendicular to the axis of the implant and extends from the main body extension portion in a direction parallel to the bone surface where the implant is placed. The wing-shaped portion serves as a positioning enhancement structure, extending from the implant to the surrounding area, which can increase the coverage of the markers and improve positioning accuracy.

[0078] For example, the main extension can be a cylindrical or prismatic structure, with one end having a connection interface precisely adapted to the implant or abutment. The central axis of the main extension can be collinear with the implant axis to ensure accurate implant position transmission. The other end of the main extension is perpendicularly connected to the wing portion, which can be a rectangular structure extending outward in a horizontal direction perpendicular to the axis of the main extension. The extension range can cover the surfaces of adjacent teeth around the implant, the alveolar ridge margin, or the vicinity of the oral vestibule (adapted to the patient's oral cavity size) to expand the coverage of the markers in the oral cavity. The surfaces of the main extension and / or the wing portion are provided with multiple markers. For example, the markers can be landmarks, coded points, or non-coded points, and the relative positional relationships between the multiple markers are known. For example, taking a landmark as an example, the distance and angle between the landmarks are known. Alternatively, the markers can also be geometric features, i.e., three-dimensional geometric structures with specific shapes, such as easily identifiable, high-contrast structures like spheres, cubes, or frustums.

[0079] The main extension, serving as the core connecting component, has a precise meshing structure (such as threaded grooves or positioning teeth) at one end that adapts to the implant, enabling a stable connection. The other end connects to the wing-shaped portion; for example, it can be integrally molded or detachably connected. When the first scanning element is installed on the implant in the patient's mouth, the wing-shaped portion forms a perpendicular relationship (strictly perpendicular or approximately perpendicular) to the implant axis and extends in a direction parallel to the implant bone surface. Markers are provided on the surface of the wing-shaped portion or the main extension, ensuring that the oral scanning equipment can capture complete marker information from different operating angles within the oral cavity.

[0080] The directional layout of the wing-shaped portion reduces excessive obstruction of oral tissues and provides a broad and stable bearing plane for positioning landmarks, solving the problems of easy landmark obstruction and limited layout in traditional scanning bodies. The design of the vertical axis and parallel bone surface keeps the spacing between landmarks stable, reduces the impact of installation deviations and structural deformations on positioning data, and improves implant positioning accuracy.

[0081] In some embodiments, the other end of the main body extension 32 is connected to the wing portion 31, such that the main body extension 32 and the wing portion 31 have an elongated structure.

[0082] In some embodiments, the other end of the main body extension 32 is connected to the wing portion 31, such that the main body extension 32 and the wing portion 31 form an L-shaped structure.

[0083] By designing the first scanning body into an L-shaped structure, and through the vertical layout of the main body extension and the wing-shaped portion, the limitations of the traditional "single-axis" marker distribution of scanning bodies are broken. The horizontal extension of the wing-shaped portion allows the markers to reach adjacent teeth and alveolar ridges of the implant, expanding the coverage area of ​​the markers in the oral cavity and providing more spatial constraints. For scenarios involving parallel restoration of multiple implants, the wing-shaped markers of adjacent first scanning bodies can form spatial cross-coverage, realizing coordinate linkage between multiple implants and providing a more comprehensive spatial reference for subsequent restoration design, further reducing restoration fitting errors caused by insufficient data dimensions.

[0084] In some embodiments, when acquiring the first scan data, the patient's oral cavity in the first state can be scanned in stages. For example, a photogrammetric scan of the patient's oral cavity in the first state can be performed first to obtain the three-dimensional data of the markers in the first scan body (e.g., the three-dimensional coordinates of the markers). Then, an optical three-dimensional scan (e.g., structured light scan, laser scan, etc.) can be performed on the patient's oral cavity in the first state to obtain the morphological data of the first scan body and the morphological data of the patient's oral cavity. Then, the three-dimensional data of the markers in the first scan body, the morphological data of the first scan body, and the morphological data of the patient's oral cavity can be combined to obtain the first scan data.

[0085] In some embodiments, the first scanning body in the patient's oral cavity may include multiple first scanning bodies, and each first scanning body is provided with multiple continuously distributed markers (e.g., marker points) with coded information, each marker being able to uniquely identify a location on the first scanning body.

[0086] When acquiring the first scan data, the patient's oral cavity in the first state can be scanned to obtain a first image frame set of the patient's oral cavity in the first state. Based on this first image frame set, the marker data of multiple first scan objects are obtained. Based on the marker data of each first scan object, the pose information and identification information of each first scan object are determined. Based on the identification information, the standard model corresponding to each first scan object is retrieved from the scan object standard library. Based on the correspondence between multiple standard models and multiple first scan objects, the pose information of multiple first scan objects is bound to multiple standard models respectively to obtain intermediate standard data. Then, the patient's oral cavity in the first state can be scanned to obtain a second image frame set of the patient's oral cavity in the first state. Based on this second image frame set, the morphological data of the first scan objects and the morphological data of the patient's oral cavity can be obtained. Based on the correspondence between each standard model in the intermediate standard data and the actual morphological data of the first scan objects, the intermediate standard data and the morphological data of the patient's oral cavity are stitched together to obtain the first scan data.

[0087] For example, taking a marker as an example, a photogrammetric scan can be performed on the first scanned object to obtain a first set of image frames. Based on the first set of image frames, the marker data of the first scanned object can be obtained. The marker data of the first scanned object includes the three-dimensional coordinate information of multiple markers set on the surface of each first scanned object and the encoding information of multiple markers. Based on the encoding information of multiple markers, the identification information of the first scanned object can be determined (the identification information of the first scanned object can be the model of the first scanned object). At this time, the marker data of the first scanned object, that is, the multiple markers of the first scanned object scanned in real time, can be displayed on the interactive interface.

[0088] Then, the standard model corresponding to the first scanned body can be extracted from the standard library based on the identification information. The standard library can store the truth information of the marker points on the first scanned body, such as storing the standard model of the first scanned body. The standard model is a complete, complete, error-free set of reference parameters of the first scanned body under ideal conditions, such as the designed CAD model of the first scanned body, or the position distribution model of multiple marker points in the designed first scanned body.

[0089] In one embodiment, after retrieving the standard model of the first scanning body with corresponding identification information, the coordinate system of the standard model is transformed to the coordinate system of the marker point (such as the camera coordinate system of the oral scanning device), and the pose information of multiple first scanning bodies (i.e., the three-dimensional coordinates of multiple marker points) is bound to multiple standard first scanning body models respectively to obtain intermediate standard data. At this time, the intermediate standard data can be displayed on the interactive interface. That is, the standard models corresponding to each first scanning body are displayed on the interactive interface according to the position distribution of each first scanning body in the patient's oral cavity in the camera coordinate system of the oral scanning device.

[0090] Then, an optical 3D scan (structured light scan, laser scan, etc.) can be performed on the patient's oral cavity in the first state to obtain a second set of image frames. Based on the second set of image frames, the morphological data of the first scanned object and the morphological data of the patient's oral cavity can be obtained. Then, the standard model after coordinate system transformation can be aligned with the actual morphological data of the first scanned object, and the standard model and the morphological data of the patient's oral cavity can be fused to obtain the first scan data, which includes both the standard model of the first scanned object and the morphological data of the patient's oral cavity.

[0091] It should be noted that in the above process, a standard model retrieved from a standard library can be used as the ground truth framework data to adjust the stitching relationship between the first and second image frame sets in real time, thereby eliminating accumulated errors and obtaining more accurate scan data. The resulting restoration design will be more closely adapted to the patient's oral cavity. Optionally, the first image frame set is acquired under illumination light mode, and the second image frame set is acquired under structured light mode.

[0092] In some embodiments, after obtaining the target data, a design model of the patient's dental prosthesis can be generated based on the target data. Since the target data includes the implant's pose information (three-dimensional coordinates, axis tilt angle), complete gingival morphology data (gingival cuff edge contour, alveolar ridge thickness distribution), and preoperative occlusal data (occlusal contact points, cusp-fossa alignment, proximal surface contour), a prosthesis that can precisely fit the implant and conform to the oral soft tissue can be designed based on the target data.

[0093] In some embodiments, after generating a design model of the patient's dental prosthesis, the design model can be sent to a manufacturing device. After the manufacturing device produces the dental prosthesis, it receives user requests in real time to modify the design model. Based on the user requests and target data, it outputs a revised design model of the dental prosthesis. The manufacturing device can be a 3D printer or a carving machine, or other equipment for manufacturing dental prostheses. The patient's dental prosthesis can be a crown, bridge, or denture, etc.

[0094] For implant surgery in edentulous patients, it's crucial to consider that before surgery, these patients retain their natural dentition and stable occlusion, having neither extracted nor implanted teeth. However, after extraction and implant placement, the absence of teeth in one jaw completely disrupts the occlusal relationship. Precise prosthesis design relies on this occlusal relationship; otherwise, malocclusion, chewing discomfort, and failure to match the patient's natural occlusal needs are likely. To correlate postoperative scan data with the occlusal relationship, preoperative and postoperative scans are typically linked to determine their alignment. However, before surgery, patients are in a preoperative state without extractions or implants. Postoperatively, after extractions and implant placement, significant deformation occurs in soft tissues such as the gums, often resulting in congestion and swelling. Relying solely on these deformable gingival tissues for data splicing not only leads to extremely low alignment accuracy but also risks losing the preoperative stable occlusal relationship. This ultimately results in malocclusion, discomfort, and severely impacts the implant restoration's effectiveness.

[0095] Based on this, this application provides a data processing method that can accurately stitch together preoperative and postoperative scan data of the oral cavity of edentulous patients, such as... Figure 4 As shown, the method may include the following steps: S402. Obtain preoperative scanning data of the patient's oral cavity in the preoperative state, wherein the patient's oral cavity in the preoperative state is in a state of no tooth extraction, and a second scanning body is installed on the miniature fixation device installed in the patient's oral cavity in the preoperative state. The preoperative scanning data includes the scanning data of the second scanning body, the scanning data of the patient's oral cavity, and the patient's preoperative occlusal data. In step S402, the preoperative state can be defined as the patient's oral cavity being in a state without tooth extraction or implantation. In this state, the patient's dental arch morphology and occlusal relationship remain naturally stable, without postoperative soft tissue deformation interference. In this state, two miniature fixation devices can be implanted in the patient's oral cavity for mounting the scanning body. For example, two miniature fixation devices can be implanted at the two ends of the patient's dental arch (such as near the third molar, maxillary tuberosity, or other anatomically stable areas with high trauma tolerance). Anchorage screws or mini implants can be selected. After implantation, the miniature fixation device has a fixed position, good biocompatibility, and minimal trauma. Then, a second scanning body with markers (such as landmarks, specific geometric structures, etc.) can be installed on each miniature fixation device, ensuring that the markers are fully exposed and can be captured by the oral scanning equipment. A full-area scan of the patient's oral cavity can be performed using an intraoral scanner to collect preoperative scan data. This preoperative scan data includes scan data of a second scanning body (e.g., three-dimensional data of a marker or morphological data of a second scanning body), scan data of the patient's oral cavity (e.g., morphological data of the patient's oral cavity), and the patient's preoperative occlusal data (reflecting the natural, stable relative positional relationship and contact state of the upper and lower jaws), providing a complete benchmark reference for subsequent postoperative data alignment.

[0096] S404. Obtain postoperative scanning data of the patient's oral cavity in the postoperative state, wherein a second scanning body is installed on the miniature positioning device installed in the patient's oral cavity in the postoperative state, and a first scanning body is installed on the implanted implant in the patient's oral cavity in the postoperative state; the postoperative scanning data includes scanning data of the second scanning body, scanning data of the patient's oral cavity, and scanning data of the first scanning body. In step S404, the postoperative state can be defined. The postoperative state refers to the period after the patient has completed tooth extraction and implant placement surgery. At this time, the miniature fixation device remains at the end of the dental arch implanted before surgery (it is not removed and its position remains stable), and a second scanning body identical to the one used before surgery is still installed on it (to ensure consistency of marker characteristics; one method is to remove the second scanning body during surgery and reinstall it after surgery, and another method is to not remove the second scanning body during surgery). At the same time, a first scanning body is installed on each implanted implant (used to capture the spatial pose information of the implant). The patient's oral cavity in the postoperative state is scanned in its entirety using an intraoral scanning device to collect postoperative scan data. The postoperative scan data includes the scan data of the second scanning body (corresponding to the preoperative data and used to establish alignment benchmarks), the scan data of the patient's oral cavity (recording the actual morphology of postoperative gingiva, alveolar bone, and other tissues, including the soft tissue state around the implant), and the scan data of the first scanning body (providing a precise benchmark for subsequent implant positioning and prosthesis design). This ensures that the postoperative data not only covers key implant information but also forms an alignable correlation feature with the preoperative data.

[0097] S406. Determine the alignment relationship between preoperative and postoperative scan data based on the scan data of the second scanning body.

[0098] In step S406, a feature recognition algorithm can be used to extract the core features of the second scanning body from the preoperative and postoperative scan data, respectively. For example, it can capture the size parameters and shape features of its built-in three-dimensional geometric markers, as well as the relative positional relationship between the second scanning bodies on the two miniature fixation devices. Since the miniature fixation device (anchoring screw / mini implant) is fixed in position after implantation and is not affected by the deformation of soft tissues such as the gums, and the marker features of the second scanning body are stable and highly recognizable, a spatial coordinate transformation model is established based on this. By comparing the feature differences of the second scanning body markers before and after surgery, a precise coordinate transformation matrix is ​​calculated, thereby determining the spatial alignment relationship between the preoperative and postoperative scan data. This achieves precise fusion of preoperative occlusal data, oral natural morphology data, postoperative implant positioning data, and postoperative soft tissue morphology data, ensuring that the alignment process is not interfered with by postoperative soft tissue deformation.

[0099] Miniature fixation devices (such as anchorage screws and mini implants) employ a miniaturized design and are implanted in stable anatomical regions with high trauma tolerance. Surgical implantation is minimally invasive, resulting in rapid postoperative recovery and minimizing damage to oral tissues, reducing patient pain and discomfort, and improving clinical acceptance. Leveraging the rigidity and stability of the miniature fixation device and the high-resolution markers of the second scanning body, it eliminates the reliance on deformable gingival tissue found in existing technologies, significantly reducing errors in pre- and post-operative data stitching, improving alignment accuracy, and ensuring precise matching of implant positioning information with the pre-operative natural occlusion. Through continuous pre- and post-operative data acquisition and alignment design, the patient's original occlusal function is fully preserved, ensuring that the final restoration not only precisely connects to the implant but also perfectly adapts to the patient's natural occlusion, improving wearing comfort, chewing stability, and long-term effectiveness.

[0100] In some embodiments, after determining the alignment relationship between preoperative and postoperative scan data based on the scan data of the second scanning body, the two types of data can be precisely stitched together based on the determined alignment relationship to form target data that simultaneously includes precise implant position data, complete postoperative oral morphology data, and preoperative stable occlusion data, providing comprehensive and interconnected digital support for prosthesis design. Then, based on the target data, a dental prosthesis design model adapted to the implant and oral morphology is automatically generated by dental design software. The software's built-in occlusion simulation algorithm is called to perform dynamic occlusion simulation on the design model based on preoperative occlusion data (which can be the position transformation matrix of the maxilla and mandible, reflecting the relative position and contact state of the patient's natural maxilla and mandible during the occlusion process). This simulates the contact, force distribution, and movement trajectory between the prosthesis and the opposing occlusal tissue during chewing, and adaptation adjustments are performed based on the occlusion simulation results. For example, if the simulation shows a small occlusal deviation, the system can automatically optimize and adjust parameters such as the occlusal surface shape and height of the design model. If the deviation is large or manual intervention is required, the system will generate clear prompts (such as "occlusal high point position" or "insufficient vertical distance") to prompt the user to modify the design model. After the user performs the modification operation, the system will respond and complete the targeted modification of the design model.

[0101] By integrating preoperative stable occlusion data with precise postoperative implant and oral morphology data, the prosthesis design ensures both accurate alignment with the implant and adaptation to the patient's natural occlusion function, reducing occlusal discomfort at its source. The occlusion simulation process enables visualization and quantitative analysis of occlusal effects, replacing traditional subjective adjustments based on experience, thus improving the scientific rigor and precision of the design. The combination of automatic adjustment and manual intervention not only improves design efficiency but also meets individualized clinical needs, reduces the need for re-dosing of prostheses due to occlusal problems, shortens the treatment cycle, and lowers doctor-patient communication costs, ultimately ensuring the functional adaptability and wearing comfort of the prosthesis.

[0102] It should be noted that a patient's order can be either a full mouth implant or a partial mouth implant. If a patient chooses a partial mouth implant for a single surgery, the preoperative scan data includes the maxilla and mandible and their occlusal relationship. The postoperative scan data can be selected to include data from a full mouth scan (maxilla and mandible) or data from a scan of only the target single jaw (one of the maxilla and mandible).

[0103] If the postoperative scan data includes data from a full-mouth scan (maxilla and mandible) after surgery, then by linking the preoperative and postoperative data, you can select to obtain postoperative maxillary data, postoperative mandibular data, and preoperative occlusal relationship data.

[0104] If the postoperative scan data only includes data from scanning the target single jaw (one of the maxilla and mandible), then by linking the preoperative and postoperative data, you can select to obtain postoperative single jaw data, preoperative opposing jaw data, and preoperative occlusal relationship data.

[0105] Furthermore, considering that the large size of the scanner may cause significant discomfort to patients when it is installed in their oral cavity, in order to minimize the duration of discomfort and improve scanning efficiency to obtain accurate implant position information and overall gingival information, another embodiment of this application provides a simplified two-step process for obtaining three-dimensional accuracy of full-mouth implant position. The first step involves acquiring intraoral scanning rod and partial gingival data. Once the scanning rod CAD database is matched, the scanning rod and local gingival data in the cuff area can be automatically removed. The second step involves removing the scanning rod and scanning to obtain three-dimensional data of the entire gingival dentition. Optionally, a MUA or scanning cap can be retained on the dentition to facilitate the acquisition of data on a flat gingival surface. For example, as shown in Figure 5(a), this method may include the following steps: S502. Obtain third scan data obtained by performing a local scan of the patient's oral cavity in the first state; wherein, the implanted implant in the patient's oral cavity in the first state is equipped with a first scanning body, and the third scan data includes the scan data of the first scanning body and the local scan data of the patient's oral cavity. In step S502, the first state refers to the state where the first scanning body is installed on the implant already placed in the patient's oral cavity. Considering that the first scanning body is relatively large and may cause discomfort to the patient if worn for a long time, this step does not require a full mouth scan. Only a local scan is performed on the area where the first scanning body is installed and the surrounding gingiva to quickly acquire the third scan data. This data specifically includes the scan data of the first scanning body (which provides a core reference for subsequent implant positioning) and the local gingival scan data of the patient's oral cavity.

[0106] For example, as shown in Figure 5(b), targeted scanning can be performed on the gingival region surrounding several first scanning bodies to obtain local data as shown in the figure, including the data of the first scanning bodies and the surrounding gingival region. The gingival region shown in the figure can be used for subsequent stitching.

[0107] Optionally, customers can scan a portion of the gingival dentition along the dental arch as much as possible. During the scan, only a small width can be scanned horizontally, i.e., only the portion of the gingival dentition is scanned, which is convenient for subsequent splicing and positioning.

[0108] Therefore, this step replaces full-mouth scanning with partial scanning, significantly shortening the wearing time of the first scanning device in the patient's mouth and reducing patient discomfort from the source.

[0109] S504. Based on the scanning data of the first scanning body, determine the scanning data corresponding to the area to be removed in the third scanning data. The area to be removed includes the area covered by the first scanning body and / or the gingival cuff area. In step S504, based on the scanning data of the first scanning body, the scanning data corresponding to the area to be removed in the third scanning data can be determined through precise feature recognition and region delineation algorithms. The delineation of the area to be removed is flexible and can be selected according to clinical needs, including only the area physically covered by the first scanning body (where soft tissue data cannot be obtained due to scanning body obstruction), the gingival cuff area of ​​the implant neck (a key area for prosthesis transgingival design), or both types of areas. This step can be used to accurately locate the range of data to be collected, avoiding blind scanning or omission of key areas during subsequent supplementary scanning, providing clear guidance for efficient supplementary scanning, and ensuring the targeted nature of subsequent data integration.

[0110] S506. Remove the scan data corresponding to the area to be removed from the third scan data to obtain the scan data to be completed. In step S506, the scan data corresponding to the area to be removed (including redundant data from the first scan body and local gingival data of the area to be removed) can be removed from the third scan data to finally obtain the scan data to be completed. The scan data to be completed retains the valid local gingival data around the first scan body that does not need to be scanned again, and there are only clear data gaps in the area to be removed. This avoids interference from invalid data to subsequent stitching and eliminates the need to rescan the already obtained valid area, thus reducing the amount of data processing redundancy.

[0111] S508. Obtain fourth scan data obtained by performing a global scan of the patient's oral cavity in the second state, wherein the implanted implant in the patient's oral cavity in the second state does not have the first scanning body installed, and the fourth scan data includes scan data of the entire gingival region in the patient's oral cavity in the second state. In step S508, the second state of the patient's oral cavity refers to the patient's oral cavity without a scanner installed, i.e., the first scanner on the implant is removed to completely eliminate the discomfort caused by the scanner. Then, a full-mouth global scan is performed on the patient's oral cavity in the second state to acquire the fourth scan data. This data completely covers the entire gingival area in the patient's oral cavity, accurately capturing complete gingival morphology information, which can fill the gaps in the scan data to be completed. At the same time, to further improve the data acquisition quality of the flat gingival surface, this step can flexibly choose to retain auxiliary components such as MUA (abutment) or scanning cap on the dentition to help the scanning device more clearly obtain gingival surface details, ensuring the completeness and accuracy of the fourth scan data.

[0112] S510. Based on the fourth scan data, the scan data to be completed, and the scan data of the first scan body, target data including the implant pose information and the complete gingival morphology information of the patient's oral cavity is obtained.

[0113] In step S510, target data including implant pose information and complete gingival morphology information of the patient's oral cavity can be obtained based on the fourth scan data, the scan data to be completed, and the scan data of the first scan body. For example, the acquired fourth scan data (complete gingival morphology) can be precisely stitched to the missing positions of the scan data to be completed, filling in the soft tissue information of all areas to be removed. Then, combined with the acquired scan data of the first scan body, the precise pose information of the implant can be determined through coordinate registration. Finally, target data containing both the precise pose information of the implant and the complete gingival morphology information of the patient's oral cavity is generated, achieving the dual goals of precise implant positioning and complete gingival morphology.

[0114] The above scanning method can reduce patient discomfort and improve scanning efficiency.

[0115] The specific implementation details of the above scheme, such as how to identify the area to be supplemented and how to remove the scan data corresponding to the area to be removed, can be found in the description in the above embodiments, and will not be repeated here.

[0116] The data processing method of this application will be described below with reference to a specific embodiment.

[0117] The current scanning process for preparing prostheses is very cumbersome. For example, as shown in Figure 6(a), the scanning process for edentulous jaws is as follows: Taking the maxillary scan as an example, when the implant is placed in the maxilla but the scanning bar is not installed, a maxillary scan is performed first to obtain a three-dimensional model of the maxillary oral cavity. The cuff area is then identified and deleted in the three-dimensional model. After the implant is placed and the scanning bar is installed, a "gingiva + scanning bar" scan is performed. During this scan, the CAD design model of the scanning bar is used to splice the scanning bar, thus obtaining the position of the scanning bar relative to the gingiva, as well as the morphological data of the scanning bar and the gingiva.

[0118] As shown in Figure 6(b), the scanning process for edentulous jaws is as follows: The patient's oral cavity is scanned before tooth extraction and implant placement to obtain preoperative occlusal data. Taking the maxillary scan as an example, the preoperative maxillary gingiva is scanned to obtain preoperative gingival morphology data. After implant placement, the maxillary gingiva is scanned postoperatively to obtain postoperative gingival morphology data. A scanning rod is installed on the implant, and both the rod and gingiva are scanned to obtain postoperative "scanning rod morphology data + gingival morphology data." Then, the preoperative gingival morphology data, postoperative gingival morphology data, and postoperative "scanning rod morphology data + gingival morphology data" are stitched together to obtain target data including implant position information, complete gingival morphology, and occlusal data, which is used to prepare the restoration.

[0119] It is evident that in existing technologies, obtaining complete gingival and implant positioning data requires multiple scans of the patient's oral cavity, a cumbersome and inefficient process. Furthermore, for edentulous patients, preoperative and postoperative scan data are stitched together using the gingiva, which suffers from significant gingival deformation and low stitching accuracy, resulting in poor precision of the final target data and consequently, poor precision of the fabricated restoration.

[0120] Based on this, this embodiment provides a scanning process, as follows: For non-edentulous scenarios, such as Figure 7 As shown, the scanning process is as follows: (1) Implant an implant in the patient’s oral cavity, install a scanning rod on the implant, and scan the scanning rod and the oral cavity to obtain a global three-dimensional model including the scanning rod and the patient’s oral cavity.

[0121] (2) The standard three-dimensional model of the scanning rod can be retrieved from the feature library. Based on the standard three-dimensional model, the region corresponding to the scanning rod is deleted from the global three-dimensional model to obtain the three-dimensional model to be completed with the gap left due to the deletion of the scanning rod region. The gap region is the gingival region that is covered by the scanning rod.

[0122] (3) If you want to obtain the gingival morphology, after deleting the area corresponding to the scanning bar, you can further delete the cuff area (i.e. the gingival area around the implant) in the global three-dimensional model. (4) Supplement the scanning on the basis of the excavation, that is, perform supplementary scanning on the gingival area and cuff area that are covered by the scanning rod. During the scanning process, the real-time supplementary scanning data can be stitched into the three-dimensional model to be completed in real time, and the completed three-dimensional model can be displayed on the interactive interface so that the user can determine whether the supplementary scanning is completed.

[0123] (5) Based on the completed 3D model and the 3D model of the scanning rod, a complete 3D model of the gingiva and the scanning rod can be obtained, which facilitates the design of restorations in the design software.

[0124] like Figure 8 As shown, the model displays the global 3D model, the 3D model with gaps left after deleting the scanning bar and cuff area, the 3D model completed using supplementary scanning data, and the final 3D model containing the complete gingival profile and scanning bar.

[0125] For edentulous scenarios, such as Figure 9 As shown, the scanning process is as follows: (1) Scan the patient’s oral cavity before the operation to obtain preoperative occlusal data.

[0126] (2) A mini implant is placed in the maxilla before surgery, and a second scanning rod is installed on the implant. For example, a mini implant can be placed in the maxillary tuberosity or maxillary palate. The mini implant will not change position during surgery and is used as a feature point for splicing.

[0127] (3) Scan the maxilla before surgery. At this time, it is necessary to scan the second scanning bar on the mini implant to obtain the preoperative scanning data, including the three-dimensional model of the second scanning bar and the three-dimensional model of the patient's maxillary gingiva before surgery.

[0128] (4) Extract the patient’s tooth, implant the implant in the patient’s mouth, and implant the first scanning rod in the implant and scan to obtain postoperative scanning data, including the three-dimensional model of the first scanning rod + the three-dimensional model of the second scanning rod + the three-dimensional model of the patient’s maxillary gingiva after the operation.

[0129] (5) The standard three-dimensional model of the first scanning rod can be retrieved from the feature library. Based on the standard three-dimensional model, the scanning data of the first scanning rod is deleted from the postoperative scanning data to obtain the three-dimensional model to be completed, which is left with a gap due to the deletion of the scanning rod area. The gap area is the gingival area that is covered by the scanning rod. If you want to obtain the perforated morphology, after deleting the area corresponding to the scanning rod, you can further delete the cuff area (i.e., the gingival area around the implant) in the postoperative scanning data. (6) Supplement the scanning on the basis of the excavation, that is, perform supplementary scanning on the gingival area and cuff area that are covered by the scanning rod. During the scanning process, the real-time supplementary scanning data can be stitched into the three-dimensional model to be completed in real time, and the completed three-dimensional model can be displayed on the interactive interface so that the user can determine whether the supplementary scanning is completed.

[0130] (6) Based on the completed three-dimensional model and the three-dimensional model of the scanning rod, we can obtain: the complete three-dimensional model of the gingiva after surgery + the three-dimensional model of the first scanning rod + the three-dimensional model of the second scanning rod.

[0131] (7) The preoperative occlusal data, the three-dimensional model of the second scanning rod, the three-dimensional model of the patient's maxillary gingiva before the operation, the three-dimensional model of the complete gingiva after the operation, the three-dimensional model of the first scanning rod, and the three-dimensional model of the second scanning rod can be spliced ​​together to obtain target data including implant pose information, preoperative occlusal data, and the three-dimensional model of the complete gingiva, which can be used to design the prosthesis.

[0132] It should be noted that the first step, obtaining preoperative occlusal data, can be achieved by first scanning the maxilla and mandible before the mini implant is placed, creating maxillary and mandibular models, and then scanning the occlusal relationship of the maxilla and mandible to obtain preoperative occlusal data. It is understandable that the 3D model obtained in the third step, consisting of the second scanning rod and the preoperative 3D model of the patient's maxillary gingiva, shares many common areas with the preoperative maxillary model. This allows for the correlation between the preoperative occlusal data obtained in the first step and the model obtained in the third step. The resulting occlusal relationship is relatively more natural, without any interference from the implant or scanning body.

[0133] Alternatively, obtaining preoperative occlusal data in step 1 can also occur after installing the mini implant and the second scanning bar in step 3. In this case, the step of scanning the maxilla and mandible without the mini implant can be omitted.

[0134] It is easy to understand that the solutions described in the above embodiments can be freely combined to obtain new solutions when there is no conflict. Due to space limitations, each solution is not listed in the embodiments of this application.

[0135] Accordingly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the method of any of the foregoing embodiments.

[0136] Furthermore, embodiments of this application also provide a device, such as... Figure 10 As shown, the device 100 includes a processor 101, a memory 102, and computer instructions stored in the memory 102 that can be executed by the processor 101. When the processor 101 executes the computer instructions, it implements the method of any of the above embodiments.

[0137] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the methods of any of the foregoing embodiments.

[0138] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0139] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that the embodiments of this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the embodiments of this application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of the embodiments of this application.

[0140] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, which can take the form of a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email sending and receiving device, game console, tablet computer, wearable device, or any combination of these devices.

[0141] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. When implementing the embodiments of this application, the functions of each module can be implemented in one or more software and / or hardware. Alternatively, some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0142] The above description is only a specific implementation of the embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the embodiments of this application, and these improvements and modifications should also be considered as the protection scope of the embodiments of this application.

Claims

1. A data processing method, characterized in that, The method includes: First scan data is obtained by performing a global scan of the patient's oral cavity in a first state; wherein, a first scanning body is installed on the implanted implant in the patient's oral cavity in the first state, and the first scan data includes the scan data of the first scanning body and the scan data of the patient's oral cavity; Based on the scanning data of the first scanning body, the scanning data corresponding to the area to be removed in the first scanning data is determined, and the area to be removed includes the area covered by the first scanning body and / or the gingival cuff area. Remove the scan data corresponding to the region to be removed from the first scan data to obtain the scan data to be completed; Second scan data is obtained by performing a partial scan of the oral cavity of a patient in the second state, wherein the first scanning body is not installed on the implanted implant in the oral cavity of the patient in the second state, and the second scan data is obtained by scanning the area to be removed in the oral cavity of the patient in the second state. Based on the second scan data, the scan data to be completed, and the scan data of the first scanning body, target data including the positional information of the implant and the complete gingival morphology information of the patient's oral cavity is obtained.

2. The method according to claim 1, characterized in that, The target data obtained based on the second scan data, the scan data to be completed, and the scan data of the first scanner includes the implant's pose information and the complete gingival morphology information of the patient's oral cavity, including: Based on the second scan data obtained from real-time scanning and the scan data to be completed, intermediate completed 3D data is obtained and displayed in real time on the interactive interface; If a user's command to stop scanning is detected, or if it is determined, based on real-time intermediate completed 3D data, that the gingival region of the patient's oral cavity has been completely scanned, the acquisition of second scan data is stopped. Based on the currently obtained intermediate completed 3D data and the scanning data of the first scanning body, target data are obtained for the implant pose information and the complete gingival morphology information of the patient's oral cavity.

3. The method according to claim 1, characterized in that, The step of determining the scan data corresponding to the region to be removed in the first scan data based on the scan data of the first scanning body includes: Based on the scan data of the first scanned object, the standard three-dimensional model of the first scanned object is retrieved from the preset scanned object feature library; Based on the standard 3D model, the scan data corresponding to the region to be removed is determined from the first scan data, and the region to be removed is determined based on the following method: The region where the first scanned object is located is determined based on the standard three-dimensional model; The area where the first scanning body is located is expanded to obtain the area to be removed, which includes the first scanning body and the gingival area surrounding the first scanning body.

4. The method according to claim 1, characterized in that, The step of retrieving a standard 3D model of the first scanned object from a preset scanned object feature library based on the scanned object data includes: A three-dimensional model of the first scanned object is reconstructed based on the scan data of the first scanned object. The reconstructed three-dimensional model is then matched with a standard three-dimensional model in the feature library to determine the standard three-dimensional model of the first scanned object; or The scanning data of markers in the first scanned object are identified from the scanning data of the first scanned object, and the standard three-dimensional model of the first scanned object is determined from the standard three-dimensional model of the feature library based on the scanning data of the markers.

5. The method according to claim 1, characterized in that, The patient's oral cavity is the oral cavity of an edentulous patient, and the method further includes: Preoperative scanning data of the patient's oral cavity in the preoperative state is obtained. The preoperative scanning data includes preoperative oral cavity morphology data and preoperative occlusion data of the patient's oral cavity. The patient's oral cavity in the preoperative state is in a state where no teeth have been extracted and no implant has been inserted. Determine the alignment relationship between the target data and the preoperative scan data.

6. The method according to claim 5, characterized in that, A miniature fixation device is installed in the oral cavity of the patient in the preoperative state and the oral cavity of the patient in the first state. A second scanning body is installed on the miniature fixation device. The miniature fixation device installed in the oral cavity of the patient in the second state does not have the second scanning body installed. The preoperative scanning data also includes the scanning data of the second scanning body. The target data also includes the three-dimensional data of the second scanning body. Determining the alignment relationship between the target data and the preoperative scan data includes: The alignment relationship between the target data and the preoperative scan data is determined based on the markers in the second scan body.

7. The method according to claim 6, characterized in that, The miniature fixation device comprises two units, with one miniature fixation device installed at each end of the dental arch in the patient's oral cavity. The method further includes: The maximum width of the dental arch in the patient's oral cavity is determined based on the preoperative scan data; The acquisition of the first scan data obtained by scanning the patient's oral cavity in the first state includes: Multiple single-frame scan data obtained by scanning the patient's oral cavity in the first state are acquired, and the multiple single-frame scan data are stitched together with the maximum width as a constraint to obtain the first scan data.

8. The method according to claim 6, characterized in that, The second scanning body is different from the first scanning body. Both the first and second scanning bodies are provided with multiple markers, which include one or more of the following: geometric features, coded points, and non-coded points.

9. The method according to claim 1, wherein the first scanning body comprises a plurality of first scanning bodies, and each first scanning body is provided with a marker, and the acquisition of first scanning data of scanning the patient's oral cavity in a first state comprises: Acquire a first set of image frames obtained by scanning the patient's oral cavity in the first state, and obtain the marker data of each of the plurality of first scan bodies based on the first set of image frames; Based on the marker data of each first scanned object, determine the pose information and identification information of each first scanned object, and retrieve the standard three-dimensional model corresponding to each first scanned object from the standard library based on the identification information; Based on the correspondence between multiple standard 3D models and multiple first scan objects, the pose information of the multiple first scan objects is bound to the multiple standard 3D models respectively to obtain intermediate standard data; A second set of image frames is obtained by scanning the patient's oral cavity in the first state, and the morphological data of the first scanned body and the morphological data of the patient's oral cavity are obtained based on the second set of image frames; Based on the correspondence between the standard 3D models in the intermediate standard data and the 3D models of the multiple first scan bodies, the intermediate standard data, the morphological data of each of the multiple first scan bodies, and the morphological data of the patient's oral cavity are stitched together to obtain the first scan data.

10. The method according to claim 1, further comprising, after obtaining the target data: Based on the target data, a design model of the patient's dental restoration is generated; The design model of the dental prosthesis is sent to the manufacturing equipment; Receive user requests in real time for modifying the design model of the dental prosthesis; Based on the user request and the target data, output the revised design model of the dental prosthesis.

11. A data processing method, characterized in that, The method includes: Acquire preoperative scanning data of the patient's oral cavity in the preoperative state, wherein the patient's oral cavity in the preoperative state is in a state without tooth extraction, and a second scanning body is installed on a miniature fixation device installed in the patient's oral cavity in the preoperative state. The preoperative scanning data includes scanning data of the second scanning body, scanning data of the patient's oral cavity, and the patient's preoperative occlusal data. Postoperative scanning data of a patient's oral cavity in the postoperative state is obtained, wherein a second scanning body is installed on a miniature positioning device installed in the patient's oral cavity in the postoperative state, and a first scanning body is installed on the implanted implant in the patient's oral cavity in the postoperative state; the postoperative scanning data includes scanning data of the second scanning body, scanning data of the patient's oral cavity, and scanning data of the first scanning body. The alignment relationship between the preoperative scan data and the postoperative scan data is determined based on the scan data of the second scanner.

12. The method according to claim 11, after determining the alignment relationship between the preoperative scan data and the postoperative scan data based on the scan data of the second scanning body, the method further includes: Based on the alignment relationship, the preoperative scan data and the postoperative scan data are stitched together to obtain target data, which includes implant position data, patient oral morphology data, and preoperative occlusion data. Based on the target data, a design model of the patient's dental restoration is generated; Based on preoperative occlusal data, the occlusal simulation was performed on the design model of the dental prosthesis for the patient. Based on the bite simulation results, the design model is adjusted; or based on the bite simulation results, a prompt message is generated to prompt the user to modify the design model, and the design model is modified in response to the user's modification operation.

13. A data processing method, characterized in that, The method includes: A third scan data is obtained by performing a local scan of the patient's oral cavity in the first state; wherein, a first scanning body is installed on the implanted implant in the patient's oral cavity in the first state, and the third scan data includes the scan data of the first scanning body and the local scan data of the patient's oral cavity; Based on the scanning data of the first scanning body, the scanning data corresponding to the region to be removed in the third scanning data is determined, wherein the region to be removed includes the area covered by the first scanning body and / or the gingival cuff area; the scanning data corresponding to the region to be removed is removed from the third scanning data to obtain the scanning data to be completed; A fourth scan data is obtained by performing a global scan of the oral cavity of a patient in the second state, wherein the first scanning body is not installed on the implanted implant in the oral cavity of the patient in the second state, and the fourth scan data includes scan data of the entire gingival region in the oral cavity of the patient in the second state. Based on the fourth scan data, the scan data to be completed, and the scan data of the first scanning body, target data including the positional information of the implant and the complete gingival morphology information of the patient's oral cavity is obtained.

14. An electronic device, characterized in that, The electronic device includes a processor, a memory, and computer instructions stored in the memory that are executable by the processor, wherein the processor executes the computer instructions to implement the method as described in any one of claims 1-13.

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