False tooth processing method, false tooth processing system, electronic equipment and storage medium

Abstract

The invention discloses a false tooth processing method, a false tooth processing system, electronic equipment and a storage medium. The method comprises the following steps: acquiring first point cloud data of a to-be-processed false tooth structure, wherein the to-be-processed false tooth structure comprises a false tooth structure and a connecting rod residual structure; performing point cloud segmentation on the first point cloud data to obtain a point cloud segmentation result, determining a cutting path based on the point cloud segmentation result, and controlling cutting equipment to perform cutting treatment on a connecting rod residual structure of the to-be-processed false tooth structure based on the cutting path; acquiring second point cloud data of the cut false tooth structure, and determining margin distribution data of the residual structure based on the second point cloud data and the false tooth design model; the layered grinding path is generated based on the allowance distribution data of the residual structure, and the grinding equipment is controlled to perform layered grinding treatment on the cut false tooth structure based on the layered grinding path, so that automatic grinding of the residual structure of the connecting rod is realized, the grinding speed and the grinding efficiency of the false tooth are improved, and the grinding quality of the false tooth is improved.

Description

Technical Field

[0001] This invention relates to the field of digital manufacturing technology for dental prostheses, and more particularly to a method for processing dentures, a denture processing system, an electronic device, and a storage medium. Background Technology

[0002] In the field of dental restoration, the quality of denture polishing is of great significance to dental restoration.

[0003] During the denture preparation process, the denture and connecting rods are cut to separate them. The cut-off denture leaves behind connecting rods of varying shapes and heights, which can affect tooth restoration. Therefore, these residual connecting rods need to be ground down. Currently, this is typically done manually. This process is time-consuming, and the quality depends on experience, resulting in slow and inefficient denture preparation, while also failing to guarantee the final quality. Summary of the Invention

[0004] This invention provides a method for processing dentures, a denture processing system, an electronic device, and a storage medium to achieve automatic denture polishing, thereby improving the polishing speed and efficiency of dentures.

[0005] According to one aspect of the present invention, a method for processing dentures is provided, the method comprising:

[0006] Acquire the first point cloud data of the denture structure to be processed, which includes the denture structure and the residual structure of the connecting rod;

[0007] The first point cloud data is segmented to obtain the point cloud segmentation result. The cutting path is determined based on the point cloud segmentation result. The cutting equipment is controlled to cut the remaining structure of the connecting rod of the denture structure to be processed based on the cutting path.

[0008] Acquire the second point cloud data of the denture structure after cutting, and determine the remaining distribution data of the residual structure based on the second point cloud data and the denture design model;

[0009] A layered polishing path is generated based on the remaining material distribution data of the residual structure. The polishing equipment is then controlled based on the layered polishing path to perform layered polishing on the cut denture structure.

[0010] According to another aspect of the present invention, a denture processing system is provided, comprising: a clamp, a cutting device, a grinding device, a scanning device, and a control device;

[0011] The clamp is used to hold the denture structure to be processed;

[0012] The scanning device is used to perform point cloud scanning on the denture structure to be processed, and transmits the first point cloud data of the scanned denture structure to the control device.

[0013] The control device is used to perform point cloud segmentation on the first point cloud data, obtain the point cloud segmentation result, determine the cutting path based on the point cloud segmentation result, and send a cutting command to the cutting device based on the cutting path.

[0014] The cutting equipment is used to cut the remaining structure of the connecting rod of the denture structure to be processed in response to the cutting command;

[0015] The scanning device is used to perform point cloud scanning on the cut denture structure and transmit the second point cloud data of the cut denture structure obtained by scanning to the control device.

[0016] The control device is used to determine the remaining material distribution data of the remaining residual structure based on the second point cloud data and the denture design model; generate a layered polishing path based on the remaining material distribution data of the remaining residual structure; and send polishing instructions to the polishing device based on the layered polishing path.

[0017] The grinding equipment is used to perform layered grinding on the cut denture structure in response to grinding commands.

[0018] According to another aspect of the present invention, a denture processing apparatus is provided, comprising:

[0019] The first point cloud data acquisition module is used to acquire the first point cloud data of the denture structure to be processed, which includes the denture structure and the residual structure of the connecting rod.

[0020] The point cloud segmentation result determination module is used to segment the first point cloud data to obtain the point cloud segmentation result, determine the cutting path based on the point cloud segmentation result, and control the cutting equipment to cut the residual structure of the connecting rod of the denture structure to be processed based on the cutting path.

[0021] The module for determining the remaining material distribution data is used to acquire the second point cloud data of the denture structure after cutting, and to determine the remaining material distribution data of the remaining structure based on the second point cloud data and the denture design model.

[0022] The layered polishing module is used to generate a layered polishing path based on the remaining material distribution data of the residual structure, and to control the polishing equipment to perform layered polishing on the cut denture structure based on the layered polishing path.

[0023] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0024] At least one processor; and

[0025] A memory that is communicatively connected to at least one processor; wherein,

[0026] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the denture processing method provided in any embodiment of the present invention.

[0027] According to another aspect of the present invention, a computer-readable storage medium is provided that stores computer instructions for causing a processor to execute and implement the denture processing method provided in any embodiment of the present invention.

[0028] The technical solution of this invention acquires first point cloud data of the denture structure to be processed, which includes the denture structure and residual connecting rod structure, providing comprehensive data support for subsequent denture polishing. The first point cloud data is segmented to obtain the segmentation result. A cutting path is determined based on the segmentation result, and the cutting equipment is controlled to cut the residual connecting rod structure of the denture structure to be processed, achieving precise cutting of the residual connecting rod structure and ensuring the integrity of the denture structure. Second point cloud data of the denture structure after cutting is acquired. Based on the second point cloud data and the denture design model, the remaining material distribution data of the residual structure is determined, achieving precise determination of the remaining material distribution data and providing accurate data support for subsequent analysis and processing. A layered polishing path is generated based on the remaining material distribution data of the residual structure. The polishing equipment is controlled to perform layered polishing on the cut denture structure based on the layered polishing path, achieving automatic layered polishing of the cut denture structure. This solves the problem of low efficiency in manual denture polishing in the prior art, improves the speed and efficiency of denture polishing, and ensures polishing accuracy and the integrity of the denture result.

[0029] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram illustrating the connection between a denture and a dental restorative material provided in an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of a denture including a residual connecting rod structure provided by an embodiment of the present invention;

[0033] Figure 3 This is a flowchart of a denture processing method provided in Embodiment 1 of the present invention;

[0034] Figure 4 This is a flowchart of a denture processing method provided in Embodiment 2 of the present invention;

[0035] Figure 5 This is a flowchart of a denture processing method provided in an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the structure of a denture processing system provided in Embodiment 3 of the present invention;

[0037] Figure 7 This is a schematic diagram of the structure of a denture processing device provided in Embodiment 4 of the present invention;

[0038] Figure 8 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. Detailed Implementation

[0039] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0040] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0041] In the denture fabrication process, dental restorative materials are used to create the denture structure. Different dentures can be fixed to the dental restorative materials using multiple connecting rods. For example, see [link to example]. Figure 1 , Figure 1 This is a schematic diagram illustrating the connection between a denture and dental restorative material according to an embodiment of the present invention. The dashed circles represent dental restorative material, and the solid circles represent dentures. Each denture and dental restorative material is connected by three connecting rods, thus securing the denture. To separate the denture and dental restorative material, the connecting rods are cut using a cutting machine. The cut denture still contains multiple residual connecting rod structures, each with different cut shapes and lengths. To ensure the proper use of the denture, the residual connecting rod structures on the cut denture need to be polished to obtain a polished denture, which is then used for dental restoration. For example, see [link to example]. Figure 2 , Figure 2 This is a schematic diagram of a denture including residual connecting rod structures provided by an embodiment of the present invention, wherein solid circles represent dentures and rectangles represent residual connecting rod structures. Based on this, the present invention proposes a denture processing method, a denture processing system, an electronic device, and a storage medium for automatically polishing residual connecting rod structures on dentures.

[0042] Example 1

[0043] Figure 3 This is a flowchart of a denture processing method provided in Embodiment 1 of the present invention. This embodiment is applicable to the automatic grinding of dentures. The method can be executed by a denture processing device, which can be integrated into an electronic device such as a terminal device, including but not limited to an industrial robot. The denture processing device can be implemented in hardware and / or software. Figure 3 As shown, the method specifically includes the following steps:

[0044] S110. Obtain the first point cloud data of the denture structure to be processed, which includes the denture structure and the residual structure of the connecting rod.

[0045] The term "denture structure to be processed" refers to the physical structure of a denture that requires polishing. This structure includes the denture core and residual connecting rod structures. The denture core is a physical tooth made from dental restorative materials. The connecting rod is a component used to fix the denture core during fabrication. One end of the connecting rod connects to the denture core, and the other end connects to the dental restorative materials. The denture structure to be processed can include one or more denture cores, and each denture core can include multiple connecting rods, such as three or four, depending on the requirements. The residual connecting rod structure refers to connecting rods that have not been completely removed. One end of the residual connecting rod structure is connected to the denture core. The residual connecting rod structure can be obtained by cutting the connecting rod. For example, the connecting rod can be cut using a cutting device to separate the denture core from the dental restorative materials, resulting in the denture core and residual connecting rod structure. The cutting device includes, but is not limited to, a pulsed fiber laser. The first point cloud data represents the spatial location and morphology of the denture structure to be processed. For example, the first point cloud data can be a 3D model of the denture structure to be processed. As another example, the first point cloud data can include the 3D coordinate information of the denture structure to be processed. The first point cloud data includes point cloud data of multiple nodes, and the nodes in the first point cloud data can include nodes of the denture structure and nodes of the remaining connecting rod structure. The first point cloud data includes point cloud data of the denture structure and point cloud data of the remaining connecting rod structure.

[0046] It should be noted that the first point cloud data of the denture structure to be processed can be obtained by scanning the denture structure with a scanning device, including but not limited to a structured light scanner, which includes but is not limited to a blue laser line scanner. The scanning device should be selected according to the requirements, and there are no restrictions here. The first point cloud data of the denture structure to be processed can also be obtained from a point cloud database. The point cloud database can store point cloud data of multiple denture structures to be processed. The first point cloud data of the denture structure to be processed is obtained by matching the unique identifier of the denture structure in the point cloud database.

[0047] Specifically, the structure of the denture to be processed is scanned using a blue laser line scanner to obtain the first point cloud data of the denture structure, thus realizing the acquisition of the first point cloud data and providing comprehensive data support for subsequent denture polishing.

[0048] S120. Perform point cloud segmentation on the first point cloud data to obtain the point cloud segmentation result. Determine the cutting path based on the point cloud segmentation result. Control the cutting equipment based on the cutting path to cut the remaining structure of the connecting rod of the denture structure to be processed.

[0049] The point cloud segmentation result is obtained by classifying the first point cloud data. Optionally, the point cloud segmentation result includes denture point cloud data and connector point cloud data. Denture point cloud data represents the spatial location of the denture structure. Connector point cloud data represents the spatial location of the connector residual structure. The point cloud segmentation result can be obtained by classifying the first point cloud data using a point cloud segmentation model. For example, the first point cloud data can be input into a point cloud segmentation model for classification to obtain the point cloud segmentation result. The point cloud segmentation model includes, but is not limited to, machine learning models, such as random sampling consistency models, region growing models, and improved point cloud network models. By performing point cloud segmentation on the first point cloud data, the point cloud data corresponding to the denture structure and the point cloud data corresponding to the connector residual structure in the first point cloud data can be identified. The cutting path is the trajectory used by the cutting equipment to cut the connector residual structure of the denture structure to be processed. The cutting path can be determined based on the point cloud segmentation result. For example, the point cloud segmentation result can be input into a trained cutting path determination model for processing to obtain the cutting path. The cutting path determination model includes, but is not limited to, neural network models. After generating the cutting path, the cutting path can be converted into cutting parameters that the cutting equipment can recognize. The cutting parameters are then encapsulated into cutting instructions, which are transmitted to the cutting equipment. Upon receiving the cutting instructions, the cutting equipment performs the cutting of the remaining connecting rod structure of the denture structure to be processed. The cutting parameters include, but are not limited to, cutting power and cutting frequency.

[0050] Specifically, the first point cloud data is segmented using a random sampling consistency model to obtain the point cloud segmentation result. The point cloud segmentation result is then input into a trained cutting path determination model for processing to obtain the cutting path. The cutting path is then converted into cutting parameters that can be recognized by the cutting equipment. The cutting parameters are encapsulated into cutting instructions and transmitted to the cutting equipment. After receiving the cutting instructions, the cutting equipment performs the cutting of the remaining connecting rod structure of the denture structure to be processed, thus achieving precise cutting of the remaining connecting rod structure and ensuring the integrity of the denture structure.

[0051] Optionally, the cutting path is determined based on the point cloud segmentation results, including: determining the denture outline based on the denture point cloud data and connecting rod point cloud data in the point cloud segmentation results; and determining the cutting path based on the denture outline and a set safety distance, wherein the cutting path is located outside the denture outline.

[0052] The denture outline refers to the boundary corresponding to the denture structure. The denture outline can be determined based on the denture point cloud data and connecting rod point cloud data from the point cloud segmentation results. For example, the denture point cloud data and connecting rod point cloud data can be input into a trained denture outline determination model for processing to obtain the denture outline. This model includes, but is not limited to, a neural network model. During the cutting process of the remaining connecting rod structure, a safety distance can be set to ensure the integrity of the denture structure. For example, the safety distance can be set to 0.3 mm. The safety distance can be set according to requirements; there are no restrictions here.

[0053] Specifically, the denture point cloud data and connecting rod point cloud data are input into a trained denture contour determination model for processing to obtain the denture contour. A safety distance is set, and the denture contour and the set safety distance are input into a trained cutting path determination model for processing to obtain the cutting path located outside the denture contour. This achieves accurate determination of the cutting path, which helps to ensure the integrity of the denture structure during the cutting process of the connecting rod residual structure and can effectively prevent the denture structure from being cut accidentally.

[0054] S130. Obtain the second point cloud data of the denture structure after cutting, and determine the remaining distribution data of the remaining structure based on the second point cloud data and the denture design model.

[0055] The post-cut denture structure includes the denture structure and residual structures. The residual structures are the connecting rod remnants remaining on the denture structure after the connecting rod remnants have been cut using a cutting device. The second point cloud data is point cloud data obtained by scanning the post-cut denture structure. The second point cloud data characterizes the spatial position and morphology of the post-cut denture structure. For example, the second point cloud data may include the three-dimensional coordinate information of the post-cut denture structure. The second point cloud data can be acquired using a scanning device. For example, the second point cloud data of the post-cut denture structure can be obtained by scanning the post-cut denture structure using a scanning device. The denture design model is the desired digital model of the denture structure. The denture design model includes, but is not limited to, computer-aided design (CAD) models. The denture design model includes the desired three-dimensional coordinate information of the denture structure. The denture design model is pre-set, and dental restoration materials can be fabricated according to the denture design model to create the corresponding denture structure. The remaining material distribution data characterizes the residual position and thickness of the residual structures. The remaining material distribution data can be determined based on the second point cloud data and the denture design model. For example, the second point cloud data and the denture design model are input into a trained residual distribution data determination model for processing to obtain the residual distribution data of the remaining structure. The residual distribution data determination model includes, but is not limited to, a neural network model. For example, the residual distribution data determination model can be a Boolean model.

[0056] Specifically, the cut denture structure is scanned using a scanning device to obtain the second point cloud data of the cut denture structure. The second point cloud data and the denture design model are then input into a trained residual distribution data determination model for processing to obtain the residual distribution data of the remaining structure. This achieves accurate determination of the residual distribution data and provides accurate data support for subsequent analysis and processing.

[0057] Optionally, the remaining residual structure's margin distribution data is determined based on the second point cloud data and the denture design model, including: registering the second point cloud data and the denture design model to obtain a registration result; determining the residual structure point cloud data in the second point cloud data based on the registration result; determining the distance between the surface contour points of the remaining residual structure and the denture contour based on the residual structure point cloud data, and using the distance between the surface contour points of the remaining residual structure and the denture contour as the margin value corresponding to the surface contour point; and determining the remaining residual structure's margin distribution data based on the margin values ​​corresponding to each surface contour point of the remaining residual structure.

[0058] The registration result is obtained by spatially aligning the second point cloud data and the denture design model. The registration result can include denture point cloud data and residual structure point cloud data from the second point cloud data. These two types of point cloud data can be distinguished by different attributes, such as color. By registering the second point cloud data and the denture design model, the denture point cloud data and residual structure point cloud data can be accurately distinguished, providing accurate data support for determining the remaining material distribution data. The residual structure point cloud data is the point cloud data corresponding to the remaining residual structure in the second point cloud data. The distance between the surface contour points of the remaining residual structure and the denture contour represents the thickness of the remaining residual structure. By classifying the residual structure point cloud data, the residual structure point cloud data corresponding to the surface contour points of the remaining residual structure is obtained. The distance between the surface contour points of the remaining residual structure and the denture contour is calculated based on this distance, and this distance is used as the remaining material value corresponding to the surface contour points.

[0059] Specifically, the second point cloud data and the denture design model are spatially aligned to obtain the registration result. Based on the registration result, the residual structure point cloud data in the second point cloud data is determined. The residual structure point cloud data is then classified to obtain the residual structure point cloud data corresponding to the surface contour points of the remaining residual structures. The distance between the surface contour points of the remaining residual structures and the denture contour is calculated, and the above distance is used as the margin value corresponding to the surface contour points. The margin values ​​corresponding to each surface contour point of the remaining residual structures are input into the trained margin distribution data determination model for processing to obtain the margin distribution data of the remaining residual structures. This achieves accurate determination of the margin distribution data and provides accurate data support for subsequent analysis and processing.

[0060] S140. Generate a layered polishing path based on the remaining residual structure's quantity distribution data, and control the polishing equipment to perform layered polishing on the cut denture structure based on the layered polishing path.

[0061] The layered polishing path divides the thickness of the remaining structure into multiple continuous layers based on the remaining material distribution data, and plans a polishing trajectory for each layer. The polishing thickness of different layers can be the same or different, and the polishing trajectories corresponding to different layers are different. The layered polishing path may include multiple path points, each representing the point where the polishing equipment performs the polishing action. Optionally, the layered polishing path includes polishing parameters corresponding to each path point, including at least one of the polishing equipment's feed rate and spindle speed. Polishing parameters characterize the operating state of the polishing equipment. Polishing parameters may include the polishing equipment's feed rate, and may also include the polishing equipment's spindle speed. The feed rate is the moving speed of the polishing tool relative to the denture structure, and the spindle speed is the rotational speed of the polishing equipment's spindle. The polishing parameters differ at different path points. For example, for path points with large grinding thickness, a larger feed rate and a lower spindle speed can be set; for path points with small grinding thickness, a smaller feed rate and a higher spindle speed can be set. The layered grinding path can be determined based on the remaining residual structure's material distribution data. Optionally, generating the layered grinding path based on the remaining residual structure's material distribution data includes: inputting the remaining residual structure's material distribution data and layering parameters into the path planning model to obtain the layered grinding path output by the path planning model. Here, the layering parameters represent the grinding parameters corresponding to each layer of the grinding path. Layering parameters include, but are not limited to, the number of grinding paths and the interval between adjacent grinding paths. The number of grinding paths can be set to 3 or 4, depending on the requirements; there is no limitation here. The path planning model is a model used to plan the layered grinding path. The path planning model includes, but is not limited to, a neural network model.

[0062] It should be noted that after generating the layered polishing path, the polishing parameters corresponding to each path point in the layered polishing path are encapsulated into polishing instructions, and the polishing instructions are transmitted to the polishing equipment. After receiving the polishing instructions, the polishing equipment performs layered polishing on the cut denture structure.

[0063] Specifically, the remaining residual structure's distribution data and layering parameters are input into the path planning model for processing to obtain a layered polishing path. The polishing parameters corresponding to each path point in the layered polishing path are encapsulated into polishing instructions, which are then transmitted to the polishing equipment. Upon receiving the polishing instructions, the polishing equipment performs layered polishing on the cut denture structure. This achieves layered polishing of the cut denture structure, effectively preventing damage to the denture from excessive polishing in one go, and improving the polishing accuracy and ensuring the integrity of the denture result.

[0064] The technical solution of this embodiment acquires first point cloud data of the denture structure to be processed, which includes the denture structure and the residual connecting rod structure, providing comprehensive data support for subsequent denture polishing. The first point cloud data is segmented to obtain the segmentation result. A cutting path is determined based on the segmentation result, and the cutting equipment is controlled to cut the residual connecting rod structure of the denture structure to be processed, achieving precise cutting of the residual connecting rod structure and ensuring the integrity of the denture structure. Second point cloud data of the denture structure after cutting is acquired. Based on the second point cloud data and the denture design model, the remaining material distribution data of the residual structure is determined, achieving accurate determination of the remaining material distribution data and providing accurate data support for subsequent analysis and processing. A layered polishing path is generated based on the remaining material distribution data of the residual structure. The polishing equipment is controlled to perform layered polishing on the cut denture structure based on the layered polishing path, achieving layered polishing of the cut denture structure. This effectively prevents excessive polishing in one go from damaging the denture, improving polishing accuracy and ensuring the integrity of the denture result.

[0065] Example 2

[0066] Figure 4 This is a flowchart of a denture processing method provided in Embodiment 2 of the present invention. This embodiment is a refinement of the above embodiments. Based on the foregoing embodiments, it provides a detailed explanation of generating a layered polishing path based on the remaining material distribution data of the residual structure. For specific implementation details, please refer to the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here. Figure 4 As shown, the method specifically includes the following steps:

[0067] S210. Obtain the first point cloud data of the denture structure to be processed, which includes the denture structure and the residual structure of the connecting rod.

[0068] S220. Perform point cloud segmentation on the first point cloud data to obtain the point cloud segmentation result. Determine the cutting path based on the point cloud segmentation result. Control the cutting equipment based on the cutting path to cut the remaining structure of the connecting rod of the denture structure to be processed.

[0069] S230. Obtain the second point cloud data of the denture structure after cutting, and determine the remaining distribution data of the remaining structure based on the second point cloud data and the denture design model.

[0070] S240. Determine the layering parameters based on the maximum margin value in the margin distribution data; determine the grinding amount corresponding to the surface contour points of the remaining residual structure in each grinding path based on the layering parameters and margin distribution data, and set the path density according to the surface curvature of the surface contour points of the remaining residual structure; generate each grinding path based on the grinding amount and path density corresponding to the surface contour points of the remaining residual structure in each grinding path; control the grinding equipment to perform layered grinding on the cut denture structure based on the layered grinding path.

[0071] The layering parameters can also be determined based on the maximum remaining quantity value in the remaining quantity distribution data. For example, the maximum remaining quantity value in the remaining quantity distribution data can be determined, and the layering parameters can be determined according to a lookup table between the maximum remaining quantity value and the layering parameters. Another example is to input the remaining quantity distribution data into a trained layering parameter determination model for processing to obtain the layering parameters. The layering parameter determination model includes, but is not limited to, mathematical models and deep learning models. The grinding amount is data characterizing the grinding thickness of the remaining residual structure. The grinding amount can be determined based on the layering parameters and the remaining quantity distribution data. For example, for each surface contour point of the remaining residual structure, the remaining quantity value in the remaining quantity distribution data corresponding to that surface contour point can be determined, and the ratio between the remaining quantity value corresponding to that surface contour point and the interval between adjacent grinding paths in the layering parameters can be calculated. This ratio is used as the grinding amount corresponding to the surface contour point of the remaining residual structure in each grinding path. The surface curvature characterizes the degree of surface curvature at the location of the surface contour point in the remaining residual structure. The surface curvature can be determined based on the surface contour point. For example, multiple surface contour points adjacent to a given surface contour point are identified. A surface fitting model is used to fit these adjacent points, resulting in surface models corresponding to each adjacent surface contour point. The curvature of the surface corresponding to the given surface contour point is then calculated using the curvature calculation formula. Path density represents the grinding density of path points. Path density includes, but is not limited to, the number of grinding passes and the thickness of a single grinding pass. Each grinding path layer can be determined based on the grinding amount and path density. For example, the grinding amount and path density are input into a grinding path planning model for processing to obtain the grinding path layer for each layer.

[0072] Specifically, the maximum allowable value in the allowable distribution data is determined, and the layering parameters are determined based on the lookup table between the maximum allowable value and the layering parameters; the allowable value in the allowable distribution data corresponding to the surface contour point is determined, and the ratio between the allowable value corresponding to the surface contour point and the interval between adjacent grinding paths in the layering parameters is calculated. This ratio is used as the grinding amount corresponding to the surface contour points of the remaining residual structure in each grinding path; multiple surface contour points adjacent to the surface contour point are determined, and surface fitting is performed on the multiple surface contour points adjacent to the surface contour point using a surface fitting model to obtain the multiple surface contour points adjacent to the surface contour point. The surface model corresponding to the surface contour point is used to calculate the surface curvature of the surface contour point according to the curvature calculation formula. The grinding amount and path density are input into the grinding path planning model for processing to obtain the grinding path of each layer. The grinding parameters corresponding to each path point in the layered grinding path are encapsulated into grinding instructions and transmitted to the grinding equipment. After receiving the grinding instructions, the grinding equipment performs layered grinding on the cut denture structure, realizing layered grinding of the cut denture structure. This can effectively prevent damage to the denture caused by excessive grinding at one time, which is conducive to improving grinding accuracy and ensuring the integrity of the denture result.

[0073] To ensure the accuracy of the layered polishing process, the denture structure after the layered polishing process needs to be verified.

[0074] Optionally, the method further includes: acquiring the third point cloud data of the denture structure after layered polishing, and verifying it based on the denture design model and the third point cloud data.

[0075] The third point cloud data is obtained by scanning the denture structure after layered polishing. This data can be used to characterize the spatial position and morphology of the denture structure. The third point cloud data includes the three-dimensional coordinate information corresponding to each node in the layered polished denture structure. Verification is performed based on the denture design model and the third point cloud data by calculating the three-dimensional coordinate information of the denture structure in the denture design model and the three-dimensional coordinate information in the third point cloud data. For example, the distance between the three-dimensional coordinate information of each node in the third point cloud data and the corresponding node in the denture design model is calculated, and it is determined whether the distance is less than or equal to a preset distance threshold. When the distance is less than or equal to the preset distance, it indicates that the layered polished denture structure meets the polishing requirements, and polishing is terminated. When the distance is greater than the preset distance, it indicates that there are residual structures in the layered polished denture structure, and polishing can continue until the distance is less than or equal to the preset distance, at which point polishing is terminated.

[0076] Specifically, the denture structure after layered polishing is scanned to obtain the third point cloud data of the denture structure. The distance between the three-dimensional coordinates of each node in the third point cloud data and the corresponding three-dimensional coordinates of the node in the denture design model is calculated, and it is determined whether the distance is less than or equal to a preset distance threshold. When the distance is less than or equal to the preset distance, it means that the denture structure after layered polishing meets the polishing requirements, and polishing ends. When the distance is greater than the preset distance, it means that there are residual structures in the denture structure after layered polishing, and polishing can continue until the distance is less than or equal to the preset distance, at which point polishing ends. This realizes the verification of the denture structure after layered polishing, which is beneficial to improving the polishing accuracy of dentures. For example, see Figure 5 , Figure 5 This is a flowchart of a denture processing method provided in an embodiment of the present invention.

[0077] The technical solution of this embodiment acquires first point cloud data of the denture structure to be processed, which includes the denture structure and residual connecting rod structure, providing comprehensive data support for subsequent denture polishing. The first point cloud data is segmented to obtain the segmentation result. Based on the segmentation result, a cutting path is determined. The cutting equipment is then controlled to cut the residual connecting rod structure of the denture structure, achieving precise cutting and ensuring the integrity of the denture structure. Second point cloud data of the denture structure after cutting is acquired. Based on the second point cloud data and the denture design model, the remaining material distribution data of the residual structure is determined, achieving precise determination of the remaining material distribution data, providing support for subsequent analysis and... The process provides accurate data support; it determines the layering parameters based on the maximum margin value in the margin distribution data; it determines the grinding amount corresponding to the surface contour points of the remaining residual structure in each grinding path based on the layering parameters and margin distribution data, and sets the path density according to the surface curvature of the remaining residual structure's surface contour points; it generates each grinding path based on the grinding amount and path density corresponding to the surface contour points of the remaining residual structure in each grinding path; and it controls the grinding equipment to perform layered grinding on the cut denture structure based on the layered grinding path, realizing layered grinding of the cut denture structure, which can effectively prevent damage to the denture from excessive grinding in one go, and is conducive to improving grinding accuracy and ensuring the integrity of the denture result.

[0078] Example 3

[0079] Figure 6 This is a schematic diagram of a denture processing system provided in Embodiment 3 of the present invention. Figure 6 As shown, the system includes a fixture 310, a cutting device 320, a grinding device 330, a scanning device 340, and a control device 350.

[0080] The system includes: a clamp 310 for holding the denture structure to be processed; a scanning device 340 for performing point cloud scanning on the denture structure and transmitting the first point cloud data to a control device 350; a control device 350 for performing point cloud segmentation on the first point cloud data, obtaining the point cloud segmentation result, determining the cutting path based on the point cloud segmentation result, and sending a cutting command to a cutting device based on the cutting path; a cutting device 320 for cutting the remaining connecting rod structure of the denture structure in response to the cutting command; a scanning device 340 for performing point cloud scanning on the cut denture structure and transmitting the second point cloud data of the cut denture structure to the control device; a control device 350 for determining the remaining material distribution data of the remaining structure based on the second point cloud data and the denture design model; generating a layered polishing path based on the remaining material distribution data of the remaining structure; and sending a polishing command to a polishing device based on the layered polishing path; and a polishing device 330 for performing layered polishing on the cut denture structure in response to the polishing command.

[0081] The system includes the following components: Clamp 310 is used to hold and fix the denture structure to be processed. When selecting clamp 310, a clamp that can be quickly deployed and has minimal interference with the scanning equipment should be chosen. Control device 350 is the core control unit of the denture processing system. Control device 350 can integrate data processing, path planning, and command transmission functions. Cutting device 320 is used to cut the residual structure of the connecting rods of the denture structure to be processed. Cutting device 320 includes, but is not limited to, a pulsed fiber laser. Cutting device 320 and control device 350 can be connected via communication. Grinding device 330 is used to perform layered grinding on the cut denture structure. Grinding device 330 includes, but is not limited to, an industrial robot, such as a six-axis industrial robot. Grinding device 330 and control device 350 can be connected via communication. Scanning device 340 is used to collect point cloud data. Scanning device 340 includes, but is not limited to, structured light scanners and blue laser line scanners. Scanning device 340 and control device 350 can be connected via communication.

[0082] Optionally, the point cloud segmentation results include denture point cloud data and connecting rod point cloud data.

[0083] Optionally, the control device 350 is also used to: determine the denture outline based on the denture point cloud data and connecting rod point cloud data in the point cloud segmentation results; and determine the cutting path based on the denture outline and a set safety distance, wherein the cutting path is located outside the denture outline.

[0084] Optionally, the scanning device 340 is further configured to: acquire second point cloud data of the denture structure after cutting, and transmit the second point cloud data to the control device 350; the control device 350 is further configured to: register the second point cloud data and the denture design model to obtain a registration result; determine the residual structure point cloud data in the second point cloud data based on the registration result; determine the distance of the surface contour points of the remaining residual structure relative to the denture contour based on the residual structure point cloud data, and use the distance of the surface contour points of the remaining residual structure relative to the denture contour as the margin value corresponding to the surface contour points; and determine the margin distribution data of the remaining residual structure based on the margin values ​​corresponding to each surface contour point of the remaining residual structure.

[0085] Optionally, the control device 350 is also used to: input the remaining residual structure's residual distribution data and layering parameters into the path planning model to obtain the layered grinding path output by the path planning model.

[0086] Optionally, the layered grinding path includes grinding parameters corresponding to each path point, and the grinding parameters include at least one of the feed speed and spindle speed of the grinding equipment.

[0087] Optionally, the control device 350 is also used to: determine the layering parameters based on the maximum margin value in the margin distribution data; determine the grinding amount corresponding to the surface contour points of the remaining residual structure in each grinding path based on the layering parameters and the margin distribution data, and set the path density according to the surface curvature of the surface contour points of the remaining residual structure; and generate each grinding path based on the grinding amount and path density corresponding to the surface contour points of the remaining residual structure in each grinding path.

[0088] Optionally, the scanning device 340 is also used to perform point cloud scanning on the denture structure after layered polishing, and transmit the third point cloud data of the scanned denture structure to the control device 350; the control device 350 is also used to perform verification based on the denture design model and the third point cloud data.

[0089] The technical solution of this embodiment is a denture processing system, including a clamp, a cutting device, a grinding device, a scanning device, and a control device. The clamp is used to hold the denture structure to be processed. The scanning device performs point cloud scanning on the denture structure and transmits the first point cloud data of the scanned structure to the control device, providing comprehensive data support for subsequent denture grinding. The control device performs point cloud segmentation on the first point cloud data to obtain the segmentation result, determines the cutting path based on the segmentation result, and sends a cutting command to the cutting device based on the cutting path, achieving precise determination of the cutting path and ensuring the integrity of the denture. The cutting device, in response to the cutting command, cuts the remaining connecting rod structure of the denture structure to be processed, achieving precise cutting of the remaining connecting rod structure. The cutting and scanning equipment performs point cloud scanning on the cut denture structure and transmits the second point cloud data of the cut denture structure to the control equipment. The control equipment determines the remaining material distribution data of the residual structure based on the second point cloud data and the denture design model. Based on the remaining material distribution data of the residual structure, a layered polishing path is generated, and polishing instructions are sent to the polishing equipment based on the layered polishing path. This achieves accurate determination of the layered polishing path and provides accurate data support for the layered polishing of the cut denture structure. The polishing equipment responds to the polishing instructions and performs layered polishing on the cut denture structure, realizing automatic layered polishing of the cut denture structure, improving the speed and efficiency of denture polishing, while ensuring polishing accuracy and the integrity of the denture result.

[0090] Example 4

[0091] Figure 7 This is a schematic diagram of a denture processing device provided in Embodiment 4 of the present invention. Figure 7 As shown, the device includes a first point cloud data acquisition module 410, a point cloud segmentation result determination module 420, a surplus distribution data determination module 430, and a layered polishing processing module 440.

[0092] The system includes the following modules: a first point cloud data acquisition module, used to acquire the first point cloud data of the denture structure to be processed, which includes the denture structure and the residual connecting rod structure; a point cloud segmentation result determination module, used to segment the first point cloud data to obtain the point cloud segmentation result, determine the cutting path based on the point cloud segmentation result, and control the cutting equipment to cut the residual connecting rod structure of the denture structure to be processed based on the cutting path; a remaining quantity distribution data determination module, used to acquire the second point cloud data of the denture structure after cutting, and determine the remaining quantity distribution data of the remaining residual structure based on the second point cloud data and the denture design model; and a layered polishing processing module, used to generate a layered polishing path based on the remaining quantity distribution data of the remaining residual structure, and control the polishing equipment to perform layered polishing processing on the denture structure after cutting based on the layered polishing path.

[0093] The technical solution of this embodiment acquires first point cloud data of the denture structure to be processed through a first point cloud data acquisition module. The denture structure includes the denture structure and the residual connecting rod structure, providing comprehensive data support for subsequent denture polishing. A point cloud segmentation result determination module segments the first point cloud data to obtain the segmentation result. Based on the segmentation result, a cutting path is determined. Based on the cutting path, a cutting device is controlled to cut the residual connecting rod structure of the denture structure to be processed, achieving precise cutting of the residual connecting rod structure and ensuring the integrity of the denture structure. A residual distribution data determination module acquires second point cloud data of the denture structure after cutting. Based on the second point cloud data and the denture design model, residual distribution data of the remaining residual structure is determined, achieving precise determination of the residual distribution data and providing accurate data support for subsequent analysis and processing. A layered polishing processing module generates a layered polishing path based on the residual distribution data of the remaining residual structure. Based on the layered polishing path, a polishing device is controlled to perform layered polishing processing on the cut denture structure, improving the speed and efficiency of denture polishing while ensuring polishing accuracy and the integrity of the denture result.

[0094] Based on the above embodiments, optionally, the point cloud segmentation results include denture point cloud data and connecting rod point cloud data.

[0095] Optionally, the point cloud segmentation result determination module 420 is also used to: determine the denture outline based on the denture point cloud data and connecting rod point cloud data in the point cloud segmentation result; and determine the cutting path based on the denture outline and a set safety distance, wherein the cutting path is located outside the denture outline.

[0096] Optionally, the margin distribution data determination module 430 is further configured to: register the second point cloud data and the denture design model to obtain the registration result; determine the residual structure point cloud data in the second point cloud data based on the registration result; determine the distance between the surface contour points of the remaining residual structure and the denture contour based on the residual structure point cloud data, and use the distance between the surface contour points of the remaining residual structure and the denture contour as the margin value corresponding to the surface contour points; and determine the margin distribution data of the remaining residual structure based on the margin values ​​corresponding to each surface contour point of the remaining residual structure.

[0097] Optionally, the layered polishing processing module 440 is also used to: input the remaining residual structure's residual distribution data and layered parameters into the path planning model to obtain the layered polishing path output by the path planning model.

[0098] Optionally, the layered grinding path includes grinding parameters corresponding to each path point, and the grinding parameters include at least one of the feed speed and spindle speed of the grinding equipment.

[0099] Optionally, the layer polishing processing module 440 is also used to: determine the layering parameters based on the maximum allowable value in the allowable distribution data; determine the polishing amount corresponding to the surface contour points of the remaining residual structure in each layer polishing path based on the layering parameters and the allowable distribution data, and set the path density according to the surface curvature of the surface contour points of the remaining residual structure; and generate each layer polishing path based on the polishing amount and path density corresponding to the surface contour points of the remaining residual structure in each layer polishing path.

[0100] Optionally, the device also includes a verification module for: acquiring the third point cloud data of the denture structure after layered polishing, and verifying it based on the denture design model and the third point cloud data.

[0101] The denture processing device provided in this embodiment of the invention can execute a denture processing method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0102] Example 5

[0103] Figure 8This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0104] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0105] Multiple components in electronic device 10 are connected to input / output (I / O) interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of monitors, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0106] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a denture processing method.

[0107] In some embodiments, a denture processing method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via read-only memory (ROM) 12 and / or communication unit 19. When the computer program is loaded into random access memory (RAM) 13 and executed by processor 11, one or more steps of a denture processing method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform a denture processing method by any other suitable means (e.g., by means of firmware).

[0108] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0109] A computer program for implementing a denture processing method according to the present invention can be written in any combination of one or more programming languages. Such computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer program causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0110] Example 6

[0111] Embodiment 6 of the present invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute a denture processing method, the method comprising:

[0112] The process involves acquiring first point cloud data of the denture structure to be processed, which includes the denture structure itself and residual connecting rod structures. Point cloud segmentation is performed on the first point cloud data to obtain the segmentation results. A cutting path is determined based on the segmentation results, and a cutting device is controlled based on the cutting path to cut the residual connecting rod structures of the denture structure. Second point cloud data of the denture structure after cutting is acquired. The remaining material distribution data of the residual structures is determined based on the second point cloud data and the denture design model. A layered polishing path is generated based on the remaining material distribution data of the residual structures, and a polishing device is controlled based on the layered polishing path to perform layered polishing on the cut denture structure.

[0113] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0114] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0115] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0116] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0117] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0118] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for processing dentures, characterized in that, include: Acquire the first point cloud data of the denture structure to be processed, the denture structure to be processed including the denture structure and the residual structure of the connecting rod; The first point cloud data is segmented to obtain a point cloud segmentation result. A cutting path is determined based on the point cloud segmentation result. A cutting device is controlled based on the cutting path to cut the residual structure of the connecting rod of the denture structure to be processed. Acquire the second point cloud data of the denture structure after cutting, and determine the remaining residual structure distribution data based on the second point cloud data and the denture design model. Based on the remaining material distribution data of the residual structure, a layered polishing path is generated, and the polishing equipment is controlled to perform layered polishing on the cut denture structure based on the layered polishing path.

2. The method according to claim 1, characterized in that, The point cloud segmentation results include denture point cloud data and connecting rod point cloud data; Determining the cutting path based on the point cloud segmentation results includes: The denture outline is determined based on the denture point cloud data and the connecting rod point cloud data in the point cloud segmentation results. The cutting path is determined based on the denture outline and a set safety distance, and the cutting path is located outside the denture outline.

3. The method according to claim 1, characterized in that, The determination of the remaining residual structure distribution data based on the second point cloud data and the denture design model includes: The second point cloud data and the denture design model are registered to obtain the registration result; Based on the registration results, determine the residual structural point cloud data in the second point cloud data; Based on the residual structure point cloud data, the distance between the surface contour points of the remaining residual structure and the denture contour is determined, and the distance between the surface contour points of the remaining residual structure and the denture contour is used as the margin value corresponding to the surface contour points. The remaining quantity distribution data of the remaining residual structure is determined based on the remaining quantity values ​​corresponding to each of the surface contour points of the remaining residual structure.

4. The method according to claim 1, characterized in that, The generation of layered polishing paths based on the remaining material distribution data of the remaining residual structure includes: The remaining residual structure's residual distribution data and layering parameters are input into the path planning model to obtain the layered polishing path output by the path planning model.

5. The method according to claim 1 or 4, characterized in that, The layered grinding path includes grinding parameters corresponding to each path point, and the grinding parameters include at least one of the feed speed and spindle speed of the grinding equipment.

6. The method according to claim 1, characterized in that, The generation of layered polishing paths based on the remaining residual structure's residual distribution data includes: The stratification parameters are determined based on the maximum margin value in the margin distribution data. Based on the layering parameters and the remaining amount distribution data, determine the grinding amount corresponding to the surface contour points of the remaining residual structure in each grinding path, and set the path density according to the surface curvature of the surface contour points of the remaining residual structure. Each polishing path is generated based on the polishing amount and path density corresponding to the surface contour points of the remaining residual structure in each polishing path.

7. The method according to claim 1, characterized in that, The method further includes: Obtain the third point cloud data of the denture structure after layered polishing, and verify it based on the denture design model and the third point cloud data.

8. A denture processing system, characterized in that, include: Fixtures, cutting equipment, grinding equipment, scanning equipment, and control equipment; The clamp is used to hold the denture structure to be processed; The scanning device is used to perform point cloud scanning on the denture structure to be processed, and transmit the first point cloud data of the scanned denture structure to the control device. The control device is used to perform point cloud segmentation on the first point cloud data to obtain point cloud segmentation results, determine a cutting path based on the point cloud segmentation results, and send a cutting command to the cutting device based on the cutting path. The cutting device is used to cut the residual structure of the connecting rod of the denture structure to be processed in response to the cutting command; The scanning device is used to perform point cloud scanning on the cut denture structure and transmit the second point cloud data of the cut denture structure obtained by scanning to the control device. The control device is used to determine the remaining residual structure distribution data based on the second point cloud data and the denture design model; generate a layered polishing path based on the remaining residual structure distribution data; and send polishing instructions to the polishing device based on the layered polishing path. The polishing equipment is used to perform layered polishing on the cut denture structure in response to the polishing command.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the denture processing method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the denture processing method according to any one of claims 1-7.

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