Virtual gingival real-time generation method, system and device and medium

Abstract

The invention relates to the technical field of three-dimensional image processing, and discloses a virtual gingiva real-time generation method, system, device and medium, the method comprises the following steps: obtaining oral cavity three-dimensional data of a target patient, segmenting and repairing the oral cavity three-dimensional data to obtain a local coordinate system and a dental crown model of each tooth of the target patient, acquiring boundary points of the dental crown model of each tooth, calculating to obtain a lingual control point and a lip control point of the target patient according to the boundary points, generating a lingual gingival line and a lip gingival line according to the lingual control point, the lip control point and the local coordinate system, and projecting the lingual gingival line and the lip gingival line to a preset projection plane to obtain the dental crown model of the target patient. The method comprises the steps of obtaining a preset projection plane, fitting a preset target projection point on the preset projection plane to obtain a virtual gingival bottom base line, constructing a gingival curved surface grid according to a lingual side gingival line, a lip side gingival line and the virtual gingival bottom base line, and generating a virtual gingival of a target patient according to the gingival curved surface grid, so that the accuracy of the generated virtual gingival effect is improved.

Description

Technical Field

[0001] This invention relates to the field of three-dimensional image processing technology, and in particular to a method, system, device and medium for real-time virtual gum generation. Background Technology

[0002] Generating virtual gums in a digital dentistry is an important technology with wide applications. It can be used for predicting and designing dental treatment plans, such as pre-operative simulation planning for dental implant surgery. It can also be used for the design and demonstration of cosmetic restorations, such as orthodontic treatment and crown restorations.

[0003] Traditional dental treatments and cosmetic restorations often rely on manual operation and experience-based judgment, which introduces a degree of subjectivity and uncertainty. Therefore, there is an urgent need for a high-precision, high-efficiency, dynamically adaptable, and easy-to-use virtual gingival generation algorithm to drive the further development and application of related technologies. The emergence of digital dentistry technology has provided more accurate and reliable solutions for dental treatments and cosmetic restorations. Digital dentistry's technology for generating virtual gingiva using tooth models primarily relies on oral scanners to acquire three-dimensional data of the teeth. Current virtual gingival generation technologies have various problems. While the purpose of generating virtual gingiva is to assist doctors in diagnosis and treatment and improve effective communication between doctors and patients, some virtual gingiva generation methods are directly obtained from intraoral scans. This method cannot acquire high-quality gingival mesh data, resulting in insufficient accuracy in the generated virtual gingiva. Furthermore, some technologies have limitations in simulating gingival shape, color, and texture, making them unsuitable for various oral conditions and unable to assist doctors in providing personalized solutions.

[0004] Therefore, current technologies suffer from low accuracy in generating virtual gum effects. Summary of the Invention

[0005] This invention provides a method, system, device, and medium for real-time virtual gum generation, the main purpose of which is to solve the problem of low accuracy in the generated virtual gum effect.

[0006] In a first aspect, to achieve the above objective, the present invention provides a method for real-time virtual gingival generation, comprising: The target patient's oral cavity three-dimensional data is acquired, and the oral cavity three-dimensional data is segmented and repaired to obtain the local coordinate system and crown model of each tooth of the target patient; Obtain the boundary points of the crown model for each tooth, and calculate the lingual and labial control points of the target patient based on the boundary points; The lingual gingival line and the labial gingival line are generated based on the lingual control point, the labial control point, and the local coordinate system; The lingual gingival line and the labial gingival line are projected onto a preset projection plane, and the preset target projection points on the preset projection plane are fitted to obtain a virtual gingival base baseline. A gingival surface mesh is constructed based on the lingual gingival line, the labial gingival line, and the virtual gingival base baseline; The virtual gingiva of the target patient is generated based on the gingival surface mesh.

[0007] Secondly, the present invention also provides a virtual gum real-time generation system, the system comprising: The crown model acquisition module is used to acquire the three-dimensional oral cavity data of the target patient, segment and repair the three-dimensional oral cavity data, and obtain the local coordinate system and crown model of each tooth of the target patient. The control point calculation module is used to obtain the boundary points of the crown model of each tooth, and calculate the lingual control points and labial control points of the target patient based on the boundary points. A gingival line generation module is used to generate lingual and labial gingival lines based on the lingual control points, the labial control points, and the local coordinate system. The gingival base baseline generation module is used to project the lingual gingival line and the labial gingival line onto a preset projection plane, and to fit the preset target projection points on the preset projection plane to obtain a virtual gingival base baseline. A gingival surface mesh construction module is used to construct a gingival surface mesh based on the lingual gingival line, the labial gingival line, and the virtual gingival floor baseline. A virtual gingiva generation module is used to generate virtual gingiva for the target patient based on the gingival surface mesh.

[0008] Thirdly, the present invention also provides an electronic device, the electronic device comprising: 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, the computer program being executed by the at least one processor to enable the at least one processor to perform the virtual gingiva real-time generation method described above.

[0009] Fourthly, the present invention also provides a computer-readable storage medium storing at least one computer program, which is executed by a processor in an electronic device to implement the above-described method for real-time virtual gingival generation.

[0010] This invention acquires three-dimensional oral cavity data of a target patient, segments and repairs the data to obtain a local coordinate system and crown model for each tooth, acquires the boundary points of the crown model for each tooth, calculates lingual and labial control points based on these boundary points, generates lingual and labial gingival lines based on these control points and the local coordinate system, projects these lines onto a preset projection plane, and fits preset target projection points on the plane to obtain a virtual gingival base baseline. A gingival surface mesh is constructed based on the lingual, labial, and virtual gingival base baselines, and a virtual gingival gingiva is generated based on this mesh. This effectively solves the problem of low accuracy in the generated virtual gingiva effect. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the 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.

[0012] Figure 1 This is a flowchart illustrating a method for real-time virtual gingival generation according to an embodiment of the present invention. Figure 2 This is a schematic diagram of a crown model of a method for real-time virtual gingival generation according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the local coordinate system of a tooth in a method for real-time virtual gingiva generation according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the gap points and boundary points of two teeth in a method for real-time virtual gingival generation according to an embodiment of the present invention. Figure 5 A schematic diagram of the labial and lingual control points of a single tooth in a method for real-time virtual gingiva generation according to an embodiment of the present invention; Figure 6 A schematic diagram of the gingival line of a method for real-time virtual gingival generation according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the gingival line fitting plane and the projection of the gingival line onto the bottom surface of the gingiva, which is provided in an embodiment of the present invention for a method for real-time virtual gingiva generation. Figure 8 This is a schematic diagram illustrating the selection of the target projection point after projection in a method for real-time virtual gingiva generation according to an embodiment of the present invention. Figure 9 This is a schematic diagram of the virtual gingival base baseline of a method for real-time virtual gingival generation according to an embodiment of the present invention; Figure 10 This is a schematic diagram of a dental cavity mesh provided in an embodiment of the present invention for a method of real-time virtual gingiva generation; Figure 11 This is a schematic diagram of the virtual gingival bottom mesh of a method for real-time virtual gingival generation according to an embodiment of the present invention; Figure 12 This is a schematic diagram of the lateral target control points of a virtual gingiva real-time generation method provided in an embodiment of the present invention; Figure 13 The target control point of a real-time virtual gingiva generation method provided in an embodiment of the present invention. Solution diagram; Figure 14 The target control point of a real-time virtual gingiva generation method provided in an embodiment of the present invention. Solution diagram; Figure 15 The target control point of a real-time virtual gingiva generation method provided in an embodiment of the present invention. Solution diagram; Figure 16 This is a schematic diagram of the gingival lateral mesh of a method for real-time virtual gingival generation according to an embodiment of the present invention; Figure 17 This is a schematic diagram of a virtual gingiva model provided in an embodiment of the present invention for a method of real-time virtual gingiva generation; Figure 18 This is a schematic diagram of a module of a virtual gum real-time generation system provided in an embodiment of the present invention; Figure 19 This is a schematic diagram of the structure of an electronic device for implementing a method for real-time virtual gingiva generation according to an embodiment of the present invention; Figure 20 This is another structural schematic diagram of an electronic device for implementing a method for real-time virtual gingival generation, provided in an embodiment of the present invention.

[0013] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0014] To enable those skilled in the art to better understand the technical solutions of this disclosure, and to fully understand and implement the process of how this disclosure applies technical means to solve technical problems and achieve corresponding technical effects, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, not all embodiments. The embodiments of this disclosure and the various features within them can be combined with each other without conflict, and the resulting technical solutions are all within the protection scope of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort should fall within the protection scope of this disclosure.

[0015] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure 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 this disclosure 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 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.

[0016] This application provides a method for real-time virtual gum generation. The execution entity of this method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the system provided in this application: a server, a terminal, etc. In other words, the method for real-time virtual gum generation can be executed by software or hardware installed on a terminal device or a server device. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster. The server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0017] Reference Figure 1 The diagram shown is a flowchart illustrating a real-time virtual gingiva generation method according to an embodiment of the present invention. In this embodiment, the real-time virtual gingiva generation method includes: S1. Obtain the three-dimensional oral cavity data of the target patient, segment and repair the three-dimensional oral cavity data to obtain the local coordinate system and crown model of each tooth of the target patient.

[0018] In this embodiment of the invention, an intraoral scanner is used to scan the teeth inside the mouth of the target patient to obtain three-dimensional oral data. Then, some preprocessing algorithms are used to segment each tooth in the three-dimensional oral data to obtain the crown model and local coordinate system corresponding to each tooth.

[0019] Specifically, the segmentation and repair of the oral cavity three-dimensional data to obtain the local coordinate system and crown model of each tooth of the target patient includes: Obtain feature data of the surface of each tooth in the oral cavity three-dimensional data; The feature data is selected as the seed point for each tooth; Calculate the similarity between each of the oral cavity 3D data and the seed point; Oral three-dimensional data with similarity greater than the lower limit of the preset similarity threshold interval and less than the upper limit of the preset similarity threshold interval are selected; The selected 3D oral cavity data are summarized into tooth region data; An initial triangular mesh is obtained, and the tooth region data is reconstructed using the initial triangular mesh to obtain an optimized mesh structure. The optimized mesh structure is smoothed using Laplacian and surface repaired to obtain the crown model of each tooth, and a local coordinate system is generated based on the crown model.

[0020] In detail, the acquisition of three-dimensional oral cavity data of the target patient includes: complete crown data of the upper and lower jaws of the target patient, and each crown is independent and can be moved individually.

[0021] The feature data of the surface of each tooth in the oral cavity 3D data is obtained, and the feature data is selected as the seed point of each tooth. For example, the oral cavity 3D data of the tooth surface is used to calculate the similarity between each oral cavity 3D data and the seed point. If the similarity is greater than the lower limit of the preset similarity threshold interval and less than the upper limit of the preset similarity threshold interval, the oral cavity 3D data is added to the current region. The filtered oral cavity 3D data are summarized into tooth region data. The similarity calculation formula is as follows: in, Indicates the first Three-dimensional oral data of each tooth. Indicates the first Seed point of a tooth, This indicates the total number of teeth in the target patient.

[0022] An initial triangular mesh is obtained, and the tooth region data is reconstructed using this initial triangular mesh to obtain an optimized mesh structure. The specific steps are as follows: The initial triangular mesh is used to reconstruct the teeth using the Delaunay triangulation algorithm. The goal of the Delaunay triangulation algorithm is to divide a set of oral cavity 3D data extracted from 3D tooth scan data into triangular regions, maximizing the internal angles of the triangles to obtain the optimized mesh structure. The specific steps are: Each oral cavity 3D data point is inserted into the initial triangular mesh one by one. For each newly inserted oral cavity 3D data point, a triangle adjacent to the newly inserted oral cavity 3D data point is found, and the oral cavity 3D data point is inserted into the corresponding position, dividing these triangles to form new triangles. After inserting new oral cavity 3D data, it is necessary to check whether the newly generated triangles satisfy the Delaunay condition, where the Delaunay condition is that the circumcircle of each triangle does not contain other points. If the Delaunay condition is satisfied, the triangle is valid. If not, it needs to be adjusted through local Delaunay optimization. When all oral cavity 3D data points have been inserted and the Delaunay condition is satisfied, the generated mesh is the optimized mesh structure.

[0023] The optimized mesh structure is then subjected to Laplacian smoothing and surface repair to obtain the crown model of each tooth. The crown model is a triangular mesh model that has been cut and its edges have been smoothed. The specific steps are as follows: Laplacian smoothing is applied to the optimized mesh structure, and the calculation formula is shown below: in, Indicating the optimization of the mesh structure, the first... The new position of each node after smoothing. Represents the Laplace smoothing parameter. Indicating optimization of the mesh structure in relation to the first... The set of other nodes directly connected to a given node. Indicating the optimization of the mesh structure, the first... Each node.

[0024] The missing parts in the optimized mesh structure after Laplacian smoothing are identified, and interpolation methods are used to fill in the missing parts. Finally, curve fitting is performed to obtain the crown model. Figure 2 This is a schematic diagram of a crown model for a method of real-time virtual gingival generation provided in an embodiment of the present invention.

[0025] Figure 3This is a schematic diagram of the local coordinate system of a tooth in a real-time virtual gingiva generation method according to an embodiment of the present invention. The local coordinate system is generated based on the tooth crown model, where the origin of the local coordinate system is the center point of the tooth crown model. The z-axis points from the tooth root to the tooth crown, the y-axis points from the lingual side of the tooth to the labial side, and the x-axis is determined by the right-hand rule and is perpendicular to the z-axis and y-axis.

[0026] By precisely segmenting and repairing the three-dimensional oral data, a high-precision crown model and local coordinate system for each tooth can be obtained. By selecting seed points, calculating similarity, filtering effective data, and optimizing mesh reconstruction and surface repair, the detail accuracy and smoothness of the tooth model are ensured. The final crown model not only accurately reflects the shape of each tooth, but also provides accurate three-dimensional data support for subsequent personalized treatment, improving the dental treatment effect and patient comfort.

[0027] S2. Obtain the boundary points of the crown model for each tooth, and calculate the lingual control points and labial control points of the target patient based on the boundary points.

[0028] In this embodiment of the invention, boundary points are obtained through a crown model, all crown boundary points are arranged in the same order, and lingual control points and labial control points of each tooth are calculated based on the boundary points.

[0029] Specifically, obtaining the boundary points of the crown model for each tooth includes: Calculate the normal vector of each of the three-dimensional oral cavity data in the crown model of each tooth; Two normal vectors are randomly selected from the normal vectors and their dot product is performed to obtain the angle difference between the normal vectors; Filter out the normal vector angle differences that are greater than a preset angle difference threshold; The selected normal vector angle differences correspond to the oral cavity 3D data as the boundary points of the crown model of each tooth.

[0030] Specifically, the normal vector of each of the three-dimensional oral cavity data in the crown model of each tooth is calculated, where the normal vector is the normal line fitted to the local plane using the weighted least squares method. Two normal vectors are randomly selected from these normal vectors and their dot product is performed to obtain the normal vector angle difference, calculated using the following formula: in, This represents the selected normal vector. An angle difference threshold is set to distinguish boundary points. If the difference between the normal vectors of two adjacent points is greater than the angle difference threshold, then there is a boundary point between these two points.

[0031] Specifically, the calculation of the lingual control points and labial control points of the target patient based on the boundary points includes: Arrange the boundary points of all the crown models in a preset order, and generate the boundary line of the crown model for each tooth based on the boundary points; Select the boundary points after arranging two teeth in sequence; Calculate the gap point between the two teeth corresponding to the selected boundary point; Determine whether the two teeth of the selected target patient contain teeth at both ends; If the two teeth of the selected target patient contain two teeth at both ends, then the labial convexity and lingual convexity of the two teeth at both ends are obtained. The labial protrusion and the lingual protrusion are sampled at equal intervals along the boundary lines of the teeth at both ends to obtain the first control point and the second control point of the teeth at both ends. If the two teeth of the selected target patient do not contain teeth at both ends, then the critical point of the tooth gap is obtained; The critical points are sampled at equal intervals along the boundary line in sequence to obtain the third and fourth control points of each tooth except for the teeth at both ends; The first control point and the second control point of the teeth at both ends, and the third control point and the fourth control point of each tooth other than the teeth at both ends are summarized into the lingual control point and the labial control point of each tooth.

[0032] Specifically, the step of calculating the gap point between two teeth corresponding to the selected boundary point includes: One tooth from each of the target patients was selected as the target tooth. Select one boundary point on the boundary line of each target tooth as the target point; Calculate the adjacent distances between the target point and the boundary points of the adjacent teeth of the target tooth; Sort the adjacent distances in ascending order, and filter out the smallest adjacent distance to obtain the minimum distance value; The minimum distance value is added to the preset distance threshold to obtain the distance comparison value; Determine whether the adjacent distance is less than the distance comparison value; If the adjacent distance is greater than or equal to the distance comparison value, then the boundary point corresponding to the adjacent distance is not the gap point between the target tooth and the adjacent tooth; If the adjacent distance is less than the distance comparison value, then the boundary point corresponding to the adjacent distance is taken as the gap point between the target tooth and the adjacent tooth.

[0033] Specifically, Figure 4This is a schematic diagram of the gap points and boundary points of two teeth in a real-time virtual gingiva generation method according to an embodiment of the present invention. The boundary point of the gap point is represented by the point preceding the gap point being the gap point and the point following the gap point being the boundary point of the non-gap point. Figure 4 shown .

[0034] Figure 5 This is a schematic diagram of the labial and lingual control points of a single tooth in a real-time virtual gingiva generation method according to an embodiment of the present invention. The sampling interval is determined based on the overall length of the boundary line, assuming a total of samples are required. The sampling points are evenly distributed along the boundary line using a calculation formula: , Indicates the distance between two sampling points. Indicates the length of the boundary line. This indicates the total number of sampling points. Starting from the boundary point of each tooth, points are spaced at equal intervals. The position of each sampling point is calculated sequentially along the boundary line to obtain the lingual and labial control points for each tooth except for the teeth at both ends; starting from the labial and lingual convex points, the control points are calculated at equal intervals. The position of each sampling point is calculated sequentially along the boundary line to obtain the lingual control points and labial control points of the teeth at both ends.

[0035] Calculate the adjacent distance between the target point and the boundary point of the adjacent tooth of the target tooth based on the coordinates of the target point and the boundary point of the adjacent tooth. Sort the adjacent distances in ascending order and select the smallest adjacent distance to obtain the minimum distance value. The minimum distance value is added to the preset distance threshold to obtain the distance comparison value. The calculation formula is as follows: in, Indicates the minimum distance value. This indicates a preset distance threshold. This represents a distance comparison value.

[0036] Through precise 3D data analysis and boundary point extraction, an accurate crown model can be effectively built for each tooth, and the feature points on the lingual and labial sides can be accurately calculated. These feature points provide precise data support for subsequent orthodontic treatment. By calculating normal vectors, filtering angular differences, and using equidistant sampling, control points for each tooth can be accurately obtained, thereby enabling personalized treatment plans, improving treatment accuracy and effectiveness, reducing errors, and increasing treatment efficiency.

[0037] S3. Generate the lingual gingival line and the labial gingival line based on the lingual control point, the labial control point, and the local coordinate system.

[0038] In this embodiment of the invention, the gingival line is divided into four connected segments: a lingual segment, a labial segment, and two terminal segments, arranged in the order of the teeth to obtain the lingual gingival line and the labial gingival line.

[0039] Specifically, generating the lingual gingival line and the labial gingival line based on the lingual control point, the labial control point, and the local coordinate system includes: The lingual control points and the labial control points are arranged according to the tooth arrangement order based on the local coordinate system. Obtain a uniform node vector, and interpolate the arranged lingual and labial control points according to the preset basis function and the uniform node vector to obtain the lingual gingival line and the labial gingival line.

[0040] In detail, Figure 6 This is a schematic diagram of the gingival line in a real-time virtual gingival generation method according to an embodiment of the present invention. A uniform node vector is obtained, wherein the nodes are evenly distributed, specifically: {0,0,0,1,1,1}. The lingual and labial control points are interpolated according to a preset basis function and the uniform node vector to obtain the lingual and labial gingival lines. The calculation formula is as follows: in, Indicates the first One lingual control point Indicates the first One lip-side control point, This indicates the total number of lingual control points. Indicates the total number of lip control points. Denotes basis functions. Indicates the lingual gingival line. This indicates the labial gingival line.

[0041] By generating lingual and labial gingival lines based on lingual control points, labial control points, and a local coordinate system, the actual structure of a patient's oral cavity can be simulated and reconstructed more accurately. The combination of uniform node vectors and basis function interpolation makes the generation of lingual and labial gingival lines smoother and more continuous, thereby effectively improving the fitting degree of subsequent virtual tooth models.

[0042] S4. Project the lingual gingival line and the labial gingival line onto a preset projection plane, and fit the preset target projection points on the preset projection plane to obtain a virtual gingival base baseline.

[0043] In this embodiment of the invention, the lingual gingival line and the labial gingival line are projected onto a preset projection plane, which is a 3D plane fitted by the gingival line. Figure 7 This is a schematic diagram of the gingival line fitting plane and the projection of the gingival line onto the bottom surface of the gingiva, provided by an embodiment of the present invention for a method for real-time virtual gingiva generation. The plane normal direction is as follows: Figure 7 The long arrow on the left points to the direction of the plane normal, which is opposite to the direction of tooth growth. The short arrow on the right points to the direction of the plane normal. The projection plane is translated along the direction of the plane normal, and the translation distance is the input gingival height parameter. Some projection points on the preset projection plane are used as control points. Finally, the lingual baseline and labial baseline of the gingiva are fitted with the control points, and the lingual baseline and labial baseline are summarized into a virtual gingival bottom baseline.

[0044] Specifically, the step of fitting a preset target projection point on the preset projection plane to obtain a virtual gingival base baseline includes: On the preset projection plane, extract a preset number of lingual projection points and labial projection points from the lingual gingival line and the labial gingival line of each tooth; The lingual projection points and labial projection points extracted from each tooth are grouped together; Calculate the planar distance between each pair of the tongue-side projection points and the labial-side projection points in each group; Sort the planar distances from smallest to largest, and then filter out the tongue-side projection point and labial-side projection point corresponding to the largest planar distance after sorting. The selected tongue-side projection points and labial-side projection points are used as tongue-side target projection points and labial-side target projection points, respectively. The tongue-side target projection points and the labial-side target projection points are fitted respectively to obtain the initial tongue-side curve and the initial labial-side curve; The initial tongue-side curve and the initial labial-side curve are filtered to obtain the updated tongue-side curve and the updated labial-side curve; Interpolate the updated lingual curve and the updated labial curve to obtain the virtual lingual gingival baseline and the virtual labial gingival baseline; The virtual lingual gingival baseline and the virtual labial gingival baseline are combined to form the virtual gingival base baseline.

[0045] Specifically, on the preset projection plane, a preset number of lingual and labial projection points are extracted from the lingual and labial gingival lines of each tooth. The specific operation is as follows: the preset number is, for example, 10. Ten projection points are extracted from the lingual and labial gingival lines of each tooth, forming a group. The two projection points furthest apart in each group are selected as target projection points. The number of target projection points is determined by the number of teeth. Figure 8This is a schematic diagram illustrating the selection of the target projection point after projection in a method for real-time virtual gingiva generation according to an embodiment of the present invention.

[0046] The lingual and labial target projection points are fitted using the least squares method to obtain smooth curves, namely the initial lingual curve and the initial labial curve. Then, points on the initial lingual and initial labial curves are filtered out, leaving half of the number of teeth in the jaw. At the same time, the positions of the first and last points are kept unchanged to obtain the updated lingual and updated labial curves. Finally, cubic b-spline interpolation is performed on the updated lingual and updated labial curves using the interpolation method in S3 to obtain the virtual lingual gingival baseline and the virtual labial gingival baseline.

[0047] Figure 9 This is a schematic diagram of the virtual gingival base baseline of a real-time virtual gingival generation method according to an embodiment of the present invention. The lingual and labial target projection points are fitted using the least squares method to obtain smooth curves, namely the initial lingual curve and the initial labial curve. Specifically, the dataset of the lingual target projection points is... The dataset of the lip-side target projection points is The fitted curve is For the target projection point The residual is obtained by subtracting the ordinate of the target projection point from the fitted curve of the target projection point. The parameters of the fitted curve are obtained by minimizing the sum of squared residuals of all target projection points. Substituting the parameters of the fitted curve, we finally obtained the virtual lingual gingival baseline and the virtual labial gingival baseline.

[0048] By accurately fitting the projection points of the lingual and labial gingival lines, a virtual gingival floor baseline can be precisely reconstructed on a preset projection plane. By extracting and analyzing the lingual and labial projection points of each tooth, the most representative points are selected for fitting and interpolation, thereby effectively improving the accuracy and reliability of the virtual gingival floor baseline and contributing to the creation of more precise virtual gingival models in dental treatment.

[0049] S5. Construct a gingival surface mesh based on the lingual gingival line, the labial gingival line, and the virtual gingival base baseline.

[0050] In this embodiment of the invention, a gingival surface mesh is constructed based on the correspondence between the points on the lingual gingival line, the labial gingival line, and the virtual gingival bottom baseline. The gingival surface mesh consists of three parts: a cavity mesh, a virtual gingival bottom mesh, and a gingival lateral morphology mesh.

[0051] Specifically, the step of constructing a gingival surface mesh based on the lingual gingival line, the labial gingival line, and the virtual gingival floor baseline includes: The lingual control points of the lingual gingival line and the labial control points of the labial gingival line are mapped to each other, and the corresponding lingual control points and labial control points are grouped together. Connect each group of lingual and labial control points to obtain several groups of control point lines; Discretize the connection between the control points to obtain discrete connections; Construct a cavity mesh based on the discrete connections; Connect the lingual target projection point and the labial target projection point in the virtual gingival base baseline to obtain several sets of projection point connections. A virtual gingival base grid is constructed by connecting the projection points; Target control points on the gingival lateral surface of the teeth of the target patient are obtained, and the target control points are fitted to obtain the gingival lateral surface curve; A gingival lateral morphology grid is constructed based on the described gingival lateral curve; A gingival surface mesh is generated based on the cavity mesh, the virtual gingival bottom mesh, and the virtual gingival side mesh.

[0052] In detail, Figure 10 This is a schematic diagram of a cavity mesh for a real-time virtual gingiva generation method according to an embodiment of the present invention. The control point connections are discretized to obtain discrete connections. Specifically, the discretization range is set, i.e., the number of discrete points or the step size between control points. For each interval, several equally spaced parameters are selected. Each equally spaced parameter is substituted into a cubic spline equation to calculate the coordinates of the discrete points, thus obtaining discrete connections. By refining and optimizing the discrete connections, a cavity mesh is constructed based on the discrete connections using computer-aided design software. Figure 11 This is a schematic diagram of a virtual gingival base mesh for a real-time virtual gingival generation method according to an embodiment of the present invention. The target projection points on the lingual side and the target projection points on the labial side in the virtual gingival base baseline are matched and connected to obtain several sets of projection point connections. A virtual gingival base mesh is constructed based on the projection point connections. The specific steps of connecting and constructing the virtual gingival base mesh are the same as those of the dental cavity mesh.

[0053] Figure 12 Target control points for the gingival lateral surface of a method for real-time virtual gingival generation according to an embodiment of the present invention. The diagram illustrates how target control points are obtained on the gingival lateral surface, and how these control points are fitted to obtain the gingival lateral surface curve. Figure 13 , 14 15 is the target control point. The solution diagram involves the following steps: the gingival lateral curve needs to be controlled by three target control points. These target control points are: as shown in the diagram. Figure 12As shown ,in It can control the curvature of the area where the gums connect to the teeth. It allows control over the curvature of the central area of ​​the virtual gum. The gingival lateral curve is controlled to gradually tighten towards the gingival base in the lower gingival region. Taking the buccal side as an example, the algorithm for solving these three points is as follows: Calculate the direction from the lingual control point to the buccal control point sequentially. and the direction After normalization, the buccal and lingual control points here are one-to-one; based on the characteristics of teeth, each tooth has a most convex point on the gingival line, and the most convex points of two adjacent teeth are taken, such as... Figure 13 As shown, points between two convex points are grouped together, for example, 11 points are grouped together, and the target group is... Along Move 0.1 units; target group points at points 0, 1, 2 and 8, 9, 10 are all used. Methods, such as Figure 13 As shown in the diagram, points 3-7 in the middle are calculated. and The connection between and The intersection of the lines connecting them, such as Figure 13 of The location of the point is shown, which gives the result. A set of data points; Projecting onto the plane of step S4 yields the projected direction. The first three points and the last three points adopt The method calculates the intermediate points by fitting a cubic Bezier curve, such as... Figure 14 As shown A set of data points; calculation , Then calculate and The connection between and The intersection of the lines connecting them, such as Figure 15 As shown A set of data. Figure 16 This is a schematic diagram of the gingival lateral surface mesh of a method for real-time virtual gingival generation according to an embodiment of the present invention. The target control point is fitted with a 4th b-spline by the interpolation method in S3 to obtain the gingival lateral surface curve.

[0054] Precisely constructing gingival surface meshes helps improve the accuracy and comfort of dental restorations and orthodontic procedures. By corresponding and connecting control points on the lingual and labial gingival lines, the three-dimensional morphology of the gingiva can be effectively described. Discretizing control point connections and constructing cavity meshes makes the model more detailed, accurately matching the relationship between teeth and gingiva. The construction of virtual gingival bottom and gingival side meshes further enhances the integrity and naturalness of the gingival surface, providing a high-quality digital foundation for personalized dental treatment and improving the accuracy of virtual gingiva.

[0055] S6. Generate the virtual gingiva of the target patient based on the gingival surface mesh.

[0056] In an embodiment of the present invention, Figure 17 This is a schematic diagram of a virtual gingival model for a real-time virtual gingival generation method according to an embodiment of the present invention. The gingival surface mesh is optimized and refined using computer-aided design software to ensure that the virtual gingival surface mesh generated for the target patient can highly match the actual anatomical structure of the target patient's oral cavity, thereby generating a more personalized virtual gingival surface.

[0057] By generating virtual gingiva for the target patient based on the gingival surface mesh, highly personalized treatment plans can be achieved, improving the accuracy of the virtual gingival model. An accurate virtual gingival model can more accurately reflect the patient's oral anatomy, thereby helping dentists make more refined decisions during treatment, improving treatment outcomes and reducing risks.

[0058] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0059] like Figure 18 The diagram shown is a functional block diagram of a virtual gum real-time generation system provided in an embodiment of the present invention.

[0060] This disclosure provides a virtual gingiva real-time generation system, which corresponds one-to-one with the virtual gingiva real-time generation method described in the above embodiments. For example... Figure 18 As shown, the virtual gingiva real-time generation system 100 can be installed in an electronic device. According to its functions, the virtual gingiva real-time generation system 100 includes a crown model acquisition module 101, a control point calculation module 102, a gingival line generation module 103, a gingival base baseline generation module 104, a gingival surface mesh construction module 105, and a virtual gingiva generation module 106. Detailed descriptions of each functional module are as follows: The crown model acquisition module 101 is used to acquire the three-dimensional oral cavity data of the target patient, segment and repair the three-dimensional oral cavity data, and obtain the local coordinate system and crown model of each tooth of the target patient. The control point calculation module 102 is used to obtain the boundary points of the crown model of each tooth, and calculate the lingual control points and labial control points of the target patient based on the boundary points. The gingival line generation module 103 is used to generate the lingual gingival line and the labial gingival line based on the lingual control point, the labial control point and the local coordinate system; The gingival base baseline generation module 104 is used to project the lingual gingival line and the labial gingival line onto a preset projection plane, and to fit the preset target projection points on the preset projection plane to obtain a virtual gingival base baseline. The gingival surface mesh construction module 105 is used to construct a gingival surface mesh based on the lingual gingival line, the labial gingival line and the virtual gingival bottom baseline; The virtual gingiva generation module 106 is used to generate virtual gingiva for the target patient based on the gingiva surface mesh.

[0061] In one embodiment, when the crown model acquisition module 101 performs segmentation and repair on the oral cavity three-dimensional data to obtain the local coordinate system and crown model of each tooth of the target patient, it is used to: Obtain feature data of the surface of each tooth in the oral cavity three-dimensional data; The feature data is selected as the seed point for each tooth; Calculate the similarity between each of the oral cavity 3D data and the seed point; Oral three-dimensional data with similarity greater than the lower limit of the preset similarity threshold interval and less than the upper limit of the preset similarity threshold interval are selected; The selected 3D oral cavity data are summarized into tooth region data; An initial triangular mesh is obtained, and the tooth region data is reconstructed using the initial triangular mesh to obtain an optimized mesh structure. The optimized mesh structure is smoothed using Laplacian and surface repaired to obtain the crown model of each tooth, and a local coordinate system is generated based on the crown model.

[0062] In one embodiment, the control point calculation module 102, when performing the acquisition of the boundary points of the crown model for each tooth, is used to: Calculate the normal vector of each of the three-dimensional oral cavity data in the crown model of each tooth; Two normal vectors are randomly selected from the normal vectors and their dot product is performed to obtain the angle difference between the normal vectors; Filter out the normal vector angle differences that are greater than a preset angle difference threshold; The selected normal vector angle differences correspond to the oral cavity 3D data as the boundary points of the crown model of each tooth.

[0063] In one embodiment, when the control point calculation module 102 calculates the lingual and labial control points of the target patient based on the boundary points, it is used to: Arrange the boundary points of all the crown models in a preset order, and generate the boundary line of the crown model for each tooth based on the boundary points; Select the boundary points after arranging two teeth in sequence; Calculate the gap point between the two teeth corresponding to the selected boundary point; Determine whether the two teeth of the selected target patient contain teeth at both ends; If the two teeth of the selected target patient contain two teeth at both ends, then the labial convexity and lingual convexity of the two teeth at both ends are obtained. The labial protrusion and the lingual protrusion are sampled at equal intervals along the boundary lines of the teeth at both ends to obtain the first control point and the second control point of the teeth at both ends. If the two teeth of the selected target patient do not contain teeth at both ends, then the critical point of the tooth gap is obtained; The critical points are sampled at equal intervals along the boundary line in sequence to obtain the third and fourth control points of each tooth except for the teeth at both ends; The first control point and the second control point of the teeth at both ends, and the third control point and the fourth control point of each tooth other than the teeth at both ends are summarized into the lingual control point and the labial control point of each tooth.

[0064] In one embodiment, when the control point calculation module 102 performs the calculation of the gap point between two teeth corresponding to the selected boundary point, it is used to: One tooth from each of the target patients was selected as the target tooth. Select one boundary point on the boundary line of each target tooth as the target point; Calculate the adjacent distances between the target point and the boundary points of the adjacent teeth of the target tooth; Sort the adjacent distances in ascending order, and filter out the smallest adjacent distance to obtain the minimum distance value; The minimum distance value is added to the preset distance threshold to obtain the distance comparison value; Determine whether the adjacent distance is less than the distance comparison value; If the adjacent distance is greater than or equal to the distance comparison value, then the boundary point corresponding to the adjacent distance is not the gap point between the target tooth and the adjacent tooth; If the adjacent distance is less than the distance comparison value, then the boundary point corresponding to the adjacent distance is taken as the gap point between the target tooth and the adjacent tooth.

[0065] In one embodiment, when the gingival base baseline generation module 104 performs fitting of a preset target projection point on the preset projection plane to obtain a virtual gingival base baseline, it is used to: On the preset projection plane, extract a preset number of lingual projection points and labial projection points from the lingual gingival line and the labial gingival line of each tooth; The lingual projection points and labial projection points extracted from each tooth are grouped together; Calculate the planar distance between each pair of the tongue-side projection points and the labial-side projection points in each group; Sort the planar distances from smallest to largest, and then filter out the tongue-side projection point and labial-side projection point corresponding to the largest planar distance after sorting. The selected tongue-side projection points and labial-side projection points are used as tongue-side target projection points and labial-side target projection points, respectively. The tongue-side target projection points and the labial-side target projection points are fitted respectively to obtain the initial tongue-side curve and the initial labial-side curve; The initial tongue-side curve and the initial labial-side curve are filtered to obtain the updated tongue-side curve and the updated labial-side curve; Interpolate the updated lingual curve and the updated labial curve to obtain the virtual lingual gingival baseline and the virtual labial gingival baseline; The virtual lingual gingival baseline and the virtual labial gingival baseline are combined to form the virtual gingival base baseline.

[0066] In one embodiment, the gingival surface mesh construction module 105, when performing the construction of a gingival surface mesh based on the lingual gingival line, the labial gingival line, and the virtual gingival floor baseline, is used to: The lingual control points of the lingual gingival line and the labial control points of the labial gingival line are mapped to each other, and the corresponding lingual control points and labial control points are grouped together. Connect each group of lingual and labial control points to obtain several groups of control point lines; Discretize the connection between the control points to obtain discrete connections; Construct a cavity mesh based on the discrete connections; Connect the lingual target projection point and the labial target projection point in the virtual gingival base baseline to obtain several sets of projection point connections. A virtual gingival base grid is constructed by connecting the projection points; Target control points on the gingival lateral surface of the teeth of the target patient are obtained, and the target control points are fitted to obtain the gingival lateral surface curve; A gingival lateral morphology grid is constructed based on the described gingival lateral curve; A gingival surface mesh is generated based on the cavity mesh, the virtual gingival bottom mesh, and the virtual gingival side mesh.

[0067] In this invention, a method for real-time virtual gingival generation is proposed. This method acquires three-dimensional oral cavity data of a target patient, segments and repairs the data to obtain a local coordinate system and crown model for each tooth, acquires the boundary points of the crown model for each tooth, calculates lingual and labial control points based on these boundary points, generates lingual and labial gingival lines based on these control points and the local coordinate system, projects these lines onto a preset projection plane, and fits preset target projection points on the plane to obtain a virtual gingival base baseline. A gingival surface mesh is constructed based on the lingual, labial, and virtual gingival base baselines, and the virtual gingival surface mesh is used to generate the virtual gingiva of the target patient. This method effectively improves the accuracy of the generated virtual gingiva effect. Specific limitations of the real-time virtual gingival generation system can be found in the above description of the real-time virtual gingival generation method, and will not be repeated here. The modules in the aforementioned virtual real-time gum generation system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0068] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 19 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external clients via a network connection. When the computer program is executed by the processor, it implements the functions or steps of a virtual real-time gingival generation method on the server side.

[0069] In one embodiment, a computer device is provided, which may be a client, and its internal structure diagram may be as follows: Figure 20 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with an external server via a network connection. When executed by the processor, the computer program implements the functions or steps of a virtual real-time gingival generation method on the client side.

[0070] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps: The target patient's oral cavity three-dimensional data is acquired, and the oral cavity three-dimensional data is segmented and repaired to obtain the local coordinate system and crown model of each tooth of the target patient; Obtain the boundary points of the crown model for each tooth, and calculate the lingual and labial control points of the target patient based on the boundary points; The lingual gingival line and the labial gingival line are generated based on the lingual control point, the labial control point, and the local coordinate system; The lingual gingival line and the labial gingival line are projected onto a preset projection plane, and the preset target projection points on the preset projection plane are fitted to obtain a virtual gingival base baseline. A gingival surface mesh is constructed based on the lingual gingival line, the labial gingival line, and the virtual gingival base baseline; The virtual gingiva of the target patient is generated based on the gingival surface mesh.

[0071] In the embodiments provided by this invention, it should be understood that the disclosed devices and systems can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0072] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0073] Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within the invention. No appended diagram markings in the claims should be construed as limiting the scope of the claims.

[0074] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0075] In some embodiments of this example, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the method described in the above embodiments.

[0076] The readable storage medium of the present invention stores a computer program, which, when executed by a processor of an electronic device, can perform the following: The target patient's oral cavity three-dimensional data is acquired, and the oral cavity three-dimensional data is segmented and repaired to obtain the local coordinate system and crown model of each tooth of the target patient; Obtain the boundary points of the crown model for each tooth, and calculate the lingual and labial control points of the target patient based on the boundary points; The lingual gingival line and the labial gingival line are generated based on the lingual control point, the labial control point, and the local coordinate system; The lingual gingival line and the labial gingival line are projected onto a preset projection plane, and the preset target projection points on the preset projection plane are fitted to obtain a virtual gingival base baseline. A gingival surface mesh is constructed based on the lingual gingival line, the labial gingival line, and the virtual gingival base baseline; The virtual gingiva of the target patient is generated based on the gingival surface mesh.

[0077] It should be noted that the functions or steps that can be implemented by the computer-readable storage medium or computer device described above can be referred to the relevant descriptions on the server side and client side in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0078] Computer-readable storage media may also store at least one computer-executable program / instruction, such as computer-readable instructions. Computer-readable storage media include, but are not limited to, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Computer-readable storage media may include, for example, read-only memory (ROM), hard disk, flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device executes the computer-readable instructions stored on the computer-readable storage medium, the various methods described above can be performed.

[0079] In addition, the computer device may include (but is not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (e.g., keyboard, mouse, speakers, etc.).

[0080] The processor can communicate with external devices via the I / O bus through wired or wireless networks.

[0081] In one embodiment, the at least one computer-executable instruction may also be compiled into or comprise a software product / computer program product, wherein one or more computer-executable instructions are executed by a processor to perform the steps of the various functions and / or methods in the embodiments described herein.

[0082] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0083] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0084] In the embodiments provided in this disclosure, it should be understood that the disclosed systems and methods can also be implemented in other ways. The system embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0085] It should be noted that, in this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element limited by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0086] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for real-time virtual gingival generation, characterized in that, The method includes: The target patient's oral cavity three-dimensional data is acquired, and the oral cavity three-dimensional data is segmented and repaired to obtain the local coordinate system and crown model of each tooth of the target patient; Obtain the boundary points of the crown model for each tooth, and calculate the lingual and labial control points of the target patient based on the boundary points; The lingual gingival line and the labial gingival line are generated based on the lingual control point, the labial control point, and the local coordinate system; The lingual gingival line and the labial gingival line are projected onto a preset projection plane, and the preset target projection points on the preset projection plane are fitted to obtain a virtual gingival base baseline. A gingival surface mesh is constructed based on the lingual gingival line, the labial gingival line, and the virtual gingival base baseline; The virtual gingiva of the target patient is generated based on the gingival surface mesh.

2. The method for real-time virtual gingiva generation as described in claim 1, characterized in that, The segmentation and repair of the oral cavity three-dimensional data to obtain the local coordinate system and crown model of each tooth of the target patient includes: Obtain feature data of the surface of each tooth in the oral cavity three-dimensional data; The feature data is selected as the seed point for each tooth; Calculate the similarity between each of the oral cavity 3D data and the seed point; Oral three-dimensional data with similarity greater than the lower limit of the preset similarity threshold interval and less than the upper limit of the preset similarity threshold interval are selected; The selected 3D oral cavity data are summarized into tooth region data; An initial triangular mesh is obtained, and the tooth region data is reconstructed using the initial triangular mesh to obtain an optimized mesh structure. The optimized mesh structure is smoothed using Laplacian and surface repaired to obtain the crown model of each tooth, and a local coordinate system is generated based on the crown model.

3. The method for real-time virtual gingiva generation as described in claim 1, characterized in that, The process of obtaining the boundary points of the crown model for each tooth includes: Calculate the normal vector of each of the three-dimensional oral cavity data in the crown model of each tooth; Two normal vectors are randomly selected from the normal vectors and their dot product is performed to obtain the angle difference between the normal vectors; Filter out the normal vector angle differences that are greater than a preset angle difference threshold; The selected normal vector angle differences correspond to the oral cavity 3D data as the boundary points of the crown model of each tooth.

4. The method for real-time virtual gingiva generation as described in claim 1, characterized in that, The calculation of the lingual and labial control points of the target patient based on the boundary points includes: Arrange the boundary points of all the crown models in a preset order, and generate the boundary line of the crown model for each tooth based on the boundary points; Select the boundary points after arranging two teeth in sequence; Calculate the gap point between the two teeth corresponding to the selected boundary point; Determine whether the two teeth of the selected target patient contain teeth at both ends; If the two teeth of the selected target patient contain two teeth at both ends, then the labial convexity and lingual convexity of the two teeth at both ends are obtained. The labial protrusion and the lingual protrusion are sampled at equal intervals along the boundary lines of the teeth at both ends to obtain the first control point and the second control point of the teeth at both ends. If the two teeth of the selected target patient do not contain teeth at both ends, then the critical point of the tooth gap is obtained; The critical points are sampled at equal intervals along the boundary line in sequence to obtain the third and fourth control points of each tooth except for the teeth at both ends; The first control point and the second control point of the teeth at both ends, and the third control point and the fourth control point of each tooth other than the teeth at both ends are summarized into the lingual control point and the labial control point of each tooth.

5. The method for real-time virtual gingiva generation as described in claim 4, characterized in that, The step of calculating the gap point between two teeth corresponding to the selected boundary point includes: One tooth from each of the target patients was selected as the target tooth. Select one boundary point on the boundary line of each target tooth as the target point; Calculate the adjacent distances between the target point and the boundary points of the adjacent teeth of the target tooth; Sort the adjacent distances in ascending order, and filter out the smallest adjacent distance to obtain the minimum distance value; The minimum distance value is added to the preset distance threshold to obtain the distance comparison value; Determine whether the adjacent distance is less than the distance comparison value; If the adjacent distance is greater than or equal to the distance comparison value, then the boundary point corresponding to the adjacent distance is not the gap point between the target tooth and the adjacent tooth; If the adjacent distance is less than the distance comparison value, then the boundary point corresponding to the adjacent distance is taken as the gap point between the target tooth and the adjacent tooth.

6. The method for real-time virtual gingival generation as described in claim 1, characterized in that, The step of fitting a preset target projection point on the preset projection plane to obtain a virtual gingival baseline includes: On the preset projection plane, extract a preset number of lingual projection points and labial projection points from the lingual gingival line and the labial gingival line of each tooth; The lingual projection points and labial projection points extracted from each tooth are grouped together; Calculate the planar distance between each pair of the tongue-side projection points and the labial-side projection points in each group; Sort the planar distances from smallest to largest, and then filter out the tongue-side projection point and labial-side projection point corresponding to the largest planar distance after sorting. The selected tongue-side projection points and labial-side projection points are used as tongue-side target projection points and labial-side target projection points, respectively. The tongue-side target projection points and the labial-side target projection points are fitted respectively to obtain the initial tongue-side curve and the initial labial-side curve; The initial tongue-side curve and the initial labial-side curve are filtered to obtain the updated tongue-side curve and the updated labial-side curve; Interpolate the updated lingual curve and the updated labial curve to obtain the virtual lingual gingival baseline and the virtual labial gingival baseline; The virtual lingual gingival baseline and the virtual labial gingival baseline are combined to form the virtual gingival base baseline.

7. The method for real-time virtual gingiva generation as described in claim 1, characterized in that, The process of constructing a gingival surface mesh based on the lingual gingival line, the labial gingival line, and the virtual gingival base baseline includes: The lingual control points of the lingual gingival line and the labial control points of the labial gingival line are mapped to each other, and the corresponding lingual control points and labial control points are grouped together. Connect each group of lingual and labial control points to obtain several groups of control point lines; Discretize the connection between the control points to obtain discrete connections; Construct a cavity mesh based on the discrete connections; Connect the lingual target projection point and the labial target projection point in the virtual gingival base baseline to obtain several sets of projection point connections. A virtual gingival base grid is constructed by connecting the projection points; Target control points on the gingival lateral surface of the teeth of the target patient are obtained, and the target control points are fitted to obtain the gingival lateral surface curve; A gingival lateral morphology grid is constructed based on the described gingival lateral curve; A gingival surface mesh is generated based on the cavity mesh, the virtual gingival bottom mesh, and the virtual gingival side mesh.

8. A virtual gum real-time generation system, characterized in that, The system includes: The crown model acquisition module is used to acquire the three-dimensional oral cavity data of the target patient, segment and repair the three-dimensional oral cavity data, and obtain the local coordinate system and crown model of each tooth of the target patient. The control point calculation module is used to obtain the boundary points of the crown model of each tooth, and calculate the lingual control points and labial control points of the target patient based on the boundary points. A gingival line generation module is used to generate lingual and labial gingival lines based on the lingual control points, the labial control points, and the local coordinate system. The gingival base baseline generation module is used to project the lingual gingival line and the labial gingival line onto a preset projection plane, and to fit the preset target projection points on the preset projection plane to obtain a virtual gingival base baseline. A gingival surface mesh construction module is used to construct a gingival surface mesh based on the lingual gingival line, the labial gingival line, and the virtual gingival floor baseline. A virtual gingiva generation module is used to generate virtual gingiva for the target patient based on the gingival surface mesh.

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, the computer program being executed by the at least one processor to enable the at least one processor to perform a virtual gingival real-time generation method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements a method for real-time virtual gingival generation as described in any one of claims 1 to 7.

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