An intraoral scanner with a blood scan mode and a scanning method thereof

Abstract

The application discloses an intraoral scanner with a blood scanning mode and a scanning method thereof, and belongs to the technical field of intraoral scanners. The intraoral scanner comprises a light source assembly, a light device assembly and a control processing assembly. The light source assembly comprises a blue light source, a green light source and a red light source arranged at intervals. The light device assembly comprises a plurality of light splitters and digital micromirrors. The control processing assembly comprises two filter wheels, two image sensors and an image processor. Each filter wheel is provided with a full-pass filter and a red light filter. The two image sensors are electrically connected with the image processor, and the two filter wheels correspond to the two image sensors one by one. The intraoral scanner with the blood scanning mode provided by the application can not only be compatible with a blood-free environment and an environment with a large amount of blood in surgery and realize free switching, thereby enriching the application scene of the intraoral scanning equipment in oral surgery, but also avoid additional hemostasis or flushing, thereby improving the scanning efficiency.

Description

Technical Field

[0001] This invention belongs to the field of intraoral scanner technology, specifically relating to an intraoral scanner with a blood scanning mode and its scanning method. Background Technology

[0002] Intraoral scanners are key equipment for digital oral diagnosis and treatment. They project structured light patterns into the mouth, then collect the reflected and modulated images, and reconstruct the three-dimensional morphology of teeth and soft tissues using algorithms. They are widely used in clinical settings such as dental restoration, orthodontics, and implantology.

[0003] Currently, commonly used intraoral scanners generally employ blue and green light sources in the 400nm-550nm range. This wavelength range ensures the reflective contrast of tooth hard tissues while improving the spatial resolution of the optical system, making it suitable for routine oral scanning scenarios. However, traditional intraoral scanners cannot be adapted to scanning scenarios involving bloody surgical wounds. Specifically, hemoglobin in blood has a strong absorption capacity for short-wavelength light in the 400nm-550nm range, significantly weakening the reflected signal from the wound surface. The device cannot capture the structured light pattern, leading to the failure of 3D reconstruction. Alternatively, hemostasis or irrigation with saline solution can be used before scanning, but this not only increases the surgical time and operational difficulty but may also alter oral soft tissues and even cause secondary damage. Therefore, existing intraoral scanners cannot adapt to the presence of blood during surgery, greatly limiting the application scenarios and scanning efficiency of intraoral scanning devices in oral surgery. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides an intraoral scanner with a blood scanning mode and its scanning method. The purpose is to not only be compatible with bloodless environments and environments with a lot of blood during surgery, but also to achieve free switching, thereby enriching the application scenarios of intraoral scanning devices in oral surgery, but also to avoid additional hemostasis or irrigation methods, thereby improving scanning efficiency.

[0005] To achieve the above objectives, in a first aspect, the present invention provides an intraoral scanner with a blood scanning mode, the intraoral scanner comprising a light source assembly, an optical device assembly, and a control processing assembly; The light source assembly includes blue light sources, green light sources, and red light sources arranged at intervals; The optical device assembly includes multiple beam splitters and digital micromirrors. The multiple beam splitters and digital micromirrors are arranged sequentially along the incident light path. The blue light emitted by the blue light source, the green light emitted by the green light source, and the red light emitted by the red light source can all be incident into the incident light path through the corresponding beam splitter. The digital micromirrors are used to convert the corresponding light beams into structured light and project them outward. The control and processing component includes two filter wheels, two image sensors, and an image processor. Each filter wheel is equipped with a full-pass filter and a red light filter, and the filter wheels are rotatably arranged to switch the full-pass filter or the red light filter to the corresponding reflected light path. Blue light and green light correspond to the full-pass filter, and infrared light corresponds to the red light filter. The two image sensors are electrically connected to the image processor. The two filter wheels correspond one-to-one with the two image sensors and are located on the corresponding reflected light paths. Blue light, green light, or red light is emitted to the area to be scanned through the first light path and, after being reflected by the area to be scanned, enters the filter wheel and the image sensor sequentially along the corresponding reflected light path. The image processor reconstructs the three-dimensional shape of the area to be scanned based on the images of the area to be scanned acquired by the two image sensors.

[0006] Optionally, the intraoral scanner further includes a power supply, a temperature sensor, and a thermal management controller. The power supply is used to power the light source assembly, the temperature sensor is used to detect the temperature of the red light source, and the thermal management controller is electrically connected to the power supply and the temperature sensor respectively. The thermal management controller adjusts the power supply current of the power supply according to the detected temperature of the red light source.

[0007] Optionally, the red light source is an array of multiple red LEDs.

[0008] Optionally, the intraoral scanner further includes a brightness acquisition control module, which is electrically connected to the digital micromirror. The brightness acquisition control module is used to acquire the blood brightness and structure light brightness of the blood region in the image acquired from the image sensor of the area to be scanned, compare them, and send the comparison result to the digital micromirror, which adjusts the structure light parameters accordingly.

[0009] In a second aspect, the present invention provides a scanning method for an intraoral scanner with a blood scanning mode, the scanning method being based on the intraoral scanner with a blood scanning mode described in the first aspect, the scanning method comprising: When the area to be scanned is a non-blood scanning scenario, the blue light source and the green light source are activated, the red light source is deactivated, each of the full-pass filters is rotated to the corresponding reflected light path, and the intraoral scanner is in a non-blood scanning state. When the area to be scanned is a blood scanning scenario, the blue light source and the green light source are stopped, the red light source is started, each of the red light filters is rotated to the corresponding reflected light path, and the intraoral scanner is in blood scanning state.

[0010] Optionally, before scanning, the scanning method further includes: The proportion of blood-colored areas in the image to be scanned is determined. When the proportion of blood-colored areas does not exceed the contrast threshold, the intraoral scanner is controlled to be in a non-blood scanning state; otherwise, the intraoral scanner is controlled to be in a blood scanning state.

[0011] Optionally, the determination of the proportion of blood-red areas in the image of the area to be scanned is achieved in the following way: The digital micromirror is stopped when each of the full-pass filters is rotated to the corresponding reflected optical path. The green light source, the blue light source, and the red light source are sequentially projected outward with uniformly bright light spots, thereby allowing the two image sensors to acquire an image of the area to be scanned once each. The image processor combines the acquired green light image, red light image, and blue light image into a white light image, and converts the white light image into an HSV image; The image processor determines the proportion of blood-red areas in the area to be scanned based on the HSV image.

[0012] Optionally, the comparison threshold is 20%-30%.

[0013] Optionally, the scanning method further includes: The three-dimensional morphology of the area to be scanned, obtained under non-blood scanning conditions and under blood scanning conditions, is stitched together to generate a continuous three-dimensional morphology of the entire oral cavity.

[0014] Optionally, the scanning method further includes: A diagnostic model is constructed, which is obtained by using images of wounds with blood as training samples after fine segmentation and recognition based on the presence or absence of blood. The three-dimensional topography of the entire oral cavity is input into the diagnostic model. The diagnostic model automatically segments the three-dimensional topography of the entire oral cavity to identify bloody areas, wound boundaries, and normal soft tissue areas, and calculates wound data based on the identification results.

[0015] The aforementioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0016] In summary, the beneficial effects of the above-described technical solutions conceived by this invention compared with the prior art include: In the intraoral scanner with a blood scanning mode provided in this embodiment of the invention, when the area to be scanned is in a non-blood scanning scenario, the blue and green light sources are activated, the red light source is deactivated, and each all-pass filter is rotated to the corresponding reflected light path, and the intraoral scanner is in a non-blood scanning state. At this time, the blue and green light sources combine blue and green light beams (wavelength 400nm-550nm) and then project them along the incident light path into the digital micromirror. The digital micromirror converts the blue and green light beams into structured light and projects them onto the area to be scanned. The beams are ultimately reflected by the area to be scanned to two reflected light paths, and after passing through the corresponding all-pass filters, they are received by the image sensors. The image processor reconstructs the three-dimensional shape of the area to be scanned based on the images of the area to be scanned acquired by the two image sensors through an algorithm.

[0017] When the area to be scanned is a blood scan scenario, the blue and green light sources are deactivated, while the red light source (wavelength 650nm±10nm) is activated. Each red light filter rotates to its corresponding reflection path, and the intraoral scanner enters blood scanning mode. At this time, the red light source projects red light along the incident light path into the digital micromirror. The digital micromirror converts the red beam into structured light and projects it onto the area to be scanned. This beam is reflected by the area to be scanned to two reflection paths and then, after passing through the corresponding red light filters, is received by the image sensor. The image processor, based on the images of the area to be scanned acquired by the two image sensors, reconstructs the three-dimensional shape of the area using algorithms. The spectral range corresponding to the red light source has a shallower penetration depth into soft tissue and does not introduce additional noise signals. Furthermore, compared to blue and green light, this spectral range is less easily absorbed by oxyhemoglobin and deoxyhemoglobin in the blood, exhibiting a significant reflection signal, making it more suitable for scanning in blood-containing environments. Furthermore, the red light filter effectively filters out ambient light interference during light reflection, ensuring that the image sensor only receives reflected signals in the red light band, isolating stray light signals, and significantly improving the imaging signal-to-noise ratio in blood-bearing, weak-signal scenarios. This ultimately enables the scanning of blood areas, enriching the application scenarios of intraoral scanning devices in oral surgery, avoiding additional hemostasis or irrigation methods, and thus improving scanning efficiency.

[0018] In other words, the intraoral scanner with a blood scanning mode provided by the embodiments of the present invention can not only be compatible with bloodless environments and environments with a lot of blood during surgery, but also achieve free switching, thereby enriching the application scenarios of intraoral scanning devices in oral surgery, and also avoids additional hemostasis or irrigation methods, thereby improving scanning efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of an intraoral scanner with a blood scanning mode provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the filter wheel provided in an embodiment of the present invention; Figure 3This is a flowchart of a scanning method for an intraoral scanner with a blood scanning mode provided in an embodiment of the present invention.

[0020] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1. Light source assembly; 11. Blue light source; 12. Green light source; 13. Red light source; 2. Optical device assembly; 21. Beam splitter; 22. Digital micromirror; 3. Control and processing assembly; 31. Filter wheel; 311. All-pass filter; 312. Red light filter; 32. Image sensor; 100. Area to be scanned. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0024] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0025] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0026] Example: Figure 1 This is a schematic diagram of the structure of an intraoral scanner with a blood scanning mode provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the intraoral scanner includes a light source assembly 1, an optical device assembly 2, and a control and processing assembly 3.

[0027] The light source assembly 1 includes blue light source 11, green light source 12 and red light source 13 arranged at intervals.

[0028] The optical device assembly 2 includes multiple beam splitters 21 and digital micromirrors 22. The multiple beam splitters 21 and digital micromirrors 22 are arranged sequentially along the incident light path. The blue light emitted from the blue light source 11, the green light emitted from the green light source 12, and the red light emitted from the red light source 13 can all be injected into the incident light path through the corresponding beam splitter 21. The digital micromirrors 22 are used to convert the corresponding light beams into structured light and project them outward.

[0029] The control processing component 3 includes two filter wheels 31, two image sensors 32, and an image processor (not shown).

[0030] Figure 2 This is a schematic diagram of the filter wheel provided in an embodiment of the present invention, as shown below. Figure 2As shown, each filter wheel 31 is equipped with a full-pass filter 311 and a red light filter 312, and the filter wheel 31 is rotatable to switch the full-pass filter 311 or the red light filter 312 to the corresponding reflected light path. Blue light and green light correspond to the full-pass filter 311, and infrared light corresponds to the red light filter 312. Both image sensors 32 are electrically connected to the image processor. The two filter wheels 31 correspond one-to-one with the two image sensors 32 and are located on the corresponding reflected light path. Blue light, green light, or red light is emitted to the area to be scanned 100 through the first light path and is reflected by the area to be scanned 100 and then enters the filter wheel 31 and the image sensor 32 sequentially along the corresponding reflected light path. The image processor reconstructs the three-dimensional shape of the area to be scanned based on the images of the area to be scanned collected by the two image sensors 32.

[0031] The structured light can be phase-shifted fringe structured light, or other types of structured light; this invention does not limit the types of structured light used.

[0032] In the intraoral scanner with a blood scanning mode provided in this embodiment of the invention, when the area to be scanned is in a non-blood scanning scenario, the blue light source 11 and the green light source 12 are activated, the red light source 13 is deactivated, and each all-pass filter 311 is rotated to the corresponding reflected light path, and the intraoral scanner is in a non-blood scanning state. At this time, the blue light source 11 and the green light source 12 combine the blue and green light beams (wavelength 400nm-550nm) and then send them into the digital micromirror 22 along the incident light path. The digital micromirror 22 converts the blue and green light beams into structured light and projects them onto the area to be scanned 100. The beams are ultimately reflected by the area to be scanned to the two reflected light paths, and after passing through the corresponding all-pass filters 311 (all light can pass through), they are received by the image sensor 32. The image processor reconstructs the three-dimensional shape of the area to be scanned based on the images of the area to be scanned acquired by the two image sensors 32 through an algorithm (binocular three-dimensional reconstruction principle). Among them, blue-green light in the 400nm-550nm range has the advantage of short wavelength and high spatial resolution, enabling high-contrast imaging of the tooth surface. It can achieve micron-level fine scanning of dry tooth tissue and retain the high-precision imaging capability of traditional oral scanners for restoration and orthodontics in the absence of obvious liquid.

[0033] When the area to be scanned is a blood scanning scenario, the blue light source 11 and green light source 12 are deactivated, while the red light source 13 (wavelength 650nm±10nm) is activated. Each red light filter 312 rotates to its corresponding reflection path, and the intraoral scanner is in blood scanning mode. At this time, the red light source 13 projects red light along the incident light path into the digital micromirror 22. The digital micromirror 22 converts the red beam into structured light and projects it onto the area to be scanned. This beam is reflected by the area to be scanned to two reflection paths and then, after passing through the corresponding red light filter 312 (only red light passes through), is received by the image sensor 32. The image processor, based on the images of the area to be scanned acquired by the two image sensors 32, reconstructs the three-dimensional morphology of the area to be scanned using an algorithm. The spectral range corresponding to the red light source 13 has a shallower penetration depth into soft tissue and does not introduce additional noise signals. Furthermore, compared to blue and green light, this spectral range is less easily absorbed by oxyhemoglobin and deoxyhemoglobin in the blood, exhibiting a significant reflection signal, making it more suitable for scanning in blood-containing environments. Furthermore, the red light filter 312 effectively filters out ambient light interference during light reflection, ensuring that the image sensor 32 only receives reflected signals in the red light band, isolating stray light signals, and significantly improving the imaging signal-to-noise ratio in blood-containing weak signal scenarios. This ultimately enables the scanning of blood areas, thereby enriching the application scenarios of oral scanning devices in oral surgery, avoiding additional hemostasis or irrigation methods, and thus improving scanning efficiency.

[0034] In other words, the intraoral scanner with a blood scanning mode provided by the embodiments of the present invention can not only be compatible with bloodless environments and environments with a lot of blood during surgery, but also achieve free switching, thereby enriching the application scenarios of intraoral scanning devices in oral surgery, and also avoids additional hemostasis or irrigation methods, thereby improving scanning efficiency.

[0035] It should be noted that the image processor reconstructs the three-dimensional shape of the area to be scanned based on the images of the area to be scanned acquired by the two image sensors 32. This does not involve any improvement to the data processing and is a conventional technical method in this field.

[0036] For example, there can be two beam splitters 21. The first beam splitter 21 can combine blue and green light and send it along the incident light path, and then transmit it to the digital micromirror 22 through the second beam splitter 21; while the second beam splitter 21 can directly reflect red light to the digital micromirror 22. In addition, according to the actual needs of the incident light path, a reflector can be set accordingly to make adaptive adjustments to the light path.

[0037] For example, the red light source 13 is an array of multiple red LEDs. The rated output power of a single red LED ranges from 50mW to 200mW, preferably 80mW to 150mW, using a low-power, high-stability medical-grade model to balance imaging brightness and photobiological safety. The red light source 13 uses a uniformly arranged array of 2 to 6 red LEDs to replace single-source point illumination, effectively solving the problems of uneven local illumination and blind spots, achieving uniform illumination within the scanning field of view, and ensuring consistent illumination of blood-covered wounds at different locations.

[0038] The image sensor 32 can be a back-illuminated global shutter CMOS sensor with a spectral response sensitivity of no less than 0.4 A / W to 650nm red light, enabling precise capture of weak structured light signals reflected from the blood surface. The sensor resolution is no less than 1280×960, and the frame rate is ≥60fps, meeting the requirements for high-speed structured light acquisition and effectively avoiding image blurring and ghosting caused by handheld scanning tremors during surgery.

[0039] In addition, the intraoral scanner also includes a housing, within which the light source assembly 1, optical device assembly 2, filter wheel 31, and image sensor 32 are all housed, thus achieving integration and handheld operation. Furthermore, the rotation of the filter wheel 31 can be automatically controlled by a motor.

[0040] In one implementation of the present invention, the intraoral scanner further includes a power supply, a temperature sensor, and a thermal management controller (not shown). The power supply is used to supply power to the light source assembly 1, the temperature sensor is used to detect the temperature of the red light source 13, and the thermal management controller is electrically connected to the power supply and the temperature sensor respectively. The thermal management controller adjusts the power supply current of the power supply according to the detected temperature of the red light source 13.

[0041] In the above embodiment, the temperature sensor can detect the temperature of the red light source 13 in real time, and dynamically adjust the power supply current of the constant current drive to the red light source 13 when the temperature is higher than the threshold, so as to ensure that the effective irradiance of the oral cavity surface meets the biosafety standard and eliminate the risk of oral mucosal photodamage caused by excessive heat or brightness of red light.

[0042] For example, the temperature sensor acquires the temperature at the location of the red light source 13 in real time every 10ms.

[0043] In one implementation of the present invention, the intraoral scanner further includes a brightness acquisition control module, which is electrically connected to the digital micromirror 22. The brightness acquisition control module is used to acquire the blood brightness and structure light brightness of the blood region in the image acquired by the image sensor 32 of the area to be scanned, compare them, and send the comparison result to the digital micromirror, which adjusts the structure light parameters accordingly.

[0044] Specifically, when the ratio of blood brightness to structured light brightness is lower than the threshold, the digital micromirror 22 adjusts the structured light width to 1.0mm-2.0mm; when the ratio of blood brightness to structured light brightness is higher than the threshold, the digital micromirror 22 adjusts the structured light width to 0.2mm-0.5mm.

[0045] It's easy to understand that by comparing the blood brightness and structured light brightness in the blood area, the brightness acquisition and control module can change the parameters of the digital micromirror 22 in real time. This allows the digital micromirror 22 to dynamically adjust the structured light width by controlling the tilt and rotation angles according to the parameters. Specifically, when the brightness ratio is higher than a threshold, it's considered that the blood in the current scene is thin and only slightly oozing, resulting in a strong reflected signal. The digital micromirror 22 adjusts the structured light width to 0.2mm-0.5mm, i.e., small-width stripes, maximizing image spatial resolution and preserving the fine texture of the wound. When the brightness ratio is lower than a threshold, it's considered that the blood in the current scene is thick, with continuous oozing and severe signal attenuation. The digital micromirror 22 adjusts the structured light width to 1.0mm-2.0mm, i.e., large-width stripes, reducing high-frequency noise interference, significantly improving the signal-to-noise ratio, and avoiding signal aliasing and phase calculation failure caused by excessively dense stripes, thus adapting to various complex intraoperative bleeding conditions in clinical practice.

[0046] In other words, the brightness acquisition and control module and the digital micromirror 22 in blood mode have the ability to adaptively adjust the structured light parameters for different blood coverage thicknesses and different bleeding states, so as to achieve optimal signal-to-noise ratio adaptation in weak signal scenes.

[0047] Figure 3 This is a flowchart of a scanning method for an intraoral scanner with a blood scanning mode provided in an embodiment of the present invention, as shown below. Figure 3 As shown, this scanning method is based on an intraoral scanner with a blood scanning mode, and the scanning method includes: S1. When the area to be scanned is a non-blood scanning scene, the blue light source 11 and the green light source 12 are activated, the red light source 13 is deactivated, and each full-pass filter 311 is rotated to the corresponding ground reflection light path, and the intraoral scanner is in a non-blood scanning state.

[0048] S2. When the area to be scanned is a blood scanning scene, the blue light source 11 and the green light source 12 stop, the red light source 13 starts, and each red light filter 312 rotates to the corresponding ground reflection light path, and the intraoral scanner is in blood scanning state.

[0049] The present invention provides a scanning method for an intraoral scanner with a blood scanning mode, which is compatible with both bloodless and intraoperative blood environments and can be freely switched, thereby enriching the application scenarios of intraoral scanning devices in oral surgery. It also avoids additional hemostasis or irrigation methods, thereby improving scanning efficiency.

[0050] In addition, the scanning method includes the following steps before scanning: S0. Determine the proportion of blood-colored areas in the image of the area to be scanned. When the proportion of blood-colored areas does not exceed the contrast threshold, control the intraoral scanner to be in non-blood scanning state; otherwise, control the intraoral scanner to be in blood scanning state.

[0051] It's easy to understand that the higher the proportion of blood-colored areas in the image of the area to be scanned, the higher the probability that the scanned area is a blood region. Therefore, by determining the proportion of blood-colored areas in the image of the area to be scanned, the scanning status of the required intraoral scanner can be quickly determined, serving as a basis for intelligent recognition and automatic switching.

[0052] Specifically, the proportion of blood-colored areas in the image to be scanned is determined through the following methods: a. Rotate each all-pass filter 311 to the corresponding ground reflection optical path, and stop the digital micromirror 22.

[0053] b. The green light source 12, the blue light source 11 and the red light source 13 are projected outward with uniformly bright light spots, so that the two image sensors 32 can each acquire an image of the area to be scanned.

[0054] c. The image processor combines the acquired green light, red light, and blue light images into a white light image, and then converts the white light image into an HSV image.

[0055] d. The image processor determines the proportion of blood-red areas in the area to be scanned based on the HSV image.

[0056] In the above implementation, the above steps can quickly and automatically identify the proportion of blood-colored areas in the area to be scanned, thereby providing a basis for intelligent switching between different scanning modes and avoiding errors caused by human visual observation.

[0057] It's important to note that HSV images are another way of representing images. They are based on the RGB components of a white light image, converting it into three components: H (hue), S (saturation), and V (value). The H component represents the color type of each pixel in the image. Compared to RGB images, each pixel in an HSV image has a clearly defined color type. By setting a threshold for the H component corresponding to blood, the proportion of blood-colored areas in the image can be calculated more quickly. In an HSV image, each pixel is either a blood area or a non-blood area.

[0058] For example, the comparison threshold is 20%-30%.

[0059] In this embodiment, the scanning method further includes: S3. The three-dimensional shape of the area to be scanned obtained under non-blood scanning state and the three-dimensional shape of the area to be scanned obtained under blood scanning state are stitched together to generate a continuous three-dimensional shape of the entire oral cavity.

[0060] It is easy to understand that image data generated under different scanning modes suffers from problems such as data stitching discontinuities, boundary discontinuities, and registration errors. Therefore, the above steps can stitch together the three-dimensional topography obtained from different scanning modes to obtain the three-dimensional topography of the entire oral cavity.

[0061] Specifically, firstly, a pose sensor is provided to acquire continuous pose information in real time during the scanning process. Image data from both modes are initially coarsely registered to ensure the consistency of the two sets of data spatial coordinate systems. Secondly, the Iterative Closest Point (ICP) algorithm is used to perform sub-pixel-level fine registration of overlapping areas, eliminating minor positional deviations caused by mode switching. Finally, through global smoothing iterative processing, isolated noise points are removed while preserving anatomical details and textures, and areas with excessive local curvature are corrected based on the overall morphology, ultimately generating a complete, continuous, high-precision, and seamless 3D digital model of the entire oral cavity.

[0062] In addition, scanning methods also include: S4. Construct a diagnostic model. The diagnostic model is obtained by using images of wounds with blood as training samples after fine segmentation and recognition based on the presence or absence of blood. S5. Input the three-dimensional topography of the entire oral cavity into the diagnostic model. The diagnostic model automatically segments the three-dimensional topography of the entire oral cavity to identify bloody areas, wound boundaries, and normal soft tissue areas, and calculates wound data based on the identification results.

[0063] It is easy to understand that the trained diagnostic module can automatically and quickly identify the results and calculate key clinical indicators such as wound area, wound depth, and bleeding coverage through the three-dimensional topography of the entire oral cavity. This provides digital data support for doctors to evaluate surgical outcomes, wound healing conditions, and formulate immediate repair plans, further enhancing the clinical value of the equipment in oral surgery.

[0064] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An intraoral scanner with a blood scanning mode, characterized in that, The intraoral scanner includes a light source assembly, an optical device assembly, and a control and processing assembly; The light source assembly includes blue light sources, green light sources, and red light sources arranged at intervals; The optical device assembly includes multiple beam splitters and digital micromirrors. The multiple beam splitters and digital micromirrors are arranged sequentially along the incident light path. The blue light emitted by the blue light source, the green light emitted by the green light source, and the red light emitted by the red light source can all be incident into the incident light path through the corresponding beam splitter. The digital micromirrors are used to convert the corresponding light beams into structured light and project them outward. The control and processing component includes two filter wheels, two image sensors, and an image processor. Each filter wheel is equipped with a full-pass filter and a red light filter, and the filter wheels are rotatably arranged to switch the full-pass filter or the red light filter to the corresponding reflected light path. Blue light and green light correspond to the full-pass filter, and infrared light corresponds to the red light filter. The two image sensors are electrically connected to the image processor. The two filter wheels correspond one-to-one with the two image sensors and are located on the corresponding reflected light paths. Blue light, green light, or red light is emitted to the area to be scanned through the first light path and, after being reflected by the area to be scanned, enters the filter wheel and the image sensor sequentially along the corresponding reflected light path. The image processor reconstructs the three-dimensional shape of the area to be scanned based on the images of the area to be scanned acquired by the two image sensors.

2. An intraoral scanner with a blood scanning mode according to claim 1, characterized in that, The intraoral scanner also includes a power supply, a temperature sensor, and a thermal management controller. The power supply is used to power the light source assembly, the temperature sensor is used to detect the temperature of the red light source, and the thermal management controller is electrically connected to the power supply and the temperature sensor respectively. The thermal management controller adjusts the power supply current of the power supply according to the detected temperature of the red light source.

3. An intraoral scanner with a blood scanning mode according to claim 1, characterized in that, The red light source is an array of multiple red LEDs.

4. An intraoral scanner with a blood scanning mode according to claim 1, characterized in that, The intraoral scanner also includes a brightness acquisition and control module, which is electrically connected to the digital micromirror. The brightness acquisition and control module is used to acquire the blood brightness and structure light brightness of the blood region in the image acquired from the image sensor of the area to be scanned, compare them, and send the comparison result to the digital micromirror, which adjusts the structure light parameters accordingly.

5. A scanning method for an intraoral scanner with a blood scanning mode, characterized in that, The scanning method is based on an intraoral scanner with a blood scanning mode as described in any one of claims 1-4, and the scanning method includes: When the area to be scanned is a non-blood scanning scenario, the blue light source and the green light source are activated, the red light source is deactivated, each of the full-pass filters is rotated to the corresponding reflected light path, and the intraoral scanner is in a non-blood scanning state. When the area to be scanned is a blood scanning scenario, the blue light source and the green light source are stopped, the red light source is started, each of the red light filters is rotated to the corresponding reflected light path, and the intraoral scanner is in blood scanning state.

6. The scanning method of an intraoral scanner with a blood scanning mode according to claim 5, characterized in that, Before scanning, the scanning method further includes: The proportion of blood-colored areas in the image to be scanned is determined. When the proportion of blood-colored areas does not exceed the contrast threshold, the intraoral scanner is controlled to be in a non-blood scanning state; otherwise, the intraoral scanner is controlled to be in a blood scanning state.

7. The scanning method of an intraoral scanner with a blood scanning mode according to claim 6, characterized in that, The determination of the proportion of blood-colored areas in the image of the area to be scanned is achieved through the following method: The digital micromirror is stopped when each of the full-pass filters is rotated to the corresponding reflected optical path. The green light source, the blue light source, and the red light source are sequentially projected outward with uniformly bright light spots, thereby allowing the two image sensors to acquire an image of the area to be scanned once each. The image processor combines the acquired green light image, red light image, and blue light image into a white light image, and converts the white light image into an HSV image; The image processor determines the proportion of blood-red areas in the area to be scanned based on the HSV image.

8. A scanning method for an intraoral scanner with a blood scanning mode according to claim 6, characterized in that, The comparison threshold is 20%-30%.

9. A scanning method for an intraoral scanner with a blood scanning mode according to any one of claims 5-8, characterized in that, The scanning method further includes: The three-dimensional morphology of the area to be scanned, obtained under non-blood scanning conditions and under blood scanning conditions, is stitched together to generate a continuous three-dimensional morphology of the entire oral cavity.

10. A scanning method for an intraoral scanner with a blood scanning mode according to claim 9, characterized in that, The scanning method further includes: A diagnostic model is constructed, which is obtained by using images of wounds with blood as training samples after fine segmentation and recognition based on the presence or absence of blood. The three-dimensional topography of the entire oral cavity is input into the diagnostic model. The diagnostic model automatically segments the three-dimensional topography of the entire oral cavity to identify bloody areas, wound boundaries, and normal soft tissue areas, and calculates wound data based on the identification results.

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