Intraoral three-dimensional scanner and system

Abstract

The embodiment of the utility model discloses an intraoral three-dimensional scanner and an intraoral three-dimensional scanner system. The scanner comprises a dental arch tray, a plurality of three-dimensional scanning heads and a swing driving device, wherein the plurality of three-dimensional scanning heads are positioned on the dental arch tray; the swing driving device is connected with the plurality of three-dimensional scanning heads and is used for driving the plurality of three-dimensional scanning heads to swing, and the plurality of three-dimensional scanning heads are used for scanning a target oral cavity occluded with the dental arch tray in the swing process. According to the technical scheme of the embodiment of the utility model, scanning time consumption and learning cost can be reduced.

Description

TECHNICAL FIELD

[0001] The utility model embodiment relates to intraoral scanning technical field, especially intraoral three-dimensional scanner and system. BACKGROUND

[0002] The three-dimensional data collection of teeth and gums inside the oral cavity depends on intraoral three-dimensional scanner, also known as oral digital impression instrument or intraoral three-dimensional scanner, which is a kind of application probe optical scanner, which can directly scan the oral cavity to obtain the three-dimensional appearance and color texture information of the hard and soft tissue surface such as teeth, gums and mucosa in the oral cavity. Intraoral three-dimensional scanner can directly obtain the three-dimensional appearance data of teeth or gums, which is used to improve efficiency and reduce cumulative error caused by data conversion in the traditional processing process in the process of processing and repairing teeth.

[0003] However, the current application of intraoral three-dimensional scanner has long scanning time, and the learning cost of operator learning to operate the intraoral three-dimensional scanner is high, which needs to be solved urgently. UTILITY MODEL CONTENT

[0004] The utility model embodiment provides an intraoral three-dimensional scanner and system, which can reduce scanning time and learning cost.

[0005] According to an aspect of the utility model, an intraoral three-dimensional scanner can be provided, which can include: dental arch tray, a plurality of three-dimensional scanning heads and swing driving device;Wherein, a plurality of three-dimensional scanning heads are located on the dental arch tray;Swing driving device is connected with a plurality of three-dimensional scanning heads, for driving a plurality of three-dimensional scanning heads to swing, a plurality of three-dimensional scanning heads are used for scanning the target oral cavity of the occluded dental arch tray in the swing process.

[0006] According to an aspect of the utility model, an intraoral three-dimensional scanning system can be provided, which can include: the intraoral three-dimensional scanner provided by any embodiment of the utility model and the master control device, the master control device is applied in cooperation with the intraoral three-dimensional scanner, and the intraoral three-dimensional scanner and the master control device are connected by wire or wirelessly.

[0007] The technical scheme of the utility model embodiment can be used for scanning more areas in the target oral cavity by locating a plurality of three-dimensional scanning heads on the dental arch tray, connecting the swing driving device with a plurality of three-dimensional scanning heads, driving a plurality of three-dimensional scanning heads to swing, and scanning the target oral cavity of the occluded dental arch tray in the swing process. The above technical scheme can reduce the scanning time by scanning the target oral cavity through a plurality of three-dimensional scanning heads, and can realize the scanning method and scanning path of the intraoral three-dimensional scanner without the need for the operator to learn the operation, and only needs to occlude the dental arch tray to quickly complete the scanning of the target oral cavity, thereby reducing the scanning time and learning cost.

[0008] It is to be understood that the details described in this section are not intended to identify key or critical elements of the embodiments of the application or to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0010] Figure 1 is a structural block diagram of an intraoral three-dimensional scanner according to an embodiment of the application;

[0011] Figure 2 is an example diagram of a dental arch tray in an intraoral three-dimensional scanner according to an embodiment of the application;

[0012] Figure 3 is an example diagram of an embedded tray in an intraoral three-dimensional scanner according to an embodiment of the application;

[0013] Figure 4 is a flow chart of a target object diagnosis in an intraoral three-dimensional scanner according to an embodiment of the application;

[0014] Figure 5 is an example diagram of an embedded tray in an intraoral three-dimensional scanner according to an embodiment of the application;

[0015] Figure 6 is an example diagram of a swing driving device in an intraoral three-dimensional scanner according to an embodiment of the application;

[0016] Figure 7 is an example diagram of another swing driving device in an intraoral three-dimensional scanner according to an embodiment of the application;

[0017] Figure 8 is a schematic diagram of a fixed three-dimensional scanning head scanning teeth in an intraoral three-dimensional scanner according to an embodiment of the application;

[0018] Figure 9 is a schematic diagram of a swing three-dimensional scanning head scanning teeth in an intraoral three-dimensional scanner according to an embodiment of the application;

[0019] Figure 10Is a kind of structure block diagram of intraoral three-dimensional scanning system according to the utility model embodiment. DETAILED DESCRIPTION

[0020] In order to make the person in the art better understand the utility model scheme, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only a part of the embodiments of the utility model, not all. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the utility model.

[0021] It should be noted that the terms "first", "second" and the like in the specification and claims of the utility model and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be exchanged under appropriate circumstances, so that the embodiments of the utility model described herein can be implemented in an order other than those illustrated or described herein. The case of "target", "original" and the like is similar, and will not be repeated here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] Before introducing the embodiments of the utility model, the currently used intraoral three-dimensional scanner and the application scenario of intraoral three-dimensional scanner are exemplarily described, which helps to understand the reasons for the problems described in the background art, i.e. the currently used intraoral three-dimensional scanner has a long scanning time, and the operator has a high learning cost to learn to operate the intraoral three-dimensional scanner. Exemplarily described, further help to understand the reasons why the embodiments of the utility model can reduce the scanning time and learning cost.

[0023] In addition to the important mastication function, teeth also have a more aesthetic role for humans. Therefore, the demand for orthodontics is increasing with the improvement of people's living standards, especially for teenagers, which is tending to be explosive growth. Orthodontic treatment usually corrects the appearance problems such as misaligned teeth, malocclusion or affecting the facial profile, and repositions and aligns the teeth as the desired result. Orthodontic programs can apply certain forces to the teeth to correct them, using traditional metal brackets, or emerging invisible braces. The orthodontic treatment period is usually long, and short-term treatment usually takes between six months and a year, and complex long-term treatment can last three or four years. Poor orthodontic treatment results are usually not due to a flawed program, but rather the subject's inability to adhere to the implementation process of the original program. At this stage, regular orthodontic detection mainly relies on regular communication and supervision between doctors and subjects, and subjects regularly visit clinics for inspection and correction. Once the doctor finds that the orthodontic effect is not growing in the direction of the program, the doctor can adjust it in time to ensure the smooth progress of the treatment. However, due to personal reasons or lack of understanding and suspicion of the medical process, the subject may not follow the doctor's instructions or wear the orthodontic appliances provided by the doctor in certain circumstances, causing the growth trend of the teeth to deviate from the design program, causing immeasurable losses to the doctor and the subject, and increasing medical disputes between doctors and patients. Therefore, for orthodontists and subjects, there is an urgent need for a method that can quickly and effectively detect the effect of in-mouth appliances and the trend of tooth correction, which is cost-controllable and convenient for subjects to check at home.

[0024] Currently, the means of obtaining dental model data in the field of dental diagnosis and treatment has gradually shifted from impression three-dimensional scanning to intraoral three-dimensional scanning technology. The emergence of this technology can be said to be another revolution in digital processing of teeth. This technology abandons the method of obtaining dental model data from impression, mold turning, and three-dimensional scanning, and can directly scan the intraoral three-dimensional data. It can omit the two steps of impression and mold turning in the process time, save the materials, labor costs, and model express fees required in the above process in terms of cost, and avoid the discomfort of making impressions in terms of customer experience. From the above advantages, it can be seen that this technology will certainly develop greatly and obtain significant benefits in the market. Intraoral three-dimensional scanning technology usually uses optical three-dimensional imaging principles to obtain three-dimensional topographic data and texture information of intraoral teeth, gums, or extraoral teeth models, etc. Intraoral three-dimensional scanning technology can be divided into desktop scanners and intraoral scanners according to the use scene, and intraoral scanners can use active structured light triangulation imaging principles, use a digital projector to project an active light pattern, and a camera to acquire the pattern and then perform three-dimensional reconstruction and stitching through algorithm processing.

[0025] In the field of orthodontics, the digital solution of intraoral three-dimensional scanning technology has been very popular. Since the color texture information obtained by the intraoral three-dimensional scanner can also directly and clearly reflect the internal conditions of the oral cavity, such as tooth morphology, tooth loss and gum disease, etc., more clinic doctors have used the intraoral three-dimensional scanner to check, diagnose and prevent oral diseases. During the orthodontic treatment, the intraoral three-dimensional scanner is often used to obtain the three-dimensional morphology data of the teeth and gums in the oral cavity as the digital entry data for orthodontic simulation. During the long-term orthodontic treatment, the patient often needs to visit the clinic regularly, and the doctor checks the growth trend of the teeth guided by the orthodontic appliance through the intraoral three-dimensional scanning technology according to experience. However, the smoothness of the splicing in the intraoral three-dimensional scanning process often depends on the common size of the frame data between the moving speed control and the efficiency of the splicing algorithm. If the scanning is too fast, the splicing loss phenomenon will occur. Generally, it can be spliced successfully through the common overlap area by back splicing. The sparsity of intraoral three-dimensional features will lead to splicing errors and make it impossible to obtain the three-dimensional morphology of the global framework. In addition, the upper and lower jaws and the occlusion must be manually distinguished in the scanning process. Therefore, at present, the intraoral three-dimensional scanning technology needs to rely on the operator to adopt a certain scanning method and follow a certain scanning path to complete the intraoral three-dimensional scanning. The learning cost of the operator to learn to use the intraoral three-dimensional scanner with intraoral three-dimensional scanning technology is high. Therefore, at present, the intraoral three-dimensional scanning technology is basically used in dental clinics or processing plants cooperating with clinics, which belongs to professional application, and it is difficult to popularize the digitalization of intraoral three-dimensional scanning technology to the home field, which affects the convenient experience of intraoral three-dimensional scanning technology.

[0026] In addition, due to the complexity of the oral environment, especially the temperature difference between the inside and outside of the oral cavity, the bacteria and viruses in the oral cavity are easy to enter the oral cavity, etc., which increases many time restrictions on the use requirements of the intraoral three-dimensional scanner. In addition, saliva, debris and fog in the oral cavity will affect the imaging function of the intraoral three-dimensional scanner during long-time scanning. However, due to the limited space in the oral cavity, the intraoral three-dimensional scanner designed to extend into the oral cavity to obtain three-dimensional data of teeth and gums can only obtain about 2 teeth in a single window range. Due to the straight propagation of light, the intraoral three-dimensional scanner can only obtain three-dimensional data under the current viewing angle. By moving the intraoral three-dimensional scanner, the intraoral three-dimensional scanner constantly supplements the scanning and collection of oral morphology features at multiple angles and positions, and then uses feature splicing algorithms to splice single three-dimensional data and form the three-dimensional morphology and texture information of the entire oral cavity. Therefore, at present, it takes 5-10 minutes to obtain the entire intraoral tooth and gum data, and the scanning time is long. In addition, the single-frame splicing method will inevitably bring cumulative errors to the entire tooth row due to the advantages and disadvantages of the splicing algorithm, thereby affecting the scanning of the current intraoral three-dimensional scanner.

[0027] To this end, the utility model embodiment reduces the scanning time consumption through the multiple three -dimensional scanning heads to scan the target oral cavity simultaneously, and can scan in the process of swinging, and the scanning method and scanning path of the operator learning operation intraoral three -dimensional scanner are not needed, and only the target oral cavity occlusion dental arch tray can quickly complete the scanning of the target oral cavity, thereby reduce the scanning time consumption and learning cost, and the doctor nurse or target object with less experience can complete the scanning action. Next, this will be described in detail.

[0028] Figure 1 It is the structure block diagram of intraoral three -dimensional scanner provided by the utility model embodiment. The embodiment can be applicable to the intraoral three -dimensional scanning.

[0029] Referring to Figure 1 The intraoral three -dimensional scanner of the utility model embodiment comprises a dental arch tray 110, multiple three -dimensional scanning heads 120 and a swing driving device 130. The multiple three -dimensional scanning heads 120 are located on the dental arch tray 110. The swing driving device 130 is connected with the multiple three -dimensional scanning heads 120 and is used to drive the multiple three -dimensional scanning heads 120 to swing. The multiple three -dimensional scanning heads 120 are used to scan the target oral cavity occlusion dental arch tray 110 in the process of swinging.

[0030] The dental arch tray 110 can enclose the inner tooth surface of the target oral cavity. When the dental arch tray 110 is placed in the target oral cavity, the upper and lower jaws of the target oral cavity can bite the dental arch tray 110 to keep the dental arch tray 110 relatively fixed with the tooth arrangement of the target oral cavity, so that the whole tooth and gum surface appearance data can be conveniently obtained. In addition, the dental arch tray 110 can exclude the soft tissue such as buccal tongue side or tongue inside the target oral cavity from the dental arch tray 110, to avoid unnecessary data such as soft tissue in the target oral cavity from interfering with the scanning process. Referring to Figure 2 The different regions on the dental arch tray 110 can fix the multiple three -dimensional scanning heads 120 and the swing driving device 130. The three -dimensional scanning head 120 can comprise at least one camera and at least one projection unit. The three -dimensional scanning head 120 can comprise one or two cameras and one projection unit, for example, to realize the three -dimensional scanning data obtained by scanning by using the structured light triangulation imaging principle. The swing driving device 130 is the power source of driving the multiple three -dimensional scanning heads 120 to swing. The power source of the swing driving device 130 can be a servo driving motor, a voice coil motor, a motor motor or a piezoelectric ceramic motor, etc. The target oral cavity is the oral cavity that needs to be scanned intraorally.

[0031] In the embodiment of the utility model, multiple three-dimensional scanning heads 120 can be distributed on the dental arch tray 110, and each three-dimensional scanning head 120 is arranged at different angles according to a preset unique design plan, so that three-dimensional scanning data of the full tooth surface of the target oral cavity can be determined. In the embodiment of the utility model, the positions of the multiple three-dimensional scanning heads 120 on the dental arch tray 110 are not specifically limited.

[0032] In the embodiment of the utility model, the swing angle of the swing driving device 130 for driving the multiple three-dimensional scanning heads 120 to swing can be within a preset swing angle range, for example, the range corresponding to -60 degrees to 60 degrees.

[0033] Optionally, the intraoral three-dimensional scanner further comprises: a fitting tray; wherein the fitting tray and the dental arch tray 110 are detachably fitted together, the dental arch tray 110 is made of elastic material, and the hardness of the fitting tray is greater than the hardness of the dental arch tray 110; when the fitting tray and the dental arch tray 110 are fitted, the shape of the dental arch tray 110 is the same as the shape of the fitting tray.

[0034] The fitting tray is a tray that can be detachably fitted with the dental arch tray 110; the fitting tray is manufactured according to the oral cavity data of the target object to which the target oral cavity belongs. The target object is the object to which the target oral cavity belongs. The oral cavity data is three-dimensional data representing the target oral cavity.

[0035] In one embodiment, the oral cavity data can be obtained by directly scanning an impression obtained by simply placing an impression material in the target oral cavity of the target object and biting the impression material in the mouth, or by scanning a plaster model obtained according to the impression, and the like.

[0036] In one embodiment, the oral cavity data can be historical oral cavity data of the target oral cavity. The historical oral cavity data can be historical three-dimensional data obtained by directly scanning the target oral cavity in the mouth by an oral digital impression instrument or an extraoral scanner, or historical three-dimensional data obtained by a computed tomography (CT) device or a cone beam computed tomography (CBCT) device, and the like.

[0037] In the embodiment of the utility model, the source of the oral cavity data is not specifically limited. In the embodiment of the utility model, the dental arch tray 110 can be made of elastic materials such as rubber or silicone, and the hardness of the fitting tray can be greater than the hardness of the dental arch tray 110, so that when the fitting tray and the dental arch tray 110 are fitted, the shape of the dental arch tray 110 can be changed to be the same as the shape of the fitting tray, thereby making the fitting of the fitting tray and the dental arch tray 110 more compact.

[0038] In the embodiment of the utility model, the shape and size of the dental arch tray 110 can also be a universal shape and size to be applicable to being embedded with the embedded tray of different shapes or sizes.

[0039] It can be understood that there can be target objects with problems such as missing dentition, misaligned dentition or gum atrophy, therefore, the embedded tray special for the target object can be manufactured according to the oral data of the target object to which the target oral cavity belongs, or the embedded tray special for the target object can be customized according to the actual situation of the target object, and the embedded tray can be embedded with the dental arch tray 110 to facilitate more accurate acquisition of the three-dimensional scanning result of the target oral cavity of the target object with special dentition, and the comfort during scanning can also be improved.

[0040] In one embodiment, at least one universal tray of different sizes can also be manufactured in advance according to a universal standard, for example, a universal tray of one size can be manufactured, and for another example, universal trays of three sizes of large, medium and small can be manufactured, and the dental arch tray 110 can include at least one universal tray of different sizes, any one of the at least one universal tray of different sizes, or the universal tray of the at least one universal tray of different sizes matched with the target oral cavity to reduce the manufacturing cost while ensuring the comfort.

[0041] In one embodiment, the embedded tray and the dental arch tray 110 can both be customized, without considering universality and deliberately making a large area, but only need to fit the dental arch in the mouth and reserve the swing space of the three-dimensional scanning head 120, that is, the embedded tray and the dental arch tray 110 can both be manufactured according to the oral data of the target object to which the target oral cavity belongs.

[0042] In the embodiment of the utility model, a fixed tooth position can also be arranged on the embedded tray or the dental arch tray 110, which can assist the target object in positioning and biting the embedded tray or the dental arch tray 110, so that the target object only needs to align the fixed tooth position by himself to conveniently determine the three-dimensional scanning result. Figure 3 The fixed tooth position can be presented by the tooth shape in the

[0043] For example, refer to Figure 4The dental data obtained by digital impression or silicone impression of the teeth and gums in the target oral cavity, and the orthodontic design scheme and treatment scheme of the target object can be acquired; the embedded tray is manufactured according to the dental data, the orthodontic design scheme and the treatment scheme, so as to embed the embedded tray and the dental arch tray 110; the target object can regularly determine the three-dimensional scanning result of the target oral cavity at home through the intraoral three-dimensional scanner and upload it to the cloud; the three-dimensional scanning result is imported into the corresponding software to generate a detection report; the diagnosis result of the target oral cavity of the target object is generated according to the detection report to realize the diagnosis of the target object; and the treatment of the target object is ended after N rounds of diagnosis.

[0044] In the embodiment of the utility model, the embedded tray can be an embedded tray, and the embedded tray is embedded in the dental arch tray 110, as shown in Figure 3 and Figure 5 The embedded tray can be regarded as a personalized dental socket, so the embedded tray can be embedded in the dental arch tray 110.

[0045] In the embodiment of the utility model, the embedded tray can be an embedded tray, and the embedded tray is embedded in the dental arch tray 110, as shown in

[0046] Optionally, the embedded tray is made of 3D printing material.

[0047] The 3D printing material can be understood as a material used for 3D printing; the 3D printing material can include resin, metal powder, ceramic and / or high molecular polymer, and / or plastic and other materials.

[0048] It should be noted that the embedded tray can be used once or multiple times.

[0049] The embedded tray is made of 3D printing material, that is, it is manufactured by 3D printing, which can reduce the manufacturing difficulty of the embedded tray and quickly meet the customized needs. In other embodiments, the embedded tray can also be made by injection molding and the like.

[0050] Optionally, the dental arch tray 110 is provided with a plurality of first tray holes, each three-dimensional scanning head 120 passes through a first tray hole, and the three-dimensional scanning head 120 is used to scan the target oral cavity of the occluded dental arch tray 110; the embedded tray includes a plurality of second tray holes, the plurality of first tray holes and the plurality of second tray holes are one-to-one corresponding, the size of each second tray hole is greater than the size of the corresponding first tray hole, and each first tray hole is embedded into the corresponding second tray hole, and the dental arch tray 110 is embedded with the embedded tray.

[0051] The first tray hole is a hole on the dental arch tray 110 for passing through the three-dimensional scanning head 120. The second tray hole is a hole on the embedded tray for being embedded into the first tray hole

[0052] In the embodiment of the utility model, the dental arch tray 110 can be provided with a plurality of first tray holes, the number of first tray holes can be greater than or equal to the number of three-dimensional scanning heads 120 needed to be installed on the dental arch tray 110, each three-dimensional scanning head 120 passes through a first tray hole, so that the three-dimensional scanning head 120 can be fixed on the dental arch tray 110 for scanning the target oral cavity of the occluded dental arch tray 110. The embedded tray can include a plurality of second tray holes, the plurality of first tray holes and the plurality of second tray holes are one-to-one corresponding, the size of each second tray hole is greater than the size of the corresponding first tray hole, so that in the case of needing to embed the dental arch tray 110 with the embedded tray, each first tray hole has a corresponding second tray hole that can be embedded into, avoiding that the dental arch tray 110 and the embedded tray cannot be closely embedded. The above technical scheme can make the embedded tray and the dental arch tray 110 more closely embedded, and avoid the problem of affecting the intraoral three-dimensional scanning caused by poor embedding of the embedded tray and the dental arch tray 110.

[0053] Optionally, the swing driving device 130 includes a centralized driving motor, the centralized driving motor is connected with the plurality of three-dimensional scanning heads 120, and is used to drive all the three-dimensional scanning heads 120 to swing simultaneously.

[0054] Optionally, the swing driving device 130 includes a plurality of distributed motors, the plurality of distributed motors are one-to-one corresponding with the plurality of three-dimensional scanning heads 120, each distributed motor is connected with the corresponding three-dimensional scanning head 120 respectively, and is used to drive the corresponding three-dimensional scanning head 120 to swing.

[0055] Optionally, the swing driving device 130 comprises a centralized driving motor and a plurality of distributed motors, the plurality of three-dimensional scanning heads 120 comprises a first three-dimensional scanning head 120 group and a second three-dimensional scanning head 120 group, the first three-dimensional scanning head 120 group comprises at least one three-dimensional scanning head 120, the second three-dimensional scanning head 120 group comprises at least one three-dimensional scanning head 120, the centralized driving motor is connected with each three-dimensional scanning head 120 in the first three-dimensional scanning head 120 group, the plurality of distributed motors correspond to each three-dimensional scanning head 120 in the second three-dimensional scanning head 120 group one by one, each distributed motor is connected with the corresponding three-dimensional scanning head 120 respectively, and the centralized driving motor is used to drive all the three-dimensional scanning heads 120 in the first three-dimensional scanning head 120 group to swing simultaneously, and each distributed motor is used to drive the corresponding three-dimensional scanning head 120 in the second three-dimensional scanning head 120 group to swing.

[0056] The centralized driving motor is a motor that can simultaneously drive a plurality of three-dimensional scanning heads 120. The distributed motor is a motor that drives a single three-dimensional scanning head 120. The first three-dimensional scanning head 120 group is a scanning head group in which each three-dimensional scanning head 120 that can be simultaneously driven by the centralized driving motor is located. The second three-dimensional scanning head 120 group is a scanning head group in which each three-dimensional scanning head 120 that can be driven by the distributed motor is located.

[0057] In the embodiments of the utility model, the first three-dimensional scanning head 120 group and the second three-dimensional scanning head 120 group can comprise the same three-dimensional scanning head 120, and each three-dimensional scanning head 120 in the first three-dimensional scanning head 120 group and the second three-dimensional scanning head 120 group can also be independent and different from each other.

[0058] In the embodiments of the utility model, in the case that the swing driving device 130 comprises the centralized driving motor, the centralized driving motor can drive a plurality of three-dimensional scanning heads 120 to swing, such as driving all the three-dimensional scanning heads 120 or a plurality of three-dimensional scanning heads 120 in the first three-dimensional scanning head 120 group; in the case that the swing driving device 130 comprises the distributed motor, the distributed motor can be uniformly distributed at positions corresponding to each three-dimensional scanning head 120 respectively, so that each three-dimensional scanning head 120 in the second three-dimensional scanning head 120 group is driven to swing by the distributed motor corresponding thereto. The above scheme can realize centralized swing or separate swing of the driving plurality of three-dimensional scanning heads 120 by the swing driving device 130 comprising the centralized driving motor and / or the distributed motor.

[0059] Optionally, the swing driving device 130 comprises a fixed seat, a piezoelectric body, a transfer rod and one or more rotating wheels; wherein the fixed seat is arranged on the dental arch tray 110, one end of the piezoelectric body is fixed to the fixed seat, the other end of the piezoelectric body is connected to the transfer rod, the transfer rod is connected to the one or more rotating wheels, and each rotating wheel is connected to a corresponding three-dimensional scanning head 120 for driving the corresponding three-dimensional scanning head 120 to swing. The above scheme can realize driving the three-dimensional scanning head 120 to swing through the swing driving device 130.

[0060] The fixed seat is a base for fixing the piezoelectric body on the dental arch tray 110. The piezoelectric body is a material capable of converting electrical energy into mechanical energy. In the implementation of the present application, the piezoelectric body can convert electrical energy into mechanical energy to generate vibration under the action of voltage. The transfer rod is a rod connecting the piezoelectric body and the rotating wheel, which can drive the rotating wheel to rotate under the condition that the piezoelectric body generates vibration. The rotating wheel is a device that can rotate to drive the three-dimensional scanning head 120 to swing.

[0061] In the embodiment of the present application, the swing driving device 130 comprises a fixed seat, a piezoelectric body, a transfer rod and one or more rotating wheels, the fixed seat is fixed on the dental arch tray 110, one end of the piezoelectric body is fixed on the fixed seat, the piezoelectric body is used to drive the transfer rod connected to the other end of the piezoelectric body to rotate under the condition that the piezoelectric body generates vibration due to the action of voltage, so that the transfer rod drives the rotating wheel connected to the transfer rod to rotate, so that the three-dimensional scanning head placed on the rotating wheel swings, thereby realizing driving the three-dimensional scanning head 120 to swing through the swing driving device 130.

[0062] For example, referring to Figure 6 , the three-dimensional scanning head 120 can be located on the dental arch tray 110, the three-dimensional scanning head 120 and the dental arch tray 110 can be connected through the swing driving device 130, the swing driving device 130 can comprise a fixed seat A, a piezoelectric body B, a transfer rod C and a rotating wheel W, the fixed seat A can be fixed on the dental arch tray 110, one end of the piezoelectric body B can be fixed on the fixed seat A, the piezoelectric body B can generate vibration under the action of voltage V to drive the transfer rod C connected to the other end of the piezoelectric body B to rotate the rotating wheel W, and then make the three-dimensional scanning head 120 placed on the rotating wheel W swing, so that the three-dimensional scanning head 120 can obtain more viewing angles to obtain three-dimensional scanning data.

[0063] For example, referring to Figure 7 , the transfer rod C in the swing driving device 130 can drive the rotating wheels W, W1, W2……to rotate in linkage, so that the three-dimensional scanning heads D, D1, D2……fixed on the rotating wheels swing, thereby realizing quickly obtaining the three-dimensional scanning data that can be scanned in the swinging process of the three-dimensional scanning head 120.

[0064] It can be understood that due to the physiological structure of teeth, the scanning head is difficult to be fixed to irradiate the areas of the interdental space or the pit and groove region. For example, see Figure 8 When the D3 and D4 in the fixed three-dimensional scanning head 120 scan the teeth 1, 2 and 3 in parallel, it is difficult to scan the areas in the interdental space, therefore, the swing driving device 130 can drive the plurality of three-dimensional scanning heads 120 to swing quickly along the direction of the central axis of the parallel three-dimensional scanning head 120, so as to realize the multi-angle collection of the data of the interdental space and the pit and groove region and more areas from different angles by each three-dimensional scanning head 120. For example, see Figure 9 After the D3 and D4 in the three-dimensional scanning head 120 are swung by the rotating wheel, the linear emission principle of light can be used to obtain the three-dimensional scanning data of the areas G1 and G2 in the interdental space. Similarly, the multi-angle swing of the D3 and D4 in the three-dimensional scanning head 120 is more conducive to obtaining the three-dimensional scanning data of the whole interdental space, that is, the purpose of obtaining the three-dimensional scanning data of the whole dental arch and the gum in the target oral cavity in a second can be achieved.

[0065] In the embodiment of the utility model, the swing driving device 130 drives the plurality of three-dimensional scanning heads 120 to swing in different directions, so that the plurality of three-dimensional scanning heads 120 scan the target oral cavity in the process of swinging. The three-dimensional reconstruction of the teeth and the gum surface of the target oral cavity can be realized from different teeth positions and different angles at the same time by using a set of three-dimensional scanning heads 120, so that the three-dimensional morphology and texture information of the whole dental arch and the gum surface in the target oral cavity can be obtained in 10 seconds, the target object can perform the intraoral three-dimensional scanning by biting the dental arch tray 110 at home, so that the target object can be detected at home, thereby improving the scanning experience and speed, reducing the learning cost of the operator, and achieving the determination of the three-dimensional scanning result of the target oral cavity without following many scanning rules or processes or even zero basis. The target object can complete the acquisition of the three-dimensional scanning result by biting the dental arch tray 110, reduces the rework scanning caused by operation errors or accidental splicing errors, greatly improves the popularity of the intraoral three-dimensional scanner, and brings a great popularization effect to the popular use of the intraoral three-dimensional scanner.

[0066] The technical scheme of the embodiment of the utility model, through a plurality of three-dimensional scanning head 120 is located on dental arch tray 110, swing drive arrangement 130 is connected with a plurality of three-dimensional scanning head 120, is used for driving a plurality of three-dimensional scanning head 120 swing, to make a plurality of three-dimensional scanning head 120 is used for in the process of swinging to the target oral cavity of having occluded dental arch tray 110 carries out scanning, can scan more areas in target oral cavity. The above technical scheme, can scan target oral cavity through a plurality of three-dimensional scanning head 120, to reduce scanning time consumption, and can be scanned in the process of swinging through three-dimensional scanning head 120, realize not needing operator to learn the scanning method and scanning path of intraoral three-dimensional scanner, only need target oral cavity occlusion dental arch tray 110 can quickly complete the scanning of target oral cavity, thereby reduce scanning time consumption and learning cost.

[0067] Figure 10 It is the structure block diagram of the intraoral three-dimensional scanning system provided by the embodiment of the utility model. The embodiment can be applicable to the intraoral three-dimensional scanning.

[0068] Referring to Figure 10 The intraoral three-dimensional scanning system of the embodiment of the utility model, comprising: the intraoral three-dimensional scanner 210 and the master control device 220 provided by any embodiment of the utility model, the master control device 220 is applied in cooperation with the intraoral three-dimensional scanner 210, and there is wired connection or wireless connection between the intraoral three-dimensional scanner 210 and the master control device 220, and the master control device 220 is used to control the intraoral three-dimensional scanner 210.

[0069] In one embodiment, the master control device 220 includes a swing module 2201, a scanning module 2202 and a processing module 2203. Wherein,

[0070] The swing module 2201 is used to control the swing driving device in the intraoral three-dimensional scanner 210 to drive a plurality of three-dimensional scanning heads in the intraoral three-dimensional scanner 210 to swing.

[0071] The scanning module 2202 is used to control the three-dimensional scanning head to carry out intraoral three-dimensional scanning on the target oral cavity of the dental arch tray in the intraoral three-dimensional scanner 210 in the process of swinging for each three-dimensional scanning head in a plurality of three-dimensional scanning heads, and send the three-dimensional scanning data obtained by scanning to the processing module 2203.

[0072] The processing module 2203 is used to determine the three-dimensional scanning result of the target oral cavity according to the three-dimensional scanning data sent by a plurality of three-dimensional scanning heads respectively.

[0073] Wherein, the swing module 2201 is the module of controlling swing driving device. The scanning module 2202 is the module of controlling three-dimensional scanning head. The processing module 2203 is the module of processing three-dimensional scanning data.

[0074] Optionally, the intraoral three-dimensional scanning system further comprises a calibration device, the calibration device comprising a calibration piece having a shape same as or similar to the shape of the dental arch tray, the calibration piece being used for calibrating the intraoral three-dimensional scanner 210.

[0075] The calibration device can be used for calibrating the intraoral three-dimensional scanner 210; the calibration device can be a separate component, and the intraoral three-dimensional scanner 210 can be used in cooperation with the calibration device when calibration of the intraoral three-dimensional scanner 210 is needed. The calibration piece is an object used for calibrating the intraoral three-dimensional scanner 210; the calibration piece can be a calibration board or a calibration block, etc.

[0076] In an embodiment, the size of the calibration piece can be greater than or equal to the size of the dental arch tray.

[0077] In an embodiment, the size of the calibration piece can be less than or equal to the size of the dental arch tray, and the calibration piece can be embedded in the dental arch tray, so that the calibration piece can be displayed in the three-dimensional scanning head window.

[0078] In the embodiment of the utility model, the main control device 220 can control multiple three-dimensional scanning heads to simultaneously perform multi-angle scanning on the calibration piece, and obtain calibration scanning data of the multiple three-dimensional scanning heads in the scanning head coordinate system, so as to calibrate the intraoral three-dimensional scanner 210 by using the calibration scanning data.

[0079] When the intraoral three-dimensional scanner 210 is worn out during use, the camera and the projection unit are displaced, or when the intraoral three-dimensional scanner 210 needs to be customized, for example, the dental arch tray and the embedded tray are embedded together, the user can calibrate the intraoral three-dimensional scanner 210 by using the calibration piece, so as to reacquire the internal and external parameters of the camera and the projection unit of the three-dimensional scanning head in the intraoral three-dimensional scanner 210, so as to ensure the accuracy of subsequent three-dimensional reconstruction.

[0080] In the embodiment of the utility model, the intraoral three-dimensional scanning system further comprises a calibration device, so that the intraoral three-dimensional scanning system has the ability to calibrate the intraoral three-dimensional scanner 210, thereby improving the accuracy of intraoral three-dimensional scanning of the intraoral three-dimensional scanning system.

[0081] The technical scheme of the embodiment of the utility model, through swing module, control swing drive arrangement in the mouth three-dimensional scanner 210 drive mouth three-dimensional scanner 210 in multiple three-dimensional scanning head swing, to make multiple three-dimensional scanning head can scan more area in target oral cavity;Through scanning module, for each three-dimensional scanning head in multiple three-dimensional scanning head, control three-dimensional scanning head in the swing process, for the target oral cavity that has occluded mouth three-dimensional scanner 210 in dental arch tray carries out intraoral three-dimensional scanning, and sends three-dimensional scanning data obtained by scanning to processing module, realizes to carry out intraoral three-dimensional scanning to target oral cavity;Through processing module, according to the three-dimensional scanning data that multiple three-dimensional scanning head sent respectively received, determine the three-dimensional scanning result of target oral cavity, realize the determination of three-dimensional scanning result.The above technical scheme, can through multiple three-dimensional scanning head simultaneously scans target oral cavity, to reduce scanning time consumption, and can over three-dimensional scanning head in the process of swing scanning, realize not needing operator to learn the scanning method and scanning path of intraoral three-dimensional scanner 210, only need target oral cavity occlusion dental arch tray can quickly complete the scanning of target oral cavity, thereby reduce scanning time consumption and learning cost.

[0082] The above specific embodiments do not constitute a limitation on the scope of protection of the utility model. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements within the spirit and principles of the utility model should be included in the scope of protection of the utility model.

Claims

1. An intraoral three-dimensional scanner, characterized by, The tooth arch tray, a plurality of three-dimensional scanning heads, and a swing driving device; wherein The plurality of three-dimensional scanning heads are located on the tooth arch tray; The swing driving device is connected with the plurality of three-dimensional scanning heads, and is used to drive the plurality of three-dimensional scanning heads to swing, and the plurality of three-dimensional scanning heads are used to scan a target oral cavity which has been occluded with the tooth arch tray during the swinging. Further comprising:

2. The scanner of claim 1, wherein, A fitting tray; wherein The fitting tray is detachably fitted with the tooth arch tray, the tooth arch tray is made of elastic material, and the hardness of the fitting tray is greater than the hardness of the tooth arch tray, and the shape of the tooth arch tray is the same as the shape of the fitting tray when the fitting tray is fitted with the tooth arch tray. The fitting tray is made of 3D printing material.

3. The scanner of claim 2, wherein, A plurality of first tray holes are arranged on the tooth arch tray, each of the three-dimensional scanning heads passes through one of the first tray holes, and the three-dimensional scanning heads are used to scan a target oral cavity which has been occluded with the tooth arch tray; 4. The scanner of claim 2, wherein, The fitting tray comprises a plurality of second tray holes, the plurality of first tray holes correspond to the plurality of second tray holes one by one, the size of each of the second tray holes is greater than the size of the corresponding first tray hole, each of the first tray holes is fitted into the corresponding second tray hole, and the tooth arch tray is fitted with the fitting tray. The swing driving device comprises a centralized driving motor, the centralized driving motor is connected with the plurality of three-dimensional scanning heads, and is used to drive all the three-dimensional scanning heads to swing simultaneously.

5. The scanner of claim 1, wherein, The swing driving device comprises a plurality of distributed motors, the plurality of distributed motors correspond to the plurality of three-dimensional scanning heads one by one, each of the distributed motors is connected with the corresponding three-dimensional scanning head respectively, and is used to drive the corresponding three-dimensional scanning head to swing.

6. The scanner of claim 1, wherein, The swing driving device comprises a centralized driving motor and a plurality of distributed motors, the plurality of three-dimensional scanning heads comprises a first three-dimensional scanning head group and a second three-dimensional scanning head group, the first three-dimensional scanning head group comprises at least one three-dimensional scanning head, the second three-dimensional scanning head group comprises at least one three-dimensional scanning head, the centralized driving motor is connected with each three-dimensional scanning head in the first three-dimensional scanning head group, the plurality of distributed motors correspond to each three-dimensional scanning head in the second three-dimensional scanning head group one by one, each of the distributed motors is connected with the corresponding three-dimensional scanning head respectively, the centralized driving motor is used to drive all the three-dimensional scanning heads in the first three-dimensional scanning head group to swing simultaneously, and each of the distributed motors is used to drive the corresponding three-dimensional scanning head in the second three-dimensional scanning head group to swing.

7. The scanner of claim 1, wherein, The swing driving device comprises a fixing seat, a piezoelectric body, a transfer rod, and one or more rotating wheels; wherein 8. The scanner of claim 1, wherein, The fixing seat is arranged on the tooth arch tray, one end of the piezoelectric body is fixed with the fixing seat, the other end is connected with the transfer rod, the transfer rod is connected with one or more rotating wheels, each rotating wheel is connected with the corresponding three-dimensional scanning head, and is used to drive the corresponding three-dimensional scanning head to swing. ​ 9. An intraoral three-dimensional scanning system, characterized by ​ The intraoral three-dimensional scanner and the master control device as claimed in any one of claims 1-8, wherein the master control device is applied in cooperation with the intraoral three-dimensional scanner, and the intraoral three-dimensional scanner and the master control device are connected by wire or wirelessly.

10. The system of claim 9, wherein, Further comprising: a calibration device, the calibration device comprising a calibration piece having a shape identical to or similar to a shape of the dental arch tray, the calibration piece being used for calibrating the intraoral three-dimensional scanner.

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