Scanning method, device, equipment and medium

Abstract

The embodiments of the present disclosure relate to a scanning method, device, equipment and medium, in which the method includes: obtaining scanning process information according to target oral cavity information, scanning the target oral cavity according to the scanning process information, obtaining custom scanning rod data and teeth jaw data, calculating a position transformation matrix between a predetermined custom scanning rod and an adaptive scanning rod according to the custom scanning rod data, obtaining the adaptive scanning rod data, and stitching the teeth jaw data and the scanning rod data to obtain target scanning data. Using the above technical solution, the scanning accuracy can be improved by scanning the custom scanning rod, and further, the scanning process can be optimized by selecting a corresponding scanning process according to scanning needs, so as to reduce the dependency between data and improve the work efficiency.

Description

[Technical field]

[0001] <CROSS REFERENCE TO RELATED APPLICATIONS> This disclosure claims priority to a Chinese patent application filed with the China National Intellectual Property Office on December 16, 2022, bearing application number 202211627327.2 and entitled "Scanning processing method, device, apparatus and medium," the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to the field of scanning processing technology, and more particularly to a scanning processing method, device, apparatus and medium. [Background technology]

[0003] Currently, in the conventional intraoral scanning implant process, the gum data is acquired first, and then a hole is opened to acquire further scanning rod data. In the above method, the scanning sequence must be performed according to the process, first the data of the gum cuff is scanned without wearing the scanning rod, then the data when the hole is opened and the scanning rod is worn is scanned further, and finally the data is stitched to acquire the complete data.

[0004] However, in the above-mentioned intraoral scanning implant process, the scanning rod data depends to a certain extent on the gum data, so the scanning process cannot be performed in reverse order, for example, before starting scanning, if the scanning rod is installed in the patient's oral cavity, the doctor needs to remove it, scan the gum data, and then install the scanning rod again to scan the data, and the accuracy of the scanning result is relatively low. Summary of the Invention

[0005] SUMMARY OF THE DISCLOSURE To solve or at least partially solve the above technical problems, the present disclosure provides a scanning processing method, apparatus, device, and medium.

[0006] An embodiment of the present disclosure provides a scanning processing method, comprising: Obtaining scanning process information based on the target intraoral cavity information; scanning the target intraoral cavity based on the scanning process information to obtain custom scanning rod data and dental jaw data; calculating a position transformation matrix between a predetermined custom scan rod and an adaptive scan rod based on the custom scan rod data and obtaining adaptive scan rod data; and stitching the dental jaw data and the scanning rod data to obtain target scan data.

[0007] An embodiment of the present disclosure further provides a scanning processing apparatus, a response acquisition module for acquiring scanning process information based on the target intraoral information; a scanning module for scanning a target intraoral cavity based on the scanning process information and acquiring custom scanning rod data and dental jaw data; a calculation module for calculating based on a position transformation matrix between a predetermined custom scan rod and an adaptive scan rod and the custom scan rod data to obtain adaptive scan rod data; a stitching module for stitching the dental jaw data and the scanning rod data to obtain target scan data.

[0008] An embodiment of the present disclosure further provides an electronic device, the electronic device including a processor and a memory for storing executable instructions of the processor, the processor for reading the executable instructions from the memory and executing the instructions to realize a scanning processing method according to an embodiment of the present disclosure.

[0009] An embodiment of the present disclosure further provides a computer-readable storage medium, the storage medium storing a computer program, the computer program being for performing the scanning processing method according to the embodiment of the present disclosure.

[0010] The technical solution according to the embodiment of the present disclosure has the following advantages over the prior art: In the scanning processing method according to the embodiment of the present disclosure, scanning process information is obtained according to the target oral cavity information, the target oral cavity is scanned according to the scanning process information, custom scanning rod data and teeth jaw data are obtained, and the position transformation matrix between the predetermined custom scanning rod and the adaptive scanning rod and the custom scanning rod data are calculated to obtain the adaptive scanning rod data, and the teeth jaw data and the scanning rod data are stitched to obtain the target scanning data. By adopting the above technical solution, the scanning accuracy can be improved by the scanning processing for the custom scanning rod, and further, the scanning process can be optimized by selecting the corresponding scanning process according to the scanning needs, so as to reduce the dependency between data and improve the work efficiency.

[0011] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to be restrictive of the present disclosure. [Brief description of the drawings]

[0012] The drawings are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description serve to explain the principles of the present disclosure.

[0013] In order to more clearly describe the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art are briefly described below, and it goes without saying that those skilled in the art may further obtain other drawings based on these drawings without requiring creative work. [Figure 1] 4 is a flow chart of a scanning processing method according to an embodiment of the present disclosure. [Diagram 2] 13 is a flow chart of another scanning processing method according to an embodiment of the present disclosure. [Diagram 3] FIG. 1 illustrates a custom scan rod according to an embodiment of the present disclosure. [Figure 4] FIG. 1 is a block diagram of a scanning processing device according to an embodiment of the present disclosure. [Diagram 5] FIG. 1 is a configuration diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, the embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the drawings show some embodiments of the present disclosure, it should be understood that the present disclosure may be realized in various forms and should not be construed as being limited to the embodiments described herein, and the intention of providing these embodiments is to make the present disclosure clearer and more comprehensively understandable. It should be understood that the drawings and embodiments of the present disclosure are merely illustrative and are not intended to limit the scope of protection of the present disclosure.

[0015] It should be understood that the steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. Additionally, method embodiments may include additional steps and / or omit performance of steps shown. The scope of the present disclosure is not limited in this respect.

[0016] As used herein, the term "including" and variations thereof are intended to be open-ended, i.e., meaning "including, but not limited to." The term "based on" means "based at least in part on." The term "in one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one other embodiment," and the term "some embodiments" means "at least some embodiments." Relevant definitions of other terms are provided below.

[0017] It should be noted that concepts such as "first", "second", etc. referred to in this disclosure are merely intended to distinguish different devices, modules or units, and are not intended to limit the order or mutual dependency of functions performed by these devices, modules or units.

[0018] It should be noted that the modifications "a" and "a plurality" referred to in the present disclosure are intended to be illustrative rather than limiting, and should be understood as "one or more" unless otherwise specified herein, as would be understood by one of ordinary skill in the art.

[0019] The names of messages or information exchanged between devices in the embodiments of the present disclosure are merely exemplary and are not intended to limit the scope of these messages or information.

[0020] 1 is a flow chart of a scanning processing method according to an embodiment of the present disclosure, which may be performed by a scanning processing device, where the device may be implemented using software and / or hardware, and may be generally integrated into electronic equipment. As shown in FIG. 1, the method includes the following steps:

[0021] In step 101, scanning process information is obtained based on target intraoral cavity information.

[0022] Here, the target oral cavity information refers to the attachment information of the scanning rod in the oral cavity to be scanned, and the attachment information of the scanning rod refers to whether the scanning rod has already been attached or whether the scanning rod has not been attached.

[0023] Here, the scanning process information refers to the scanning process steps, i.e., which object in the oral cavity is scanned first and which object is scanned later, for example, first, the scanning rod is scanned to obtain scanning rod data, then the scanning rod is removed and the oral cavity is scanned to obtain dental jaw data (e.g., gum data and cuff data), and further, for example, first, the oral cavity without the scanning rod attached is scanned to obtain dental jaw data, and then the scanning rod is scanned to obtain scanning rod data.

[0024] In an embodiment of the present disclosure, the scanning process steps are determined by selecting corresponding scanning process information based on the target intraoral cavity information to further satisfy the scanning needs.

[0025] In step 102, a target oral cavity is scanned based on the scanning process information to obtain custom scanning rod data and teeth-jaw data.

[0026] Here, the target oral cavity refers to the oral cavity to be scanned, i.e., the oral cavity in which dental implant treatment needs to be performed, usually an oral cavity in which there are no teeth in the entire oral cavity.

[0027] In the embodiments of the present disclosure, there are various methods for scanning the target oral cavity based on the scanning process information and obtaining custom scanning rod data and teeth and jaw data. In some embodiments, a custom scanning rod is already attached to the target oral cavity, and the custom scanning rod is scanned based on the scanning process information to obtain custom scanning rod data, and the target oral cavity is scanned after the custom scanning rod is removed to obtain gum data and cuff data as the teeth and jaw data.

[0028] In another embodiment, the custom scanning rod is not attached to the target oral cavity, and the target oral cavity is scanned based on the scanning process information to obtain gum data and cuff data as dental jaw data, and the custom scanning rod in the target oral cavity after the custom scanning rod is attached is scanned to obtain the custom scanning rod data.

[0029] The above two methods are merely examples of scanning a target oral cavity based on scanning process information and obtaining custom scanning rod data and teeth and jaw data, and the embodiments of the present disclosure do not limit the embodiments of scanning a target oral cavity based on scanning process information and obtaining custom scanning rod data and teeth and jaw data.

[0030] In an embodiment of the present disclosure, the custom scanning rod includes a scanning rod part and an auxiliary part connected to the scanning rod part, the scanning rod part and / or the auxiliary part have auxiliary features, the scanning rod part is adapted to fit with an implant body installed in a target oral cavity, and the scanning rod part is adapted to fit and attached to the implant body, thereby attaching the intraoral scanning rod to the target oral cavity.

[0031] Specifically, the custom scanning rod is a feature object including auxiliary feature points, the custom scanning rod is scanned to obtain a scanned image, the scanned image is processed to obtain two-dimensional coordinate points of the auxiliary feature points, and coordinate system transformation is performed on the two-dimensional coordinate points of the auxiliary feature points to obtain three-dimensional coordinate points of the auxiliary feature points as custom scanning rod data.

[0032] In step 103, a position transformation matrix between a predetermined custom scanning rod and an adaptive scanning rod is calculated based on the custom scanning rod data and the adaptive scanning rod data to obtain the adaptive scanning rod data.

[0033] Here, the position transformation matrix refers to the position transformation relationship that transforms the custom scan rod data into the coordinate system of the adaptive scan rod.

[0034] Here, the position transformation matrix between the custom scanning rod and the adaptive scanning rod is calculated and stored in advance. In one embodiment, the custom scanning rod is fixed to a base, the spatial coordinate information of the marker points on the base and the spatial coordinate information of the marker points of the custom scanning rod are obtained, the adaptive scanning rod is fixed to the base, the spatial coordinate information of the marker points on the base and the relative position information with the adaptive scanning rod are obtained, the custom scanning rod and the adaptive scanning rod are stitched into the same coordinate system based on the spatial coordinate information of the marker points on the base, and the position transformation matrix is ​​determined based on the spatial coordinate information and the relative position information of the marker points of the custom scanning rod.

[0035] In the embodiment of the present disclosure, after obtaining the custom scanning rod data, the adaptive scanning rod data can be obtained by calculating according to the position transformation matrix and the custom scanning rod data. Specifically, after obtaining the position transformation matrix between the custom scanning rod and the adaptive scanning rod, the coordinate system transformation for the custom scanning rod data is performed according to the position transformation matrix to obtain the adaptive scanning rod data.

[0036] In step 104, the dental jaw data and the scanning rod data are stitched to obtain target scan data.

[0037] In the embodiment of the present disclosure, the dental jaw data and the scanning rod data can be directly stitched to obtain the target scan data.

[0038] In the scanning processing method according to the embodiment of the present disclosure, the scanning process information is obtained according to the target oral cavity information, the target oral cavity is scanned according to the scanning process information, the custom scanning rod data and the teeth and jaw data are obtained, the position transformation matrix between the predetermined custom scanning rod and the adaptive scanning rod and the custom scanning rod data are calculated, the adaptive scanning rod data is obtained, and the teeth and jaw data and the scanning rod data are stitched to obtain the target scanning data. By adopting the above technical solution, the scanning accuracy can be improved by the scanning process for the custom scanning rod, and further, the scanning process can be optimized by selecting the corresponding scanning process according to the scanning needs, so as to reduce the dependency between data and improve the work efficiency.

[0039] 2 is a flow chart of another scanning method according to an embodiment of the present disclosure, which further optimizes the scanning method based on the above embodiment. As shown in FIG. 2, the method includes the following steps:

[0040] In step 201, a custom scanning rod is fixed to a base, spatial coordinate information of marker points on the base and spatial coordinate information of marker points on the custom scanning rod are obtained, an adaptive scanning rod is fixed to the base, and spatial coordinate information of marker points on the base and relative position information with respect to the adaptive scanning rod are obtained.

[0041] In step 202, the custom scanning rod and the adaptive scanning rod are stitched into the same coordinate system based on the spatial coordinate information of the marker points on the base, a position transformation matrix is ​​determined based on the spatial coordinate information and relative position information of the marker points of the custom scanning rod, and a correlation between the custom scanning rod and the position transformation matrix is ​​established and stored.

[0042] In step 203, the correlation is obtained by scanning the target two-dimensional code, and a search is performed based on the correlation with the custom scanning rod to obtain a position transformation matrix.

[0043] In step 204, scanning process information is obtained based on the target oral cavity information, the custom scanning rod is scanned based on the scanning process information, custom scanning rod data is obtained, the target oral cavity is scanned after the custom scanning rod is removed, and gum data and cuff data are obtained as dental jaw data.

[0044] In step 205, a position transformation matrix between the predetermined custom scan rod and the adaptive scan rod is calculated based on the custom scan rod data, and the adaptive scan rod data is obtained, and the tooth jaw data and the scan rod data are stitched to obtain the target scan data.

[0045] An exemplary custom scanning rod as shown in FIG. 3 includes a scanning body 11 and an auxiliary feature body 12 connected to the scanning body 11, and auxiliary feature points 13 are installed on the scanning body 11 and / or the auxiliary feature body 12, and the two custom scanning rods are connected via the two auxiliary feature bodies, thereby realizing the connection of multiple custom scanning rods, and after the custom scanning rod is installed in the oral cavity, it can form a rigid body and will not deform due to deformation of soft tissues such as the gums, thereby improving the accuracy of intraoral scanning.

[0046] Specifically, the custom scanning rod needs to be fixed to the base, the spatial coordinate information of the marker points on the custom scanning rod is obtained through an external high-precision scanner, and the scanning rod of the compatible system needs to be fixed to the base, and the spatial coordinate information of the marker points on the base and the corresponding position information of the scanning rod are obtained through an external high-precision scanner. By ensuring that the spatial coordinate information of the marker points on the base is consistent, the custom scanning rod and the scanning rod of the compatible system are stitched into the same coordinate system to obtain the position transformation relationship between the two, and the above obtained position transformation relationship is made to correspond one-to-one to the custom scanning rod, and a loadable file is generated.

[0047] In addition, the file information of the position conversion relationship of the customized scanning rod is loaded to the corresponding tooth position, and the two-dimensional code associated with the package of the customized scanning rod is scanned to realize data loading, which further improves the efficiency of data processing. Here, the loading method is not limited, and manual input is also possible.

[0048] In addition, the user can enter the scanning process and select the scanning process based on the user's oral cavity situation. For example, if the user has already worn the custom scanning rod, the user can first scan the custom scanning rod data, and then remove the custom scanning rod to scan the gum data and cuff data.

[0049] It also identifies the marker points of the custom scan rod, operates on the position transformation relationship file, converts it to the adaptive scan rod of the selected system, and saves and outputs the replaced model data (ie, target scan data).

[0050] As a result, the scanning accuracy of the oral cavity without teeth and jaws in the prior art is about 100 um, which can be improved to about 30 um by the scanning processing method of the embodiment of the present disclosure. In addition, in the current process, data such as the gums is first scanned, and then the scanning rod data is stitched using the data such as the gums, so that the accuracy of the scanning rod data can be ensured, while the technical solution of the embodiment of the present disclosure can be used to release the dependency between the gums and the scanning rod, and the scanning process can be realized in reverse order.

[0051] In the scanning processing method according to the embodiment of the present disclosure, a custom scanning rod is fixed to a base, and spatial coordinate information of the marker points on the base and spatial coordinate information of the marker points of the custom scanning rod are obtained; an adaptive scanning rod is fixed to the base, and spatial coordinate information of the marker points on the base and relative position information with the adaptive scanning rod are obtained; the custom scanning rod and the adaptive scanning rod are stitched into the same coordinate system according to the spatial coordinate information of the marker points on the base; a position transformation matrix is ​​determined according to the spatial coordinate information and relative position information of the marker points of the custom scanning rod; a correlation between the custom scanning rod and the position transformation matrix is ​​established and stored; and the target two-dimensional code is scanned. By searching, obtain the correlation, perform a search based on the correlation with the custom scanning rod, obtain a position transformation matrix, obtain scanning process information based on the target oral cavity information, scan the custom scanning rod based on the scanning process information, obtain custom scanning rod data, scan the target oral cavity after removing the custom scanning rod, obtain the gum data and cuff data as the tooth jaw data, calculate based on the position transformation matrix between the predetermined custom scanning rod and the adaptive scanning rod and the custom scanning rod data, obtain the adaptive scanning rod data, stitch the tooth jaw data and the scanning rod data to obtain the target scanning data. Using the above technical solution, the scanning accuracy is improved, the dental bridge is comfortable to wear and does not tilt, and the scanning process is optimized, the dependency between data is reduced, and the work efficiency is improved.

[0052] 4 is a block diagram of a scanning processing device according to an embodiment of the present disclosure, which can be realized by software and / or hardware and can be integrated into a general electronic device. As shown in FIG. 4, the device includes: a response acquisition module 301 for acquiring scanning process information based on the target intraoral cavity information; a scanning module 302 for scanning a target intraoral cavity based on the scanning process information and acquiring custom scanning rod data and dental jaw data; A calculation module 303 for calculating based on a position transformation matrix between a predetermined custom scanning rod and an adaptive scanning rod and the custom scanning rod data to obtain adaptive scanning rod data; a stitching module 304 for stitching the dental jaw data and the scan rod data to obtain target scan data.

[0053] Preferably, the target oral cavity already has the custom scanning rod installed, and the scanning module 302 specifically: scanning the custom scan rod based on the scanning process information to obtain the custom scan rod data; and scanning the target oral cavity after removing the custom scanning rod to obtain gingival data and cuff data as the dental jaw data.

[0054] Preferably, the target oral cavity does not have the custom scanning rod attached, and the scanning module 302 specifically: Scanning the target oral cavity based on the scanning process information, and acquiring gum data and cuff data as the teeth and jaw data; and c) scanning the custom scanning rod in the target oral cavity after the custom scanning rod is installed and acquiring the custom scanning rod data.

[0055] Preferably, the apparatus comprises: a first acquisition module for fixing the custom scanning rod to a base and acquiring spatial coordinate information of a marker point on the base and spatial coordinate information of a marker point on the custom scanning rod; a second acquisition module for fixing the adaptive scanning rod to the base and acquiring spatial coordinate information of a marker point on the base and relative position information of the adaptive scanning rod; The method further includes a stitching determination module for stitching the custom scanning rod and the adaptive scanning rod into the same coordinate system based on spatial coordinate information of marker points on the base, and determining the position transformation matrix based on the spatial coordinate information of marker points of the custom scanning rod and the relative position information.

[0056] Preferably, the apparatus comprises: and an establishing module for establishing and storing a correlation between the custom scanning rod and the position transformation matrix.

[0057] Preferably, the apparatus comprises: a third acquiring module for acquiring the correlation by scanning the target two-dimensional code; and a search and retrieval module for performing a search based on the custom scanning rod and the correlation to retrieve the position transformation matrix.

[0058] Preferably, the custom scan rod includes a scan rod part and an auxiliary part connected to the scan rod part, and the scan rod part and / or the auxiliary part are provided with auxiliary features.

[0059] The scanning processing device according to the embodiments of the present disclosure can execute the scanning processing method according to any embodiment of the present disclosure, and has beneficial effects with the functional modules corresponding to the execution of the method.

[0060] An embodiment of the present disclosure further provides a computer program product, comprising computer programs / instructions which, when executed by a processor, implement a scanning processing method according to any embodiment of the present disclosure.

[0061] FIG. 5 is a configuration diagram of an electronic device according to an embodiment of the present disclosure. As shown in FIG. 5 specifically, a configuration diagram of an electronic device 400 for implementing an embodiment of the present disclosure is shown below. The electronic device 400 in the embodiment of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (bullet computers), PMPs (portable multimedia players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. The electronic device shown in FIG. 5 is merely an example and is not intended to limit the functions and scope of use of the embodiment of the present disclosure.

[0062] 5, the electronic device 400 may include a processing unit (e.g., a central processing unit, a graphics processor, etc.) 401 that can perform various suitable operations and processes based on programs stored in a read-only memory (ROM) 402 or programs loaded from a storage device 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic device 400 are further stored. The processing unit 401, the ROM 402, and the RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0063] In general, the I / O interface 405 may be connected to input devices 406, including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 407, including, for example, a liquid crystal display (LCD), a speaker, an oscillator, etc.; storage devices 408, including, for example, a magnetic tape, a hard disk, etc.; and a communication device 409. The communication device 409 allows the electronic device 400 to communicate wirelessly or via wires with other devices to exchange data. Although FIG. 5 illustrates the electronic device 400 with various devices, it should be understood that it is not required to implement or include all of the devices shown. Alternatively, more or fewer devices may be implemented or included.

[0064] In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product including a computer program carried on a non-transitory computer-readable medium, the computer program including program code for performing the method illustrated in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 409, or installed from the storage device 408, or installed from the ROM 402. When the computer program is executed by the processing device 401, it performs the above-mentioned functions limited to the scanning processing method of the embodiment of the present disclosure.

[0065] It should be explained that the computer readable medium of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the above. The computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer readable storage medium may include, but are not limited to, an electrical connection having one or more conductors, a portable computer magnetic disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact magnetic disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer readable storage medium may be any tangible medium that contains or stores a program, which may be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier, the data signal carrying computer-readable program code. Such a propagated data signal may take a variety of forms, including, but not limited to, an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may be any computer-readable medium other than a computer-readable storage medium, the computer-readable signal medium may be used to transmit, propagate, or transmit a program used by or in connection with an instruction execution system, apparatus, or device. The program code contained in the computer-readable medium may be transmitted by any suitable medium, including, but not limited to, conductive wire, fiber optic cable, RF (radio frequency), or the like, or any combination of the above.

[0066] In some embodiments, the clients and servers may communicate using any now known or later developed network protocol, such as, for example, HyperText Transfer Protocol (HTTP), and may be connected to each other (e.g., a communications network) in communication with digital data in any form or medium. Examples of communications networks include local area networks ("LANs"), wide area networks ("WANs"), the Internet (e.g., the Internet), and end-to-end networks (e.g., ad hoc end-to-end networks), and any now known or later developed networks.

[0067] The computer-readable medium may be included in the electronic device, or may be separate from and not located in the electronic device.

[0068] The computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to obtain scanning process information based on target oral cavity information, scan the target oral cavity based on the scanning process information, obtain custom scanning rod data and teeth and jaw data, calculate based on a position transformation matrix between a predetermined custom scanning rod and an adaptive scanning rod and the custom scanning rod data, obtain the adaptive scanning rod data, and stitch the teeth and jaw data and the scanning rod data to obtain target scanning data.

[0069] Computer program code for carrying out the operations of the present disclosure may be written in one or more programming languages ​​or combinations thereof, including, but not limited to, the above programming languages, object-oriented programming languages ​​such as Java, Smalltalk, C++, and even conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a single independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. When a remote computer is involved, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0070] The flowcharts and block diagrams in the drawings illustrate possible system architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowcharts or block diagrams may represent a module, program section or part of code, which includes one or more executable instructions for implementing a specified logical function. It should be noted that in some alternative implementations, the functions noted in the blocks may occur in a different order than the order noted in the drawings. For example, two successively shown blocks may in fact essentially be executed in parallel or may be executed in the reverse order, depending on the functionality involved. It should be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented in a dedicated system of hardware to perform a given function or operation, or may be implemented in a combination of dedicated hardware and computer instructions.

[0071] The units described in the embodiments of the present disclosure may be implemented in the form of software or hardware, and the names of the units are not intended to limit the units themselves in some cases.

[0072] The functionality described herein above may be performed, at least in part, by one or more hardware logic devices. For example, without limitation, exemplary types of hardware logic components that may be utilized include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), etc.

[0073] In the context of the present disclosure, a machine-readable medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of machine-readable storage media include an electrical connection by one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0074] According to one or more embodiments of the present disclosure, the present disclosure provides an electronic device, comprising: A processor; a memory for storing executable instructions for said processor; The processor is adapted to read the executable instructions from the memory and execute the instructions to implement any one of the scanning processing methods according to the present disclosure.

[0075] According to one or more embodiments of the present disclosure, the present disclosure provides a computer-readable storage medium having a computer program stored therein, the computer program being used to perform any one of the scanning processing methods according to the present disclosure.

[0076] The above description is merely a description of the preferred embodiment and the technical principles applied in the present disclosure. It should be understood by those skilled in the art that the scope of the present disclosure is not limited to the technical solution consisting of a specific combination of the above technical features, and should include other technical solutions formed by any combination of the above technical features or their equivalent features, without departing from the spirit of the above disclosure. For example, the above features include technical solutions formed by mutually replacing technical features having similar functions disclosed in the present disclosure (but are not limited to them).

[0077] Additionally, although operations are illustrated using a particular order, it should not be understood as requiring that these operations be performed in the particular order illustrated, or sequentially. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although the above description includes details of various specific embodiments, this should not be understood as limiting the scope of the disclosure. Some features that are described in the context of a single embodiment may also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment may be implemented in multiple embodiments separately or in any suitable subcombination manner.

[0078] Although the present subject matter has been described using language specific to structural features and / or method logical operations, it should be understood that the subject matter defined in the claims is not necessarily limited to the specific features or operations described above. Rather, the specific features or operations described above are merely example forms for implementing the claims. [Industrial Applicability]

[0079] The scanning method disclosed herein can improve scanning accuracy through scanning processing for custom scanning rods, and can further optimize the scanning process by selecting and scanning a corresponding scanning process according to scanning needs, reduce dependencies between data, and improve work efficiency, and has extremely high industrial applicability.

Claims

1. A scanning processing method, comprising: Obtaining scanning process information based on target intraoral cavity information, where the target intraoral cavity information refers to mounting information of a scanning rod in the intraoral cavity to be scanned, and the mounting information of the scanning rod refers to whether the scanning rod has already been mounted or whether the scanning rod is not mounted; scanning the target oral cavity based on the scanning process information to obtain custom scanning rod data and dental jaw data, where the dental jaw data includes gingival data and gingival cuff data; Calculating a position transformation matrix between a predetermined custom scan rod and an adaptive scan rod based on the custom scan rod data, and obtaining adaptive scan rod data, where the adaptive scan rod is a scan rod of a matching system, and the shape of the adaptive scan rod and the shape of the custom scan rod are different. stitching the dental jaw data and the adaptive scan rod data to obtain target scan data.

2. When the custom scanning rod is already attached to the target oral cavity, scanning the target oral cavity based on the scanning process information to obtain custom scanning rod data and dental jaw data includes: scanning the custom scan rod based on the scanning process information to obtain the custom scan rod data; 2. The method of claim 1, further comprising: scanning the target oral cavity after removing the custom scanning rod to obtain gingival data and gingival cuff data as the dental jaw data.

3. If the custom scanning rod is not attached to the target oral cavity, scanning the target oral cavity based on the scanning process information to obtain custom scanning rod data and dental jaw data includes: Scanning the target oral cavity based on the scanning process information, and acquiring gingival data and gingival cuff data as the teeth and jaw data; 2. The method of claim 1, further comprising: scanning the custom scanning rod in the target oral cavity after the custom scanning rod is installed to obtain the custom scanning rod data.

4. before obtaining adaptive scan rod data based on a position transformation matrix between a predetermined custom scan rod and an adaptive scan rod and the custom scan rod data; Fixing the custom scanning rod to a base, and obtaining spatial coordinate information of a marker point on the base and spatial coordinate information of a marker point on the custom scanning rod; Fixing the adaptive scanning rod to the base, and acquiring spatial coordinate information of a marker point on the base and spatial coordinate information of the adaptive scanning rod; The scanning processing method of claim 1, further comprising stitching the custom scanning rod and the adaptive scanning rod into the same coordinate system based on spatial coordinate information of marker points on the base, and determining the position transformation matrix.

5. 5. The scanning process of claim 4, further comprising establishing and storing a correlation between said custom scanning rod and said position transformation matrix.

6. Obtaining the correlation by scanning a target two-dimensional code; 6. The scanning method of claim 5, further comprising: performing a search based on the custom scanning rod and the correlation to obtain the position transformation matrix.

7. 2. The scanning processing method of claim 1, wherein the custom scanning rod includes a scanning rod part and an auxiliary part connected to the scanning rod part, and the scanning rod part and / or the auxiliary part are provided with auxiliary feature points.

8. An electronic device, A processor; a memory for storing executable instructions for said processor; The processor reads the executable instructions from the memory and executes the instructions to Obtaining scanning process information based on target intraoral cavity information, where the target intraoral cavity information refers to mounting information of a scanning rod in the intraoral cavity to be scanned, and the mounting information of the scanning rod refers to whether a scanning rod has already been mounted or whether a scanning rod is not mounted; scanning the target oral cavity based on the scanning process information to obtain custom scanning rod data and dental jaw data, where the dental jaw data includes gingival data and gingival cuff data; Calculating a position transformation matrix between a predetermined custom scan rod and an adaptive scan rod based on the custom scan rod data, and obtaining adaptive scan rod data, where the adaptive scan rod is a scan rod of a matching system, and the shape of the adaptive scan rod and the shape of the custom scan rod are different. stitching the dental jaw data and the adaptive scanning rod data to obtain target scan data.

9. A non-volatile computer-readable storage medium having a computer program stored therein, the computer program, when executed by a processor, Obtaining scanning process information based on target intraoral cavity information, where the target intraoral cavity information refers to mounting information of a scanning rod in the intraoral cavity to be scanned, and the mounting information of the scanning rod refers to whether a scanning rod has already been mounted or whether a scanning rod is not mounted; scanning the target oral cavity based on the scanning process information to obtain custom scanning rod data and dental jaw data, where the dental jaw data includes gingival data and gingival cuff data; Calculating a position transformation matrix between a predetermined custom scan rod and an adaptive scan rod based on the custom scan rod data, and obtaining adaptive scan rod data, where the adaptive scan rod is a scan rod of a matching system, and the shape of the adaptive scan rod and the shape of the custom scan rod are different. and stitching the dental jaw data and the adaptive scan rod data to obtain target scan data.

10. The custom scanning rod data includes: scanning the custom scan rod to obtain a scanned image; processing the scanned image to obtain two-dimensional coordinate points of auxiliary features; 2. The scanning processing method according to claim 1, wherein the custom scanning rod data is determined by performing coordinate system transformation on the two-dimensional coordinate points of the auxiliary feature points to obtain three-dimensional coordinate points of the auxiliary feature points.

11. The adaptive scanning rod data is 2. The scanning processing method of claim 1, wherein the adaptive scanning rod data is determined by: obtaining a position transformation matrix between the custom scanning rod and the adaptive scanning rod; and then performing a coordinate system transformation on the custom scanning rod data based on the position transformation matrix to obtain the adaptive scanning rod data.

12. The processor further comprises: scanning the custom scan rod based on the scanning process information to obtain the custom scan rod data; 9. The electronic device of claim 8, wherein the electronic device is configured to scan the target oral cavity after removing the custom scanning rod, and obtain gingival data and gingival cuff data as the dental jaw data.

13. The processor further comprises: Scan the target oral cavity based on the scanning process information, and obtain gingival data and gingival cuff data as the teeth and jaw data; 10. The electronic device of claim 8, further comprising: a scanning device for scanning the custom scanning rod in the target oral cavity after the custom scanning rod is attached, and acquiring the custom scanning rod data.

14. The processor further comprises: Fixing the custom scanning rod to a base, and acquiring spatial coordinate information of a marker point on the base and spatial coordinate information of a marker point on the custom scanning rod; Fixing the adaptive scanning rod to the base, and acquiring spatial coordinate information of a marker point on the base and spatial coordinate information of the adaptive scanning rod; The electronic device of claim 8, further comprising: stitching the custom scanning rod and the adaptive scanning rod into the same coordinate system based on spatial coordinate information of marker points on the base, and determining the position transformation matrix.

15. The processor further comprises:

15. The electronic device of claim 14, for establishing and storing a correlation between the custom scanning rod and the position transformation matrix.

16. The processor further comprises: Obtaining the correlation by scanning a target two-dimensional code; 16. The electronic device of claim 15, further comprising: a search based on the custom scanning rod and the correlation to obtain the position transformation matrix.

17. 9. The electronic device of claim 8, wherein the custom scan rod includes a scan rod part and an auxiliary part connected to the scan rod part, and the scan rod part and / or the auxiliary part are provided with auxiliary features.

18. The processor further comprises:

9. The electronic device of claim 8, further comprising: after obtaining a position transformation matrix between the custom scanning rod and the adaptive scanning rod, performing a coordinate system transformation on the custom scanning rod data based on the position transformation matrix to obtain the adaptive scanning rod data.

19. The processor further comprises: scanning the custom scan rod based on the scanning process information to obtain the custom scan rod data; 10. The non-volatile computer readable storage medium of claim 9, further comprising: a scanning device for scanning the target oral cavity after removing the custom scanning rod; and acquiring gingival data and gingival cuff data as the dental jaw data.

20. The processor further comprises: Scan the target oral cavity based on the scanning process information, and obtain gingival data and gingival cuff data as the teeth and jaw data; 10. The non-volatile computer readable storage medium of claim 9, wherein the non-volatile computer readable storage medium is for scanning the custom scanning rod in the target oral cavity after the custom scanning rod is installed and obtaining the custom scanning rod data.

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