Oral cavity scanning processing method, system, electronic device, and medium

Abstract

The embodiments of the present disclosure relate to an intraoral scanning method, system, electronic device and medium, the method including: responding to a scanning request for an intraoral cavity including a scanning rod, obtaining a positioning mode of the scanning rod, scanning the intraoral cavity to obtain target scanning data, and processing according to the positioning mode of the scanning rod and the target scanning data to determine positioning information of the scanning rod. According to the above technical solution, the positioning information of the scanning rod can be obtained based on the scanning result, and the positioning requirement of the scanning rod in the intraoral scanning scene can be further satisfied.

Description

Technical Field

[0001] This disclosure claims priority to a Chinese patent application filed with the China National Intellectual Property Administration on May 2, 2022, with application number 202210477085.7 and invention title "Oral Scanning Processing Method, System, Electronic Device and Medium", the entire disclosure of which is incorporated herein by reference.

[0002] This disclosure relates to the technical field of intraoral scanning, and particularly to an intraoral scanning processing method, system, electronic device and medium.

Background Art

[0003] Generally, for the restoration when teeth are missing, a scanning rod is used to scan to determine the implant position.

[0004] In related technologies, since the scanning range of intraoral scanning is limited, when scanning intraoral data, a solution means of multi-data stitching is generally used, and cumulative errors occur. Therefore, finally, the scanner cannot obtain the accurate position of the scanning rod, resulting in relatively low accuracy of scanning and implanting.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The technical problem to be solved by this disclosure is to solve the problem that in the prior art, when scanning intraoral data, a solution means of multi-data stitching is generally used, and cumulative errors occur. Therefore, finally, the scanner cannot obtain the accurate position of the scanning rod, resulting in relatively low accuracy of scanning and implanting.

Means for Solving the Problems

[0006] To solve the above technical problems, embodiments of the present disclosure provide an intraoral scanning method, system, electronic device, and medium.

[0007] In a first aspect, acquiring a positioning mode of the scanning rod in response to a scan request for an intraoral cavity including the scanning rod; scanning the intraoral cavity to obtain target scan data; Based on the positioning mode of the scanning rod and the target scan data, te and determining positioning information for the scanning rod.

[0008] In a second aspect, a scanner adapted to respond to a scan request for an intraoral cavity including a scanning rod, to obtain a positioning mode of the scanning rod, and to scan the intraoral cavity to obtain target scan data; Based on the positioning mode of the scanning rod and the target scan data, te and a processing module adapted to determine positioning information of the scanning rod.

[0009] In a third aspect, A processor; a memory adapted to store processor executable instructions; The processor, There is further provided an electronic device configured to read the executable instructions from the memory and execute the instructions to implement an intraoral scanning processing method according to an embodiment of the present disclosure.

[0010] In a fourth aspect, there is further provided a computer storage medium having a program stored thereon, the program being capable of implementing some or all of the steps of each embodiment of the intraoral scanning processing method according to the first aspect of the present disclosure when executed. Effect of the Invention

[0011] The technical solution according to the embodiments of the present disclosure has the following advantages compared with the prior art.

[0012] In the intraoral scanning processing method, system, electronic device and medium according to the embodiments of the present disclosure, in response to a scanning request for the oral cavity including a scanning rod, the positioning mode of the scanning rod is obtained, the oral cavity is scanned to obtain target scanning data, and based on the positioning mode of the scanning rod and the target scanning data te , the positioning information of the scanning rod is determined. According to the above technical solution, the positioning information of the scanning rod can be obtained based on the scanning result, and the positioning requirement of the scanning rod in the scene of performing intraoral scanning can be further satisfied.

[0013] It should be noted that the above general description and the following detailed description are merely exemplary and explanatory, and cannot limit the present disclosure.

Brief Description of the Drawings

[0014] The accompanying drawings are incorporated into the specification, constitute a part of this specification, show embodiments applicable to the present disclosure, and are used to explain the principles of the present disclosure together with the specification.

[0015] Hereinafter, in order to more clearly explain the technical solutions in the embodiments of the present disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative labor.

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0016] Hereinafter, in order to make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and comprehensively described. Naturally, the described embodiments are only some embodiments of the present disclosure, not all embodiments. Those skilled in the art can obtain all other embodiments without creative efforts based on the embodiments of the present disclosure, and all of them are included in the scope of the claims of the present disclosure.

[0017] In response to the above problems, the present disclosure provides an intraoral scanning processing method applicable to an application environment as shown in FIG. 1. FIG. 1 is a diagram showing an application scenario of intraoral scanning processing according to an embodiment of the present disclosure. The application environment includes attaching a plurality of intraoral scanning rods to a target oral cavity. The intraoral scanning rod includes a scanning rod component 11 and an auxiliary component 12 connected to the scanning rod component 11. Auxiliary feature points are provided on the scanning rod component 11 and / or the auxiliary component 12. Here, the shape feature of the auxiliary component 12 itself may be used as the auxiliary feature point. The scanning rod component 11 is adapted to the implant body attached to the target oral cavity. By fitting and attaching the scanning rod component 11 to the implant body, the intraoral scanning rod is attached to the target oral cavity.

[0018] Here, the auxiliary components 12 of any two of the plurality of intraoral scanning rods are adapted to each other. When any two intraoral scanning rods 10 are attached adjacent to each other in the oral cavity, the auxiliary feature points on the two auxiliary components are continuously distributed. For example, the true coordinate points of the auxiliary feature points can be obtained in advance by a single-lens photography measurement system, a three-dimensional coordinate measuring instrument, etc. Theoretically, the three-dimensional coordinate points corresponding to the images obtained by scanning are in one-to-one correspondence with the true coordinate points of the auxiliary feature points obtained in advance.

[0019] In an embodiment of the present disclosure, an intraoral scanner, also referred to as a digital impression scanner, uses a small probe-type optical scanning head to directly acquire the three-dimensional shape and color texture information of the hard and soft tissue surfaces such as teeth, gums, and mucous membranes in a patient's oral cavity.

[0020] As an example of one scenario, a plurality of intraoral scanning rods are attached to the target oral cavity. The intraoral scanning rod includes a scanning rod component connected to the implant body and an auxiliary component connected to the scanning rod. The intraoral scanning rod is provided with target features, and the target features are continuously distributed in the scanning rod component and / or the auxiliary component, but the target features are not distributed on one side of the scanning rod component and / or the auxiliary component. component and / or the auxiliary component. ku, may be distributed on two or more surfaces, or may be distributed on a non-planar surface such as the curved surface of the scanning rod component and / or the auxiliary component No.

[0021] Specifically, the intraoral scanner scans the target oral cavity, acquires a plurality of frames of images, and conveys them to a data processing module for data processing. The data processing module acquires a plurality of frames of images, acquires the initial three-dimensional data of the target oral cavity based on the plurality of frames of images. The initial three-dimensional data includes the initial point set of the target oral cavity and the three-dimensional coordinate measurement values of the target features in the same coordinate system. acquires the preset model of the intraoral scanning rod. The preset model includes the true three-dimensional coordinates of the target features and the real point set of the intraoral scanning rod (the true three-dimensional coordinates of each point) in the same coordinate system. performs stitching on the initial point set of the target oral cavity and the real point set of the intraoral scanning rod based on the correspondence between the three-dimensional coordinate measurement values and the true values of the target features. determines the positioning information of the intraoral scanning rod based on the stitched real point set of the intraoral scanning rod. The positioning information of the intraoral scanning rod is the positioning information of the implant body, and a method of designing a tooth body based on the positioning information is executed so that the designed and manufactured tooth body can be fitted and attached to the implant body.

[0022] Specifically, by responding to a scanning request for the oral cavity including the scanning rod, a positioning mode of the scanning rod is obtained, the oral cavity is scanned to obtain target scanning data, and based on the positioning mode of the scanning rod and the target scanning data te , the positioning information of the scanning rod is determined. According to the above technical solution, the positioning information of the scanning rod can be obtained based on the scanning result, and the positioning requirement of the scanning rod in the scene of performing intraoral scanning can be further satisfied.

[0023] Specifically, FIG. 2 is a flowchart of an intraoral scanning processing method according to an embodiment of the present disclosure that can be executed by an intraoral scanning processing apparatus. Here, the apparatus can be realized by using software and / or hardware, and can generally be integrated into an electronic device. As shown in FIG. 2, the method includes the following steps 101 to 103.

[0024] In step 101, in response to a scanning request for the oral cavity including the scanning rod, a positioning mode of the scanning rod is obtained.

[0025] Here, the oral cavity refers to an oral cavity that needs to perform dental implant treatment, and it is necessary to scan the inside of the oral cavity to determine the implant position in the oral cavity. After the intraoral scanning rod is connected through the auxiliary feature body, intraoral scanning is performed.

[0026] In an embodiment of the present disclosure, the scanning rod and / or the auxiliary feature body includes auxiliary feature points (for example, circular, square, checkerboard shape, etc.), and the shape of the auxiliary feature body is various (for example, spherical, square, cuboid, conical, etc.).

[0027] Here, the scanner can select different scanning modes, such as a normal scanning mode, a positioning mode of the scanning rod, etc., based on the application scenario, and the subsequent scanning data processing forms are different in different scanning modes.

[0028] In an embodiment of the present disclosure, when a scanning start button provided on the scanner by the user is triggered, a scanning request for the oral cavity including a scanning rod is received, and parameters of the scanning request are further obtained. For example, 1 indicates a normal scanning scenario, and 0 indicates a positioning scan scenario of the scanning rod. Based on different scanning request scenarios, a corresponding scanning mode may be determined.

[0029] In an embodiment of the present disclosure, after the scanning start button provided on the scanner by the user is triggered, the scanning mode may be directly obtained by triggering a scanning mode selection button provided on the scanner.

[0030] Specifically, after a scanning rod is connected to the oral cavity, in response to a scanning request for the oral cavity including the scanning rod, a positioning mode of the scanning rod is obtained.

[0031] In step 102, the oral cavity is scanned to obtain target scanning data.

[0032] Here, the target scanning data may include a structured light image and / or a texture image.

[0033] In an embodiment of the present disclosure, there are various forms of scanning the oral cavity to obtain target scanning data. In some embodiments, the projector of the scanner is controlled to project a structured light pattern onto the oral cavity, image collection is performed, the first camera is controlled to obtain a structured light image, the lighting element is controlled to project illumination light onto the oral cavity, image collection is performed, the second camera is controlled to obtain a texture image, and the structured light image and the texture image are used as target scanning data.

[0034] In other embodiments, direct shooting is performed by a camera to obtain a structured light image and a texture image. The above two forms are only examples of scanning the oral cavity to obtain target scanning data, and the embodiments of the present disclosure do not limit the specific manner of scanning the oral cavity to obtain target scanning data.

[0035] In an embodiment of the present disclosure, after responding to a scanning request for the oral cavity including the scanning rod, the oral cavity can be scanned to obtain target scanning data.

[0036] In step 103, based on the positioning mode of the scanning rod and the target scanning data te , the positioning information of the scanning rod is determined.

[0037] Here, in different scanning modes, the form of subsequent processing is different. When in the positioning mode of the scanning rod, it is necessary to process the target scanning data and determine the positioning information of the scanning rod.

[0038] In an embodiment of the present disclosure, when in the positioning mode of the scanning rod, the information of the auxiliary feature points in the texture image is extracted, 3D reconstruction is performed based on the information of the auxiliary feature points to obtain the 3D data of the auxiliary feature points, the 3D model of the scanning rod is determined based on the 3D data of the auxiliary feature points, and the positioning information of the scanning rod is determined based on the 3D model of the scanning rod.

[0039] In another embodiment of the present disclosure, texture mapping for the 3D model and color information is performed based on the pixel coordinates of the structured light image, the pixel coordinates of the texture image, and the internal and external parameters of the camera. Also, the information of the auxiliary feature points in the texture image is extracted, 3D reconstruction is performed based on the information of the auxiliary feature points to obtain the 3D data of the auxiliary feature points, the 3D model of the scanning rod is determined based on the 3D data of the auxiliary feature points, and the positioning information of the scanning rod is determined based on the 3D model of the scanning rod.

[0040] Here, the auxiliary feature points can uniquely identify one feature, that is, the scanning rod is provided with auxiliary feature points, and each auxiliary feature point can uniquely identify the position feature corresponding to the scanning rod. For example, target feature a and target feature b are respectively provided at position 1 and position 2 on the scanning rod, target feature a can uniquely identify the position feature of position 1 on the scanning rod, and target feature b can uniquely identify the position feature of position 2 on the scanning rod.

[0041] In addition, any feature that can uniquely identify the corresponding position features on the scanning rod, such as different shapes, colors, two-dimensional codes, etc. on the scanning rod, can be used as auxiliary feature points. Furthermore, the auxiliary feature points may also be the shape features of the auxiliary component 12 itself.

[0042] Specifically, after obtaining the target scanning data, based on the positioning mode of the scanning rod and the target scanning data te the positioning information of the scanning rod can be determined.

[0043] In the intraoral scanning processing mode according to the embodiments of the present disclosure, in response to a scanning request for the oral cavity including the scanning rod, the positioning mode of the scanning rod is obtained, the oral cavity is scanned to obtain target scanning data, and based on the positioning mode of the scanning rod and the target scanning data te the positioning information of the scanning rod is determined. According to the above technical solution, the positioning information of the scanning rod can be obtained based on the scanning result, and the positioning requirement of the scanning rod in the scene of performing intraoral scanning can be further satisfied.

[0044] Hereinafter, based on the description of the above embodiments, in conjunction with FIG. 3, the intraoral scanning processing mode in a specific scene will be described in detail.

[0045] Specifically, FIG. 3 is a flowchart of another intraoral scanning processing method according to the embodiments of the present disclosure. This embodiment further optimizes the intraoral scanning processing method based on the above embodiments. As shown in FIG. 3, the method includes the following steps 201 to 204.

[0046] In step 201, in response to a scanning request for the oral cavity including the scanning rod, the parameters of the scanning request are obtained, the scene of the scanning request is determined based on the parameters of the scanning request, and the positioning mode of the scanning rod is obtained based on the scene of the scanning request.

[0047] Specifically, when receiving a scanning request for the oral cavity, the scanning request is analyzed to obtain the parameters of the scanning request. It should be understood that the parameters of the scanning request uniquely identify a scene of a scanning request, such as a normal scanning scene or a positioning scene of a scanning rod, etc. Based on different scanning request scenes, different scanning mo - modes, such as a normal scanning mode or a positioning mode of the scanning rod, can be obtained.

[0048] In step 202, the projector of the scanner is controlled to project a structured light pattern onto the oral cavity, image collection is performed, the first camera is controlled to obtain a structured light image, the lighting element is controlled to project illumination light onto the oral cavity, image collection is performed, the second camera is controlled to obtain a texture image, and the structured light image and the texture image are used as target scanning data. Here, the illumination light is an example of white light.

[0049] In step 203, when in the positioning mode of the scanning rod, the information of the auxiliary feature points in the texture image is extracted, three-dimensional reconstruction is performed based on the information of the auxiliary feature points to obtain the three-dimensional data of the auxiliary feature points, the three-dimensional model of the scanning rod is determined based on the three-dimensional data of the auxiliary feature points, and the positioning information of the scanning rod is determined based on the three-dimensional model of the scanning rod. Here, the auxiliary feature points are an example of marker points.

[0050] Specifically, the projector of the scanner is controlled to project a structured light pattern onto the oral cavity, image collection is performed using the first camera. After collecting the structured light image and the texture image, three-dimensional reconstruction is performed to obtain the arrays of the structured light image and the texture image. Based on the array of the structured light image, three-dimensional data including teeth, gums, and the scanning rod is calculated, and the three-dimensional data of the auxiliary feature points is reconstructed using the array of the texture image. struct Since the structured light image and the texture image are obtained at the same time, it is considered that the three-dimensional data and the three-dimensional data of the auxiliary feature points correspond one-to-one in the same coordinate system.

[0051] Specifically, when the stitching of the 3D data of the collected auxiliary feature points and the true value coordinate points of the preset auxiliary feature points is successful, the designed scanning rod data can be transferred to the auxiliary feature point coordinate system by the position transformation matrix, and the 3D model of the scanning rod obtained in real time can be replaced.

[0052] In step 204, when a scanning mode switching request is received to obtain the normal scanning mode, if in the normal scanning mode, 3D reconstruction is performed based on the structured light image in the target scanning data to obtain the 3D model of the scanning rod, and texture mapping is performed on the 3D model of the scanning rod and the texture image in the target scanning data.

[0053] Specifically, when the scanning mode is switched to the normal scanning mode, 3D reconstruction can be performed based on the structured light image to obtain the 3D model of the scanning rod, and texture mapping can be performed on the 3D model of the scanning rod and the texture image in the target scanning data.

[0054] In the intraoral scanning processing mode according to an embodiment of the present disclosure, in response to a scanning request for the oral cavity including a scanning rod, parameters of the scanning request are acquired, a scene of the scanning request is determined based on the parameters of the scanning request, a positioning mode of the scanning rod is acquired based on the scene of the scanning request, a projector of a scanner is controlled to project a structured light pattern onto the oral cavity, image collection is performed, a first camera is controlled to acquire a structured light image, an illumination element is controlled to project illumination light onto the oral cavity, image collection is performed, a second camera is controlled to acquire a texture image, the structured light image and the texture image are used as target scanning data, when in the positioning mode of the scanning rod, information on auxiliary feature points in the texture image is extracted, three-dimensional reconstruction is performed based on the information on the auxiliary feature points, three-dimensional data of the auxiliary feature points is acquired, a three-dimensional model of the scanning rod is determined based on the three-dimensional data of the auxiliary feature points, positioning information of the scanning rod is determined based on the three-dimensional model of the scanning rod, a scanning mode switching request is received to obtain a normal scanning mode, when in the normal scanning mode, three-dimensional reconstruction is performed based on the structured light image in the target scanning data, a three-dimensional model of the scanning rod is acquired, and texture mapping is performed on the three-dimensional model of the scanning rod and the texture image in the target scanning data. Thereby, different scanning modes are determined based on the scanning request, different processes are performed on the scanning data based on the different scanning modes, the intraoral scanning data processing needs in different scenes are satisfied, and the processing efficiency and accuracy of the implant by intraoral scanning are further improved.

[0055] FIG. 4 is a configuration diagram of an intraoral scanning processing system according to an embodiment of the present disclosure. The system can be realized by software and / or hardware and may generally be integrated into an electronic device. As shown in FIG. 4, the system includes a scanner 100 and a processing module 200.

[0056] The scanner 100 is used to respond to a scanning request for the oral cavity including a scanning rod, acquire a positioning mode of the scanning rod, and scan the oral cavity to acquire target scanning data.

[0057] The processing module 200 is used to determine the positioning information of the scanning rod based on the positioning mode of the scanning rod and the target scanning data. te

[0058] Optionally, the scanner 100 specifically obtains the parameters of the scanning request based on the scanning request, determines the scene of the scanning request based on the parameters of the scanning request, and is used to obtain the positioning mode of the scanning rod based on the scene of the scanning request.

[0059] Optionally, the scanner 100 includes a projector 110, a first camera 120, an illumination element 130, and a second camera 140.

[0060] The projector 110 projects a structured light pattern onto the oral cavity, and the first camera 120 performs image collection to obtain a structured light image as the target scanning data.

[0061] The illumination element 130 projects illumination light onto the oral cavity, and the second camera 140 performs image collection to obtain a texture image as the target scanning data.

[0062] Here, the first camera 120 and the second camera 140 may be one camera or two different cameras, or may have a plurality of first cameras 120 or a plurality of second cameras 140.

[0063] Optionally, the processing module specifically extracts the information of the auxiliary feature points in the texture image when in the positioning mode of the scanning rod, performs three-dimensional reconstruction based on the information of the auxiliary feature points to obtain the three-dimensional data of the auxiliary feature points, determines the three-dimensional model of the scanning rod based on the three-dimensional data of the auxiliary feature points, and is used to determine the positioning information of the scanning rod based on the three-dimensional model of the scanning rod. ​

[0064] Optionally, the scanner 100 further receives a scanning mode switching request and is used to obtain the normal scanning mode. The processing module 200 further When in the normal scanning mode, it performs three-dimensional reconstruction based on the structured light image in the target scanning data to obtain a three-dimensional model of the scanning rod, and is used to perform texture mapping on the three-dimensional model of the scanning rod and the texture image in the target scanning data.

[0065] The intraoral scanning processing system according to an embodiment of the present disclosure can execute the intraoral scanning processing method according to any embodiment of the present disclosure, and has a functional module and beneficial effects corresponding to the execution of the method.

[0066] An embodiment of the present disclosure further provides a computer storage medium storing a program, and when the program is executed, some or all of the steps in each embodiment of the intraoral scanning processing method according to the embodiments shown in FIGS. 2 to 3 can be realized.

[0067] As shown in FIG. 5, an embodiment of the present disclosure includes a processor and a memory used to store executable instructions of the processor, and is an electronic device, wherein the processor reads executable instructions from the memory and is configured to execute the instructions to realize the intraoral scanning processing method according to the embodiment of the present disclosure.

[0068] Hereinafter, as specifically shown in FIG. 5, a configuration diagram of an electronic device 400 for realizing an embodiment of the present disclosure is shown. The electronic device 400 in the embodiment of the present disclosure may include, for example, portable terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (for example, in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc., but is not limited thereto. The electronic device as shown in FIG. 5 is merely an example and does not limit the functions and usage ranges of the embodiments of the present disclosure.

[0069] As shown in FIG. 5, the electronic device 400 may include a processing device (for example, a central processing unit, a graphics processor, etc.) 401 that can execute various appropriate operations and processes based on a program stored in a read-only memory (ROM) 402 or a program 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 device 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.

[0070] Generally, the I / O interface 405 may be connected to an input device 406 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc., an output device 407 including, for example, a liquid crystal display (LCD), a speaker, an oscillator, etc., a storage device 408 including, for example, a magnetic tape, a hard disk, etc., and a communication device 409. The communication device 409 enables the electronic device 400 to perform wireless or wired communication with other devices and exchange data. FIG. 5 shows an electronic device equipped with various devices 400 but it should be understood that it is not required to implement or include all the shown devices. Alternatively, more or fewer devices may be implemented or included.

[0071] In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowchart may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product including a computer program carried on a non-transitory computer-readable medium, the computer program including program code for executing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network by 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, the above functions limited to the intraoral scanning processing method of the embodiments of the present disclosure are executed.

[0072] Note that the computer-readable medium of the present disclosure may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. 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), an optical fiber, a portable compact magnetic disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, the computer-readable storage medium may be any tangible medium that includes or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device. In the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier, and the data signal carries computer-readable program code. Such a propagated data signal may take various forms, including, but not limited to, an electromagnetic signal, an optical signal, or any suitable combination thereof. The computer-readable signal medium may be any computer-readable medium other than the computer-readable storage medium, and the computer-readable signal medium may be used to transmit, propagate, or transfer a program used by or in combination with an instruction execution system, apparatus, or device. The program code included in the computer-readable medium may be transmitted by any suitable medium, including, but not limited to, a conductive wire, an optical fiber cable, RF (radio frequency), or any combination thereof.

[0073] In some embodiments, on the client side, the server can communicate using any currently known or future-developed network protocol, such as HTTP (Hyper Text Transfer Protocol), and can also communicate with digital data in any form or medium (e.g., a communication network) and be connected to each other. Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet (e.g., the Internet), and end-to-end networks (e.g., ad hoc end-to-end networks), and include any currently known or future-developed network.

[0074] The computer-readable medium may be included in the electronic device, may not be disposed in the electronic device, and may exist individually.

[0075] One or more programs are carried on the computer-readable medium. When the one or more programs are executed by the electronic device, the electronic device receives user information during the video playback process and displays a trigger operation, acquires at least two pieces of target information related to the video, displays the first target information among the at least two pieces of target information in an information display area on the video playback page whose size is smaller than the size of the playback page, receives a first switching trigger operation from the user, and switches the first target information displayed in the information display area to the second target information among the at least two pieces of target information.

[0076] The computer program code for performing the operations of the present disclosure may be created in one or more programming languages or combinations thereof, including object-oriented programming languages such as the above-mentioned programming languages, Java, Smalltalk, C++, and further including conventional procedural programming languages such as the "C" language or similar programming languages, but not limited thereto. The program code may be executed entirely on the user's computer, may be partially executed on the user's computer, may be executed as an independent software package, may be partially executed on the user's computer and partially on a remote computer, or may be executed entirely on a remote computer or server. When a remote computer is involved, the remote computer can 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 can be connected to an external computer (for example, connecting via the Internet using an Internet service provider).

[0077] Flowcharts and block diagrams in the drawings illustrate the possible system architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram can represent a module, a program section, or a portion of code, and the module, program section, or portion of code includes one or more executable instructions for implementing a specified logical function. It should be noted that in some alternative implementations, the functions attached to the blocks may occur in an order different from the order attached to the drawings. For example, two blocks shown consecutively may actually be executed basically in parallel or in the reverse order, depending on the related functions. It should be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware system that executes a given function or operation, or may be implemented by a combination of dedicated hardware and computer instructions.

[0078] The units described in the embodiments of the present disclosure may be implemented in the form of software or in the form of hardware. Here, the name of the unit does not limit the unit itself in some cases.

[0079] The functions described above in this specification may be executed, at least in part, by one or more hardware logic devices. For example, without limitation, exemplary types of available hardware logic components include field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), system on chip (SOC), complex programmable logic devices (CPLD), and the like.

[0080] In the context of the present disclosure, a machine-readable medium may be a tangible medium that includes, or is capable of storing, a program for use by or in combination with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, electronics, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any combination of the above. More specific examples of the machine-readable storage medium include electrical connections by one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0081] According to one or more embodiments of the present disclosure, the present disclosure a processor, and a memory used to store executable instructions of the processor, and is an electronic device, wherein the processor reads the executable instructions from the memory and executes the instructions to provide an electronic device used to implement any one of the intraoral scanning processing methods according to the present disclosure.

[0082] According to one or more embodiments of the present disclosure, the present disclosure provides a computer-readable storage medium storing a computer program used to execute any one of the intraoral scanning processing methods according to the present disclosure.

[0083] Note that in this specification, for example, relative terms such as "first" and "second" are merely for distinguishing one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Also, technical terms such as "comprising" and "having", or any other variations thereof, cover non-exclusive "comprising", so that a process, method, article, or device that includes a series of elements includes not only those elements but also further elements not explicitly listed, or further elements that are specific to such a process, method, article, or device. Without further limitation, an element limited by the phrase "comprising one..." does not exclude the presence of further identical elements in the process, method, article, or device that includes the said element.

[0084] The above content is merely an embodiment of the present disclosure and is for those skilled in the art to understand or implement the present disclosure. Multiple modifications of these examples can be easily realized by those skilled in the art, and the general principles defined in this specification can be implemented in other examples without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure should not be limited to these examples shown in this specification, but should be adapted to the broadest scope that conforms to the principles and novel features disclosed in this specification.

Industrial Applicability

[0085] The intraoral scanning processing method according to the present disclosure can obtain the positioning information of the scanning rod based on the scanning result and meet the positioning requirements of the scanning rod in the scenario of intraoral scanning, and has very high industrial applicability.

Claims

1. An intraoral scanning processing method, comprising: responding to a scanning request for the oral cavity including a scanning rod, and obtaining a positioning mode of the scanning rod, wherein auxiliary feature points are provided on the scanning rod; scanning the oral cavity to obtain target scanning data, wherein the target scanning data includes a texture image; determining positioning information of the scanning rod based on the positioning mode of the scanning rod and the target scanning data; The step of determining the positioning information of the scanning rod based on the positioning mode of the scanning rod and the target scanning data includes: extracting information of auxiliary feature points in the texture image when in the positioning mode of the scanning rod; performing three-dimensional reconstruction based on the information of the auxiliary feature points to obtain three-dimensional data of the auxiliary feature points; determining a three-dimensional model of the scanning rod based on the three-dimensional data of the auxiliary feature points, and determining the positioning information of the scanning rod based on the three-dimensional model of the scanning rod. An intraoral scanning processing method characterized by the above.

2. The step of responding to a scanning request for the oral cavity including a scanning rod and obtaining a positioning mode of the scanning rod includes: obtaining parameters of the scanning request based on the scanning request; determining a scene of the scanning request based on the parameters of the scanning request; obtaining the positioning mode of the scanning rod based on the scene of the scanning request. The intraoral scanning processing method according to claim 1, characterized by the above.

3. The step of scanning the oral cavity to obtain target scanning data includes: controlling a projector of a scanner to project a structured light pattern onto the oral cavity, performing image collection, and controlling a first camera to obtain a structured light image; controlling an illumination element to project illumination light onto the oral cavity, performing image collection, and controlling a second camera to obtain a texture image; using the structured light image and the texture image as the target scanning data. The intraoral scanning processing method according to claim 1, characterized by the above.

4. receiving a scanning mode switching request and obtaining a normal scanning mode; When in the normal scanning mode, three-dimensional reconstruction is performed based on the structured light image in the target scanning data to obtain a three-dimensional model of the scanning rod, and texture mapping is performed on the three-dimensional model of the scanning rod and the texture image in the target scanning data. The method for intraoral scanning processing according to claim 1, further comprising the step of:

5. The scanning rod includes a scanning rod component connected to the implant body and an auxiliary component connected to the scanning rod component, and auxiliary feature points are provided on the scanning rod component and / or the auxiliary component. The method for intraoral scanning processing according to claim 1, characterized in that:

6. The scanning rod is provided with target features, and the target features are continuously distributed in the scanning rod component and / or the auxiliary component, but are not distributed on one side of the scanning rod component and / or the auxiliary component. The method for intraoral scanning processing according to claim 5, characterized in that:

7. Obtaining images of a plurality of frames, and based on the images of the plurality of frames, obtaining initial three-dimensional data including an initial point set of the oral cavity and three-dimensional coordinate measurement values of the target features in the same coordinate system of the oral cavity; Obtaining a preset model including a real point set which is the true three-dimensional coordinates of the target features and the true three-dimensional coordinates of each point of the scanning rod in the same coordinate system; Performing stitching on the initial point set of the oral cavity and the real point set of the scanning rod based on the correspondence between the three-dimensional coordinate measurement values of the target features and the true three-dimensional coordinates of the target features; Determining the positioning information of the scanning rod based on the stitched real point set of the scanning rod. The method for intraoral scanning processing according to claim 6, further comprising the step of:

8. The structured light image and the texture image are directly photographed by a camera. The method for intraoral scanning processing according to claim 3, characterized in that:

9. The structured light image and the texture image are acquired at the same time. The method for intraoral scanning processing according to claim 3, characterized in that:

10. An intraoral scanning processing system, comprising: A scanner that responds to a scanning request for the oral cavity including a scanning rod, obtains a positioning mode of the scanning rod, and is used to scan the oral cavity to obtain target scanning data. An auxiliary feature point is provided on the scanning rod, and the target scanning data includes a texture image, and a processing module used to determine positioning information of the scanning rod based on the positioning mode of the scanning rod and the target scanning data. The processing module further extracts information of the auxiliary feature point in the texture image when in the positioning mode of the scanning rod, performs three-dimensional reconstruction based on the information of the auxiliary feature point to obtain three-dimensional data of the auxiliary feature point, determines a three-dimensional model of the scanning rod based on the three-dimensional data of the auxiliary feature point, and is used to determine the positioning information of the scanning rod based on the three-dimensional model of the scanning rod. An intraoral scanning processing system characterized by this.

11. The scanner includes a camera and an illumination element. The illumination element projects illumination light onto the oral cavity, and the camera performs image collection to obtain a texture image as the target scanning data. The intraoral scanning processing system according to claim 10, characterized by this.

12. An electronic device, including a processor, and a memory used to store executable instructions of the processor. The processor reads the executable instructions from the memory and executes the instructions to be used to implement the intraoral scanning processing method according to any one of claims 1 to 9. An electronic device characterized by this.

13. A computer program used to execute the intraoral scanning processing method according to any one of claims 1 to 9, characterized by this.

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