ScanPost scanning method, system and storage medium

Abstract

A scanning method, system, and storage medium for a scan post for determining the overall distribution of implants within the oral cavity are provided. [Solution] By adopting a split scanning method, the scan posts are attached to the third and first mounting positions during the first scan to obtain first scan data, and the scan posts are attached to the third and second mounting positions during the second scan to obtain second scan data, and then the position information of the scan posts at each mounting position is obtained based on the first and second scan data, which effectively solves the problem that two scan posts cannot be left in place at the same time when the distance between adjacent implants is too close.

Description

[Technical Field]

[0001] The present application belongs to the technical field of ScanPost scanning, and in particular to a ScanPost scanning method, system and storage medium. [Background technology]

[0002] Digital impression taking for oral implant restoration involves connecting a scan post to an implant / base with a tightened screw to scan the inside of the oral cavity, obtaining a scan image, and analyzing the scan image to obtain scan post feature information, thereby determining the position of the implant. However, in actual applications, adjacent implants may be too close to each other, making it impossible to leave two scan posts in place at the same time. Conventional techniques for creating digital impressions using scan posts have not effectively solved the problem of not being able to obtain complete scan post feature information for the oral cavity because adjacent implants are too close to each other, making it impossible to leave two scan posts in place at the same time. This makes it impossible to accurately determine the position of the implant, resulting in many shortcomings.

[0003] In view of this, the present application provides a scanning method that can effectively solve the problem that when the distance between adjacent implants is too close, two scan posts cannot be left in their designated positions at the same time, making it impossible to obtain positional information for all scan posts in the oral cavity. Summary of the Invention [Problem to be solved by the invention]

[0004] The embodiments of the present application provide a scanning method, system, and storage medium for ScanPost. [Means for solving the problem]

[0005] According to a first aspect, the present application provides a scanning method for a scanning scene having a scanning post, the scanning method comprising: obtaining first scan data by scanning a scan scene in a first scan post attachment state, wherein the scan posts are attached to a third attachment position and a first attachment position in the scan scene in the first scan post attachment state; obtaining second scan data by scanning the scan scene in a second scan post attachment state, wherein the scan post is attached to a third attachment position and a second attachment position inside the oral cavity in the second scan post attachment state; and obtaining position information of the mounting position in the scan scene based on the first scan data and the second scan data.

[0006] In a preferred embodiment, the distance between the first mounting position and the second mounting position is less than a set threshold value.

[0007] In a preferred embodiment, when scanning a scan scene with a first scan post attached, the first scan data is acquired by scanning the scan posts at the first attachment position and the third attachment position, and a display image is acquired based on the first scan data; When scanning a scan scene with the second scan post attached, the scan post data corresponding to the first attachment position in the display image is canceled, and the scan post at the second attachment position and the scan post at the third attachment position are scanned to obtain second scan data, and the display image is updated based on the second scan data.

[0008] In a preferred embodiment, the mounting state of the scan post at the third mounting position in the scan scene in the first scan post mounting state is the same as the mounting state of the scan post at the third mounting position in the scan scene in the second scan post mounting state, and the step of obtaining position information of the mounting position in the scan scene based on the first scan data and the second scan data further includes: Stitching the first scan data and the second scan data to obtain a stitched image; The method further includes obtaining position information of the wearing position in the scanning scene based on the stitching image.

[0009] In a preferred embodiment, the step of obtaining position information of the mounting position in the scan scene based on the first scan data and the second scan data includes: determining an orientation vector between scan posts at the first and third mounting positions based on the first scan data; determining an orientation vector between scan posts at the second and third mounting positions based on the second scan data; and determining position information of the mounting position in the scan scene based on an orientation vector between the scan posts of the first mounting position and the third mounting position, and an orientation vector between the scan posts of the second mounting position and the third mounting position.

[0010] In a preferred embodiment, the mounting state of the scan post at the third mounting position in the scan scene in the first scan post mounting state is the same as the mounting state of the scan post at the third mounting position in the scan scene in the second scan post mounting state, and the step of obtaining position information of the mounting position in the scan scene based on the first scan data and the second scan data includes: determining an orientation vector between identification points on a surface of a scan post at a third mounting position based on the first scan data; determining an orientation vector between identification points on the surface of the scan post at a third mounting position based on the second scan data; and determining position information of the mounting position in the scan scene based on an orientation vector between identification points on the surface of the scan post of the third mounting position.

[0011] In a preferred embodiment, the scanning post is provided with a feature pattern, and the step of obtaining position information of the mounting position in the scanning scene based on the stitching image includes: According to the feature patterns of all scan posts in the stitching image, determining the position information of the first mounting position, the second mounting position and the third mounting position; or The scanning post is provided with an identification point, and the step of obtaining position information of the wearing position in the scanning scene based on the stitching image includes: The method includes determining relative position information between the first mounting position, the second mounting position and the third mounting position based on the identification points of the scan posts in the stitching image.

[0012] According to a second aspect, the present invention provides an embodiment of the present invention. a first scan module for obtaining first scan data by scanning a scan scene in a first scan post attachment state, wherein scan posts are attached to the first scan module at a third attachment position and a first attachment position in the scan scene in the first scan post attachment state; a second scan module for obtaining second scan data by scanning the scan scene in a state in which a second scan post is attached, wherein the second scan module has scan posts attached to a third attachment position and a second attachment position inside the oral cavity in the second scan post attachment state; and a position information acquisition module for obtaining position information of the mounting position in the scan scene based on the first scan data and the second scan data.

[0013] According to a third aspect, an embodiment of the present application provides a terminal device including a memory, a processor, and a computer program stored in the memory and operable on the processor, the terminal device realizing the above method when the processor executes the computer program.

[0014] According to a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, the computer program implementing the above method when executed by a processor. [Effects of the Invention]

[0015] The present application provides a scanning method that employs a segmented scanning method when the distance between adjacent implants is too close to allow two scan posts to be left in place at the same time. By employing the segmented scanning method, the first scan involves attaching scan posts to the third and first mounting positions and scanning them to obtain first scan data, and the second scan involves attaching scan posts to the third and second mounting positions and scanning them to obtain second scan data. Subsequently, the positional information of the scan posts at each mounting position is obtained based on the first and second scan data. This effectively solves the problem of not being able to leave two scan posts in place at the same time when the distance between adjacent implants is too close, which is advantageous for obtaining complete scan post characteristic information within the oral cavity and determining the overall distribution of the implants. [Brief explanation of the drawings]

[0016] Hereinafter, in order to more clearly explain the technical solutions of the embodiments of the present application, drawings necessary for explaining the embodiments or prior art will be briefly described. However, the drawings described below are only related to some embodiments of the present application, and it is obvious to those skilled in the art that other drawings can be obtained based on these drawings without any inventive step. [Figure 1] FIG. 1 illustrates a scanning method of a scan post according to an embodiment of the present application. [Figure 2] FIG. 10 illustrates adjacent implants being too close together according to an embodiment of the present application. [Figure 3] FIG. 10 is a diagram showing a scanning scene in a state where a first scanning post is attached according to an embodiment of the present application. [Figure 4] FIG. 10 is a diagram showing a scanning scene in a state where a second scanning post is attached according to an embodiment of the present application. [Figure 5a-5b] 1A and 1B are diagrams illustrating a scan image generation process according to an embodiment of the present application. [Figure 6] 1A to 1C are diagrams illustrating a stitching image acquisition process according to an embodiment of the present application. [Figure 7] 1 is a flowchart illustrating a scan post scan according to an embodiment of the present application. [Figure 8] FIG. 1 is a diagram illustrating a configuration of a scan system of a scan post according to an embodiment of the present application. [Figure 9] FIG. 2 is a diagram illustrating the configuration of a terminal device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0017] In the following description, specific details, such as specific system configurations, techniques, etc., are provided for purposes of explanation and not limitation, to provide a thorough understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the present application can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0018] It will be understood that when used in the specification and claims of this application, the term "comprising" indicates the presence of stated features, wholes, steps, operations, elements and / or assemblies, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, assemblies and / or groups thereof.

[0019] Furthermore, the term "and / or" as used in the specification and claims of this application will be understood to refer to and include any and all possible combinations of one or more of the associated listed items.

[0020] As used in the specification and claims of this application, the term "and" may be interpreted as "when," or "upon," or "in response to determining," or "in response to detecting," depending on the context. Similarly, the phrase "upon determining," or "upon detecting [a described condition or event]," may be interpreted as "once it is determined," or "in response to determining," or "once [a described condition or event] is detected," or "in response to detecting [a described condition or event]," depending on the context.

[0021] Furthermore, in the description of the specification and claims of this application, terms such as "first," "second," "third," etc. are merely for the purpose of distinction and description and should not be understood as indicating or implying relative importance.

[0022] References to "one embodiment" or "some embodiments" in the specification of this application mean that one or more embodiments of the application include the particular feature, structure, or characteristic described with reference to that embodiment. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" in different places throughout this specification do not necessarily refer to the same embodiment and, unless otherwise specifically emphasized, mean "one or more embodiments, but not all embodiments." Terms such as "comprise," "include," "includes," and "having," and variations thereof, mean "including, but not limited to," unless otherwise specifically emphasized.

[0023] Digital impression taking for oral implant restoration involves connecting a scan post to an implant with a tightened screw, scanning the inside of the oral cavity to obtain a scan image, and analyzing the scan image to obtain scan post characteristic information, which is then used to determine the position of the implant. In practical applications, adjacent implants may be too close to each other, making it impossible to leave two scan posts in place at the same time. In prior art, when creating a digital impression using scan posts, the scan posts are typically finely polished and then molded with silicone rubber until they can be left in place at the same time. This method often results in surface deformation or incomplete scan post data, which reduces the degree of data matching and makes it easy to misplace the implant, making it difficult to accurately determine the implant position.

[0024] The scanning method of the present application can effectively solve the problem that two scan posts cannot be left in place at the same time when the distance between adjacent implants is too close. By performing segmented scanning and fusing the images obtained from the segmented scanning, it is possible to ensure that the surface of the scan post data is not deformed and to ensure that complete scan post characteristic information inside the oral cavity is obtained, which improves the matching degree of the scan data and is advantageous for accurately determining the position of the implant.

[0025] In the divided scanning method of the present application, the first scan is to obtain the first scan data correspondingly when the first scan post is attached, and the second scan is to obtain the second scan data correspondingly when the second scan post is attached. During the two scanning processes, three types of scan post mounting positions appear: the first mounting position, the second mounting position, and the third mounting position. When the scan posts are arranged and mounted in the oral cavity, the two mounting positions where scan post interference occurs are determined to be the first mounting position and the second mounting position, and the mounting position where no interference occurs is determined to be the third mounting position. The first mounting position and the second mounting position are usually close to each other, and are adjacent or positioned one position apart, but interference due to the user's unreasonable arrangement cannot be eliminated. The distance between the first mounting position and the second mounting position is smaller than the set threshold, and the mounting state of the scan post at the third mounting position in the scan scene with the first scan post mounted is similar to the mounting state of the scan post at the third mounting position in the scan scene with the second scan post mounted.

[0026] FIG. 1 is a diagram illustrating a scanning method of a scanning post according to an embodiment of the present application. As shown in FIG. 1, the method includes: Step 100: obtaining first scan data by scanning a scan scene in a first scan post mounting state, wherein scan posts are mounted at a third mounting position and a first mounting position in the scan scene in the first scan post mounting state; Step 200: Obtaining second scan data by scanning the scan scene in a second scan post attachment state, wherein the scan post is attached to a third attachment position and a second attachment position inside the oral cavity in the second scan post attachment state; and a step 300 of obtaining position information of the wearing position in the scan scene based on the first scan data and the second scan data.

[0027] Digital impression taking for oral implant restoration involves connecting a scan post to the implant with a tightened screw and scanning the inside of the oral cavity to obtain a scanned image. The position where the scan post needs to be attached is called the attachment position. In the examples of this application, a split scanning method is adopted because adjacent implants are too close to each other and two scan posts cannot be left in place at the same time.

[0028] Fig. 2 is a diagram showing that adjacent implants are too close. As shown in Fig. 2, when the distance between the first mounting position C and the second mounting position D is smaller than the set threshold, the implants corresponding to the mounting position C and the mounting position D are determined to be adjacent implants, and the adjacent implants at the mounting position C and the mounting position D are too close, so the two scan posts cannot be left in place at the same time.

[0029] Note that, because the scan posts are attached to the implants, the attachment positions corresponding to the scan posts are the positions of the implants. In addition to the situation where two adjacent implants are too close, the embodiments of the present application can also be applied to other situations in actual operation, such as a situation where three or more consecutive teeth are close to each other, or a situation where the arrangement of scan posts in the oral cavity is unreasonable, causing interference between the scan posts and preventing the scan posts from being left in their designated positions on the implants. In this application, the situation where two adjacent implants are too close to each other is described in detail with reference to Figures 2 to 5, and the principle is applied to an application situation where all scan posts cannot be left in their designated positions at the same time. The symbols A, B, C, and D in Figures 2 to 5 indicate that scan posts are attached to the implants at positions A, B, C, and D, and therefore refer to the attachment positions of the scan posts rather than the names of the scan posts.

[0030] In the embodiments of the present application, the scan post attached to the implant during the first scanning process is referred to as the first scan post, and scanning is performed based on the scan scene when the first scan post is attached, where the scan scene usually refers to a scene inside the oral cavity, and when the first scan post is attached, the scan posts are placed at the first and third attachment positions.

[0031] In the present embodiment, the first and second mounting positions refer to the mounting positions corresponding to two scan posts when the distance between the two scan posts is too close. Specifically, if the distance between the two scan posts is smaller than a certain value, it can be defined that the distance between the two scan posts is too close and interference occurs. In this case, the mounting positions corresponding to the two scan posts are the first and second mounting positions, respectively. Note that since the diameter of the scan posts is known data, if the distance between the scan posts is smaller than a certain value, the distance between the first and second mounting positions is also smaller than a known threshold, i.e., the distance between the first and second mounting positions is smaller than a set threshold. The set threshold can be determined according to the certain value and the diameter of the scan posts, but this is not limited thereto.

[0032] For example, if the distance between C and D in Figure 2 is smaller than a set threshold, C can be defined as the first mounting position and correspondingly, D can be defined as the second mounting position, or D can be defined as the first mounting position and correspondingly, C can be defined as the second mounting position, but this application is not limited to this.

[0033] The third mounting position refers to a mounting position whose distance from the first or second mounting position is greater than a set threshold, and whose scan post does not interfere with the scan post of another mounting position. For example, if the distances between A and C or D in FIG. 2 are all greater than a set threshold, A can be determined as the third mounting position. Similarly, if the distances between B and C or D are all greater than a set threshold, B can be determined as the third mounting position; however, this description is omitted in this application. Note that if the distance between A and B is greater than a set threshold, both A and B can be determined as the third mounting position. If the distance between A and B is less than a set threshold, performing a split scan to address the interference between C and D can determine only one of A and B as the third mounting position.

[0034] The above distance can be determined based on the distance between the mounting positions in the scan data, or by generating a digitized array plan of the scan posts based on the mounting positions and determining the distance between the scan posts in the digitized array plan of the scan posts. In other words, the spacing between the above scan posts is a fixed value, and then converted into the distance between the mounting positions based on the diameter of the scan posts and calculated, but this application does not limit this.

[0035] As shown in Figures 2 and 3, Figure 2 illustrates the adjacent implants being too close according to an embodiment of the present application, and Figure 3 illustrates a scanning scene in the state where the first scan post is attached. In one possible embodiment, the distance between Position C and Position D is smaller than the set threshold, and the implants at Position C and Position D are adjacent implants. Since interference occurs between the scan posts at Position C and Position D, the scan posts cannot be placed at Position C and Position D at the same time. In this case, the attachment position C corresponding to one of the scan posts is referred to as the first attachment position. In contrast, the mounting position D corresponding to the other scan post is called the second mounting position, and if the distance between A and C or A and D is both greater than the set threshold, A becomes the third mounting position, and if the distance between B and C or B and D is both greater than the set threshold and the distance between B and A is also greater than the set threshold, both B and A become the third mounting position.In the first scan post mounting state shown in Figure 3, the first scan data is obtained by scanning the three first scan posts at the third mounting position (A and B) and the first mounting position (C).

[0036] In another possible embodiment, in addition to the interference occurring between scan posts C and D in the previous example, if the distance between A and B is greater than the set threshold (i.e., no interference occurs, and in this case the distance between scan posts corresponding to A and B is greater than a certain value), but the distance between A and C is less than the set threshold, interference will occur between scan posts A and C, that is, scan posts cannot be left at A and C at the same time. In this case, for the four mounting positions ABCD in the example, B can only be the third mounting position.

[0037] In another possible embodiment, in addition to the occurrence of interference between scan posts C and D in the previous example, if there is no interference between scan posts A and C or A and D, no interference between scan posts B and C or B and D, but interference occurs between scan posts A and B, C and D can be determined as the first and second mounting positions and A or B as the third mounting position, or A and B can be determined as the first and second mounting positions and C or D as the third mounting position. For example, by attaching scan posts to A and C and scanning, attaching scan posts to A and D and scanning, or attaching scan posts to B and C and scanning, the entire distribution information of A, B, C, and D can be obtained by three scans.

[0038] In another possible embodiment, in addition to interference occurring at scan posts C and D in the previous example, if the distance between A and C is smaller than the set threshold and the distance between B and D is smaller than the set threshold, interference will occur at scan posts A and C, i.e., scan posts cannot be placed at A and C at the same time, interference will occur at scan posts C and D, i.e., scan posts cannot be placed at C and D at the same time, and interference will also occur at scan posts B and D, i.e., scan posts cannot be placed at B and D at the same time. In this case, for the four mounting positions ABCD in the example, there is no position that can be the third mounting position, and a scan post that does not interfere with the scan posts at the first mounting position and the second mounting position must be separately selected as the third mounting position.

[0039] In the present embodiment, the scan post attached to the implant during the second scan is referred to as the second scan post. Fig. 2 illustrates the case where adjacent implants are too close according to the present embodiment. Fig. 4 illustrates a scan scene with the second scan post attached. As shown in Figs. 2 and 4, the distance between positions C and D is smaller than a preset threshold, and the implants at positions C and D are adjacent implants. The attachment position C corresponding to one of the scan posts is referred to as the first attachment position, while the attachment position D corresponding to the other scan post is referred to as the second attachment position. If the distance between A and C or D is greater than the preset threshold, A is designated as the third attachment position. Similarly, if the distance between B and C or D is greater than the preset threshold, B is designated as the third attachment position. In the second scan post attachment state shown in Fig. 4, the second scan data is acquired by scanning the three second scan posts at the third attachment positions (A and B) and the second attachment position (D). Here, the first scan data and the second scan data are both three-dimensional data.

[0040] In addition, in the embodiments of the present application, in a specific scanning process, scan posts at all mounting positions placed in the oral cavity may be scanned, or scan posts at some mounting positions may be scanned. Specifically, the minimum number of scan posts to be scanned is three, that is, corresponding to the first mounting position, the second mounting position, and the third mounting position, respectively. Of course, the more scan posts there are, the higher the accuracy will be, but this is not limited in the present application.

[0041] It should be noted that the first and second mounting positions in the present application are not fixed, and C and D in Figures 2 to 5 are merely illustrative. The mounting position of one of the scan posts of adjacent implants may be the first mounting position, and the other may be the second mounting position; that is, C may be the second mounting position, and D may be the first mounting position. The method for determining the third mounting position and the case where there are multiple third mounting positions are as described above, so no specific limitations are made here.

[0042] In an embodiment of the present application, the first scan data and the second scan data are three-dimensional data, an identification point is provided on the scan post, and the step of obtaining the first scan data and the second scan data includes the following steps:

[0043] S1: When scanning a scan scene with a first scan post attached, first scan data is obtained by scanning the identification points of the scan posts at the first attachment position and the third attachment position.

[0044] In the present embodiment, by scanning the identification points on the scan posts, 3D scan data of the scan posts is generated based on the identification points, and a scan image is generated based on the 3D scan data of the scan posts. In the plan view of each scan post shown in Figure 5a, the hexagonal area is the plan view of the scan post body, and the rectangular area is the plan view of the scan post extension. The scan posts shown in Figures 1 to 4 of the present application only show the main body of the scan post. As shown in Figure 5, both the main body of the scan post and the extension post of the scan post are provided with identification points (black points in Figures 5a and 5b; the identification points are shown in black in the drawings for illustrative purposes, but are actually white identification points). 3D data information of the scan posts is obtained by scanning the identification points on the scan posts. In the first scan post mounting state, as shown in Figure 3, the first scan data is obtained by scanning the identification points of the scan posts at the first mounting position C and the third mounting positions A and B.

[0045] S2: Obtain a display image based on the first scan data.

[0046] In this embodiment, a visualized display image can be formed based on the first scan data. The visualized image can be selectively generated. In specific processing, even if a visualized display image is not generated, subsequent analysis can be performed directly based on the first scan data. As shown in Figure 5b, the three-dimensional data of the scan post is obtained by the scanned black identification points to generate the first scan data.

[0047] S3: When scanning a scan scene with a second scan post attached, the scan post data corresponding to the first attachment position in the display image is canceled, and second scan data is obtained by scanning the scan post at the second attachment position and the scan post at the third attachment position, and the display image is updated based on the second scan data.

[0048] In the embodiment of the present application, the scanning process in the second scan post attachment state can refer to the scanning process in the first scan post attachment state in S1, so its description will be omitted here. As shown in Figure 4, when scanning in the second scan post attachment state, the scan post data at the first attachment position C in the first scan data needs to be canceled, and only the identification points of the scan post at the second attachment position D and the identification points of the scan posts in the area adjacent to the second attachment position D (for example, positions A and B) need to be scanned.

[0049] In the embodiment of the present application, the scan post data at the first mounting position C in the first scan data may be hidden, that is, may not be visualized and displayed.

[0050] In one possible embodiment, there are multiple third mounting positions between mounting position A and mounting position D, or between mounting position B and mounting position D, and it is not necessary to scan all of the third mounting positions during the scanning process; only the identification points of the scan posts of the third mounting positions within the adjacent area to the second mounting position D need to be scanned, which is advantageous in reducing the scanning time cost and improving scanning efficiency.

[0051] Second scan data is acquired by scanning based on the identification points of the scan posts at the second mounting position and the identification points of the scan posts in the adjacent area, and the first scan data acquired in step S1 is updated and displayed based on the acquired second scan data.

[0052] In the present embodiment, there are two methods for obtaining position information of each mounting position based on the first scan data and the second scan data. In the first method, the second scan data is updated based on the first scan data to obtain an updated image of the second scan data. The updated image of the second scan data includes the coordinates of the third mounting position and the second mounting position. Based on the coordinates of the third mounting position and the first mounting position in the first scan data, position information of the first mounting position, the second mounting position, and the third mounting position is identified and obtained. In the first method, the position information of each mounting position is obtained by respectively identifying the identification points of the scan posts in the two images of the first scan data and the updated image. By obtaining the first scan data and the second scan data through segmented scanning and then updating and identifying the second scan data, accurate position information of each mounting position can be obtained. This effectively solves the problem of not being able to obtain complete and accurate position information of the scan post mounting position due to the fact that two scan posts cannot be left in place at the same time when the distance between adjacent implants is too close. At the same time, the method of updating the second image with the first image reduces the possibility of there being a discrepancy in the third mounting position in the first scan data and the second scan data, which is beneficial to ensuring the acquisition of the complete position information of the mounting position of the scan post inside the oral cavity, improving the matching degree of the scan data, and beneficial to accurately determining the position of the implant.

[0053] The second method is to stitch the first scan data and the second scan data. In this embodiment, the mounting state of the scan post at the third mounting position in the scan scene when the first scan post is mounted is the same as the mounting state of the scan post at the third mounting position in the scan scene when the second scan post is mounted. The step of obtaining position information of the mounting position in the scan scene based on the first scan data and the second scan data further includes the steps of stitching the first scan data and the second scan data to obtain a stitching image, and obtaining position information of the mounting position in the scan scene based on the stitching image.

[0054] In this embodiment, one stitching image is obtained, and the position information of each mounting position is obtained by analyzing the one stitching image. The second method is to stitch the first scan data and the second scan data into one stitching image based on the identification point of the third mounting position in the first scan data and the second scan data, and then perform information analysis based on the stitching image. This method effectively solves the problem that when the distance between adjacent implants is too close, two scan posts cannot be left in place at the same time, and therefore complete and accurate position information of the scan post mounting positions cannot be obtained, and provides a visualized image interaction method.

[0055] In contrast to the first method of separately analyzing the first scan data and the updated image, the present embodiment provides two examples for obtaining the updated image of the second scan data. In the first embodiment, the coordinates of the third mounting positions A and B in the first scan data are first analyzed to obtain the standard orientation vector between the discrimination points on the scan posts at the third mounting position. Since the position information of the third mounting position is unchanged, the non-standard orientation vector of the discrimination point on the scan post at the third mounting position in the second scan data is the same as the standard orientation vector in the first scan data. The standard orientation vector is used to obtain the non-standard orientation vector in the second scan data. This process updates the second scan data to obtain the updated image of the second scan data. Note that the orientation vector in the present embodiment may be the orientation vector between the discrimination points of multiple scan posts or the orientation vector between the discrimination points of a single scan post itself.

[0056] In a second type of embodiment, an alignment matrix is ​​obtained using the coordinates of the first scan data and the second scan data at a third mounting position, and an updated image of the second scan data can be obtained by converting the coordinates in the second scan data into the coordinate system of the first scan data based on the alignment matrix.

[0057] 3 and 4, a first example of the first embodiment of step 300 will be described. Specifically, the step of obtaining position information of the wearing position in the scan scene based on the first scan data and the second scan data includes: determining an orientation vector between scan posts at the first and third mounting positions based on the first scan data; determining an orientation vector between scan posts at the second and third mounting positions based on the second scan data; and determining position information of the mounting position in the scan scene based on an orientation vector between the scan posts of the first mounting position and the third mounting position, and an orientation vector between the scan posts of the second mounting position and the third mounting position.

[0058] The above steps will be described in detail below. Specifically, the step of obtaining position information of the wearing position in the scanning scene based on the first scan data and the second scan data includes the following steps:

[0059] A1: By analyzing the first scan data and the second scan data, coordinates of the third mounting position in the first scan data and the second scan data are obtained.

[0060] In this embodiment, each scan post is provided with an identification point. For example, the scan post at the third mounting position A is provided with multiple identification points such as a1, a2, a3, and a4, and the scan post at the third mounting position B is also provided with multiple identification points such as b1, b2, b3, and b4. For a pair of identification points (a1, b1), the distance between a1 and b1 is called the standard orientation vector. In this embodiment, using a pair of identification points (a1, b1) as an example, the superscript in the coordinates indicates the number of scans of the scanned image, and the subscript indicates the identification point.

[0061] JPEG0007745796000002.jpg71170

[0062] A2: Based on the coordinates of the third mounting positions in the first scan data, a standard orientation vector between the identification points of at least a pair of scan posts of the third mounting positions is obtained.

[0063] JPEG0007745796000003.jpg38170

[0064] A3: Based on the coordinates of the third mounting position in the first scan data, a non-standard orientation vector between the identification points of the scan posts of the third mounting position in the second scan data is determined using a standard orientation vector between the identification points of the scan posts of at least one pair of the third mounting positions.

[0065] JPEG0007745796000004.jpg43170

[0066] A4: Obtain an updated image of the second scan data based on the non-standard orientation vector between the identification points of the scan posts at the third mounting position in the second scan data and the corresponding standard orientation vector.

[0067] JPEG0007745796000005.jpg34170

[0068] A5: By identifying the identification points of the scan post in the updated image and the first scan data, position information of the mounting position in the scan scene is obtained.

[0069] In this embodiment, image analysis is performed based on the updated image and the first scan data, and three-dimensional data information of the scan posts at the mounting positions A, B, C, and D is obtained based on the coordinates of the identification points of the scan posts at the third mounting positions A and B and the identification points of the scan posts at the first mounting position C and the second mounting position D, thereby obtaining position information of the mounting positions A, B, C, and D.

[0070] 3 and 4, a second example of the first embodiment in step 300 will be described. Specifically, the mounting state of the scan post at the third mounting position in the scan scene in the first scan post mounting state is the same as the mounting state of the scan post at the third mounting position in the scan scene in the second scan post mounting state, and the step of obtaining position information of the mounting position in the scan scene based on the first scan data and the second scan data is as follows: determining an orientation vector between identification points on a surface of a scan post at a third mounting position based on the first scan data; determining an orientation vector between identification points on the surface of the scan post at a third mounting position based on the second scan data; and determining position information of the mounting position in the scan scene based on an orientation vector between identification points on the surface of the scan post of the third mounting position.

[0071] In this embodiment, specifically, the above steps can be subdivided as follows:

[0072] B1: The first scan data and the second scan data are analyzed to obtain coordinates of the third mounting position in the first scan data and the second scan data.

[0073] JPEG0007745796000006.jpg23170

[0074] B2: Obtain a registration matrix for the first scan data and the second scan data based on the coordinates of the third mounting position in the first scan data and the second scan data.

[0075] In this embodiment, the alignment matrix k is obtained based on the four coordinates of the third mounting positions A and B in the first scan data and the second scan data obtained in step B1.

[0076] B3: Based on the alignment matrix, perform image alignment on the second scan data, and transform the second scan data into the image coordinate system of the first scan data, thereby obtaining an updated image of the second scan data.

[0077] JPEG0007745796000007.jpg26170

[0078] B4: Based on the updated image and the first scan data, position information of the wearing position in the scan scene is obtained.

[0079] In this embodiment, image analysis is performed based on the updated image and the first scan data, and position information of the mounting positions A, B, C, and D is obtained based on the coordinates of the third mounting positions A and B and the first mounting position C and the second mounting position D.

[0080] For the second method, the first scan data and the second scan data are stitched together to obtain and analyze a stitched image. Specifically, the step of obtaining position information of the wearing position in the scanning scene based on the first scan data and the second scan data includes: Step S1 of obtaining a stitched image by stitching the first scan data and the second scan data; and step S2 of obtaining position information of the wearing position in the scanning scene based on the stitching image.

[0081] In this embodiment, Fig. 6 is a diagram showing the process of acquiring a stitching image. As shown in Fig. 6, by scanning the scan scene in the first scan post mounting state and the scan scene in the second scan post mounting state, the first scan data and the second scan data are obtained, and the two images are stitched to obtain a stitching image. The position information of each mounting position can be obtained by analyzing the stitching image, and the stitching image includes the three-dimensional data information of the third mounting position A and B, and the three-dimensional data information of the first mounting position C and the second mounting position D.

[0082] Specifically, the step of providing a feature pattern on the scanning post and obtaining position information of the mounting position in the scanning scene based on the stitching image includes: According to the feature patterns of all scan posts in the stitching image, determining the position information of the first mounting position, the second mounting position and the third mounting position; or The step of providing an identification point on the scanning post and obtaining position information of the wearing position in the scanning scene based on the stitching image includes: The method includes determining relative position information between the first mounting position, the second mounting position and the third mounting position based on the identification points of the scan posts in the stitching image.

[0083] Illustratively, a feature pattern is provided on the scan post, and the feature patterns of the scan posts of the third mounting position, the first mounting position and the second mounting position in the stitching image are analyzed to determine the position information of the first mounting position, the second mounting position and the third mounting position.

[0084] Illustratively, the scan post feature information is provided with an identification point, and the position information of the first mounting position, the second mounting position and the third mounting position is determined by identifying the identification points of the scan posts of the third mounting position, the first mounting position and the second mounting position in the stitching image.

[0085] By analyzing the characteristic patterns and identification points on the scan post, the position information of the attachment position corresponding to the scan post can be clearly analyzed, which is advantageous for obtaining complete and accurate position information of the attachment position inside the oral cavity. In addition to the characteristic patterns and identification points, the scan post may have other marks that have distinctive meanings for analysis and identification, but this is not specifically limited here.

[0086] In the embodiments of the present application, a flowchart illustrating scanning of the scan posts is further provided. As shown in Figure 7, taking four implants as an example, scan posts are first attached to two mounting positions A and B that are far apart, and one of the two adjacent mounting positions that are close to each other is selected to attach scan post C. A first scan is performed and analyzed to obtain scan post data for positions A, B, and C. The data for scan post C is deleted and the data for scan posts A and B are reserved. The other of the two adjacent mounting positions that are close to each other is selected to attach scan post D. A second scan is performed and analyzed to obtain scan post data for positions A, B, and D. The position data for the scan post mounting positions A, B, C, and D are then stitched together by software. The above method can effectively solve the problem that two scan posts cannot be left in place at the same time when the distance between adjacent implants is too close, and can ensure that complete scan post characteristic information within the oral cavity is obtained, which is beneficial for improving the matching degree of scan data and accurately determining the position information of the mounting positions.

[0087] FIG. 8 shows the configuration of a scan system of a scan post according to an embodiment of the present application, and for the sake of convenience of explanation, only the parts related to the embodiment of the present application are shown.

[0088] Specifically, the ScanPost scanning system 400 includes: a first scan module 410 for obtaining first scan data by scanning a scan scene in a first scan post mounting state, wherein scan posts are mounted at a third mounting position and a first mounting position in the scan scene in the first scan post mounting state; a second scan module 420 for obtaining second scan data by scanning the scan scene in a second scan post attachment state, wherein the scan posts are attached to a third attachment position and a second attachment position inside the oral cavity in the second scan post attachment state; and a position information acquisition module 430 for obtaining position information of the wearing position in the scan scene based on the first scan data and the second scan data.

[0089] The distance between the first mounting position and the second mounting position is smaller than a set threshold, and the mounting state of the scan post at the third mounting position in the scan scene when the first scan post is mounted is similar to the mounting state of the scan post at the third mounting position in the scan scene when the second scan post is mounted.

[0090] Specifically, the first scan module 410 and the second scan module 420: When scanning a scan scene with a first scan post attached, the first scan data is obtained by scanning the scan posts at the first attachment position and the third attachment position; obtaining a display image based on the first scan data; When scanning a scan scene with the second scan post attached, the scan post data corresponding to the first attachment position in the display image is canceled, and second scan data is obtained by scanning the scan post at the second attachment position and the scan post at the third attachment position, and the display image is updated based on the second scan data.

[0091] The location information acquisition module 430 specifically includes an update image module 431, a stitching image module 432, and an analysis and identification module 433. The update image module 431 specifically includes: determining an orientation vector between scan posts at the first and third mounting positions based on the first scan data; determining an orientation vector between scan posts at the second and third mounting positions based on the second scan data; It is used to determine the position information of the mounting position in the scan scene based on the orientation vector between the scan posts of the first mounting position and the third mounting position, and the orientation vector between the scan posts of the second mounting position and the third mounting position.

[0092] Specifically, the update image module 431: determining an orientation vector between identification points on a surface of a scan post at a third mounting position based on the first scan data; determining an orientation vector between identification points on a surface of the scan post at a third mounting position based on the second scan data; The orientation vector between the identification points on the surface of the scan post of the third mounting position is used to determine the position information of the mounting position in the scan scene.

[0093] The stitching image module 432 specifically includes: The first scan data and the second scan data are stitched to obtain a stitched image; It is used to obtain the position information of the wearing position in the scanning scene based on the stitching image. Specifically, the analysis and identification module 433: Used to determine the position information of the first mounting position, the second mounting position and the third mounting position based on the feature patterns of all scan posts in the stitching image; or The step of providing an identification point on the scanning post and obtaining position information of the wearing position in the scanning scene based on the stitching image includes: The method includes determining relative position information between the first mounting position, the second mounting position and the third mounting position based on the identification points of the scan posts in the stitching image.

[0094] The scan system of the ScanPost according to the embodiment of the present application can be applied to the above-mentioned method embodiment, and for details, please refer to the description of the above method embodiment, so the description thereof will be omitted here.

[0095] 9 is a diagram illustrating the configuration of a terminal device according to an embodiment of the present application. As shown in FIG. 9, the terminal device 700 of this embodiment includes at least one processor 710 (only one is shown in FIG. 9), a memory 720, and a computer program 721 stored in the memory 720 and operable on the at least one processor 710. When the processor 710 executes the computer program 721, the steps of the above embodiment of the scan method of the scan post are realized.

[0096] The terminal device 700 may be a computer device such as a desktop computer, a laptop computer, a palmtop computer, or a cloud server. The terminal device may include, but is not limited to, a processor 710 and a memory 720. As will be understood by those skilled in the art, FIG. 9 is merely an example of the terminal device 700 and is not intended to limit the terminal device 700, and may include more or fewer components than those shown, or may combine certain components, or may include different components, such as input / output devices, network access devices, etc.

[0097] The processor 710 may be a central processing unit (CPU), or the processor 710 may be another general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc.

[0098] In some embodiments, the memory 720 may be an internal storage unit of the terminal device 700, such as a hard disk or internal storage device of the terminal device 700. In other embodiments, the memory 720 may be an external storage device of the terminal device 700, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, or a flash card installed in the terminal device 700. Furthermore, the memory 720 may include both an internal storage unit and an external storage device of the terminal device 700. The memory 720 is intended to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program. The memory 720 is also used to temporarily store data that has been output or that will be output.

[0099] For the sake of clarity and brevity, the above-described division of each functional unit or module has been described as an example. However, in actual applications, the above functions can be assigned to different functional units or modules as needed. That is, the internal structure of the device can be divided into different functional units or modules to achieve all or part of the above-described functions. The functional units and modules in the embodiments may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The integrated units may be implemented by hardware or software functional units. Furthermore, the specific names of the functional units and modules are merely used to distinguish them from one another and are not intended to limit the scope of protection of the present application. The specific operational processes of the units and modules in the above-described system can be referenced to the corresponding processes in the method embodiments described above, and therefore, a description thereof will be omitted here.

[0100] In the above embodiments, the descriptions for each embodiment focus on different aspects, and for parts that are not described in detail or in a certain embodiment, reference can be made to the relevant descriptions in other embodiments.

[0101] Those skilled in the art will recognize that the units and algorithm steps of each example described with reference to the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software depends on the specific application and design constraints of the technical solution. Professional engineers may implement the described functions using different methods for each specific application, and such implementations should be considered within the scope of this application.

[0102] It should be noted that the devices / terminal devices and methods disclosed in the embodiments of the present application may be realized in other ways. For example, the device / terminal device embodiments described above are merely illustrative. For example, the division of the modules or units is merely based on logical functions, and in actual implementation, the division may be performed in other ways. For example, multiple units or assemblies may be combined or integrated into other systems, or some features may be omitted or not implemented. Furthermore, mutual couplings, direct couplings, or communication connections shown or discussed may be indirect couplings or communication connections via certain interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0103] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed across multiple network units, some or all of which may be selected according to actual needs to achieve the objectives of the technical solution of this embodiment.

[0104] Furthermore, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated units may be realized by hardware or software functional units.

[0105] When the integrated modules / units are implemented as software functional units and sold or used as independent products, they may be stored in a single computer-readable storage medium. Based on this understanding, the present application may implement all or part of the flow of the methods of the above embodiments by instructing related hardware through a computer program. The computer program may be stored in a computer-readable storage medium, and when executed by a processor, the steps of the above method embodiments can be realized. Here, the computer program includes computer program code, which may be in source code format, object code format, an executable file, or some intermediate format. The computer-readable medium may include any entity or device that stores the computer program code, such as a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier wave signal, a telegraph signal, and a software distribution medium. It should be noted that the content contained in the computer-readable medium may be increased or decreased as appropriate as required by law and patent practice in a jurisdiction; for example, in some jurisdictions, depending on the law and patent practice, computer-readable media may not include electrical carrier wave signals and telegraph signals.

[0106] According to the present application, the realization of all or part of the method flow in the above embodiments may be completed by a computer program product, which, when executed on a terminal device, can cause the terminal device to realize the steps in the above method embodiments.

[0107] The above-described embodiments are merely for illustrating the technical solutions of the present application, and are not limiting thereof. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art will understand that the technical solutions described in the above embodiments may still be modified or some of the technical features may be replaced with equivalents, and such modifications or replacements will not deviate from the essence of the corresponding technical solutions and the spirit and scope of the technical solutions of the embodiments of the present application, and all of them should be included in the protection scope of the present application.

Claims

1. A scan post scanning method applied to a scan scene having a scan post, comprising: obtaining first scan data by scanning a scan scene in a first scan post attachment state, wherein scan posts are attached to a third attachment position and a first attachment position in the scan scene in the first scan post attachment state; a step of obtaining second scan data by scanning the scan scene in a second scan post attachment state, wherein the scan post is attached to a third attachment position and a second attachment position inside the oral cavity in the second scan post attachment state; and obtaining position information of a mounting position in the scan scene based on the first scan data and the second scan data; The second scan post mounting state is obtained by adjusting the mounting state of the scan post at the first mounting position and the mounting state of the scan post at the second mounting position while maintaining the position information of the third mounting position in the first scan post mounting state, a distance between the scan post provided at the first mounting position and the scan post provided at the second mounting position is smaller than a predetermined fixed value, the predetermined value being a distance at which the two scan posts interfere with each other; The step of obtaining position information of a mounting position in the scan scene based on the first scan data and the second scan data includes: Stitching the first scan data and the second scan data to obtain a stitched image; Obtaining position information of the wearing position in the scanning scene based on the stitching image; A scanning method for ScanPost.

2. When scanning a scan scene in a state where a first scan post is attached, the first scan data is acquired by scanning the scan posts at the first attachment position and the third attachment position, and a display image is acquired based on the first scan data; When scanning a scan scene with a second scan post attached, the scan post data corresponding to the first attachment position in the display image is canceled, and second scan data is obtained by scanning the scan post at the second attachment position and the scan post at the third attachment position, and the display image is updated based on the second scan data. The scanning method of claim 1 .

3. The step of obtaining position information of a mounting position in the scan scene based on the first scan data and the second scan data includes: determining an orientation vector between scan posts at a first mounting position and a third mounting position based on the first scan data; determining an orientation vector between scan posts at the second and third mounting positions based on the second scan data; determining position information of the mounting position in the scan scene based on an orientation vector between the scan posts of the first mounting position and the third mounting position and an orientation vector between the scan posts of the second mounting position and the third mounting position; The scanning method of claim 1 .

4. The step of obtaining position information of a mounting position in the scan scene based on the first scan data and the second scan data includes: determining an orientation vector between identification points on a surface of a scan post at a third mounting position based on the first scan data; determining an orientation vector between identification points on a surface of a scan post at a third mounting position based on the second scan data; and determining position information of the mounting position in the scan scene based on an orientation vector between identification points on the surface of the scan post of the third mounting position. The scanning method of claim 1 .

5. The scan post is provided with a feature pattern, The step of obtaining position information of the wearing position in the scanning scene based on the stitching image includes: According to the feature patterns of all scan posts in the stitching image, determining the position information of the first mounting position, the second mounting position and the third mounting position; or The scan post is provided with an identification point, The step of obtaining position information of the wearing position in the scanning scene based on the stitching image includes: determining relative position information between the first mounting position, the second mounting position and the third mounting position based on the identification point of the scan post in the stitching image; The scanning method of claim 1 .

6. a first scan module for obtaining first scan data by scanning a scan scene in a first scan post attachment state, wherein scan posts are attached to the first scan module at a third attachment position and a first attachment position in the scan scene in the first scan post attachment state; a second scan module for obtaining second scan data by scanning the scan scene in a state in which a second scan post is attached, the second scan module having scan posts attached at a third attachment position and a second attachment position inside the oral cavity in the second scan post attachment state; a position information acquisition module for acquiring position information of a wearing position in the scan scene based on the first scan data and the second scan data; The second scan post mounting state is obtained by adjusting the mounting state of the scan post at the first mounting position and the mounting state of the scan post at the second mounting position while maintaining the position information of the third mounting position in the first scan post mounting state, a distance between the scan post provided at the first mounting position and the scan post provided at the second mounting position is smaller than a predetermined fixed value, the predetermined value being a distance at which the two scan posts interfere with each other; Obtaining position information of a mounting position in the scan scene based on the first scan data and the second scan data includes: Stitching the first scan data and the second scan data to obtain a stitched image; Obtaining position information of the wearing position in the scanning scene based on the stitching image; ScanPost's scanning system.

7. A terminal device including a memory, a processor, and a computer program stored in the memory and operable on the processor, When the processor executes the computer program, the scan post scanning method according to any one of claims 1 to 5 is realized. A terminal device characterized by:

8. A computer-readable storage medium on which a computer program is stored, When the computer program is executed by a processor, the scan method of the scan post according to any one of claims 1 to 5 is realized. A computer-readable storage medium comprising:

Images