Gum data matching method, device and equipment

Abstract

To improve the model taking efficiency in the implant digital model taking process.SOLUTION: A gingival data matching method comprises the steps: obtaining first data of an oral cavity in a first state in which an implant is implanted, the first data comprising three-dimensional data of a gingiva; obtaining second data in a second state in which a scanning rod is installed on the implant, the second data comprising three-dimensional data of a mark point where the scanning rod is installed on the implant and three-dimensional data of a connecting position, and the connecting position referring to the connecting position of the scanning rod and the gingiva after the scanning rod is installed on the implant, the three-dimensional data of the connecting position comprising three-dimensional data of the gingiva at the connecting position and three-dimensional data of a mark point of the scanning rod at the connecting position; and performing splicing operation on the three-dimensional data of the gingiva and the three-dimensional data of the mark point according to the three-dimensional data of the connecting position to obtain matching data of the gingiva and the scanning rod.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present application belongs to the technical field of oral medicine, and in particular to a method, device and instrument for matching gingival data. [Background technology]

[0002] In the process of digitalizing an implant impression, oral scan data of the gums must first be acquired to determine the position and orientation of the implant body, then a scanning rod must be used to acquire the position of the implant body, and finally the relative positional relationship between the implant body and the gums must be determined. The above process requires the use of multiple devices for scanning and software that works with each device. The use of different software increases the number of steps for importing and exporting data, so the process of digitalizing an implant impression has a problem of low impression efficiency. Summary of the Invention [Problem to be solved by the invention]

[0003] The present application provides a method, device, and equipment for matching gum data, which can achieve scanning and matching of the gums and scanning rods on the same device to complete the entire process of implant digitization molding, and does not require the import or export of additional data, thereby improving the molding efficiency in the implant digitization molding process. [Means for solving the problem]

[0004] In a first aspect, an embodiment of the present application comprises: acquiring first data of an oral cavity in a first state in which the implant body has already been embedded in the oral cavity, the first data including three-dimensional data of the gingiva; acquiring second data of the oral cavity in a second state in which a scanning rod is attached to an implant body in the oral cavity, the second data including three-dimensional data of a mark point where the scanning rod is attached to the implant body and three-dimensional data of a connection point, the connection point being a connection point of the scanning rod with the gingiva when attached to the implant body, and the three-dimensional data of the connection point including three-dimensional data of the gingiva at the connection point and three-dimensional data of a mark point of the scanning rod at the connection point; The present invention provides a method for matching gum data, which can include a step of performing a splicing operation on the three-dimensional data of the gums and the three-dimensional data of the mark points based on the three-dimensional data of the connection points to obtain matching data between the gums and the scanning rod.

[0005] In one possible embodiment, the method for obtaining first data comprises: The method can include a step of projecting a preset image into the oral cavity in a first state to obtain a structured light image of the inner surface of the oral cavity, and a step of determining three-dimensional data of the gums based on a three-dimensional reconstruction of the structured light image.

[0006] In the above realization process, the accuracy of the acquired first data of the oral cavity can be improved by using structured light technology to acquire the first data of the oral cavity and actively projecting a preset image to combine with the data.

[0007] In one possible embodiment, the method for obtaining the second data comprises: The method can include the steps of projecting illumination light into the oral cavity to acquire a markpoint image of the inner surface of the oral cavity, determining three-dimensional data of the markpoints based on the markpoint image, alternately projecting a structured light image and illumination light onto the connection point to acquire a structured light image and a markpoint image of the connection point, acquiring first point cloud data based on three-dimensional reconstruction of the structured light image, determining three-dimensional data of the markpoints at the connection point based on the markpoint image, and determining three-dimensional data of the connection point based on the first point cloud data and the three-dimensional data of the markpoints at the connection point.

[0008] In the above implementation process, the 3D data of the connection point is determined through the acquisition, processing, and matching of structured light and markpoint images, and point cloud processing and algorithms. Structured light images and markpoint images of the connection point are acquired using structured light scanning technology and photogrammetry technology, and first point cloud data characterizing the surface of the connection point is obtained through 3D reconstruction of the structured light images. Finally, the first point cloud data is matched with the 3D data of the markpoints at the connection point to obtain the complete 3D data of the connection point. This improves the accuracy of acquiring the 3D data of the connection point.

[0009] In one possible embodiment, the method for obtaining second data further comprises: The method can include the steps of alternately projecting a structured light image and illumination light into the oral cavity to obtain a structured light image and a markpoint image of the oral cavity, obtaining second point cloud data based on a three-dimensional reconstruction of the structured light image, determining three-dimensional data of the markpoints based on the markpoint image, and determining three-dimensional data of the inner surface of the oral cavity based on the second point cloud data and the three-dimensional data of the markpoints.

[0010] In the above implementation process, 3D data of the intraoral cavity is determined through the acquisition, processing, and matching of structured light and markpoint images, and point cloud processing and algorithms. Structured light images and markpoint images of the intraoral cavity are acquired using structured light scanning technology and photogrammetry technology, and second point cloud data characterizing the intraoral cavity is obtained through 3D reconstruction of the structured light images. Finally, the second point cloud data is matched with the 3D data of the intraoral markpoints to obtain complete 3D data of the intraoral cavity, which includes 3D data of the connection points. This improves the accuracy of obtaining 3D data of the connection points.

[0011] In one possible embodiment, the step of performing a splicing operation on the three-dimensional data of the gingiva and the three-dimensional data of the mark points based on the three-dimensional data of the connection points to obtain matching data of the gingiva and the scanning rod includes: The method may include the steps of: determining three-dimensional data of the scanning rod based on the three-dimensional data of the mark points; determining a first relative positional relationship between the gums and the connection points by splicing the three-dimensional data of the scanning rod and the three-dimensional data of the connection points based on the three-dimensional data of the mark points; determining a second relative positional relationship between the scanning rod and the connection points by splicing the three-dimensional data of the scanning rod and the three-dimensional data of the connection points based on the three-dimensional data of the mark points; and determining a relative positional relationship between the gums and the scanning rod based on the first relative positional relationship and the second relative positional relationship, and splicing the three-dimensional data of the gums and the three-dimensional data of the scanning rod based on the relative positional relationship to obtain matching data between the gums and the scanning rod.

[0012] In the above implementation process, the positional and pose relationships between the gums and the scanning rod can be accurately determined using the three-dimensional data of the connection point, and the three-dimensional data of the gums and the three-dimensional data of the mark points can be spliced ​​based on the three-dimensional data of the connection point to obtain matching data between the gums and the scanning rod, thereby improving the accuracy of the splicing.

[0013] In one possible embodiment, the step of performing a splicing operation on the three-dimensional data of the gingiva and the three-dimensional data of the mark points based on the three-dimensional data of the connection points to obtain matching data between the gingiva and the scanning rod further includes: The method can include the steps of: splicing the three-dimensional data of the gums and the three-dimensional data of the connection points to determine a third relative positional relationship between the gums and the connection points; performing splicing based on the three-dimensional data of the mark points and the three-dimensional data of the connection points to determine a fourth relative positional relationship between the three-dimensional data of the mark points and the connection points; determining the relative positional relationship between the gums and the three-dimensional data of the mark points based on the third relative positional relationship and the fourth relative positional relationship, and splicing the three-dimensional data of the gums and the three-dimensional data of the scanning rod based on the relative positional relationship to obtain matching data between the gums and the scanning rod.

[0014] In the above implementation process, the positional and pose relationships between the gums and the scanning rod can be accurately determined using the three-dimensional data of the connection point, and the three-dimensional data of the gums and the three-dimensional data of the mark points can be spliced ​​based on the three-dimensional data of the connection point to obtain matching data between the gums and the scanning rod, thereby improving the accuracy of the splicing.

[0015] In one possible embodiment, the method further comprises: The method may include displaying first presentation information for presenting to scan the intraoral cavity in a first state, and second presentation information for presenting to scan the intraoral cavity in a second state.

[0016] In the above implementation process, by displaying different presentation information during the process of taking a digitized impression of the actual implant, it is possible to provide corresponding instructions for the doctor's operation, thereby improving the doctor's operation efficiency.

[0017] In one possible embodiment, the method further comprises: The step of converting the matching data obtained after the splicing is completed into general-purpose scanning rod data can be included.

[0018] In the above implementation process, the matching data can be converted to obtain general-purpose scanning rod data, improving data compatibility and versatility, and allowing the customized scanning rod data to be used and processed on a wider range of equipment or software platforms.

[0019] In one possible embodiment, the method further comprises: The step of exporting the matching data as target matching data in a specified format compatible with the target software can be included.

[0020] In the above implementation process, after obtaining the matching data, the data can be converted according to the format and coordinate system compatible with different software, thereby improving the flexibility of data use.

[0021] In a second aspect, an embodiment of the present application comprises: a first acquisition module used to acquire first data of an oral cavity in a first state in which the implant body has already been embedded in the oral cavity, the first data including three-dimensional data of the gingiva; a second acquisition module used to acquire second data of the oral cavity in a second state in which a scanning rod is attached to an implant body in the oral cavity, the second data including three-dimensional data of a mark point where the scanning rod is attached to the implant body and three-dimensional data of a connection point, the connection point being a connection point of the scanning rod with the gum when attached to the implant body, and the three-dimensional data of the connection point including three-dimensional data of the gum at the connection point and three-dimensional data of the mark point of the scanning rod at the connection point; A gum data matching device is provided, which includes a splicing module used to perform a splicing operation on the three-dimensional data of the gums and the three-dimensional data of the mark points based on the three-dimensional data of the connection points, to obtain matching data between the gums and the scanning rod.

[0022] In a third aspect, embodiments of the present application provide a computing device including a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program implementing the method provided in the above description when executed by the processor. [Effects of the Invention]

[0023] The embodiments of the present application have the following advantageous effects compared to the prior art: scanning and matching of the gums and the scanning rod can be achieved on the same device, and the entire process of taking an implant digitized impression can be completed on the same device without the need for additional data import or export, thereby improving the efficiency of taking an impression in the implant digitized impression process; and accurate alignment of the 3D data of the gums and the 3D data of the mark points can improve the accuracy of the matching data between the gums and the scanning rod. [Brief explanation of the drawings]

[0024] In order to more clearly explain the technical solutions of the embodiments of the present application, the drawings necessary for describing the embodiments or existing technologies will be briefly described below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings based on these drawings without any creative efforts. [Figure 1] 1 is a schematic diagram of steps of a method for matching gingival data according to an embodiment of the present application; [Figure 2] FIG. 2 is a schematic diagram of a step of acquiring first data according to an embodiment of the present application; [Figure 3]FIG. 2 is a schematic diagram of three-dimensional data of gingiva according to an embodiment of the present application. [Figure 4] 3 is a schematic diagram of steps of a first method for obtaining second data according to an embodiment of the present application; [Figure 5] FIG. 10 is a schematic diagram of three-dimensional data of mark points at connection points according to an embodiment of the present application. [Figure 6] FIG. 10 is a schematic diagram of three-dimensional data of a connection point according to an embodiment of the present application. [Figure 7] FIG. 10 is a schematic diagram of steps of a second method for obtaining second data according to an embodiment of the present application. [Figure 8] FIG. 10 is a schematic diagram of a step of obtaining matching data between the gums and the scanning rod under a first method of obtaining second data according to an embodiment of the present application. [Figure 9] FIG. 10 is a schematic diagram illustrating steps for obtaining matching data between the gums and the scanning rod under a second method for obtaining second data according to an embodiment of the present application. [Figure 10] 1 is a structural schematic diagram of a gingival data matching device according to an embodiment of the present application; [Figure 11] 1 is a schematic diagram of a computer device according to the present application; DETAILED DESCRIPTION OF THE INVENTION

[0025] Hereinafter, the embodiments of the technical solution of the present application will be described in detail with reference to the drawings. The following embodiments are only for the purpose of more clearly illustrating the technical solution of the present application, and are merely used as examples, and do not limit the protection scope of the present application.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art, and the terminology used herein is for the purpose of describing particular examples only and is not intended to be limiting of the application, and the terms "comprises" and "having" and variations thereof in the specification and claims of the application and the above description of the drawings are intended to be inclusive.

[0027] In the description of the embodiments of the present application, technical terms such as "first," "second," etc. are used merely to distinguish one entity or operation from another, and should not be understood to express or imply relative importance, or the number, particular order, or priority relationship of the technical features shown. In the description of the embodiments of the present application, the term "plurality" means two or more, unless otherwise clearly defined.

[0028] References herein to an "embodiment" mean that a particular feature, structure, or characteristic described with reference to the embodiment may be included in at least one embodiment of the present application. Appearances of this phrase in various places throughout the specification do not necessarily all refer to the same embodiment, nor are they separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art will understand, both explicitly and implicitly, that the embodiments described herein may be combined with other embodiments.

[0029] 1, which is a schematic diagram of steps of a method for matching gingival data according to an embodiment of the present application. The step of matching gingival data may include steps S1 to S3.

[0030] In S1, first data of the oral cavity in a first state is acquired.

[0031] Here, the oral cavity in the first state refers to a state in which an implant body has already been implanted in the oral cavity. The implant body is an artificial tooth root used to replace a lost tooth, and is typically made of titanium alloy or ceramic material, serving as a support for the implant. An abutment, which is a part of the implant system that supports and fixes the implant superstructure, is attached to the implant body, and the scanning rod is attached to the implant body via the abutment. The first data includes three-dimensional data of the gums. The three-dimensional data of the gums refers to data on the three-dimensional shape and structure of the gum tissue obtained by scanning or measurement technology, and can include information such as the thickness, shape, color, and texture of the gums.

[0032] 2, which is a schematic diagram of the step of acquiring first data according to an embodiment of the present application. The step of acquiring first data can include S11 and S12.

[0033] In S11, a preset image is projected into the oral cavity in a first state, and a structured light image of the oral cavity inner surface is acquired.

[0034] Here, three-dimensional data of the gums can be obtained using an intraoral scanner and structured light scanning technology. An intraoral scanner is a digitalization device used to capture the internal structure of the oral cavity, and typically consists of a handheld or desktop scanner and associated software system. Structured light scanning technology utilizes the structured light principle to project light beams or grid patterns onto the oral cavity interior, and then capture the deformation of these light beams using a camera or sensor to obtain a structured light image of the oral cavity interior. The camera is typically a black-and-white camera / depth camera. The preset image may include a structured light pattern, which may be structured light stripes or light beams. The preset image is projected by the scanner projector, and a structured light image of the oral cavity interior in its current state can be obtained by the intraoral scanner.

[0035] In S12, three-dimensional data of the gingiva is determined based on the three-dimensional reconstruction of the structured light image.

[0036] Please refer to FIG. 3, which is a schematic diagram of three-dimensional data of gums according to an embodiment of the present application.

[0037] After obtaining the structured light image of the inner surface of the oral cavity, point cloud data characterizing the inner surface of the oral cavity is obtained based on a 3D reconstruction of the structured light image of the inner surface of the oral cavity, and each point in the point cloud data represents one location on the inner surface of the oral cavity.

[0038] By analyzing and processing the point cloud data, three-dimensional data of the gums can be determined. The step of analyzing and processing the point cloud data can include a point cloud generation step, a point cloud filtering step, and a three-dimensional gum data determination step. Here, the point cloud generation step involves triangulating pixels in a structured light image to generate three-dimensional point cloud data. This point cloud data includes shape and structural information of the teeth and gum surfaces. The point cloud filtering step involves filtering the generated point cloud data to remove noise and outliers from the point cloud data, making the point cloud data more accurate and reliable. The three-dimensional gum data can be determined by methods such as feature extraction and surface fitting. The three-dimensional gum data can include the thickness and shape of the gums.

[0039] In the above realization process, the accuracy of the acquired first data of the oral cavity can be improved by using structured light technology to acquire the first data of the oral cavity and actively projecting a preset image to combine with the data.

[0040] In S2, second data of the oral cavity in a second state is acquired.

[0041] The second state of the oral cavity is when a scanning rod is attached to the implant body in the oral cavity. The scanning rod is a device for scanning the oral cavity, and is primarily used to perform three-dimensional scans of the interior of the oral cavity to obtain digitized data of the teeth, gums, and other structures of the oral cavity.

[0042] The second data includes three-dimensional data of the mark point where the scanning rod is attached to the implant body and three-dimensional data of the connection point.

[0043] A mark point is a specific point or mark on the scanning rod, which may be a bright or colored point. One scanning rod may have multiple mark points distributed at different positions on the scanning rod to provide sufficient information to determine the position and orientation of the scanning rod.

[0044] The connection point is a connection point of the scanning rod with the gingiva when attached to the implant body, and the three-dimensional data of the connection point includes three-dimensional data of the gingiva at the connection point and three-dimensional data of the mark point of the scanning rod at the connection point. Here, the connection point corresponds to a scanning area, that is, the three-dimensional data of the connection point corresponds to scan data of the scanning area, and the scan data includes scan data of the gingiva and the mark point of the scanning rod within the scanning area. The scanning area can simultaneously scan the scanning rod and the gingiva. In some embodiments, the scanning area can cover the mark point and the gingiva of the same scanning rod, and the gingiva is within a predetermined range located in an intersecting coherent region of the scanning area and the scanning rod, and the predetermined range is larger than the intersecting coherent region.

[0045] 4, which is a schematic diagram of steps of a first method for obtaining second data according to an embodiment of the present application, the steps of obtaining second data in the method may include S41 to S46.

[0046] In S41, illumination light is projected into the oral cavity to obtain an image of the mark points on the inner surface of the oral cavity.

[0047] Here, the illumination light is not the structured light described above, but an illumination light without a pattern, and may be white light or illumination light of other colors. The mark point image of the inner surface of the oral cavity can be acquired by a monochrome camera or a depth camera.

[0048] In S42, three-dimensional data of the markpoints is determined based on the markpoint images.

[0049] By acquiring an image of the mark points on the inner surface of the oral cavity, it becomes easy to extract the mark points from the image of the mark points, reconstruct the mark points in three dimensions, and acquire three-dimensional data of the mark points.

[0050] In S43, a structured light image and an illumination light are alternately projected onto the connection point to obtain a structured light image and a mark point image of the connection point.

[0051] Since the three-dimensional data of the connection point simultaneously includes three-dimensional data of the gums and three-dimensional data of the mark points, structured light scanning technology and photogrammetry technology can be used simultaneously to obtain structured light images of the connection point and mark point images.

[0052] The alternate projection of the structured light image and the illumination light onto the connection point may involve first projecting one frame of the structured light image and then projecting one frame of the illumination light, or may involve first projecting several frames of the structured light image and then projecting several frames of the illumination light. The number of frames of the projected illumination light and the structured light image may or may not match, as long as a corresponding structured light image and mark point image can be obtained in the actual implementation process.

[0053] When acquiring structured light images and mark point images of the connection points, structured light images and illumination light are alternately projected onto the connection points, and structured light images of the connection points are acquired using structured light scanning technology. Illumination light is also projected onto the connection points, and three-dimensional data of the mark points is acquired based on photogrammetry technology, and mark point images at the connection points are acquired using a black-and-white camera / depth camera.

[0054] In some other embodiments, if the accuracy requirements for the 3D data of the markpoints are not high, a color texture camera can be used instead of the monochrome camera / depth camera in the above steps to collect markpoint images, and the markpoint images can be reconstructed in 3D to obtain the 3D data of the markpoints.Furthermore, the markpoint images acquired by the color texture camera can be used as texture images to texture map the 3D data to obtain a true color 3D model.

[0055] In some other embodiments, the non-connected gingival region can obtain corresponding 3D data of the gingiva from 3D data of the inner oral cavity, and the non-connected scanning rod region can obtain 3D data of the mark points only by photogrammetry techniques.

[0056] In S44, first point cloud data is obtained based on the three-dimensional reconstruction of the structured light image.

[0057] After obtaining the structured light image of the connection site, first point cloud data characterizing the surface of the connection site is obtained based on a three-dimensional reconstruction of the structured light image of the connection site, and each point in the first point cloud data represents one position on the surface of the connection site.

[0058] In S45, three-dimensional data of the markpoint at the connection point is determined based on the markpoint image.

[0059] Please refer to FIG. 5, which is a schematic diagram of three-dimensional data of mark points at connection points according to an embodiment of the present application.

[0060] After capturing the markpoint images using the monochrome camera / depth camera, the markpoint images can be sent to a computer device, which then performs texture mapping between the 3D model of the connection point and the markpoint image to determine 3D data of the markpoints at the connection point. Here, the 3D data of the markpoints at the connection point is a part of the 3D data of the connection point and is different data from the 3D data of the markpoints in the above description. While the 3D data of the markpoints in the above description includes only 3D data of the markpoint portion, the 3D data of the connection point includes 3D data of the gums and 3D data of the markpoints at the connection point, and the 3D data of the markpoints at the connection point is a part of that.

[0061] In S46, three-dimensional data of the connection point is determined based on the first point cloud data and the three-dimensional data of the mark points at the connection point.

[0062] Please refer to FIG. 6, which is a schematic diagram of three-dimensional data of a connection point according to an embodiment of the present application.

[0063] After obtaining the first point cloud data and the three-dimensional data of the mark points at the connection locations, the first point cloud data and the three-dimensional data of the mark points are matched to obtain the three-dimensional data of the connection locations.

[0064] In the above implementation process, the 3D data of the connection point is determined through the acquisition, processing, and matching of structured light and markpoint images, and point cloud processing and algorithms. The structured light image and markpoint image of the connection point are acquired using structured light scanning technology and photogrammetry technology, and first point cloud data characterizing the surface of the connection point is acquired through 3D reconstruction of the structured light image. The 3D data of the markpoints at the connection point is also acquired through 3D reconstruction of the markpoint image. Finally, the first point cloud data is matched with the 3D data of the markpoints at the connection point to obtain the complete 3D data of the connection point. This improves the accuracy of acquiring the 3D data of the connection point.

[0065] In some other embodiments, referring to Figure 7, Figure 7 is a schematic diagram of steps of a second method for obtaining second data according to an embodiment of the present application, where the steps of obtaining second data according to the method may include S71 to S74.

[0066] In S71, a structured light image and an illumination light are alternately projected into the oral cavity to obtain a structured light image and a mark point image of the oral cavity.

[0067] The alternate projection of structured light images and illumination light into the oral cavity may involve first projecting one frame of structured light image and then projecting one frame of illumination light, or may involve first projecting several frames of structured light image and then projecting several frames of illumination light. The number of frames of the projected illumination light and structured light images may or may not match, as long as corresponding structured light images and mark point images can be obtained in the actual implementation process.

[0068] Since the scanning rod is attached to the oral cavity in this state, the 3D data of the oral cavity simultaneously includes 3D data of the gums and 3D data of the mark points on the scanning rod, so that the structured light scanning technology and the photogrammetry technology can be used simultaneously to acquire the structured light image and the mark point image of the oral cavity.

[0069] When acquiring structured light images and mark point images within the oral cavity, structured light images and illumination light are alternately projected into the oral cavity, and structured light images within the oral cavity are acquired using structured light scanning technology. Also, by projecting illumination light into the oral cavity, three-dimensional data of the mark points is acquired based on photogrammetry technology, and images of the mark points within the oral cavity are acquired using a black-and-white camera / depth camera.

[0070] In S72, second point cloud data is obtained based on the three-dimensional reconstruction of the structured light image.

[0071] After obtaining the structured light image of the oral cavity, a three-dimensional reconstruction is performed based on the structured light image of the oral cavity to obtain second point cloud data characterizing the oral cavity interior, each point in the second point cloud data representing one position on the oral cavity interior.

[0072] In S73, three-dimensional data of the markpoint is determined based on the markpoint image.

[0073] After the intraoral markpoint image is acquired, the markpoint image is transmitted to a computer device, and three-dimensional data of the intraoral markpoints is determined by three-dimensionally reconstructing the markpoint image in the computer device.

[0074] In S74, three-dimensional data of the oral cavity inner surface is determined based on the second point cloud data and the three-dimensional data of the mark points.

[0075] After obtaining the second point cloud data and the three-dimensional data of the mark points in the oral cavity, the second point cloud data is matched with the three-dimensional data of the mark points in the oral cavity to obtain three-dimensional data of the inner surface of the oral cavity, and the three-dimensional data of the inner surface of the oral cavity includes three-dimensional data of the connection points.

[0076] In the above implementation process, 3D data of the intraoral cavity is determined through the acquisition, processing, and matching of structured light and markpoint images, and point cloud processing and algorithms. Structured light images and markpoint images of the intraoral cavity are acquired using structured light scanning technology and photogrammetry technology. Second point cloud data characterizing the intraoral cavity is acquired through 3D reconstruction of the structured light images. 3D data of the intraoral markpoints is also acquired through 3D reconstruction of the markpoint images. Finally, the second point cloud data is matched with the 3D data of the intraoral markpoints to obtain complete 3D data of the intraoral cavity, which includes 3D data of the connection points. This improves the accuracy of obtaining 3D data of the connection points.

[0077] In S3, a splicing operation is performed on the three-dimensional data of the gums and the three-dimensional data of the mark points based on the three-dimensional data of the connection points, thereby obtaining matching data between the gums and the scanning rod.

[0078] 8, which is a schematic diagram of steps of obtaining matching data between the gums and the scanning rod under the first method of obtaining second data according to an embodiment of the present application, the steps may include S81 to S84.

[0079] In S81, the three-dimensional data of the scanning rod is determined based on the three-dimensional data of the mark points.

[0080] The three-dimensional coordinates of the mark points in the three-dimensional data of the mark points are compared with a preset three-dimensional model of the scanning rod, and a point cloud registration algorithm such as the ICP (Iterative Closest Point) algorithm is used to match the three-dimensional coordinates of the mark points with corresponding points on the scanning rod model, thereby determining the position and posture of the scanning rod based on the three-dimensional data of the mark points and determining the three-dimensional data of the scanning rod.

[0081] In S82, the three-dimensional data of the gums and the three-dimensional data of the connection portion are spliced ​​together to determine a first relative positional relationship between the gums and the connection portion.

[0082] For example, by aligning the 3D data of the gums and the 3D data of the connection points, both can be displayed in the same coordinate system. A point cloud registration algorithm such as the Iterative Closest Point (ICP) algorithm can be used to align the two sets of point cloud data.

[0083] The region corresponding to the gingiva is found from the point cloud data of the connection point, and the point cloud data of the gingiva and the point cloud data of the connection point are spliced ​​together based on the geometric features of the adjacent point clouds. Specifically, a surface fitting or interpolation algorithm can be used to smooth the changes at the splicing point.

[0084] Based on the spliced ​​data, the relative positional relationship between the gums and the connection points can be determined. Specifically, the first relative positional relationship between the gums and the connection points can be obtained by calculating geometric features such as the distance and normal vector between the point cloud data of the gums and the point cloud data of the connection points.

[0085] In S83, the three-dimensional data of the scanning rod and the three-dimensional data of the connection point are spliced ​​together based on the three-dimensional data of the mark points to determine a second relative positional relationship between the scanning rod and the connection point.

[0086] Illustratively, a second relative positional relationship between the scanning rod and the connection point can be determined based on a data splicing step similar to the immediately preceding step.

[0087] In S84, the relative positional relationship between the gums and the scanning rod is determined based on the first relative positional relationship and the second relative positional relationship, and the three-dimensional data of the gums and the three-dimensional data of the scanning rod are spliced ​​based on the relative positional relationship to obtain matching data between the gums and the scanning rod.

[0088] Once the first relative positional relationship between the gums and the connection point and the second relative positional relationship between the scanning rod and the connection point are obtained, the three-dimensional data of the gums and the three-dimensional data of the scanning rod can be spliced ​​together based on the three-dimensional data of the connection point to obtain matching data between the gums and the scanning rod.

[0089] In the above implementation process, the positional and pose relationships between the gums and the scanning rod can be accurately determined using the three-dimensional data of the connection point, and the three-dimensional data of the gums and the three-dimensional data of the mark points can be spliced ​​based on the three-dimensional data of the connection point to obtain matching data between the gums and the scanning rod, thereby improving the accuracy of the splicing.

[0090] In another embodiment, referring to Fig. 9, Fig. 9 is a schematic diagram of steps of obtaining matching data between the gums and the scanning rod under a second method of obtaining second data according to an embodiment of the present application, which steps may include S91 to S93.

[0091] In S91, the three-dimensional data of the gums and the three-dimensional data of the connection portion are spliced ​​together to determine a third relative positional relationship between the gums and the connection portion.

[0092] For example, by aligning the 3D data of the gums with the 3D data of the connection points, both can be displayed in the same coordinate system. A point cloud registration algorithm such as the Iterative Closest Point (ICP) algorithm can be used to align the two sets of point cloud data.

[0093] The area corresponding to the gingiva is found from the point cloud data of the connection point, and the point cloud data of the gingiva and the point cloud data of the connection point are spliced ​​together based on the geometric features of the adjacent point clouds. Specifically, a surface fitting or interpolation algorithm can be used to smooth the transition at the splicing point.

[0094] Based on the spliced ​​data, the relative positional relationship between the gums and the connection points can be determined. Specifically, by calculating geometric features such as the distance and normal vector between the point cloud data of the gums and the point cloud data of the connection points, the third relative positional relationship between the gums and the connection points can be obtained.

[0095] In S92, splicing is performed based on the three-dimensional data of the mark points and the three-dimensional data of the connection points to determine a fourth relative positional relationship between the three-dimensional data of the mark points and the connection points.

[0096] For example, a fourth relative positional relationship between the three-dimensional data of the mark points and the connection points can be determined based on a data splicing step similar to the immediately preceding step.

[0097] In S93, the relative positional relationship between the gums and the three-dimensional data of the mark points is determined based on the third relative positional relationship and the fourth relative positional relationship, and the three-dimensional data of the gums and the three-dimensional data of the scanning rod are spliced ​​based on the relative positional relationship to obtain matching data between the gums and the scanning rod.

[0098] Once the third relative positional relationship between the gums and the connection point and the fourth relative positional relationship between the three-dimensional data of the mark point and the connection point are obtained, the three-dimensional data of the gums and the three-dimensional data of the scanning rod can be spliced ​​together based on the three-dimensional data of the connection point contained in the three-dimensional data of the inner surface of the oral cavity to obtain matching data between the gums and the scanning rod.

[0099] In the above implementation process, the positional and pose relationships between the gums and the scanning rod can be accurately determined using the three-dimensional data of the connection point, and the three-dimensional data of the gums and the three-dimensional data of the mark points can be spliced ​​based on the three-dimensional data of the connection point to obtain matching data between the gums and the scanning rod, thereby improving the accuracy of the splicing.

[0100] In some embodiments, the method for matching gingival data further comprises: The method may include displaying first presentation information for presenting to scan the intraoral cavity in a first state, and second presentation information for presenting to scan the intraoral cavity in a second state.

[0101] For example, the gingival data matching method can be applied to a computer device that executes the steps of the gingival data matching method, which can be a general-purpose computer, a dedicated computer, a mobile phone, a laptop, a tablet, or other programmable devices. In a practical application scenario, the computer device can display presentation information to prompt a doctor to perform corresponding operations during an implant digitization impression process. For example, the computer device can scan a patient's oral cavity in a first state and display first presentation information to prompt a doctor to perform corresponding processing on the scanned data, or it can scan a patient's oral cavity in a second state and display second presentation information to prompt a doctor to perform corresponding processing on the scanned data.

[0102] In the above implementation process, by displaying different presentation information during the process of taking a digitized impression of the actual implant, it is possible to provide corresponding instructions for the doctor's operation, thereby improving the doctor's operation efficiency.

[0103] In some embodiments, the method for matching gingival data may further include converting the matching data obtained after the splicing is completed into general-purpose scanning rod data.

[0104] Since the data of the mark points is obtained using a special scanning rod with mark points, the obtained matching data is also data of the corresponding special scanning rod. Therefore, by converting the matching data in a computer device to obtain general-purpose scanning rod data, the compatibility and versatility of the data can be improved, and the special scanning rod data can be used and processed in a wider range of devices or software platforms.

[0105] In some embodiments, the method for matching gingival data may further include exporting the matching data as target matching data in a specified format compatible with the target software.

[0106] Depending on the dental practice, there may be differences in the formats and coordinate systems compatible with the software used. Therefore, after obtaining matching data, computer equipment can convert it into a format and coordinate system compatible with different software, thereby improving the flexibility of data use.

[0107] In summary, the gingival data matching method according to the embodiment of the present application can realize scanning and matching between the gingiva and the scanning rod on the same device, and the entire process of taking an implant digitized impression can be completed on the same device without the need for additional data import or export, thereby improving the efficiency of taking an impression in the implant digitized impression process. Furthermore, by precisely aligning the 3D data of the gingiva with the 3D data of the mark points, the accuracy of the matching data between the gingiva and the scanning rod can be improved.

[0108] 10 is a schematic diagram of the structure of a gingival data matching device according to an embodiment of the present application. The device can be realized as part or all of a computer device by software, hardware, or a combination of both, and the computer device may be the computer device shown in FIG. 11 below. Referring to FIG. 10, the gingival data matching device 10 can include a first acquisition module 101, a second acquisition module 102, and a splicing module 103.

[0109] In an embodiment of the present application, the first acquisition module 101 is used to acquire first data of an oral cavity in a first state in which the implant body is attached to the gums in the oral cavity, and the first data includes three-dimensional data of the gums.

[0110] The second acquisition module 102 is used to acquire second data of the oral cavity in a second state in which a scanning rod is attached to an implant body in the oral cavity. The second data includes three-dimensional data of a mark point where the scanning rod is attached to the implant body and three-dimensional data of a connection point. The connection point is a connection point of the scanning rod with the gingiva when attached to the implant body. The three-dimensional data of the connection point includes three-dimensional data of the gingiva at the connection point and three-dimensional data of the mark point on the scanning rod at the connection point. Here, the connection point corresponds to a scanning area, i.e., the three-dimensional data of the connection point corresponds to scan data of the scanning area, and the scan data includes scan data of the gingiva and the mark point on the scanning rod within the scanning area. The scanning area can simultaneously scan the scanning rod and the gingiva. In some embodiments, the scanning area can cover the mark point and gingiva of the same scanning rod, and the gingiva is within a predetermined range located in an intersecting coherent region of the scanning area and the scanning rod, the predetermined range being larger than the intersecting coherent region.

[0111] The splicing module 103 is used to perform a splicing operation on the three-dimensional data of the gums and the three-dimensional data of the mark points based on the three-dimensional data of the connection points, to obtain matching data between the gums and the scanning rod.

[0112] In some embodiments, the first acquisition module 101 specifically: A preset image can be projected into the oral cavity in a first state to obtain a structured light image of the oral cavity interior, which can be used to determine three-dimensional data of the gums based on a three-dimensional reconstruction of the structured light image.

[0113] In some embodiments, the second acquisition module 102 can be specifically used to project illumination light into the oral cavity to acquire markpoint images of the inner surface of the oral cavity, determine three-dimensional data of the markpoints based on the markpoint images, alternately project structured light images and illumination light onto the connection points to acquire structured light images and markpoint images of the connection points, acquire first point cloud data based on three-dimensional reconstruction of the structured light images, determine three-dimensional data of the markpoints at the connection points based on the markpoint images, and determine three-dimensional data of the connection points based on the first point cloud data and the three-dimensional data of the markpoints at the connection points.

[0114] In some embodiments, the second acquisition module 102 further specifically: The method can be used to alternately project structured light images and illumination light into the oral cavity to obtain structured light images and markpoint images of the oral cavity, obtain second point cloud data based on three-dimensional reconstruction of the structured light images, determine three-dimensional data of the markpoints based on the markpoint images, and determine three-dimensional data of the inner surface of the oral cavity based on the second point cloud data and the three-dimensional data of the markpoints.

[0115] In some embodiments, the splicing module 103 specifically: The three-dimensional data of the scanning rod is determined based on the three-dimensional data of the mark points, the three-dimensional data of the gums and the three-dimensional data of the connection points are spliced ​​together to determine a first relative positional relationship between the gums and the connection points, the three-dimensional data of the scanning rod and the three-dimensional data of the connection points are spliced ​​together based on the three-dimensional data of the mark points to determine a second relative positional relationship between the scanning rod and the connection points, the relative positional relationship between the gums and the scanning rod is determined based on the first relative positional relationship and the second relative positional relationship, and the three-dimensional data of the gums and the three-dimensional data of the scanning rod are spliced ​​together based on the relative positional relationship to obtain matching data between the gums and the scanning rod.

[0116] In some embodiments, the splicing module 103 further specifically: The three-dimensional data of the gums and the three-dimensional data of the connection points are spliced ​​together to determine a third relative positional relationship between the gums and the connection points; splicing is performed based on the three-dimensional data of the mark points and the three-dimensional data of the connection points to determine a fourth relative positional relationship between the three-dimensional data of the mark points and the connection points; the relative positional relationship between the gums and the three-dimensional data of the mark points is determined based on the third relative positional relationship and the fourth relative positional relationship; and the three-dimensional data of the gums and the three-dimensional data of the scanning rod are spliced ​​together based on the relative positional relationships to obtain matching data between the gums and the scanning rod.

[0117] In some embodiments, the gingival data matching device 10 may further include a display module used to display first presentation information for presenting to scan the intraoral cavity in a first state and second presentation information for presenting to scan the intraoral cavity in a second state.

[0118] In some embodiments, the gingival data matching device 10 may further include a data processing module used to convert the matching data obtained after splicing is completed into general-purpose scanning rod data.

[0119] In some embodiments, the data processing module can further be used to export the matching data as target matching data in a specified format compatible with the target software.

[0120] It should be noted that the gum data matching device according to the above embodiment is only described as an example of dividing the above functional modules when obtaining matching data between the gums and the scanning rod. In actual application, the allocation of the above functions may be performed by different functional modules as needed, that is, the internal structure of the device may be divided into different functional modules to complete some or all of the above-described functions.

[0121] The functional units and modules in the above embodiments may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit, and the integrated units may be realized in the form of hardware or software functional units. The specific names of the functional units and modules are used only to easily distinguish them from one another and are not intended to limit the scope of protection of the embodiments of the present application.

[0122] The gum data matching device and the gum data matching method according to the above embodiments belong to the same concept. In the above embodiments, the specific operation processes of the units and modules and the resulting technical effects can be referred to the method embodiments, and detailed descriptions thereof will be omitted here.

[0123] The present embodiment further provides a computer device. Referring to Fig. 11, Fig. 11 is a schematic diagram of the computer device according to the present application. The computer device 110 includes a memory 1101, a processor 1102, and a computer program 1103 stored in the memory 1101 and executable on the processor 1102, and when the computer program is executed by the processor 1102, the steps of the above-described method embodiments are realized.

[0124] The computing device 110 may be a general-purpose computing device or a dedicated computing device. In a specific implementation, the computing device 110 may be a desktop computer, a portable computer, a network server, a personal digital assistant, a mobile phone, a tablet, a wireless terminal device, a communication device, or an embedded device. The embodiments of the present application do not limit the type of the computing device 110. Those skilled in the art will recognize that FIG. 11 is merely an example of the computing device 110 and does not limit the computing device 110. The computing device 110 may include more or fewer components than those shown, a combination of some components, or different components, such as input / output devices, network access devices, etc.

[0125] The processor 1102 may be a central processing unit (CPU), or other 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 any conventional processor.

[0126] In some embodiments, the memory 1101 may be an internal storage unit of the computer device 110, such as a hard disk or internal memory of the computer device 110. In other embodiments, the memory 1101 may be an external storage device of the computer device 110, such as a plug-in hard disk provided in the computer device 110, a Smart Media Card (SMC), a Secure Digital (SD) card, or a Flash Card. Furthermore, the memory 1101 may include not only the internal storage unit of the computer device 110 but also an external storage device. The memory 1101 is used to store an operating system, application programs, a boot loader, data, other programs, and the like. The memory 1101 may also be used to temporarily store data that has been output or is to be output.

[0127] Based on the same inventive idea, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can realize the steps in each of the above method embodiments.

[0128] The computer-readable storage medium may be any of various media capable of storing program code, such as Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). Here, the storage medium is used to store a program, and the processor executes the program after receiving an execution instruction. The method executed by the electronic terminal defined in the process disclosed in any of the embodiments of the present invention may be applied to or realized by the processor.

[0129] It should be understood that the disclosed devices and methods in the embodiments of the present application may be realized in other forms. The device embodiments described above are merely exemplary. For example, the division of units described above is merely a division of logical functions, and actual implementation may involve division in other ways. For example, multiple units or components may be combined or integrated into another system, or some of the features may not be reflected or implemented. Furthermore, the shown or discussed couplings, direct couplings, or communication connections may be indirect couplings or communication connections via some communication interfaces, devices, or units, and may be in electrical, mechanical, or other forms.

[0130] The information exchanges and execution processes between the above devices / units are based on the same concepts as those of the method embodiments of the present application. Therefore, for the specific functions and technical effects thereof, please refer to the method embodiments, and detailed descriptions thereof will be omitted. For convenience and brevity, the division of the above functional units and modules is described as an example. In actual applications, the above functions may be allocated to different functional units or modules as needed. That is, the internal structure of the device may be divided into different functional units or modules to achieve some or all of the above-described functions. The functional units and modules in the embodiments may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The integrated units may be implemented in the form of hardware or software functional units. Furthermore, the specific names of the functional units and modules are provided solely for the purpose of easily distinguishing them from one another and are not intended to limit the scope of protection of the embodiments of the present application. The specific operation processes of the units and modules in the above system can be referred to the corresponding processes in the above method embodiments, and detailed descriptions are omitted here.

[0131] Alternatively, the present invention may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, the present invention may be implemented in whole or in part in the form of a computer program product, which includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or some of the steps or functions described in the embodiments of the present invention are generated.

[0132] The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored on a computer-readable storage medium or transmitted from one computer-readable storage medium to another, for example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) methods.

[0133] The above description is merely an example of the present application and is not intended to limit the scope of protection of the present application. Various modifications and changes can be made to the present application by those skilled in the art. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A method for matching gingival data applied to a computer device, comprising: acquiring first data of the oral cavity in a first state in which the implant body has already been embedded in the oral cavity, the first data including three-dimensional data of the gingiva; acquiring second data of the oral cavity in a second state in which a scanning rod is attached to the implant body in the oral cavity, the second data including three-dimensional data of a mark point of the scanning rod when the scanning rod is attached to the implant body and three-dimensional data of a connection point, the connection point being a connection point between the scanning rod and the gingiva when the scanning rod is attached to the implant body, and the three-dimensional data of the connection point including three-dimensional data of the gingiva at the connection point and three-dimensional data of the mark point of the scanning rod at the connection point; and performing a splicing operation on the three-dimensional data of the gingiva and the three-dimensional data of the mark points of the scanning rod based on the three-dimensional data of the connection points to obtain matching data between the gingiva and the scanning rod. A method for matching gingival data.

2. The method for acquiring the first data includes: projecting a preset image into the oral cavity in the first state to obtain a structured light image of the inner surface of the oral cavity; and determining three-dimensional data of the gingiva based on a three-dimensional reconstruction of the structured light image. The method for matching gingival data according to claim 1 .

3. The method for acquiring the second data includes: projecting illumination light into the oral cavity to acquire a mark point image of the inner surface of the oral cavity; determining three-dimensional data of the mark points of the scanning rod based on the mark point image; alternately projecting a structured light image and an illumination light onto the connection point to acquire a structured light image and a mark point image of the connection point; acquiring first point cloud data based on a three-dimensional reconstruction of the structured light image; determining three-dimensional data of the mark points of the scanning rod at the connection points based on the mark point images; determining three-dimensional data of the connection point based on the first point cloud data and three-dimensional data of mark points of the scanning rod at the connection point; The method for matching gingival data according to claim 1 .

4. The method for acquiring the second data includes: alternately projecting a structured light image and an illumination light into the oral cavity to acquire a structured light image and a mark point image of the oral cavity; acquiring second point cloud data based on a three-dimensional reconstruction of the structured light image; determining three-dimensional data of the mark points of the scanning rod based on the mark point image; determining three-dimensional data of the inner surface of the oral cavity based on the second point cloud data and three-dimensional data of the mark points of the scanning rod, wherein the three-dimensional data of the inner surface of the oral cavity includes three-dimensional data of connection points; The method for matching gingival data according to claim 1 .

5. the step of performing a splicing operation on the three-dimensional data of the gums and the three-dimensional data of the mark points of the scanning rod based on the three-dimensional data of the connection points to obtain matching data between the gums and the scanning rod, determining three-dimensional data of the scanning rod based on the three-dimensional data of the mark points of the scanning rod, by matching the three-dimensional data of the mark points of the scanning rod with corresponding points of a preset three-dimensional model of the scanning rod based on a point cloud registration algorithm; splicing the three-dimensional data of the gums and the three-dimensional data of the connection portion to determine a first relative positional relationship between the three-dimensional data of the gums and the three-dimensional data of the connection portion; splicing the three-dimensional data of the scanning rod and the three-dimensional data of the connection point based on the three-dimensional data of the mark point to determine a second relative positional relationship between the three-dimensional data of the scanning rod and the three-dimensional data of the connection point; determining a relative positional relationship between the three-dimensional data of the gums and the three-dimensional data of the scanning rod based on the first relative positional relationship and the second relative positional relationship, and splicing the three-dimensional data of the gums and the three-dimensional data of the scanning rod based on the relative positional relationship to obtain matching data of the gums and the scanning rod; The method for matching gingival data according to claim 3 .

6. the step of performing a splicing operation on the three-dimensional data of the gums and the three-dimensional data of the mark points of the scanning rod based on the three-dimensional data of the connection points to obtain matching data between the gums and the scanning rod, splicing the three-dimensional data of the gums and the three-dimensional data of the connection portion to determine a third relative positional relationship between the three-dimensional data of the gums and the three-dimensional data of the connection portion; performing splicing based on the three-dimensional data of the mark points and the three-dimensional data of the connection points to determine a fourth relative positional relationship between the three-dimensional data of the mark points of the scanning rod and the three-dimensional data of the connection points; determining a relative positional relationship between the three-dimensional data of the gingiva and the three-dimensional data of the mark points of the scanning rod based on the third relative positional relationship and the fourth relative positional relationship, and splicing the three-dimensional data of the gingiva and the three-dimensional data of the mark points of the scanning rod based on the relative positional relationship to obtain matching data of the gingiva and the scanning rod.

5. The method for matching gingival data according to claim 4.

7. and displaying first presentation information for presenting the intraoral cavity in the first state to be scanned and second presentation information for presenting the intraoral cavity in the second state to be scanned. The method for matching gingival data according to claim 1 .

8. Further comprising a step of converting the matching data obtained after the splicing is completed into general-purpose scanning rod data; The method for matching gingival data according to any one of claims 1 to 7.

9. exporting the matching data as target matching data in a specified format compatible with the target software; The method for matching gingival data according to any one of claims 1 to 7.

10. a first acquisition module used to acquire first data of the oral cavity in a first state in which the implant body has already been embedded in the oral cavity, the first data including three-dimensional data of the gingiva; a second acquisition module used to acquire second data of the oral cavity in a second state in which a scanning rod is attached to the implant body in the oral cavity, the second data including three-dimensional data of a mark point of the scanning rod when the scanning rod is attached to the implant body and three-dimensional data of a connection point, the connection point being a connection point between the scanning rod and the gingiva when the scanning rod is attached to the implant body, and the three-dimensional data of the connection point including three-dimensional data of the gingiva at the connection point and three-dimensional data of the mark point of the scanning rod at the connection point; a splicing module used to perform a splicing operation on the three-dimensional data of the gingiva and the three-dimensional data of the mark points of the scanning rod based on the three-dimensional data of the connection points, to obtain matching data between the gingiva and the scanning rod; A gingival data matching device characterized by:

11. A computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor is executed by the computer program, the gingival data matching method according to any one of claims 1 to 7 is realized.

1. A computer device characterized by:

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