Tooth scanning method and apparatus, device and medium

Abstract

A tooth scanning method and apparatus, a device, and a medium. The method comprises: in response to a three-dimensional scanning operation for a subgingival margin line, acquiring a target image comprising three-dimensional morphology and texture information of a tooth subgingival margin line (S102); performing feature extraction on the target image, to obtain distributed three-dimensional points of a margin line (S104); connecting each of the distributed three-dimensional points of the margin line into a margin line (S106); generating and displaying prompt information matching the morphology of the margin line, the prompt information being used to prompt continuation or stopping of the operation of performing the three-dimensional scanning on the subgingival margin line (S108). The tooth scanning method can improve the accuracy of subgingival margin extraction.

Description

A tooth scanning method, device, equipment and medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 27, 2023, with application number 202311264582.X, and invention name “A dental scanning method, device, equipment and medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the field of intelligent oral medicine technology, and in particular to a tooth scanning method, device, equipment and medium. Background Art

[0003] The margin line (commonly known as the shoulder) is a platform evenly ground near the gums where the restoration meets the natural tooth during tooth preparation. Margin line production requires high technical skills from both the doctor and the fabricator. Faulty margin production can result in an overhang, a loose or uneven fit between the restoration and the tooth, and can easily cause mechanical and bacterial irritation to the gums, compromising the restoration's effectiveness. Therefore, accurately obtaining the subgingival margin line is crucial for both restorative treatment and for ensuring a tight fit during tooth placement.

[0004] Summary of the Invention

[0005] In order to solve the above technical problems, the present disclosure provides a tooth scanning method, device, equipment and medium.

[0006] The present disclosure provides a tooth scanning method, comprising:

[0007] In response to the operation of performing three-dimensional scanning on the subgingival margin line, a target image including three-dimensional topography and texture information of the subgingival margin line of the tooth is acquired;

[0008] Extracting features from the target image to obtain edge line distribution three-dimensional points;

[0009] Connecting the edge line distribution three-dimensional points to form an edge line;

[0010] Prompt information matching the shape of the margin line is generated and displayed, where the prompt information is used to prompt whether to continue or stop the three-dimensional scanning operation performed on the subgingival margin line.

[0011] In one embodiment, extracting features from the target image to obtain edge line distribution three-dimensional points includes:

[0012] Extracting features of the three-dimensional morphology and texture information of the subgingival margin of the teeth in the target image to obtain a plurality of original three-dimensional points constituting the subgingival margin;

[0013] Obtaining the discrete curvature and normal direction of each of the original three-dimensional points;

[0014] Dividing the plurality of original three-dimensional points into different distribution areas according to the discrete curvature and the normal vector direction;

[0015] According to the adaptive search strategy, edge line distribution three-dimensional points are searched from the original three-dimensional points in each distribution area respectively.

[0016] In one embodiment, the method further comprises:

[0017] The edge line distribution three-dimensional points in different distribution areas are marked according to different display identifiers.

[0018] In one embodiment, connecting the edge line distribution three-dimensional points into an edge line includes:

[0019] As the three-dimensional scanning proceeds, local feature lines are extracted from each of the obtained edge line distribution three-dimensional points in real time, and the extracted feature lines are rendered and displayed as edge lines.

[0020] In one embodiment, generating and displaying prompt information matching the shape of the edge line includes:

[0021] Identifying whether the current shape of the edge line is a closed loop curve;

[0022] If not, generating and displaying a prompt message to continue the three-dimensional scanning;

[0023] If yes, a prompt message for stopping the three-dimensional scanning is generated and displayed.

[0024] In one embodiment, generating and displaying prompt information matching the shape of the edge line includes:

[0025] Prompt information matching the shape of the edge line is generated and displayed according to a preset reminder method; wherein the reminder method includes: voice broadcast, text display and / or display light.

[0026] The present disclosure also provides a dental scanning device, comprising:

[0027] An image acquisition module is configured to acquire a target image including three-dimensional topography and texture information of the subgingival margin of the tooth in response to an operation of performing three-dimensional scanning on the subgingival margin;

[0028] A feature extraction module is configured to extract features from the target image to obtain edge line distribution three-dimensional points;

[0029] a connection module configured to connect each of the edge line distribution three-dimensional points into an edge line;

[0030] The prompt module is configured to generate and display prompt information that matches the shape of the margin line, and the prompt information is used to prompt to continue or stop the operation of performing the three-dimensional scanning on the subgingival margin line.

[0031] In one embodiment, the feature extraction module is further configured to:

[0032] Extracting features of the three-dimensional morphology and texture information of the subgingival margin of the teeth in the target image to obtain a plurality of original three-dimensional points constituting the subgingival margin;

[0033] Obtaining the discrete curvature and normal direction of each of the original three-dimensional points;

[0034] Dividing the plurality of original three-dimensional points into different distribution areas according to the discrete curvature and the normal vector direction;

[0035] According to the adaptive search strategy, edge line distribution three-dimensional points are searched from the original three-dimensional points in each distribution area respectively.

[0036] The present disclosure further provides an electronic device, comprising:

[0037] A processor, a memory, and instructions stored in the memory and executable by the processor;

[0038] The processor reads the instructions from the memory and implements the above-mentioned tooth scanning method when executing the instructions.

[0039] The present disclosure also provides a computer-readable storage medium storing a computer program, which implements the above-mentioned tooth scanning method when executed by a processor.

[0040] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[0041] The tooth scanning method, apparatus, device and medium provided by the embodiments of the present disclosure include: in response to the operation of performing a three-dimensional scan on the subgingival margin line, obtaining a target image including the three-dimensional morphology and texture information of the tooth subgingival margin line; performing feature extraction on the target image to obtain three-dimensional points of the margin line distribution; connecting each three-dimensional point of the margin line distribution into a margin line; generating and displaying prompt information that matches the shape of the margin line, the prompt information being used to prompt to continue or stop the operation of performing a three-dimensional scan on the subgingival margin line. This technical solution can, through three-dimensional scanning, separate the gums at the scanning position and expose the three-dimensional morphology and texture information of the subgingival margin line, so that the target image can more clearly and completely display the surface three-dimensional morphology data of the teeth and gums; in this way, based on the target image, more accurate three-dimensional points of the margin line distribution can be obtained and connected into a margin line, thereby improving the accuracy of subgingival margin line extraction. In conjunction with the prompt information during the three-dimensional scanning process, the workload of the user in monitoring the scanning progress can be reduced and the intuitiveness of the scanning progress can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0043] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0044] FIG1 is a flow chart of a tooth scanning method according to an embodiment of the present disclosure;

[0045] FIG2 is a schematic diagram of an interface during a three-dimensional scanning process according to an embodiment of the present disclosure;

[0046] FIG3 is a schematic diagram of an edge line according to an embodiment of the present disclosure;

[0047] FIG4 is a schematic diagram of the edge line of the preparation according to an embodiment of the present disclosure;

[0048] FIG5 is a structural block diagram of a dental scanning device according to an embodiment of the present disclosure;

[0049] FIG6 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0051] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0052] Considering that accurately obtaining the subgingival margin line is crucial for tooth restoration treatment and the close fit of the margin line during tooth insertion, the present disclosure provides a tooth scanning method, device, equipment, and medium. For ease of understanding, the following describes the present disclosure in detail.

[0053] Figure 1 is a flow chart of a tooth scanning method provided by an embodiment of the present disclosure. The method can be executed by a tooth scanning device configured on a terminal, and the device can be implemented using software and / or hardware. As shown in Figure 1, the tooth scanning method may include the following steps.

[0054] S102 : In response to the operation of performing three-dimensional scanning on the subgingival margin line, a target image including three-dimensional topography and texture information of the subgingival margin line of the teeth is acquired.

[0055] In this embodiment, based on the operation of performing a three-dimensional scan of the subgingival margin, a gum retractor or activating the air blowing function of an intraoral three-dimensional scanner can be used to temporarily retract the free gingiva. This dynamic retraction of the gingiva fully exposes the subgingival margin. During the air blowing process, the gingiva moves in real time, exposing several layers of morphological information of the subgingival margin, such as three-dimensional morphology and texture information. In this case, the intraoral three-dimensional scanner is used to perform a real-time three-dimensional scan of the gingival area to obtain a target image that includes the three-dimensional morphology and texture information of the subgingival margin of the teeth. The target image obtained by gum blowing and scanning can more clearly and completely display the three-dimensional surface morphological data of the teeth and gums, which is beneficial for improving the accuracy of edge line extraction during the later design of the crown.

[0056] S104: Extract features from the target image to obtain edge line distribution three-dimensional points.

[0057] This embodiment may include the following contents:

[0058] Feature extraction is performed on the 3D topography and texture information of the teeth's subgingival margin in the target image to obtain multiple raw 3D points that make up the subgingival margin. In practice, the target image can be fed into a pre-trained feature extraction model. The model then extracts geometric features of the teeth, such as the 3D topography and texture information of the teeth's subgingival margin in the target image, to obtain multiple raw 3D points that make up the subgingival margin. Raw 3D points are equivalent to discrete points.

[0059] Obtain the discrete curvature and normal vector direction of each original 3D point; and divide the multiple original 3D points into different distribution areas according to the discrete curvature and normal vector direction.

[0060] Specifically, the original 3D points can be arranged sequentially according to their coordinate parameters to obtain a continuous discrete point sequence. The discrete point sequence can form a curve, and the discrete curvature and normal vector direction of each original 3D point can be calculated based on the discrete point sequence.

[0061] Edge line distribution 3D points can generally be identified by their discrete curvature and normal vector direction. These are used to describe the local geometric features of the curve formed by a sequence of discrete points. Furthermore, this embodiment can divide the original 3D points into different distribution regions based on their discrete curvature and normal vector direction. Within these distribution regions are distributed the optimal edge line distribution 3D points that can be connected to form edge lines. In one example, multiple original 3D points can be divided into different distribution regions based on the difference in discrete curvature and normal vector direction between the original 3D points. For multiple original 3D points in the same distribution region, the difference in discrete curvature is within a preset curvature difference range, and the difference in normal vector direction is within a preset direction difference range.

[0062] Next, according to the adaptive search strategy, the optimal edge line distribution 3D point is searched from the original 3D points in each distribution area. This embodiment uses the adaptive search strategy to search for the optimal edge line distribution 3D point in each distribution area, thereby improving the accuracy of the edge line distribution 3D point.

[0063] To facilitate real-time viewing of the determined 3D edge distribution points during scanning, this embodiment can mark the 3D edge distribution points in different distribution areas with different display identifiers. For example, using color as a display identifier, different colors can be assigned to each 3D edge distribution point on the software interface, marking each 3D edge distribution point with different colors. This embodiment uses display identifiers to mark the 3D edge distribution points, making them more intuitive, visual, and easier to distinguish.

[0064] S106: Connect the three-dimensional points of each edge line distribution to form an edge line.

[0065] As the 3D scan progresses, local feature lines are extracted from the resulting 3D points of the edge distribution in real time, and the extracted feature lines are rendered and displayed as edge lines. As shown in Figure 2, the interface diagram shows the rendered edge lines gradually displayed on the software cross-section view while the 3D scan is in progress, until the scan is complete and the edge lines are fully displayed. Figure 3 shows an example of a fully displayed edge line from a top-down perspective, with the edge line represented by a black curve.

[0066] S108: Generate and display prompt information that matches the shape of the margin line, where the prompt information is used to prompt to continue or stop the three-dimensional scanning operation for the subgingival margin line.

[0067] In one implementation, it is possible to identify whether the current shape of the edge line is a closed loop curve. If not, this indicates that the edge line has not yet been formed completely and further scanning is required to obtain new edge line distribution 3D points. In this case, a prompt message to continue 3D scanning is generated and displayed. If yes, this indicates that the edge line has been completely scanned and identified. In this case, a prompt message to stop 3D scanning is generated and displayed.

[0068] In this embodiment, prompt information matching the shape of the edge line can be generated and displayed according to a preset reminder method; wherein the reminder method includes: voice broadcast, text display and / or display light.

[0069] In the example of Figure 2, the prompt information is displayed in the form of a text reminder. In some other examples, when the current shape of the edge line is not a closed loop curve, the user is reminded through voice broadcast that the three-dimensional points distributed on the edge line are constantly increasing, and please continue the three-dimensional scanning; at the same time, the bright yellow display light can be used to remind the user that the three-dimensional scanning is not yet completed and needs to be continued. When the current shape of the edge line is a closed loop curve, the user is reminded through voice broadcast that the edge line has been scanned and identified completely, and the three-dimensional scanning operation can be stopped to complete the scan; and the display light is switched from yellow to green to remind the user that the three-dimensional scanning is complete.

[0070] This embodiment generates and displays prompt information that matches the shape of the edge line, which can remind the user to continue scanning or stop scanning in real time. The user does not need to monitor the scanning progress, thereby reducing the user's workload.

[0071] After a complete edge line is generated according to the above embodiment, a preparation edge line may be generated using the edge line as a geometric constraint and according to preset parameters such as depth; the preparation edge line is shown in FIG4 .

[0072] In summary, the tooth scanning method provided by the embodiment of the present disclosure first responds to the operation of performing three-dimensional scanning on the subgingival margin line to obtain a target image including the three-dimensional morphology and texture information of the subgingival margin line of the tooth; then performs feature extraction on the target image to obtain three-dimensional points of margin line distribution; connects each three-dimensional point of margin line distribution into a margin line; at the same time, generates and displays prompt information matching the morphology of the margin line, and the prompt information is used to prompt to continue or stop the operation of performing three-dimensional scanning on the subgingival margin line.

[0073] This technical solution uses 3D scanning to clear the gums at the scan location and expose the 3D topography and texture information of the subgingival margin. This allows the target image to clearly and completely display the 3D surface topography of the teeth and gums. This allows for more accurate 3D distribution of margin points based on the target image, which can be connected to form margin lines, improving the accuracy of subgingival margin extraction. Prompt information during the 3D scanning process reduces the user's workload in monitoring the scanning progress, making the scanning process more intuitive.

[0074] Figure 5 is a block diagram of a dental scanning device provided in an embodiment of the present disclosure, which can be used to implement the dental scanning method provided in the above embodiment. As shown in Figure 5, the dental scanning device may include the following modules.

[0075] The image acquisition module 210 is configured to acquire a target image including three-dimensional topography and texture information of the subgingival margin of the tooth in response to a three-dimensional scanning operation on the subgingival margin;

[0076] The feature extraction module 220 is configured to extract features from the target image to obtain edge line distribution three-dimensional points;

[0077] A connection module 230 is configured to connect the edge line distribution three-dimensional points into an edge line;

[0078] The prompt module 240 is configured to generate and display prompt information that matches the shape of the margin line, and the prompt information is used to prompt to continue or stop the operation of performing the three-dimensional scanning on the subgingival margin line.

[0079] In one embodiment, the feature extraction module 220 is further configured to:

[0080] Extracting features of the three-dimensional morphology and texture information of the subgingival margin of the teeth in the target image to obtain a plurality of original three-dimensional points constituting the subgingival margin;

[0081] Obtaining the discrete curvature and normal direction of each of the original three-dimensional points;

[0082] Dividing the plurality of original three-dimensional points into different distribution areas according to the discrete curvature and the normal vector direction;

[0083] According to the adaptive search strategy, edge line distribution three-dimensional points are searched from the original three-dimensional points in each distribution area respectively.

[0084] The device provided in this embodiment has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0085] FIG6 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure. As shown in FIG6 , the electronic device 300 includes one or more processors 301 and a memory 302 .

[0086] The processor 301 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 300 to perform desired functions.

[0087] The memory 302 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 301 may execute the program instructions to implement the dental scanning method of the embodiment of the present disclosure described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0088] In one example, the electronic device 300 may further include an input device 303 and an output device 304 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0089] In addition, the input device 303 may also include, for example, a keyboard, a mouse, and the like.

[0090] The output device 304 can output various information to the outside, including determined distance information, direction information, etc. The output device 304 can include, for example, a display, a speaker, a printer, a communication network and its connected remote output device, etc.

[0091] Of course, for simplicity, FIG6 only shows some of the components related to the present disclosure in the electronic device 300, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device 300 may further include any other appropriate components according to specific application scenarios.

[0092] Furthermore, this embodiment also provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program implements the above-mentioned tooth scanning method when executed by a processor.

[0093] The embodiments of the present disclosure provide a computer program product of a dental scanning method, device, electronic device, and medium, including a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. For specific implementation, please refer to the method embodiments and will not be repeated here.

[0094] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0095] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein. Industrial Applicability

[0096] The dental scanning method disclosed herein uses 3D scanning to clear the gums at the scanning location and expose the 3D topography and texture information of the subgingival margin. This allows the target image to clearly and completely display the 3D surface topography of the teeth and gums. This allows for more accurate 3D distribution of margin points based on the target image, which can be connected to form margin lines, improving the accuracy of subgingival margin extraction. The inclusion of prompts during the 3D scanning process reduces the user's workload in monitoring scanning progress, making the scanning process more intuitive and highly practical for industrial use.

Claims

1. A tooth scanning method, wherein: include: In response to the operation of performing three-dimensional scanning on the subgingival margin line, a target image including three-dimensional topography and texture information of the subgingival margin line of the tooth is acquired; Extracting features of the target image to obtain edge line distribution three-dimensional points; Connecting each of the edge line distribution three-dimensional points into an edge line; Prompt information matching the shape of the margin line is generated and displayed, and the prompt information is used to prompt to continue or stop the three-dimensional scanning operation performed on the subgingival margin line.

2. The method according to claim 1, wherein: The step of extracting features from the target image to obtain edge line distribution three-dimensional points includes: Extracting features of the three-dimensional morphology and texture information of the subgingival margin line of the teeth in the target image to obtain a plurality of original three-dimensional points constituting the subgingival margin line; Obtaining the discrete curvature and normal vector direction of each of the original three-dimensional points; Dividing the plurality of original three-dimensional points into different distribution areas according to the discrete curvature and the normal vector direction; According to the adaptive search strategy, edge line distribution three-dimensional points are searched from the original three-dimensional points of each distribution area respectively.

3. The method according to claim 2, wherein: The method further comprises: The edge line distribution three-dimensional points in different distribution areas are marked according to different display identifiers.

4. The method according to claim 1, wherein: The step of connecting the edge line distribution three-dimensional points into an edge line comprises: As the three-dimensional scanning is performed, local feature lines are extracted from each of the obtained edge line distribution three-dimensional points in real time, and the extracted feature lines are rendered and displayed as edge lines.

5. The method according to claim 1, wherein: The generating and displaying prompt information matching the shape of the edge line includes: Identify whether the current shape of the edge line is a closed loop curve; If not, generating and displaying a prompt message for continuing the three-dimensional scanning; If yes, a prompt message for stopping the three-dimensional scanning is generated and displayed.

6. The method according to claim 1 or 5, wherein: The generating and displaying prompt information matching the shape of the edge line includes: Prompt information matching the shape of the edge line is generated and displayed according to a preset reminder method; wherein the reminder method includes: voice broadcast, text display and / or display light.

7. A dental scanning device, wherein: include: An image acquisition module is configured to acquire a target image including three-dimensional topography and texture information of the subgingival margin line of the tooth in response to an operation of performing three-dimensional scanning on the subgingival margin line; A feature extraction module is configured to extract features from the target image to obtain edge line distribution three-dimensional points; A connection module, configured to connect each of the edge line distribution three-dimensional points into an edge line; The prompt module is configured to generate and display prompt information matching the shape of the margin line, wherein the prompt information is used to prompt to continue or stop the three-dimensional scanning operation performed on the subgingival margin line.

8. The device according to claim 7, wherein: The feature extraction module is further configured to: Extracting features of the three-dimensional morphology and texture information of the subgingival margin line of the teeth in the target image to obtain a plurality of original three-dimensional points constituting the subgingival margin line; Obtaining the discrete curvature and normal vector direction of each of the original three-dimensional points; Dividing the plurality of original three-dimensional points into different distribution areas according to the discrete curvature and the normal vector direction; According to the adaptive search strategy, edge line distribution three-dimensional points are searched from the original three-dimensional points of each distribution area respectively.

9. An electronic device, wherein: The electronic device comprises: A processor, a memory, and instructions stored in the memory and executable by the processor; The processor reads the instructions from the memory, and implements the method described in any one of claims 1 to 6 when executing the instructions.

10. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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