Virtual articulator transfer method and apparatus, device, and storage medium

Abstract

The embodiments of the present disclosure relate to a virtual articulator transfer method and apparatus, a device, and a storage medium. The method comprises: acquiring first dental jaw data and facial static data, wherein the first dental jaw data is obtained by using an oral scanner to perform three-dimensional scanning on the interior of the mouth of a user, and the facial static data is obtained by using a face scanner to perform three-dimensional scanning on the face of the user; on the basis of the first dental jaw data and the facial static data, determining a jaw bone motion track and occlusion relation data; and on the basis of the facial static data, determining a motion hinge shaft. According to the embodiments of the present disclosure, the safety and convenience of virtual articulator transfer can be improved.

Description

Virtual jaw frame transfer method, device, equipment and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 1, 2023, with application number 202311444943.9 and invention name “Virtual jaw frame transfer method, device, equipment and storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present disclosure relate to the field of computer technology, and in particular to a virtual jaw frame transfer method, apparatus, device, and storage medium. Background Art

[0003] Virtual jaw transfer technology, part of digital dentistry, is designed to transfer a patient's oral data to a virtual jaw for analysis, simulation, and design. This technology provides functions such as simulating tooth movement, adjusting occlusion, and designing restorations. This enables dentists and technicians to plan and implement oral treatment more accurately and efficiently, helping to improve the predictability and satisfaction of treatment outcomes. Furthermore, virtual jaw transfer technology offers greater possibilities for dental research and education.

[0004] However, during the virtual jaw transfer process, cone beam CT (CBCT) is required to acquire 3D morphological data of the teeth and jaws. Based on this 3D morphological data, the jaw motion trajectory, occlusal relationship data, and motion hinge axis data are then determined and transferred to the virtual jaw. However, CBCT scans expose patients to radiation, which can affect their health. Furthermore, CBCT requires the patient to take a contrast agent to enhance image clarity, making the procedure more cumbersome. Technical issues

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the embodiments of the present disclosure provide a virtual jaw frame transfer method, device, equipment and storage medium. Technical Solutions

[0006] A first aspect of an embodiment of the present disclosure provides a virtual jaw articulation transfer method, the method comprising:

[0007] Acquire first dental and jaw data, and facial static data, wherein the first dental and jaw data is obtained by performing a three-dimensional scan of the user's mouth with an oral scanner, and the facial static data is obtained by performing a three-dimensional scan of the user's face with a face scanner;

[0008] Determine jaw movement trajectory and occlusal relationship data based on the first jaw data and facial static data;

[0009] The motion hinge axis is determined based on the static facial data.

[0010] A second aspect of an embodiment of the present disclosure provides a virtual jaw articulation transfer device, the device comprising:

[0011] A first acquisition module is configured to acquire first dental and jaw data and facial static data, wherein the first dental and jaw data is obtained by performing a three-dimensional scan of the user's mouth using an oral scanning scanner, and the facial static data is obtained by performing a three-dimensional scan of the user's face using a face scanning scanner;

[0012] A first determining module is configured to determine a jaw movement trajectory and occlusal relationship data based on the first tooth-jaw data and the facial static data;

[0013] The second determination module is configured to determine the motion hinge axis based on the facial static data.

[0014] A third aspect of an embodiment of the present disclosure provides an electronic device, which includes: a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method of the first aspect above.

[0015] A fourth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of the first aspect described above can be implemented. Beneficial effects

[0016] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[0017] The disclosed embodiment can obtain first jaw data and facial static data, wherein the first jaw data is obtained by performing a three-dimensional scan of the user's mouth using an oral scanner, and the facial static data is obtained by performing a three-dimensional scan of the user's face using a face scanner; the jaw motion trajectory and occlusal relationship data are determined based on the first jaw data and the facial static data; and the motion hinge axis is determined based on the facial static data. The above technical solution can be used to obtain the first jaw data by performing a three-dimensional scan of the user's mouth using an oral scanner, and to obtain facial static data by performing a three-dimensional scan of the user's face using a face scanner, thereby determining the jaw motion trajectory, occlusal relationship data, and motion hinge axis, without the need for performing CBCT on the user as in the prior art. This avoids exposing the user to radiation and eliminates the need for the user to take contrast agents, thereby improving the safety and convenience of virtual jaw frame transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] 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.

[0020] FIG1 shows a flow chart of a virtual jaw articulation transfer method provided by an embodiment of the present disclosure;

[0021] FIG2 shows a schematic diagram of a first dental model provided by an embodiment of the present disclosure;

[0022] FIG3 shows a schematic diagram of setting a first marker point and a second marker point provided by an embodiment of the present disclosure;

[0023] FIG4 shows a schematic diagram of aligning first dental and jaw data, facial static data, and motion trajectory to the same coordinate system according to an embodiment of the present disclosure;

[0024] FIG5 is a schematic diagram showing a flow chart of another virtual jaw articulation transfer method provided by an embodiment of the present disclosure;

[0025] FIG6 shows a schematic diagram of setting a third marker point provided by an embodiment of the present disclosure;

[0026] FIG7 shows a schematic diagram of a motion hinge axis provided by an embodiment of the present disclosure;

[0027] FIG8 shows a schematic diagram of facial static data, occlusal relationship data, and motion hinge axis provided by an embodiment of the present disclosure;

[0028] FIG9 shows a schematic structural diagram of a virtual jaw articulation transfer device provided by an embodiment of the present disclosure;

[0029] FIG10 shows a schematic structural diagram of an electronic device in an embodiment of the present disclosure. Modes for Carrying Out the Invention

[0030] 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.

[0031] 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.

[0032] FIG1 shows a flowchart of a virtual jaw transfer method provided by an embodiment of the present disclosure. The method can be performed by an electronic device. The electronic device can be exemplarily understood as a device such as a 3D scanner, a mobile phone, a tablet computer, a laptop computer, a desktop computer, a smart TV, etc. As shown in FIG1 , the method provided by this embodiment includes the following steps:

[0033] S110, obtaining first dental and maxillary data, and facial static data, wherein the first dental and maxillary data is obtained by performing a three-dimensional scan of the user's mouth with an oral scanner, and the facial static data is obtained by performing a three-dimensional scan of the user's face with a face scanner.

[0034] In an embodiment of the present disclosure, an oral scanning scanner can be used to perform a three-dimensional scan of the user's mouth to obtain first dental and maxillary data, and a facial scanning scanner can be used to perform a three-dimensional scan of the user's face to obtain static facial data. In this way, the electronic device can receive the first dental and maxillary data sent by the oral scanning scanner and the static facial data sent by the facial scanner.

[0035] Specifically, the oral scanner and the facial scanner may be any scanner that does not require X-rays to pass through the human body, for example, a laser scanner, a structured light scanner, etc., but is not limited thereto.

[0036] Specifically, the first dental and jaw data is a first dental and jaw model, which can reflect the morphology of the user's teeth. The first dental and jaw model can be expressed in the form of a point cloud, a mesh, etc., but is not limited thereto. For example, FIG2 shows a schematic diagram of a first dental and jaw model provided in an embodiment of the present disclosure.

[0037] Specifically, before performing a 3D facial scan of the user's face using a face scanner, the user's lips can be opened using a tool such as a mouth expander to fully expose the user's dental area. The face scanner then performs a 3D scan of the user's face to obtain static facial data. This static facial data is referred to as a facial model, which reflects the static morphology of the user's face. The facial model can be presented in various formats, including, but not limited to, point clouds and meshes.

[0038] S120 , determining the jaw movement trajectory and occlusal relationship data based on the first tooth-jaw data and the facial static data.

[0039] In the embodiment of the present disclosure, considering the limitations of the scanning window range of the oral scanner and the depth of insertion into the user's mouth, it is impossible to track large-scale mandibular movements and it is difficult to directly obtain occlusal relationship data. Therefore, the embodiment of the present disclosure only obtains the first dental and maxillary data through the oral scanner, rather than directly tracking the jaw movement trajectory and occlusal relationship data through the oral scanner. The face scanner is not suitable for obtaining the user's complete first dental and maxillary data, but the face scanner can accurately obtain the user's facial static data. Therefore, the embodiment of the present disclosure determines the jaw movement trajectory and occlusal relationship data through the first dental and maxillary data and the facial static data.

[0040] Specifically, the jaw movement trajectory is the movement trajectory of the user's mandible, which may include, for example, the movement trajectory of the mandible moving left, right, protruding, opening and closing, etc., but is not limited thereto.

[0041] Specifically, the occlusal relationship data refers to the dental model corresponding to the user's upper and lower teeth being in an occlusal state.

[0042] In some embodiments, when performing a three-dimensional scan of a user's face, a first marker is set on the user's upper teeth and a second marker is set on the user's lower teeth. In this case, S120 may include:

[0043] S121. During the mandibular movement, obtain first position data of a first mark point and second position data of a second mark point, and determine a movement trajectory of the second mark point relative to the first mark point based on the first position data and the second position data.

[0044] In the embodiment of the present disclosure, since the maxilla remains stationary during mandibular movement and the mandible moves relative to the maxilla, the second marker point on the mandibular teeth moves relative to the first marker point on the maxillary teeth, and therefore the motion trajectory of the second marker point is the motion trajectory of the second marker point relative to the first marker point. Since the first dental and jaw data, the facial static data, and the motion trajectory are aligned to the same coordinate system after splicing, the motion trajectory of the second marker point after splicing can represent the relative movement of the mandibular model in the first dental and jaw data based on the maxillary model. In other words, the motion trajectory of the second marker point after splicing is the motion trajectory of the jaw.

[0045] Specifically, the number and shape of the first marking points, on which tooth each first marking point is specifically set, the number and shape of the second markings, and on which tooth each first marking point is specifically set, can be set by those skilled in the art according to actual conditions and are not limited here.

[0046] For example, Figure 3 shows a schematic diagram of the arrangement of first and second marker points according to an embodiment of the present disclosure. As shown in Figure 3, before performing a three-dimensional facial scan of a user's face using a facial scanner, the user's lips can be opened using a tool such as a mouth expander, and first and second marker points A and B can be attached to the teeth. A static facial scanner can then be used to perform a three-dimensional scan of the user's face to obtain static facial data.

[0047] Specifically, the first position data includes the three-dimensional coordinates of the first marker point, and the second position data includes the three-dimensional coordinates of the second marker.

[0048] Specifically, during the movement of the mandible, a facial scanner is used to perform a three-dimensional scan of the first marker point and the second marker point to obtain the three-dimensional coordinates of the first marker point and the second marker point in real time. In this way, the electronic device can receive the three-dimensional coordinates of the first marker point and the second marker point, and then subtract the three-dimensional coordinates of the first marker point and the second marker point at the same time to obtain the movement trajectory of the second marker point.

[0049] S122. Splice the first dental and maxillary data, the facial static data, and the motion trajectory to obtain a rotation matrix and a translation matrix, and align the first dental and maxillary data, the facial static data, and the motion trajectory to the same coordinate system based on the rotation matrix and the translation matrix to obtain the mandibular motion trajectory.

[0050] Specifically, the splicing process involves determining the RT (i.e., the rotation matrix and translation matrix) required to align the first jaw data, the facial static data, and the motion trajectory to the same coordinate system. Applying the RT to the first jaw data aligns the first jaw data, the facial static data, and the motion trajectory to the same coordinate system, thereby obtaining the jaw motion trajectory. It should be noted that the splicing process can be performed using methods such as registration, but is not limited to this.

[0051] For example, FIG4 shows a schematic diagram of an embodiment of the present disclosure providing a method of aligning the first jaw data, the facial static data, and the motion trajectory to the same coordinate system. As shown in FIG4 , after aligning the first jaw data, the facial static data, and the motion trajectory to the same coordinate system, the upper jaw model in the first jaw data (i.e., the first jaw model) is aligned with the upper jaw model in the facial static data (i.e., the facial model), and the lower jaw model in the first jaw data is aligned with the lower jaw model in the facial static data. The motion trajectory is also in the same coordinate system as the first jaw data and the facial static data. However, for the convenience of drawing, the motion trajectory is not shown in FIG4 .

[0052] S123. Determine occlusal relationship data based on the first tooth-jaw data and the jaw movement trajectory.

[0053] Specifically, based on the jaw movement trajectory, the three-dimensional coordinates of the second landmark point when the upper and lower teeth are in an occluded state (referred to as the target three-dimensional coordinates) are determined, and the mandibular model in the first jaw data and the mandibular model in the facial static data are moved synchronously to move the second landmark point in the facial static data to the target three-dimensional coordinates. At this time, the maxillary model and the mandibular model in the first jaw data are in an occluded state, thereby obtaining the occlusion relationship data.

[0054] In other embodiments, S120 may include: inputting the first dental and jaw data and the facial static data into a trained first neural network model, and obtaining the jaw movement trajectory and occlusal relationship data output by the first neural network model.

[0055] It's understandable that compared to the three-dimensional morphological data of teeth and bones obtained through CBCT, the primary dental and jaw data and static facial data obtained using oral and facial scanners are more accurate, reducing errors introduced during the splicing process and improving the accuracy of jaw transfer. Furthermore, by setting primary and secondary landmarks on the teeth to assist in capturing the jaw's motion trajectory, tracking the jaw's motion trajectory is simple, convenient, and easy to operate.

[0056] S130: Determine a motion hinge axis based on the static facial data.

[0057] Specifically, when opening and closing the mouth, the mandibular joint rotates around an axis, which is the motion hinge axis.

[0058] In some embodiments, S130 may include: identifying the condyle point of the user from the facial static data to obtain the three-dimensional coordinates of the condyle point; and determining the motion hinge axis based on the three-dimensional coordinates of the condyle point.

[0059] Specifically, AI or other methods may be used to identify the user's condylar point from static facial data, but the present invention is not limited thereto.

[0060] It is understandable that the applicant has found through research that the motion hinge axis usually passes through the condyle point. In other words, the motion hinge axis is the straight line where the two condyle points on both sides of the face are located. Therefore, the condyle point can be determined first, and then the motion hinge axis can be accurately determined.

[0061] In other embodiments, S130 may include: inputting facial static data into a trained second neural network model, and obtaining a motion hinge axis output by the second neural network model.

[0062] It should be noted that virtual jaw arthroscopic software is a tool used to simulate and analyze tooth movement and occlusion. It provides functions such as simulating tooth movement, adjusting occlusion, and designing restoration plans, helping dentists and technicians more accurately plan and implement restorations, corrections, or implants. Virtual jaw arthroscopic transfers can be achieved by inputting primary jaw data, static facial data, jaw movement trajectory, occlusion data, and the motion hinge axis into the virtual jaw arthroscopic software.

[0063] The disclosed embodiment can perform a three-dimensional scan of the user's mouth using an oral scanning scanner to obtain first dental and maxillary data, and perform a three-dimensional scan of the user's face using a facial scanning scanner to obtain facial static data, thereby determining the jaw movement trajectory, occlusal relationship data, and motion hinge axis without the need to perform CBCT on the user as in the prior art. This avoids exposing the user to radiation and eliminates the need for the user to take contrast agents, thereby improving the safety and convenience of virtual jaw frame transfer.

[0064] Figure 5 shows a flow chart of another virtual jaw articulation transfer method provided by an embodiment of the present disclosure. The present embodiment is optimized based on the above embodiment, and the present embodiment can be combined with various optional solutions in one or more of the above embodiments.

[0065] As shown in FIG5 , the virtual jaw frame transfer method may include the following steps.

[0066] S510. Obtain first dental and maxillary data, and facial static data, wherein the first dental and maxillary data is obtained by performing a three-dimensional scan of the user's mouth with an oral scanner, and the facial static data is obtained by performing a three-dimensional scan of the user's face with a face scanner. When performing a three-dimensional scan of the user's face, a third landmark point is set on the user's face.

[0067] Specifically, the similarities between S510 and S110 are not repeated here.

[0068] In some embodiments, the third landmark point is set on the condyle point of the user.

[0069] For example, Figure 6 shows a schematic diagram of setting a third marker point according to an embodiment of the present disclosure. As shown in Figure 6, before performing a three-dimensional facial scan of a user's face using a facial scanner, the user's lips can be opened using a tool such as a mouth expander, affixed with a first marker point and a second marker point to the teeth, and affixed with a third marker point to the user's condyle. Then, a static facial scanner is used to perform a three-dimensional scan of the user's face to obtain static facial data.

[0070] In other embodiments, the third landmark point is set on the external auditory canal through the earplug.

[0071] Similarly, before using a facial scanner to perform a three-dimensional scan of the user's face, you can use a tool such as a mouth expander to open the user's lips, stick a first marker point and a second marker point on the teeth, and insert an earplug with a third marker point into the user's external auditory canal. Then, use a facial static scanner to perform a three-dimensional scan of the user's face to obtain facial static data.

[0072] S520: Determine the jaw movement trajectory and occlusal relationship data based on the first tooth-jaw data and the facial static data.

[0073] Specifically, S520 is similar to S120 and will not be described in detail here.

[0074] S530: Identify a third landmark point from the facial static data and obtain the three-dimensional coordinates of the third landmark point.

[0075] Specifically, the third marker point may be identified in any manner known to those skilled in the art, which is not limited here.

[0076] S540: Determine the three-dimensional coordinates of the condyle point based on the relative positional relationship between the third marker point and the condyle point of the user, and the three-dimensional coordinates of the third marker point.

[0077] Specifically, the relative position relationship is used to characterize the position of the condyle point relative to the third landmark point.

[0078] In some embodiments, the third marker point is set on the condyle of the user. In this case, the relative position relationship is that the third marker point and the condyle of the user coincide with each other, and accordingly, the three-dimensional coordinates of the third marker point are the three-dimensional coordinates of the condyle.

[0079] It can be understood that by setting the third marker point on the user's condyle point, the three-dimensional coordinates of the condyle point are obtained when the three-dimensional coordinates of the third marker point are obtained, making the method of obtaining the three-dimensional coordinates of the condyle point simple and quick.

[0080] In other embodiments, the third landmark is positioned on the external auditory canal via an earplug. In this case, the relative positional relationship is the offset value of the three-dimensional coordinates of the condyle relative to the three-dimensional coordinates of the third landmark. Accordingly, the three-dimensional coordinates of the condyle can be determined based on the offset value and the three-dimensional coordinates of the third landmark.

[0081] It can be understood that by setting the third marker point on the external auditory canal through the earplug, the third marker point on the user's face can be set by inserting the earplug into the external auditory canal, and the third marker point can be removed by removing the earplug from the external auditory canal, making the setting and removal of the third marker point simple and quick, and the earplug with the third marker point can be reused, which is conducive to reducing costs.

[0082] S550. Determine the motion hinge axis based on the three-dimensional coordinates of the condyle point.

[0083] In some embodiments, S550 may include: determining a straight line on which the condyle point is located based on the three-dimensional coordinates of the condyle point, and using the straight line as the motion hinge axis.

[0084] For example, Figure 7 shows a schematic diagram of a kinematic hinge axis according to an embodiment of the present disclosure. Figure 8 shows a schematic diagram of facial static data, occlusal relationship data, and a kinematic hinge axis according to an embodiment of the present disclosure. As shown in Figures 7 and 8, the kinematic hinge axis Z can be obtained by connecting the three-dimensional coordinates of the two condylar points KT.

[0085] The embodiment of the present disclosure can identify a third marker point from static facial data, obtain the three-dimensional coordinates of the third marker point, and then determine the three-dimensional coordinates of the condyle point based on the relative position relationship between the third marker point and the user's condyle point, and the three-dimensional coordinates of the third marker point, thereby determining the motion hinge axis based on the three-dimensional coordinates of the condyle point. In this way, the condyle point can be located simply, quickly and accurately, which is conducive to efficiently and accurately determining the motion hinge axis.

[0086] In another embodiment of the present disclosure, determining the motion hinge axis based on the three-dimensional coordinates of the condyle point may include: adjusting the three-dimensional coordinates of the condyle point in response to the user's adjustment operation on the condyle point; and determining the motion hinge axis based on the adjusted three-dimensional coordinates of the condyle point.

[0087] Specifically, the adjustment operation is used to adjust the position of the condyle point. The adjustment operation may include, for example, dragging the condyle point via a mouse, a touch screen, etc., but is not limited thereto.

[0088] Specifically, the straight line where the condyle point is located is determined based on the adjusted three-dimensional coordinates of the condyle point, and the straight line is used as the motion hinge axis.

[0089] It is understandable that by fine-tuning the condylar point to make it more in line with user requirements, it is helpful to make the motion hinge axis determined based on the three-dimensional coordinates of the adjusted condylar point more in line with user needs.

[0090] It is also understandable that the existing technology of obtaining jaw movement trajectory, occlusal relationship data, and motion hinge axis data based on CBCT has the following problems: when performing CBCT scanning on patients, the patients will be exposed to radiation, which affects their physical health; the patients need to take contrast agents to enhance the clarity of the image, which is cumbersome to operate; the purchase and maintenance costs of CBCT equipment are high; in some cases, CT scanning may produce blurred images; and the accuracy is low. However, in the embodiment of the present disclosure, the first jaw data and facial static data are obtained by scanning with an oral scanner and a facial scanner, and the motion hinge axis is obtained by scanning with a third landmark point. The acquisition is convenient, does not harm the human body, and has a low acquisition cost and high acquisition efficiency. In addition, due to the high accuracy of the first jaw data and facial static data, the error caused by the splicing process can be reduced, and the accuracy of the jaw frame transfer can be improved.

[0091] FIG9 shows a schematic diagram of the structure of a virtual jaw frame transfer device provided by an embodiment of the present disclosure. The virtual jaw frame transfer device can be understood as the above-mentioned electronic device or a part of the functional modules in the above-mentioned electronic device. As shown in FIG9 , the virtual jaw frame transfer device 900 includes:

[0092] A first acquisition module 910 is configured to acquire first dental and jaw data, and facial static data, wherein the first dental and jaw data is obtained by performing a three-dimensional scan of the user's mouth using an oral scanner, and the facial static data is obtained by performing a three-dimensional scan of the user's face using a face scanner;

[0093] A first determination module 920 is configured to determine jaw movement trajectory and occlusal relationship data based on the first dental and maxillary data and the facial static data;

[0094] The second determining module 930 is configured to determine a motion hinge axis based on the facial static data.

[0095] In another embodiment of the present disclosure, when performing a three-dimensional scan on the user's face, a first marker point is set on the user's maxillary teeth and a second marker point is set on the mandibular teeth;

[0096] The first determining module 920 may include:

[0097] a first acquisition submodule configured to acquire first position data of the first mark point and second position data of the second mark point during the mandibular movement, and determine a motion trajectory of the second mark point relative to the first mark point based on the first position data and the second position data;

[0098] a splicing submodule configured to splice the first dental and maxillary data, the facial static data, and the motion trajectory to obtain a rotation matrix and a translation matrix, and align the first dental and maxillary data, the facial static data, and the motion trajectory to the same coordinate system based on the rotation matrix and the translation matrix to obtain the jaw motion trajectory;

[0099] The first determining submodule is configured to determine the occlusal relationship data based on the first tooth-jaw data and the jaw movement trajectory.

[0100] In yet another embodiment of the present disclosure, when performing a three-dimensional scan on the user's face, a third marker point is set on the user's face;

[0101] The second determining module 930 may include:

[0102] a first recognition submodule, configured to recognize the third marker point from the facial static data and obtain the three-dimensional coordinates of the third marker point;

[0103] a second determining submodule, configured to determine the three-dimensional coordinates of the condyle point based on the relative positional relationship between the third marker point and the condyle point of the user, and the three-dimensional coordinates of the third marker point;

[0104] The third determining submodule is configured to determine the motion hinge axis based on the three-dimensional coordinates of the condyle point.

[0105] In yet another embodiment of the present disclosure, the third landmark point is set on the condyle point of the user.

[0106] In another embodiment of the present disclosure, the third landmark point is set on the external auditory canal through an earplug.

[0107] In yet another embodiment of the present disclosure, the second determining module 930 may include:

[0108] a second recognition submodule, configured to identify a condyle point of the user from the facial static data and obtain a three-dimensional coordinate of the condyle point;

[0109] The fourth determining submodule is configured to determine the motion hinge axis based on the three-dimensional coordinates of the condyle point.

[0110] In another embodiment of the present disclosure, determining the motion hinge axis based on the three-dimensional coordinates of the condyle point specifically includes: adjusting the three-dimensional coordinates of the condyle point in response to the user's adjustment operation on the condyle point; and determining the motion hinge axis based on the three-dimensional coordinates of the condyle point after the adjustment.

[0111] The device provided in this embodiment can execute the method of any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.

[0112] An embodiment of the present disclosure further provides an electronic device, comprising: a memory storing a computer program; and a processor configured to execute the computer program. When the computer program is executed by the processor, the method of any of the above embodiments can be implemented.

[0113] For example, FIG10 shows a schematic diagram of the structure of an electronic device in an embodiment of the present disclosure. Specific reference is made below to FIG10 , which shows a schematic diagram of the structure of an electronic device 1000 suitable for implementing an embodiment of the present disclosure. The electronic device 1000 in the embodiment of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. The electronic device shown in FIG10 is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present disclosure.

[0114] As shown in FIG10 , the electronic device 1000 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1008 into a random access memory (RAM) 1003. Various programs and data required for the operation of the electronic device 1000 are also stored in the RAM 1003. The processing device 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0115] Typically, the following devices may be connected to the I / O interface 1005: an input device 1006 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 1007 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1008 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the electronic device 1000 to communicate with other devices wirelessly or by wire to exchange data. Although FIG. 10 illustrates the electronic device 1000 with various devices, it should be understood that not all of the devices shown are required to be implemented or present. More or fewer devices may alternatively be implemented or present.

[0116] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 1009, or installed from the storage device 1008, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0117] It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0118] In some embodiments, the client and server can communicate using any currently known or later developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or later developed network.

[0119] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0120] The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the electronic device, the electronic device is enabled to: obtain first dental and maxillary data, and facial static data, wherein the first dental and maxillary data is obtained by performing a three-dimensional scan of the user's mouth by an oral scanning scanner, and the facial static data is obtained by performing a three-dimensional scan of the user's face by a facial scanning scanner; determine the jaw movement trajectory and occlusion relationship data based on the first dental and maxillary data and the facial static data; and determine the movement hinge axis based on the facial static data.

[0121] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0122] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0123] The units involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a unit does not necessarily limit the unit itself.

[0124] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0125] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0126] The embodiments of the present disclosure further provide a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0127] 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.

[0128] 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

[0129] The solution provided in the embodiment of the present application can determine the motion hinge axis based on static facial data, thereby improving the safety and convenience of virtual jaw frame transfer. The technical solution provided in the embodiment of the present application can be applied to a three-dimensional scanner to obtain first jaw data and static facial data, wherein the first jaw data is obtained by performing a three-dimensional scan of the user's mouth with an oral scanner, and the static facial data is obtained by performing a three-dimensional scan of the user's face with a face scanner; the jaw motion trajectory and occlusal relationship data are determined based on the first jaw data and the static facial data; and the motion hinge axis is determined based on the static facial data. By adopting the above technical solution, the first jaw data can be obtained by performing a three-dimensional scan of the user's mouth with an oral scanner, and the static facial data can be obtained by performing a three-dimensional scan of the user's face with a face scanner, thereby determining the jaw motion trajectory, occlusal relationship data, and the motion hinge axis, without the need to perform CBCT on the user as in the prior art. In this way, the user can be avoided from being exposed to radiation and does not need to take contrast agents, thereby improving the safety and convenience of virtual jaw frame transfer.

Claims

1. A virtual jaw frame transfer method, wherein: include: Acquire first tooth and jaw data, and facial static data, wherein the first tooth and jaw data is obtained by performing a three-dimensional scan of the user's mouth with an oral scanning scanner, and the facial static data is obtained by performing a three-dimensional scan of the user's face with a face scanning scanner; Determine jaw movement trajectory and occlusal relationship data based on the first tooth-jaw data and the facial static data; A motion hinge axis is determined based on the facial static data.

2. The method according to claim 1, wherein: When performing a three-dimensional scan on the user's face, a first marker point is set on the user's maxillary teeth and a second marker point is set on the mandibular teeth; wherein determining the jaw movement trajectory and the occlusal relationship data based on the first tooth and jaw data and the facial static data includes: During the mandibular movement, obtaining first position data of the first mark point and second position data of the second mark point, and determining a movement trajectory of the second mark point relative to the first mark point based on the first position data and the second position data; The first tooth-jaw data, the facial static data, and the motion trajectory are spliced ​​to obtain a rotation matrix and a translation matrix, and the first tooth-jaw data, the facial static data, and the motion trajectory are aligned to the same coordinate system based on the rotation matrix and the translation matrix to obtain the jaw motion trajectory; The occlusal relationship data is determined based on the first tooth-jaw data and the jaw movement trajectory.

3. The method according to claim 1, wherein: When performing a three-dimensional scan on the user's face, a third marker point is set on the user's face; Wherein, determining the motion hinge axis based on the facial static data includes: Identify the third marker point from the facial static data to obtain the three-dimensional coordinates of the third marker point; Determining the three-dimensional coordinates of the condyle point based on the relative position relationship between the third marker point and the condyle point of the user, and the three-dimensional coordinates of the third marker point; The motion hinge axis is determined based on the three-dimensional coordinates of the condylar point.

4. The method according to claim 3, wherein: The third landmark point is set on the condyle point of the user.

5. The method according to claim 3, wherein: The third landmark point is set on the external auditory canal through the earplug.

6. The method according to claim 1, wherein: The determining of the motion hinge axis based on the facial static data comprises: Identify the condyle point of the user from the facial static data, and obtain the three-dimensional coordinates of the condyle point; The motion hinge axis is determined based on the three-dimensional coordinates of the condylar point.

7. The method according to any one of claims 3 to 6, wherein: The step of determining the motion hinge axis based on the three-dimensional coordinates of the condylar point comprises: In response to a user's adjustment operation on the condyle point, adjusting the three-dimensional coordinates of the condyle point; The motion hinge axis is determined based on the three-dimensional coordinates of the adjusted condylar point.

8. A virtual jaw frame transfer device, wherein: include: A first acquisition module is configured to acquire first tooth-jaw data and facial static data, wherein the first tooth-jaw data is obtained by performing a three-dimensional scan of the user's mouth with an oral scanning scanner, and the facial static data is obtained by performing a three-dimensional scan of the user's face with a face scanning scanner; A first determination module is configured to determine a jaw movement trajectory and occlusal relationship data based on the first tooth and jaw data and the facial static data; The second determination module is configured to determine a motion hinge axis based on the facial static data.

9. An electronic device, wherein: include: A processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, wherein: The 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 7 is implemented.

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