Scanning processing method and apparatus, device, and medium

Abstract

Embodiments of the present disclosure relate to a scanning processing method and apparatus, a device, and a medium. The method comprises: in response to an occlusion relationship addition request, acquiring a target dental arch and an initial occlusion relationship corresponding to the target dental arch; scanning the target dental arch in a target occlusion state to obtain a bite‑registration‑wafer model; and on the basis of the initial occlusion relationship and the bite‑registration‑wafer model, calculating a target occlusion relationship and storing the target occlusion relationship.

Description

Scanning processing method, device, equipment and medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 25, 2023, with application number 202311798702.4 and application name “A scanning processing 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 scanning processing technology, and in particular to a scanning processing method, device, equipment and medium. Background Art

[0003] Currently, in dental diagnosis and treatment, occlusal analysis is an important step in evaluating the patient's occlusal relationship. By analyzing the contact situation and occlusal balance of the patient's teeth, the dentist can understand the functional status of the patient's mouth, identify possible occlusal problems, and formulate a corresponding treatment plan. For example, when performing dental restorations (such as crown restorations, bridge restorations, dentures, etc.), the dentist needs to ensure that the restoration has a good occlusal relationship with the patient's other teeth. Inaccurate occlusal relationship may lead to problems such as poor fit of the restoration and functional disorders.

[0004] In the related technology, the existing intraoral scanning software can only obtain one set of occlusal position relationships, that is, the occlusal position relationship when the patient's upper and lower jaws are in a natural occlusal state, resulting in an inability to fully understand the tooth contact conditions at different positions in the patient's mouth, which may lead to inaccurate assessment of the occlusal relationship. During the tooth restoration process, the dentist needs to ensure that the restoration has a good occlusal relationship with the patient's other teeth. Only one set of natural occlusal relationship data is difficult to fully guarantee the adaptability and functionality of the restoration. Summary of the Invention

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a scanning processing method, device, equipment and medium.

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

[0007] In response to the occlusal relationship adding request, obtaining the target jaw and the initial occlusal relationship corresponding to the target jaw;

[0008] Scanning the target jaw to obtain an occlusal model; wherein the target jaw is in a target occlusal state;

[0009] The target occlusal relationship is obtained and stored based on the initial occlusal relationship and the occlusal film model.

[0010] The present disclosure also provides a scanning processing device, comprising:

[0011] a first response acquisition module configured to acquire the target jaw and the initial occlusal relationship corresponding to the target jaw in response to the occlusal relationship adding request;

[0012] A scanning module is configured to scan a target jaw to obtain an occlusal model; wherein the target jaw is in a target occlusal state;

[0013] The calculation and storage module is configured to calculate based on the initial occlusal relationship and the occlusal film model, obtain the target occlusal relationship and store it.

[0014] An embodiment of the present disclosure also provides an electronic device, which includes: a processor; a memory configured to store processor-executable instructions; and the processor configured to read executable instructions from the memory and execute the instructions to implement the scanning processing method provided in the embodiment of the present disclosure.

[0015] The embodiment of the present disclosure further provides a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the scanning processing method provided by the embodiment of the present disclosure.

[0016] The technical solution provided by the embodiment of the present disclosure has the following advantages over the prior art: the scanning and processing solution provided by the embodiment of the present disclosure, in response to an occlusal relationship addition request, obtains the target jaw and the initial occlusal relationship corresponding to the target jaw, controls the target jaw to be in the target occlusal state, and scans the target jaw to obtain an occlusal film model. Calculation is performed based on the initial occlusal relationship and the occlusal film model to obtain and store the target occlusal relationship. The above technical solution allows users to add scans of multiple groups of occlusal positions as needed, thereby obtaining data for multiple occlusal positions, providing a more comprehensive and accurate occlusal analysis. Therefore, based on multiple groups of occlusal relationships, the occlusal condition of the jaws can be better understood, thereby improving the quality of subsequent tooth restoration, implantation, and other treatments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the originals and elements are not necessarily drawn to scale.

[0018] FIG1 is a flow chart of a scanning processing method provided by an embodiment of the present disclosure;

[0019] FIG2 is a flow chart of another scanning processing method provided by an embodiment of the present disclosure;

[0020] FIG3 is a schematic diagram of an information display provided by an embodiment of the present disclosure;

[0021] FIG4 is a schematic diagram of an occlusal relationship provided by an embodiment of the present disclosure;

[0022] FIG5 is a schematic diagram of a scanning process provided by an embodiment of the present disclosure;

[0023] FIG6 is a schematic diagram of a post-scanning process provided by an embodiment of the present disclosure;

[0024] FIG7 a is a schematic flow chart of another scanning processing method provided by an embodiment of the present disclosure;

[0025] FIG7 b is a schematic diagram of another information display provided by an embodiment of the present disclosure;

[0026] FIG8 is a flow chart of another scanning processing method provided by an embodiment of the present disclosure;

[0027] FIG9 is a schematic flow chart of another scanning processing method provided in an embodiment of the present disclosure;

[0028] FIG10 is a schematic structural diagram of a scanning processing device provided by an embodiment of the present disclosure;

[0029] FIG11 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0031] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0032] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0033] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0034] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0035] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0036] Specifically, if the intraoral scanning software only supports obtaining a set of occlusal position relationships, that is, after the patient bites the upper and lower jaws in a specific way, the left occlusal, right occlusal, and front occlusal positions are scanned. Each bite changes the relative position of the upper and lower jaws in space by splicing, and the occlusal position relationship is continuously improved. Finally, a set of upper and lower jaw models with relative position relationships are output, and the bite can no longer be scanned. If the doctor wants to obtain more relative position relationships between the upper and lower jaws, the upper and lower jaws and the bite need to be scanned again. Scanning the same upper and lower jaws again not only wastes the time of doctors and patients, but the output upper and lower jaw models are not in the same spatial coordinates as the upper and lower jaw models scanned previously, which also creates certain obstacles for doctors when comparing multiple occlusal relationships.

[0037] Therefore, scanning software is needed to provide a way to obtain multiple sets of occlusal positions, providing doctors with comprehensive and accurate occlusal analysis data to help them make more accurate diagnosis and treatment decisions. It can also help doctors assess the contact between the restoration and the patient's teeth, thereby adjusting the shape and size of the restoration to achieve better fit and functionality.

[0038] The disclosed embodiment proposes a scanning processing method, which solves the problem that the existing technology can only evaluate at a specific occlusal position, and cannot fully understand the contact situation of teeth at different positions in the patient's mouth, which may lead to inaccurate evaluation of the occlusal relationship and thus affect the quality of tooth restoration. According to the doctor's needs, multiple groups of occlusal relationship scans can be performed, providing a more comprehensive and accurate occlusal position relationship, helping dentists to better understand the patient's occlusal situation. For example, during the tooth restoration process, data of multiple occlusal positions can be provided to help dentists evaluate the contact situation between the restoration and the patient's teeth at different occlusal positions, so as to adjust the shape and size of the restoration to achieve better fit; for example, combined with occlusal space measurement, it can assist doctors in confirming the preparation space situation under multiple occlusal states, and for full-mouth implants, these multiple occlusal positions can be used to assist in confirming the occlusal relationship in the subsequent design stage.

[0039] Specifically, FIG1 is a flow chart of a scanning processing method provided by an embodiment of the present disclosure. The method can be executed by a scanning processing device, wherein the device can be implemented using software and / or hardware and can generally be integrated into an electronic device. As shown in FIG1 , the method includes:

[0040] Step 101: In response to an occlusal relationship adding request, obtain a target jaw and an initial occlusal relationship corresponding to the target jaw.

[0041] The target jaw can be the user's jaw or a jaw model such as plaster. The target jaw can be scanned by a handheld oral scanner, an extraoral scanner or a desktop scanner according to the application scenario.

[0042] In some embodiments, the scanning process can include maxillary, mandibular, and occlusal scans. Occlusal scans can be understood as scanning the occlusal position relationship between the upper and lower jaws. Occlusal scans typically include a set of natural occlusal relationship scans, named "maximum cusp interdigitation," which cannot be modified or deleted.

[0043] In the disclosed embodiment, you can open the occlusion relationship list window by clicking the "Multiple Occlusion Relationships" control button in the occlusion scanning interface. Within this window, you can switch, add, delete, and rename other occlusion relationships. Specifically, clicking the "Add" control button triggers an occlusion relationship addition request.

[0044] In an embodiment of the present disclosure, before responding to a request to add an occlusal relationship, there is at least one set of occlusal relationships. For example, if only the "maximum cusp interdigitation position" occlusal relationship exists, the "maximum cusp interdigitation position" occlusal relationship can be used as the initial occlusal relationship. For another example, if only occlusal relationship 1 exists, occlusal relationship 1 can be used as the initial occlusal relationship. For another example, when the "maximum cusp interdigitation position" occlusal relationship and occlusal relationship 1 exist, the "maximum cusp interdigitation position" occlusal relationship needs to be used as the initial occlusal relationship.

[0045] In an embodiment of the present disclosure, after responding to the occlusal relationship adding request, the target jaw and the initial occlusal relationship corresponding to the target jaw may be obtained, that is, the relative positional relationship between the maxillary and mandibular in the target jaw.

[0046] Step 102: Scan the target jaw to obtain an occlusal model; wherein the target jaw is in a target occlusal state.

[0047] Among them, the target occlusion state can be selected and determined as needed, for example, the target jaw can be controlled to be in a specific occlusion position according to manual operation of the user to determine the target occlusion state, or it can be analyzed based on the input scanning request information to generate a recommended occlusion state and display it to the user, so that the doctor can prompt the user to adjust his or her own tooth occlusion state so that the target jaw corresponding to the user is in the recommended occlusion state as the target occlusion state, so as to further meet the user's usage needs and scanning efficiency and flexibility.

[0048] Specifically, for each set of occlusal relationship scans, the user may maintain the same occlusal position and scan all or part of the left side, right side, and front side, respectively, thereby obtaining two or three pieces of occlusal data.

[0049] In the disclosed embodiment, there are many ways to scan the target jaw and obtain an occlusal model. In some embodiments, the left occlusal position of the target jaw is scanned to obtain first occlusal data, and the right occlusal position of the target jaw is scanned to obtain second occlusal data. The occlusal model is obtained based on the first occlusal data and the second occlusal data.

[0050] In other embodiments, the left occlusal position of the target jaw is scanned to obtain first occlusal data, the right occlusal position of the target jaw is scanned to obtain second occlusal data, and the middle occlusal position of the target jaw is scanned to obtain third occlusal data. Based on the first occlusal data, the second occlusal data, and the third occlusal data, an occlusal model is obtained.

[0051] The above is only an example. Two sides, three sides, or four or more sides can be selected for scanning as needed, and the embodiments of the present disclosure do not impose specific limitations.

[0052] Step 103: Calculate based on the initial occlusal relationship and the occlusal film model to obtain the target occlusal relationship and store it.

[0053] In the embodiment of the present disclosure, the initial occlusal relationship refers to the relative positional relationship between the upper and lower jaws in the target jaw. After obtaining the occlusal film model, calculations are performed based on the initial occlusal relationship and the occlusal film model to obtain the target occlusal relationship and store it.

[0054] Specifically, the scan of each bite film can be processed through feature stitching and multi-constraint processing to obtain the relative position matrix of the upper and lower jaws. Feature stitching can be understood as stitching the upper and lower jaw models with the bite data of the current scanned film based on a series of features such as geometry, surface texture, normal direction, and color information, and aligning the upper and lower jaws to the coordinate system of the current bite data.

[0055] In some embodiments, the initial relative position matrix of the target jaw is determined based on the initial occlusal relationship, the target jaw and the occlusal film model are feature-spliced ​​based on the initial relative position matrix, the target jaw is aligned to the coordinate system of the occlusal film model, the occlusal film model is used as the occlusal matching constraint of the target jaw, and the target jaw and the occlusal film model are constrained by a preset constraint algorithm to obtain a first position transformation matrix corresponding to the target jaw and a second position transformation matrix corresponding to the occlusal film model as the target occlusal relationship.

[0056] In some embodiments, the current position transformation matrix of the current piece of occlusal data and the previous position transformation matrix of the previous piece of occlusal data are obtained, and the target jaw is constrained to obtain the target position transformation matrix. Calculation is performed based on the current position transformation matrix, the previous position transformation matrix, and the target position transformation matrix to obtain the updated position transformation matrix of the previous piece of occlusal data. The first position transformation matrix corresponding to the target jaw and the updated position transformation matrix of the previous piece of occlusal data are used as the target occlusal relationship.

[0057] In the embodiment of the present disclosure, the target occlusal relationship may be one or more, and storing the target occlusal relationship may be understood as storing the occlusal name of the occlusal position and the relative position matrix of the upper and lower jaw models relative to the initial occlusal relationship.

[0058] The scanning and processing solution provided by the embodiment of the present disclosure responds to an occlusal relationship addition request, obtains the target jaw and the initial occlusal relationship corresponding to the target jaw, controls the target jaw to be in the target occlusal state, scans the target jaw, obtains an occlusal film model, and performs calculations based on the initial occlusal relationship and the occlusal film model to obtain and store the target occlusal relationship. The above technical solution allows users to add scans of multiple groups of occlusal positions as needed, thereby obtaining data for multiple occlusal positions and providing a more comprehensive and accurate occlusal analysis. Therefore, based on multiple groups of occlusal relationships, the occlusal condition of the jaws can be better understood, thereby improving the quality of subsequent tooth restoration, implantation, and other treatments.

[0059] FIG2 is a flow chart of another scanning processing method provided by an embodiment of the present disclosure. This embodiment optimizes the scanning processing method based on the above embodiment. As shown in FIG2 , the method includes:

[0060] Step 201: In response to an occlusal relationship adding request, obtain a target jaw and an initial occlusal relationship corresponding to the target jaw.

[0061] For example, FIG3 is a schematic diagram of an information display provided by an embodiment of the present disclosure. The figure shows a schematic diagram of an occlusal scanning interface, which includes a target jaw in an initial occlusal relationship. Clicking the "Multiple Occlusal Relationships" button in the occlusal scanning interface opens the occlusal relationship list window. As shown in the figure, other occlusal relationships can be switched, added, deleted, and renamed in this window. For example, clicking the "Add" button control for occlusal relationship 1 can trigger an occlusal relationship addition request, so that the target jaw and the initial occlusal relationship corresponding to the target jaw can be obtained in response to the occlusal relationship addition request.

[0062] Wherein, obtaining the initial occlusal relationship corresponding to the target jaw can be understood as obtaining the relative position matrix corresponding to the target jaw in the initial occlusal relationship.

[0063] Step 202: Obtain scan request information, determine the recommended occlusal state based on the scan request information, and display it.

[0064] In the disclosed embodiment, different scanning orders such as dental restoration and dental implant may have different requirements for the occlusal position according to the scanning order in the scanning request information. Therefore, the recommended occlusal state may be determined and displayed according to the scanning order in the scanning request information, so that the doctor can prompt the user to adjust his or her dental occlusal state so that the target jaw corresponding to the user is in the recommended occlusal state, and the target occlusal relationship obtained subsequently is more in line with the requirements.

[0065] Step 203: Scan the left occlusal position of the target jaw in the recommended occlusal state to obtain first occlusal slice data; and / or scan the right occlusal position of the target jaw to obtain second occlusal slice data; and / or scan the middle occlusal position of the target jaw to obtain third occlusal slice data.

[0066] Step 204: Obtain an occlusal model based on at least two occlusal data among the first occlusal data, the second occlusal data, and the third occlusal data.

[0067] Specifically, each set of bite scans can be performed by scanning all or part of the left, right, and front sides while maintaining the same bite position, thereby acquiring three slices of bite data. Because each slice of bite data contains both partial maxillary and mandibular data, the multiple bite slices obtained from multiple lateral scans form multiple constraints that can be used to determine the relative positions of the upper and lower jaws. This allows for a more accurate determination of the current maxillary and mandibular occlusal relationship based on a multi-constraint matching algorithm.

[0068] It should be noted that to improve scanning efficiency, the bite data of both the left and right sides can be scanned. In addition, if one side is missing teeth, two bite data sets may be scanned: one side plus the front side. Each bite scan on each side will produce one bite data set.

[0069] For example, Figure 4 is a schematic diagram of an occlusal relationship provided in an embodiment of the present disclosure. The figure shows a schematic diagram of an occlusal relationship. Multiple occlusal relationships may include occlusal relationship 1, occlusal relationship 2 to occlusal relationship n. Each occlusal relationship can be obtained by scanning one or more of the left occlusion, middle occlusion and right occlusion to obtain the relative positions of the upper and lower jaws.

[0070] Step 205: Determine the initial relative position matrix of the target jaw according to the initial occlusal relationship, perform feature splicing on the target jaw and the occlusal film model according to the initial relative position matrix, and align the target jaw to the coordinate system of the occlusal film model.

[0071] Step 206: Use the occlusal film model as the occlusal matching constraint of the target jaw, perform constraint processing on the target jaw and the occlusal film model using a preset constraint algorithm, and obtain a first position transformation matrix corresponding to the target jaw and a second position transformation matrix corresponding to the occlusal film model as the target occlusal relationship.

[0072] Specifically, the relative positional relationship between the upper and lower jaws can be obtained by scanning the bite film on each side through feature splicing and multi-constraint processing (such as Mesh ICP (Iterative Closest Point) algorithm).

[0073] Feature stitching can be understood as stitching the upper and lower jaw models with the occlusal data of the current scanned film based on a series of features such as geometry, surface texture, normal direction, and color information, aligning the upper and lower jaws to the coordinate system of the current occlusal data. Multi-constraint Mesh ICP (an algorithm used in 3D model stitching that combines multiple constraints to improve the registration accuracy and stability of point cloud data) must be implemented on the basis of feature stitching. This involves using multiple scanned occlusal film data as occlusal matching constraints for the upper and lower jaws, and performing refined constraint processing between multiple meshes to obtain a more accurate relative positional relationship between the upper and lower jaws and each occlusal film.

[0074] It can be understood that the upper and lower jaw models and the occlusal data of the current film being scanned are aligned to the same coordinate system, a preset number of feature points are selected from the upper and lower jaw models and the occlusal data of the current film respectively, the relative position matrix between the feature points in the upper and lower jaw models and the feature points in the occlusal data of the current film is determined, and the upper and lower jaw models and the occlusal data of the current film are spliced ​​according to the relative position matrix to obtain a splicing result. In addition, the splicing result is spliced ​​and adjusted by the ICP (Iterative Closest Point) algorithm, that is, the overlapping data in the splicing result is processed to obtain a rotation and translation matrix, and the occlusal data of the current film is transformed to the coordinate system of the upper and lower jaw models according to the rotation and translation matrix, and the error between the transformed occlusal data and the upper and lower jaw models is determined until the error is less than or equal to a preset error threshold, and the splicing result is obtained. Among them, the error threshold is selected and set according to the application scenario.

[0075] Exemplarily, Figure 5 is a schematic diagram of a scanning process provided by an embodiment of the present disclosure. As shown in Figure 5, the target jaw is scanned, and the target jaw and occlusal film data are feature spliced ​​to determine whether there are other occlusal film data. If there are no other occlusal film data, multi-constraint processing is directly performed. If there are other occlusal film data, the other occlusal film data and the currently spliced ​​features are feature spliced ​​and then multi-constraint processing is performed to obtain the relative position matrix of the upper and lower jaws and each occlusal film data.

[0076] In some embodiments, the occlusal film model includes at least two pieces of occlusal data, and the current position transformation matrix of the current piece of occlusal data and the previous position transformation matrix of the previous piece of occlusal data are obtained, and the target position transformation matrix of the target jaw after constraint processing is obtained. The updated position transformation matrix of the previous piece of occlusal data is obtained by calculation based on the current position transformation matrix, the previous position transformation matrix and the target position transformation matrix.

[0077] Specifically, in a group of occlusal scans, if other occlusal slices in the current group have been scanned before the current occlusal slice is scanned, after feature stitching is completed, the relative position matrix of the previously scanned occlusal slices needs to be adjusted to adapt to the spatial position of the upper and lower jaws under the feature stitching of the current occlusal slice, so as to ensure that two or three pieces of occlusal data can match the unique upper and lower jaw models in space and that when performing multi-constraint processing, each piece of occlusal data, together with the upper and lower jaws, are located in a relatively correct initial relative position.

[0078] For example, with the maxilla as the associated point, the previous occlusal data always follows the maxilla to adjust the relative position matrix, that is, first restore the occlusal piece to its original spatial position (to ensure the same spatial coordinate system), and then adjust it to the position of the current occlusal piece data. For example, the relative position matrix of the maxilla spliced ​​to the current piece occlusal data is uRt. After the last MeshICP processing of the maxilla, the relative position matrix of the maxilla is lastRt, and the relative position matrix of the non-current occlusal piece data is tRt. The relative position matrix of the non-current occlusal piece that needs to be changed is tRt1, tRt1=uRt*lastRt -1 *tRt.

[0079] It should be noted that when performing multi-constraint MeshICP, all scanned occlusal data need to be used as constraints to finally obtain the relative position relationship between the upper and lower jaws and the non-current occlusal data.

[0080] In some embodiments, the target jaw is aligned to obtain an incremental relative position matrix, the first position conversion matrix and the incremental relative position matrix are multiplied to obtain a first target position conversion matrix corresponding to the target jaw, the second position conversion matrix and the incremental relative position matrix are multiplied to obtain a second target position conversion matrix corresponding to the occlusal model, and the first target position conversion matrix and the second target position conversion matrix are used as the target occlusal relationship.

[0081] Specifically, after multi-position occlusal scanning, the mesh of each group of occlusal relationships scanned will be post-processed and optimized, and then each group of occlusal relationships will be subjected to multi-constraint processing of the optimized mesh. The meshes of the upper and lower jaws and all occlusal piece data in the current occlusal relationship group will be used as constraint parameters to fine-tune the relative positions of the upper and lower jaws and each occlusal piece. Finally, the teeth of the upper and lower jaw models will be aligned to face the front.

[0082] For example, FIG6 is a schematic diagram of a post-scanning process provided by an embodiment of the present disclosure. As shown in FIG6 , the initial occlusal relationship (such as the maximum intercusp position) is first processed, and multiple constraints are first performed. Then, the mandible is straightened to obtain an incremental relative position matrix (incremental RT), that is, a relative position matrix that needs to be adjusted based on the current mandibular spatial position. Then, the grids of the upper and lower jaws and the initial occlusal relationship are multiplied by the incremental relative position matrix to obtain the final relative position matrix of the upper and lower jaws and the relative position matrix of each bite piece data (RT described in the figure). Finally, these relative position matrices are applied to their respective models, and the relative position matrix applied to the upper jaw is recorded as dURt, and the relative position matrix applied to the mandible is recorded as dLRt.

[0083] Since there is only one set of upper and lower jaws, the spatial positions of the upper and lower jaws of other occlusal relationships are based on the relative position matrix transformation of the upper and lower jaws of the initial occlusal relationship. Therefore, other occlusal relationships only need to be processed with multiple constraints, and no alignment is required. However, the spatial positions of the upper and lower jaws and the occlusal piece during multi-constraint processing need to be the spatial positions during scanning. Therefore, based on the upper and lower jaws of the initial occlusal relationship, the relative position matrix of the upper jaw recorded during scanning is uRt, the relative position matrix of the lower jaw is lRt, and the relative position matrix of each occlusal piece data is tRt. The relative position matrix of the input upper jaw during multi-constraint processing is uRt1, the relative position matrix of the lower jaw is lRt1, and the relative position matrix of the occlusal piece data is tRt1, then uRt1=uRt*duRt^ -1 ; lRt1=lRt*dlRt^ -1 ;tRt1=tRt.

[0084] It should be noted that, because the occlusal slice does not rely on the default occlusal relationship, the relative position of its input remains unchanged. Finally, the relative position matrix of the occlusion can be directly applied to each occlusal slice.

[0085] The scanning and processing solution provided by the embodiment of the present disclosure solves the problem that the existing technology can only evaluate at a specific occlusal position, and cannot fully understand the tooth contact conditions at different positions in the patient's mouth, which may lead to inaccurate evaluation of the occlusal relationship and thus affect the quality of tooth restoration. It can perform multiple sets of occlusal relationship scans according to the doctor's needs, providing a more comprehensive and accurate occlusal position relationship, helping dentists to better understand the patient's occlusal condition and better perform tooth restoration and implant treatment.

[0086] FIG7a is a flow chart of another scanning processing method provided by an embodiment of the present disclosure. This embodiment optimizes the scanning processing method based on the above embodiment. As shown in FIG7a, the method includes:

[0087] Step 301: In response to an occlusion relationship viewing request, obtain an occlusion relationship identifier.

[0088] Step 302: Obtain the target jaw and the current occlusal relationship corresponding to the target jaw according to the occlusal relationship identifier.

[0089] Step 303: Control the display of the target jaw according to the relative position matrix corresponding to the current occlusal relationship.

[0090] It is understandable that after adding one or more target occlusal relationships, they can be viewed. In the embodiment of the present disclosure, relevant data needs to be saved during the scanning stage, such as the temporary grid models of the upper and lower jaws obtained during scanning, the occlusal identification for each group of occlusal positions (such as the occlusal name), the temporary grid model of each occlusal piece data, and the relative position matrix of the upper and lower jaws and each occlusal piece after mutual matching and alignment. During scanning, these multi-position occlusal related information will be saved and managed through the corresponding model data files and project files so that they can be reloaded and used in the post-processing stage when needed.

[0091] It can also be understood that after the post-processing is completed, the relevant data saved during the scan will be deleted, and the data that is finally saved and managed includes: the final post-processed mesh model of the upper and lower jaws at the position corresponding to the initial occlusal relationship and after adjustment, that is, the upper and lower jaw relative position matrix corresponding to the initial occlusal relationship and the adjustment incremental relative position matrix have been applied to the upper and lower models respectively; the occlusal mark for each other group of occlusal positions (excluding the initial occlusal relationship), the relative position matrix of the upper and lower jaw models relative to the initial occlusal position (only one copy of the upper and lower jaw data is saved, and only the relative position matrix is ​​recorded for other occlusal positions); for each group of occlusal positions, the final post-processed mesh model of each occlusal piece at the corresponding occlusal position, that is, each occlusal piece has applied the relative position matrix determined in the corresponding occlusal relationship.

[0092] For example, by clicking on the occlusal relationship list window shown in Figure 7b, for example, clicking on "occlusal relationship 1" triggers the occlusal relationship viewing request, obtains the occlusal relationship identifier as "occlusal relationship 1", obtains the relative position matrix Z1 corresponding to the target jaw and the target jaw according to "occlusal relationship 1", and controls the display of the target jaw according to the relative position matrix Z1.

[0093] Specifically, based on the occlusal relationship information, a list of multiple occlusal relationship names is obtained. Click to switch the occlusal relationship to view the relative spatial relationship between the upper and lower jaws and the occlusal film. Each time the occlusal relationship is switched, the upper and lower jaw relative position matrix information corresponding to the current occlusal relationship is obtained from the specified file, the relative position matrix of the upper and lower jaw models is set, and its occlusal position relationship is displayed.

[0094] In some embodiments, as shown in FIG8 , the method further includes:

[0095] Step 401: Detect updated position information of the target jaw, obtain an updated relative position matrix, and obtain the maxillary relative position matrix and the mandibular relative position matrix of the target jaw based on the initial occlusal relationship.

[0096] Step 402: Calculate the updated maxillary relative position matrix of the target jaw based on the maxillary relative position matrix and the updated relative position matrix, and calculate the updated mandibular relative position matrix of the target jaw based on the mandibular relative position matrix and the updated relative position matrix.

[0097] Step 403: Control the display of the target jaw according to the updated maxillary relative position matrix and the updated mandibular relative position matrix.

[0098] Specifically, both the upper and lower jaw models have a default spatial position. When this default position changes, such as when coordinates are adjusted, the upper and lower jaw relative position matrix of the occlusal relationship recorded in the storage file needs to be changed.

[0099] Specifically, the value of the adjusted relative position matrix is ​​rt, the relative position matrix of the maxillary in the occlusal relationship record in the storage file is uRt, and the relative position matrix of the mandibular is lRt. The adjusted maxillary RT is uRt1, and the mandibular RT is lRt1, then uRt1 = rt*uRt*rt^ -1 ; lRt1=rt*lRt*rt^ -1 .

[0100] In some embodiments, in response to an occlusal relationship output request, each occlusal relationship and the opposing jaw corresponding to each occlusal relationship are output.

[0101] Wherein, when the opposing jaw is the mandible, the relative position matrix of the opposing jaw corresponding to each occlusal relationship is the inverse matrix of the relative position of the maxilla multiplied by the relative position of the mandible, and the relative position matrix of the occlusal piece corresponding to each occlusal relationship is the inverse matrix of the relative position of the maxilla;

[0102] When the opposing jaw is the upper jaw, the relative position matrix of the opposing jaw corresponding to each occlusal relationship is the inverse matrix of the mandibular relative position multiplied by the relative position of the upper jaw, and the relative position matrix of the occlusal piece corresponding to each occlusal relationship is the inverse matrix of the mandibular relative position.

[0103] Specifically, when exporting mesh files for multiple occlusal relationships, the mesh of the opposing jaw (non-working jaw, the upper or lower jaw can be determined as the working jaw when the scanning order is created, and the non-working jaw is the opposing jaw. The upper and lower jaws can be both working jaws or neither of them is the working jaw, and the lower jaw is the opposing jaw by default) corresponding to each occlusal relationship will be output additionally. The relative position matrix of the opposing jaw is obtained by calculating the relative position matrix of the upper and lower jaws recorded in the occlusal relationship, and finally the mesh file of the opposing jaw is saved with this relative position matrix.

[0104] Specifically, if the mandible is the opposing jaw, the maxillary RT of the bite record is uRt, the mandibular RT is lRt, the RT of the opposing jaw in the exported mesh file is lRt1, and the bite film is tRt1, then lRt1=uRt^ -1*lRt;tRt1=uRt^ -1 .

[0105] If the maxillary antagonist is used, the maxillary RT recorded in the occlusal relationship is uRt, and the mandibular RT is lRt. The RT of the antagonist in the exported mesh file is uRt1, and the occlusal film is tRt1, then uRt1=lRt^ -1 *uRt;tRt1=lRt^ -1 .

[0106] In some embodiments, as shown in FIG9 , the method further includes:

[0107] Step 501: In response to an occlusal relationship viewing request, obtain a working jaw of a three-dimensional occlusal model corresponding to the occlusal relationship to be viewed.

[0108] Step 502: Adjust the working jaw and opposing jaw of the three-dimensional occlusal model according to the relative position matrix of the opposing jaw and the relative position matrix of the occlusal film to display the occlusal relationship to be viewed.

[0109] Therefore, the exported file can be loaded into other display software. Based on the occlusal relationship viewing request, the working jaw of the three-dimensional occlusal model corresponding to the occlusal relationship to be viewed can be obtained, and the working jaw and opposing jaw of the three-dimensional occlusal model can be adjusted according to the relative position matrix of the opposing jaw and the relative position matrix of the occlusal film to display the occlusal relationship to be viewed, thereby meeting user needs.

[0110] This provides comprehensive and accurate occlusal position relationships, helping dentists better assess patients' occlusal relationships, adjust the fit of restorations, and support personalized treatment. This helps improve the accuracy and personalization of dental treatment.

[0111] FIG10 is a schematic diagram of the structure of a scanning processing device provided by an embodiment of the present disclosure. The device can be implemented by software and / or hardware and can generally be integrated into an electronic device. As shown in FIG10 , the device includes:

[0112] The first response acquisition module 601 is configured to acquire a target jaw and an initial occlusal relationship corresponding to the target jaw in response to an occlusal relationship adding request.

[0113] The scanning module 602 is configured to scan the target jaw to obtain an occlusal model; wherein the target jaw is in a target occlusal state.

[0114] The calculation and storage module 603 is configured to perform calculations based on the initial occlusal relationship and the occlusal film model to obtain and store the target occlusal relationship.

[0115] Optionally, the scanning processing device further includes:

[0116] A first acquisition module is configured to acquire scan request information;

[0117] a determination module, configured to determine and display a recommended occlusal state based on the scan request information;

[0118] The scanning module 602 is further configured to scan the target jaw to obtain the occlusal model; wherein the target jaw is in the recommended occlusal state.

[0119] Optionally, the scanning module 602 is specifically configured to:

[0120] Scanning the left occlusal position of the target jaw to obtain first occlusal slice data; and / or,

[0121] Scanning the right occlusal position of the target jaw to obtain second occlusal slice data; and / or,

[0122] Scanning the middle occlusal position of the target jaw to obtain third occlusal film data;

[0123] The occlusal model is obtained according to at least two occlusal data among the first occlusal data, the second occlusal data and the third occlusal data.

[0124] Optionally, the computing and storage module 603 is specifically configured to:

[0125] Determining an initial relative position matrix of the target jaw according to the initial occlusal relationship;

[0126] Performing feature splicing on the target jaw and the occlusal film model according to the initial relative position matrix, and aligning the target jaw to the coordinate system of the occlusal film model;

[0127] The occlusal film model is used as the occlusal matching constraint of the target jaw, and the target jaw and the occlusal film model are constrained by a preset constraint algorithm to obtain a first position transformation matrix corresponding to the target jaw and a second position transformation matrix corresponding to the occlusal film model as the target occlusal relationship and store them.

[0128] Optionally, the occlusal film model includes at least two pieces of occlusal data; the device further includes:

[0129] A second acquisition module is configured to acquire a current position conversion matrix of a current piece of occlusal data and a previous position conversion matrix of a previous piece of occlusal data;

[0130] A third acquisition module is configured to obtain a target position transformation matrix of the target jaw after constraint processing;

[0131] The first calculation module is configured to perform calculations based on the current position conversion matrix, the previous position conversion matrix, and the target position conversion matrix to obtain an updated position conversion matrix for the previous piece of occlusal data.

[0132] Optionally, the device further includes:

[0133] an alignment module configured to align the target jaw to obtain an incremental relative position matrix;

[0134] a first processing module configured to multiply the first position conversion matrix and the incremental relative position matrix to obtain a first target position conversion matrix corresponding to the target jaw;

[0135] a second processing module configured to multiply the second position conversion matrix and the incremental relative position matrix to obtain a second target position conversion matrix corresponding to the occlusal model;

[0136] A third processing module is configured to use the first target position transformation matrix and the second target position transformation matrix as the target occlusion relationship.

[0137] Optionally, the device further includes:

[0138] a second response obtaining module configured to obtain an occlusal relationship identifier in response to an occlusal relationship viewing request;

[0139] A fourth acquisition module is configured to acquire the target jaw and the current occlusal relationship corresponding to the target jaw according to the occlusal relationship identifier;

[0140] The first display module is configured to control the display of the target jaw according to the relative position matrix corresponding to the current occlusal relationship.

[0141] Optionally, the scanning processing device further includes:

[0142] A detection and acquisition module, configured to detect the updated position information of the target jaw and obtain an updated relative position matrix;

[0143] A fifth acquisition module is configured to acquire a maxillary relative position matrix and a mandibular relative position matrix of the target jaw based on the initial occlusal relationship;

[0144] A second calculation module is configured to calculate an updated maxillary relative position matrix of the target jaw based on the maxillary relative position matrix and the updated relative position matrix;

[0145] a third calculation module, configured to calculate an updated mandibular relative position matrix of the target jaw based on the mandibular relative position matrix and the updated relative position matrix;

[0146] The second display module is configured to control the display of the target jaw according to the updated maxillary relative position matrix and the updated mandibular relative position matrix.

[0147] Optionally, the device further includes:

[0148] a response output module configured to output each occlusal relationship and the opposing jaw corresponding to each occlusal relationship in response to an occlusal relationship output request;

[0149] Wherein, when the opposing jaw is the mandible, the relative position matrix of the opposing jaw corresponding to each occlusal relationship is the inverse matrix of the relative position of the maxilla multiplied by the relative position of the mandible, and the relative position matrix of the occlusal piece corresponding to each occlusal relationship is the inverse matrix of the relative position of the maxilla;

[0150] When the opposing jaw is the upper jaw, the relative position matrix of the opposing jaw corresponding to each occlusal relationship is the inverse matrix of the mandibular relative position multiplied by the relative position of the upper jaw, and the relative position matrix of the occlusal piece corresponding to each occlusal relationship is the inverse matrix of the mandibular relative position.

[0151] Optionally, the device further includes:

[0152] a third response acquisition module, configured to respond to an occlusal relationship viewing request and acquire a working jaw of the three-dimensional occlusal model corresponding to the occlusal relationship to be viewed;

[0153] The third display module is configured to adjust the working jaw and the opposing jaw of the three-dimensional occlusal model according to the relative position matrix of the opposing jaw and the relative position matrix of the occlusal film to display the occlusal relationship to be viewed.

[0154] The scanning processing device provided in the embodiments of the present disclosure can execute the scanning processing method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0155] An embodiment of the present disclosure further provides a computer program product, including a computer program / instruction, which implements the scanning processing method provided by any embodiment of the present disclosure when executed by a processor.

[0156] FIG11 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. Specific reference will be made to FIG11 below, which shows a schematic diagram of the structure of an electronic device 700 suitable for implementing an embodiment of the present disclosure. The electronic device 700 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 FIG11 is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present disclosure.

[0157] As shown in Figure 11, the electronic device 700 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. Various programs and data required for the operation of the electronic device 700 are also stored in the RAM 703. The processing device 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0158] Typically, the following devices may be connected to the I / O interface 705: an input device 706 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 708 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 709. The communication device 709 may allow the electronic device 700 to communicate with other devices wirelessly or by wire to exchange data. Although FIG. 11 shows the electronic device 700 with various devices, it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0159] 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 configured to execute the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication device 709, or installed from the storage device 708, or installed from the ROM 702. When the computer program is executed by the processing device 701, the above-mentioned functions defined in the scan processing method of the embodiment of the present disclosure are performed.

[0160] 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 convey a program configured 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 wire, optical cable, RF (radio frequency), or any suitable combination thereof.

[0161] 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.

[0162] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0163] 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: responds to the request for adding an occlusal relationship, obtains the target jaw and the initial occlusal relationship corresponding to the target jaw, controls the target jaw to be in a target occlusal state, and scans the target jaw to obtain an occlusal film model, performs calculations based on the initial occlusal relationship and the occlusal film model, obtains the target occlusal relationship and stores it.

[0164] Computer program code configured to perform 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).

[0165] The flow charts and block diagrams in the accompanying drawings illustrate the possible 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 flow chart 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 configured to implement the specified logical functions. 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 flow chart, and the combination of the boxes in the block diagram and / or flow chart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] According to one or more embodiments of the present disclosure, the present disclosure provides an electronic device, including:

[0170] processor;

[0171] a memory configured to store instructions executable by the processor;

[0172] The processor is configured to read the executable instructions from the memory and execute the instructions to implement any scanning processing method provided in the present disclosure.

[0173] According to one or more embodiments of the present disclosure, the present disclosure provides a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute any one of the scanning processing methods provided by the present disclosure.

[0174] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0175] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0176] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims. Industrial Applicability

[0177] The solution provided by the embodiment of the present disclosure can be applied to the field of scanning processing technology. In the embodiment of the present disclosure, a method is adopted to respond to a request for adding an occlusal relationship, obtain the target jaw and the initial occlusal relationship corresponding to the target jaw; scan the target jaw to obtain an occlusal film model; wherein the target jaw is in a target occlusal state; calculate according to the initial occlusal relationship and the occlusal film model, obtain the target occlusal relationship and store it, thereby allowing users to add scans of multiple groups of occlusal positions as needed, thereby obtaining data of multiple occlusal positions, and providing a technical effect of more comprehensive and accurate occlusal analysis. Therefore, based on multiple groups of occlusal relationships, the occlusal situation of the jaw can be better understood, so as to improve the quality of subsequent tooth restoration, implantation and other treatments.

Claims

1. A scanning processing method, comprising: In response to the occlusal relationship adding request, obtaining a target jaw and an initial occlusal relationship corresponding to the target jaw; Scanning the target jaw to obtain an occlusal model; wherein the target jaw is in a target occlusal state; Calculation is performed based on the initial occlusal relationship and the occlusal film model to obtain a target occlusal relationship and store it.

2. The scanning processing method according to claim 1, wherein: Also includes: Get scan request information; Determine and display a recommended occlusal state according to the scanning request information; The target jaw is scanned to obtain the occlusal model; wherein the target jaw is in the recommended occlusal state.

3. The scanning processing method according to claim 1, wherein: The step of scanning the target jaw to obtain an occlusal model includes: Scanning the left occlusal position of the target jaw to obtain first occlusal slice data; and / or, Scanning the right occlusal position of the target jaw to obtain second occlusal slice data; and / or, Scanning the middle occlusal position of the target jaw to obtain third occlusal film data; The occlusal model is obtained according to at least two occlusal data among the first occlusal data, the second occlusal data and the third occlusal data.

4. The scanning processing method according to claim 1, wherein: Calculating according to the initial occlusal relationship and the occlusal film model to obtain a target occlusal relationship includes: Determining an initial relative position matrix of the target jaw according to the initial occlusal relationship; Performing feature splicing of the target jaw and the occlusal film model according to the initial relative position matrix, and aligning the target jaw to the coordinate system of the occlusal film model; The occlusal model is used as the occlusal matching constraint of the target jaw, and the target jaw and the occlusal model are constrained by a preset constraint algorithm to obtain a first position transformation matrix corresponding to the target jaw and a second position transformation matrix corresponding to the occlusal model as the target occlusal relationship.

5. The scanning processing method according to claim 4, wherein: The occlusal model includes at least two pieces of occlusal data; the method further includes: Get the current position transformation matrix of the current piece of occlusal data and the last position transformation matrix of the previous piece of occlusal data; Obtaining a target position transformation matrix of the target jaw after constraint processing; The updated position conversion matrix of the previous piece of occlusal data is obtained by performing calculations based on the current position conversion matrix, the previous position conversion matrix and the target position conversion matrix.

6. The scanning processing method according to claim 5, further comprising: Aligning the target jaw to obtain an incremental relative position matrix; Multiplying the first position conversion matrix and the incremental relative position matrix to obtain a first target position conversion matrix corresponding to the target jaw; The second position conversion matrix and the incremental relative position matrix are multiplied to obtain a second target position conversion matrix corresponding to the occlusal model; The first target position transformation matrix and the second target position transformation matrix are used as the target occlusion relationship.

7. The scanning processing method according to claim 1, further comprising: In response to an occlusal relationship viewing request, obtaining an occlusal relationship identifier; Acquire the target jaw and the current occlusal relationship corresponding to the target jaw according to the occlusal relationship identifier; The target jaw display is controlled according to the relative position matrix corresponding to the current occlusal relationship.

8. The scanning processing method according to claim 1, further comprising: Detecting the updated position information of the target jaw and obtaining an updated relative position matrix; Based on the initial occlusal relationship, an upper jaw relative position matrix and a lower jaw relative position matrix of the target jaw are obtained; Calculating the updated maxillary relative position matrix of the target jaw according to the maxillary relative position matrix and the updated relative position matrix; Calculating the updated mandibular relative position matrix of the target jaw according to the mandibular relative position matrix and the updated relative position matrix; The display of the target jaw is controlled according to the updated maxillary relative position matrix and the updated mandibular relative position matrix.

9. The scanning processing method according to claim 1, further comprising: In response to an occlusal relationship output request, output each occlusal relationship and the opposing jaw corresponding to each occlusal relationship; Wherein, when the opposing jaw is the mandible, the relative position matrix of the opposing jaw corresponding to each occlusal relationship is the inverse matrix of the relative position of the maxilla multiplied by the relative position of the mandible, and the relative position matrix of the bite piece corresponding to each occlusal relationship is the inverse matrix of the relative position of the maxilla; When the opposing jaw is the upper jaw, the relative position matrix of the opposing jaw corresponding to each occlusal relationship is the inverse matrix of the relative position of the mandible multiplied by the relative position of the upper jaw, and the relative position matrix of the occlusal film corresponding to each occlusal relationship is the inverse matrix of the relative position of the mandible.

10. The scanning processing method according to claim 9, further comprising: In response to an occlusal relationship viewing request, obtaining a working jaw of a three-dimensional occlusal model corresponding to the occlusal relationship to be viewed; The working jaw and the opposing jaw of the three-dimensional occlusal model are adjusted according to the relative position matrix of the opposing jaw and the relative position matrix of the occlusal film to display the occlusal relationship to be viewed.

11. A scanning processing device, comprising: A first response acquisition module, configured to acquire a target jaw and an initial occlusal relationship corresponding to the target jaw in response to an occlusal relationship adding request; A scanning module, configured to scan the target jaw to obtain an occlusal model; wherein the target jaw is in a target occlusal state; The calculation and storage module is configured to perform calculations based on the initial occlusal relationship and the occlusal film model to obtain and store the target occlusal relationship.

12. An electronic device, comprising: processor; a memory configured to store instructions executable by the processor; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the scanning processing method described in any one of claims 1-10.

13. A computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the scanning processing method according to any one of claims 1 to 10.

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