Method and device for determining operation mode of intraoral scanner

Abstract

The present disclosure relates to a method for determining the operation mode of an intraoral scanner. The method for determining the operation mode of an intraoral scanner may comprise the steps of: acquiring sensing data associated with movement of the intraoral scanner; changing, on the basis of the acquired sensing data, the operation mode of the intraoral scanner from a first mode, which is a holding state, to a second mode, which is the gripping state; detecting, in response to the operation mode of the intraoral scanner being changed to the second mode, a region to be scanned; and initiating, in response to the detection of the region to be scanned, acquisition of a scan image associated with the region to be scanned.

Description

Method and device for determining the operation mode of an oral scanner

[0001] The present disclosure relates to a method and device for determining an operation mode of an oral scanner.

[0002] The use of 3D intraoral scanners has recently become widespread in the dental field. These intraoral scanners enable precise scanning of the patient's oral cavity and are widely used for designing dental restorations tailored to the patient's oral structure, orthodontic diagnosis, and implant treatment planning. The scanned images obtained through intraoral scanners can be used to create 3D models of a patient's oral structure, offering high precision and convenience, significantly improving the efficiency of dental treatment.

[0003] Meanwhile, handheld intraoral scanners allow the user to perform scanning by holding the intraoral scanner in their hand and moving it within the patient's mouth. During this process, the user may need to operate buttons on the intraoral scanner to initiate or stop image acquisition. This manual operation method requires explicit user interaction with the intraoral scanner, which can increase the scanning time and lead to unnecessary data acquisition due to user errors. Furthermore, the quality or alignment accuracy of the scanned image may deteriorate due to the minute physical movements that occur when pressing buttons.

[0004] The present disclosure provides a method and device for determining an operation mode of an oral scanner to solve the above-described problems.

[0005] The present disclosure can be implemented in various ways, including a method, a system (device), and / or a computer program stored in a computer-readable storage medium, and a computer-readable storage medium having a computer program stored therein.

[0006] A method for determining an operating mode of an oral scanner according to one embodiment of the present disclosure may be performed by at least one processor. The method may include the steps of: acquiring sensing data associated with movement of the oral scanner; changing the operating mode of the oral scanner from a first mode, which is a stationary state, to a second mode, which is a grasping state, based on the acquired sensing data; detecting a scan target area in response to the operating mode of the oral scanner being changed to the second mode; and initiating acquisition of a scan image associated with the scan target area in response to the detection of the scan target area.

[0007] According to one embodiment of the present disclosure, the sensing data may be data obtained from an inertial measurement unit (IMU) sensor equipped in an oral scanner.

[0008] According to one embodiment of the present disclosure, the step of changing to the second mode includes the step of determining a first condition based on a change amount of a first sensing value included in the acquired sensing data and a predetermined first threshold change amount, wherein the first sensing value may be a value included in the sensing data acquired in a first period between a time point of determining the first condition and a time point prior to a predetermined time point from the time point of determining the first condition.

[0009] According to one embodiment of the present disclosure, the step of determining the first condition may include a step of determining whether a ratio of sub-periods among a plurality of sub-periods included in a first period in which the amount of change in the first sensing value exceeds a first threshold amount of change is greater than or equal to a predetermined threshold ratio.

[0010] According to one embodiment of the present disclosure, the step of determining the first condition may include the step of determining whether an average change amount of the first sensing value for the first period exceeds a first threshold change amount.

[0011] According to one embodiment of the present disclosure, the first sensing value may include angular velocity information associated with the movement of the oral scanner.

[0012] According to one embodiment of the present disclosure, the method may further include a step of changing the operation mode of the oral scanner from the second mode to the first mode based on the acquired sensing data.

[0013] According to one embodiment of the present disclosure, the step of changing to the first mode includes the step of determining a second condition based on a change amount of a second sensing value included in the acquired sensing data and a predetermined second threshold change amount, wherein the second sensing value may be a value included in the sensing data acquired in a second period between a time point at which the second condition is determined and a time point prior to a predetermined time point from the time point at which the second condition is determined.

[0014] According to one embodiment of the present disclosure, the step of determining the second condition may include a step of determining whether, among a plurality of sub-periods included in the second period, a ratio of sub-periods in which the amount of change in the second sensing value is less than a second threshold amount of change is greater than or equal to a predetermined threshold ratio.

[0015] According to one embodiment of the present disclosure, the second sensing value may include gravity direction information associated with the movement of the oral scanner.

[0016] According to one embodiment of the present disclosure, the step of detecting a scan target area may include a step of determining whether an object exists within a predetermined threshold distance through light (ray) projected from an oral scanner.

[0017] According to one embodiment of the present disclosure, the method may further include a step of verifying the validity of the acquired scanned image and a step of filtering out images whose validity is not verified among the acquired scanned images.

[0018] According to one embodiment of the present disclosure, the verifying step may include a step of identifying an area in which a specific object is displayed within the acquired scanned image and a step of determining whether an area of ​​the identified area within the acquired scanned image is greater than a predetermined threshold ratio.

[0019] According to one embodiment of the present disclosure, the verifying step may include a step of extracting at least one first feature point from a first scan image acquired at a first point in time among the acquired scan images, a step of extracting at least one second feature point corresponding to the at least one first feature point from a second scan image acquired at a second point in time, which is a point in time after a predetermined time from the first point in time among the acquired scan images, and a step of verifying the validity of the first scan image and the second scan image based on a change amount between the at least one first feature point and the at least one second feature point.

[0020] According to one embodiment of the present disclosure, the method may further include a step of generating a three-dimensional model associated with a scan target area based on an image whose validity has been verified among the acquired scan images.

[0021] According to one embodiment of the present disclosure, the method may further include a step of stopping acquisition of the scan image in response to determining that the scan target area of ​​the acquired scan image is not an area within the oral cavity.

[0022] According to one embodiment of the present disclosure, the method further includes a step of determining a condition as to whether a change in a sensing value included in acquired sensing data exceeds a predetermined threshold change amount, and a step of stopping acquisition of a scan image in response to determining that the change in the sensing value exceeds the threshold change amount, wherein the sensing value is a value included in the acquired sensing data during a period between a time point of determining the condition and a time point prior to a predetermined time point from the time point of determining the condition, and may include acceleration information associated with a movement of the oral scanner.

[0023] According to one embodiment of the present disclosure, the sensing data includes data for detecting whether a tip is mounted on the oral scanner, and the step of changing to the second mode may include a step of changing the operating mode of the oral scanner from the first mode to the second mode in response to determining that the tip is mounted on the oral scanner.

[0024] According to one embodiment of the present disclosure, the sensing data includes data for detecting whether charging of the oral scanner has stopped, and the step of changing to the second mode may include a step of changing the operating mode of the oral scanner from the first mode to the second mode in response to determining that charging of the oral scanner has stopped.

[0025] A device according to one embodiment of the present disclosure includes a memory and at least one processor connected to the memory and configured to execute at least one computer-readable program included in the memory, wherein the at least one program may include instructions for obtaining sensing data associated with movement of an oral scanner, changing an operation mode of the oral scanner from a first mode in a stationary state to a second mode in a gripping state based on the obtained sensing data, detecting a scan target area in response to the operation mode of the oral scanner being changed to the second mode, and initiating acquisition of a scan image associated with the scan target area in response to the detection of the scan target area.

[0026] According to some embodiments of the present disclosure, the operating mode of the intraoral scanner can be automatically determined based on sensing data associated with the movement of the intraoral scanner. This minimizes the inconvenience of the user having to manually operate a separate button on the intraoral scanner or the user interface of a computing device connected to the intraoral scanner to initiate or stop scan image acquisition, thereby enhancing user convenience.

[0027] According to some embodiments of the present disclosure, a problem in which the quality of a scanned image is deteriorated due to unintentional movement of the oral scanner, etc., which occurs during a process in which the operation mode of the oral scanner is manually changed, can be prevented.

[0028] According to some embodiments of the present disclosure, the processor can immediately detect a scan target area and initiate acquisition of a scan image in response to a change in the operating mode of the oral scanner from a first mode (in a stationary state) to a second mode (in a holding state). Accordingly, unnecessary delay time until the scan image is acquired can be shortened, thereby increasing the efficiency of scanning operations using the oral scanner.

[0029] According to some embodiments of the present disclosure, the processor can control the operation of the oral scanner by selectively utilizing the most appropriate sensing value among the different types of sensing values ​​included in the sensing data. Accordingly, the amount of computation required to control specific operations of the oral scanner (e.g., changing the operating mode of the oral scanner, suspending scan image acquisition, etc.) is reduced, allowing for efficient management of the processor's computational resources.

[0030] According to some embodiments of the present disclosure, the processor can determine the operating mode of the oral scanner based on sensing data acquired within a predetermined period of time from the time of determining the operating mode of the oral scanner. Accordingly, the processor can more accurately reflect the current state of the oral scanner when determining the operating mode of the oral scanner.

[0031] According to some embodiments of the present disclosure, the processor can determine whether a condition for changing the operating mode of the oral scanner is satisfied based on the amount of change in the sensing value for each of a plurality of sub-periods. Accordingly, the condition for changing the operating mode of the oral scanner can be prevented from being determined due to a single-time change in the sensing value caused by temporary noise, momentary movement of the oral scanner, etc.

[0032] According to some embodiments of the present disclosure, the processor can increase the accuracy of the generated three-dimensional model by generating a three-dimensional model associated with a specific object using only scanned images that include a certain percentage or more of an area corresponding to the specific object that the user wishes to scan.

[0033] According to some embodiments of the present disclosure, the processor can reduce data alignment errors and support the process of generating a stable three-dimensional model by filtering out abnormally acquired scan images (e.g., scan images acquired in situations where the movement of the oral scanner is excessively fast) by judging them as invalid.

[0034] The effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present disclosure belongs (referred to as “one skilled in the art”) from the description of the claims.

[0035] Embodiments of the present disclosure will be described below with reference to the accompanying drawings, wherein like reference numerals represent similar elements, but are not limited thereto.

[0036] FIG. 1 is a diagram illustrating a system for determining an operating mode of an oral scanner according to one embodiment of the present disclosure.

[0037] FIG. 2 is a block diagram showing the internal configuration of a computing device according to one embodiment of the present disclosure.

[0038] FIG. 3 is a flowchart illustrating a method for changing the operation mode of an oral scanner according to one embodiment of the present disclosure from a first mode in a stationary state to a second mode in a holding state.

[0039] FIG. 4 is a diagram illustrating an example of obtaining sensing data related to movement of an oral scanner according to one embodiment of the present disclosure.

[0040] FIG. 5 is a drawing for explaining an example of a condition in which the operation mode of an oral scanner according to one embodiment of the present disclosure is changed from a first mode in a stationary state to a second mode in a holding state.

[0041] FIG. 6 is a drawing for explaining an example of a condition in which the operation mode of an oral scanner according to another embodiment of the present disclosure is changed from a first mode in a stationary state to a second mode in a holding state.

[0042] FIG. 7 is a drawing for explaining an example of an oral scanner acquiring a scan image in one embodiment of the present disclosure.

[0043] FIG. 8 is a flowchart illustrating an example of a method for verifying the validity of a scanned image according to one embodiment of the present disclosure.

[0044] FIG. 9 is a diagram illustrating an example of a method for verifying the validity of a scanned image according to one embodiment of the present disclosure.

[0045] FIG. 10 is a diagram illustrating an example of a method for verifying the validity of a scanned image according to another embodiment of the present disclosure.

[0046] FIG. 11 is a diagram showing an example of an artificial neural network model according to one embodiment of the present disclosure.

[0047] FIG. 12 is a flowchart illustrating a method for changing the operation mode of an oral scanner according to one embodiment of the present disclosure from a second mode in a holding state to a first mode in a mounting state.

[0048] FIG. 13 is a drawing for explaining an example of a condition in which the operation mode of an oral scanner according to one embodiment of the present disclosure is changed from a second mode in a holding state to a first mode in a mounting state.

[0049] Hereinafter, specific details for implementing the present disclosure will be described in detail with reference to the attached drawings. However, in the following description, specific descriptions of widely known functions or configurations will be omitted if they may unnecessarily obscure the gist of the present disclosure.

[0050] In the attached drawings, identical or corresponding components are assigned the same reference numerals. Furthermore, in the description of the embodiments below, duplicate descriptions of identical or corresponding components may be omitted. However, even if a description of a component is omitted, it is not intended that such component is not included in any embodiment.

[0051] The advantages and features of the disclosed embodiments, and methods for achieving them, will become clearer with reference to the embodiments described below, along with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided solely to ensure the completeness of the disclosure and to fully inform those skilled in the art of the scope of the invention.

[0052] The terms used in this specification will be briefly explained, followed by a detailed description of the disclosed embodiments. The terms used in this specification have been selected from widely used, current terms, taking into account the functions of the present disclosure. However, these terms may vary depending on the intentions of engineers working in the relevant field, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms may be arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant description of the invention. Therefore, the terms used in this disclosure should not be defined simply as names of terms, but rather based on their meanings and the overall content of the present disclosure.

[0053] In this specification, singular expressions include plural expressions unless the context clearly indicates otherwise. Furthermore, plural expressions include singular expressions unless the context clearly indicates otherwise. When a part of the specification is said to include a component, this does not exclude other components, but rather implies that other components may be included, unless otherwise specifically stated.

[0054] Also, the term 'module' or 'part' used in the specification means a software or hardware component, and the 'module' or 'part' performs certain roles. However, the 'module' or 'part' is not limited to software or hardware. The 'module' or 'part' may be configured to reside on an addressable storage medium and may be configured to execute one or more processors. Thus, as an example, the 'module' or 'part' may include at least one of components such as software components, object-oriented software components, class components, and task components, processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, or variables. The functionality provided within the components and 'modules' or 'parts' may be combined into a smaller number of components and 'modules' or 'parts', or further separated into additional components and 'modules' or 'parts'.

[0055] According to one embodiment of the present disclosure, a 'module' or 'unit' may be implemented as a processor and a memory. 'Processor' should be broadly construed to include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, and the like. In some circumstances, a 'processor' may also refer to an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field-programmable gate array (FPGA), and the like. A 'processor' may also refer to a combination of processing devices, such as, for example, a combination of a DSP and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors in conjunction with a DSP core, or any other such combination of configurations. In addition, 'memory' should be broadly construed to include any electronic component capable of storing electronic information. 'Memory' may refer to various types of processor-readable media, such as random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable PROM (EEPROM), flash memory, magnetic or optical data storage, registers, etc. Memory is said to be in electronic communication with the processor if the processor can read information from, and / or write information to, the memory. Memory integrated in a processor is in electronic communication with the processor.

[0056] In addition, terms such as first, second, A, B, (a), (b), etc. used in the following embodiments are only used to distinguish certain components from other components, and the nature, order, or sequence of the components are not limited by the terms.

[0057] Additionally, in the embodiments below, when it is described that a component is 'connected', 'coupled' or 'connected' to another component, it should be understood that the component may be directly connected or connected to the other component, but another component may also be 'connected', 'coupled' or 'connected' between each component.

[0058] In the present disclosure, 'each of the plurality of As' may refer to each of all components included in the plurality of As, or may refer to each of some components included in the plurality of As.

[0059] Additionally, the terms 'comprises' and / or 'comprising' used in the following embodiments do not exclude the presence or addition of one or more other components, steps, operations and / or elements.

[0060] In the present disclosure, the "system" may include, but is not limited to, at least one of a server device and a cloud device. For example, the system may be comprised of one or more server devices. As another example, the system may be comprised of one or more cloud devices. As yet another example, the system may be configured and operated by a combination of a server device and a cloud device.

[0061] FIG. 1 is a diagram illustrating a system for determining an operating mode of an oral scanner (10) according to one embodiment of the present disclosure. The system for determining an operating mode of an oral scanner (10) may include an oral scanner (10) and a computing device (100) connected to the oral scanner (10) via a network or the like.

[0062] An oral scanner (10) is a device that scans an object and may be a medical device that acquires an image of the object. In one embodiment, the object may refer to an object that is to be scanned by the oral scanner (10). For example, the object may include an oral cavity, an artificial structure placed within the oral cavity (e.g., a dental restoration, an orthodontic device, an implant, an artificial tooth, an orthodontic assistive device, etc.), a plaster model modeling the oral cavity or an artificial structure, etc.

[0063] In one embodiment, the oral scanner (10) may include a main body (11) and a tip (13). For example, the main body (11) may include a light irradiator that projects light and a camera that captures an image of an object. The tip (13) is a part that is inserted into the oral cavity and may be configured with a detachable structure so as to be mounted on the main body (11). For example, the tip (13) may include a means for changing the light path. The tip (13) may direct light irradiated from the main body (11) toward the object and direct light received from the object toward the main body (11).

[0064] In one embodiment, the oral scanner (10) may be a handheld type that a user holds and moves with their hand while scanning the oral cavity. For example, the oral scanner (10) may be configured to be inserted and removed into the oral cavity, and may be configured to scan the interior of a patient's oral cavity using at least one image sensor (e.g., an optical camera, etc.). The oral scanner (10) may be inserted into the oral cavity and scan the interior of the oral cavity in a non-contact manner, thereby obtaining a scan image of an object within the oral cavity.

[0065] In one embodiment, the oral scanner (10) can acquire sensing data associated with the movement of the oral scanner (10). For example, the oral scanner (10) can have a built-in sensor for detecting the movement of the oral scanner (10). Here, the sensor may be, but is not limited to, an inertial measurement unit (IMU) sensor. The oral scanner (10) can determine an operation mode of the oral scanner (10) based on the sensing data acquired by the sensor.

[0066] As a specific example, when a user grasps an oral scanner (10) in a stationary state to use it, the operation mode of the oral scanner (10) may be changed from a first mode in a stationary state to a second mode in a stationary state. For example, the operation mode of the oral scanner (10) may be changed based on sensing data associated with the movement of the oral scanner (10) that occurs in the process of the user grasping the oral scanner (10). When the operation mode of the oral scanner (10) is changed to the second mode in a stationary state, the oral scanner (10) may initiate an operation for scanning an object. An example of the operation mode of the oral scanner (10) being changed from the first mode in a stationary state to the second mode in a stationary state will be described in more detail below with reference to FIGS. 3 to 6.

[0067] As another example, when the use of the oral scanner (10) is completed and the user places the oral scanner (10) in the holder, the operation mode of the oral scanner (10) may be changed from the second mode, which is a holding state, to the first mode, which is a holding state. For example, the operation mode of the oral scanner (10) may be changed based on sensing data associated with the movement of the oral scanner (10) that occurs during the process of the user placing the oral scanner (10). When the operation mode of the oral scanner (10) is changed to the first mode, which is a holding state, the oral scanner (10) may stop the operation for scanning the object. Alternatively, before the operation mode of the oral scanner (10) is changed to the first mode, if a specific condition associated with the sensing data is satisfied, the oral scanner (10) may stop the operation for scanning the object. An example of the operation mode of the oral scanner (10) being changed from the second mode, which is a holding state, to the first mode, which is a holding state, will be described in more detail below with reference to FIGS. 12 and 13.

[0068] Although the oral scanner (10) is illustrated as a handheld scanner in FIG. 1, it is not limited thereto. For example, the oral scanner (10) may be a table scanner that acquires surface information about an object by scanning the object using the rotation of the table. In this case, the operating mode of the oral scanner (10) may be determined based on sensing data associated with the movement of the table, but is not limited thereto.

[0069] In one embodiment, the oral scanner (10) may initiate an operation to scan an object (e.g., a tooth, a dental restoration, etc.) within the oral cavity based on the change in the operating mode to a second mode in which the operation mode is a holding state. For example, the oral scanner (10) may detect a scan target area and, if the scan target area is detected, initiate acquisition of a scan image associated with the scan target area. An example of acquiring a scan image by the oral scanner (10) is described in more detail below with reference to FIG. 7.

[0070] In one embodiment, the oral scanner (10) can transmit the acquired scan image and / or a three-dimensional model of the object generated based on the acquired scan image to the computing device (100).

[0071] As a specific example, the oral scanner (10) can acquire surface information about an object within the oral cavity as raw data. Here, the raw data can include a two-dimensional scan image of the object within the oral cavity. Thereafter, the oral scanner (10) can generate a three-dimensional model representing the object three-dimensionally based on the acquired raw data, and transmit the generated three-dimensional model to the computing device (100). At this time, the oral scanner (10) can verify the validity of the acquired raw data, and generate a three-dimensional model of the object based on at least a portion of the raw data whose validity has been verified.

[0072] As another example, the oral scanner (10) may acquire surface information about an object within the oral cavity as raw data and directly transmit the acquired raw data to the computing device (100). In this case, the computing device (100) may verify the validity of the raw data received from the oral scanner (10) and, based on at least some of the raw data whose idleness has been verified, generate a three-dimensional model of the object.

[0073] As another example, the oral scanner (10) can acquire surface information about an object within the oral cavity as raw data and verify the validity of the acquired raw data. Thereafter, the oral scanner (10) can transmit at least a portion of the raw data whose validity has been verified to a computing device (100), and the computing device (100) can generate a three-dimensional model of the object based on at least a portion of the transmitted raw data. An example of verifying the validity of a scanned image and generating a three-dimensional model based on the image whose validity has been verified will be described in more detail below with reference to FIGS. 8 to 10.

[0074] With this configuration, the operating mode of the intraoral scanner can be automatically determined based on sensing data associated with the movement of the intraoral scanner. This minimizes the hassle of manually operating separate buttons, user interfaces, etc., provided on the intraoral scanner to initiate or stop scan image acquisition, thereby enhancing user convenience. Furthermore, the quality of scanned images can be prevented from being degraded due to unintentional movement of the intraoral scanner during manual operation.

[0075] Additionally, the processor can immediately detect the scan target area and initiate acquisition of a scan image in response to the change in the operating mode of the oral scanner from the first mode, which is a stationary state, to the second mode, which is a phasing state. Accordingly, unnecessary delay time until the scan image is acquired can be shortened, thereby increasing the efficiency of scanning operations using the oral scanner.

[0076] FIG. 2 is a block diagram illustrating the internal configuration of a computing device (200) according to one embodiment of the present disclosure. Here, the computing device (200) may be substantially identical to the computing device (100) included in the system for determining the operating mode of the oral scanner of FIG. 1.

[0077] The computing device (200) may include a memory (210), a processor (220), a communication module (230), and an input / output interface (240). The computing device (200) may be configured to communicate information and / or data via a network using the communication module (230). For example, the computing device (200) may perform a task to determine an operating mode of the oral scanner. For example, the computing device (200) may acquire sensing data associated with the movement of the oral scanner, and determine the operating mode of the oral scanner based on the acquired data.

[0078] The memory (210) may include any non-transitory computer-readable recording medium. According to one embodiment, the memory (210) may include a permanent mass storage device such as a random access memory (RAM), a read only memory (ROM), a disk drive, a solid state drive (SSD), a flash memory, etc. As another example, a permanent mass storage device such as a ROM, an SSD, a flash memory, a disk drive, etc. may be included in the computing device (200) as a separate permanent storage device distinct from the memory. In addition, the memory (210) may store an operating system and at least one program code (e.g., a code for determining an operating mode of an oral scanner installed and operated in the computing device (200).

[0079] These software components may be loaded from a computer-readable recording medium separate from the memory (210). This separate computer-readable recording medium may include a recording medium directly connectable to the computing device (200), for example, a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, a memory card, etc. As another example, the software components may be loaded into the memory (210) via a communication module (230) other than a computer-readable recording medium. For example, at least one program may be loaded into the memory (210) based on a computer program (e.g., a program for creating or modifying data for a dental restoration) that is installed by files provided by developers or a file distribution system that distributes installation files of applications via the communication module (230).

[0080] The processor (220) may be configured to process commands of a computer program by performing basic arithmetic, logic, and input / output operations. The commands may be provided to a user terminal (not shown) or another external system via the memory (210) or the communication module (230). For example, the processor (220) may acquire sensing data associated with the movement of the oral scanner and, based on the acquired data, determine the operating mode of the oral scanner.

[0081] The communication module (230) may provide a configuration or function for the computing device (200) to communicate with an oral scanner (e.g., the oral scanner (10) of FIG. 1), a user terminal (not shown), etc. via a network, and may provide a configuration or function for the computing device (200) to communicate with an external system (e.g., a separate cloud system, etc.). For example, control signals, commands, data, etc. provided under the control of the processor (220) of the computing device (200) may be transmitted to the user terminal and / or the external system via the communication module (230) and the network via the communication module of the user terminal and / or the external system.

[0082] In addition, the input / output interface (240) of the computing device (200) may be a means for interfacing with a device (not shown) for input or output that is connected to the computing device (200) or that the computing device (200) may include. In FIG. 2, the input / output interface (240) is illustrated as an element configured separately from the processor (220), but is not limited thereto, and the input / output interface (240) may be configured to be included in the processor (220). The computing device (200) may include more components than those illustrated in FIG. 2. However, there is no need to explicitly illustrate most of the conventional components.

[0083] In FIG. 2, the task for determining the operating mode of the oral scanner is described as being performed by the computing device (200), but is not limited thereto, and at least some steps of the task for determining the operating mode of the oral scanner may be performed by the oral scanner (e.g., at least one processor included in the oral scanner).

[0084] FIG. 3 is a flowchart illustrating a method (300) for changing the operation mode of an oral scanner from a first mode in a stationary state to a second mode in a holding state according to one embodiment of the present disclosure. The method (300) may be performed by at least one processor of a computing device (e.g., 100 of FIG. 1) and / or at least one processor of an oral scanner (e.g., 10 of FIG. 1).

[0085] The method (300) may begin with the processor acquiring sensing data associated with the movement of the oral scanner (S310). Here, the sensing data may be data acquired from an inertial measurement unit (IMU) sensor equipped in the oral scanner. For example, the sensing data may include, but is not limited to, at least one of angular velocity information, gravity direction information, or acceleration information associated with the movement of the oral scanner. Examples of the sensing data are described in more detail below with reference to FIG. 4.

[0086] Thereafter, the processor can change the operation mode of the oral scanner from the first mode, which is a passing state, to the second mode, which is a holding state, based on the acquired sensing data (S320). In one embodiment, the processor can determine a condition (hereinafter referred to as the 'first condition') for changing the operation mode of the oral scanner based on the amount of change in the sensing value (hereinafter referred to as the 'first sensing value') included in the acquired sensing data and a predetermined threshold amount of change. Here, the first sensing value may be a value included in the sensing data acquired during a period between the time of determining the first condition and a time prior to a predetermined time from the time of determining the first condition. In addition, the first sensing value may include angular velocity information associated with the movement of the oral scanner. An example of determining the first condition will be described in more detail below with reference to FIGS. 5 and 6.

[0087] In one embodiment, the sensing data may include data for detecting whether a tip is mounted on the oral scanner. For example, in response to determining that a tip is mounted on the oral scanner, the processor may change the operating mode of the oral scanner from a first mode, which is a stationary state, to a second mode, which is a gripped state.

[0088] In one embodiment, the sensing data may include data for detecting whether the charging of the intraoral scanner has stopped. For example, in response to determining that the charging of the intraoral scanner has stopped, the processor may change the operating mode of the intraoral scanner from a first mode, which is a stationary state, to a second mode, which is a non-stationary state.

[0089] Thereafter, in response to the operation mode of the oral scanner being changed to the second mode, the processor may detect a scan target area (S330). For example, the processor may determine whether an object exists within a predetermined threshold distance through light (ray) projected from the oral scanner. Here, the object is an object to be scanned by the oral scanner, and may include an oral cavity, an artificial structure placed in the oral cavity (e.g., a dental restoration, an orthodontic device, an implant, an artificial tooth, an orthodontic assistive device, etc.), a plaster model modeling the oral cavity or an artificial structure, etc. Thereafter, in response to the detection of the scan target area, the processor may initiate acquisition of a scan image associated with the scan target area (S340).

[0090] FIG. 4 is a drawing for explaining an example of obtaining sensing data (400) related to the movement of an oral scanner (10) according to one embodiment of the present disclosure.

[0091] A processor (e.g., at least one processor of the oral scanner (10) or at least one processor of the computing device) can obtain sensing data (400) associated with the movement of the oral scanner (10). For example, the oral scanner (10) may include a sensor for measuring values ​​associated with the movement of the oral scanner (10). Here, the sensor may be an inertial measurement unit (IMU) sensor including an accelerometer, a gyroscope, or the like. In addition, the sensing data (400) may refer to values ​​measured by the sensor and / or data processed from values ​​measured by the sensor.

[0092] In one embodiment, the processor can acquire sensing data (400) in real time or in a predetermined cycle unit. For example, the processor can continuously acquire sensing data (400) while the oral scanner (10) is powered on. As another example, the processor can continuously acquire sensing data (400) under a specific condition (e.g., when the oral scanner (10) is connected to a scanning program running on a computing device, etc.). The state in which the processor acquires sensing data (400) is not limited to the example, and the oral scanner (10) can continuously acquire sensing data (400) while preparing to start scanning, while scanning, or after scanning is completed.

[0093] In one embodiment, the sensing data (400) may include angular velocity information associated with the movement of the oral scanner (10). For example, the sensing data (400) may include information on the angular velocity of the oral scanner (10) in a three-dimensional space that occurs according to the movement of the oral scanner (10). As an example, the sensing data (400) may include, but is not limited to, information on quaternion data indicating a rotational state of the oral scanner (10) with respect to a reference axis (e.g., X-axis, Y-axis, and Z-axis) in a three-dimensional space and / or information on a change amount of the quaternion data.

[0094] In one embodiment, the sensing data (400) may include gravity direction information associated with the movement of the oral scanner (10). For example, the sensing data (400) may include, but is not limited to, information on the direction of the gravity vector and / or information on the amount of change in the gravity vector according to the movement or posture change of the oral scanner (10) in the three-dimensional space where the oral scanner (10) is located.

[0095] In one embodiment, the sensing data (400) may include acceleration information associated with the movement of the oral scanner (10). For example, the sensing data (400) may include information about acceleration of the oral scanner (10) in three-dimensional space that occurs according to the movement of the oral scanner (10). As an example, the sensing data (400) may include, but is not limited to, information about acceleration of the oral scanner (10) with respect to each of the reference axes (e.g., X-axis, Y-axis, and Z-axis) in three-dimensional space and / or information about the amount of change in acceleration.

[0096] In one embodiment, the processor may determine the operating mode of the oral scanner (10) based on the acquired sensing data (400). At this time, the processor may determine the operating mode of the oral scanner (10) based on at least some of the sensing data (400) acquired and accumulated in real time or in predetermined cycles. For example, the processor may determine the operating mode of the oral scanner (10) based on the sensing data acquired within a predetermined time from the time of determining the operating mode of the oral scanner (10). In other words, if the time of acquisition of the sensing data is more than the predetermined time from the time of determining the operating mode of the oral scanner (10), the corresponding sensing data may not be used to determine the operating mode of the oral scanner (10).

[0097] In one embodiment, the processor may determine the operating mode of the oral scanner (10) based on the amount of change in the first sensing value (410) included in the sensing data (400). For example, the processor may determine, based on the amount of change in the first sensing value (410), whether a condition (hereinafter referred to as the 'first condition') for changing the operating mode of the oral scanner (10) from the first mode, which is a holding state, to the second mode, which is a holding state, is satisfied. Here, the first sensing value (410) may include angular velocity information associated with the movement of the oral scanner (10). In addition, the first sensing value (410) may be a value included in sensing data acquired during a period between a time point at which the first condition is determined and a time point prior to a predetermined time point from the time point at which the first condition is determined.

[0098] In one embodiment, the processor may determine the operating mode of the oral scanner (10) based on the amount of change in the second sensing value (420) included in the acquired sensing data (400). For example, the processor may determine, based on the amount of change in the second sensing value (420), whether a condition (hereinafter referred to as the 'second condition') for changing the operating mode of the oral scanner (10) from the second mode, which is a gripping state, to the first mode, which is a placing state, is satisfied. Here, the second sensing value (420) may include gravity direction information associated with the movement of the oral scanner (10). In addition, the second sensing value (420) may be a value included in sensing data acquired during a period between a time point at which the second condition is determined and a time point prior to a predetermined time point from the time point at which the second condition is determined.

[0099] In one embodiment, the processor may control the operation of the oral scanner (10) based on the amount of change in the third sensing value (430) included in the acquired sensing data (400). For example, the processor may determine whether a condition (hereinafter referred to as the 'third condition') for controlling the oral scanner (10) to stop acquiring a scan image is satisfied based on the amount of change in the third sensing value (430). Here, the third sensing value (430) may include acceleration information associated with the movement of the oral scanner (10). In addition, the third sensing value (430) may be a value included in sensing data acquired during a period between a time point at which the third condition is determined and a time point prior to a predetermined time point from the time point at which the third condition is determined.

[0100] By this configuration, the processor can control the operation of the oral scanner (10) by selectively using the most appropriate sensing value among the different types of sensing values ​​included in the sensing data (400). For example, the processor can determine the operation mode of the oral scanner (10) from the first mode, which is a holding state, to the second mode, which is a gripping state, based on the amount of change in the first sensing value (410) associated with the angular velocity of the oral scanner (10). Here, the first sensing value (410) may be a value representing the greatest amount of change in the movement of the oral scanner (10) that occurs during the process of the user gripping the oral scanner (10). In order to control a specific operation of the oral scanner (10) (e.g., changing the operation mode of the oral scanner (10), stopping scan image acquisition, etc.), the processor can reduce unnecessary operations and efficiently manage the computational resources of the processor by considering only the amount of change in a specific sensing value.

[0101] However, the present invention is not limited thereto, and the processor may control a specific operation of the oral scanner (10) based on a plurality of sensing values ​​among different types of sensing values ​​included in the acquired sensing data.

[0102] FIG. 5 is a drawing for explaining an example of a condition in which the operation mode of an oral scanner according to one embodiment of the present disclosure is changed from a first mode in a stationary state to a second mode in a holding state.

[0103] In one embodiment, a processor (e.g., at least one processor of an oral scanner or at least one processor of a computing device) may change the operating mode of the oral scanner from a first mode, which is a holding state, to a second mode, which is a holding state, based on a change in a first sensing value. For example, the processor may determine, based on a change in a first sensing value, whether a condition for changing the operating mode of the oral scanner from the first mode to the second mode (hereinafter referred to as a “first condition”) is satisfied.

[0104] In one embodiment, the first sensing value may be a value included in sensing data acquired during a period (hereinafter referred to as the “first period”) between a first time point (t1), which is a time point at which the first condition is determined, and a second time point (t0), which is a time point prior to a predetermined time from the first time point (t1). For example, the length of the first period may be within 1 second, but is not limited thereto.

[0105] In one embodiment, the processor may compare the change in the first sensing value for the first period with a predetermined first threshold change to determine whether the first condition is satisfied. For example, the processor may compare the change in the first sensing value for the first period with a plurality of sub-periods (sp1 to sp n ) can be determined whether the amount of change in the first sensing value exceeds the first threshold amount of change. Here, a plurality of sub-periods (sp1 to sp n ) may refer to a unit period that divides the first period into a certain time interval (d). The processor may divide a plurality of sub-periods (sp1 to sp n ) can determine whether the ratio of the sub-period (hereinafter referred to as 'specific sub-period') in which the amount of change in the first sensing value exceeds the first threshold amount of change is greater than or equal to a predetermined threshold ratio (e.g., 50%). For example, the specific sub-period may be a plurality of sub-periods (sp1 to sp n ) may refer to a sub-period in which the amount of change in the first sensing value exceeds the first threshold amount of change throughout the sub-period. As another example, a specific sub-period may refer to a plurality of sub-periods (sp1 to sp n ) may refer to a sub-period at which a point in time when the change amount of the first sensing value exceeds the first threshold change amount exists. As another example, a specific sub-period may be a plurality of sub-periods (sp1 to sp n ) may refer to a sub-period in which the average change amount of one sensing value exceeds the first threshold change amount.

[0106] In one embodiment, the processor comprises a plurality of sub-periods (sp1 to sp n ) is greater than a predetermined threshold ratio, it can be determined that the first condition for changing the operation mode of the oral scanner is satisfied. In addition, a plurality of sub-periods (sp1 to sp n ) if the ratio of a specific sub-period is less than a predetermined threshold ratio, the processor may determine that the first condition is not satisfied.

[0107] With this configuration, the processor can determine the operating mode of the oral scanner based on sensing data acquired within a predetermined period of time from the first time point (t1) at which the operating mode of the oral scanner is determined. Accordingly, the processor can more accurately reflect the current status of the oral scanner when determining the operating mode of the oral scanner.

[0108] Additionally, the processor has multiple sub-periods (sp1 to sp n ) based on the amount of change in the first sensing value for each, it is possible to determine whether the condition for changing the operation mode of the oral scanner is satisfied. Accordingly, it is possible to prevent the condition for changing the operation mode of the oral scanner from being determined by a single amount of change in the first sensing value due to temporary noise, momentary movement of the oral scanner, etc.

[0109] FIG. 6 is a diagram illustrating an example of a condition under which the operating mode of an oral scanner according to another embodiment of the present disclosure changes from a first mode, which is a stationary state, to a second mode, which is a holding state. In FIG. 6, descriptions of components described or duplicated in FIG. 5 are omitted.

[0110] In one embodiment, the processor may determine whether a condition for changing the operation mode of the oral scanner from the first mode to the second mode (hereinafter referred to as the “first condition”) is satisfied based on a change amount of the first sensing value and a predetermined first threshold change amount. For example, the processor may calculate an average change amount of the first sensing value for a period (hereinafter referred to as the “first period”) between a first time point (t1) at which the first condition is determined and a second time point (t0) that is a time point prior to a predetermined time from the first time point (t1). At this time, if the average change amount of the first sensing value for the first period exceeds the first threshold change amount, the processor may determine that the first condition for changing the operation mode of the oral scanner is satisfied. In addition, if the average change amount of the first sensing value for the first period is less than or equal to the first threshold change amount, the processor may determine that the first condition is not satisfied.

[0111] However, examples of how the processor determines the first condition are not limited to the methods described in FIGS. 5 and 6, and the processor can determine the first condition in various ways based on the amount of change in the first sensing value and the amount of change in the first threshold.

[0112] FIG. 7 is a drawing for explaining an example of an oral scanner acquiring a scan image in one embodiment of the present disclosure.

[0113] In one embodiment, a processor (e.g., at least one processor of an oral scanner or at least one processor of a computing device) may detect a scan target area in response to the operation mode of the oral scanner being changed to a second mode. For example, the oral scanner may include a light irradiator (16) that projects light. The processor may determine whether a target object (700) exists within a predetermined threshold distance through light (ray) projected from the light irradiator (16). If the processor determines that the target object (700) exists within the predetermined threshold distance, the processor may detect an area corresponding to the target object (700) as a scan target area.

[0114] In one embodiment, the processor, in response to detecting a scan target area, may initiate acquisition of a scan image associated with the scan target area. For example, the oral scanner may further include a camera (12, 14) that photographs the object (700) to acquire a scan image. The oral scanner may acquire a scan image for generating a three-dimensional model associated with the object (700) by photographing the scan target area corresponding to the object (700).

[0115] For example, an oral scanner may include two cameras (12, 14). For example, the oral scanner may include a first camera (12) corresponding to a left field of view and a second camera (14) corresponding to a right field of view. The first camera (12) may capture a scan image (702) corresponding to the left field of view with respect to a scan target area, and the second camera (14) may capture a scan image (704) corresponding to the right field of view with respect to the scan target area. The scan images (702, 704) may be reconstructed and / or used as data for generating a three-dimensional model associated with the scan target area.

[0116] In FIG. 7, the oral scanner is illustrated and described as including two cameras (12, 14), but is not limited thereto, and the oral scanner may include one camera or may include two or more cameras.

[0117] In one embodiment, the processor may acquire scan images (702, 704) captured by an oral scanner and, based on the acquired scan images (702, 704), generate a three-dimensional model associated with the object (700). For example, the processor may verify the validity of the acquired scan images (702, 704) and, based on the verified images, generate a three-dimensional model associated with the scan target area. Examples of verifying the validity of the scan images (702, 704) are described below in connection with FIGS. 8 to 10 .

[0118] FIG. 8 is a flowchart illustrating an example of a method (800) for verifying the validity of a scanned image according to one embodiment of the present disclosure. The method (300) may be performed by at least one processor of a computing device (e.g., 100 of FIG. 1) and / or at least one processor of an oral scanner (e.g., 10 of FIG. 1).

[0119] Method (800) may be performed after step S340 of FIG. 3. For example, the processor may initiate acquisition of a scan image associated with a scan target area and verify the validity of the acquired scan image (S810). For example, the oral scanner may transmit the captured scan image to a computing device (e.g., 100 of FIG. 1), and the validity of the received scan image may be verified by at least one processor of the computing device. As another example, the validity of the captured scan image may be verified by at least one processor of the oral scanner.

[0120] In one embodiment, the processor can identify an area within the scanned image where a specific object appears to verify the validity of the scanned image. The processor can verify the validity of the scanned image by determining whether the area of ​​the area within the scanned image where the specific object appears exceeds a predetermined threshold ratio. A specific example of this is described in more detail below with reference to FIG. 9.

[0121] In another embodiment, the processor may extract at least one feature point from each of a plurality of scanned images captured at predetermined time intervals to verify the validity of the scanned images. Thereafter, the validity of the plurality of scanned images may be verified based on the amount of variation between the at least one feature point extracted from each of the plurality of scanned images. A specific example of this is described in more detail below with reference to FIG. 10.

[0122] Thereafter, the processor can filter out unverified images from among the acquired scanned images (S820). Furthermore, the processor can generate a three-dimensional model associated with the scan target area based on the verified images from among the acquired scanned images (S830).

[0123] In Fig. 8, it is described that the processor initiates acquisition of a scan image associated with a scan target area and then verifies the validity of the acquired scan image, but this is not limited thereto, and the user may set in advance whether to perform validation of the acquired scan image. For example, if it is set not to perform validation of the acquired scan image, the processor may skip the validation step for the acquired scan image and directly generate a 3D model based on the acquired scan image.

[0124] FIG. 9 is a diagram illustrating an example of a method for verifying the validity of a scanned image according to one embodiment of the present disclosure.

[0125] In one embodiment, the processor can identify an area within the scanned image where a specific object appears to verify the validity of the scanned image. The specific object may be an object within the oral cavity that the user wishes to scan, such as teeth or an artificial structure placed within the oral cavity. The processor can distinguish and identify the area within the scanned image where the specific object appears and the remaining area.

[0126] In one embodiment, the processor may use an artificial neural network model to identify an area in which a specific object is displayed within a scanned image. Here, the artificial neural network model may be a model trained to extract an area corresponding to a specific object within an input image (910). For example, the artificial neural network model may receive the scanned image as an input image (910), perform segmentation on the received input image (910), and output an output image (920) in which an area (922) corresponding to a specific object among objects included in the input image (910) is displayed. The output image (920) may display an area (922) corresponding to a specific object and an area (924) excluding the area (922) corresponding to the specific object so as to be distinguished.

[0127] In one embodiment, the processor may determine whether the area of ​​a region (922) corresponding to a specific object within a scanned image is greater than or equal to a predetermined threshold ratio. Here, the threshold ratio may be determined differently depending on the type or size of the tip included in the oral scanner, but is not limited thereto. If the area of ​​a region (922) corresponding to a specific object within a scanned image is greater than or equal to the predetermined threshold ratio, the processor may determine that the scanned image is valid. Furthermore, if the area of ​​a region (922) corresponding to a specific object within a scanned image is less than the predetermined threshold ratio, the processor may determine that the scanned image is invalid. Thereafter, the processor may generate a three-dimensional model associated with the specific object based on the scanned image determined to be valid, and may filter out the scanned image determined to be invalid to be excluded from the scanned image for generating the three-dimensional model.

[0128] By this configuration, the processor can increase the accuracy of the generated 3D model by generating a 3D model associated with a specific object using only scanned images that include a certain percentage or more of an area corresponding to the specific object that the user wants to scan.

[0129] FIG. 10 is a diagram illustrating an example of a method for verifying the validity of a scanned image according to another embodiment of the present disclosure.

[0130] In one embodiment, the processor may extract feature points from each of a plurality of scan images captured at predetermined time intervals to verify the validity of the scan image. For example, the processor may extract at least one first feature point (1010) from a first scan image acquired at a first time point. Furthermore, the processor may extract at least one second feature point (1020) from a second scan image acquired at a second time point, which is a time point that is a predetermined time after the first time point. Here, the first scan image and the second scan image may be images captured continuously.

[0131] In one embodiment, at least one second feature point (1020) extracted from the second scan image may correspond to at least one first feature point (1010) extracted from the first scan image. As a specific example, a second_first feature point (1020_1) corresponding to a first_first feature point (1010_1) extracted from the first scan image may be extracted from the second scan image. Additionally, a second_nth feature point (1020_n) corresponding to a first_nth feature point (1010_n) extracted from the first scan image may be extracted from the second scan image.

[0132] In one embodiment, the processor may extract at least one feature point from the scanned image using an artificial neural network model. For example, the artificial neural network model may be a model trained to extract at least one feature point from an input image.

[0133] In one embodiment, the processor can calculate a variation between at least one first feature point (1010) and at least one second feature point (1020). For example, the processor can determine a variation vector (1030_1) between the first_1 feature point (1010_1) and the second_1 feature point (1020_1). Additionally, the processor can determine a variation vector (1030_n) between the first_n feature point (1010_n) and the second_n feature point (1020_n). That is, the processor can determine variation vectors (1030_1 to 1030_n) between all first feature points (1010_1 to 1010_n) included in the first scan image and second feature points (1020_1 to 1020_n) included in the second scan image and corresponding to each of the first feature points (1010_1 to 1010_n).

[0134] In one embodiment, the processor may determine that the first scan image and the second scan image are valid if the magnitude of the average vector for the variation vectors (1030_1 to 1030_n) is less than or equal to a predetermined threshold. Furthermore, if the magnitude of the average vector for the variation vectors (1030_1 to 1030_n) exceeds the predetermined threshold, the processor may determine that at least one of the first scan image and the second scan image is invalid. That is, if the magnitude of the average vector of the variation vectors calculated from specific scan images exceeds the predetermined threshold, the processor may determine that the oral scanner is not scanning a specific object, and filter the corresponding scan images to be excluded from the scan images for generating a 3D model.

[0135] By this configuration, the processor can reduce data alignment errors and support the process of generating a stable 3D model by filtering out abnormally acquired scan images (e.g., scan images acquired in situations where the movement of the oral scanner is excessively fast) by judging them as invalid.

[0136] FIG. 11 is a diagram illustrating an example of an artificial neural network model (1100) according to one embodiment of the present disclosure. In one embodiment, the processor may utilize the artificial neural network model (1100) to verify the validity of an acquired scanned image. The artificial neural network model (1100) is an example of a machine learning model, and in machine learning technology and cognitive science, may be a statistical learning algorithm implemented based on the structure of a biological neural network or a structure that executes the algorithm.

[0137] According to one embodiment, the artificial neural network model (1100) may represent a machine learning model having problem-solving capabilities by learning that nodes, which are artificial neurons that form a network by combining synapses like in a biological neural network, repeatedly adjust the weights of synapses so that the error between the correct output corresponding to a specific input and the inferred output is reduced. For example, the artificial neural network model (1100) may include any probability model, neural network model, etc. used in artificial intelligence learning methods such as machine learning and deep learning.

[0138] For example, the artificial neural network model (1100) may extract an area corresponding to a specific object within the input scanned image to verify the validity of the scanned image. As another example, the artificial neural network model (1100) may extract at least one feature point from each of a plurality of scanned images acquired at different points in time to verify the validity of the scanned image.

[0139] The artificial neural network model (1100) can be implemented as a multilayer perceptron (MLP) composed of multiple layers of nodes and connections between them. The artificial neural network model (1100) according to the present embodiment can be implemented using one of various artificial neural network model structures including MLP. As illustrated in FIG. 11, the artificial neural network model (1100) can be composed of an input layer (1120) that receives an input signal or data (1110) from the outside, an output layer (1140) that outputs an output signal or data (1150) corresponding to the input data, and n hidden layers (1130_1 to 830_n) located between the input layer (1120) and the output layer (1140) that receive a signal from the input layer (1120), extract features, and transmit them to the output layer (1140) (where n is a positive integer). Here, the output layer (1140) can receive signals from the hidden layers (1130_1 to 830_n) and output them to the outside.

[0140] The artificial neural network model (1100) can be trained based on a supervised learning method that learns to optimize problem solving through input of a teacher signal (correct answer), an unsupervised learning method that does not require a teacher signal, etc. For example, a plurality of input variables and corresponding corresponding output variables are respectively matched in the input layer (1120) and the output layer (1140) of the artificial neural network model (1100), and the synaptic values ​​between the nodes included in the input layer (1120), the hidden layer (1130_1 to 1130_n), and the output layer (1140) are adjusted, thereby training so that the correct output corresponding to a specific input can be extracted. Through this learning process, the synaptic values ​​(or weights) between the nodes of the artificial neural network model (1100) can be adjusted so that the error between the output variable calculated based on the input variable and the target output is reduced.

[0141] According to one embodiment, the artificial neural network model (1100) can be implemented as a model of various structures, such as a Generative Adversarial Network (GAN) model, a diffusion model, a transformer model, etc., and the types of models are not limited thereto.

[0142] FIG. 12 is a flowchart illustrating a method (1200) for changing the operating mode of an oral scanner from a second mode in a holding state to a first mode in a mounting state according to one embodiment of the present disclosure. The method (1200) may be performed by at least one processor of a computing device (e.g., 100 of FIG. 1) and / or at least one processor of an oral scanner (e.g., 10 of FIG. 1).

[0143] Method (800) may be performed after step S340 of FIG. 3. For example, after the processor has initiated acquisition of a scan image associated with a scan target area, the processor may stop acquisition of the scan image (S1210). For example, the processor may stop acquisition of the scan image in response to determining that a specific condition for stopping acquisition of the scan image is satisfied.

[0144] In one embodiment, the processor may stop acquiring the scan image in response to determining that the scan target area of ​​the acquired scan image is not an intraoral area. For example, the processor may determine that the scan target area is not an intraoral area if a specific object to be scanned is not present in the acquired scan image. The processor may stop acquiring the scan image if scan images determined to be not an intraoral area are continuously acquired for a predetermined length of time.

[0145] In another embodiment, the processor may determine whether to stop acquiring a scan image based on sensing data acquired by the oral scanner. For example, the processor may determine a condition (hereinafter referred to as a "third condition") as to whether a change in a sensing value (hereinafter referred to as a "third sensing value") included in the acquired sensing data exceeds a predetermined threshold change amount. Here, the third sensing value may include acceleration information associated with the movement of the oral scanner. In addition, the third sensing value may be a value included in sensing data acquired during a period between the time of determining the third condition and a time prior to a predetermined time from the time of determining the third condition. If the processor determines that the change in the third sensing value exceeds the predetermined third threshold change amount, the processor may stop acquiring a scan image. For example, if the change in acceleration due to the movement of the oral scanner exceeds the predetermined third threshold change amount, the processor may determine that the oral scanner is not moving within the oral cavity for scanning the oral cavity, and may stop acquiring a scan image.

[0146] In another embodiment, the processor may determine a condition (hereinafter referred to as a "second condition") as to whether a change in a sensing value (hereinafter referred to as a "second sensing value") included in the acquired sensing data exceeds a predetermined threshold change amount. Here, the second sensing value may include gravity direction information associated with the movement of the oral scanner. In addition, the second sensing value may be a value included in the sensing data acquired during a period between a time point at which the second condition is determined and a time point prior to a predetermined time point from the time point at which the second condition is determined. If the processor determines that the change in the second sensing value is less than the predetermined second threshold change amount, the processor may stop acquiring the scan image. For example, if the change in the second sensing value due to the movement of the oral scanner is less than the predetermined second threshold change amount, the processor may determine that the operation mode of the oral scanner has been changed from a second mode, which is a gripping state, to a first mode, which is a placing state, and may stop acquiring the scan image.

[0147] Thereafter, based on the acquired sensing data, the processor may change the operating mode of the oral scanner from the second mode, which is a holding state, to the first mode, which is a holding state (S1220). For example, if the processor determines that the amount of change in the second sensing value included in the sensing data is less than a predetermined second threshold amount of change, the processor may change the operating mode of the oral scanner from the second mode to the first mode. An example of changing the operating mode of the oral scanner from the second mode to the first mode is described in more detail below with reference to FIG. 13.

[0148] Alternatively, the processor may restart acquisition of the scanned image while the acquisition of the scanned image has been suspended (S340). For example, the processor may restart acquisition of the scanned image if a specific condition for initiating acquisition of the scanned image is satisfied. For example, the processor may restart acquisition of the scanned image if it is determined that the amount of change in the third sensing value included in the acquired sensing data is less than or equal to a predetermined threshold amount of change, but is not limited thereto.

[0149] In one embodiment, the sensing data may include data for detecting whether the tip has been detached from the oral scanner. In this case, the processor may change the operating mode of the oral scanner from the second mode to the first mode in response to determining that the tip has been detached from the oral scanner.

[0150] In one embodiment, the sensing data may include data for detecting whether charging of the intraoral scanner has commenced. In this case, the processor may change the operating mode of the intraoral scanner from the second mode to the first mode in response to determining that charging of the intraoral scanner has commenced.

[0151] FIG. 13 is a drawing for explaining an example of a condition in which the operation mode of an oral scanner according to one embodiment of the present disclosure is changed from a second mode in a holding state to a first mode in a mounting state.

[0152] In one embodiment, a processor (e.g., at least one processor of an oral scanner or at least one processor of a computing device) may change the operating mode of the oral scanner from a second mode, which is a holding state, to a first mode, which is a holding state, based on a change in the second sensing value. For example, the processor may determine, based on a change in the second sensing value, whether a condition for changing the operating mode of the oral scanner from the second mode to the first mode (hereinafter referred to as a “second condition”) is satisfied.

[0153] In one embodiment, the second sensing value may be a value included in sensing data acquired during a period (hereinafter referred to as the “second period”) between a first time point (t1), which is a time point at which the second condition is determined, and a second time point (t0), which is a time point prior to a predetermined time from the first time point (t1).

[0154] In one embodiment, the processor may compare the change in the second sensing value for the second period with a predetermined second threshold change to determine whether the second condition is satisfied. For example, the processor may compare the change in the second sensing value for the second period with a predetermined second threshold change. For example, the processor may compare the change in the second sensing value for the second period with a plurality of sub-periods (sp1 to sp n ) can be determined whether the amount of change in the second sensing value is less than the second threshold amount of change. Here, a plurality of sub-periods (sp1 to sp n ) may refer to a unit period that divides the second period into a certain time interval (d). The processor may divide a plurality of sub-periods (sp1 to sp n ) can be determined whether the ratio of the sub-period (hereinafter referred to as 'specific sub-period') in which the amount of change in the second sensing value is smaller than the second threshold change is greater than or equal to a predetermined threshold ratio (e.g., 50%). For example, the specific sub-period may be a plurality of sub-periods (sp1 to sp n ) may refer to a sub-period in which the amount of change in the second sensing value exceeds the second threshold amount of change throughout the sub-period. As another example, a specific sub-period may be a plurality of sub-periods (sp1 to sp n ) may refer to a sub-period at which a point in time when the amount of change in the second sensing value exceeds the second threshold amount of change exists. As another example, a specific sub-period may be a plurality of sub-periods (sp1 to sp n ) may refer to a sub-period in which the average change amount of the first sensing value exceeds the first threshold change amount.

[0155] In one embodiment, a plurality of sub-periods (sp1 to sp n) is greater than a predetermined threshold ratio, the processor may determine that the second condition for changing the operation mode of the oral scanner is satisfied. In addition, a plurality of sub-periods (sp1 to sp n ) if the ratio of a specific sub-period is less than a predetermined threshold ratio, the processor may determine that the second condition is not satisfied.

[0156] By this configuration, the processor has multiple sub-periods (sp1 to sp n ) for each, it can be determined whether the amount of change in the second sensing value is less than the second threshold amount of change. At this time, if it is determined that the amount of change in the second sensing value is continuously less than the second threshold amount of change, the processor can determine that the oral scanner is placed in a fixed position, and change the operation mode of the oral scanner from the second mode, which is a holding state, to the first mode, which is a placing state.

[0157] The above-described method may be provided as a computer program stored on a computer-readable recording medium for execution on a computer. The medium may be one that continuously stores a computer-executable program or one that temporarily stores it for execution or download. In addition, the medium may be various recording means or storage means in the form of a single or multiple hardware combinations, and is not limited to a medium directly connected to a computer system, but may also be distributed over a network. Examples of the medium may include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and those configured to store program instructions, including ROM, RAM, and flash memory. In addition, examples of other media may include recording or storage media managed by app stores that distribute applications, sites that supply or distribute various software, servers, etc.

[0158] The methods, operations, or techniques of the present disclosure may be implemented by various means. For example, these techniques may be implemented in hardware, firmware, software, or a combination thereof. Those skilled in the art will appreciate that the various exemplary logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various exemplary components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software will depend on the particular application and the design requirements imposed on the overall system. Those skilled in the art may implement the described functionality in various ways for each particular application, but such implementations should not be construed as departing from the scope of the present disclosure.

[0159] In a hardware implementation, the processing units used to perform the techniques may be implemented within one or more ASICs, DSPs, GPUs, digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, a computer, or a combination thereof.

[0160] Accordingly, the various exemplary logical blocks, modules, and circuits described in connection with the present disclosure may be implemented or performed by any combination of a general-purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or those designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0161] In a firmware and / or software implementation, the techniques may be implemented as instructions stored on a computer-readable medium, such as random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable PROM (EEPROM), flash memory, a compact disc (CD), a magnetic or optical data storage device, etc. The instructions may be executable by one or more processors and may cause the processor(s) to perform certain aspects of the functionality described herein.

[0162] When implemented in software, the techniques may be stored on or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media, including any medium that facilitates transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. In addition, any connection is suitably made to a computer-readable medium.

[0163] For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, digital subscriber line, or wireless technologies such as infrared, radio, and microwave are included within the definition of media. Disk and disc, as used herein, includes compact discs, laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, whereas discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0164] A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. Alternatively, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Alternatively, the processor and the storage medium may reside as discrete components in the user terminal.

[0165] While the embodiments described above have been described as utilizing aspects of the presently disclosed subject matter in one or more standalone computer systems, the present disclosure is not limited thereto and may be implemented in conjunction with any computing environment, such as a network or distributed computing environment. Furthermore, aspects of the present disclosure may be implemented in multiple processing chips or devices, and storage may be similarly affected across multiple devices. Such devices may include personal computers, network servers, and portable devices.

[0166] While the present disclosure has been described in connection with certain embodiments herein, various modifications and variations may be made without departing from the scope of the present disclosure, which would be apparent to those skilled in the art. Furthermore, such modifications and variations are intended to fall within the scope of the claims appended to this specification.

Claims

1. A method for determining an operation mode of an oral scanner, performed by at least one processor, A step of acquiring sensing data associated with the movement of an oral scanner; A step of changing the operation mode of the oral scanner from a first mode in a passing state to a second mode in a holding state based on the acquired sensing data; In response to the operation mode of the oral scanner being changed to the second mode, a step of detecting a scan target area; and In response to the detection of the above scan target area, a step of initiating acquisition of a scan image associated with the above scan target area. A method for determining an operation mode of an oral scanner, comprising:

2. In paragraph 1, The above sensing data is, A method for determining an operating mode of an oral scanner, the method comprising: obtaining data from an inertial measurement unit (IMU) sensor equipped in the oral scanner.

3. In paragraph 1, The step of changing to the above second mode is: A step of determining a first condition based on the amount of change in the first sensing value included in the acquired sensing data and a predetermined first threshold amount of change. Including, The above first sensing value is, A method for determining an operating mode of an oral scanner, wherein the method is a value included in sensing data acquired in a first period between the time point at which the first condition is determined and a time point prior to a predetermined time from the time point at which the first condition is determined.

4. In paragraph 3, The step of determining the above first condition is: A step of determining whether, among the plurality of sub-periods included in the first period, the ratio of sub-periods in which the amount of change in the first sensing value exceeds the first threshold amount of change is greater than or equal to a predetermined threshold ratio. A method for determining an operation mode of an oral scanner, comprising:

5. In paragraph 3, The step of determining the above first condition is: A step of determining whether the average change amount of the first sensing value for the first period exceeds the first threshold change amount. A method for determining an operation mode of an oral scanner, comprising:

6. In paragraph 3, The above first sensing value is, A method for determining an operating mode of an oral scanner, comprising angular velocity information associated with the movement of the oral scanner.

7. In paragraph 1, A step of changing the operation mode of the oral scanner from the second mode to the first mode based on the acquired sensing data. A method for determining an operating mode of an oral scanner, further comprising:

8. In paragraph 7, The step of changing to the above first mode is: A step of determining a second condition based on the amount of change in the second sensing value included in the acquired sensing data and the predetermined second threshold amount of change. Including, The above second sensing value is, A method for determining an operating mode of an oral scanner, wherein the method is a value included in sensing data acquired during a second period between the time point at which the second condition is determined and a time point prior to a predetermined time from the time point at which the second condition is determined.

9. In paragraph 8, The step of determining the above second condition is: A step of determining whether, among the plurality of sub-periods included in the second period, the ratio of sub-periods in which the amount of change in the second sensing value is less than the second threshold amount of change is greater than or equal to a predetermined threshold ratio. A method for determining an operation mode of an oral scanner, comprising:

10. In paragraph 8, The above second sensing value is, A method for determining an operating mode of an oral scanner, comprising gravity direction information associated with the movement of the oral scanner.

11. In paragraph 1, The step of detecting the above scan target area is: A step of determining whether an object exists within a predetermined threshold distance through light (ray) projected from the above oral scanner. A method for determining an operation mode of an oral scanner, comprising:

12. In paragraph 1, A step of verifying the validity of the acquired scan image; and A step of filtering out unverified images among the acquired scan images. A method for determining an operating mode of an oral scanner, further comprising:

13. In paragraph 12, The above verification steps are: A step of identifying an area in which a specific object is displayed within the acquired scan image; and A step of determining whether the area of ​​the identified region within the acquired scan image is greater than a predetermined threshold ratio. A method for determining an operation mode of an oral scanner, comprising:

14. In paragraph 12, The above verification steps are: A step of extracting at least one first feature point from a first scan image acquired at a first point in time among the acquired scan images; A step of extracting at least one second feature point corresponding to the at least one first feature point from a second scan image acquired at a second time point that is a time point after a predetermined time from the first time point among the acquired scan images; and A step of verifying the validity of the first scan image and the second scan image based on the amount of change between the at least one first feature point and the at least one second feature point. A method for determining an operation mode of an oral scanner, comprising:

15. In paragraph 12, A step of creating a three-dimensional model associated with the scan target area based on an image whose validity has been verified among the acquired scan images. A method for determining an operating mode of an oral scanner, further comprising:

16. In paragraph 1, A step of stopping acquisition of the scan image in response to determining that the scan target area of ​​the acquired scan image is not an area within the oral cavity. A method for determining an operating mode of an oral scanner, further comprising:

17. In paragraph 1, A step of determining a condition as to whether the amount of change in the sensing value included in the acquired sensing data exceeds a predetermined threshold amount of change; and A step of stopping acquisition of the scan image in response to determining that the change in the sensing value exceeds the threshold change amount. Including more, The above sensing value is, A value included in the sensing data acquired during the period between the time point at which the above condition is determined and the time point before a predetermined time from the time point at which the above condition is determined, Containing acceleration information associated with the movement of the oral scanner, How to determine the operating mode of an oral scanner.

18. In paragraph 1, The above sensing data is, Contains data for detecting whether a tip is mounted on the above oral scanner, The step of changing to the above second mode is: In response to determining that a tip is mounted on the oral scanner, a step of changing the operation mode of the oral scanner from the first mode to the second mode. A method for determining an operation mode of an oral scanner, comprising:

19. In paragraph 1, The above sensing data is, Contains data for detecting whether the charging of the above oral scanner has stopped, The step of changing to the above second mode is: In response to determining that charging of the oral scanner has stopped, a step of changing the operation mode of the oral scanner from the first mode to the second mode. A method for determining an operation mode of an oral scanner, comprising:

20. In computing devices, memory; and At least one processor connected to said memory and configured to execute at least one computer-readable program contained in said memory, At least one program above, Acquire sensing data associated with the movement of the oral scanner, Based on the acquired sensing data, the operation mode of the oral scanner is changed from the first mode, which is a passing state, to the second mode, which is a holding state, In response to the operation mode of the above oral scanner being changed to the second mode, detecting the scan target area, A computing device comprising instructions for initiating acquisition of a scan image associated with the scan target area in response to detection of the scan target area.

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