Data processing method and apparatus, and device, target and storage medium

Abstract

Provided in the embodiments of the present application are a data processing method and apparatus, and a device, a target and a storage medium. The method comprises: acquiring facial scanning data of a user, wherein the facial scanning data comprises multi-frame extraoral scanning data which is acquired on the basis that the dental arch of the user has a target mounted thereon and the dental arch is moving up and down; acquiring oral scanning data of the user, wherein the oral scanning data comprises intraoral scanning data which is acquired on the basis that the dental arch of the user has the target mounted thereon; and on the basis of the facial scanning data and the oral scanning data, acquiring a digital model for dental arch movement. Therefore, a dental arch movement trajectory of an edentulous patient can be acquired and simulated.

Description

Data processing method, device, equipment, target and storage medium

[0001] The present application claims priority to the Chinese patent application No. 202410707902.2, filed on June 3, 2024, and entitled "Data processing method, device, equipment, target and storage medium", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application belongs to the technical field of dental implant scanning, in particular to a data processing method, device, equipment, target and storage medium. BACKGROUND

[0003] Edentulous patients cannot be fixed by the target in the prior art, and the monitoring of the dental arch movement trajectory of the edentulous patients cannot be realized, and the movement simulation of the dental arch model of the edentulous patients cannot be realized. SUMMARY

[0004] One of the purposes of the embodiments of the present application is to provide a data processing method, device, equipment and storage medium, which can realize the acquisition and simulation of the dental arch movement trajectory of the edentulous patients.

[0005] The technical solution adopted by the embodiments of the present application is:

[0006] In a first aspect, the embodiments of the present application provide a data processing method, comprising:

[0007] Obtaining facial scan data of a user, wherein the facial scan data comprises a plurality of frames of extraoral scan data obtained based on the dental arch of the user in a state of being installed with a target and in a process of up-down movement;

[0008] Obtaining oral scan data of the user, wherein the oral scan data comprises oral scan data obtained based on the dental arch of the user in a state of being installed with the target;

[0009] Obtaining a digital model of dental arch movement based on the facial scan data and the oral scan data.

[0010] In a second aspect, the embodiments of the present application provide a data processing method, comprising:

[0011] Obtaining facial scan data of a user, wherein the facial scan data comprises a plurality of frames of extraoral scan data obtained based on the dental arch of the user in a state of being installed with a target and in a process of up-down movement;

[0012] Obtaining oral scan data of the user, wherein the oral scan data comprises oral scan data obtained based on the dental arch of the user in a state of not being installed with the target;

[0013] stitching the digital model of the jaw movement based on the common features of the face scanning data and the mouth scanning data.

[0014] In a third aspect, an embodiment of the present application provides a data processing apparatus, comprising:

[0015] The first obtaining module is configured to obtain face scanning data of a user, the face scanning data comprising a plurality of frames of out-mouth scanning data obtained based on the user's jaw in a state of being installed with a target and in a process of being in up-down movement;

[0016] The second obtaining module is configured to obtain mouth scanning data of the user, the mouth scanning data comprising mouth scanning data obtained based on the user's jaw in a state of being installed with the target;

[0017] The generating module is configured to obtain a digital model of jaw movement based on the face scanning data and the mouth scanning data.

[0018] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the method of any one of the first aspect when executing the computer program.

[0019] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, and the computer program is executed by a processor to implement the method for determining the layout information of the scanning rod.

[0020] In a sixth aspect, an embodiment of the present application provides a computer program product, when the computer program product runs on a terminal device, the electronic device executes the method of any one of the above.

[0021] In a seventh aspect, an embodiment of the present application provides a target, applied to the method for processing data, the target is provided with a mounting part configured to be fixedly connected with an implant, and a surface of the target is provided with an identifier.

[0022] In some embodiments, the target is a scanning rod, and the identifier is an identification point on the surface of the scanning rod.

[0023] In some embodiments, the target is a fork, the fork comprises a fork body part and a fork extension part, the fork body part and the fork extension part are respectively provided with an identifier, and the mounting part is arranged on the fork body part. a fork body part and a fork extension part, the fork body part and the fork extension part are respectively provided with an identifier, and the mounting part is arranged on the fork body part. a fork body part and a fork extension part, the fork body part and the fork extension part are respectively provided with an identifier, and the mounting part is arranged on the fork body part. The fork extension is connected with the fork body. The fork body is fixedly connected.

[0024] In some embodiments, the fork extension comprises a lip avoiding part and an extraoral marking part. The fork extension comprises a lip avoiding part and an extraoral marking part, one end of the lip avoiding part is connected with the fork body, and the other end of the lip avoiding part is connected with the extraoral marking part. The fork body is fixedly connected.

[0025] In some embodiments, the extraoral marking part comprises a cross-shaped sheet.

[0026] The data processing method provided by the embodiments of the present application comprises the following steps: obtaining facial scanning data of a user, wherein the facial scanning data comprises a plurality of frames of extraoral scanning data obtained based on the user's dental arch in a state of being installed with a target and in a process of being in up-down movement; obtaining oral scanning data of the user, wherein the oral scanning data comprises oral scanning data obtained based on the user's dental arch in a state of being installed with the target; and obtaining a digital model of dental arch movement based on the facial scanning data and the oral scanning data. The dental arch movement trajectory of a patient without teeth can be obtained and simulated. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or exemplary technical descriptions will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0028] Fig. 1 is a schematic diagram of the implementation process of the data processing method provided by the embodiments of the present application;

[0029] Fig. 2 is a schematic diagram of the structure of a scanning rod provided by the embodiments of the present application;

[0030] Fig. 3 is a schematic diagram of the structure of a fork provided by the embodiments of the present application; The fork extension is connected with the fork body.

[0031] Fig. 4 is a schematic diagram of the implementation process of the data processing method provided by the embodiments of the present application;

[0032] Fig. 5 is a schematic diagram of the structure of a data processing device provided by the embodiments of the present application;

[0033] Fig. 6 is a schematic diagram of the structure of an electronic device provided by the embodiments of the present application. Embodiments of the present application

[0034] In order to make the purposes, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended to explain the present application and should not be used to limit the present application.

[0035] It should be noted that when a component is referred to as being "fixed" or "disposed" on another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected" to another component, it can be directly or indirectly connected to the other component. The terms "upper", "lower", "left", "right", and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are merely for the convenience of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. For those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "first", "second" are merely for the convenience of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0036] Based on the problems in the related art, the data processing method provided in the embodiments of the present application can be applied to electronic devices such as mobile phones, tablet computers, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, notebook computers, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), scanning devices, etc. The embodiments of the present application do not make any limitation on the specific type of electronic device.

[0037] The function realized by the data processing method provided in the embodiments of the present application can be realized by calling program code by the processor of the electronic device, and the program code can be saved in a computer storage medium.

[0038] The embodiments of the present application provide a data processing method, and FIG. 1 is a schematic flowchart of the implementation of the data processing method provided in the embodiments of the present application, as shown in FIG. 1, which includes:

[0039] In step S101, face scanning data of a user is acquired, and the face scanning data includes a plurality of extra-oral scanning data acquired based on the upper and lower movement of the dental arch of the user in the state of being installed with a target.

[0040] In this embodiment of the application, the user can be an edentulous patient, and the facial scan data can be a three-dimensional model of the face.

[0041] In this embodiment, the target can be fixed to the jawbone. The target has a mounting portion configured for fixed connection with the implant, and the surface of the target has markings. The mounting portion of the target can be threadedly connected to the abutment, which is fixed to the jawbone by the implant. The target surface has markings, which can be dots of a predetermined shape, such as circles or rectangles.

[0042] In this embodiment, the target is a scanning rod. Figure 2 is a cross-sectional view of a scanning rod according to an embodiment. The scanning rod includes a scanning rod positioning part 1 and a scanning rod marking part 2. The scanning rod positioning part 1 is configured to be fixedly connected to the implant, and the scanning rod marking part 2 is provided with markings. The markings are marking points on the surface of the scanning rod. When the scanning rod is installed on the jaw, the scanning rod is located inside the patient's oral cavity, and the distribution density of the marking points on the scanning rod is suitable for an intraoral scanner. The scanning rod marking part 2 is provided with a plane with a drop.

[0043] In some embodiments, the target may also be Fork, Figure 3 is an embodiment provided in this application. A schematic diagram of the fork structure is shown in Figure 3. Fork includes Fork body 20 and Fork extension 21, Fork body 20 and The fork extensions 21 are each marked, and the mounting part is located at... On the fork main body part 20, Fork extension 21 and The fork body 20 is fixedly connected.

[0044] In the embodiments of this application, The distribution density of the marking points on the fork body is suitable for an intraoral scanner. When the fork is installed on the jaw, The main body of the fork is located inside the patient's mouth. The fork extension extends to the outside of the patient's mouth.

[0045] In some embodiments, The fork extension 21 includes: a lip avoidance portion 211 and an external marking portion 212, one end of which is connected to... The fork body 20 is connected, and the other end of the lip avoidance part 211 is connected to the external marking part 212.

[0046] In this embodiment, the cross-section of the lip avoidance portion is arc-shaped, and the arc shape matches the user's lips.

[0047] In some embodiments, the extraoral identification part 212 comprises a cross-shaped sheet.

[0048] In the embodiments of the present application, the cross-shaped sheet can increase the distribution area, so that more identification can be provided. In addition, the sheet can make the weight of the extraoral identification part within a proper range, avoiding the weight of the fork being too heavy, affecting the user's face, and thus affecting the user's face scanning data. The cross-shaped sheet can increase the distribution area, so that more identification can be provided. In addition, the sheet can make the weight of the extraoral identification part within a proper range, avoiding the weight of the fork being too heavy, affecting the user's face, and thus affecting the user's face scanning data.

[0049] In the embodiments of the present application, the facial scanning data can be obtained by a facial scanning device, which can include a face scanner. The face scanner is a digital device configured to obtain facial scanning data, and is commonly used in the fields of dentistry, orthodontics, and cosmetics. Taking the face scanner as an example, first, ensure that the face scanner device is in normal working condition, and calibrate the device to ensure accuracy. At the same time, put an appropriate mouth prop on the patient to open the patient's lips, so as to ensure that the device can accurately capture facial data and lip data. Then install a target in the user's mouth, usually guide the patient to sit straight or stand, keep the face and head stable, and ensure that the patient does not move the head, so as to avoid affecting the accuracy of the scanning results. The operator uses the face scanner device to scan outside the patient's mouth. The face scanner device usually uses optical technology to capture image information of the dental arch, which reflects the relative state of the upper and lower dental arch positions. During the scanning process, the user can move the jaw, and the device will automatically record the images of the dental arch at different motion positions, and then obtain the dental arch three-dimensional model corresponding to different motion positions. The dental arch three-dimensional model corresponding to different positions can form the motion trajectory of the dental arch (i.e., the motion data of the upper and lower dental arches), and the dental arch three-dimensional model includes the three-dimensional data of the target identification. Selecting any identification in the upper dental arch three-dimensional model and any identification in the lower dental arch three-dimensional model, the three-dimensional data corresponding to the selected identification in the lower dental arch three-dimensional model relative to the selected identification in the upper dental arch three-dimensional model at different motion positions can determine the positional change relationship of the selected identification in the lower dental arch three-dimensional model relative to the selected identification in the upper dental arch three-dimensional model, thereby determining the motion trajectory of the selected identification in the lower dental arch three-dimensional model relative to the selected identification in the upper dental arch three-dimensional model during the up-down motion of the dental arch. Based on the motion trajectory of the identification, the motion trajectory of the dental arch can be obtained, or the motion trajectory of the dental arch can be represented by the motion trajectory of the identification. The collected point cloud data or mesh data is processed and reconstructed by the software matched with the device to generate a facial three-dimensional model. It should be noted that the facial model can record not only the image information of the dental arch, but also the image information of the face, and the facial three-dimensional model can be obtained based on the image information of the face. The operator can view and edit the scanning results in the software to ensure the accuracy and integrity of the data. After completing the facial scanning, the data can be stored in the computer or cloud platform for further analysis and processing.

[0050] In step S102, the user's mouth scanning data is obtained, which includes the mouth scanning data obtained based on the user's dental arch in the state of installing the target.

[0051] In the embodiments of the present application, the oral scanning data can be a three-dimensional model data of the oral cavity. The oral scanning data can include: first oral scanning data and second oral scanning data, the first oral scanning data is obtained by scanning the dental arch in the user's mouth by a scanner based on the user's dental arch in a state of being installed with a target, and the second oral scanning data is obtained by scanning the dental arch in the user's mouth by a scanner based on the user's dental arch in a state of not being installed with a target. Specifically, it includes: in the state of being installed with a target, scanning the upper dental arch of the user to obtain the scanning data of the upper dental arch, and scanning the lower dental arch of the user to obtain the scanning data of the lower dental arch, the first oral scanning data includes the scanning data of the upper dental arch and the scanning data of the lower dental arch; in the state of not being installed with a target, scanning the upper dental arch of the user to obtain the scanning data of the upper dental arch, and scanning the lower dental arch of the user to obtain the scanning data of the lower dental arch, the second oral scanning data includes the scanning data of the upper dental arch and the scanning data of the lower dental arch; obtaining the complete three-dimensional appearance data of the surface of the upper dental arch through the scanning data of the upper dental arch in the first oral scanning data and the scanning data of the upper dental arch in the second oral scanning data, and obtaining the complete three-dimensional appearance data of the surface of the lower dental arch through the scanning data of the lower dental arch in the first oral scanning data and the scanning data of the lower dental arch in the second oral scanning data, the oral scanning data includes the complete three-dimensional appearance data of the surface of the upper dental arch and the complete three-dimensional appearance data of the surface of the lower dental arch. The complete three-dimensional appearance data of the surface of the dental arch obtained through the first oral scanning data and the second oral scanning data includes the surface three-dimensional appearance data of the gums and the three-dimensional data of the surface of the target identified by the target, and can further include the surface three-dimensional appearance data of the target.

[0052] In the embodiments of the present application, the oral scanning data can be obtained by an intraoral scanner. It can be ensured that the intraoral scanner is in a normal working state, and the calibration equipment is used to ensure accuracy. The user is guided to sit straight or lie down, and the user is asked to open his mouth and keep the oral cavity relatively stable. It is ensured that the user does not move his head or oral cavity to avoid affecting the accuracy of the scanning result. The target is installed in the oral cavity. At this time, the operator uses the intraoral scanner to scan in the user's mouth. The device usually uses optical technology to capture image information of the dental arch, and the image information reflects the complete surface morphology of the dental arch. During the scanning process, the device automatically records a large amount of image data. Then the collected image data is processed and reconstructed by the software matched with the device to generate a complete three-dimensional model of the oral cavity. The operator can view and edit the scanning result in the software to ensure the accuracy and integrity of the data: after completing the oral scanning, the data can be stored in the computer or the cloud platform, and the oral scanning data can be obtained from the computer or the cloud platform. The three-dimensional model is expressed in the form of point cloud, three-dimensional grid, etc.

[0053] In step S103, a digital model of the dental arch movement is obtained based on the facial scanning data and the oral scanning data.

[0054] In the embodiments of the present application, the collected facial scan data and oral scan data are processed, which can include data alignment, registration and denoising, etc., to ensure the accuracy and consistency of the data. Using the processed data, the movement of the dentition is modeled through algorithms and models. When modeling, motion tracking, morphological analysis and motion pattern recognition techniques can be used to capture the subtle changes and characteristics of the dentition during movement. Based on the modeling results of the movement of the dentition, a digital model of the movement of the dentition is generated. This model can be a three-dimensional model, a dynamic model or other forms of mathematical models that describe and predict the posture and morphology of the dentition in different movement states.

[0055] The data processing method provided by the embodiments of the present application can obtain facial scan data of a user, the facial scan data including a plurality of frames of oral scan data acquired based on the dentition of the user in a state of being installed with a target and in a process of being moved up and down, the oral scan data including upper dentition scan data and lower dentition scan data in different relative positions in a process of the lower dentition relative to the upper dentition being moved up and down, so that the movement data of the upper and lower dentition can be naturally acquired based on the oral scan data; obtaining oral scan data of the user, the oral scan data including oral scan data acquired based on the dentition of the user in a state of being installed with the target; and acquiring a digital model of the movement of the dentition based on the facial scan data and the oral scan data. Since the oral scan data and the facial scan data both include data of the target, the data based on the same target identifier can be spliced, including splicing based on the same identifier (common identifier), so that the oral scan data can acquire the movement data of the upper and lower dentition from the facial scan data, and the digital model of the movement of the dentition is obtained, which has both complete data of the surface of the dentition and data of the movement of the upper and lower dentition.

[0056] In some embodiments, step S103 can be implemented by the following steps:

[0057] In step S1031, a trajectory of the movement of the dentition is acquired based on the facial scan data.

[0058] In the embodiments of the present application, the trajectory of the movement of the dentition in the movement process can be extracted from the facial scan data. The trajectory of the movement of the dentition is used to describe the movement path of the dentition in space.

[0059] The face scanning data includes multiple frames of extraoral scanning data acquired based on the user's dentognathic system in a state of being installed with the target and in a process of being in up-down motion, and specifically includes first extraoral scanning data of the upper dentognathic system and the lower dentognathic system in a first position state at a first time, second extraoral scanning data of the upper dentognathic system and the lower dentognathic system in a second position state at a second time, splicing based on three-dimensional data of the common upper dentognathic system in the first extraoral scanning data and the second extraoral scanning data, and a position deviation between three-dimensional data of the common lower dentognathic system in the first extraoral scanning data and the second extraoral scanning data after splicing, which represents a motion trajectory of the dentognathic system changing from the first position to the second position. Further, splicing based on three-dimensional data of the common target surface on the upper dentognathic system in the first extraoral scanning data and the second extraoral scanning data, and a position deviation between three-dimensional data of the common target surface on the lower dentognathic system in the first extraoral scanning data and the second extraoral scanning data after splicing, which represents the motion trajectory of the dentognathic system changing from the first position to the second position. It should be noted that the splicing of the first extraoral scanning data and the second extraoral scanning data is not limited to splicing based on the three-dimensional data of the common upper dentognathic system, but can also be splicing based on the three-dimensional data of the common lower dentognathic system, determining the motion trajectory of the dentognathic system changing from the first position to the second position based on the position deviation of the three-dimensional data of the upper dentognathic system, or other methods capable of determining the correspondence of the extraoral scanning data in different position states.

[0060] In step S1032, a digital model of the dentognathic system is acquired based on the oral scanning data.

[0061] In the embodiments of the present application, the oral scanning data can be used to generate a three-dimensional model of the dentognathic system, which can be in the form of point cloud or mesh or other three-dimensional digital representation.

[0062] In step S1033, a digital model of the dentognathic motion is acquired based on the trajectory of the dentognathic motion and the digital model of the dentognathic system.

[0063] In the embodiments of the present application, the digital model of the dentognathic motion can be acquired based on the trajectory of the dentognathic motion and the digital model, combined with kinematics and computer simulation methods. This model can be used to analyze the contour features of the dentognathic system, the features of the dentognathic motion, predict the motion state, and simulate the posture of the dentognathic system in different motion states.

[0064] In some embodiments, step S1033 can be implemented by the following steps:

[0065] In step S1, a common identifier of the trajectory of the dentognathic motion and the digital model of the dentognathic system is determined, and the trajectory of the dentognathic motion includes the trajectory of the identifier.

[0066] In the embodiments of the present application, since the scanning data of the target is included in the facial scanning data and the oral scanning data, the mark is arranged on the target, and the dental arch motion trajectory is represented by the motion trajectory of the mark, the common mark can be extracted from the dental arch motion trajectory and the digital model of the dental arch, or in other words, the common mark can be extracted from the facial scanning data and the digital model of the dental arch. The number of the common marks can be one or more.

[0067] In step S2, the trajectory of the common mark is acquired based on the facial scanning data.

[0068] In the embodiments of the present application, after the common mark is determined, the motion trajectory of the common mark is determined based on the facial scanning data, that is, the moving path and the change rule of the mark in the motion process.

[0069] In step S3, the digital model of the dental arch motion is acquired based on the trajectory of the common mark and the digital model of the dental arch.

[0070] In the embodiments of the present application, the digital model of the dental arch can be changed in position based on the motion trajectory of the common mark, that is, the digital model of the dental arch motion can be acquired, and the digital model of the dental arch can be dynamically displayed in position change, that is, the digital model of the dental arch in up-down motion.

[0071] In the embodiments of the present application, the digital model of the dental arch motion can be acquired by combining the kinematic analysis and the computer simulation method, so as to describe and predict the posture and shape of the dental arch in different motion states.

[0072] In some embodiments, step S1031 can be implemented by the following steps:

[0073] In step S11, a plurality of oral scanning data is acquired based on the dental arch of the user in the state of being installed with the target and in the process of up-down motion.

[0074] In the embodiments of the present application, the target can be fixed on the dental arch of the user. In the dental field, the target is installed on the dental arch by assembling the implant on the dental arch, assembling the abutment on the implant, and assembling the target on the abutment. The target surface has a mark, and the position and posture of the dental arch can be accurately captured in the motion process by scanning, recognizing and reconstructing the mark. The oral scanner and other devices are used to continuously acquire a plurality of oral scanning data in the process of the dental arch motion.

[0075] In step S12, the trajectory of the dental arch motion is determined based on the common mark data in the plurality of oral scanning data and the acquisition time sequence of the plurality of oral scanning data.

[0076] In the embodiments of the present application, common marks can be determined from the multiple frames of extra-oral scanning data, and the marks can be marks on the target. The marks are spliced on the multiple frames of extra-oral scanning data so that the common mark data are located in the same coordinate system. The path formed by the same marks in the same coordinate system based on the time sequence is the trajectory of the movement of the same marks on the target, and the trajectory of the movement of the same marks on the target can be used to determine the trajectory of the movement of the dental arch. That is, the trajectory of the movement of the dental arch during the up-down movement can be depicted by analyzing the position changes of the marks in different frames.

[0077] In some embodiments, step S102 can be implemented by the following steps:

[0078] In step S1021, the dental arch is scanned outside the mouth of the user by a scanner based on the fact that the dental arch of the user is in the state of being installed with the target and is in the process of up-down movement, so as to obtain extra-oral images of the dental arch.

[0079] In the embodiments of the present application, the dental arch can be scanned outside the mouth of the user by using a dental scanner or the like, so as to ensure that the scanning range includes the upper dental arch and the target thereof, the lower dental arch and the target thereof, and the like. During the up-down movement, multiple scanning is continuously performed to capture the extra-oral images of the dental arch at different positions, so as to obtain the extra-oral images of the dental arch.

[0080] In step S1022, three-dimensional reconstruction is performed based on the extra-oral images of the dental arch, so as to obtain surface scanning data.

[0081] In the embodiments of the present application, the obtained extra-oral scanning images are processed by three-dimensional reconstruction, and the extra-oral images are converted into three-dimensional models by using an image processing algorithm and a three-dimensional reconstruction technology. The three-dimensional models include three-dimensional data of the marks. After the three-dimensional reconstruction is completed, the relative position information of the upper dental arch and the lower dental arch can be extracted from the obtained three-dimensional models, and the relative position change information of the upper dental arch and the lower dental arch can be determined based on the three-dimensional data of the common marks of the multiple three-dimensional models obtained based on the multiple frames of extra-oral scanning images.

[0082] In some embodiments, the extra-oral images of the dental arch include extra-oral images of the target, and step S1022 can be implemented by the following steps:

[0083] In step S21, three-dimensional reconstruction is performed based on the extra-oral images of the target, so as to obtain three-dimensional data of the marks obtained by the extra-oral scanning of the target.

[0084] In the embodiments of the present application, the extra-oral images of the target are processed by three-dimensional reconstruction by using an image processing algorithm and a three-dimensional reconstruction technology, so as to obtain the three-dimensional data of the marks obtained by the extra-oral scanning of the target.

[0085] In step S22, standard three-dimensional data of the marks of the target are obtained.

[0086] In the embodiments of the present application, a target standard database can be established in advance, the target standard database including target standard three-dimensional data consistent with the three-dimensional topography of the installed target, the target standard three-dimensional data being obtained by scanning the target with a higher-precision scanner or obtained from a manufacturing design drawing of the target, and the target standard three-dimensional data including standard three-dimensional data of the surface identification of the target.

[0087] In some embodiments, the standard three-dimensional data of the surface identification of the target can be directly obtained from the database.

[0088] In the embodiments of the present application, the scanned and obtained identification three-dimensional data can be matched and spliced with the standard three-dimensional data of the identification, so that the standard three-dimensional data of the identification is added to the scanned and obtained three-dimensional data of the identification, the corresponding three-dimensional data of the identification that is not scanned can be quickly obtained in this way, and the addition of the standard three-dimensional data of the identification can further optimize the precision of the scanned and obtained three-dimensional data of the identification.

[0089] In step S23, the surface scanning data is obtained based on the three-dimensional data of the identification of the target outside the mouth and the standard three-dimensional data of the identification.

[0090] In the embodiments of the present application, the two three-dimensional data can be spliced to obtain the surface scanning data.

[0091] In some embodiments, the mouth scanning data includes first mouth scanning data and second mouth scanning data, the first mouth scanning data being obtained based on the user's dental arch in a state where the target is installed, and the second mouth scanning data being obtained based on the user's dental arch in a state where the target is not installed.

[0092] In the embodiments of the present application, an intraoral scanner or the like is used to perform intraoral scanning in a state where the user's dental arch is installed with the target, and the first mouth scanning data is obtained. These data will contain three-dimensional information of the gingiva of the upper dental arch and the target and three-dimensional information of the gingiva of the lower dental arch and the target.

[0093] In the embodiments of the present application, an intraoral scanner or the like can be used to perform intraoral scanning in a state where the user's dental arch is not installed with the target, and the second mouth scanning data is obtained. These data will only contain three-dimensional information of the gingiva of the upper dental arch and the gingiva of the lower dental arch, and will not include information of the target.

[0094] In the embodiments of the present application, the first intraoral image of the dental arch can be obtained by scanning the dental arch in the user's mouth with a scanner in a state where the user's dental arch is installed with the target, and the first mouth scanning data can be obtained by performing three-dimensional reconstruction based on the first intraoral image of the dental arch.

[0095] In the embodiment of the present application, the first intraoral image of the dental arch includes an intraoral target image and a first intraoral gingival image, and the three-dimensional reconstruction is performed based on the first intraoral image of the dental arch to obtain the first scanning data, including: performing three-dimensional reconstruction based on the intraoral target image to obtain the three-dimensional data of the target identification obtained by intraoral scanning; performing three-dimensional reconstruction based on the first intraoral gingival image to obtain the first intraoral gingival three-dimensional data; obtaining the standard three-dimensional data of the target identification; and obtaining the first scanning data based on the three-dimensional data of the intraoral identification obtained by intraoral scanning, the first intraoral gingival three-dimensional data, and the standard three-dimensional data of the identification. The three-dimensional data of the target identification obtained by intraoral scanning corresponds to the three-dimensional data of the target obtained by intraoral scanning, and the first intraoral gingival three-dimensional data corresponds to the three-dimensional data of the gingival obtained by intraoral scanning. The three-dimensional data of the target obtained by intraoral scanning can also include the three-dimensional topographic data of the surface of the target obtained by intraoral scanning. In the acquisition process, the standard three-dimensional data of the target identification can also be obtained; the three-dimensional data of the identification obtained by intraoral scanning is matched and spliced with the standard three-dimensional data of the identification, so that the standard three-dimensional data of the identification is updated and added in the three-dimensional data of the identification obtained by intraoral scanning. The identification that is not scanned can quickly obtain the corresponding three-dimensional data in this way, and the addition of the standard three-dimensional data of the identification can further optimize the accuracy of the three-dimensional data of the identification obtained by intraoral scanning. Therefore, the first scanning data can be quickly obtained, that is, the first scanning data is obtained based on the three-dimensional data of the target identification obtained by intraoral scanning, the three-dimensional data of the gingival obtained by intraoral scanning, and the standard three-dimensional data of the identification.

[0096] In the embodiment of the present application, the method for obtaining the intraoral scanning data of the user includes: based on the state that the user's dental arch is not installed with a target, scanning the dental arch in the user's mouth through a scanner to obtain a second intraoral image of the dental arch; and performing three-dimensional reconstruction based on the second intraoral image of the dental arch to obtain second scanning data.

[0097] In the embodiment of the present application, the second intraoral image of the dental arch includes a gingival image, and the three-dimensional reconstruction based on the second intraoral image of the dental arch can obtain the second intraoral gingival three-dimensional data, which corresponds to the three-dimensional data of the gingival obtained by intraoral scanning.

[0098] In the embodiment of the present application, step S1032 can include:

[0099] Based on the first scanning data and the second scanning data, a digital model of the dental arch is obtained.

[0100] In the embodiments of the present application, the first mouth scanning data and the second mouth scanning data are spliced based on common gum features in the first mouth scanning data and the second mouth scanning data. Specifically, the first mouth scanning data and the second mouth scanning data are spliced, and the two sets of mouth scanning data can be registered by matching common gum features, so as to obtain a complete digital model of the dental arch. The digital model of the dental arch has three-dimensional data of the complete gum surface, including the surface data of the gum occluded area. Of course, for the user who has teeth in the mouth, in addition to the three-dimensional data of the gum surface, the three-dimensional data of the tooth surface is also included. That is, the first mouth scanning data and the second mouth scanning data can be spliced to obtain the digital model of the dental arch.

[0101] In the embodiments of the present application, the first mouth scanning data and the second mouth scanning data can be spliced to obtain scanning splicing data, and the target data in the scanning splicing data is replaced by tooth data based on the scanning splicing data to obtain a digital model of the dental arch.

[0102] In the embodiments of the present application, the first mouth scanning data and the second mouth scanning data are spliced to obtain scanning splicing data. The position information of the target relative to the dental arch is determined in the scanning splicing data. Then, the tooth model is obtained, the tooth model is spliced and updated to the scanning splicing data based on the position information, and the target data at the position is deleted, that is, the target data is replaced by tooth data, which can be realized by computer algorithm or manual operation, thereby obtaining a digital model of the dental arch, so that the three-dimensional appearance of the dental arch of the user in the state of not missing teeth can be restored.

[0103] In some embodiments, the target data in the scanning splicing data is replaced by tooth data based on the scanning splicing data to obtain a digital model of the dental arch, including:

[0104] The installation position information of the target on the dental arch is determined based on the target data in the scanning splicing data, the installation position information of the target represents the installation position information of the implant on the dental arch, the target data in the scanning splicing data is replaced by tooth data based on the installation position information, and a digital model of the dental arch is obtained. It should be noted that the installation position of the implant on the dental arch is the installation position of the denture on the dental arch, that is, the installation position information of the implant on the dental arch is determined, and the installation position information of the denture on the dental arch is determined.

[0105] In the embodiments of the present application, the target data in the scanning splicing data can be preprocessed, including: including denoising, alignment, segmentation and the like, to ensure that the data is clear and accurate, and then the target data in the scanning splicing data can be input into a neural network model, so that the installation position information of the target on the dental arch can be determined. Of course, it can also be determined by a geometric extraction method and / or a manual operation method.

[0106] In the embodiments of the present application, the neural network model can be trained by sample data to determine the installation position information of the target on the dental arch. When training the neural network model, the target data in the scan stitching data is cleaned and standardized to ensure the accuracy of the data. The preprocessing can include removing noise, smoothing data, aligning the oral cavity model, etc. The installation position information of the target on the dental arch can be labeled for the target data in the scan stitching data. Thus, the sample data can be divided into a training set and a test set, and the neural network model is trained using the divided training set. An appropriate neural network architecture (such as a convolutional neural network) and an optimization algorithm (such as stochastic gradient descent) can be selected to train the model. The trained model is evaluated using the divided test set. The accuracy, recall rate, F1 score, and other indicators of the model in predicting tooth morphology, features, and position information can be calculated. The trained model is applied to the target data in the new scan stitching data to determine the installation position information of the target on the dental arch.

[0107] In some embodiments, the scan stitching data is obtained by stitching the first oral scan data and the second oral scan data, including:

[0108] The scan stitching data is obtained by stitching the common gingival features in the first oral scan data and the second oral scan data.

[0109] In the embodiments of the present application, the first oral scan data and the second oral scan data are compared to find the common gingival features between them, such as adjacent teeth or gingival shapes, etc. These common gingival features are used as the basis for registration to stitch the two sets of scan data and ensure their correspondence on the gingival features. By stitching the first oral scan data and the second oral scan data, the scan stitching data can be obtained.

[0110] In the embodiments of the present application, the installation position information of the target on the dental arch can be determined by analyzing the target data in the scan stitching data. Based on the determined installation position information, the target data in the scan stitching data can be replaced with tooth data. The tooth data can be obtained from a pre-established tooth numerical control library or designed. The data after the target data replacement processing can be used to create a digital model of the dental arch. This model will include the installation position information of the implant and reflect the three-dimensional morphology of the dental arch, providing important reference data for oral medical treatment and dental implant treatment.

[0111] In some embodiments, after step S103, the method further includes:

[0112] Step S104, displaying a digital model of dental arch movement, the digital model of dental arch movement including a dynamic model of the digital model of the dental arch moving up and down.

[0113] In the embodiments of the present application, the digital model of the dental arch is displayed based on the motion trajectory, and a dynamic model of the upper and lower movement of the digital model of the dental arch can be obtained, i.e., a digital model of the dental arch movement. Specifically, the dynamic process of the upper and lower dental arches changing from the open state to the closed state and changing from the closed state to the open state is included.

[0114] In the embodiments of the present application, the digital model of the dental arch movement can be output in a proper format, such as a video file, a dynamic GIF image, etc.

[0115] In the embodiments of the present application, by displaying the dynamic model of the upper and lower movement of the lower dental arch relative to the upper dental arch, the dental and dental arch performance in functional activity can be better understood by the oral medical professionals, and a more intuitive reference for diagnosis and treatment can be provided. The application of such a digital model can play an important role in oral medical education, research and clinical practice.

[0116] In some embodiments, before step S101, the method further comprises:

[0117] Step S1011, issuing a first prompt information, the first prompt information is used to prompt the acquisition of the face scanning data.

[0118] In the embodiments of the present application, the first prompt information can be output by voice or text.

[0119] In the embodiments of the present application, the operation steps and matters needing attention of the face scanning can be explicitly stated in the first prompt information, for example, the operation steps and matters needing attention include: indicating to install a target, indicating to use a suitable extraoral scanning device (such as a 3D face scanner) for scanning; guiding the scanned person to open and close the oral cavity; scanning guidance; ensuring that the scanning environment has sufficient light and a clear background to improve the scanning quality; after completing the scanning, indicating to check the data quality and save the scanning data.

[0120] Step S1012, issuing a second prompt information, the second prompt information is used to prompt the acquisition of the oral scanning data.

[0121] In the embodiments of the present application, the second prompt information can be output by voice or text, and the operation steps and matters needing attention of the oral scanning are explicitly stated in the prompt information, for example, the operation steps and matters needing attention include: indicating to install a target or remove the target; indicating to use a suitable intraoral scanning device for scanning; guiding the scanned person to open the oral cavity and keep the head posture stable so that the scanner can fully scan the oral structure; scanning guidance for the upper dental arch scanning and scanning guidance for the lower dental arch scanning; ensuring that the scanner and software are correctly set to obtain clear oral scanning data; after completing the scanning, indicating to check the data quality and save the oral scanning data.

[0122] The method provided in the embodiments of the present application can effectively guide the user to acquire the face scanning data and the mouth scanning data, ensure that high-quality digitized data is acquired, and provide a reliable basis for subsequent analysis, processing and application.

[0123] In some embodiments, the method can further include, before step S101:

[0124] Step S1013: issuing third prompt information, the third prompt information being used to prompt the user to select a mouth scanning data acquisition mode, the mouth scanning data acquisition mode including: acquisition through a scanning mode and acquisition through calling.

[0125] In the embodiments of the present application, the third prompt information can be output in the form of voice or text.

[0126] In the embodiments of the present application, the third prompt information can include two options, one option indicating calling the user's mouth scanning data, and the other option indicating acquisition through a scanning mode. The user's mouth scanning data called can be mouth scanning data acquired in a target scanning mode, the target scanning mode being used to acquire the user's mouth scanning data and determine the position information of the implant.

[0127] In the embodiments of the present application, in a case where it is acquired that the user selects acquisition through calling, the mouth scanning data is called; and in a case where it is acquired that the user selects acquisition through a scanning mode, a first scanning mode is acquired, and the mouth scanning data is acquired based on the first scanning mode, specifically, a dental arch is scanned in the user's mouth through a scanner to acquire the mouth scanning data.

[0128] In the embodiments of the present application, the mouth scanning data acquired through calling is acquired through a second scanning mode, the second scanning mode being used to acquire the mouth scanning data, the first scanning mode and the second scanning mode both including a program of acquiring the mouth scanning data through a scanning mode. The second scanning mode can be a target scanning mode.

[0129] In some embodiments, the mouth scanning data includes three-dimensional model data of a target, and the method further includes:

[0130] Step S1: in a case where the user's mouth is scanned through a mouth scanning device, identifying an identifier on the target.

[0131] In the embodiments of the present application, the identifier can be identified through computer vision and image processing technology. Special identifiers can be designed on the target, which can be features in terms of shape, color, texture, etc. Through an image processing algorithm, features of these identifiers can be extracted, such as edges, corner points, color distribution, etc.

[0132] Step S2: matching the identifier with an identifier corresponding to the three-dimensional model data of the target.

[0133] In the embodiments of the present application, the correspondence between the identification and the three-dimensional model data of the target can be established in advance. After the identification is recognized, the feature of the identification in the oral cavity scanning data can be matched with the feature of the corresponding identification in the three-dimensional model data of the target through a feature matching algorithm (such as a nearest neighbor algorithm, a RANSAC algorithm, etc.). The correspondence between the identification in the oral cavity scanning data and the corresponding identification in the three-dimensional model data of the target can be found.

[0134] In step S3, the three-dimensional model data of the target corresponding to the identification is determined based on the matching result.

[0135] In the embodiments of the present application, the final determined oral scanning data includes the three-dimensional model data of the target corresponding to the identification,

[0136] In some embodiments, the target is threadedly connected with the abutment, and the abutment is fixed on the jaw bone of the dental arch. The abutment is fixed on the jaw bone through the implant, and the implant is fixed on the jaw bone. The implant is located at the tooth loss position of the jaw bone.

[0137] In the embodiments of the present application, the target is installed on the dental arch for scanning, and the identification on the target is scanned and recognized to determine the mandibular movement trajectory. The surface profile of the target or the identification can also be scanned and recognized to determine the implant position information.

[0138] In some embodiments, the embodiments of the present application further provide a data processing method. FIG. 4 is a data processing method provided by the embodiments of the present application, which includes the following steps:

[0139] In step S401, facial scanning data of a user is acquired. The facial scanning data includes multiple frames of oral cavity scanning data acquired based on the dental arch of the user in a state of being installed with a target and in a process of being moved up and down.

[0140] In step S402, oral scanning data of the user is acquired. The oral scanning data includes oral scanning data acquired based on the dental arch of the user in a state of not being installed with a target.

[0141] In step S403, a digital model of the dental arch movement is acquired based on the splicing of the common features of the facial scanning data and the oral scanning data.

[0142] Based on the foregoing embodiments, the embodiments of the present application provide a data processing device, each module included in the device and each unit included in each module can be implemented by a processor in a computer device; of course, the device can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA).

[0143] The embodiments of the present application provide a data processing device, and FIG. 5 is a structural schematic diagram of a data processing device provided by the embodiments of the present application. As shown in FIG. 5, the data processing device 200 includes:

[0144] The first acquisition module 201 is configured to acquire facial scan data of a user, the facial scan data including a plurality of frames of extraoral scan data acquired based on the user's dental arch in a state of being installed with a target and in a process of being in up-down motion;

[0145] The second acquisition module 202 is configured to acquire oral scan data of the user, the oral scan data including oral scan data acquired based on the user's dental arch in a state of being installed with the target;

[0146] The generation module 203 is configured to acquire a digital model of dental arch motion based on the facial scan data and the oral scan data.

[0147] In some embodiments, the generation module includes:

[0148] The first acquisition unit is configured to acquire a trajectory of dental arch motion based on the facial scan data;

[0149] The second acquisition unit is configured to acquire a digital model of the dental arch based on the oral scan data;

[0150] The generation unit is configured to acquire a digital model of dental arch motion based on the trajectory of dental arch motion and the digital model of the dental arch.

[0151] In some embodiments, the generation module includes:

[0152] The first determination unit is configured to determine an identifier common to the trajectory of dental arch motion and the digital model of the dental arch, the trajectory of dental arch motion including a trajectory of the identifier;

[0153] The second determination unit is configured to acquire the trajectory of the common identifier based on the facial scan data;

[0154] A third determining unit configured to obtain a digital model of the dental arch movement based on the identified trajectory and the digital model of the dental arch.

[0155] In some embodiments, the first obtaining unit comprises:

[0156] A first obtaining sub-unit configured to obtain a plurality of extra-oral scanning data based on the dental arch of the user in the state of being installed with the target and in the process of being in up-and-down movement.

[0157] A second obtaining sub-unit configured to determine the trajectory of the dental arch movement based on the common identified data in the plurality of extra-oral scanning data and the time sequence of obtaining the plurality of extra-oral scanning data.

[0158] In some embodiments, the first obtaining module comprises:

[0159] A third obtaining unit configured to obtain an extra-oral image of the dental arch by scanning the dental arch of the user extra-orally by a scanner based on the dental arch of the user in the state of being installed with the target and in the process of being in up-and-down movement.

[0160] A first reconstructing unit configured to perform three-dimensional reconstruction based on the extra-oral image of the dental arch to obtain the surface scanning data.

[0161] In some embodiments, the extra-oral image of the dental arch comprises an extra-oral image of the target, and the first reconstructing unit comprises:

[0162] A third obtaining sub-unit configured to perform three-dimensional reconstruction based on the extra-oral image of the target to obtain three-dimensional data of the identification of the target extra-orally.

[0163] A fourth obtaining sub-unit configured to obtain standard three-dimensional data of the identification of the target.

[0164] A fifth obtaining sub-unit configured to obtain the surface scanning data based on the three-dimensional data of the identification of the target extra-orally and the standard three-dimensional data of the identification.

[0165] In some embodiments, the intra-oral scanning data comprises first intra-oral scanning data and second intra-oral scanning data, the first intra-oral scanning data is obtained based on the dental arch of the user in the state of being installed with the target, and the second intra-oral scanning data is obtained based on the dental arch of the user in the state of not being installed with the target, and the second obtaining unit comprises:

[0166] A sixth obtaining sub-unit configured to obtain a digital model of the dental arch based on the first intra-oral scanning data and the second intra-oral scanning data.

[0167] In some embodiments, the sixth obtaining sub-unit is configured to:

[0168] splice the first intra-oral scanning data and the second intra-oral scanning data to obtain the digital model of the dental arch.

[0169] In some embodiments, the obtaining the digital model of the dentomaxillary based on the first intraoral scanning data and the second intraoral scanning data comprises:

[0170] splicing based on the first intraoral scanning data and the second intraoral scanning data to obtain scanning splicing data;

[0171] replacing the target data in the scanning splicing data with the tooth data to obtain the digital model of the dentomaxillary.

[0172] In some embodiments, the replacing the target data in the scanning splicing data with the tooth data to obtain the digital model of the dentomaxillary based on the scanning splicing data comprises:

[0173] determining the installation position information of the target on the dentomaxillary based on the target data in the scanning splicing data, the installation position information of the target representing the installation position information of the implant on the dentomaxillary,

[0174] replacing the target data in the scanning splicing data with the tooth data based on the installation position information to obtain the digital model of the dentomaxillary.

[0175] In some embodiments, the data processing device further comprises:

[0176] a display module configured to display the digital model of the dentomaxillary movement, the digital model of the dentomaxillary movement displaying a dynamic model of the digital model of the dentomaxillary moving up and down.

[0177] In some embodiments, the data processing device further comprises:

[0178] a third obtaining module configured to obtain a first intraoral image of the dentomaxillary by scanning the dentomaxillary in the user's mouth by a scanner based on the dentomaxillary of the user in a state of being installed with the target;

[0179] a first reconstruction module configured to perform three-dimensional reconstruction based on the first intraoral image of the dentomaxillary to obtain the first intraoral scanning data.

[0180] In some embodiments, the first intraoral image of the dentomaxillary comprises an intraoral target image and a first intraoral gingival image, and the first reconstruction module comprises:

[0181] a third obtaining unit configured to perform three-dimensional reconstruction based on the first intraoral gingival image to obtain first intraoral gingival three-dimensional data;

[0182] a fourth obtaining unit configured to obtain standard three-dimensional data of the identification of the target;

[0183] a fifth obtaining unit configured to obtain the first intraoral scanning data based on the three-dimensional data of the intraoral identification of the target, the first intraoral gingival three-dimensional data, and the standard three-dimensional data of the identification.

[0184] In some embodiments, the data processing apparatus further comprises:

[0185] The fourth acquisition module is configured to acquire a second intraoral image of the dental arch by scanning the dental arch in the user's mouth by the scanner based on a state in which the user does not install the target on the dental arch;

[0186] The second reconstruction module is configured to perform three-dimensional reconstruction based on the second intraoral image of the dental arch to acquire second scanning data.

[0187] In some embodiments, the scanning splicing data is acquired by splicing the first scanning data and the second scanning data, comprising:

[0188] The scanning splicing data is acquired by splicing the common gingival features in the first scanning data and the second scanning data.

[0189] In some embodiments, the data processing apparatus further comprises:

[0190] The first prompt module is configured to issue first prompt information, and the first prompt information is used to prompt the acquisition of the facial scanning data;

[0191] The second prompt module is configured to issue second prompt information, and the second prompt information is used to prompt the acquisition of the intraoral scanning data.

[0192] In some embodiments, the data processing apparatus further comprises:

[0193] The third prompt module is configured to issue third prompt information, and the third prompt information is used to prompt the user to select an acquisition mode of the intraoral scanning data, and the acquisition mode of the intraoral scanning data comprises: acquisition by scanning mode and acquisition by calling.

[0194] In some embodiments, the second acquisition module further comprises:

[0195] The sixth acquisition unit is configured to acquire the first scanning module and acquire the intraoral scanning data based on the first scanning mode.

[0196] In some embodiments, the intraoral scanning data acquired by calling is acquired by a second scanning mode, the second scanning mode is used to acquire the intraoral scanning data, and the first scanning mode and the second scanning mode both comprise a program for acquiring the intraoral scanning data by the scanning mode.

[0197] In some embodiments, the second acquisition module comprises:

[0198] The calling unit is configured to call the intraoral scanning data in a case where it is acquired that the user selects the acquisition by calling.

[0199] The seventh acquisition unit is configured to, in a case where it is acquired that the user selects to acquire through the scanning mode, scan the dental arch in the user's mouth through the scanner to acquire the mouth scan data.

[0200] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0201] FIG. 6 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 6, the electronic device 6 of this embodiment can include at least one processor 30 (only one processor 30 is shown in FIG. 6), a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30. The processor 30 implements the steps in any of the above method embodiments when executing the computer program 32, such as steps S101 to S103 in the embodiment shown in FIG. 1. Alternatively, the processor 30 implements the functions of the modules / units in the above device embodiments when executing the computer program 32, such as the functions of the modules 201 to 203 shown in FIG. 5.

[0202] For example, the computer program 32 can be divided into one or more modules / units, which are stored in the memory 31 and executed by the processor 30 to complete the present application. One or more modules / units can be a series of computer program 32 instruction segments that can complete a specific function, which are used to describe the execution process of the computer program 32 in the electronic device 6.

[0203] The embodiments of the present application also provide a computer readable storage medium, which stores the computer program 32. The computer program 32 is executed by the processor 30 to implement the steps in the above method embodiments.

[0204] The embodiments of the present application provide a computer program product, which, when executed on a vehicle, causes the vehicle to implement the steps in the above method embodiments.

[0205] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on such an understanding, the computer program 32 can be used to instruct the relevant hardware to complete all or part of the processes in the above-mentioned embodiments. The computer program 32 can be stored in a computer-readable storage medium, and the computer program 32 can implement the steps of each method embodiment described above when executed by the processor 30. The computer program 32 includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate form. The computer-readable medium can at least include any entity or device capable of carrying the computer program code to the terminal, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. For example, a U disk, a mobile hard disk, a magnetic disk or an optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium can not be an electrical carrier signal and a telecommunications signal.

[0206] Based on the foregoing various embodiments, the embodiments of the present application further provide a target, applied to any of the data processing methods described above, the target comprising: the target is provided with a mounting portion configured to be fixedly connected with an implant, and a surface of the target is provided with an identifier.

[0207] In some embodiments, the target is a scanning rod, and the identifier is an identifier point on the surface of the scanning rod. When the scanning rod is mounted on the dental arch, the scanning rod is located in the oral cavity of the patient, and the distribution density of the identifier points on the scanning rod is suitable for an intraoral scanner.

[0208] In some embodiments, the target is a fork, the fork comprises a fork body portion and a fork extension portion, the fork body portion and the fork extension portion are respectively provided with an identifier, and the mounting portion is arranged on the fork body portion, the fork extension portion is fixedly connected with the fork body portion. In some embodiments, the fork extension portion comprises a lip portion avoiding portion and an extra-oral identifier portion, one end of the lip portion avoiding portion is connected with the fork body portion, and the other end of the lip portion avoiding portion is connected with the extra-oral identifier portion. In some embodiments, the fork extension portion comprises a lip portion avoiding portion and an extra-oral identifier portion, one end of the lip portion avoiding portion is connected with the fork body portion, and the other end of the lip portion avoiding portion is connected with the extra-oral identifier portion. In some embodiments, the fork extension portion comprises a lip portion avoiding portion and an extra-oral identifier portion, one end of the lip portion avoiding portion is connected with the fork body portion, and the other end of the lip portion avoiding portion is connected with the extra-oral identifier portion.

[0209] In some embodiments, the fork extension portion comprises a lip portion avoiding portion and an extra-oral identifier portion, one end of the lip portion avoiding portion is connected with the fork body portion, and the other end of the lip portion avoiding portion is connected with the extra-oral identifier portion. In some embodiments, the fork extension portion comprises a lip portion avoiding portion and an extra-oral identifier portion, one end of the lip portion avoiding portion is connected with the fork body portion, and the other end of the lip portion avoiding portion is connected with the extra-oral identifier portion.

[0210] ​​​​In some embodiments, the extra-oral identification part comprises a cross-shaped sheet.

[0211] In the embodiments of the present application, The distribution density of the identification points on the fork body part is suitable for intraoral scanners. When the fork is mounted on the dental arch, The fork body part is located in the oral cavity of the patient, The fork extension part extends to the outside of the patient's mouth.

[0212] It should be noted that, The fork can also be only The fork extension part is provided with an identification, or the target mounted on the user during the acquisition of the facial scan data is different from the target mounted on the user during the acquisition of the oral scan data. In the above case, the embodiments of the present application provide a data processing method, comprising: acquiring facial scan data of a user, the facial scan data comprising a plurality of extra-oral scan data acquired based on the dental arch of the user in a state of being mounted with a target and in a process of being in up-down motion; acquiring oral scan data of the user, the oral scan data comprising oral scan data acquired based on the dental arch of the user in a state of not being mounted with a target; and splicing a digital model of dental arch motion based on common features of the facial scan data and the oral scan data. That is, the oral scan data can be directly acquired based on the dental arch of the user in a state of not being mounted with a target, i.e., only the second oral scan data is acquired, and the first oral scan data is not required, and a digital model of dental arch motion is acquired based on common gingival features and their motion trajectories in the facial scan data and the oral scan data, instead of a digital model of dental arch motion being acquired based on common identification and their motion trajectories in the facial scan data and the oral scan data. The digital model of dental arch motion acquired based on common gingival features and their motion trajectories in the facial scan data and the oral scan data does not require the acquisition of the first oral scan data, reducing the program, but the precision is not as good as the digital model of dental arch motion acquired based on common identification and their motion trajectories in the facial scan data and the oral scan data. The fork can also be only The fork extension part is provided with an identification, or the target mounted on the user during the acquisition of the facial scan data is different from the target mounted on the user during the acquisition of the oral scan data. In the above case, the embodiments of the present application provide a data processing method, comprising: acquiring facial scan data of a user, the facial scan data comprising a plurality of extra-oral scan data acquired based on the dental arch of the user in a state of being mounted with a target and in a process of being in up-down motion; acquiring oral scan data of the user, the oral scan data comprising oral scan data acquired based on the dental arch of the user in a state of not being mounted with a target; and splicing a digital model of dental arch motion based on common features of the facial scan data and the oral scan data. That is, the oral scan data can be directly acquired based on the dental arch of the user in a state of not being mounted with a target, i.e., only the second oral scan data is acquired, and the first oral scan data is not required, and a digital model of dental arch motion is acquired based on common gingival features and their motion trajectories in the facial scan data and the oral scan data, instead of a digital model of dental arch motion being acquired based on common identification and their motion trajectories in the facial scan data and the oral scan data. The digital model of dental arch motion acquired based on common gingival features and their motion trajectories in the facial scan data and the oral scan data does not require the acquisition of the first oral scan data, reducing the program, but the precision is not as good as the digital model of dental arch motion acquired based on common identification and their motion trajectories in the facial scan data and the oral scan data.

[0213] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0214] The above is only an optional embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of claims of the present application. Industrial applicability

[0215] The data processing method, device, equipment, target and storage medium provided by the embodiment of the application can obtain facial scanning data of a user, the facial scanning data comprising a plurality of frames of extra-oral scanning data obtained based on the user's dental arch in a state of being installed with a target and in a process of being in up-down motion; obtain oral scanning data of the user, the oral scanning data comprising oral scanning data obtained based on the user's dental arch in a state of being installed with the target; and obtain a digital model of dental arch motion based on the facial scanning data and the oral scanning data. According to the technical solution, since the oral scanning data and the facial scanning data both comprise target data, the data identified based on the common target can be spliced, so that the oral scanning data can obtain motion data of the up-down dental arch from the facial scanning data, and the digital model of the dental arch motion is obtained, which has complete data of the dental arch surface and data of the up-down dental arch motion, and has strong industrial practicability.

Claims

1. A method of processing data, wherein, The method comprises: acquiring facial scan data of a user, the facial scan data comprising a plurality of frames of extra-oral scan data acquired based on the user's dentition in a state of being installed with a target and in a process of being moved up and down; acquiring intraoral scan data of the user, the intraoral scan data comprising intraoral scan data acquired based on the user's dentition in a state of being installed with the target; acquiring a digital model of the dentition movement based on the facial scan data and the intraoral scan data.

2. The method of claim 1, wherein, The acquiring of the digital model of the dentition movement based on the facial scan data and the intraoral scan data comprises: acquiring a trajectory of the dentition movement based on the facial scan data; acquiring a digital model of the dentition based on the intraoral scan data; acquiring the digital model of the dentition movement based on the trajectory of the dentition movement and the digital model of the dentition.

3. The method of claim 2, wherein, The acquiring of the digital model of the dentition movement based on the facial scan data and the intraoral scan data comprises: determining a common mark in the trajectory of the dentition movement and the digital model of the dentition, the trajectory of the dentition movement comprising a trajectory of the mark; acquiring the trajectory of the common mark based on the facial scan data; acquiring the digital model of the dentition movement based on the trajectory of the common mark and the digital model of the dentition.

4. The method of claim 3, wherein, The acquiring of the trajectory of the dentition movement based on the facial scan data comprises: acquiring a plurality of frames of extra-oral scan data based on the user's dentition in a state of being installed with the target and in a process of being moved up and down; determining the trajectory of the dentition movement based on common mark data in the plurality of frames of extra-oral scan data and a time sequence of acquiring the plurality of frames of extra-oral scan data.

5. The method of claim 2, wherein, The acquiring of the facial scan data of the user comprises: acquiring extra-oral images of the dentition by scanning the dentition outside the user's mouth by a scanner based on the user's dentition in a state of being installed with the target and in a process of being moved up and down; performing three-dimensional reconstruction based on the extra-oral images of the dentition to acquire the facial scan data.

6. The method of claim 5, wherein, The extra-oral images of the dentition comprise extra-oral images of the target, and the performing of the three-dimensional reconstruction based on the extra-oral images of the dentition to acquire the facial scan data comprises: performing three-dimensional reconstruction based on the extra-oral images of the target to acquire three-dimensional data of the mark acquired in the extra-oral scan; acquiring standard three-dimensional data of the mark of the target; acquiring the facial scan data based on the three-dimensional data of the mark acquired in the extra-oral scan of the target and the standard three-dimensional data of the mark.

7. The method of claim 2, wherein, The intraoral scan data comprises first intraoral scan data and second intraoral scan data, the first intraoral scan data being acquired by scanning the dentition inside the user's mouth by a scanner based on the user's dentition in a state of being installed with the target, and the second intraoral scan data being acquired by scanning the dentition inside the user's mouth by the scanner based on the user's dentition in a state of not being installed with the target, and the acquiring of the digital model of the dentition based on the intraoral scan data comprises: acquiring the digital model of the dentition based on the first intraoral scan data and the second intraoral scan data.

8. The method of claim 7, wherein, The acquiring of the digital model of the dentition based on the first intraoral scan data and the second intraoral scan data comprises: performing splicing based on the first intraoral scan data and the second intraoral scan data to acquire the digital model of the dentition.

9. The method of claim 7, wherein, The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises:

10. The method of claim 9, wherein, displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down.

11. The method of claim 1, wherein, The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down.

12. The method of claim 7, wherein, The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises:

13. The method of claim 12, wherein, displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down.

14. The method of claim 7, wherein, The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises:

15. The method of claim 8 or 9, wherein, displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises:

16. The method according to any one of claims 1 to 14, wherein, displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down.

17. The method according to any one of claims 1 to 14, wherein, The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down.

18. The method of claim 17, wherein, The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital model of the dental arch moving up and down. The method further comprises: displaying the digital model of the dental arch movement, wherein the digital model of the dental arch movement comprises a dynamic model of the digital 19. The method of claim 18, wherein, The acquired oral scan data is acquired by calling, and the second scan mode is used to acquire the oral scan data, and the first scan mode and the second scan mode both include a procedure of acquiring the oral scan data by the scan mode.

20. The method of claim 17, wherein, The acquiring of the oral scan data of the user includes: In the case of acquiring that the user selects to acquire by calling, the oral scan data is called; In the case of acquiring that the user selects to acquire by the scan mode, the oral scan data is acquired by scanning the dental arch in the user's mouth by the scanner.

21. A method of processing data, wherein, It includes: Acquiring facial scan data of a user, the facial scan data including a plurality of frames of extra-oral scan data acquired based on the dental arch of the user in a state of being installed with a target and in a process of up-and-down movement; Acquiring oral scan data of the user, the oral scan data including oral scan data acquired based on the dental arch of the user in a state of not being installed with a target; Splicing a digital model of the dental arch movement based on common features of the facial scan data and the oral scan data.

22. A data processing apparatus, wherein, It includes: A first acquiring module configured to acquire facial scan data of a user, the facial scan data including a plurality of frames of extra-oral scan data acquired based on the dental arch of the user in a state of being installed with a target and in a process of up-and-down movement; A second acquiring module configured to acquire oral scan data of the user, the oral scan data including oral scan data acquired based on the dental arch of the user in a state of being installed with a target; A generating module configured to acquire a digital model of the dental arch movement based on the facial scan data and the oral scan data.

23. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, The processor executes the computer program to realize the data processing method of any one of claims 1 to 21.

24. A computer-readable storage medium storing a computer program, wherein, The computer program is executed by the processor to realize the data processing method of any one of claims 1 to 21.

25. A target for use in the method of processing data according to any one of claims 1 to 21, wherein, The target is provided with a mounting part configured to be fixedly connected with the implant, and a surface of the target is provided with an identifier.

26. The target of claim 25, wherein, The target is a scanning rod, and the identifier is an identifier point on the surface of the scanning rod.

27. The target of claim 25, wherein, The target is The fork includes The fork includes The fork body portion and The fork extension portion and The fork body portion and The fork body portion and The fork body portion and The fork body portion and The fork body portion and 28. The target of claim 27, wherein, The The fork extension includes a lip avoiding portion and an extraoral marking portion, one end of the lip avoiding portion is connected with the fork body portion, and the other end of the lip avoiding portion is connected with the extraoral marking portion.

29. The target of claim 28, wherein, The extra-oral identifier part includes a cross-shaped sheet.

Images