Task management method for generating intraoral model and electronic device for performing same

Abstract

Disclosed is a task management method for generating an intraoral model. The task management method comprises the steps of: performing a first task of acquiring scan data including a plurality of scan frames for an oral structure; performing a second task of acquiring the pose of an intraoral scanner on the basis of the plurality of scan frames; performing a third task of generating a 3D model representing the oral structure on the basis of the plurality of scan frames and the pose of the intraoral scanner; and performing a fourth task of optimizing the 3D model, wherein the third task and the fourth task may be performed in parallel or sequentially.

Description

Task management method for generating an oral cavity internal model and electronic device for performing the same

[0001] The present disclosure relates to a task management method for generating an oral cavity interior model and an electronic device for performing the same, and more particularly, to a method for managing tasks for generating an oral cavity interior model based on scan data acquired using an oral scanner.

[0002] Digital Impression Scanning (DIS) is the process of digitizing the interior of the oral cavity using a 3D scanner, replacing the traditional physical impression (which involves taking a mold of the oral cavity's interior). This method uses an intraoral scanner (usually an intraoral scanner) to precisely scan a patient's teeth, gums, and oral structure, then converts them into a digital 3D model.

[0003] While the number of dental clinics adopting intraoral scanners is increasing, many still struggle to create real-time 3D models using existing PCs. To address this issue, optimized technology is needed to create 3D models in real time without delay, while maximizing limited resources.

[0004] The technical problem that the present invention seeks to solve is to minimize the delay in creating a 3D model through parallel processing.

[0005] Another technical problem that the present invention seeks to solve is to optimize system resources by dynamically adjusting the workload of a task.

[0006] According to one embodiment of the present disclosure, a task management method for generating an oral cavity internal model includes: performing a first task of acquiring scan data including a plurality of scan frames for an oral cavity structure; performing a second task of acquiring a pose of an oral cavity scanner based on the plurality of scan frames; performing a third task of generating a 3D model representing the oral cavity structure based on the plurality of scan frames and the pose of the oral cavity scanner; and performing a fourth task of optimizing the 3D model; wherein a task management method can be provided in which the third task and the fourth task can be performed in parallel.

[0007] The above task management method is such that the fourth task includes at least two subtasks, and at least one of the at least two subtasks can be performed in parallel with the third task.

[0008] The third task and the fourth task can be performed asynchronously.

[0009] The frequency of execution of the third task may be different from the frequency of execution of the fourth task.

[0010] The frequency of execution of the third task may be greater than the frequency of execution of the fourth task.

[0011] The fourth task may be performed on at least some of the plurality of scan frames constituting the 3D model.

[0012] At least one of the plurality of scan frames corresponding to the execution target of the third task at the same point in time may correspond to the execution target of the fourth task.

[0013] At the same point in time, among the plurality of scan frames constituting the 3D model, the first scan frame group - including a plurality of scan frames - corresponding to the execution target of the third task may not correspond to the second scan frame group - including a plurality of scan frames - corresponding to the execution target of the fourth task.

[0014] The average acquisition time by the first task of the first scan frame group may have a preset time difference from the average acquisition time by the first task of the second scan frame group.

[0015] The preset time interval above may correspond to 1 to 2 seconds.

[0016] Among the first scan frame group and the second scan frame group, the two scan frames that are closest in time series may have a difference of more than a preset number of frames.

[0017] The above preset number of frames may be 1 to 2 times the number of frames per second obtained by the first task.

[0018] The third task and the fourth task may be performed at the same time targeting different areas of the dental area of ​​the 3D model.

[0019] Among the dental regions of the 3D model, the third task may be related to the anterior teeth, and the fourth task may be related to at least one of the canine teeth and the molar teeth.

[0020] Among the dental areas of the 3D model, the third task may be related to one canine region, and the fourth task may be related to at least one of the other canine region, anterior region, and posterior region.

[0021] Among the dental areas of the 3D model, the third task may be related to one molar area, and the fourth task may be related to at least one of the other molar area, the anterior area, and the canine area.

[0022] At least one of the frequency of performing the fourth task and the amount of work per performing task can be adjusted based on the operating status of the oral scanner.

[0023] When the operating state of the oral scanner is switched from an active state to an idle state, at least one of the execution frequency and the workload per execution of the fourth task may increase.

[0024] Depending on the duration of the active state of the oral scanner, at least one of the execution frequency and the workload per execution of the fourth task may be changed.

[0025] As the duration of the active state of the oral scanner increases, the frequency of performing the fourth task may decrease or the workload per performance may increase.

[0026] The above oral scanner can operate in a first scan mode for scanning the upper jaw, a second scan mode for scanning the lower jaw, and a third scan mode for scanning occlusion, and the idle state can include a state between the end of a preceding scan mode and the start of a next scan mode among the first to third scan modes.

[0027] In the idle state of the oral scanner, the resources allocated to the first task to the third task can be allocated to the fourth task.

[0028] The above exemplary embodiments and other exemplary embodiments will be explained or clarified by the detailed description set forth below of exemplary embodiments to be read in connection with the accompanying drawings.

[0029] The disclosed technology may have the following effects. However, this does not mean that a particular embodiment must include all or only the following effects, and therefore the scope of the disclosed technology should not be construed as being limited thereby.

[0030] According to one embodiment of the present disclosure, 3D model generation delay can be minimized through parallel processing.

[0031] According to another embodiment of the present disclosure, system resources can be optimized by dynamically adjusting the workload of a task.

[0032] The above description of the invention is not intended to be an exhaustive list of all aspects of the present invention. It should be understood that the present invention encompasses all methods, devices, and systems capable of being implemented from all appropriate combinations of the various aspects disclosed in the detailed description and claims below, as well as the matters summarized above. Furthermore, the detailed description of the embodiments of the present disclosure will directly or implicitly disclose any benefits that may be obtained or anticipated from the embodiments of the present disclosure. For example, various anticipated benefits of the embodiments of the present disclosure will be disclosed in the detailed description that follows.

[0033] Aspects, features and advantages of specific embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings.

[0034] FIG. 1 is a schematic diagram illustrating an oral scanning system according to one embodiment of the present disclosure.

[0035] FIG. 2 is a block diagram illustrating the operation of an electronic device according to one embodiment of the present disclosure.

[0036] FIG. 3 is a flowchart illustrating a task management method according to one embodiment of the present disclosure.

[0037] FIG. 4 is a schematic diagram showing a task schedule according to one embodiment of the present disclosure.

[0038] FIG. 5 is a schematic diagram showing a task schedule according to another embodiment of the present disclosure.

[0039] FIG. 6 is a graph showing task workload according to one embodiment of the present disclosure.

[0040] FIG. 7 is a block diagram showing the configuration of an oral scanning system according to one embodiment of the present disclosure.

[0041] The terms used in this specification will be briefly explained, and the present disclosure will be described in detail.

[0042] The terms used in the embodiments of this disclosure have been selected from widely used, current terms, taking into account the functions of this disclosure. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms may be arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the description of the relevant disclosure. Therefore, the terms used in this disclosure should not be defined simply as names, but rather based on the meanings of the terms and the overall content of this disclosure.

[0043] The embodiments of the present disclosure are capable of various modifications and multiple embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the scope of the present disclosure to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the scope of the disclosed concepts and techniques. In describing the embodiments, detailed descriptions of related known technologies will be omitted if they are deemed to obscure the main point.

[0044] Terms such as "first" and "second" may be used to describe various components, but the components should not be limited by these terms. These terms are used solely to distinguish one component from another.

[0045] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "consist of" are intended to indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but should be understood not to preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0046] Below, with reference to the attached drawings, embodiments of the present disclosure are described in detail so that those skilled in the art can easily implement the present disclosure. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts irrelevant to the description are omitted for clarity of description of the present disclosure, and similar parts are designated with similar reference numerals throughout the specification.

[0047] FIG. 1 is a schematic diagram illustrating an oral scanning system according to one embodiment of the present disclosure.

[0048] Referring to FIG. 1, an oral scanning system (1000) may include an oral scanner (100) and an electronic device (200). A user (1) may scan the inside of a patient's (2) oral cavity using the oral scanner (100). The user (1) may be a dental staff member. For example, dental staff members may include dentists, dental hygienists, dental assistants, orthodontists, dental technicians, and oral surgeons.

[0049] The oral scanner (100) can transmit scan data acquired during the scanning process to an electronic device (200). The electronic device (200) can generate a 3D model representing the inside of the oral cavity based on the scan data. In addition, the electronic device (200) can display the 3D model on the display. The user (1) can continue the scanning process while checking the 3D model displayed on the electronic device (200). The scanning target of the oral scanner (100) is not limited to the inside of the patient's (2) oral cavity, and may also include structures that are scheduled to be installed or applied to the inside of the oral cavity in the future or are intermediate results therefor, even if they are not currently located in the oral cavity.

[0050] The electronic device (200) can be connected to the oral scanner (100) via a wired or wireless connection to exchange data. The electronic device (200) may be a desktop, laptop, tablet PC, or a computer designed as an embedded system specifically for the purpose of using the oral scanner (100). The electronic device (200) may be implemented by being physically or functionally integrated with the oral scanner (100).

[0051] FIG. 2 is a block diagram illustrating the operation of an electronic device according to one embodiment of the present disclosure.

[0052] Referring to FIG. 2, the electronic device (200) can obtain scan data (21). Specifically, the electronic device (200) can receive scan data (21) from an oral scanner (100).

[0053] Scan data (21) may refer to raw data acquired by the oral scanner (100) during the oral scanning process. For example, scan data (21) may include an RGB image photographing the inside of the oral cavity, an infrared image, an intensity image indicating the reflectivity of the tooth surface, a polarization image, etc. Scan data (21) may be a monocular image captured by a single camera, or a pair of stereo images captured from different angles. In addition, scan data (21) may include a structured light pattern projected onto the tooth surface.

[0054] Scan data (21) may be composed of a plurality of scan frames acquired in a time series manner. Here, a scan frame may be a unit data including scan information of the inside of the oral cavity captured by an oral scanner (100) at a specific point in time, and may be composed of one of the forms of the scan data (21) described above.

[0055] The scan data (21) may include multiple stereo images. Each stereo image may be composed of a pair of RGB images captured simultaneously by a left camera and a right camera provided in the oral scanner (100). In addition, the scan data (21) may include, for example, a depth map. The depth map is data that directly provides three-dimensional depth information at each pixel location, and may be generated through stereo image processing or directly acquired by a ToF (Time-of-Flight) sensor, a structured light scanner, or the like.

[0056] That is, if the scan data (21) already includes three-dimensional shape information, the scan data (21) itself can be utilized as depth data (22). In this case, a 3D model can be created directly without a separate depth information extraction process, which can contribute to reducing processing time and improving system efficiency.

[0057] Depth data (22) may refer to data containing depth information about the inside of the oral cavity. For example, depth data (22) may take the form of a depth map that stores distance information to teeth and surrounding tissues in a two-dimensional array format, a point cloud composed of three-dimensional coordinates of teeth and surrounding tissues, a triangle mesh of the tooth surface, etc.

[0058] Depth data (22) may be composed of multiple depth frames acquired in a time series manner. Here, a depth frame may be unit data including depth information in a three-dimensional space acquired at a specific point in time, and may be composed of one of the forms of the depth data (22) described above.

[0059] Depth data (22) can be acquired in various ways. In one embodiment, the electronic device (200) can derive depth data (22) based on scan data (21). For example, if the scan data (21) is a stereo image, the electronic device (200) can analyze the disparity between the stereo images to generate a depth map. Additionally, the electronic device (200) can acquire a point cloud based on the internal parameters of the oral scanner (100) and the depth map.

[0060] The electronic device (200) can reconstruct an intraoral model (23) based on the depth data (22). Specifically, the electronic device (200) can register a plurality of depth frames included in the depth data (22). For example, the electronic device (200) can perform local registration between time-series adjacent depth frames. Here, each depth frame can be a 3D point cloud. The electronic device (200) can generate a transformation matrix including rotation and translation components for registering two depth frames through registration.

[0061] The electronic device (200) can obtain pose information of the oral scanner (100) based on a transformation matrix. The pose information can include position and posture information of the oral scanner (100). The electronic device (200) can calculate a relative pose change of the oral scanner (100) based on the transformation matrix. The electronic device (200) can use this pose information to align 3D point clouds of each depth frame to create an intraoral model.

[0062] In one embodiment, the electronic device (200) can generate a pose graph in which pose information of the oral scanner (100) at the time of acquisition of each depth frame is used as nodes and the relative transformation relationship between the pose information is used as edges. The electronic device (200) can perform pose graph optimization to globally optimize the pose information of each node. The electronic device (200) can generate a more precise intraoral model by realigning the 3D point cloud of each depth frame using the optimized pose information. In addition, when the oral scanner (100) rescans an area that has been previously scanned, the electronic device (200) can detect a loop closure and add it as a new edge of the pose graph, thereby effectively correcting accumulated drift errors.

[0063] The intraoral model (23) may refer to a three-dimensional model that digitally represents the oral structure of a patient. The intraoral model (23) may include a maxillary model, a mandibular model, and an occlusal model. The maxillary model is a digital model representing the three-dimensional shape of the maxillary arch of the patient. The mandibular model is a digital model representing the three-dimensional shape of the mandibular arch of the patient. The occlusal model is a digital model representing the three-dimensional shape of the maxillary model and the mandibular model of the patient in an occluded state. The occlusal model reflects the actual occlusal state of the patient, which may include the contact relationship and occlusal gap between the maxillary and mandibular teeth.

[0064] The type of intraoral model (23) may vary depending on the scan mode. The electronic device (200) may operate in multiple scan modes. The multiple scan modes may include an upper jaw scan mode, a lower jaw scan mode, and an occlusion scan mode.

[0065] The maxillary scan mode is a scanning mode for scanning the maxilla. In the maxillary scan mode, the user (1) can scan the maxilla using the oral scanner (100). The oral scanner (100) can collect scan data for the maxilla. The electronic device (200) can receive scan data for the maxilla from the oral scanner (100) and create a maxillary model.

[0066] The mandibular scan mode is a scan mode for scanning the mandible. In the mandibular scan mode, the user (1) can scan the mandible using the oral scanner (100). The oral scanner (100) can collect scan data for the mandible. The electronic device (200) can receive scan data for the mandible from the oral scanner (100) and create a mandibular model.

[0067] The occlusion scan mode is a scan mode for scanning occlusion. In the occlusion scan mode, the user (1) can scan the upper and lower jaws in occlusion using the oral scanner (100). The oral scanner (100) can collect scan data on occlusion. The electronic device (200) can receive scan data on occlusion from the oral scanner (100) and create an occlusion model.

[0068] Meanwhile, in the present disclosure, a "scan session" may refer to a period of time during which a scanning operation is performed in a specific scan mode. For example, a scan session in the maxillary scan mode may be the period from the time a user (1) begins scanning the maxilla using an oral scanner (100) to the time the maxillary scan is completed.

[0069] The operating state of the oral scanner (100) can be divided into an active state and an idle state.

[0070] The active state may refer to a state in which the oral scanner (100) acquires valid scan data. In other words, the active state may refer to a state in which the oral scanner (100) is positioned within a preset distance range with respect to teeth or oral tissue and acquires scan data that can be used to create a 3D model.

[0071] An idle state may refer to a state in which the oral scanner (100) is not acquiring valid scan data. In one embodiment, the idle state may be a standby state in which the oral scanner (100) is temporarily stopped and the scanning operation is stopped. In another embodiment, the idle state may be a mode transition state in which the oral scanner (100) is switching from a first scan mode to a second scan mode. For example, the oral scanner (100) may be in an idle state when switching from an upper jaw scan mode to a lower jaw scan mode.

[0072] In another embodiment, the idle state may be a state in which the oral scanner (100) is operating but acquires invalid scan data. The invalid scan data may correspond to at least one of an out-of-focus image in which the distance between the oral scanner (100) and the teeth is outside a preset range, an image in which the oral scanner (100) captures an area outside the oral cavity, a motion blur image in which the movement speed of the oral scanner (100) exceeds a reference value, an image in which the tooth structure is obscured by saliva or foreign substances by a predetermined ratio or more, or an image in which the brightness or resolution of the image is below a preset threshold.

[0073] Validity of scan data can be determined in real time using a neural network model. The neural network model can be trained to analyze scan data and determine whether it is valid for use in 3D model creation. For example, the neural network model can be trained to comprehensively analyze the input image's clarity, focus, identifiable dental structure, and noise level to determine whether the image is suitable for 3D model creation.

[0074] The neural network model may be installed in the electronic device (200). In this case, the electronic device (200) may input scan data received from the oral scanner (100) into the neural network model to obtain a result regarding whether the scan data is valid. In another embodiment, the neural network model may be installed in the oral scanner (100) and operated in an on-device manner.

[0075] FIG. 3 is a flowchart illustrating a task management method according to one embodiment of the present disclosure.

[0076] Referring to FIG. 3, the electronic device (200) may perform a first task of acquiring scan data including a plurality of scan frames for an oral structure (S310). The scan data may include a plurality of stereo images. Each stereo image may be composed of a pair of RGB images simultaneously captured by a left camera and a right camera provided in the oral scanner (100). The left camera and the right camera are positioned apart from each other by a preset baseline distance and may capture images of the same oral region from different viewpoints. The electronic device (200) may compare and analyze the images captured by the left camera and the right camera to generate disparity information. This disparity information may be utilized to derive three-dimensional depth information of the oral structure through the principle of triangulation.

[0077] The oral scanner (100) can acquire stereo images using a structured light method. In the structured light method, a projector projects a predefined pattern light into the oral cavity, and a left camera and a right camera can simultaneously capture images of the pattern light reflected from the tooth surface. The pattern light may include at least one of a fringe pattern, a grid pattern, a stripe pattern, or a random dot pattern. The fringe pattern may include a sine wave fringe having a sine wave-shaped brightness distribution or a triangular wave fringe having a triangular wave-shaped brightness distribution.

[0078] The scan frame rate of the stereo image can be set to at least 60 frames per second (60 Hz), and preferably in the range of 60 to 120 frames per second. A high-speed frame rate of 60 Hz or higher can enable continuous acquisition of scan data even during movement of the oral scanner (100), thereby providing sufficient image information for creating a high-quality 3D model.

[0079] The electronic device (200) can perform a second task of acquiring a pose of the oral scanner (100) based on a plurality of scan frames (S320).

[0080] The electronic device (200) can obtain depth information from each stereo image. The electronic device (200) can calculate depth information based on parallax information, baseline distance, and focal length between a pair of RGB images. This can generate point cloud data containing three-dimensional coordinate information for each point within the oral cavity.

[0081] The electronic device (200) can estimate a pose change of the oral scanner (100) by comparing and analyzing point cloud data between a plurality of temporally consecutive scan frames. The pose represents a position and orientation in a three-dimensional space and can be expressed as a transformation matrix of six degrees of freedom (6DOF). Specifically, the electronic device (200) can find a correspondence between the n-th frame and the (n+1)-th frame and calculate a relative pose change amount using at least one of an Iterative Closest Point (ICP) algorithm, a Random Sample Consensus (RANSAC) algorithm, or a feature point matching algorithm.

[0082] Additionally, in areas where structured light patterns are projected, the degree of pattern deformation can be analyzed to enable more accurate pose estimation. The electronic device (200) can calculate the direction of movement and rotation of the oral scanner (100) by tracking how the same pattern is deformed in different frames.

[0083] The electronic device (200) can perform a third task of generating a 3D model representing the oral structure based on a plurality of scan frames and poses of the oral scanner (100) (S330).

[0084] In the 3D model generation process, the electronic device (200) can first transform point cloud data extracted from each scan frame into a common coordinate system using pose information of the oral scanner (100). Specifically, the point cloud of the n-th frame can be transformed into 3D coordinates on the global coordinate system by applying a transformation matrix corresponding to the scanner pose in the corresponding frame.

[0085] The electronic device (200) can align multiple converted point clouds to generate a single integrated point data. Furthermore, the electronic device (200) can generate a 3D model representing the oral structure based on the integrated point cloud data.

[0086] The electronic device (200) may perform a fourth task of optimizing a 3D model (S340). Optimizing a 3D model may refer to a process of improving the accuracy and completeness of an initially generated 3D model. Specifically, the electronic device (200) may correct distortions, holes, or inconsistencies in the 3D model due to pose estimation errors, sensor noise, or incomplete data that may occur during the scanning process, thereby generating a 3D model that more closely resembles the actual oral structure.

[0087] Optimizing 3D models improves their geometric accuracy, allowing for more precise reproduction of occlusal relationships between teeth and the fine morphology of tooth surfaces. Furthermore, artifacts resulting from inconsistencies in scan data and noise in overlapping areas are eliminated, resulting in a high-quality 3D model suitable for clinical use.

[0088] The fourth task may include a first subtask of modifying pose information of the oral scanner (100) and a second subtask of reconstructing a 3D model based on the modified pose information.

[0089] In the first subtask, a graph optimization technique may be applied. In graph optimization, the electronic device (200) may construct a pose graph in which the pose of each scan frame is represented as a node and the relative positional relationship between adjacent frames is represented as an edge. The electronic device (200) may simultaneously optimize all poses to satisfy constraints for each node and edge in the pose graph, thereby minimizing accumulated errors and generating a globally consistent 3D model. In this process, the electronic device (200) may apply a loop closure technique to correct pose mismatch in the cyclic path.

[0090] In the second subtask, a 3D model can be reconstructed based on the pose information modified through the first subtask. The electronic device (200) can retransform the point cloud data of each scan frame into a new transformation matrix based on the optimized pose information, thereby readjusting the position in the global coordinate system. This can correct geometric distortions or inconsistencies in the 3D model caused by pose errors.

[0091] The fourth task may be performed in parallel with the third task. At least one of the first subtask and the second subtask may be performed in parallel with the third task. For example, the electronic device (200) may perform the third task of generating a 3D model using a new scan frame, while simultaneously executing the first subtask of modifying pose information of previous scan frames through graph optimization.

[0092] Additionally, the third and fourth tasks can be executed asynchronously. That is, the fourth task can be initiated without waiting for the third task to complete, or the third task can continue to execute regardless of the fourth task's completion. This asynchronous processing can reduce overall processing time and improve system efficiency.

[0093] Parallel processing can be implemented using multiple threads of the electronic device (200). For example, the electronic device (200) can perform the first and second tasks in a first thread, the third task in a second thread, and the fourth task in a third thread that is independent of the first and second threads. Since the fourth task is performed in a separate thread from the other tasks, the optimization work time can be shortened, and thus the electronic device (200) can quickly provide the user with an optimized 3D model.

[0094] The third and fourth tasks may be performed in parallel or sequentially depending on the processing capabilities of the system, the characteristics of the scan data, and user requirements.

[0095] In a parallel execution method, the third and fourth tasks can be executed simultaneously or temporally overlapping. The electronic device (200) can utilize a multi-core processor or parallel processing architecture to independently and concurrently execute the two tasks. For example, while the third task generates a 3D model from new scan frames, the fourth task can optimize portions of a previously generated 3D model. This parallel processing can be advantageous in reducing overall processing time and providing real-time feedback.

[0096] Parallel execution can encompass both parallel and concurrent processing. In parallel processing, multiple processor cores can physically execute a third task and a fourth task simultaneously. In parallel processing, a single processor can execute two tasks alternately in a time-sharing manner, making them appear to be logically executed simultaneously.

[0097] In a sequential execution method, the third and fourth tasks can be performed sequentially, temporally separated. The electronic device (200) can first complete the third task to generate a 3D model, and then perform the fourth task to optimize the generated 3D model. This sequential processing can be effective in cases where system resources are limited or data dependencies are high.

[0098] Even in sequential execution, various execution patterns are possible. For example, a third task processes a certain number of scan frames to create a partial 3D model, then a fourth task optimizes that portion, and then the third task processes additional frames, resulting in an iterative sequential processing. Furthermore, batch-based sequential processing is also possible, where the fourth task is executed only after the entire scan is complete and the third task has created the full 3D model.

[0099] Dynamic switching of execution modes is also possible. The electronic device (200) can monitor system status and dynamically switch between parallel and sequential execution. For example, if system resources are sufficient, the process can be performed in parallel, but if CPU usage exceeds a threshold or memory is insufficient, the process can switch to sequential execution. Furthermore, for faster previewing during the initial scan, the process can be performed sequentially, but once sufficient data has been accumulated, the process can switch to parallel execution to improve efficiency.

[0100] This flexible execution method allows the electronic device (200) to deliver optimal performance in a variety of hardware environments and usage scenarios. For example, on high-performance workstations, parallel execution can maximize processing speed, while on mobile devices or low-spec PCs, sequential execution can ensure stable operation.

[0101] The execution frequencies of the third and fourth tasks can be set differently. Preferably, the execution frequency of the third task can be set higher than that of the fourth task. For example, the third task is executed whenever a new scan frame is acquired, updating the 3D model in real time, while the fourth task is executed at a relatively low frequency, enabling efficient use of system resources. Furthermore, the fourth task can be executed only for a portion of the scan frames that make up the 3D model, rather than all of them, further improving processing efficiency.

[0102] Additionally, the electronic device (200) can efficiently manage the fourth task using a queue. The electronic device (200) can divide the fourth task into multiple sub-tasks, store them in a queue, and sequentially process the stored tasks based on the current system resource status. This queue-based task management can distribute the system load and improve the stability of optimized processing.

[0103] The processing target relationship between tasks can be implemented in two ways. The first is data overlapping, where the execution targets of the third and fourth tasks overlap at the same time. That is, at least some of the scan frames used to create the 3D model of the third task at a certain time can simultaneously be optimized for the fourth task. For example, when the third task is executed at the same time, frames 1, 2, 3, 4, and 5 can be used to create the 3D model, and when the fourth task is executed, frames 3, 4, and 5 among them can be optimized. This data overlapping method allows the two tasks to perform different operations simultaneously by utilizing common frame information, thereby efficiently utilizing system resources.

[0104] The second is a data separation method, in which the third and fourth tasks, at the same point in time, are subject to completely different scan frame groups. In this case, the first scan frame group, which is the target of the third task, and the second scan frame group, which is the target of the fourth task, do not overlap at that point in time. For example, when the third task is performed at a certain moment, a new 3D model can be created using frames 1, 2, 3, 4, and 5, and when the fourth task is performed, the existing model can be optimized using frames 6, 7, 8, 9, and 10. This data separation method can prevent data competition between the two tasks.

[0105] In the data separation method, a temporal difference may exist between the first scan frame group and the second scan frame group. Specifically, there may be a preset time difference between the average acquisition time of the first scan frame group and the average acquisition time of the second scan frame group, which may preferably correspond to 1 to 2 seconds. In addition, a difference of a predetermined number of frames may be maintained between the frames that are closest in time series in the two groups. The frame number difference may be set to correspond to 1 to 2 times the number of frames per second acquired by the first task. For example, when scanning at 60 frames per second, a temporal separation of 1 to 2 seconds can be ensured by leaving a difference of at least 60 to 120 frames between the two groups. This temporal and frame number-based separation can achieve real-time optimization while ensuring stable parallel processing performance of the system.

[0106] However, as time passes, it is possible that frames from the first scan frame group become the target of processing for the fourth task, which may contribute to increasing the completeness of the entire oral model.

[0107] In addition to the data overlapping and data separation methods described above, a region-specific processing method utilizing the anatomical characteristics of the oral cavity is also possible for efficient execution of the third and fourth tasks. In dental region-specific processing, the third and fourth tasks can be performed on different regions of the oral cavity at the same time. This distributed processing by region prevents potential conflicts that may arise from accessing the same data when performing both tasks.

[0108] Specific dental regions can be automatically identified using a neural network model. The electronic device (200) can automatically identify and classify anatomical regions, such as the anterior teeth, canine teeth, and posterior teeth, within a 3D model by executing the neural network model, and based on this, the processing area for each task can be dynamically assigned.

[0109] In one embodiment, a 3D model of the anterior teeth may be generated when performing the third task, and optimization may be performed on at least one of the canine and molar regions when performing the fourth task. The anterior teeth are an aesthetically important region, and real-time model generation is prioritized, while the canine and molar regions require functional precision, and thus may be suitable for intensive optimization processing.

[0110] In another embodiment, the region can be divided based on the left and right sides. When performing the third task, a 3D model of one canine region can be generated, and when performing the fourth task, optimization can be performed on at least one of the other canine region, anterior region, and posterior region. Alternatively, when performing the third task, a 3D model of one posterior region can be generated, and when performing the fourth task, at least one of the other posterior region, anterior region, and canine region can be processed. This left and right division method can be adaptively selected based on the movement pattern of the oral scanner or the characteristics of the patient's oral structure.

[0111] This distributed processing by region can efficiently utilize system resources and reduce overall processing time. Furthermore, it can contribute to improving the quality of 3D models by applying optimized algorithms tailored to the characteristics of each dental region. For example, in the anterior region, the focus can be on reproducing surface texture, while in the posterior region, the focus can be on precisely restoring the shape of the occlusal surface.

[0112] The performance of the fourth task can be adaptively adjusted depending on the operating status of the oral scanner (100). Specifically, at least one of the frequency of performing the fourth task and the workload per execution can be dynamically changed based on the operating status of the oral scanner (100).

[0113] When the oral scanner (100) transitions from an active state to an idle state, the frequency of execution of the fourth task or the workload per execution may increase. For example, when the oral scanner (100) is in an idle state where it does not acquire valid scan data, the processing load of the first to third tasks decreases, allowing the spare resources to be utilized to intensively perform optimized processing of the fourth task. This enables efficient system resource management utilizing scan downtime.

[0114] Additionally, the performance of the fourth task can be adjusted depending on the duration of the active state of the oral scanner (100). As the duration of the active state increases, the frequency of execution of the fourth task can be set to decrease, or the workload per execution can be set to increase. For example, if continuous scanning continues for a long time and increases the system load, the frequency of execution of the fourth task can be lowered to prioritize real-time 3D model generation. Conversely, the workload per execution of the fourth task can be increased to process more optimization tasks in a single execution, thereby maintaining overall optimization efficiency.

[0115] This adaptive task management optimizes system performance based on the operating conditions of the oral scanner (100) and dynamically balances real-time scanning with 3D model optimization. In particular, by effectively utilizing the irregular idle time inherent in the nature of scanning operations, the overall processing time can be shortened and the quality of the 3D model can be improved.

[0116] The oral scanner (100) can operate in various scan modes. Specifically, it can operate in a first scan mode for scanning the upper jaw, a second scan mode for scanning the lower jaw, and a third scan mode for scanning occlusion.

[0117] An idle state of the oral scanner (100) may also occur when switching between these scan modes. Specifically, the idle state may include a state between the end of a preceding scan mode and the start of a subsequent scan mode among the first to third scan modes. For example, the transition period between the completion of an upper jaw scan (first scan mode) and the start of a lower jaw scan (second scan mode), or the period between the completion of a lower jaw scan and the start of an occlusion scan (third scan mode), may correspond to an idle state. During such an idle state during a mode switch, preparation time may be required, such as when the oral scanner (100) is physically moved or the patient changes posture.

[0118] During the idle state due to switching between scan modes, reallocation of system resources may be performed. The electronic device (200) may reallocate processing resources allocated to the first to third tasks to the fourth task to maximize the optimization performance of the 3D model. For example, the CPU, GPU, or memory resources used for scan data acquisition (first task), pose estimation (second task), and 3D model generation (third task) may be temporarily allocated to the pose optimization and 3D model reconstruction tasks of the fourth task. This enables intensive post-processing of accumulated scan data by utilizing the scan mode switching time, and prepares a more precise 3D model before the start of the next scan mode.

[0119] FIG. 4 is a schematic diagram showing a task schedule according to one embodiment of the present disclosure.

[0120] Referring to FIG. 4, the electronic device (200) can perform a first task (11), a second task (12), a third task (13), and a fourth task (14) in parallel. The first task (11) is a task of acquiring scan data for an oral structure, and may be simply referred to as a scanning task. The second task (12) is a task of estimating a pose of an oral scanner (100) based on the scan data, and may be simply referred to as a pose estimation task. The third task (13) is a task of generating a 3D model representing an oral structure, and may be simply referred to as a model generation task. The fourth task (14) is a task of optimizing a 3D model, and may be simply referred to as an optimization task.

[0121] In one embodiment, the first task (11) and the second task (12) may be performed in synchronization. In FIG. 4, the first task (11) and the second task (12) are depicted as being performed simultaneously, but this is only one embodiment, and the first task (11) and the second task (12) may be performed with a time difference.

[0122] The third task (13) can be performed continuously while acquiring scan data for the first task (11). That is, the third task (13) can be continuously performed while acquiring scan data to create a 3D model in real time. In one embodiment, the third task (13) can be performed asynchronously with the first task (11) and the second task (12).

[0123] As illustrated in FIG. 4, the fourth task (14) may be performed intermittently. Furthermore, the fourth task (14) may be performed in parallel with at least a portion of the third task (13). In another embodiment, the fourth task (14) may be performed after the third task (13) is completed.

[0124] Meanwhile, the task schedule may vary depending on the scan mode of the oral scanner (100). For example, FIG. 4 is a task schedule when the oral scanner (100) operates in the first scan mode or the second scan mode, and FIG. 5, which will be described later, may be a task schedule when the oral scanner (100) operates in the third scan mode.

[0125] FIG. 5 is a schematic diagram showing a task schedule according to another embodiment of the present disclosure.

[0126] Referring to FIG. 5, the electronic device (200) can perform the first task (11) and the second task (12) in synchronization. In addition, the electronic device (200) can perform the third task (13) asynchronously with the first task (11) and the second task (12).

[0127] The electronic device (200) can sequentially perform the third task (13) and the fourth task (14). For example, the fourth task (14) can be performed after the third task (13) is completed. The fourth task (14) can be performed in response to a user command. For example, when the third task (13) is completed and the initial model is provided to the user, the user can input a command to the electronic device (200) to optimize the initial model. In another embodiment, the third task (13) and the fourth task (14) can be performed simultaneously.

[0128] Meanwhile, in the first scan mode, the electronic device (200) can create a 3D model of the maxilla (hereinafter, “maxilla model”) based on scan data for the maxilla. In addition, in the second scan mode, the electronic device (200) can create a 3D model of the mandible (hereinafter, “mandibular model”) based on scan data for the mandible. In the third scan mode, the electronic device (200) can create a 3D model (hereinafter, “occlusion model”) representing the occlusion state of the maxilla and the mandible. The third scan mode can be performed after the first scan mode and the second scan mode, and the first scan mode and the second scan mode can be performed regardless of the order. Here, the scan mode is not only an operation mode of the oral scanner (100), but can also be interpreted as an operation mode of the electronic device (200) at the same time.

[0129] The execution method of the fourth task (14) may vary depending on the scan mode. In the first scan mode and the second scan mode, the fourth task (14) may be executed in parallel with the first task (11), the second task (12), and the third task (13) with overlapping execution periods. For example, as shown in FIG. 4, the fourth task (14) may be executed intermittently and temporally overlap with other tasks.

[0130] In the first and second scan modes, it is desirable to provide the user with optimized maxillary and mandibular models during or immediately after scanning. This allows the user to quickly check the scan status and determine whether rescanning is necessary. Accordingly, the electronic device (200) can simultaneously perform the first task (11), the second task (12), and the third task (13) while also performing the fourth task (14).

[0131] In the third scan mode, tasks can be performed in various ways. In one embodiment, the fourth task (14) may be performed after the first task (11), the second task (12), and the third task (13) are completed, prioritizing the accuracy of the optimized occlusal model. Since the occlusal model is a key element of the digital impression used for fabricating prostheses, accuracy may be the top priority. In addition, optimization of the occlusal model requires more computation than optimization of the maxillary and mandibular models, and thus, resources may be insufficient during real-time optimization during an occlusal scan. Fig. 5 illustrates this first method, and shows a sequential processing method in which the execution period of the fourth task (14) does not overlap with the execution periods of the first task (11) and the second task (12).

[0132] In another embodiment, the parallel processing method illustrated in FIG. 4 may also be applied in the third scan mode. That is, the fourth task (14) may be performed in parallel with the first task (11), the second task (12), and the third task (13), enabling real-time optimization. This may be applied when system resources are sufficient or when the user prioritizes real-time feedback.

[0133] However, the task schedule does not necessarily have to vary depending on the scan mode. For example, a parallel processing task schedule like that of FIG. 4 may be applied to all scan modes, from the first to the third scan modes, or a sequential processing task schedule like that of FIG. 5 may be applied to all scan modes.

[0134] Meanwhile, the execution period of the third task (13) may be shorter in the third scan mode than in the first and second scan modes. This is because the initial generation task (13) in the third scan mode only needs to determine the relative positions of the maxillary and mandibular models generated in the first and second scan modes. At this time, the electronic device (200) determines the relative positions of the maxillary and mandibular models based on the occlusion scan data, and may not generate new maxillary and mandibular models. After the third task (13) is completed, the maxillary and mandibular models may be reconstructed in the fourth task (14). Accordingly, the shapes of the maxillary and mandibular models may change.

[0135] FIG. 6 is a graph showing task workload according to one embodiment of the present disclosure.

[0136] Referring to FIG. 6, during a first period from a first time point (T1) to a second time point (T2), the oral scanner (100) operates in a first scan mode and can scan the maxilla. At this time, the electronic device (200) can perform a first task (11), a second task (12), and a third task (13). The workload of the first task (11) may be greater than the workload of the second task (12). The workload of the optimization task (14) may gradually increase over time and become greater than the workloads of the first task (11) and the second task (12).

[0137] During a second period from a second time point (T2) to a third time point (T3), the oral scanner (100) may be in an idle state. At this time, the electronic device (200) may not perform the first task (11) and the second task (12). Accordingly, the resources allocated to the first task (11) and the second task (12) may be allocated to the third task (13). In particular, the resources allocated to the first task (11) and the second task (12) may be allocated to the fourth task (14). As a result, the electronic device (200) may increase the workload of the fourth task (14) compared to the first period. That is, when the operating state of the oral scanner (100) is switched from an active state to an idle state, the electronic device (200) may increase the workload of the fourth task (14). In addition, the third task (13) may not be performed in the idle state.

[0138] During the third period, from the third time point (T3) to the fourth time point (T4), the oral scanner (100) operates in the second scan mode and can scan the lower jaw. When the oral scanner (100) is switched back to an active state, the electronic device (200) can reduce the workload of the third task (13) and the fourth task (14). The resources that were focused on the fourth task (14) during the second period can be re-allocated to the first task (11) and the second task (12).

[0139] During the fourth period, from the fourth time point (T4) to the fifth time point (T5), the oral scanner (100) may be idle. During this period, similar to the second period, the electronic device (200) may increase the workload of the fourth task (14). Accordingly, the workload of the third task (13) may decrease. Furthermore, the third task (13) may not be performed during the fourth period.

[0140] During the fifth period, from the fifth time point (T5) to the sixth time point (T6), the oral scanner (100) operates in the third scan mode and can scan the occlusion. At this time, the workload of the third task (13) may be lower than that of the first and second periods. This is because the workload of the third task (13) is lower than that of the first and second scan modes because the third scan mode does not create new maxillary and mandibular models.

[0141] During the sixth period, from the sixth time point (T6) to the seventh time point (T7), the oral scanner (100) may be idle. During this time, the electronic device (200) may increase the workload of the fourth task (14). Accordingly, the workload of the third task (13) may decrease. Additionally, the third task (13) may not be performed during the sixth period.

[0142] The length of the sixth period, i.e., the execution period of the fourth task (14) during the sixth period, may be longer than that of the second period and the fourth period. This may be because the optimization computational amount of the occlusion model is greater than that of the maxillary and mandibular models.

[0143] Meanwhile, the order of the first scan mode and the second scan mode may be switched. For example, the oral scanner (100) may operate in the second scan mode during a first period and in the first scan mode during a third period.

[0144] FIG. 7 is a block diagram showing the configuration of an oral scanning system according to one embodiment of the present disclosure.

[0145] Referring to FIG. 7, an oral scanning system (1000) may include an oral scanner (100) and an electronic device (200). The oral scanner (100) may acquire scan data about the inside of a patient's oral cavity and transmit the scan data to the electronic device (200). The oral scanner (100) may acquire scan data using structured light, Time-of-Flight (ToF), LiDAR, Computed Tomography (CT), or ultrasound.

[0146] The electronic device (200) may include a communication interface (210), memory (220), processor (230), and display (240). The electronic device (200) may be a personal computer (PC), tablet, workstation, or smartphone.

[0147] The communication interface (210) may include at least one communication circuit. The communication interface (210) may receive scan data from the oral scanner (100). The communication interface (210) may include a wired interface and a wireless interface. The wired interface may include USB, Ethernet, HDMI, and Thunderbolt. The wireless interface may include Wi-Fi, Bluetooth, Zigbee, and NFC.

[0148] The memory (220) may store an operating system (OS) for controlling the overall operation of components of the electronic device (200) and commands or data related to components of the electronic device (200). In particular, the memory (220) may include instructions for controlling oral scanning software. The memory (220) may be implemented as a non-volatile memory (e.g., a hard disk, a solid state drive (SSD), a flash memory) or a volatile memory.

[0149] The processor (230) is electrically connected to the memory (220) and can control the overall functions and operations of the electronic device (200). The processor (230) can control the overall functions and operations of the electronic device (200) by executing instructions stored in the memory (220). For example, the processor (230) can perform the first to fourth tasks. In addition, the processor (230) can control the overall operations related to the tasks.

[0150] The processor (230) may include one or more processing circuits. The processing circuits may include at least one of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Neural Processing Unit (NPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), and a Field Programmable Gate Array (FPGA). The processor (230) may be implemented as a single processor or as a multi-processor system in which multiple processors operate in parallel.

[0151] In particular, the processor (230) may be configured to perform a first task of acquiring scan data including a plurality of scan frames for an oral structure, including a processing circuit, a second task of acquiring a pose of an oral scanner based on the plurality of scan frames, a third task of generating a 3D model representing the oral structure based on the plurality of scan frames and the pose of the oral scanner, and a fourth task of optimizing the 3D model. At this time, the processor (230) may perform the third task and the fourth task in parallel or sequentially.

[0152] The display (240) can visually display the 3D model creation and optimization process. Specifically, the display (240) can provide the user with a 3D model generated in real time according to the third task, and an optimized 3D model that is gradually improved according to the fourth task. This allows the user to immediately check the scanning progress and the improvement in the quality of the 3D model.

[0153] The oral scanning system (1000) may be implemented as a system including one or more processors. For example, the oral scanning system (1000) may be implemented as a distributed processing system including a processor (230) within the electronic device (200), as well as an auxiliary processor within the oral scanner (100), or a processor of a remote server connected to a network.

[0154] In such a system configuration, one or more processors may cooperatively operate to perform first to fourth tasks. Specifically, the processors of the system may be configured to perform a first task of acquiring scan data including a plurality of scan frames of an oral structure, a second task of acquiring a pose of an oral scanner based on the plurality of scan frames, a third task of generating a 3D model representing the oral structure based on the plurality of scan frames and the pose of the oral scanner, and a fourth task of optimizing the 3D model. Here, the third task and the fourth task may be performed in parallel or sequentially.

[0155] Although not shown, the electronic device (200) may include an input / output interface (I / O interface) connected to an input / output device. For example, the I / O interface may include a USB and Bluetooth connected to a mouse. The processor (230) may receive user input through the I / O interface. The user may input a command to start or switch scan mode, or a command to start an optimization task, through the I / O interface.

[0156] Embodiments of the present disclosure may be implemented in the form of instructions stored on a computer-readable, non-transitory recording medium. The non-transitory recording medium may include instructions that cause a processor to perform an operation of performing a first task of acquiring scan data including a plurality of scan frames of an oral structure, an operation of performing a second task of acquiring a pose of an oral scanner based on the plurality of scan frames, an operation of performing a third task of generating a 3D model representing the oral structure based on the plurality of scan frames and the pose of the oral scanner, and an operation of performing a fourth task of optimizing the 3D model. In this case, the third task and the fourth task may be configured to be performed in parallel or sequentially.

[0157] Although the preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above, and various modifications may be made by a person skilled in the art to which the present disclosure pertains without departing from the gist of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical idea or prospect of the present disclosure.

[0158] The various embodiments described above may be implemented in a computer-readable recording medium using software, hardware, or a combination thereof, or a computer or similar device. In some cases, the embodiments described herein may be implemented in the processor itself. When implemented in software, the embodiments, such as the procedures and functions described herein, may be implemented as separate software modules. Each of the software modules may perform one or more functions and operations described herein.

[0159] Computer instructions for performing processing operations according to the various embodiments of the present disclosure described above may be stored on a non-transitory computer-readable medium. When executed by a processor, the computer instructions stored on the non-transitory computer-readable medium may cause a specific device to perform processing operations according to the various embodiments described above.

[0160] A non-transitory computer-readable medium refers to a medium that permanently stores data and can be read by a device, rather than a medium that stores data for a short period of time, such as a register, cache, or memory. Specific examples of non-transitory computer-readable media include CDs, DVDs, hard disks, Blu-ray discs, USBs, memory cards, and ROMs.

[0161] A device-readable storage medium may be provided in the form of a non-transitory storage medium. Here, the term "non-transitory storage medium" simply means a tangible device that does not contain signals (e.g., electromagnetic waves). This term does not distinguish between cases where data is permanently stored in the storage medium and cases where data is temporarily stored. For example, a "non-transitory storage medium" may include a buffer in which data is temporarily stored.

[0162] The methods according to various embodiments disclosed in this document may be provided as included in a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) via an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., a downloadable app) may be temporarily stored or temporarily generated in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

Claims

1. A task management method for creating an oral cavity internal model, A step of performing a first task of acquiring scan data including a plurality of scan frames for an oral structure; A step of performing a second task of acquiring a pose of the oral scanner based on the plurality of scan frames; A third task of generating a 3D model representing the oral structure based on the plurality of scan frames and the pose of the oral scanner; and a step of performing a fourth task of optimizing the above 3D model; The third task and the fourth task can be performed in parallel or sequentially. How to manage tasks.

2. In paragraph 1, The fourth task above includes at least two subtasks, At least one of the above two subtasks is capable of being performed in parallel with the third task, How to manage tasks.

3. In paragraph 1, The third task and the fourth task are performed asynchronously. How to manage tasks.

4. In paragraph 1, The execution frequency of the third task is higher than the execution frequency of the fourth task. How to manage tasks.

5. In paragraph 1, The fourth task is performed on at least some of the plurality of scan frames constituting the 3D model. How to manage tasks.

6. In paragraph 1, At the same point in time, among the plurality of scan frames constituting the 3D model, the first scan frame group - including a plurality of scan frames - corresponding to the execution target of the third task does not correspond to the second scan frame group - including a plurality of scan frames - corresponding to the execution target of the fourth task. How to manage tasks.

7. In paragraph 6, The average acquisition time by the first task of the first scan frame group is different from the average acquisition time by the first task of the second scan frame group by a preset time interval. How to manage tasks.

8. In paragraph 1, The third task and the fourth task are performed at different areas of the dental area of ​​the 3D model at the same time. How to manage tasks.

9. In paragraph 8, Among the dental areas of the 3D model, the third task is related to the anterior teeth, and the fourth task is related to at least one of the canine teeth and the molar teeth. How to manage tasks.

10. In paragraph 1, At least one of the frequency of performing the fourth task and the workload per performing task is adjusted based on the operating status of the oral scanner. How to manage tasks.

11. In paragraph 10, Depending on the duration of the active state of the oral scanner, at least one of the execution frequency and the workload per execution of the fourth task is changed. How to manage tasks.

12. In paragraph 10, When the operating state of the oral scanner switches from an active state to an idle state, at least one of the execution frequency and the workload per execution of the fourth task increases, The above oral scanner, It can operate in the first scan mode for scanning the upper jaw, the second scan mode for scanning the lower jaw, and the third scan mode for scanning the occlusion. The above idle state is, Including a state between the end of the preceding scan mode and the start of the next scan mode among the first to third scan modes, How to manage tasks.

13. In paragraph 12, In the idle state of the above oral scanner, The resources allocated to the first to third tasks are allocated to the fourth task. How to manage tasks.

14. In at least one processor including a processing circuit, The above processing circuit, Performing a first task of acquiring scan data including multiple scan frames for an oral structure; A second task of acquiring a pose of the oral scanner based on the plurality of scan frames is performed, Performing a third task of generating a 3D model representing the oral structure based on the plurality of scan frames and the pose of the oral scanner; Perform the fourth task of optimizing the above 3D model, The third task and the fourth task can be performed in parallel or sequentially. At least one processor.

15. In a system including at least one processor, At least one processor, Performing a first task of acquiring scan data including multiple scan frames for an oral structure; A second task of acquiring a pose of the oral scanner based on the plurality of scan frames is performed, Performing a third task of generating a 3D model representing the oral structure based on the plurality of scan frames and the pose of the oral scanner; Perform the fourth task of optimizing the above 3D model, The third task and the fourth task are performed in parallel or sequentially. System.

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