Data processing method and device, and storage medium

Abstract

A data processing method and device, and a storage medium. The method comprises: acquiring first scan data obtained by scanning an oral cavity of a patient in a first state, wherein a first scan body is mounted on an implant implanted in the oral cavity of the patient in the first state, and the first scan data at least comprises scan data of the first scan body; acquiring second scan data obtained by scanning an impression in a preset state, wherein the impression is prepared on the basis of the oral cavity of the patient in the first state, the impression comprises a negative mold corresponding to at least part of the structure of the first scan body, a second scan body is mounted in the impression in the preset state, part of the shape of the second scan body is adapted to the shape of the negative mold, such that the second scan body is detachably mountable in the negative mold, and the second scan data at least comprises scan data of the second scan body and scan data of the impression; and obtaining target data on the basis of the first scan data and the second scan data, wherein the target data is used for preparing a dental restoration for the patient.

Description

Data processing methods, equipment and storage media Technical Field

[0001] This application relates to the field of oral implant technology, and more specifically, to a data processing method, device, and storage medium. Background Technology

[0002] With the continuous development of dental implant technology, implant restoration has become one of the mainstream solutions for addressing tooth loss and damage. Implant restoration typically involves inserting an implant into the patient's mouth (such as the maxilla or mandible), and then fixing a pre-fabricated restoration (such as a crown, denture, or bridge) onto the implant. In the implant restoration process, accurately obtaining the implant's positional information within the patient's mouth and correlating this information with the morphological data of the oral soft tissues (such as the mucosa and gingiva) is crucial to ensuring that the subsequently prepared restoration not only achieves a precise mechanical fit with the implant but also conforms well to the oral soft tissues.

[0003] In related technologies, to obtain implant position data, a temporary scanner can be installed on the implanted intraoral cavity. An intraoral scanner directly scans the oral cavity, obtaining the implant's position information and its relationship with the intraoral soft tissues, such as the implant's position relative to the gingiva. This information is used for subsequent prosthesis fabrication. However, during the scanning process, changes in swallowing and mouth opening can easily deform the intraoral soft tissues, leading to significant differences between the reconstructed morphology and the actual morphology. This results in inaccuracies, or some soft tissue areas (such as the junction between the implant neck and the gingival cuff) may be located in the scanning blind zone, causing data loss and preventing accurate reconstruction of the relative position information between the intraoral soft tissues and the implant. Consequently, prostheses fabricated based on this relative position may not fit well with the soft tissues, affecting their aesthetics and lifespan.

[0004] Therefore, it is necessary to provide a solution that can more accurately determine the positional information between the implant and the intraoral soft tissue. Summary of the Invention

[0005] In view of the above, this application provides a data processing method, apparatus and storage medium.

[0006] According to a first aspect of this application, a data processing method is provided, the method comprising:

[0007] First scan data is obtained by scanning the patient's oral cavity in a first state, wherein the patient's oral cavity in the first state indicates that at least one first scanning body is installed on the implant in the patient's oral cavity, and the first scan data includes at least the scan data of the first scanning body.

[0008] A second scan data is obtained by scanning an impression in a preset state, wherein the impression is prepared based on the patient's oral cavity in the first state, the impression includes a negative mold corresponding to at least a portion of the structure of the first scanning body, the impression in the preset state indicates at least one second scanning body is installed within the impression, and a portion of the shape of the second scanning body is adapted to the shape of the negative mold so that the second scanning body can be detachably installed within the negative mold; the second scan data includes at least the scan data of the second scanning body and the scan data of the impression.

[0009] Based on the first scan data and the second scan data, target data is obtained, and the target data is used to prepare the patient's dental restoration.

[0010] According to a second aspect of this application, an electronic device is provided, the electronic device including a processor, a memory, and a computer program stored in the memory that can be executed by the processor, wherein the processor, when executing the computer program, can implement the method mentioned in the first aspect above.

[0011] According to a third aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed, implements the method mentioned in the first aspect above.

[0012] Using the method provided in this application, when preparing a dental prosthesis, the patient's oral cavity can be scanned while at least one first scanning body is installed on the implant already placed in the patient's oral cavity to obtain scanning data of the first scanning body. Simultaneously, while the first scanning body is installed on the implant, an impression can be prepared by pouring water into the patient's oral cavity to obtain an impression. This impression includes a negative mold corresponding to at least a portion of the structure of the first scanning body. A second scanning body can be installed within the impression, wherein a portion of the shape of the second scanning body is adapted to the shape of the negative mold so that the second scanning body can be detachably installed within the negative mold. While the second scanning body is installed in the impression, the impression is scanned to obtain scanning data of the second scanning body and scanning data of the impression. Then, the scanning data of the first scanning body, the scanning data of the second scanning body, and the scanning data of the impression can be aligned to obtain target data. The dental prosthesis for the patient is then prepared using the target data.

[0013] By preparing an impression of the patient's oral cavity, the impression can completely and accurately reproduce the morphology of the soft tissues within the patient's oral cavity, such as the edge contour of the gingival cuff and the subtle undulations of the alveolar ridge. Through precise adaptation between the second scanning body and the negative impression, the "implant coordinates" carried by the first scanning body are indirectly transferred to the ex vivo impression, solving the problem of "disconnection between intraoral implant coordinates and ex vivo impression data," and providing a "physical correlation basis" for subsequent data alignment. Through the above scheme, a high-precision correlation between implant coordinates and oral morphological data can be achieved, providing a precise data basis for the "aesthetic design" of the restoration (such as the natural transition between the neck of the restoration and the gingiva).

[0014] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 is a schematic diagram of an implanted prosthesis in a patient's oral cavity according to an embodiment of this application.

[0017] Figure 2 is a flowchart of a data processing method according to an embodiment of this application.

[0018] Figure 3 is a schematic diagram of the structure of the third scanning body according to an embodiment of this application.

[0019] Figure 4 is a schematic diagram of the structure of the first scanning body according to an embodiment of this application.

[0020] Figure 5 is a schematic diagram of the structure of the second scanning body according to an embodiment of this application.

[0021] Figure 6 is a schematic diagram of the main scanning body fixed in the patient's oral cavity according to an embodiment of this application.

[0022] Figure 7 is a schematic diagram of a healing abutment fixed to a patient's oral cavity according to an embodiment of this application.

[0023] Figure 8 is a schematic diagram of a denture scanner installed in a pouring impression according to an embodiment of this application.

[0024] Figure 9 is a schematic diagram of the structure of a denture scanner according to an embodiment of this application.

[0025] Figure 10 is a schematic diagram of the logical structure of a data processing apparatus according to an embodiment of this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] As shown in Figure 1, implant restoration typically involves inserting an implant 11 into the patient's mouth (such as the maxilla or mandible), then mounting an abutment 12 on the implant 11, and finally fixing a pre-fabricated restoration 13 (such as a crown or bridge) onto the abutment 12.

[0028] In the implant restoration process, it is usually necessary to determine the positional relationship between the implant and the soft tissues in the mouth, and then fabricate the restoration based on this positional relationship so that the fabricated restoration can be precisely adapted to the implant and perfectly fit the soft tissues such as the gums.

[0029] In related technologies, a temporary scanner can be installed on the implanted intraoral implant to directly scan the intraoral scene, thereby obtaining the implant's positional information and the relationship between the implant and the intraoral soft tissue. However, the morphology of the intraoral soft tissue obtained in this way is inaccurate, and its relative positional relationship with the implant is also inaccurate, resulting in the prepared prosthesis not being able to perfectly fit the intraoral soft tissue.

[0030] Taking the gingival cuff as an example, the gingival cuff refers to the ring-shaped soft tissue area formed around the neck of the implant after it has been implanted into the patient's alveolar bone. Its shape, thickness, and marginal contour directly determine the biological seal and aesthetics of the restoration. On one hand, the restoration margin must precisely fit the gingival cuff to form a biological barrier around the implant, preventing food debris and bacteria from invading the implant-bone interface and causing inflammation (such as peri-implantitis). On the other hand, the natural curvature of the gingival cuff must match the shape of the restoration's neck margin to achieve visual harmony between the restoration and the natural dentition, meeting clinical aesthetic requirements. Therefore, accurately acquiring the morphological data of the gingival cuff and its relative position to the implant, and using this data to fabricate a restoration with good fit to the intraoral soft tissue, is a crucial step in the digital implant restoration process.

[0031] In related technologies, to obtain implant position information, a temporary scanner can be installed on the implanted intraorally. An intraoral scanner can then directly scan the intraoral scene, simultaneously obtaining the implant's position information and the relationship between the implant and the gingival cuff. However, the gingival cuff is dynamic soft tissue. During scanning, saliva secretion, tongue movement, or even slight contact with the scanner probe can cause temporary deformation of the gingival cuff (such as soft tissue indentation or traction deformation), resulting in a significant deviation between the scanned gingival cuff morphology and its actual physiological state. Furthermore, the junction area between the implant neck and the gingival cuff (typically only 0.5-1 mm wide) is prone to data loss due to scanning blind spots (such as the probe not being perpendicularly aligned with the junction), making it impossible to accurately reconstruct the relative positional relationship between the gingival cuff and the implant. Inaccurate determination of the gingival cuff morphology can lead to poor fit between the prosthesis and the gingival cuff, causing biological complications or aesthetic defects.

[0032] Therefore, there is an urgent need for a technical solution that can restore the true morphology of intraoral soft tissues such as gingival cuffs and accurately associate them with implants.

[0033] The data processing method provided in this application can be executed by various electronic devices such as scanning devices, mobile phones, tablets, laptops, physical servers, server clusters, and cloud servers. The scanning device can be a desktop scanner or a handheld scanner, and it can be an intraoral scanner or an extraoral scanner. For example, in some scenarios, the scanning device can scan the patient's oral cavity, the scanned object, and the impression, and then process the acquired scan data. In other scenarios, the scanning device can scan the patient's oral cavity, the scanned object, and the impression, and then send the scan data to other devices connected to the scanning device via wired or wireless communication (e.g., a user's mobile phone, computer, etc.), whereby the other devices process the scan data.

[0034] As shown in Figure 2, the data processing method of this application may include the following steps:

[0035] S202. Obtain first scan data obtained by scanning the patient's oral cavity in the first state, wherein the patient's oral cavity in the first state means that at least one first scanning body is installed on the implant in the patient's oral cavity, and the first scan data includes at least the scan data of the first scanning body.

[0036] In step S202, an implant can be placed in the maxilla or mandible of the patient's oral cavity, and then one or more first scanning bodies can be fixed to the implant directly or indirectly. In some embodiments, the first scanning body can be directly fixed to the implant; in some embodiments, an abutment can be installed on the implant first, and then the first scanning body can be fixed to the abutment.

[0037] The first scanning body is equipped with a mounting interface (such as an internal hexagonal slot or threaded hole) that matches the implant or abutment for fixing it to the implant or abutment. The central axis of the first scanning body is collinear with the axis of the implant. Because the first scanning body is rigidly connected to the implant, the position (location, angle, etc.) of the implant and / or abutment in the patient's oral cavity can be determined based on the first scanning body's position within the patient's mouth. In some embodiments, the first scanning body may include markers (e.g., coded markers, non-coded markers, or one or more geometric features) to provide clear positioning features for subsequent scans. Each marker uniquely identifies a positional feature on the first scanning body.

[0038] In addition, the first scanning body may include a specific structure that can form a negative mold in the impression material. The specific structure may be trapezoidal, hexahedral, tetrahedral, stepped, stacked ring, etc.

[0039] The oral cavity of a patient with implanted implants and a first scanning device mounted on the implants can be referred to as the patient's oral cavity in the first state. The oral cavity in the first state can be scanned using an oral scanning device to obtain the first scan data.

[0040] The first scan data includes only the marker data within the first scan volume. When the marker is a marker point, the marker data within the first scan volume can be 3D model data (3D point cloud or mesh model) or 2D data of the marker point. The 2D data of the marker point includes 3D coordinate information stored in a 2D image format and / or in a digital format.

[0041] The first scan data includes at least the scan data of the first scanned object, such as the topographic data of the first scanned object (e.g., a reconstructed three-dimensional model of the first scanned object) and landmark data in the first scanned object. In some embodiments, the first scan data may also include the topographic data of the patient's oral cavity (e.g., a reconstructed three-dimensional model of the patient's oral cavity).

[0042] By using the first scanning body fixed to the implant in situ, the precise position of the implant in the global coordinate system of the patient's oral cavity can be directly obtained.

[0043] In some embodiments, when scanning a first scanning body installed in the mouth to obtain first scan data, photogrammetric scanning can be performed on the first scanning body to obtain marker data (e.g., three-dimensional coordinates of the marker) in the first scanning body, and the first scan data includes the marker data.

[0044] In some embodiments, when scanning a first scanning body installed in the mouth to obtain first scan data, the first scanning body can first be subjected to photogrammetric scanning to obtain marker data (such as the three-dimensional coordinates of the marker) in the first scanning body. Then, the first scanning body can be subjected to optical three-dimensional scanning (e.g., structured light scanning, laser scanning, etc.) to obtain morphological data of the first scanning body (or morphological data of the first scanning body and morphological data of the patient's oral cavity). Then, the marker data and morphological data in the third scanning body are combined, and the first scan data includes the combined data.

[0045] In some embodiments, a plurality of first scanning bodies are provided, and each first scanning body is provided with a plurality of continuously distributed marker points with encoded information, each marker point being able to uniquely identify the positional features of a position on the first scanning body.

[0046] For example, when acquiring the first scan data of the patient's oral cavity in the first state, the system can acquire the first image frame set of the patient's oral cavity in the first state, and obtain the landmark point data of each of the multiple first scan bodies based on the first image frame set; determine the pose information and identification information of each first scan body based on the landmark point data of each first scan body, and retrieve the standard model corresponding to each first scan body from the standard library based on the identification information; bind the pose information of the multiple first scan bodies to the multiple standard models based on the correspondence between the multiple standard models and the multiple first scan bodies to obtain intermediate standard data; acquire the second image frame set of the patient's oral cavity in the first state, and obtain the morphological data of the first scan bodies and the morphological data of the patient's oral cavity based on the second image frame set; and stitch the intermediate standard data and the morphological data of the patient's oral cavity together based on the correspondence between each standard model and the actual morphological data of the first scan bodies in the intermediate standard data to obtain the first scan data.

[0047] For example, a photogrammetric scan can be performed on the first scanned object to obtain a first set of image frames. Based on the first set of image frames, the marker point data of the first scanned object can be obtained. The marker point data of the first scanned object includes the three-dimensional coordinate information and the encoding information of multiple marker points set on the surface of each first scanned object. Based on the encoding information and coordinate information of multiple marker points, the identification information of the first scanned object (the identification information of the first scanned object can be the model of the first scanned object) can be determined. At this time, the marker point data of the first scanned object, that is, the multiple marker points of the first scanned object scanned in real time, can be displayed on the interactive interface.

[0048] Then, the standard model corresponding to the first scanned body can be extracted from the standard library based on the identification information. The standard library can store the truth information of the marker points on the first scanned body, such as storing the standard model of the first scanned body. The standard model is a complete, complete, error-free set of reference parameters of the first scanned body under ideal conditions, such as the designed CAD model of the first scanned body, or the position distribution model of multiple marker points in the designed first scanned body.

[0049] In one embodiment, after retrieving the standard model of the first scanning body with corresponding identification information, the coordinate system of the standard model is transformed to the coordinate system of the marker point (such as the camera coordinate system of the oral scanning device), and the positioning information of multiple scanning rods is bound to multiple standard scanning rod models respectively to obtain intermediate standard data. At this time, the intermediate standard data can be displayed on the interactive interface, that is, each standard model is arranged and displayed in the camera coordinate system of the oral scanning device according to the position distribution of each first scanning body in the patient's oral cavity.

[0050] Then, an optical three-dimensional scan (structured light scan, laser scan, etc.) can be performed on the patient's oral cavity in the first state to obtain a second set of image frames. Based on the second set of image frames, the morphological data of the first scanned object and the morphological data of the patient's oral cavity can be obtained. Then, the standard model after coordinate system transformation can be aligned with the actual morphological data of the first scanned object, and the standard model and the morphological data of the patient's oral cavity can be fused to obtain the first scan data, which includes both the standard model of the first scanned object and the morphological data of the patient's oral cavity.

[0051] It should be noted that in the above process, a standard model retrieved from a standard library can be used as the ground truth framework data to adjust the stitching relationship between the first and second image frame sets in real time, thereby eliminating accumulated errors and obtaining more accurate scan data. The resulting restoration design will be more closely adapted to the patient's oral cavity. Optionally, the first image frame set is acquired under illumination light mode, and the second image frame set is acquired under structured light mode.

[0052] S204. Obtain second scan data obtained by scanning the impression in a preset state, wherein the impression is prepared based on the patient's oral cavity in the first state, the impression includes a negative mold corresponding to at least a portion of the structure of the first scanning body, the impression in the preset state indicates that at least one second scanning body is installed inside the impression, that is, the impression in the preset state is an impression in which at least one second scanning body is installed inside the impression, and a portion of the shape of the second scanning body is adapted to the shape of the negative mold so that the second scanning body can be detachably installed inside the negative mold; the second scan data includes at least the scan data of the second scanning body and the scan data of the impression.

[0053] In step S204, when the first scanning body is fixed to the implant or abutment in the patient's oral cavity, an impression treatment can be performed on the patient's oral cavity to prepare an impression. For example, impression material can be applied to the inner surface of an impression carrier (e.g., a tray), and then the impression carrier can be placed in the patient's oral cavity and gently pressed for a certain period of time to allow the impression material to completely cover the first scanning body and surrounding gingiva, alveolar ridge, etc. After the impression material has completely solidified, the impression carrier can be removed to obtain an impression. The impression includes a negative mold corresponding to at least a portion of the structure of the first scanning body, and the shape of the negative mold is complementary to the outer surface of the first scanning body. Furthermore, the impression can accurately reflect the morphology of the soft tissues in the patient's oral cavity, such as the morphology of the gingival cuff and alveolar ridge.

[0054] A second scanning body can be used as a physical hub connecting the first scanning body (representing the implant position) and the impression (the morphology of soft tissue in the oral cavity). Parts of the shape of the second scanning body are adapted to the shape of the negative impression to allow for detachable installation within the negative impression. For example, the shape of the portion of the second scanning body that contacts the negative impression can be consistent with the outer surface of the first scanning body, ensuring seamless insertion into the negative impression and achieving physical alignment.

[0055] An impression impression with at least one second scanning body can be defined as an impression in a preset state. Then, an oral scanning device is used to scan this impression in the preset state to obtain second scan data. The second scan data includes at least the scan data of the second scanning body, such as the shape data of the second scanning body (e.g., a reconstructed 3D model of the second scanning body), the 3D coordinates of markers on the second scanning body, and the scan data of the impression, such as the shape data of the impression (e.g., a 3D model of the impression). The oral scanning device used in steps S202 and S204 can be the same device to facilitate data merging. In another embodiment, step S204 can also use a desktop scanning device to scan the impression in the preset state to make the second scan data more accurate.

[0056] In some embodiments, multiple second scanning bodies are provided, and each second scanning body has multiple continuously distributed markers with coded information. Each marker can uniquely identify the positional features of a location on the second scanning body. S206, Based on the first scanning data and the second scanning data, target data is obtained, and the target data is used to prepare the patient's dental restoration.

[0057] In step S206, the first scan data and the second scan data can be aligned to obtain the target data. Alignment refers to unifying the coordinate systems of the first scan data and the second scan data. For example, the first scan body is coaxial with the implant, and the second scan body is coaxial with the implant. Thus, the first scan data and the second scan data can be aligned based on the above features, that is, the "implant coordinate reference" in the first scan data and the "imprint morphology data" in the second scan data are unified through "scan body feature association" to achieve coordinate system unification.

[0058] For example, the first scan data can be used to determine the three-dimensional model of the first scan body, and the second scan data can be used to determine the three-dimensional model of the second scan body. The central axes of the two three-dimensional models are collinear, so the two three-dimensional models can be aligned. Then the first scan data and the second scan data can be aligned to obtain the target data. The target data can reflect the relative positional relationship between the implant and the oral gingiva, and can then be used to prepare the patient's dental restoration.

[0059] By preparing an impression of the patient's oral cavity, the impression can completely and accurately reproduce the morphology of the soft tissues within the patient's oral cavity, such as the edge contour of the gingival cuff and the subtle undulations of the alveolar ridge. Through precise adaptation between the second scanning body and the negative impression, the "implant coordinates" carried by the first scanning body are indirectly transferred to the ex vivo impression, solving the problem of "disconnection between intraoral implant coordinates and ex vivo impression data," and providing a "physical correlation basis" for subsequent data alignment. Through the above scheme, a high-precision correlation between implant coordinates and oral morphological data can be achieved, providing a precise data basis for the "aesthetic design" of the restoration (such as the natural transition between the neck of the restoration and the gingiva).

[0060] In some embodiments, when obtaining target data based on first scan data and second scan data, the first position information of the implant can be determined based on the scan data of the first scanner, the second position information of the implant can be determined based on the scan data of the second scanner, the morphological data of the gingiva in the patient's oral cavity can be determined based on the scan data of the impression, and the first scan data and the second scan data can be aligned based on the first position information and the second position information to obtain the target data, wherein the target data includes the morphological data of the gingiva and the position information of the implant.

[0061] For example, marker points can be set on the surface of the first scanning body. Since the first scanning body and the implant are rigidly fixed (collinear axes, no relative displacement), by extracting the marker points on the surface of the first scanning body, its three-dimensional coordinates (X / Y / Z axis positions) and posture parameters (axis tilt angle, rotation direction) in the oral global coordinate system can be calculated. These data are directly equivalent to the implant's "in-situ true pose" (i.e., the first pose information), ensuring the accuracy of the pose reference. Then, the second pose information of the implant can be determined based on the scanning data of the second scanning body. The second scanning body is embedded into the impression mold through morphological adaptation, and the impression mold is a reverse replica of the structure of the first scanning body. Therefore, there is a precise transmission relationship between the spatial pose of the second scanning body and the first scanning body (and the implant). By similarly extracting the coordinates and posture of the marker points of the second scanning body, the implant's "ex vivo transmission pose" (i.e., the second pose information) can be obtained. This information is bound to the impression morphology data. Simultaneously, the morphological data of the patient's oral gingiva is extracted directionally from the impression scanning data. The impression replicates the original oral cavity morphology, and its scanning data can completely restore the three-dimensional contour of the gingiva, including details such as the edge curvature of the gingival cuff, the distribution of gingival thickness, and the gingival morphology of the alveolar ridge, avoiding distortions caused by soft tissue deformation during direct intraoral scanning. Based on the first pose information (in situ scanning has higher pose accuracy), and based on the feature that the axes of both scanning bodies are collinear with the implant axis, the second pose information is aligned with the first pose information. The gingival morphological data in the impression scanning data is simultaneously integrated into this unified coordinate system, ultimately forming target data containing "precise implant pose information + gingival morphological data," ensuring that the two types of data are spatially aligned.

[0062] In some embodiments, the patient has dentures, and the impression in the preset state indicates that in addition to at least one second scanning body being installed in the impression, the impression is also placed inside the patient's denture, and the second scanning data also includes the morphological data of the denture.

[0063] The impression not only incorporates a second scanning body adapted for installation of the negative mold, but is also placed entirely inside the patient's existing denture, with the outer surface of the impression fitting snugly against the inner surface of the denture. When acquiring the second scan data, in addition to the original second scanning body data (used to extract the implant's position) and impression scan data (used to extract gingival morphology), complete morphological data of the denture can also be collected, including the texture of the denture's tissue surface (the inner surface that fits against the alveolar ridge), the cusp-fossa morphology of the occlusal surface (the outer surface that contacts the opposing tooth), the contour of the proximal surface (the side that contacts the adjacent tooth or denture), and the extension range of the denture margin. Then, using the first implant position information from the first scan data as a reference, the second implant position information from the second scan data can be aligned to the in-situ coordinate system, simultaneously integrating the impression data and denture morphological data into this unified coordinate system. This ensures that the target data not only includes the implant position and gingival morphology but also incorporates the morphological features of the denture, forming a spatially correlated data set of "implant-gingiva-denture".

[0064] By simultaneously acquiring denture morphology data, target data reflecting the correlation between the implant and the patient's gingival data, as well as the correlation between the implant and the patient's existing dentures, can be obtained. Based on this target data, dental prostheses that better meet the patient's actual needs can be designed. For example, the occlusal height of the prosthesis can be adjusted according to the occlusal surface morphology of the denture, and the tissue surface morphology of the prosthesis can be optimized based on the tissue surface fit of the denture. This avoids occlusal interference or gaps between the new prosthesis and the patient's existing dentures, thereby improving the coordination of oral function after restoration.

[0065] Considering that the occlusal data of the teeth in the patient's oral cavity is crucial for the design of the prosthesis, in some embodiments, a fourth scan data obtained by scanning the patient's oral cavity in the second state can also be acquired. The second state refers to the patient's oral cavity containing the patient's dentures. This fourth scan data includes at least the morphological data of the dentures and their intraoral occlusal data. Then, based on the morphological data of the dentures, the fourth scan data can be correlated with the second scan data to obtain updated second scan data, which includes the intraoral occlusal data of the dentures. The step of acquiring the fourth scan data can occur before or after step S202.

[0066] When a patient has their own dentures (existing dentures or temporary prostheses) installed in their mouth, this state of the patient's oral cavity can be defined as the second state of the patient's oral cavity. At this time, the denture fits the alveolar ridge morphology and forms a natural occlusal relationship with the opposing teeth (natural teeth or opposing dentures), which matches the patient's actual oral cavity during daily chewing. Then, an oral scanning device can be used to scan the patient's oral cavity in this state to obtain fourth scan data. The fourth scan data includes denture morphology data and intraoral occlusal data of the denture. The denture morphology data is homologous to the denture morphology data that may be included in the second scan data, such as the fit texture of the denture tissue surface, the cusp-fossa structure of the occlusal surface, and the extended contour of the margins. The intraoral occlusal occlusal data of the denture includes static or dynamic parameters related to the occlusal contact points of the denture and the opposing teeth, the height of the occlusal gap, the cusp-fossa alignment relationship, and the occlusal movement trajectory. These data cannot be obtained through ex vivo scanning impressions and must be collected in the actual occlusal state inside the oral cavity. Then, using the "denture morphology data" as a link, a feature matching algorithm (such as extracting the characteristic cusps and edge curves of the denture occlusal surface) can be used to precisely align the denture morphology in the fourth scan data with the denture morphology in the second scan data (or the reverse morphology of the denture in the impression). This ensures that the fourth and second scan data achieve coordinate system unification, and the "intraoral occlusal data of the denture" in the fourth scan data is integrated into the second scan data to form updated second scan data. This updated second scan data is then aligned with the first scan data to obtain the target data. At this point, the second scan data retains the original second scan data and impression data, while also adding intraoral occlusal occlusal data that reflects the patient's actual occlusal function.

[0067] The supplementary intraoral occlusal data provides a realistic reference for the design of the prosthesis's occlusion, avoiding the problem of "deviation between simulated occlusion and actual occlusion" when designing occlusion solely based on extracted impressions (such as excessively high occlusal height in extracted designs causing discomfort to the patient while chewing). This ensures that the prosthesis forms a harmonious occlusal relationship with the patient's existing dentures and opposing teeth, improving chewing function and comfort. Furthermore, by correlating with denture morphology data, there is no need to set additional marking points on the denture or impression, simplifying the operational process.

[0068] The patient's dentures can be the patient's existing dentures (the patient's old dentures) or temporary dentures. The patient's existing dentures (the patient's old dentures) can be adhesive dentures, crowns, bridges, etc.

[0069] In some embodiments, the denture is a temporary denture prepared temporarily, which is prepared by acquiring fifth scan data of the patient's oral cavity in a third state, where the patient's oral cavity in the third state represents the state before tooth extraction (i.e., the preoperative state). The fifth scan data includes at least intraoral occlusal data of the patient's oral cavity in the state before tooth extraction (the preoperative state). Then, a temporary denture design model for the patient can be generated based on the fifth scan data, and the temporary denture can be manufactured based on the temporary denture design model.

[0070] The patient's oral cavity before surgery can be defined as the fourth state, where the target tooth has not yet been extracted. In this state, the occlusal height, interproximal relationships, and alveolar ridge morphology of the natural teeth are in a natural state that the patient has long adapted to, serving as a reference benchmark for the functional and morphological adaptation of temporary prostheses. The oral cavity in this state can be scanned using an intraoral scanning device to obtain fifth scan data. This fifth scan data includes intraoral occlusal data of the patient's oral cavity before tooth extraction (such as the occlusal contact points of the natural dentition, cusp-fossa alignment, occlusal gap size, and left-right occlusal balance parameters). Based on this fifth scan data, a temporary prosthesis design model can then be generated in dental design software. Based on this design model, temporary prostheses can be manufactured using light-curing 3D printing technology.

[0071] Since temporary dentures replicate the patient's natural occlusion and oral morphology before tooth extraction, they can serve as a "transitional reference" for subsequent restorations, and their morphological and occlusal data can be used to assist in the design of restorations.

[0072] In some embodiments, when scanning the second scanning body installed on the mold to obtain the second scanning data, photogrammetric scanning can be performed on the second scanning body installed on the mold to obtain marker data (such as the three-dimensional coordinates of the marker) in the second scanning body. Then, optical three-dimensional scanning (e.g., structured light scanning, laser scanning, etc.) can be performed on the second scanning body installed on the mold to obtain the morphological data of the second scanning body and the mold. Then, the marker data and morphological data in the second scanning body are merged, and the second scanning data includes the merged data.

[0073] In some embodiments, there are multiple second scanning bodies, and each second scanning body has multiple continuously distributed markers with encoded information, each marker being able to uniquely identify the positional features of a second scanning body.

[0074] When acquiring the second scan data of the imprint under a preset state, the following steps can be taken: First image frame set of the imprint under the preset state can be acquired; based on the first image frame set, the marker point data of each of the multiple second scan bodies can be obtained; based on the marker point data of each second scan body, the pose information and identification information of each second scan body can be determined; based on the identification information, the standard model corresponding to each second scan body can be retrieved from the standard library; based on the correspondence between the multiple standard models and the multiple second scan bodies, the pose information of the multiple second scan bodies can be bound to the multiple standard models respectively to obtain intermediate standard data; Second image frame set of the imprint under the preset state can be acquired; based on the second image frame set, the shape data of the second scan bodies and the shape data of the imprint can be obtained; based on the correspondence between the actual shape data of each standard model and the second scan body in the intermediate standard data, the intermediate standard data and the shape data of the imprint can be spliced ​​together to obtain the second scan data.

[0075] For example, a photogrammetric scan can be performed on the second scanning object to obtain a first set of image frames. Based on the first set of image frames, the marker point data of the second scanning object can be obtained. The marker point data of the second scanning object includes the three-dimensional coordinate information and the encoding information of multiple marker points set on the surface of each second scanning object. Based on the encoding information and coordinate information of multiple marker points, the identification information of the second scanning object (the identification information of the second scanning object can be the model of the second scanning object) can be determined. At this time, the marker point data of the second scanning object, that is, the multiple marker points of the second scanning object scanned in real time, can be displayed on the interactive interface.

[0076] Then, the standard model corresponding to the second scan body can be extracted from the standard library based on the identification information. The standard library can store the truth information of the marker points on the second scan body, such as storing the standard model of the second scan body. The standard model is a complete, complete, error-free set of reference parameters of the second scan body under ideal conditions, such as the designed CAD model of the second scan body, or the position distribution model of multiple marker points in the designed second scan body.

[0077] In one embodiment, after retrieving the standard model of the second scanning body with corresponding identification information, the coordinate system of the standard model is transformed to the coordinate system of the marker point (such as the camera coordinate system of the dental scanning device), and the positioning information of multiple scanning rods is bound to multiple standard scanning rod models respectively to obtain intermediate standard data. At this time, the intermediate standard data can be displayed on the interactive interface. That is, each standard model is displayed on the interactive interface according to the position distribution of each second scanning body in the impression in the camera coordinate system of the dental scanning device.

[0078] Then, optical 3D scanning (structured light scanning, laser scanning, etc.) can be performed on the second scanning body in the preset state to obtain a second image frame set. Based on the second image frame set, the shape data of the second scanning body and the shape data of the mold are obtained. Then, the standard model after coordinate system transformation can be aligned with the actual shape data of the second scanning body, and the shape data of the standard model and the mold can be fused to obtain the second scanning data that includes both the standard model of the second scanning body and the shape data of the mold.

[0079] It should be noted that in the above process, a standard model retrieved from a standard library can be used as the ground truth framework data to adjust the stitching relationship between the first and second image frame sets in real time, thereby eliminating accumulated errors and obtaining more accurate scan data. The resulting restoration design will be more closely adapted to the patient's oral cavity. Optionally, the first image frame set is acquired under illumination light mode, and the second image frame set is acquired under structured light mode.

[0080] In another embodiment, the standard model corresponding to the second scanning body can be a standard model of other types of scanning rods stored, such as the standard model of the first scanning body. Since the first scanning body and the second scanning body have a one-to-one correspondence, for example, if the first tooth is equipped with a model A first scanning body, and the structure of the model A first scanner is compatible with the structure of the model a second scanning body, then the model a second scanning body can be directly replaced with the model A first scanning body.

[0081] For edentulous or partially edentulous patients, multiple implants are typically placed in the oral cavity, and a scanning body is fixed to each implant to determine the implant's position within the oral cavity and the relative positions between implants. Due to the limited scanning angle of the oral scanner, each frame of scan data may only include a portion of the scanning body. Therefore, multiple frames of scan data need to be stitched together based on markers within the scanning body to obtain the complete oral cavity morphology and the positional relationships of the multiple scanning bodies. Considering that the shape of the first scanning body is limited due to the need for impression processing, and the first scanning body cannot extend over a large area within the oral cavity (i.e., the distribution range of markers within the first scanning body is limited), the stitching accuracy of the multi-frame scan data based on markers is poor. To address these issues, in some embodiments, the first scanning body includes multiple markers, and a sixth scan of the patient's oral cavity in a fourth state can also be acquired. The fourth state indicates that at least one third scanning body is fixed to the implants in the patient's oral cavity. This third scanning body includes multiple markers, and the coverage area of ​​the multiple markers in the third scanning body within the patient's oral cavity is greater than the coverage area of ​​the multiple markers in the first scanning body within the patient's oral cavity. The sixth scan data includes at least the scan data of the third scan body. Based on the scan data of the third scan body, the sixth scan data can be associated with the first scan data to obtain the updated first scan data, which is then aligned with the second scan data to obtain the target data.

[0082] At least one third scanning body can be fixed to the implanted implant in the patient's oral cavity, defining the patient's oral cavity in this fourth state. The third scanning body includes multiple markers (e.g., landmarks), and the coverage area of ​​these markers within the patient's oral cavity is greater than that of the markers in the first scanning body. For example, the volume of the first scanning body is relatively limited, and the markers in it may only cover the space around the implant. The third scanning body, however, can be designed with a lateral extension structure (wing-like portion), allowing its surface markers to cover not only the area around the implant but also the surrounding teeth. For instance, the lateral extension structure (wing-like portion) of the third scanning body can be arranged along the shape of the dental arch, ensuring that the third scanning body is captured in both consecutive frames during continuous intraoral imaging, thereby improving the accuracy of the final target data. Then, a sixth scan data can be obtained by scanning within the patient's oral cavity. This scan data includes at least the scan data of the third scanning body, such as the morphological data of the third scanning body and / or the marker data of the third scanning body (e.g., the three-dimensional coordinates and / or encoding information of the markers). Since the third scanning body and the implant are coaxial, and the first scanning body are also coaxial, the scanning data of the third scanning body can be aligned with the scanning data of the first scanning body based on the aforementioned characteristics, unifying them into the same coordinate system. Simultaneously, the implant's positional information within the oral cavity and the relative positional information between implants, carried in the third scanning body's scanning data, can be integrated into the original first scanning data, ultimately obtaining updated first scanning data. This updated first scanning data is then aligned with the second scanning data to obtain target data, which is used to prepare the restoration.

[0083] Because the third scanning body has a larger marker coverage area, it can provide more stable spatial constraints. Integrating the scanning data of the third scanning body into the scanning data of the first scanning body can improve the accuracy of the final determined implant pose information and the relative pose between implants.

[0084] In some embodiments, when scanning a third scanning body installed in the mouth to obtain sixth scanning data, photogrammetric scanning can be performed on the third scanning body to obtain marker data (e.g., the three-dimensional coordinates of the marker) in the third scanning body, and the marker data can be used as the sixth scanning data.

[0085] In some embodiments, when scanning a third scanning body installed in the mouth to obtain the sixth scanning data, the third scanning body can first be subjected to photogrammetric scanning to obtain marker data (such as the three-dimensional coordinates of the marker) in the third scanning body. Then, the third scanning body can be subjected to optical three-dimensional scanning (e.g., structured light scanning, laser scanning, etc.) to obtain the morphological data of the third scanning body (or the morphological data of the third scanning body and the morphology of the patient's oral cavity). Then, the marker data and morphological data in the third scanning body are combined as the sixth scanning data.

[0086] In some embodiments, there are multiple third scanning bodies, and each third scanning body has multiple continuously distributed markers with encoded information, each marker being able to uniquely identify the positional features of a location on the third scanning body.

[0087] For example, when acquiring the sixth scan data of the patient's oral cavity in the fourth state (i.e., the patient's oral cavity with the third scanning body installed), the first image frame set of the patient's oral cavity in the fourth state can be acquired. Based on the first image frame set, the marker point data of each of the multiple third scanning bodies can be obtained. Based on the marker point data of each third scanning body, the pose information and identification information of each third scanning body can be determined. Based on the identification information, the standard model corresponding to each third scanning body can be retrieved from the standard library. Based on the correspondence between the multiple standard models and the multiple third scanning bodies, the pose information of the multiple third scanning bodies can be bound to the multiple standard models respectively to obtain intermediate standard data. The second image frame set of the patient's oral cavity in the fourth state can be acquired. Based on the second image frame set, the morphological data of the third scanning bodies and the morphological data of the patient's oral cavity can be obtained. Based on the correspondence between each standard model and the actual morphological data of the third scanning bodies in the intermediate standard data, the intermediate standard data and the morphological data of the patient's oral cavity can be spliced ​​together to obtain the sixth scan data.

[0088] For example, a photogrammetric scan can be performed on the third scanning object to obtain a first set of image frames. Based on the first set of image frames, the marker point data of the third scanning object can be obtained. The marker point data of the third scanning object includes the three-dimensional coordinate information and the encoding information of multiple marker points set on the surface of each third scanning object. Based on the encoding information and coordinate information of multiple marker points, the identification information of the third scanning object (the identification information of the third scanning object can be the model of the third scanning object) can be determined. At this time, the marker point data of the third scanning object, that is, the multiple marker points of the third scanning object scanned in real time, can be displayed on the interactive interface.

[0089] Then, the standard model corresponding to the third scan body can be extracted from the standard library based on the identification information. The standard library can store the truth information of the marker points on the third scan body, such as storing the standard model of the third scan body. The standard model is a complete, complete, error-free set of reference parameters of the third scan body under ideal conditions, such as the designed CAD model of the third scan body, or the position distribution model of multiple marker points in the designed third scan body.

[0090] In one embodiment, after retrieving the standard model of the third scanning body with corresponding identification information, the coordinate system of the standard model is transformed to the coordinate system of the marker point (such as the camera coordinate system of the oral scanning device), and the positioning information of multiple scanning rods is bound to multiple standard scanning rod models respectively to obtain intermediate standard data. At this time, the intermediate standard data can be displayed on the interactive interface, that is, each standard model is arranged and displayed in the camera coordinate system of the oral scanning device according to the position distribution of each third scanning body in the patient's oral cavity.

[0091] Then, optical three-dimensional scanning (structured light scanning, laser scanning, etc.) can be performed on the patient's oral cavity in the fourth state to obtain a second set of image frames. Based on the second set of image frames, the morphological data of the third scan body and the morphological data of the patient's oral cavity can be obtained. Then, the standard model after coordinate system transformation can be aligned with the actual morphological data of the third scan body, and the standard model and the morphological data of the patient's oral cavity can be fused to obtain a sixth scan data that includes both the standard model of the third scan body and the morphological data of the patient's oral cavity.

[0092] It should be noted that in the above process, a standard model retrieved from a standard library can be used as the ground truth framework data to adjust the stitching relationship between the first and second image frame sets in real time, thereby eliminating accumulated errors and obtaining more accurate scan data. The resulting restoration design will be more closely adapted to the patient's oral cavity. Optionally, the first image frame set is acquired under illumination light mode, and the second image frame set is acquired under structured light mode.

[0093] In some embodiments, as shown in FIG3, the third scanning body includes a wing-shaped portion 31 and a main body extension 32. One end of the main body extension 32 is used to connect to the implant placed in the patient's oral cavity, and the other end is connected to the wing-shaped portion 31. The wing-shaped portion and / or the main body extension have multiple markers 33 on their surfaces. In FIG3, the third scanning body is located in the impression, which is placed on the denture. For example, the main body extension can be a cylindrical or prismatic structure, with one end having a connection interface precisely adapted to the implant or abutment. The central axis of the main body extension can be collinear with the implant axis to ensure accurate implant pose transmission. The other end of the main body extension is vertically fixed to the wing-shaped portion, forming an L-shaped structure with the main body extension as the longitudinal side and the wing-shaped portion as the transverse side. The wing-shaped portion can be a rectangular structure, extending outward in a horizontal direction perpendicular to the axis of the main body extension. The extension range can cover the surfaces of adjacent teeth around the implant, the edge of the alveolar ridge, or the vicinity of the oral vestibule (adapted according to the patient's oral cavity size) to expand the coverage of the markers within the oral cavity. The surface of the main body extension and / or wing-shaped portion is provided with multiple markers, such as marker points (which can be coded points or non-coded points). The relative positional relationships between the multiple markers are known; for example, taking the markers as marker points, the distances and angles between the marker points are known.

[0094] In some embodiments, the other end of the main body extension 32 is connected to the wing portion 31, such that the main body extension 32 and the wing portion 31 have an elongated structure.

[0095] In some embodiments, the other end of the main body extension 32 is connected to the wing portion 31, such that the main body extension 32 and the wing portion 31 form an L-shaped structure.

[0096] By designing the third scanning body into an L-shaped structure, and through the vertical layout of the main body extension and the wing-shaped portion, the limitations of the traditional "single-axis" marker distribution of scanning bodies are broken. The horizontal extension of the wing-shaped portion allows the markers to reach adjacent teeth and alveolar ridges of the implant, expanding the marker coverage area in the oral cavity and providing more spatial constraints. For scenarios involving multiple implants in parallel restoration, the wing-shaped markers of adjacent third scanning bodies can form spatial cross-coverage, realizing coordinate linkage between multiple implants and providing a more comprehensive spatial reference for subsequent restoration design, further reducing restoration fitting errors caused by insufficient data dimensions.

[0097] For example, the third scanning body can retain its core basic structure (such as the L-shaped wing-like part, main body extension, and markers mentioned above), while a detachable interface (such as a slot with a positioning buckle, an internal threaded hole, or a hexagonal positioning groove) can be set at the end of the main body extension away from the wing-like part for detachable connection and mating parts. The shape of the mating part can be designed to match the shape of the first scanning body. When the mating part is connected to the third scanning body, the overall structure formed is the second scanning body. The second scanning body retains the wing-like part markers of the third scanning body (used for extracting coordinates and establishing association with the first scanning data during subsequent scanning), and also has a mating part with the same structure as the first scanning body (used for accurately embedding the impression mold based on the first scanning body to achieve physical coordinate transfer), thus satisfying the dual functional requirements of "positioning feature retention" and "mold adaptation".

[0098] The third scanning body employs a modular design of "basic body + detachable mating parts," with the mating parts designed to adapt to the structure of the first scanning body. This allows for the reuse of scanning body modules, providing greater flexibility. In some embodiments, after obtaining the target data, a design model of the patient's dental prosthesis can be generated based on the target data. Since the target data includes implant pose information (three-dimensional coordinates, axial tilt angle), gingival morphology data (gingival cuff edge contour, alveolar ridge thickness distribution), and denture morphology and intraoral occlusion data (occlusal contact points, cusp-fossa alignment, proximal surface contour), a prosthesis that precisely fits the implant and conforms to the oral soft tissue can be designed based on the target data.

[0099] In some embodiments, after generating a design model of the patient's dental prosthesis, the design model can be sent to a manufacturing device. After the manufacturing device produces the dental prosthesis, it receives user requests in real time to modify the design model. Based on the user requests and target data, it outputs a revised design model of the dental prosthesis. The manufacturing device can be a 3D printer or a carving machine, or other equipment used to manufacture dental prostheses.

[0100] The patient's dental restorations can be crowns, bridges, or dentures.

[0101] In some embodiments, as shown in FIG4, the first scanning body has a first end 41 and a second end 42. The first end 41 is used to connect with an implant or abutment, and the second end 42 is capable of forming a negative mold in the impression material. The outer surface of the second end 42 of the first scanning body is provided with a plurality of markers 43.

[0102] For example, the first end is a connecting end, equipped with an interface (such as an internal hexagonal locating groove or matching thread) adapted to the implant or abutment for fixation onto the implant or abutment. After the first scanning body is fixed onto the implant or abutment, the first scanning body is collinear with the central axis of the implant or abutment. The second end is a female mold forming end, designed to form a female mold in the impression material. The outer surface of the second end is provided with multiple markers (e.g., marker points), the relative positional relationships of which are known and can be stored in a standard library for precise positioning.

[0103] In some embodiments, as shown in FIG4, the second end 42 is a stacked ring, wherein the diameter of each ring in the stacked ring gradually decreases along the direction away from the first end 41. This arrangement facilitates mold taking. For example, the outer diameter of the bottom ring is 6.0 mm, the middle layer is 5.5 mm, and the top layer is 5 mm. For example, the outer diameter of the bottom ring is 9 mm, the middle layer is 8 mm, and the top layer is 7 mm. For example, the outer diameter of the bottom ring is 8 mm, the middle layer is 7 mm, and the top layer is 6 mm, etc., without limitation.

[0104] In some embodiments, the axes of the rings in the stacked rings are collinear.

[0105] By designing the second end as a stacked ring structure with "gradually increasing diameter and collinear axes", the molding material can be fully filled from the bottom to the top, eliminating the risk of air bubble residue. The shape of the molded negative mold is completely complementary to the second end, and "gap-free adaptation" can be achieved when the second scanning body is embedded, ensuring the physical basis for coordinate transmission.

[0106] In some embodiments, as shown in FIG5, the second scanning body includes a wing-shaped portion 51, a main body extension portion 52, and a mating portion 53. One end of the main body extension portion 51 is connected to the mating portion 53, and the other end is connected to the wing-shaped portion 51. The shape of the mating portion 53 is adapted to the shape of the female mold of the first scanning body, so that the mating portion 53 can be installed in the female mold of the first scanning body. The surface of the wing-shaped portion and / or the main body extension portion is provided with a plurality of markers 54, and the relative positional relationship between the plurality of markers 54 is known.

[0107] In some embodiments, the other end of the main body extension 52 is connected to the wing-shaped portion 51, such that the main body extension 52 and the wing-shaped portion 51 have an elongated structure.

[0108] In some embodiments, the other end of the main body extension 52 is connected to the wing portion 51, such that the main body extension 52 and the wing portion 51 form an L-shaped structure.

[0109] In some embodiments, the wing-shaped portion, the main body extension, and the mating portion can be integrally formed.

[0110] In some embodiments, at least one of the wing-shaped portion and the mating portion is detachably connected to the main body extension.

[0111] In some embodiments, the mating portion is in the form of a stacked ring, wherein the diameter of each ring in the stacked ring gradually decreases along the direction away from the body extension.

[0112] The second scanning body can be composed of a wing-shaped portion, a main body extension, and a mating portion. The main body extension, acting as a connecting component, can be a cylindrical or prismatic solid structure. One end is fixedly or detachably connected to the mating portion, while the other end connects to the wing-shaped portion, forming an L-shaped structure with the main body extension as the longitudinal edge and the wing-shaped portion as the transverse edge. This structure allows the wing-shaped portion to extend to the periphery of the implant, expanding the coverage of the scanning markers (i.e., the markers). The mating portion is a key component that adapts to the negative mold of the first scanning body. Its shape is designed as a stacked ring, with the diameter of each ring gradually decreasing away from the main body extension. For example, the outer diameter of the top ring is 6.0 mm, the middle ring 5.5 mm, and the bottom ring 5 mm. Alternatively, the outer diameter of the top ring is 9 mm, the middle ring 8 mm, and the bottom ring 7 mm. Or, the outer diameter of the top ring is 8 mm, the middle ring 7 mm, and the bottom ring 6 mm, etc., without limitation. This perfectly complements the stacked rings with gradually increasing diameter at the second end of the first scanning body, ensuring that the mating portion can be seamlessly embedded into the negative mold, achieving physical alignment.

[0113] Meanwhile, the surfaces of the wing-shaped portion and / or the main body extension are provided with multiple markers (such as marker points), and the relative positional relationship between the markers is pre-defined (such as known spacing and angle parameters), providing clear feature benchmarks for data association after scanning.

[0114] In terms of molding method, the scanner can be integrally molded, such as the wing-shaped part, the main body extension part, and the mating part being processed and molded in one piece using medical-grade materials. Alternatively, it can be partially detachable, such as the wing-shaped part or the mating part being connected to the main body extension part through a connecting interface, making it easy to replace the mating part or wing-shaped part of different specifications according to clinical needs.

[0115] In some embodiments, the impression can be prepared by fixing a first scanning body onto an implant already inserted in the patient's oral cavity, uniformly applying impression material to the inner surface of the impression carrier, placing the impression carrier into the patient's oral cavity and covering the first scanning body, so as to prepare an impression including a negative impression of the first scanning body.

[0116] Among them, the impression material can be a medical impression material with high fluidity and low shrinkage (such as addition-polymer silicone rubber). The material needs to have good fluidity to cover details such as the stacked rings and markers of the first scan body, while having a low volume shrinkage rate after solidification to avoid distortion of the negative mold shape.

[0117] In some embodiments, the impression carrier includes any of the following: the patient's temporary denture, the patient's old denture, the patient's custom tray, or a general tray.

[0118] The data processing method of this application embodiment is described below with reference to a specific example.

[0119] In this embodiment, the healing collar is the aforementioned first scanning body, the denture scan body is the aforementioned second scanning body, and the primary scan body is the aforementioned third scanning body.

[0120] In the fabrication and placement of dental prostheses (especially full arch prostheses), the process begins with the extraction of existing teeth from the patient's mouth, followed by the implantation of the implant and abutment. The prosthesis (i.e., a full arch prosthesis) is then fabricated and fixed in place by the abutment. During the fabrication process, the position and orientation of the abutment are crucial for the correct placement of the prosthesis within the patient's mouth.

[0121] In traditional techniques, the position and orientation of the abutment are determined by taking physical impressions, and the restoration is then fabricated based on the information obtained from these impressions. Modern techniques, however, use digital imaging technology to generate a digital model of the oral cavity, and then fabricate the restoration based on this model. For example, postoperative digital imaging of the abutment can be performed directly inside the patient's mouth.

[0122] Common digital imaging techniques include optical 3D scanning (IOS) and photogrammetric scanning (PG). IOS requires a device that emits electromagnetic radiation (such as light or laser), which comes into contact with objects in the mouth (such as teeth and soft tissue). The resulting image is then combined with point cloud data to generate a digital model. To determine the position and orientation of the abutment, a device with scannable markers (often called a scanner body) is typically temporarily mounted on the abutment during oral scanning.

[0123] Photogrammetry (PG) uses photographic or scanning equipment to acquire multiple images of a target object and generates a three-dimensional digital model using triangulation algorithms. Those skilled in the art know that photogrammetry achieves its highest accuracy when the photographic images capture known dimensions. Therefore, the scanned object is typically temporarily mounted on a base, and these objects are marked with scanning markers (often called target points), with the distances between the markers being known parameters (e.g., the scanned object has multiple dot markers).

[0124] Although photogrammetry (PG) is very effective in generating high-precision 3D digital models of abutment position and orientation, it cannot provide effective imaging of teeth and soft tissues.

[0125] To fabricate a usable restoration, information about the patient's original occlusal morphology is crucial. This morphology can be obtained through physical impressions or optical three-dimensional scanning (IOS). Due to limitations in photogrammetry (PG) imaging, it is generally unsuitable for preoperative imaging of teeth and soft tissues. Subsequently, the preoperative data (i.e., data obtained through physical impressions or intraoral scans) must be correlated with postoperative imaging data regarding the abutment position and orientation (a process also known as "registration and overlay").

[0126] For patients who are edentulous (edentulous jaws) before surgery, there are additional challenges. However, these patients seeking full arch fixed restorations may already be wearing existing dentures.

[0127] This embodiment provides a technique and related scanning bodies for implant imaging and associating the imaging results with dentures. By imaging intraoral and extraoral dentures, the generated data can be matched with the scanning bodies via software, thereby locating the two imaging scanning bodies in relatively consistent positions. Thus, the scanning data from extraoral dentures can be digitally "mapped" into the intraoral cavity for digital design of fixed or implant-supported prostheses, ensuring a good fit to the patient's oral cavity.

[0128] The specific process of this method is as follows:

[0129] (1) Provide a patient who wears dentures and wishes to obtain a fixed prosthesis;

[0130] (2) Optionally, the denture is placed in the patient's oral cavity, and an optical three-dimensional scan (IOS) is performed on the intraoral denture, optional opposing teeth, and optional occlusal relationship;

[0131] (3) Implantation of an implant into the patient's maxilla or mandible;

[0132] (4) Optionally, the abutment can be fixed to the implant;

[0133] (5) Mount the master scanner onto the implant or optional abutment, wherein the master scanner contains photogrammetric (PG) markers.

[0134] (6) Perform photogrammetric (PG) scanning on the main scanning body;

[0135] (7) Remove the main scanning body and install the healing base on the base, wherein the healing base includes a photogrammetric (PG) marker and its structure is designed to form a negative mold in the impression material, the shape of which can be adapted to install components of similar shape;

[0136] (8) Optionally, the healing abutment may be scanned using photogrammetry (PG);

[0137] (9) While the healing abutment is still mounted on the implant or optional abutment, an impression of the healing abutment is made in the inner surface of the denture or other suitable impression carrier, and the impression can form a negative mold of part of the structure of the healing abutment.

[0138] (10) The denture scanner is installed into the healing abutment negative mold formed by the injection impression;

[0139] (11) When the impression is placed on the inner surface of the denture or other impression carrier and the denture scanner is installed in the impression, the denture scanner is scanned by photogrammetry (PG).

[0140] (12) When the impression is on the inner surface of the denture and the denture scanning body is installed in the impression, perform optical three-dimensional scanning (IOS) on the denture and the denture scanning body.

[0141] (13) Correlate the data obtained by the main body photogrammetry (PG) scan with the data obtained by the healing abutment photogrammetry (PG) scan;

[0142] (14) Correlate the data obtained by the photogrammetric (PG) scan of the healing abutment with the data obtained by the photogrammetric (PG) scan of the denture;

[0143] (15) Correlate the data obtained from the optical three-dimensional scanning (IOS) of the denture scan body and the denture with the data obtained from the photogrammetric (PG) scanning of the denture scan body;

[0144] (16) Use the correlated data to generate a digital image of the fixed prosthesis.

[0145] In some embodiments, the denture may be an immediate denture. For example, the patient's oral cavity may be imaged and an immediate denture may be prepared before implantation of the implant into the patient's maxilla or mandible. Then, the patient's natural teeth are extracted, and the implant is then placed into the patient's maxilla or mandible.

[0146] One or more embodiments involve a prosthodontic imaging process for preparing fixed prostheses (also known as implant-supported prostheses). In one or more embodiments, the patient is an edentulous patient (wearing a complete dental arch prosthesis or other dentures). In an optional step, the prosthesis is placed in the patient's oral cavity, and a preoperative scan of the prosthesis relative to other oral structures (such as opposing teeth) is performed. This preoperative scan can be performed using conventional scanning equipment, such as an optical three-dimensional scanner (IOS). The data obtained from this preoperative scan is stored as digital images for subsequent processing. In other embodiments, the patient may still have natural teeth (dentate patients) and an immediate prosthesis reference piece is required. Those skilled in the art will know that such immediate prostheses are typically prepared based on upper and lower dental arch impressions and occlusal relationships, and subsequently designed and completed by a prosthodontic fabrication firm. This type of immediate prosthesis is a conventional prosthesis worn immediately after tooth extraction on the day of surgery. In this application, the immediate prosthesis can serve the same function as the patient's existing prosthesis, the specific function of which will be described in detail below. For example, optical three-dimensional scanning (IOS) can be performed on the immediate denture worn in the patient's mouth to obtain occlusal-related data.

[0147] Regardless of whether the patient is edentulous or dentate, multiple implants must be placed in their oral cavity (i.e., within the maxilla or mandible) through a standard surgical procedure. For dentate patients, the natural teeth must be extracted first, followed by implant placement. The abutments can then be installed (i.e., fixed or connected) to the implants using conventional techniques; in other embodiments, abutments may not be required. Since abutments are used in most scenarios, this invention will be described in conjunction with them, but those skilled in the art will readily conceive of implementations without abutments.

[0148] A master scanning body (also called a master reference or scanning marker) is mounted to the abutment (e.g., detachably mounted using fasteners such as screws), and photogrammetric or photogrammetric-like scanning is performed on the master scanning body to determine the position and orientation of the implant and / or abutment. In one or more embodiments, the master scanning body includes preset features (e.g., at least two target points, such as dots, having a preset pattern and known spacing) for photogrammetric triangulation. Images are acquired using conventional methods (such as photogrammetric techniques), generating data related to the position and orientation of the abutment / implant, and electronically stored in digital image form.

[0149] An exemplary embodiment can be described with reference to FIG6, which shows that the main scanning body 61 is mounted on an abutment (not shown), which in turn is mounted on an implant (not shown) surgically implanted into the patient's maxilla. The main scanning body 61 includes a wing-shaped portion 611, which, when installed, is substantially parallel to the bone surface of the implanted implant. The main scanning body 61 is provided with a plurality of dots 612 having a preset pattern and known spacing to assist in photogrammetric triangulation.

[0150] In the next step of this process, the scannable markers are mounted onto the abutment, and physical impressions of these markers are obtained on the inner surface of the denture, a standard or custom tray, or a device specifically designed for acquiring impressions of the scannable markers and occlusal relationships. In one or more embodiments, this step employs a pouring impression technique: a thin layer of low-viscosity impression material is applied to the inner surface of the denture or the surface of the other impression device described above, and then the denture or other device is placed in the patient's mouth and covered with the scannable markers to record the markers' position, shape, size, and orientation details. As mentioned above, for edentulous patients, the immediate denture can serve as a reference for determining tooth position, recording inner surface morphology, acquiring pouring impressions of the healing abutment for scanning, and occlusal relationships. However, on the day of surgery, the immediate denture is only used as a device for acquiring pouring impressions of the healing abutment and for providing all necessary records for denture fabrication to create a prosthesis file that can be screwed onto the implant; this file needs to be correlated and integrated with other data described below.

[0151] Regarding scanable markers: These include portions of a specific shape that form a negative mold in a casting mold, allowing similarly shaped components to be detachably fixed within the casting mold. In one or more embodiments, the scanable marker has scannable features that ensure it can still be scanned and its digital image acquired when mounted on a base. In another one or more embodiments, the marker is provided with target points (such as dots) to assist in photogrammetric imaging and data acquisition.

[0152] In one or more embodiments, the scanable marker is the same component as the primary scanning body described above (i.e., the reference component mounted on the abutment and used to determine the position and orientation of the implant / abutment through scanning). In other embodiments, the scanable marker is a separate set of scanning bodies, also referred to as secondary scanning bodies or healing abutments. Referring to this, Figure 6 shows an exemplary healing abutment 62 mounted on an abutment (not shown), which in turn is mounted on an implant (not shown) surgically implanted into the patient's maxilla. As shown in Figure 7, these healing abutments 62 are designed to form a negative impression in the injection impression so that components of similar shape can be fixed within the injection impression. As shown in Figure 7, the healing abutments 62 may employ, for example, a stacked annular or donut-shaped structure, with the diameter of each annular structure (623, 625, 627) gradually decreasing as the healing abutment moves away from its mounted abutment 63. The healing abutment 62 also includes a plurality of dots 629 with a preset pattern and known spacing to aid in photometric triangulation. In other alternative embodiments (not shown), the stacked annular structure of the healing abutment can be designed such that the diameter of each annular structure gradually increases as the healing abutment moves away from the abutment.

[0153] After the injection impression is prepared (as those skilled in the art will know, this step includes removing the denture impression material from the patient's mouth), and after the impression material has fully solidified, the denture scanner is inserted into the healing abutment mold within the injection impression. The denture scanner is then scanned to determine the position and orientation of the healing abutment mold. In one or more embodiments, the scanning step of the denture scanner employs photogrammetry: acquiring images, generating relative position and orientation data of the healing abutment mold, and electronically storing them in digital image form.

[0154] While scanning the denture scan body, the entire denture can also be scanned (the denture scan body can be installed in the healing abutment mold, or optionally not). In one or more embodiments, the scanning of the entire denture employs optical three-dimensional scanning (IOS) technology. This scan acquires not only data related to the denture shape but also data related to the denture scan body. Therefore, those skilled in the art will understand that the technology of this invention can simultaneously acquire optical three-dimensional scanning (IOS) data and photogrammetric (PG) data related to the denture scan body.

[0155] Further explanation can be provided in conjunction with Figures 8 and 9: Figures 8 and 9 show the denture scanner 64 fixed within a negative mold (not shown) formed within the injection impression 65. Figure 9 is a schematic diagram of an exemplary denture scanner 64, which includes a wing-shaped portion 643, a main body extension 645, and a mating portion 647. The wing-shaped portion 643 has a plurality of dots 649 with a preset pattern and known spacing to assist in photogrammetric triangulation. The structure of the mating portion 647 allows it to detachably mate with the negative mold formed within the injection impression 65. As shown in Figure 9, the shape of the mating portion 647 is the same as or substantially similar to the healing abutment 62 shown in Figure 7.

[0156] The data acquired from the aforementioned scans (such as photogrammetric scans and / or optical 3D scans) are correlated and processed to prepare digital images of the prosthesis that are compatible with the abutment installed on the patient's intraoral implant. For example, the prosthesis may have channels through which fasteners can be installed and secured to the abutment.

[0157] Those skilled in the art will understand that implant (and / or abutment) location-related data can be correlated with healing abutment location-related data. This step may include: performing a first scan (e.g., photogrammetric scan) on a scanning body mounted on the abutment, and a second scan on the healing abutment mounted on the abutment; correlating the data obtained from the two scans to determine the position and orientation of the implant / abutment relative to the healing abutment. In one or more embodiments, the healing abutment may be registered (i.e., one or more feature-related data of the healing abutment, such as shape and / or target location, are stored in a data memory communicating with the processing unit), and this data, when correlated with the scan data, can improve the accuracy of the scan results and data processing.

[0158] Subsequently, the data obtained from the denture scanner can be correlated with data related to the location of the healing abutment. Similarly, in one or more embodiments, the denture scanner can be registered (i.e., one or more feature-related data of the denture scanner, such as shape and / or target location, are stored in a data memory communicating with the processing unit). After these data are correlated with the scan data, the accuracy of the scan results and data processing can be improved.

[0159] In one or more embodiments, optical three-dimensional scanning (IOS) data (i.e., digital images) obtained from optical three-dimensional scanning (IOS) of the denture and the denture scan body are correlated with photogrammetric (PG) data of the denture scan body.

[0160] In addition, data obtained from scans during denture positioning in the oral cavity (such as preoperative scans) (including data from other reference structures such as opposing teeth) can be correlated with postoperative scan data of the denture. As mentioned above, postoperative scan data has been correlated with other location data of the implant / abutment.

[0161] Through the above steps, the digital design and fabrication of a fixed (i.e., implant-supported) prosthesis can be completed, and the prosthesis can be finally fixed in the patient's oral cavity.

[0162] It is easy to understand that the solutions described in the above embodiments can be combined when there is no conflict, and not all of them are listed in the embodiments of this application.

[0163] In addition, this application also provides an electronic device, as shown in FIG10. The electronic device 100 includes a processor 101, a memory 102, and a computer program stored in the memory 102 that can be executed by the processor 101. When the processor 101 executes the computer program, it can implement the methods mentioned in any of the above embodiments.

[0164] Accordingly, embodiments of this application also provide a computer storage medium storing a program, which, when executed by a processor, implements the method in any of the above embodiments.

[0165] The embodiments of this application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0166] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0167] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0168] The methods and apparatus provided in the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A data processing method, characterized by, The method includes: First scan data is obtained by scanning the patient's oral cavity in a first state, wherein the patient's oral cavity in the first state indicates that at least one first scanning body is installed on the implant in the patient's oral cavity, and the first scan data includes at least the scan data of the first scanning body. A second scan data is obtained by scanning an impression in a preset state, wherein the impression is prepared based on the patient's oral cavity in the first state, the impression includes a negative mold corresponding to at least a portion of the structure of the first scanning body, the impression in the preset state indicates at least one second scanning body is installed within the impression, and a portion of the shape of the second scanning body is adapted to the shape of the negative mold so that the second scanning body can be detachably installed within the negative mold; the second scan data includes at least the scan data of the second scanning body and the scan data of the impression. Based on the first scan data and the second scan data, target data is obtained, and the target data is used to prepare the patient's dental restoration.

2. The method according to claim 1, wherein obtaining target data based on the first scan data and the second scan data includes: The first pose information of the implant is determined based on the scanning data of the first scanning body; The second pose information of the implant is determined based on the scanning data of the second scanner. Based on the scanning data of the impression, the morphological data of the gingiva in the patient's oral cavity are determined; Based on the first pose information and the second pose information, the first scan data and the second scan data are aligned to obtain target data, which includes gingival morphology data and the pose information of the implant.

3. The method according to claim 1, wherein the impression in the preset state indicates that, in addition to having at least one second scanning body installed inside the impression, the impression is also placed inside the patient's denture, and the second scanning data further includes the morphological data of the denture.

4. The method according to claim 3, further comprising: A fourth scan data is obtained by scanning the patient's oral cavity in the second state, wherein the patient's oral cavity in the second state indicates that the patient's denture is installed in the patient's oral cavity; the fourth scan data includes at least the morphological data of the denture and the intraoral occlusal data of the denture. Based on the morphological data of the denture, the fourth scan data is associated with the second scan data to obtain updated second scan data, so as to obtain the target data based on the first scan data and the updated second scan data. The updated second scan data also includes the intraoral occlusal data of the denture.

5. The method according to claim 3, wherein the denture is a temporary denture prepared for the patient, and the temporary denture is prepared in the following manner: The fifth scan data is obtained by scanning the patient's oral cavity in the third state, where the patient's oral cavity in the third state indicates that the patient's oral cavity is in a state where no teeth have been extracted. The fifth scan data includes at least the intraoral occlusal data of the patient's oral cavity in the state where no teeth have been extracted. A temporary denture design model for the patient is generated based on the fifth scan data, and the temporary denture is manufactured based on the temporary denture design model.

6. The method according to claim 1 or 2, wherein the second scanning body comprises a plurality of components, and each second scanning body is provided with a marker point, and acquiring the second scanning data of the impression in a preset state includes: Obtain a first image frame set of the imprint under a preset state, and obtain the marker point data of each of the plurality of second scanning bodies based on the first image frame set; Based on the marker point data of each second scan body, determine the pose information and identification information of each second scan body, and retrieve the standard model corresponding to each second scan body from the standard library based on the identification information; Based on the correspondence between multiple standard models and multiple second scanning bodies, the pose information of the multiple second scanning bodies is bound to the multiple standard models respectively to obtain intermediate standard data; Obtain a second set of image frames of the imprint under a preset state, and obtain the morphological data of the second scanned body and the morphological data of the imprint based on the second set of image frames; Based on the correspondence between each standard model in the intermediate standard data and the actual morphology data of the second scanned body, the intermediate standard data and the morphology data of the impression are spliced ​​together to obtain the second scanned data.

7. The method according to claim 1, wherein the surface of the first scanning body is provided with a plurality of markers, and the method further comprises: Acquire sixth scan data of the patient's oral cavity in a fourth state, wherein the patient's oral cavity in the fourth state indicates that at least one third scanning body is fixed in the implant in the patient's oral cavity; wherein the surface of the third scanning body is provided with multiple markers, and the coverage area of ​​the multiple markers on the surface of the third scanning body in the patient's oral cavity is greater than the coverage area of ​​the multiple markers on the surface of the first scanning body in the patient's oral cavity; the sixth scan data includes at least the scan data of the third scanning body. Based on the scanning data of the third scanner, the sixth scanning data is associated with the first scanning data to obtain updated first scanning data, so that the target data can be obtained based on the updated first scanning data and the second scanning data.

8. The method according to claim 7, wherein the third scanning body includes a wing-shaped portion and a main body extension portion; one end of the main body extension portion is used to connect with the implant, and the other end is connected with the wing-shaped portion such that the main body extension portion and the wing-shaped portion form an L-shaped structure, and the surface of the wing-shaped portion and / or the main body extension portion is provided with a plurality of markers.

9. The method according to claim 7, wherein the third scanning body is detachably connected to a mating part, the mating part being adapted to the structure of the first scanning body, and when the mating part is connected to the first scanning body, a second scanning body is formed.

10. The method according to claim 1 or 2, further comprising, after obtaining the target data: Based on the target data, a design model of the patient's dental restoration is generated.

11. The method of claim 10, further comprising, after generating a design model of the dental prosthesis for the patient: The design model of the dental prosthesis is sent to the manufacturing equipment; Receive user requests in real time for modifying the design model of the dental prosthesis; Based on the user request and the target data, output the revised design model of the dental prosthesis.

12. The method according to claim 1, wherein the first scanning body has a first end and a second end, the first end being for connection with the implant, the second end being capable of forming a negative mold in the impression material, and the outer surface of the second end of the first scanning body is provided with a plurality of markers.

13. The method of claim 12, wherein the second end is in the form of a stacked ring, wherein the diameter of each ring in the stacked ring gradually decreases in the direction away from the first end.

14. The method according to claim 13, wherein the axes of the stacked rings are collinear.

15. The method according to claim 1, wherein the second scanning body comprises a wing-shaped portion, a main body extension portion, and a mating portion; one end of the main body extension portion is connected to the mating portion, and the other end is connected to the wing-shaped portion; the shape of the mating portion is adapted to the shape of the female mold, such that the mating portion is detachably installed in the female mold; and the surface of the wing-shaped portion and / or the main body extension portion is provided with a plurality of markers.

16. The method according to claim 15, wherein the main body extension and the wing-shaped portion have an L-shaped structure.

17. The method according to claim 15, wherein the wing-shaped portion, the main body extension, and the mating portion are integrally formed; or At least one of the wing-shaped portion and the mating portion is detachably connected to the main body extension.

18. The method according to claim 15, wherein the mating portion is in the form of a stacked ring, and the diameter of each layer of the stacked ring gradually decreases along the direction away from the body extension.

19. The method according to claim 1, wherein the impression is prepared by means of: The first scanning body is fixed to the implant, and impression material is evenly applied to the inner surface of the impression carrier. The impression carrier is then placed in the patient's oral cavity and covered over the first scanning body to prepare an impression including the negative impression of the first scanning body.

20. The method of claim 19, wherein the impression carrier comprises any one of the following: the patient's temporary denture, the patient's old denture, the patient's custom tray, or a general tray.

21. An electronic device, comprising: The electronic device includes a processor, a memory, and a computer program stored in the memory that can be executed by the processor. When the processor executes the computer program, it can implement the method as described in any one of claims 1-20.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1-20.

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