Intraoral scanning method, computing device, and computer program product

Abstract

An intraoral scanning method, a computing device, and a computer program product. The method comprises: acquiring intraoral scanning data by scanning an oral cavity in which a scan body is mounted, wherein the scan body is fixed to an implanted component; identifying, in the intraoral scanning data, scanning data of the scan body; converting standard model data of a three-dimensional entity mountable on the implanted component to a coordinate system where the intraoral scanning data is located; and removing the scanning data of the scan body from the intraoral scanning data, and stitching the converted standard model data of the three-dimensional entity into the intraoral scanning data from which the scanning data of the scan body has been removed, so as to obtain comprehensive data of the oral cavity. This allows for scan body data to be replaced at the intraoral scanning stage with data of various three-dimensional entities stitched into intraoral scanning data, thereby simplifying workflows and achieving intraoral scanning scalability.

Description

Oral scanning methods, computing devices and computer program products

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411906495.4, filed on December 20, 2024, entitled "Oral Scanning Method, Computing Device and Computer Program Product", the entire contents of which are incorporated herein by reference. Background Technology

[0003] An oral scan is a process that uses specialized optical technology to digitally acquire detailed three-dimensional (3D) images of the oral cavity's internal structures, including teeth, gums, and surrounding tissues. During an oral scan, dental professionals use a handheld device equipped with a camera and sensors (an intraoral scanner) to capture multiple images of the oral cavity from different angles. These images are transmitted to a computer workstation, where sophisticated algorithms rapidly stitch them together to generate a three-dimensional image of the patient's teeth and soft tissues.

[0004] In dental implant technology, the scanning probe is a crucial auxiliary tool. It is a small component, usually with a specific shape and structure, typically mounted on the implanted prosthesis. Its main function is to help the intraoral scanner accurately acquire three-dimensional positional information of the implanted prosthesis and its surrounding tissues. Generally, after completing the oral scan, the institution performing the scan sends the scanning data from the probe and the dental arch to the downstream dental laboratory. The laboratory then positions the abutment to be installed on the dental arch to create a three-dimensional model of the oral cavity and customize the prosthesis. Summary of the Invention

[0005] Embodiments of this disclosure provide an oral cavity scanning method, a computing device for implementing the method, and a computer program product. According to this method, during the oral cavity scanning stage, scan bar data can be replaced with data from different three-dimensional entities (e.g., abutments or extended scan bars) and stitched together with the oral cavity scanning data, thereby simplifying the downstream workflow and achieving scalability in oral cavity scanning.

[0006] According to the implementation of this disclosure, an oral cavity scanning method is proposed. The method includes: acquiring oral cavity scanning data by scanning an oral cavity with a scanning rod installed, wherein the scanning rod is fixed on an implanted component; identifying the scanning data of the scanning rod in the oral cavity scanning data; converting standard model data of a three-dimensional entity that can be installed on the implanted component to the coordinate system of the oral cavity scanning data; and removing the scanning data of the scanning rod from the oral cavity scanning data, and stitching the converted standard model data of the three-dimensional entity to the oral cavity scanning data after removing the scanning rod, to obtain the overall data of the oral cavity.

[0007] According to a second aspect of this disclosure, a computing device is provided, comprising: a processing unit; and a memory coupled to the processing unit and containing instructions stored thereon, the instructions, when executed by the processing unit, causing the device to perform the following actions: acquiring oral cavity scan data by scanning an oral cavity on which a scanning rod is mounted, wherein the scanning rod is fixed to an implanted component; identifying scanning data of the scanning rod in the oral cavity scan data; converting standard model data of a three-dimensional entity that can be mounted on the implanted component to the coordinate system of the oral cavity scan data; and removing the scanning data of the scanning rod from the oral cavity scan data, and stitching the converted standard model data of the three-dimensional entity to the oral cavity scan data after removing the scanning rod, to obtain overall oral cavity data.

[0008] According to a third aspect of this disclosure, a computer program product is provided, which is tangibly stored in a computer storage medium and includes computer-executable instructions that, when executed by a device, cause the device to perform the following actions: acquiring oral cavity scan data by scanning an oral cavity with a scanning rod installed thereon, wherein the scanning rod is fixed to an implanted component; identifying the scanning data of the scanning rod in the oral cavity scan data; converting standard model data of a three-dimensional entity that can be mounted on the implanted component to the coordinate system of the oral cavity scan data; and removing the scanning data of the scanning rod from the oral cavity scan data and stitching the converted standard model data of the three-dimensional entity to the oral cavity scan data after removing the scanning rod, to obtain overall oral cavity data.

[0009] According to a fourth aspect of this disclosure, an oral cavity scanning device is provided. The device includes: a scan data acquisition unit configured to acquire oral cavity scan data by scanning an oral cavity on which a scanning rod is mounted, wherein the scanning rod is fixed to an implanted component; a scan data recognition unit configured to recognize scan data of the scanning rod in the oral cavity scan data; a conversion unit configured to convert standard model data of a three-dimensional entity that can be mounted on the implanted component to the coordinate system of the oral cavity scan data; and a data stitching unit configured to remove the scan data of the scanning rod from the oral cavity scan data and stitch the converted standard model data of the three-dimensional entity to the oral cavity scan data after removing the scan data of the scanning rod, thereby obtaining overall oral cavity data.

[0010] The summary section is provided to present the chosen concepts in a simplified form, which will be further described in the detailed description below. The summary section is not intended to identify key or principal features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter. Attached Figure Description

[0011] Figure 1 illustrates an exemplary environment in which various embodiments of the present disclosure can be implemented;

[0012] Figure 2 shows a schematic diagram of an exemplary digital planting system;

[0013] Figure 3 shows a schematic diagram of an exemplary dental implant structure;

[0014] Figure 4 shows a schematic flowchart of an oral scanning method according to some embodiments of the present disclosure;

[0015] Figure 5 shows a schematic block diagram of an oral scanning device according to some embodiments of the present disclosure;

[0016] Figure 6 shows a block diagram of a computing device capable of implementing some embodiments of the present disclosure.

[0017] In these accompanying figures, the same or similar reference symbols are used to indicate the same or similar elements. The figures are for illustrative purposes only, and the sizes of the elements are not necessarily drawn to scale. Detailed Implementation

[0018] This disclosure will now be discussed with reference to several example implementations. It should be understood that these implementations are discussed only to enable those skilled in the art to better understand and thus implement this disclosure, and not to imply any limitation on the scope of this disclosure.

[0019] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "an implementation" and "an implementation" are to be interpreted as "at least one implementation". The term "another implementation" is to be interpreted as "at least one other implementation". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0020] Implant scanning typically requires the use of scanning rods, either intraorally or extraorally, to accurately position the relative roles of multiple scanning rods and their positions relative to the dental arch. When using an intraoral scanner, the process usually begins by acquiring 3D data of the dental arch exposed through the patient's cuff. A copy of the scanned 3D data is made, and the cuff data is removed, leaving only the dental arch data. Then, the scanning rods are installed on the cuff, and 3D data of the dental arch with the scanning rods installed is acquired again using the copied and removed cuff data. The scanning facility sends the scanned data, including the scanning rods and the retained dental arch data, to the downstream dental laboratory. Based on this data, the laboratory positions the abutment, which will be placed on the implanted component, relative to the dental arch and creates a 3D model of the oral cavity to prepare the prosthesis. However, this method requires a high level of modeling accuracy from the dental laboratory, and if problems are encountered during modeling (e.g., registration issues), the laboratory needs to communicate repeatedly with the dental scanning facility, resulting in additional communication and time costs.

[0021] In view of this, the present disclosure provides an improved workflow for performing oral cavity modeling within an intraoral scanning system, replacing the existing workflow of sending scan bar data and dental arch data to a dental technician for modeling. In an exemplary method, the intraoral scanning system scans the oral cavity with the scan bar installed, acquires oral cavity scan data and identifies the scan bar data and dental arch data therein, and then, based on spatial coordinate transformation, stitches standard model data of a three-dimensional entity (e.g., an abutment to be installed on an implant or other different scan bar) to the scanned dental arch data to obtain overall oral cavity data, thus completing oral cavity modeling. Exemplary embodiments of the present disclosure are described in detail below with reference to Figures 1 to 6.

[0022] Figure 1 illustrates an exemplary environment in which various embodiments of the present disclosure can be implemented. The exemplary environment illustrates an intraoral scanning system 100, which includes an intraoral scanner 110 coupled together with a computing device 120 (e.g., a laptop computer, desktop computer, etc.). A communication link between the intraoral scanner 110 and the computing device 120 allows captured images to be transferred from the intraoral scanner 110 to the computing device 120 for further processing. The communication link between the intraoral scanner 110 and the computing device 120 can be a wired connection (e.g., Universal Serial Bus USB) or a wireless connection (e.g., Wi-Fi). It should be understood that other communication implementations are also possible.

[0023] The intraoral scanner 110 can be a handheld device that a user (dentist or related professional) can insert into a patient's mouth to capture images. As shown, the intraoral scanner 110 includes a tip 101 and a body 102. The tip 101 can be a pluggable component or integrated integrally with the intraoral scanner 110. A camera or optical system is located at the top of the tip 101 for capturing images of teeth and surrounding tissues (such as gums). During the scan, the intraoral scanner 110 acquires detailed information about intraoral entities, such as the scanning bar, teeth, gums, and surrounding soft tissues, converting the morphology of the oral cavity into digital image data.

[0024] The computing device 120 is the data processing and computing center of the intraoral scanning system 100. It receives image data transmitted from the intraoral scanner 110 and processes this data using its computing power. The computing device 120 uses specific algorithms to stitch and fit numerous discrete image data points, thereby constructing three-dimensional scan data. The three-dimensional scan data can be displayed on the screen 115 for user viewing and operation. The computing device 120 can also have data analysis capabilities, such as automatically identifying the classification of data in the three-dimensional scan data, such as dental arches, scanning rods, or other components, thereby achieving image segmentation.

[0025] In some embodiments, the computing device 120 may use a machine learning-based deep neural network to perform image segmentation. Generally, machine learning can include three phases: a training phase, a testing phase, and a usage phase (also known as an inference phase). In the training phase, a given model is trained using a large amount of training data, iteratively updating parameter values ​​until the model can consistently obtain inferences from the training data that meet the expected goals. Through training, the model can be considered to have learned the association between inputs and outputs (also known as an input-output mapping) from the training data. The parameter values ​​of the trained model are determined. In the testing phase, test inputs are applied to the trained model to test whether the model can provide the correct output, thereby determining the model's performance. In the usage phase, the model can be used to process actual inputs based on the trained parameter values ​​to determine the corresponding output.

[0026] Figure 2 illustrates a schematic diagram of an exemplary digital implant system. The digital implant system includes an intraoral scanning system 100 and a dental laboratory 200, which communicate with each other via a network. The intraoral scanning system 100 is responsible for acquiring digital information about the patient's oral cavity. For example, in the absence of a scanning rod in the oral cavity, an intraoral scanner 110 acquires the patient's pure dental arch data; then, with a scanning rod installed in the oral cavity, the scanning rod data is acquired. Alternatively, the intraoral scanning system 100 can perform a single scan with a scanning rod in the oral cavity, and then use automated recognition technology (e.g., a deep network model) to identify the dental arch data and scanning rod data in the acquired oral scan data, achieving image segmentation. The intraoral scanning system 100 sends the dental arch data and scanning rod data to the dental laboratory 200 for the creation of an oral model.

[0027] Dental Technician 200 primarily handles the aspects of dental care that patients do not directly participate in, including creating dental models, fabricating dentures, and polishing. Based on dental models and the dentist's recommendations, Dental Technician 200 uses specialized materials and techniques to fabricate dentures.

[0028] Figure 3 illustrates a schematic diagram of an exemplary dental implant structure. As shown, a dental implant includes an implant body, an abutment, and a crown. First, the implant is surgically inserted into the patient's alveolar bone. After the implant and alveolar bone have stabilized, the abutment is installed on the implant, and the abutment and implant are secured with screws. Then, the crown is fixed to the abutment, completing the dental implant procedure. The intraoral scan mentioned above is typically performed after the implant has been reliably fixed and integrated into the alveolar bone, thereby obtaining information about the implant's position.

[0029] In some implementations, because the implant is placed subgingivally, the abutment may be directly fastened after implantation. This abutment is a permanent component in the patient's mouth, used to connect the implant and crown. The shape of this abutment is often custom-made, potentially lacking surface treatment or morphological design conducive to intraoral scanning, and sometimes its subgingival placement makes scanning difficult. Therefore, even with the abutment already screwed on, it is still necessary to obtain abutment positioning information using a scanning rod. To address this, the scanning rod can be fixed to the abutment before intraoral scanning to acquire data, and the abutment's position information can be obtained through the positioning of the scanning rod.

[0030] Figure 4 shows a schematic flowchart of an oral scanning method 400 according to some embodiments of the present disclosure. Method 400 can be implemented by, for example, the computing device 120 shown in Figure 1. It should be understood that method 410 may also include additional actions not shown and / or the actions shown may be omitted, and the scope of the present disclosure is not limited in this respect.

[0031] Method 400 includes, in frame 410, acquiring oral cavity scan data by scanning the oral cavity on which a scanning rod is mounted, wherein the scanning rod is fixed to an implanted component. The implanted component may be an implant or an abutment fixed to an implant.

[0032] In box 420, the scanning data of the scanning rod in the oral cavity scan data is identified. The scanning data of the dental arch and the scanning rod in the oral cavity scan data can be determined by manually specifying the range through human-computer interaction or by automatic recognition, thus achieving the separation of dental arch data and scanning rod data.

[0033] To simplify the process and improve user efficiency, automated identification can be achieved using deep neural networks. Deep neural networks can be trained to identify the category of point clouds in 3D data, determining whether they belong to a scanning rod or a dental arch. Then, based on the results of the automated identification, the dental arch data and scanning rod data are separated.

[0034] In some embodiments, a deep neural network can be trained using the following method. First, point cloud data of the oral cavity, including the scanning rod, is collected. The point cloud data has labeled category information. The point cloud data may include 3D point coordinate information, normal vector information, color information, etc. The point clouds are then manually labeled, assigning unique labels to different types of point clouds, such as 0 for the dental arch and 1 for the scanning rod.

[0035] Next, the 3D point cloud data is normalized and augmented. Data normalization can include, but is not limited to, methods such as min-max normalization and mean normalization to standardize information such as coordinates and normal vectors of the point cloud, aiming to eliminate the impact of dimensional differences between data on the network. Data augmentation is used to augment the collected point cloud data to expand the data volume. For example, one or more rotation matrices can be created to give the dental arch and scanning rod various different orientations to enhance the robustness of the network.

[0036] In box 430, the standard model data of the three-dimensional entity that can be mounted on the implanted component is converted to the coordinate system of the oral cavity scan data. In some embodiments, the three-dimensional entity may include an abutment or another scanning bar different from the scanning bar. For example, when the scanning bar is fixed to the implant, the three-dimensional entity may be an abutment, a scanning bar, or other components that can be connected to the implant; when the scanning bar is fixed to the abutment, the three-dimensional entity may be the scanning bar or other components that can be connected to the abutment. For ease of explanation, the following description uses the example of the scanning bar being fixed to the implant and the three-dimensional entity being the abutment. The standard model data of the implant, abutment, and scanning bar may be standard mechanical dimension data of the implant, abutment, and scanning bar provided by the manufacturer or a third party, which may be stored in a three-dimensional data format, such as polygon file format (PLF), stereolithography modeling (STL) format, etc.

[0037] To convert the 3D standard model data of the abutment to the coordinates of the oral cavity scan data (referred to as the "first coordinate system"), after acquiring the standard model data of the implant, the 3D entity, and the scanning rod, all three are transformed into the same coordinate system (referred to as the "second coordinate system"). The same coordinate system means that, if the implant morphology is used as the reference coordinate system, when the standard model data of the implant and abutment are loaded simultaneously, they are in a screw-fastened state, i.e., their relative positions are fixed; similarly, when the standard model data of the implant and the scanning rod are loaded simultaneously, they are also in a screw-fastened state. During these two loading processes, the implant and the scanning rod are in a fixed connection state, and the implant and the 3D entity are also in a fixed connection state. Because the coordinate information of the implant is the same in this coordinate system, the standard 3D models of the abutment and the scanning rod are positioned relative to this information.

[0038] Then, the obtained 3D data of the scanning rod is matched with the standard model data of the scanning rod to obtain the transformation relationship between the standard model data and the obtained 3D data of the scanning rod, that is, the transformation relationship from the second coordinate system where the standard model data is located to the first coordinate system where the scanning data is located. The transformation relationship can be represented by a transformation matrix. Based on the obtained transformation relationship, the standard model data of the base in the second coordinate system is transformed to the first coordinate system. By applying this transformation relationship to the standard model data of the base, the standard model data of the base in the first coordinate system can be obtained. Specifically, the coordinates of the points in the standard model data of the base can be multiplied by the transformation matrix to obtain the coordinates in the first coordinate system.

[0039] In frame 440, the scanning data of the scanning rod is removed from the oral cavity scanning data, and the converted standard model data of the 3D entity is stitched to the oral cavity scanning data after removing the scanning rod data to obtain the overall oral cavity data. The overall oral cavity data is obtained by merging the abutment data in the first coordinate system obtained in frame 430 and the dental arch scanning data obtained in frame 420. The computing device can then send the overall oral cavity data to the dental technician for denture fabrication.

[0040] Figure 5 shows a schematic block diagram of an apparatus 500 for oral scanning according to an embodiment of the present disclosure. The apparatus 500 can be implemented at the computing device 120 shown in Figure 1. As shown in Figure 5, the apparatus 500 includes: a scan data acquisition unit 510, a scan data recognition unit 520, a conversion unit 430, and a data stitching unit 540.

[0041] The scanning data acquisition unit 510 is configured to acquire oral cavity scanning data by scanning the oral cavity on which the scanning rod is fixed. The scanning data recognition unit 520 is configured to recognize the scanning data of the scanning rod in the oral cavity scanning data. The conversion unit 530 is configured to convert the standard model data of the three-dimensional entity that can be mounted on the implanted component to the coordinate system of the oral cavity scanning data. The data stitching unit 540 is configured to remove the scanning data of the scanning rod from the oral cavity scanning data and stitch the converted standard model data of the three-dimensional entity to the oral cavity scanning data after removing the scanning data of the scanning rod to obtain the overall data of the oral cavity.

[0042] In some embodiments, the coordinate system in which the oral scan data is located is a first coordinate system. The device 400 further includes a data loading unit configured to load standard model data of the implanted component and standard model data of the scanning rod in a second coordinate system, wherein the implanted component and the scanning rod are in a fixed connection state; and to load standard model data of the implanted component and standard model data of the three-dimensional entity in the second coordinate system, wherein the implanted component and the three-dimensional entity are in a fixed connection state, wherein the coordinate information of the implanted component in the second coordinate system is the same in both loadings.

[0043] In some embodiments, the conversion unit 530 is further configured to determine the conversion relationship between the first coordinate system and the second coordinate system based on the scanning data of the scanning rod and the standard model data of the scanning rod; and to convert the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system based on the conversion relationship.

[0044] In some embodiments, the transformation unit 530 is further configured to determine a coordinate transformation matrix by matching the scan data of the scan rod in the first coordinate system with the standard model data of the scan rod in the second coordinate system.

[0045] In some embodiments, the transformation unit 530 is further configured to multiply the coordinates of the three-dimensional entity in the second coordinate system by the coordinate transformation matrix to obtain the coordinates in the first coordinate system.

[0046] In some embodiments, the scan data recognition unit 420 is further configured to use a trained deep neural network to identify data belonging to the dental arch and data belonging to the scanning rod in the oral scan data.

[0047] In some embodiments, the trained deep neural network is obtained by: collecting three-dimensional point cloud data of the oral cavity including the scanning rod, the three-dimensional point cloud data having labeled category information indicating the classification of the point cloud in the three-dimensional point cloud data, the classification including the scanning rod or dental arch; normalizing and enhancing the three-dimensional point cloud data; and using the normalized and enhanced three-dimensional point cloud data to train the deep neural network to obtain the trained deep neural network.

[0048] In some embodiments, the three-dimensional entity includes a base or another scanning rod that is different from the scanning rod.

[0049] In some embodiments, the device 500 is deployed at a computing device locally connected to an intraoral scanner.

[0050] In some embodiments, the device 500 further includes a transmitting unit configured to transmit overall oral cavity data to a dental technician for use in denture preparation.

[0051] It should be noted that further actions or steps as shown in Figure 4 can be implemented using the device 500 shown in Figure 5. For example, device 500 may include more modules or units to implement the actions or steps described above, or some units or modules shown in Figure 4 may be further configured to implement the actions or steps described above. This will not be repeated here.

[0052] Figure 6 shows a schematic block diagram of an example device 600 that can be used to implement embodiments of the present disclosure. As shown, device 600 includes a computing unit 601, which can perform various appropriate actions and processes according to computer program instructions stored in read-only memory (ROM) 602 or loaded from storage unit 606 into random access memory (RAM) 603. Various programs and data required for the operation of device 600 may also be stored in RAM 603. The computing unit 601, ROM 602, and RAM 603 are interconnected via bus 604. Input / output (I / O) interface 605 is also connected to bus 604.

[0053] Multiple components in device 600 are connected to I / O interface 605, including: input unit 606, such as keyboard, mouse, etc.; output unit 607, such as various types of monitors, speakers, etc.; storage unit 608, such as disk, optical disk, etc.; and communication unit 609, such as network card, modem, wireless transceiver, etc. Communication unit 609 allows device 600 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0054] The computing unit 601 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the various methods and processes described above, such as method 400. For example, in some embodiments, method 400 may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by the computing unit 601, one or more steps of method 400 described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform method 400 by any other suitable means (e.g., by means of firmware).

[0055] In some embodiments, the methods and processes described above can be implemented as a computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for performing various aspects of this disclosure.

[0056] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0057] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper cables, fiber optic cables, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to computer-readable storage media within the respective computing / processing device.

[0058] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​and conventional procedural programming languages. The computer-readable program instructions may execute entirely on a user's computer, partially on a user's computer, as a standalone software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0059] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0060] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0061] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0062] The following lists some example implementations of this disclosure.

[0063] In a first aspect, this disclosure provides an oral cavity scanning method, comprising: acquiring oral cavity scanning data by scanning an oral cavity on which a scanning rod is installed, wherein the scanning rod is fixed to an implanted component; identifying the scanning data of the scanning rod in the oral cavity scanning data; converting standard model data of a three-dimensional entity that can be installed on the implanted component to the coordinate system of the oral cavity scanning data; and removing the scanning data of the scanning rod from the oral cavity scanning data, and stitching the converted standard model data of the three-dimensional entity to the oral cavity scanning data after removing the scanning data of the scanning rod, thereby obtaining overall data of the oral cavity.

[0064] In some embodiments, the coordinate system in which the oral scan data is located is a first coordinate system, and the method further includes: loading standard model data of the implanted component and standard model data of the scanning rod in a second coordinate system, wherein the implanted component and the scanning rod are in a fixed connection state; and loading standard model data of the implanted component and standard model data of the three-dimensional entity in the second coordinate system, wherein the implanted component and the three-dimensional entity are in a fixed connection state, wherein the coordinate information of the implanted component in the second coordinate system is the same in both loadings.

[0065] In some embodiments, converting the standard model data of a three-dimensional entity that can be mounted on the implanted component to the coordinate system where the oral cavity scan data is located includes: determining a transformation relationship between the first coordinate system and the second coordinate system based on the scan data of the scanning rod and the standard model data of the scanning rod; and converting the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system based on the transformation relationship.

[0066] In some embodiments, determining the transformation relationship between the first coordinate system and the second coordinate system includes: determining a coordinate transformation matrix by matching the scanning data of the scanning rod in the first coordinate system with the standard model data of the scanning rod in the second coordinate system.

[0067] In some embodiments, converting the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system includes: multiplying the coordinates of the three-dimensional entity in the second coordinate system by the coordinate transformation matrix to obtain the coordinates in the first coordinate system.

[0068] In some embodiments, identifying the scan data of the scan bar in the oral cavity scan data includes: using a trained deep neural network to identify data belonging to the dental arch and data belonging to the scan bar in the oral cavity scan data.

[0069] In some embodiments, the trained deep neural network is obtained by: collecting three-dimensional point cloud data of an oral cavity including a scanning rod, the three-dimensional point cloud data having labeled category information indicating the classification of the point clouds in the three-dimensional point cloud data, the classification including a scanning rod or a dental arch; normalizing and enhancing the three-dimensional point cloud data; and training the deep neural network using the normalized and enhanced three-dimensional point cloud data to obtain the trained deep neural network.

[0070] In some embodiments, the three-dimensional entity includes a base or another scanning rod different from the scanning rod.

[0071] In some embodiments, the method is performed by a computing device locally connected to an intraoral scanner.

[0072] In some embodiments, the method further includes sending the overall data of the oral cavity to a dental technician for use in denture fabrication.

[0073] In a second aspect, this disclosure provides a computing device, comprising: a processing unit; and a memory coupled to the processing unit and containing instructions stored thereon, the instructions, when executed by the processing unit, causing the device to perform the following actions: acquiring oral cavity scan data by scanning an oral cavity on which a scanning rod is mounted, wherein the scanning rod is fixed to an implanted component; identifying the scanning data of the scanning rod in the oral cavity scan data; converting standard model data of a three-dimensional entity that can be mounted on the implanted component to the coordinate system of the oral cavity scan data; and removing the scanning data of the scanning rod from the oral cavity scan data, and stitching the converted standard model data of the three-dimensional entity to the oral cavity scan data after removing the scanning data of the scanning rod, to obtain overall data of the oral cavity.

[0074] In some embodiments, the coordinate system in which the oral cavity scan data is located is a first coordinate system, and the action further includes: loading standard model data of the implanted component and standard model data of the scanning rod in a second coordinate system, wherein the implanted component and the scanning rod are in a fixed connection state; and loading standard model data of the implanted component and standard model data of the three-dimensional entity in the second coordinate system, wherein the implanted component and the three-dimensional entity are in a fixed connection state.

[0075] In some embodiments, converting the standard model data of a three-dimensional entity that can be mounted on the implanted component to the coordinate system where the oral cavity scan data is located includes: determining a transformation relationship between the first coordinate system and the second coordinate system based on the scan data of the scanning rod and the standard model data of the scanning rod; and converting the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system based on the transformation relationship.

[0076] In some embodiments, determining the transformation relationship between the first coordinate system and the second coordinate system includes: determining a coordinate transformation matrix by matching the scanning data of the scanning rod in the first coordinate system with the standard model data of the scanning rod in the second coordinate system.

[0077] In some embodiments, converting the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system includes: multiplying the coordinates of the three-dimensional entity in the second coordinate system by the coordinate transformation matrix to obtain the coordinates in the first coordinate system.

[0078] In some embodiments, identifying the scan data of the scan bar in the oral cavity scan data includes: using a trained deep neural network to identify data belonging to the dental arch and data belonging to the scan bar in the oral cavity scan data.

[0079] In some embodiments, the three-dimensional entity includes a base or another scanning rod different from the scanning rod.

[0080] In some embodiments, the computing device is locally connected to an intraoral scanner.

[0081] In some embodiments, the action further includes sending the overall data of the oral cavity to a dental technician for use in denture fabrication.

[0082] In a third aspect, a computer program product is provided, which is tangibly stored in a computer storage medium and includes computer-executable instructions that, when executed by a device, cause the device to perform the following actions: acquiring oral cavity scan data by scanning an oral cavity on which a scanning rod is mounted, wherein the scanning rod is fixed to an implanted component; identifying the scanning data of the scanning rod in the oral cavity scan data; converting standard model data of a three-dimensional entity that can be mounted on the implanted component to the coordinate system of the oral cavity scan data; and removing the scanning data of the scanning rod from the oral cavity scan data and stitching the converted standard model data of the three-dimensional entity to the oral cavity scan data after removing the scanning data of the scanning rod, thereby obtaining overall data of the oral cavity.

[0083] In a fourth aspect, this disclosure provides a computer-readable medium having stored thereon machine-executable instructions that, when executed by a device, cause the device to perform one or more implementations of the method of the first aspect described above.

[0084] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An oral cavity scanning method, comprising: Oral scan data is obtained by scanning the oral cavity with a scanning rod installed, wherein the scanning rod is fixed to the implanted component; Identify the scanning data of the scanning rod in the oral cavity scanning data; Transform the standard model data of the three-dimensional entity that can be mounted on the implanted component into the coordinate system of the oral cavity scan data; as well as The scanning data of the scanning rod is removed from the oral cavity scanning data, and the converted standard model data of the three-dimensional entity is stitched together with the oral cavity scanning data after removing the scanning data of the scanning rod to obtain the overall data of the oral cavity.

2. The method according to claim 1, wherein the coordinate system in which the oral cavity scan data is located is a first coordinate system, and the method further includes: The standard model data of the implanted component and the standard model data of the scanning rod are loaded in the second coordinate system, wherein the implanted component and the scanning rod are in a fixed connection state; as well as The standard model data of the implanted component and the standard model data of the three-dimensional entity are loaded into the second coordinate system, wherein the implanted component and the three-dimensional entity are in a fixed connection state. During both loading processes, the coordinate information of the implanted component in the second coordinate system is the same.

3. The method of claim 2, wherein, Converting standard model data of a three-dimensional entity that can be mounted on the implant to the coordinate system of the oral scan data includes: Based on the scanning data of the scanning rod and the standard model data of the scanning rod, the transformation relationship between the first coordinate system and the second coordinate system is determined; and Based on the transformation relationship, the standard model data of the three-dimensional entity in the second coordinate system is transformed to the first coordinate system.

4. The method of claim 3, wherein, Determining the transformation relationship between the first coordinate system and the second coordinate system includes: The coordinate transformation matrix is ​​determined by matching the scanning data of the scanning rod in the first coordinate system with the standard model data of the scanning rod in the second coordinate system.

5. The method of claim 4, wherein, Transforming the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system includes: Multiply the coordinates of the three-dimensional entity in the second coordinate system by the coordinate transformation matrix to obtain the coordinates in the first coordinate system.

6. The method of claim 1, wherein, The scanning data for identifying the scanning rod in the oral cavity scanning data includes: A trained deep neural network is used to identify data belonging to the dental arch and data belonging to the scanning rod in the oral cavity scan data.

7. The method of claim 6, wherein, The trained deep neural network is obtained in the following way: Collect three-dimensional point cloud data of the oral cavity, including a scanning rod, wherein the three-dimensional point cloud data has labeled category information indicating the classification of the point cloud in the three-dimensional point cloud data, the classification including scanning rod or dental arch; The three-dimensional point cloud data is standardized and enhanced; as well as The trained deep neural network is obtained by training 3D point cloud data that has been normalized and enhanced.

8. The method of any one of claims 1 to 7, wherein, The three-dimensional entity includes a base or another scanning rod different from the scanning rod.

9. The method of any one of claims 1 to 7, wherein, The method is performed by a computing device locally connected to the intraoral scanner.

10. The method according to any one of claims 1 to 7, further comprising: The overall data of the oral cavity is sent to the dental technician for use in denture preparation.

11. A computing device, comprising: Processing unit; as well as A memory, coupled to the processing unit and containing instructions stored thereon, which, when executed by the processing unit, cause the device to perform the following actions: Oral scan data is obtained by scanning the oral cavity with a scanning rod installed, wherein the scanning rod is fixed to the implanted component; Identify the scanning data of the scanning rod in the oral cavity scanning data; Transform the standard model data of the three-dimensional entity that can be mounted on the implanted component into the coordinate system of the oral cavity scan data; as well as The scanning data of the scanning rod is removed from the oral cavity scanning data, and the converted standard model data of the three-dimensional entity is stitched together with the oral cavity scanning data after removing the scanning data of the scanning rod to obtain the overall data of the oral cavity.

12. The computing device according to claim 11, wherein the coordinate system in which the oral cavity scan data is located is a first coordinate system, and the action further includes: The standard model data of the implanted component and the standard model data of the scanning rod are loaded in the second coordinate system, wherein the implanted component and the scanning rod are in a fixed connection state; as well as The standard model data of the implanted component and the standard model data of the three-dimensional entity are loaded in the second coordinate system, wherein the implanted component and the three-dimensional entity are in a fixed connection state.

13. The computing device of claim 12, wherein, Transforming the standard model data of the three-dimensional entity that can be mounted on the implanted component to the coordinate system of the oral scan data includes: Based on the scanning data of the scanning rod and the standard model data of the scanning rod, the transformation relationship between the first coordinate system and the second coordinate system is determined; and Based on the transformation relationship, the standard model data of the three-dimensional entity in the second coordinate system is transformed to the first coordinate system.

14. The computing device of claim 13, wherein, Determining the transformation relationship between the first coordinate system and the second coordinate system includes: The coordinate transformation matrix is ​​determined by matching the scanning data of the scanning rod in the first coordinate system with the standard model data of the scanning rod in the second coordinate system.

15. The computing device of claim 14, wherein, Transforming the standard model data of the three-dimensional entity in the second coordinate system to the first coordinate system includes: Multiply the coordinates of the three-dimensional entity in the second coordinate system by the coordinate transformation matrix to obtain the coordinates in the first coordinate system.

16. The computing device of claim 11, wherein, The scanning data for identifying the scanning rod in the oral cavity scanning data includes: A trained deep neural network is used to identify data belonging to the dental arch and data belonging to the scanning rod in the oral cavity scan data.

17. The computing device of any of claims 11 to 16, wherein, The three-dimensional entity includes a base or another scanning rod different from the scanning rod.

18. The computing device of any of claims 11 to 16, wherein, The computing device is locally connected to the intraoral scanner.

19. The computing device of any of claims 11 to 16, wherein, The action also includes: The overall data of the oral cavity is sent to the dental technician for use in denture preparation.

20. A computer program product, said computer program product being tangibly stored in a computer storage medium and including computer-executable instructions, which, when executed by a device, cause the device to perform the following actions, said actions including: Oral scan data is obtained by scanning the oral cavity with a scanning rod installed, wherein the scanning rod is fixed to the implanted component; Identify the scanning data of the scanning rod in the oral cavity scanning data; Transform the standard model data of the three-dimensional entity that can be mounted on the implanted component into the coordinate system of the oral cavity scan data; as well as The scanning data of the scanning rod is removed from the oral cavity scanning data, and the converted standard model data of the three-dimensional entity is stitched together with the oral cavity scanning data after removing the scanning data of the scanning rod to obtain the overall data of the oral cavity.

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