Intraoral three-dimensional scanner, intraoral three-dimensional scanning method and system, and system design method

Abstract

Disclosed in embodiments of the present application are an intraoral three-dimensional scanner, an intraoral three-dimensional scanning method and system, and a system design method. The scanner comprises: a dental arch tray, a plurality of three-dimensional scanning heads, and a swing driving device. The plurality of three-dimensional scanning heads are located on the dental arch tray; the swing driving device is connected to the plurality of three-dimensional scanning heads and is configured to drive the plurality of three-dimensional scanning heads to swing; and the plurality of three-dimensional scanning heads are configured to scan, during swinging, a target oral cavity that has bitten the dental arch tray. The technical solution of the embodiments of the present application can reduce scanning time and learning costs.

Description

An intraoral 3D scanner, scanning method, system, and system design method

[0001] This application claims priority to Chinese Patent Application No. 202411996539.7, filed with the China National Intellectual Property Administration on December 31, 2024, entitled "An Intraoral Three-Dimensional Scanner, Scanning Method, System and System Design Method", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intraoral scanning technology, and in particular to an intraoral 3D scanner, scanning method, system, and system design method. Background Technology

[0003] The acquisition of three-dimensional data of teeth and gums inside the oral cavity relies on an intraoral 3D scanner, also known as a digital impression device or intraoral 3D scanner. This is an intraoral optical scanner that directly scans the oral cavity to obtain three-dimensional morphological and color texture information of the soft and hard tissue surfaces such as teeth, gums, and mucous membranes. Intraoral 3D scanners can directly acquire three-dimensional morphological data of teeth or gums, improving efficiency in the process of dental restoration and reducing the cumulative errors caused by data conversion in traditional processing procedures.

[0004] However, the scanning time of the currently used intraoral 3D scanner is relatively long, and the learning cost for operators to learn how to operate the intraoral 3D scanner is high, which urgently needs to be addressed. Summary of the Invention

[0005] This application provides an intraoral 3D scanner, scanning method, system, and system design method, which can reduce scanning time and learning costs.

[0006] According to one aspect of this application, an intraoral 3D scanner is provided, which may include: a dental arch tray, a plurality of 3D scanning heads, and a swing drive device; wherein, the plurality of 3D scanning heads are located on the dental arch tray; the swing drive device is connected to the plurality of 3D scanning heads and is configured to drive the plurality of 3D scanning heads to swing, and the plurality of 3D scanning heads are configured to scan the target oral cavity with the dental arch tray in contact with the patient during the swing.

[0007] According to one aspect of this application, an intraoral three-dimensional scanning method is provided, applied to a main control device. The main control device is used in conjunction with the intraoral three-dimensional scanner provided in any embodiment of this application. The method may include: controlling a swing drive device in the intraoral three-dimensional scanner to drive multiple three-dimensional scanning heads in the intraoral three-dimensional scanner to swing; for each of the multiple three-dimensional scanning heads, controlling the three-dimensional scanning head to perform an intraoral three-dimensional scan of the target oral cavity in the dental arch tray of the intraoral three-dimensional scanner during the swing process, obtaining three-dimensional scanning data; and determining the three-dimensional scanning result of the target oral cavity based on the three-dimensional scanning data corresponding to the multiple three-dimensional scanning heads respectively.

[0008] According to one aspect of this application, an intraoral 3D scanning system is provided, which may include: an intraoral 3D scanner and a main control device as provided in any embodiment of this application. The main control device is used in conjunction with the intraoral 3D scanner, and the intraoral 3D scanner and the main control device are connected by wired or wireless means. The main control device includes a swing module, a scanning module, and a processing module. The swing module is configured to control a swing drive device in the intraoral 3D scanner to drive multiple 3D scanning heads in the intraoral 3D scanner to swing. The scanning module is configured to control each of the multiple 3D scanning heads to perform an intraoral 3D scan of the target oral cavity in the dental arch tray of the intraoral 3D scanner during the swing process, and send the obtained 3D scan data to the processing module. The processing module is configured to determine the 3D scan result of the target oral cavity based on the received 3D scan data sent by the multiple 3D scanning heads.

[0009] According to one aspect of this application, a method for designing an intraoral three-dimensional scanning system is provided, which may include: acquiring oral cavity data of a design object; determining a system design scheme for the design object based on the oral cavity data, so as to manufacture the intraoral three-dimensional scanner provided in any embodiment of this application according to the system design scheme.

[0010] The technical solution of this application embodiment uses multiple 3D scanning heads located on a dental arch tray. A swing drive device is connected to the multiple 3D scanning heads and configured to drive the multiple 3D scanning heads to swing. The multiple 3D scanning heads are configured to scan the target oral cavity with the dental arch tray in contact during the swing, which can scan more areas in the target oral cavity. The above technical solution can reduce scanning time by scanning the target oral cavity with multiple 3D scanning heads. Moreover, the scanning can be performed by the 3D scanning heads during the swing, so that the operator does not need to learn the scanning techniques and scanning paths of the intraoral 3D scanner. The target oral cavity can be scanned quickly as long as the target oral cavity is in contact with the dental arch tray, thereby reducing scanning time and learning costs.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0012] 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.

[0013] Figure 1 is a structural block diagram of an intraoral 3D scanner according to an embodiment of this application;

[0014] Figure 2 is an example diagram of a dental arch tray in an intraoral 3D scanner according to an embodiment of this application;

[0015] Figure 3 is an example diagram of an interlocking tray in an intraoral 3D scanner according to an embodiment of this application;

[0016] Figure 4 is a flowchart of a target object diagnosis in an intraoral 3D scanner according to an embodiment of this application;

[0017] Figure 5 is an example diagram of an embedded tray in an intraoral 3D scanner according to an embodiment of this application;

[0018] Figure 6 is an example diagram of a swing drive device in an intraoral 3D scanner according to an embodiment of this application;

[0019] Figure 7 is an example diagram of another swing drive device in an intraoral 3D scanner according to an embodiment of this application;

[0020] Figure 8 is a schematic diagram of a fixed three-dimensional scanning head scanning teeth in an intraoral three-dimensional scanner according to an embodiment of the present application;

[0021] Figure 9 is a schematic diagram of an oscillating three-dimensional scanning head scanning teeth in an intraoral three-dimensional scanner according to an embodiment of this application;

[0022] Figure 10 is a flowchart of an intraoral three-dimensional scanning method according to an embodiment of this application;

[0023] Figure 11 is a flowchart of another intraoral three-dimensional scanning method provided according to an embodiment of this application;

[0024] Figure 12 is a structural block diagram of an intraoral three-dimensional scanning system according to an embodiment of this application;

[0025] Figure 13 is a flowchart of a design method for an intraoral three-dimensional scanning system according to an embodiment of this application;

[0026] Figure 14 is a structural block diagram of an intraoral three-dimensional scanning device according to an embodiment of this application;

[0027] Figure 15 is a structural block diagram of an intraoral three-dimensional scanning system design device according to an embodiment of this application;

[0028] Figure 16 is a schematic diagram of the structure of an electronic device that implements the design method of an intraoral 3D scanner or intraoral 3D scanning system according to the embodiments of this application. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The same applies to "target," "original," etc., and will not be repeated here. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Before introducing the embodiments of this application, we will first provide an exemplary description of the currently used intraoral 3D scanner and its application scenarios. This will help to understand the reasons for the problems described in the background art, such as the long scanning time of the currently used intraoral 3D scanner and the high learning cost for operators to learn how to operate the intraoral 3D scanner. This will further help to understand why the embodiments of this application can reduce scanning time and learning cost.

[0032] Besides their vital chewing function, teeth play a crucial role in human aesthetics. Therefore, the demand for orthodontics is rising with improved living standards, especially among teenagers. Orthodontic treatment typically corrects malocclusion, incorrect bite, or facial aesthetic issues, aiming to realign and reposition teeth. Orthodontic options include traditional metal braces that apply force to correct teeth, and newer clear aligners. Orthodontic treatment is usually lengthy, with short-term treatments typically lasting six months to a year, while complex long-term treatments may last three to four years. Poor orthodontic results are usually not due to flawed treatment plans, but rather the patient's inability to adhere to the original plan. Currently, routine orthodontic monitoring relies on regular communication and supervision between the doctor and the patient. Regular checkups and adjustments are crucial, allowing the doctor to make timely adjustments to ensure successful treatment if the results deviate from the planned direction. However, due to personal reasons, misunderstandings, or doubts about the medical process, patients may sometimes fail to follow medical advice or wear the orthodontic appliances provided by the doctor. This can lead to deviations in tooth growth from the planned outcome, causing incalculable losses for both the doctor and the patient, and increasing the likelihood of misunderstandings and even medical disputes. Therefore, there is an urgent need for both orthodontists and patients for a fast, effective, cost-effective, and convenient method for monitoring the effectiveness of intraoral appliance use and the trend of tooth correction, especially one that can be used at home for greater convenience.

[0033] Currently, the acquisition of dental model data in the dental treatment field has gradually shifted from 3D impression scanning to intraoral 3D scanning technology. This technology represents another revolution in digital dental processing. It eliminates the need for impression taking, model making, and 3D scanning, allowing direct intraoral 3D data acquisition. This eliminates the time required for impression taking and model making, saves on material, labor, and model shipping costs, and avoids the discomfort associated with impression making for the client. These advantages indicate that this technology is poised for significant development and market success. Intraoral 3D scanning technology typically uses optical 3D imaging principles to acquire 3D morphological data and texture information of intraoral teeth, gums, or extraoral dental models. Intraoral 3D scanning technology can be categorized by application scenario, such as desktop scanners and intraoral scanners. Intraoral scanners can employ active structured light triangulation imaging principles, using a digital projector to project an active light pattern. The camera then acquires the pattern and processes it using algorithms for 3D reconstruction and stitching.

[0034] In the field of orthodontics, digital solutions using intraoral 3D scanning technology are already widespread. Because the color texture information acquired by intraoral 3D scanners can clearly and intuitively reflect the internal condition of the oral cavity, such as tooth morphology, missing teeth, and gum disease, many clinics and dentists use intraoral 3D scanners for the examination, diagnosis, and prevention of oral diseases. During orthodontic treatment, intraoral 3D scanners are often used to acquire three-dimensional morphological data of the teeth and gums, serving as the digital entry point for orthodontic simulation. During long-term orthodontic treatment, patients often need to visit the clinic regularly for follow-up appointments. Based on experience, dentists use intraoral 3D scanning technology to verify whether the orthodontic appliances are correctly guiding the growth trend of the patient's teeth. However, the smoothness of stitching during intraoral 3D scanning often depends on the frame-by-frame control of the movement speed. The size of the common area between data points and the efficiency of the stitching algorithm are factors that can lead to stitching loss if the scanning is too fast. Generally, stitching can only be successfully completed by back-scraping through the common overlapping areas. The scarcity of intraoral 3D features can also cause stitching errors, making it impossible to obtain the 3D shape of the global framework. Furthermore, the scanning process requires manual differentiation of the maxilla and mandible and occlusion. Therefore, current intraoral 3D scanning technology relies on operators to use certain scanning techniques and follow certain scanning paths to complete intraoral 3D scans. The learning cost for operators to learn how to operate intraoral 3D scanners using this technology is relatively high. As a result, intraoral 3D scanning technology is currently mainly used in dental clinics or processing plants that cooperate with clinics. It is a professional application and it is difficult to promote the digitalization of intraoral 3D scanning technology to the home, which affects the user experience of intraoral 3D scanning technology.

[0035] In addition, the complex and diverse intraoral environment, especially the temperature difference between the inside and outside of the mouth and the ease with which oral bacteria and viruses can enter through the mouth, adds many time constraints to the use of intraoral 3D scanners. Furthermore, saliva, debris, and fog inside the mouth can affect the imaging function of intraoral 3D scanners during long scans. However, due to the limited space inside the mouth, intraoral 3D scanners that are inserted into the oral cavity to acquire 3D data of teeth and gums are often designed to acquire only a single frame of about two teeth at a time. Due to the rectilinear propagation of light, intraoral 3D scanners can only acquire 3D data from the current viewpoint. By moving the intraoral 3D scanner to continuously supplement the scanning and acquisition of intraoral morphological features from multiple angles and positions, and then using feature stitching algorithms to stitch together the single 3D data to form the 3D morphology and texture information of the entire oral cavity, it usually takes 5-10 minutes to acquire data of the entire intraoral teeth and gums. The scanning time is relatively long, and the single-frame stitching method inevitably has the potential for cumulative errors in the entire dentition due to the quality of the stitching algorithm, which makes the scanning of intraoral 3D scanners susceptible to influence.

[0036] To address this, this application's embodiment utilizes multiple 3D scanning heads to simultaneously scan the target oral cavity, reducing scanning time. Furthermore, the scanning can be performed while the 3D scanning heads are oscillating, eliminating the need for operators to learn the scanning techniques and paths of intraoral 3D scanners. Only the target oral cavity's occlusal arch tray is required for rapid scanning, thus reducing scanning time and learning costs. This allows even less experienced doctors, nurses, or the target patient to complete the scanning process themselves. This will be described in detail below.

[0037] Figure 1 is a structural block diagram of an intraoral 3D scanner provided in an embodiment of this application. This embodiment is applicable to intraoral 3D scanning. The intraoral 3D scanner can acquire 3D morphological data of teeth and gingiva in the mouth, and can be applied in multiple fields such as oral restoration, orthodontic treatment, implant surgery, oral health monitoring, and maxillofacial surgery.

[0038] Referring to Figure 1, the intraoral 3D scanner of this embodiment includes: a dental arch tray 110, a plurality of 3D scanning heads 120, and a swing drive device 130; wherein, the plurality of 3D scanning heads 120 are located on the dental arch tray 110; the swing drive device 130 is connected to the plurality of 3D scanning heads 120 and is configured to drive the plurality of 3D scanning heads 120 to swing, and the plurality of 3D scanning heads 120 are configured to scan the target oral cavity of the dental arch tray 110 during the swinging process.

[0039] The dental arch tray 110 is a tray that can surround the surface of the teeth inside the target oral cavity. When the dental arch tray 110 is placed inside the target oral cavity, the upper and lower jaws of the target oral cavity can bite the dental arch tray 110 to keep the dental arch tray 110 relatively fixed to the dentition of the target oral cavity, thereby facilitating the acquisition of surface morphology data of all teeth and gums. In addition, the dental arch tray 110 can exclude soft tissues such as the buccal and lingual sides or tongue inside the target oral cavity from the dental arch tray 110, avoiding unnecessary data from soft tissues in the target oral cavity from interfering with the scanning process. Referring to Figure 2, multiple three-dimensional scanning heads 120 and oscillation drive devices 130 can be fixed in different areas on the dental arch tray 110. The three-dimensional scanning head 120 may include at least one camera and at least one projection unit. For example, the three-dimensional scanning head 120 may include one or two cameras and a projection unit to realize the obtained three-dimensional scanning data using the structured light triangulation imaging principle. The oscillation drive device 130 is the power source that drives the multiple 3D scanning heads 120 to oscillate; the power source of the oscillation drive device 130 can be, for example, a servo drive motor, a voice coil motor, an electric motor, or a piezoelectric ceramic motor. The target oral cavity is the oral cavity that requires intraoral 3D scanning.

[0040] In this embodiment, multiple 3D scanning heads 120 can be distributed on the dental arch tray 110. According to a pre-defined and unique design, each 3D scanning head 120 is arranged at different angles to obtain 3D scanning data of the entire dental surface of the target oral cavity. In this embodiment, the specific positions of the multiple 3D scanning heads 120 on the dental arch tray 110 are not specifically limited.

[0041] In this embodiment of the application, the swing angle of the swing drive device 130 driving the multiple three-dimensional scanning heads 120 to swing can be within a preset swing angle range, such as the range corresponding to -60 degrees to 60 degrees.

[0042] Optionally, the intraoral 3D scanner also includes: a fitting tray; wherein the fitting tray and the dental arch tray 110 are detachably fitted together, the dental arch tray 110 is made of an elastic material, and the hardness of the fitting tray is greater than that of the dental arch tray 110, and the shape of the dental arch tray 110 is the same as that of the fitting tray when the fitting tray and the dental arch tray 110 are fitted together.

[0043] The fitting tray is a detachable fitting tray that fits into the dental arch tray 110; the fitting tray is manufactured based on the oral data of the target object to which the target oral cavity belongs. The target object is the object to which the target oral cavity belongs. The oral data is three-dimensional data representing the target oral cavity.

[0044] In one embodiment, an impression material can be simply placed inside the target oral cavity of the target object and bit down to take an impression. Oral data can be obtained by directly scanning the impression. Alternatively, a plaster model can be made based on the impression, and oral data can be obtained by scanning the plaster model, and so on.

[0045] In one embodiment, the oral cavity data can be historical oral cavity data of the target oral cavity. Historical oral cavity data can be historical three-dimensional data obtained by directly scanning the target oral cavity intraorally or extraorally using a digital impression instrument or an extraoral scanner, or it can be historical three-dimensional data obtained by a computed tomography (CT) device or a cone-beam computed tomography (CBCT) device, etc.

[0046] In this embodiment, the source of oral data is not specifically limited. In this embodiment, the dental arch tray 110 can be made of elastic materials such as rubber or silicone. The hardness of the fitting tray can be greater than that of the dental arch tray 110, so that when the fitting tray and the dental arch tray 110 are fitted together, the shape of the dental arch tray 110 can be changed to be the same as the shape of the fitting tray, thereby making the fitting of the fitting tray and the dental arch tray 110 more tight.

[0047] In this embodiment, the shape and size of the dental arch tray 110 can also be a universal shape and size to be suitable for fitting with mating trays of different shapes or sizes.

[0048] It is understandable that there may be target subjects with problems such as missing teeth, malocclusion, or gingival recession. Therefore, a special fitting tray can be manufactured for the target subject based on the oral data of the target oral cavity, or a special fitting tray can be customized according to the actual situation of the target subject. The fitting tray can fit into the dental arch tray 110 to obtain more accurate three-dimensional scan results of the target oral cavity of the target subject with special dentition, and can also improve the comfort during the scan.

[0049] In one embodiment, at least one universal tray of different sizes can be pre-manufactured according to general standards. For example, a universal tray of one size can be manufactured, or three universal trays of large, medium and small sizes can be manufactured. The dental arch tray 110 may include at least one universal tray of different sizes, any one of at least one universal tray of different sizes, or a universal tray of at least one universal tray of different sizes that matches the target oral cavity, so as to reduce manufacturing costs while ensuring comfort.

[0050] In one embodiment, both the fitting tray and the dental arch tray 110 can be customized. There is no need to consider universality and deliberately make them large. They only need to fit the dental arch inside the mouth and leave room for the three-dimensional scanning head 120 to swing. That is, both the fitting tray and the dental arch tray 110 can be manufactured according to the oral data of the target object to which the target oral cavity belongs.

[0051] In this embodiment of the application, fixed tooth positions can also be set on the interlocking tray or dental arch tray 110. The fixed tooth positions can help the target object to position and bite the interlocking tray or dental arch tray 110, so that the target can easily determine the three-dimensional scanning results by simply aligning the fixed tooth positions. The fixed tooth positions can be, for example, tooth positions in the shape of teeth in Figure 3. The number of fixed tooth positions can be one or more.

[0052] For example, referring to Figure 4, oral data obtained by digital or silicone impressions of the teeth and gums in the target oral cavity, as well as the orthodontic design and treatment plan for the target patient, can be acquired. Based on the oral data, orthodontic design, and treatment plan, a fitting tray is manufactured to fit the fitting tray into the dental arch tray 110. The target patient can periodically determine the 3D scan results of the target oral cavity at home using an intraoral 3D scanner and upload them to the cloud. The 3D scan results are imported into the corresponding software to generate a test report. Based on the test report, a diagnostic result for the target oral cavity is generated to achieve a diagnosis of the target patient. After N rounds of diagnosis, the treatment of the target patient ends.

[0053] In this embodiment, the inlay tray can be an embedded tray, which is embedded in the dental arch tray 110. Referring to Figures 3 and 5, the embedded tray can be regarded as a personalized alveolar bone, so the embedded tray can be embedded in the dental arch tray 110.

[0054] In this embodiment of the application, the fitting tray can be a fitted tray. For example, the dental arch tray 110, multiple arrays of three-dimensional scanning heads 120 and the swing drive device 130 can be embedded in the fitted tray. The fitted tray is manufactured according to the third oral data of the target object to which the target oral cavity belongs, so that the dental arch tray 110 embedded in the fitted tray can better fit the intraoral environment of the target object, thereby more accurately obtaining the three-dimensional data of the target object's teeth and gums.

[0055] Optionally, the interlocking tray is made of 3D printed material.

[0056] 3D printing materials can be understood as materials used for 3D printing; 3D printing materials may include, for example, polymers such as resins, metal powders and / or ceramics, and / or materials such as plastics.

[0057] It should be noted that the interlocking tray can be used for single or multiple purposes.

[0058] The interlocking tray is made of 3D-printed material, meaning it is manufactured using 3D printing, which reduces the difficulty of manufacturing the interlocking tray and quickly meets customization needs. In other embodiments, the interlocking tray can also be manufactured using injection molding or other methods.

[0059] Optionally, the dental arch tray 110 is provided with a plurality of first tray holes, and each three-dimensional scanning head 120 passes through a first tray hole. The three-dimensional scanning head 120 is configured to scan the target oral cavity of the occluded dental arch tray 110. The fitting tray includes a plurality of second tray holes, and the plurality of first tray holes correspond one-to-one with the plurality of second tray holes. The size of each second tray hole is larger than the size of the corresponding first tray hole. Each first tray hole fits into the corresponding second tray hole, and the dental arch tray 110 fits into the fitting tray.

[0060] The first tray hole is a hole on the dental arch tray 110 configured to allow the 3D scanning head 120 to pass through. The second tray hole is a hole on the fitting tray configured to be fitted into the first tray hole.

[0061] In this embodiment, the dental arch tray 110 may be provided with multiple first tray holes. The number of first tray holes may be greater than or equal to the number of three-dimensional scanning heads 120 that need to be installed on the dental arch tray 110. Each three-dimensional scanning head 120 passes through one first tray hole, so that the three-dimensional scanning head 120 can be fixed on the dental arch tray 110 and configured to scan the target oral cavity of the occluded dental arch tray 110. The fitting tray may include multiple second tray holes, with each of the multiple first tray holes corresponding one-to-one. The size of each second tray hole is larger than the size of the corresponding first tray hole, so that when the dental arch tray 110 and the fitting tray need to be fitted together, each first tray hole has a corresponding second tray hole into which it can be fitted, avoiding the dental arch tray 110 and the fitting tray not fitting tightly. The above technical solution can make the fitting tray and the dental arch tray 110 fit more tightly, avoiding the problem of affecting intraoral three-dimensional scanning due to poor fitting between the fitting tray and the dental arch tray 110.

[0062] Optionally, the oscillation drive device 130 includes a centralized drive motor connected to multiple 3D scanning heads 120 and configured to drive all 3D scanning heads 120 to oscillate simultaneously.

[0063] Optionally, the swing drive device 130 includes multiple distributed motors, each of which corresponds to one of the multiple three-dimensional scanning heads 120. Each distributed motor is connected to the corresponding three-dimensional scanning head 120 and is configured to drive the corresponding three-dimensional scanning head 120 to swing.

[0064] Optionally, the swing drive device 130 includes a centralized drive motor and multiple distributed motors. The multiple three-dimensional scanning heads 120 include a first group of three-dimensional scanning heads 120 and a second group of three-dimensional scanning heads 120. The first group of three-dimensional scanning heads 120 includes at least one three-dimensional scanning head 120, and the second group of three-dimensional scanning heads 120 includes at least one three-dimensional scanning head 120. The centralized drive motor is connected to each three-dimensional scanning head 120 in the first group of three-dimensional scanning heads 120, and the multiple distributed motors correspond one-to-one with each three-dimensional scanning head 120 in the second group of three-dimensional scanning heads 120. Each distributed motor is connected to its corresponding three-dimensional scanning head 120. The centralized drive motor is configured to drive all three-dimensional scanning heads 120 in the first group of three-dimensional scanning heads 120 to swing simultaneously, and each distributed motor is configured to drive the corresponding three-dimensional scanning head 120 in the second group of three-dimensional scanning heads 120 to swing.

[0065] The centralized drive motor is a motor that can drive multiple 3D scanning heads 120 simultaneously. The distributed motor is a motor that drives a single 3D scanning head 120. The first group of 3D scanning heads 120 is a group of scanning heads that includes each 3D scanning head 120 that can be driven simultaneously by the centralized drive motor. The second group of 3D scanning heads 120 is a group of scanning heads that includes each 3D scanning head 120 that can be driven individually by the distributed motors.

[0066] In the embodiments of this application, the first three-dimensional scanning head group 120 and the second three-dimensional scanning head group 120 may include the same three-dimensional scanning head 120, and each three-dimensional scanning head 120 in the first three-dimensional scanning head group 120 and the second three-dimensional scanning head group 120 may also be independent and different from each other.

[0067] In this embodiment, when the swing drive device 130 includes a centralized drive motor, the centralized drive motor can drive multiple 3D scanning heads 120 to swing, such as driving all 3D scanning heads 120, or multiple 3D scanning heads 120 in the first group of 3D scanning heads 120. When the swing drive device 130 includes distributed motors, the distributed motors can be evenly distributed at the positions corresponding to each 3D scanning head 120, so that the 3D scanning heads 120 are driven to swing by the distributed motors corresponding to each 3D scanning head 120 in the second group of 3D scanning heads 120. The above solution allows for the centralized or individual swinging of multiple 3D scanning heads 120 by the swing drive device 130 including a centralized drive motor and / or distributed motors.

[0068] Optionally, the oscillation drive device 130 includes a fixed base, a piezoelectric element, a transfer rod, and one or more rotating wheels. The fixed base is mounted on the dental arch tray 110. One end of the piezoelectric element is fixed to the fixed base, and the other end is connected to the transfer rod. The transfer rod is connected to one or more rotating wheels, and each rotating wheel is connected to a corresponding 3D scanning head 120 and configured to drive the corresponding 3D scanning head 120 to oscillate. This scheme enables the oscillation of the 3D scanning head 120 via the oscillation drive device 130.

[0069] The mounting base is a base configured to fix the piezoelectric element to the dental arch tray 110. A piezoelectric element is a material capable of converting electrical energy into mechanical energy. In this embodiment, the piezoelectric element can convert electrical energy into mechanical energy under the influence of voltage, thereby generating vibration. The transfer rod is a rod connecting the piezoelectric element and the rotating wheel, which can drive the rotating wheel to rotate when the piezoelectric element vibrates. The rotating wheel is a device that can rotatably drive the three-dimensional scanning head 120 to swing.

[0070] In this embodiment, the swing drive device 130 includes a fixed base, a piezoelectric body, a transfer rod, and one or more rotating wheels. The fixed base is fixed on the dental arch tray 110, and one end of the piezoelectric body is fixed on the fixed base. The piezoelectric body is configured to drive the transfer rod connected to the other end of the piezoelectric body when it vibrates due to the action of voltage, so that the transfer rod drives the rotating wheel connected to the transfer rod to rotate, causing the three-dimensional scanning head placed on the rotating wheel to swing, thereby realizing the swing of the three-dimensional scanning head 120 by the swing drive device 130.

[0071] For example, referring to Figure 6, the 3D scanning head 120 can be located on the dental arch tray 110. The 3D scanning head 120 and the dental arch tray 110 can be connected by a swing drive device 130. The swing drive device 130 can include a fixed base A, a piezoelectric body B, a transfer rod C, and a rotating wheel W. The fixed base A can be fixed on the dental arch tray 110, and one end of the piezoelectric body B can be fixed on the fixed base A. The piezoelectric body B can vibrate under the action of voltage V, so as to drive the transfer rod C connected to the other end of the piezoelectric body B to rotate the rotating wheel W, thereby causing the 3D scanning head 120 placed on the rotating wheel W to swing, so that the 3D scanning head 120 can obtain more perspectives to obtain 3D scanning data.

[0072] For example, referring to Figure 7, the transfer rod C in the swing drive device 130 can drive the rotating wheels W, W1, W2... to rotate in conjunction, so that the three-dimensional scanning head 120 fixed on the rotating wheels, D, D1, D2... swing accordingly, thereby realizing the rapid acquisition of three-dimensional scanning data that can be scanned during the swing of the three-dimensional scanning head 120.

[0073] It is understandable that, due to the physiological structure of teeth, there are inevitably areas in the gaps or fissures that are difficult to be illuminated by a fixed scanning head. For example, as shown in Figure 8, when the fixed 3D scanning head 120 uses D3 and D4 to scan teeth 1, 2, and 3 in parallel, it is difficult to scan the areas in the gaps between teeth. Therefore, the oscillating drive device 130 can drive multiple 3D scanning heads 120 to oscillate rapidly along the direction parallel to the central axis of the 3D scanning head 120, thereby enabling each 3D scanning head 120 to collect data from multiple angles, such as the gaps and fissures, from different angles. For example, as shown in Figure 9, after using the rotating wheel to oscillate D3 and D4 of the 3D scanning head 120, the principle of linear light emission can be used to obtain 3D scanning data of the gap areas G1 and G2. Similarly, oscillating D3 and D4 of the 3D scanning head 120 at multiple angles is more conducive to obtaining 3D scanning data of the entire gap, that is, it can achieve the purpose of instantaneously acquiring 3D scanning data of the entire dentition of teeth and gums.

[0074] In this embodiment, the oscillating drive device 130 drives multiple 3D scanning heads 120 to oscillate in different directions, so that the multiple 3D scanning heads 120 scan the target oral cavity during the oscillation process. It is possible to use a set of 3D scanning heads 120 to simultaneously perform 3D reconstruction of the surface of teeth and gums of the target oral cavity from different tooth positions and different angles from multiple angles. This achieves the acquisition of 3D morphology and texture information of the entire dentition of teeth and gums of the target oral cavity in a single 10-second interval, allowing the target object to perform intraoral 3D scanning at home by biting on the dental arch tray 110. This allows the target object to have the 3D scan results checked at home, thereby improving the scanning experience and speed, reducing the learning cost for operators, and enabling the determination of the 3D scan results of the target oral cavity without having to follow many scanning rules or procedures, or even with zero experience. The target object can complete the 3D scan results by biting on the dental arch tray 110, reducing rework scans caused by operational errors or accidental splicing errors, greatly increasing the popularity of intraoral 3D scanners, and bringing a very significant promotional effect to the popularization and use of intraoral 3D scanners.

[0075] The technical solution of this application embodiment uses multiple three-dimensional scanning heads 120 located on the dental arch tray 110. A swing drive device 130 is connected to the multiple three-dimensional scanning heads 120 and configured to drive the multiple three-dimensional scanning heads 120 to swing. This allows the multiple three-dimensional scanning heads 120 to scan the target oral cavity of the occluded dental arch tray 110 during the swinging process, enabling the scanning of more areas within the target oral cavity. This technical solution reduces scanning time by using multiple three-dimensional scanning heads 120 to scan the target oral cavity. Furthermore, the scanning can be performed by the three-dimensional scanning heads 120 during the swinging process, eliminating the need for the operator to learn the scanning techniques and paths of an intraoral three-dimensional scanner. The target oral cavity only needs to be occluded on the dental arch tray 110 to quickly complete the scanning, thereby reducing scanning time and learning costs.

[0076] Figure 10 is a flowchart of an intraoral three-dimensional scanning method provided in an embodiment of this application. This embodiment is applicable to intraoral three-dimensional scanning. The method can be executed by the intraoral three-dimensional scanning device provided in this embodiment, which can be implemented by software and / or hardware, and can be integrated into an electronic device, which can be various user terminals or servers.

[0077] Referring to Figure 10, the method of this embodiment is applied to a main control device, which is used in conjunction with the intraoral 3D scanner provided in any embodiment of this application. The method specifically includes the following steps:

[0078] S210, Control the swing drive device in the intraoral 3D scanner to drive the multiple 3D scanning heads in the intraoral 3D scanner to swing.

[0079] The main control device is a device that can control the swing drive device and the three-dimensional scanning head to collect three-dimensional scanning data. The main control device can be, for example, a circuit device, a computer or other equipment, or a mobile processing device such as a tablet computer or a mobile phone. In this embodiment of the application, the type of main control device is not specifically limited.

[0080] In this embodiment, a trigger signal can be used to control the oscillation drive device in the intraoral 3D scanner to oscillate multiple 3D scanning heads. In this embodiment, the specific method of controlling the oscillation drive device in the intraoral 3D scanner to oscillate the multiple 3D scanning heads is not limited.

[0081] In this embodiment of the application, control data including at least one of control direction, control speed, control angle, and control displacement can also be obtained. Based on the control data, the swing drive device is controlled to drive the swing of multiple three-dimensional scanning heads to achieve high-precision control of the swing of multiple three-dimensional scanning heads.

[0082] S220. For each of the multiple three-dimensional scanning heads, control the three-dimensional scanning head to perform intraoral three-dimensional scanning on the target oral cavity of the dental arch tray in the occlusal three-dimensional scanner during the swinging process, and obtain the three-dimensional scanning data.

[0083] In this embodiment, in response to a trigger signal, each of the multiple 3D scanning heads can be controlled to perform intraoral 3D scanning processes such as projection and acquisition of data onto the target oral cavity with the dental arch tray in place during the swinging process. This yields single-frame 3D data of the scanning head at the current angle. The single-frame 3D data corresponding to each angle obtained during the swinging process are used as 3D scan data. In this embodiment, the method of controlling the 3D scanning head to perform intraoral 3D scanning of the target oral cavity with the dental arch tray in the intraoral 3D scanner during the swinging process is not specifically limited.

[0084] S230. Determine the three-dimensional scanning results of the target oral cavity based on the three-dimensional scanning data corresponding to multiple three-dimensional scanning heads.

[0085] The 3D scan data refers to the data obtained by the 3D scanning head performing an intraoral 3D scan on the target oral cavity with the dental arch tray already in place. The 3D scan data can be image data or it can include single-frame 3D data obtained by the 3D scanning head scanning at various angles during its movement. The 3D scan result is the scan result of the target oral cavity.

[0086] In this embodiment, the main control device may integrate processing software. The processing software can control the oscillation drive device to drive multiple 3D scanning heads to oscillate. For each of the multiple 3D scanning heads, the processing software can control the 3D scanning head to perform intraoral 3D scanning of the target oral cavity with the occlusal dental arch tray during the oscillation process, to acquire structured light images in real time and reconstruct 3D data from the structured light images using algorithms to obtain 3D scanning data. The processing software can convert the 3D scanning data sent by the multiple 3D scanning heads to a global coordinate system to obtain global data, and stitch the global data to obtain stitched 3D data. The stitched 3D data is then optimized in real time to reduce cumulative errors caused by stitching of the individual 3D scanning heads or slight gingival jitter, thus obtaining the 3D scanning result of the target oral cavity. In this embodiment, the method for determining the 3D scanning result of the target oral cavity based on the 3D scanning data corresponding to the multiple 3D scanning heads is not specifically limited.

[0087] In this embodiment, the oscillation drive device can also be controlled to drive the target scanning head among multiple three-dimensional scanning heads to oscillate. For each target scanning head, during the oscillation process, the target scanning head is controlled to perform intraoral three-dimensional scanning of the target oral cavity with the occlusal dental arch tray. Based on the three-dimensional scanning data sent by the target scanning head, the three-dimensional scanning result of the target oral cavity is determined. The target scanning head can be determined based on a trigger signal or the target oral cavity.

[0088] In the embodiments of this application, the operator can also learn the scanning and receiving of intraoral 3D scanning to help improve the scanning success rate.

[0089] The technical solution of this application embodiment drives multiple 3D scanning heads in an intraoral 3D scanner to swing via a swing drive device, enabling these heads to scan more areas of the target oral cavity. By controlling the swing of each 3D scanning head during the swing process, an intraoral 3D scan is performed on the target oral cavity with the dental arch tray in the scanner already engaged. The resulting 3D scan data constitutes an intraoral 3D scan of the target oral cavity. The 3D scan result of the target oral cavity is determined based on the 3D scan data corresponding to each of the multiple scanning heads. This technical solution allows for simultaneous scanning of the target oral cavity by multiple 3D scanning heads, reducing scanning time. Furthermore, the scanning can be performed while the 3D scanning heads are swinging, eliminating the need for the operator to learn the scanning techniques and paths of the intraoral 3D scanner. The target oral cavity can be scanned quickly simply by having the target oral cavity engaged with the dental arch tray, thus reducing scanning time and learning costs.

[0090] An optional technical solution involves using 3D scanning data in the coordinate system of a 3D scanning head. The process of determining the 3D scanning result of the target oral cavity based on the 3D scanning data corresponding to multiple 3D scanning heads includes: for each of the multiple 3D scanning heads, transforming the 3D scanning data of the 3D scanning head to the global coordinate system according to a pre-determined transformation relationship to obtain global data; and determining the 3D scanning result of the target oral cavity based on the global data corresponding to the multiple 3D scanning heads, wherein the transformation relationship is the data transformation relationship between the scanning head coordinate system and the global coordinate system.

[0091] The scanning head coordinate system is the coordinate system corresponding to the 3D scanning head. This coordinate system can be the coordinate system of multiple 3D scanning heads, or it can be the coordinate system corresponding to each individual 3D scanning head. The global coordinate system is the overall coordinate system corresponding to the intraoral 3D scanner, or it can be the coordinate system corresponding to the dental arch tray, or it can be the world coordinate system, etc. Global data is the data obtained by transforming the 3D scan data into the global coordinate system.

[0092] In this embodiment, for example, for each of the multiple 3D scanning heads, for each single frame of 3D data in the received 3D scanning data, the single frame of 3D data can be converted to the global coordinate system corresponding to the dental arch tray using a pre-defined transformation relationship of the 3D scanning heads, thus obtaining single frame data. The obtained single frame data is then used as global data, and the single frame data in the global data are stitched together to obtain the 3D scanning result of the target oral cavity. In this embodiment, the method of converting the 3D scanning data corresponding to each of the multiple 3D scanning heads to the global coordinate system according to the pre-determined transformation relationship to obtain global data, and the method of determining the 3D scanning result of the target oral cavity based on the global data corresponding to each of the multiple 3D scanning heads, are not specifically limited.

[0093] In this embodiment of the application, by converting the three-dimensional scanning data corresponding to the three-dimensional scanning head to the global coordinate system to obtain global data, and then determining the three-dimensional scanning result of the target oral cavity based on the global data corresponding to multiple three-dimensional scanning heads, the obtained three-dimensional scanning result can be the result under the same coordinate system dimension, thereby improving the accuracy of the obtained three-dimensional scanning result.

[0094] Based on the above scheme, another optional technical solution, the intraoral three-dimensional scanning method, further includes: responding to the target calibration command, controlling each of the multiple three-dimensional scanning heads to scan the calibration object, and obtaining calibration scanning data in the scanning head coordinate system of the three-dimensional scanning head; and determining the transformation relationship of the three-dimensional scanning heads based on the calibration scanning data of the three-dimensional scanning head and the global coordinate system for each of the multiple three-dimensional scanning heads.

[0095] The target calibration command is an instruction to calibrate the transformation relationship between the global coordinate system and the 3D scanning head coordinate system. The calibration object is the object used to calibrate the transformation relationship between the global coordinate system and the 3D scanning head coordinate system. The calibration scan data is the data obtained by the 3D scanning head scanning the calibration object, used for calibrating the transformation relationship between the global coordinate system and the 3D scanning head coordinate system.

[0096] In this embodiment, in response to a target calibration command, multiple 3D scanning heads can be controlled to simultaneously scan a calibration plate or block from multiple angles, obtaining calibration scanning data of the multiple 3D scanning heads in the scanning head coordinate system. A calibration algorithm can be used to determine the transformation relationship between the scanning head coordinate system and the global coordinate system based on the calibration scanning data and the global coordinate system. It should be noted that the scanning head coordinate system mentioned here refers to the coordinate system corresponding to the multiple 3D scanning heads. In this embodiment, the method of controlling each of the multiple 3D scanning heads to scan the calibration object to obtain calibration scanning data in the scanning head coordinate system of the 3D scanning head, and the method of determining the transformation relationship of the 3D scanning heads based on the calibration scanning data and the global coordinate system, are not specifically limited.

[0097] In this embodiment, the intrinsic and extrinsic parameters of each camera and projection unit of the 3D scanning head can also be obtained. Based on the intrinsic and extrinsic parameters, calibration scanning data, and global coordinate system, the transformation relationship of the 3D scanning head can be determined to ensure the accuracy of subsequent 3D reconstruction.

[0098] In this embodiment of the application, the accuracy of the transformation relationship can be improved by calibrating the transformation relationship between the global coordinate system and the three-dimensional scanning head coordinate system.

[0099] Another optional technical solution involves controlling the swing drive device in the intraoral 3D scanner to drive the multiple 3D scanning heads in the intraoral 3D scanner to swing, including: controlling the swing drive device in the intraoral 3D scanner to drive the multiple 3D scanning heads in the intraoral 3D scanner to swing, and controlling the multiple 3D scanning heads to move on the dental arch tray in the intraoral 3D scanner.

[0100] In this embodiment of the application, the dental arch tray may also be provided with a moving track or a moving rod to control the swing drive device to drive multiple three-dimensional scanning heads to swing, and to control the multiple three-dimensional scanning heads to move on the dental arch tray, so that the three-dimensional scanning heads can perform intraoral three-dimensional scanning on more areas of the target oral cavity that has occluded the dental arch tray, thereby improving the accuracy of the three-dimensional scanning results.

[0101] Figure 11 is a flowchart of another intraoral three-dimensional scanning method provided in an embodiment of this application. This embodiment is an optimization based on the above-mentioned technical solutions. In this embodiment, optionally, the intraoral three-dimensional scanning method further includes: performing integrity analysis on the three-dimensional scanning results; generating a supplementary scanning command when the obtained integrity analysis result indicates that the three-dimensional scanning results are incomplete; responding to the supplementary scanning command, controlling the swing drive device to drive the supplementary scanning head to swing, and controlling the supplementary scanning head to perform intraoral three-dimensional scanning on the target oral cavity during the swing process, obtaining supplementary scanning data, wherein the supplementary scanning head is the three-dimensional scanning head corresponding to the supplementary scanning command among multiple three-dimensional scanning heads; updating the three-dimensional scanning results according to the three-dimensional scanning results and the supplementary scanning data. The explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here.

[0102] Referring to Figure 11, the method of this embodiment is applied to a main control device, which works in conjunction with the intraoral 3D scanner provided in any embodiment of this application. Specifically, it may include the following steps:

[0103] S310, Control the swing drive device in the intraoral 3D scanner to drive the multiple 3D scanning heads in the intraoral 3D scanner to swing.

[0104] S320. For each of the multiple three-dimensional scanning heads, control the three-dimensional scanning head to perform intraoral three-dimensional scanning on the target oral cavity of the dental arch tray in the occlusal three-dimensional scanner during the swinging process, and obtain the three-dimensional scanning data.

[0105] S330. Determine the three-dimensional scanning results of the target oral cavity based on the three-dimensional scanning data corresponding to multiple three-dimensional scanning heads.

[0106] S340. Perform integrity analysis on the 3D scanning results.

[0107] In this embodiment, a completeness analysis can be performed on the 3D scan results to determine if there are any missing, unclear, or erroneous parts. The method for performing the completeness analysis on the 3D scan results is not specifically limited in this embodiment.

[0108] S350. If the obtained integrity analysis results indicate that the three-dimensional scan results are incomplete, generate supplementary scan instructions.

[0109] The integrity analysis result refers to the result of performing an integrity analysis on the 3D scan results. The integrity analysis result may include at least one of the following: a result characterizing whether the 3D scan results are complete, incomplete parts of the 3D scan results, and unclear parts of the 3D scan results. The supplementary scan instruction is an instruction to perform a supplementary scan.

[0110] In this embodiment, when the obtained integrity analysis results indicate that the three-dimensional scan results are incomplete, unclear, and / or erroneous, supplementary scan instructions can be generated. For example, based on the integrity analysis results, the supplementary scan area of ​​the target oral cavity requiring supplementary scanning can be determined, a supplementary scan head can be determined based on the supplementary scan area, and a supplementary scan instruction can be generated based on the supplementary scan head. In this embodiment, no specific limitation is made on the method of generating supplementary scan instructions.

[0111] S360, in response to the supplementary scan command, controls the swing drive device to drive the supplementary scan head to swing, and controls the supplementary scan head to perform intraoral three-dimensional scanning of the target oral cavity during the swing process, and obtains supplementary scan data, wherein the supplementary scan head is the three-dimensional scan head corresponding to the supplementary scan command among multiple three-dimensional scan heads.

[0112] Among them, the supplementary scan data is the data obtained by the supplementary scanning head performing intraoral three-dimensional scanning on the target oral cavity; the supplementary scan data can be image data; the supplementary scan data can include single-frame three-dimensional data obtained by the supplementary scanning head scanning at various angles during the swinging process.

[0113] In this embodiment, since the swing drive device 230 may include a centralized drive motor, it can also respond to a supplementary scanning command by controlling the swing drive device 230 to drive multiple three-dimensional scanning heads 220, and controlling the supplementary scanning heads to perform intraoral three-dimensional scanning of the target oral cavity during the swing process, thereby obtaining supplementary scanning data. In this embodiment, the method of controlling the supplementary scanning heads to perform intraoral three-dimensional scanning of the target oral cavity during the swing process to obtain supplementary scanning data is not specifically limited.

[0114] S370. Update the 3D scanning results based on the 3D scanning results and supplementary scanning data.

[0115] In this embodiment, for example, unclear, missing, or erroneous parts in the 3D scan result can be supplemented or replaced based on supplementary scan data, or the 3D scan result and supplementary scan data can be fused to update the 3D scan result. In this embodiment, no specific limitation is made on the method of updating the 3D scan result based on the 3D scan result and supplementary scan data.

[0116] The technical solution of this application embodiment performs a completeness analysis on the three-dimensional scan results. If the completeness analysis indicates that the three-dimensional scan results are incomplete, a supplementary scan command is generated to perform a supplementary scan in the case of incomplete three-dimensional scan results. In response to the supplementary scan command, a swing drive device is controlled to drive the supplementary scan head to swing, and during the swing, the supplementary scan head performs an intraoral three-dimensional scan of the target oral cavity, obtaining supplementary scan data. The supplementary scan head is one of multiple three-dimensional scan heads corresponding to the supplementary scan command, thus achieving supplementary scanning of the target oral cavity. The three-dimensional scan results are updated based on the three-dimensional scan results and the supplementary scan data. This technical solution enables supplementary scanning of the target oral cavity even when the three-dimensional scan results are incomplete, thereby avoiding the problem of low accuracy in three-dimensional scan results caused by incomplete initial scans.

[0117] An optional technical solution for generating supplementary scanning instructions includes: determining the supplementary scanning area in the target oral cavity based on the integrity analysis results; and generating supplementary scanning instructions based on the supplementary scanning area.

[0118] The supplementary scanning area is the target oral cavity area that requires supplementary scanning.

[0119] In this embodiment of the application, for example, if the obtained integrity analysis result indicates that the three-dimensional scan result is incomplete, the incomplete part of the three-dimensional scan result can be determined based on the integrity analysis result, and the supplementary scan area in the target oral cavity can be determined based on the incomplete part. In this embodiment of the application, no specific limitation is made on the method of determining the supplementary scan area in the target oral cavity based on the integrity analysis result.

[0120] In this embodiment of the application, no specific limitation is made on the method of determining the supplementary scanning instruction based on the supplementary scanning area.

[0121] In this embodiment of the application, by determining the supplementary scanning area and then determining the supplementary scanning instruction, the supplementary scanning data obtained by the supplementary scanning head that performs the supplementary scanning can be more suitable for updating the three-dimensional scanning results.

[0122] Based on the above solution, another optional technical solution is to generate supplementary scanning instructions according to the supplementary scanning area, including: determining the supplementary scanning head according to the supplementary scanning area, and determining the supplementary scanning instructions according to the supplementary scanning head.

[0123] In this embodiment, for example, a 3D scanning head involved in the supplementary scanning area can be used as a supplementary scanning head. In this embodiment, the method for determining the supplementary scanning head based on the supplementary scanning area is not specifically limited.

[0124] In this embodiment of the application, no specific limitation is made on the method of determining the supplementary scanning command based on the supplementary scanning head.

[0125] In this embodiment, a supplementary scanning head is determined based on the supplementary scanning area, and then a supplementary scanning instruction is determined based on the supplementary scanning head. This can further enable the supplementary scanning instruction to instruct the supplementary scanning head to scan the supplementary scanning data obtained, which is more suitable for updating the three-dimensional scanning results.

[0126] Another optional technical solution, before updating the three-dimensional scanning results based on the three-dimensional scanning results and supplementary scanning data, the intraoral three-dimensional scanning method further includes: deleting incomplete data in the three-dimensional scanning results based on the integrity analysis results, and updating the three-dimensional scanning results based on the deletion results.

[0127] Incomplete data refers to incomplete, erroneous, or unclear data in the 3D scan results.

[0128] It should be noted that incomplete data may include only incomplete, incorrect, or unclear data from the 3D scan results, or it may include supplementary data on the corresponding areas in the target oral cavity that can be scanned by the scanning head in the 3D scan results.

[0129] In this embodiment, before updating the 3D scanning results based on the 3D scanning results and supplementary scanning data, incomplete data in the 3D scanning results can be deleted based on the integrity analysis results, and the resulting deletion can be used as the 3D scanning result, so that supplementary scanning data can be directly added to the positions of the incomplete data in the subsequent process. This technical solution facilitates the subsequent updating of the 3D scanning results based on the 3D scanning results and supplementary scanning data.

[0130] Figure 12 is a structural block diagram of an intraoral three-dimensional scanning system provided in an embodiment of this application. This embodiment is applicable to intraoral three-dimensional scanning.

[0131] Referring to Figure 12, the intraoral 3D scanning system of this application embodiment includes: an intraoral 3D scanner 410 and a main control device 420 provided in any embodiment of this application. The main control device 420 is used in conjunction with the intraoral 3D scanner 410. The intraoral 3D scanner 410 and the main control device 420 are connected by wire or wireless means. The main control device 420 is used to control the intraoral 3D scanner 410.

[0132] In one embodiment, the main control device 420 includes a swing module 4201, a scanning module 4202, and a processing module 4203; wherein,

[0133] The swing module 4201 is used to control the swing drive device in the intraoral 3D scanner 410 to drive the multiple 3D scanning heads in the intraoral 3D scanner 410 to swing.

[0134] The scanning module 4202 is used to control the three-dimensional scanning head to perform intraoral three-dimensional scanning on the target oral cavity of the dental arch tray in the occlusal intraoral three-dimensional scanner 410 during the swinging process for each of the multiple three-dimensional scanning heads, and to send the obtained three-dimensional scanning data to the processing module 4203.

[0135] The processing module 4203 is used to determine the three-dimensional scanning result of the target oral cavity based on the three-dimensional scanning data sent by multiple three-dimensional scanning heads.

[0136] Among them, the swing module 4201 is the module that controls the swing drive device. The scanning module 4202 is the module that controls the three-dimensional scanning head. The processing module 4203 is the module that processes the three-dimensional scanning data.

[0137] Optionally, the intraoral 3D scanning system further includes a calibration device, which includes a calibration element with the same or similar shape as the dental arch tray, the calibration element being used to calibrate the intraoral 3D scanner 410.

[0138] The calibration device can be used to calibrate the intraoral 3D scanner 410. The calibration device can be a separate component, and when calibration of the intraoral 3D scanner 410 is required, it can be used in conjunction with the calibration device. The calibration element is an object used to calibrate the intraoral 3D scanner 410; the calibration element can be, for example, a calibration plate or calibration block, etc.; the shape of the calibration element can be the same as or similar to the shape of the dental arch tray.

[0139] In one embodiment, the size of the calibration element may be greater than or equal to that of the dental arch tray.

[0140] In one embodiment, the size of the calibration element may be less than or equal to that of the dental arch tray, and the calibration element may be embedded within the dental arch tray so that the calibration element can be displayed in the viewport of the 3D scanning head.

[0141] In this embodiment, the main control device 420 can control multiple three-dimensional scanning heads to scan the calibration component simultaneously from multiple angles, and obtain calibration scanning data of the multiple three-dimensional scanning heads in the scanning head coordinate system, so as to calibrate the intraoral three-dimensional scanner 410 through the calibration scanning data.

[0142] When the intraoral 3D scanner 410 is worn out during use, causing displacement of the camera and projection unit, or when the intraoral 3D scanner 410 needs to be customized, such as fitting the dental arch tray and the fitting tray together, the user can calibrate the intraoral 3D scanner 410 using a calibration tool. This allows the user to re-acquire the intrinsic and extrinsic parameters of the camera and projection unit of the 3D scanning head in the intraoral 3D scanner 410 to ensure the accuracy of subsequent 3D reconstruction.

[0143] In this embodiment of the application, the intraoral three-dimensional scanning system also includes a calibration device, which enables the intraoral three-dimensional scanning system to calibrate the intraoral three-dimensional scanner 410, thereby improving the accuracy of the intraoral three-dimensional scanning system in performing intraoral three-dimensional scanning.

[0144] The technical solution of this application embodiment uses a swing module to control the swing drive device in the intraoral 3D scanner 410 to swing multiple 3D scanning heads in the intraoral 3D scanner 410, so that the multiple 3D scanning heads can scan more areas in the target oral cavity. The scanning module controls each of the multiple 3D scanning heads to perform intraoral 3D scanning of the target oral cavity with the dental arch tray in the intraoral 3D scanner 410 during the swing process, and sends the obtained 3D scanning data to the processing module, thus realizing intraoral 3D scanning of the target oral cavity. The processing module determines the 3D scanning result of the target oral cavity based on the received 3D scanning data from the multiple 3D scanning heads, thus realizing the determination of the 3D scanning result. The above technical solution can scan the target oral cavity simultaneously with multiple 3D scanning heads, reducing scanning time. Furthermore, scanning can be performed by the 3D scanning heads during the swing process, eliminating the need for the operator to learn the scanning techniques and scanning paths of the intraoral 3D scanner 410. The target oral cavity can be quickly scanned simply by having the target oral cavity occluded with the dental arch tray, thereby reducing scanning time and learning costs.

[0145] Figure 13 is a flowchart of a design method for an intraoral three-dimensional scanning system provided in an embodiment of this application. This embodiment is applicable to the design of intraoral three-dimensional scanning systems. This method can be executed by the intraoral three-dimensional scanning system design device provided in this embodiment. This device can be implemented in software and / or hardware, and can be integrated into an electronic device, which can be various user terminals or servers.

[0146] Referring to Figure 13, the method of this embodiment specifically includes the following steps:

[0147] S510. Obtain the oral cavity data of the design object.

[0148] In one embodiment, an impression material can be simply placed inside the target oral cavity of the target object and bit down to take an impression. Oral data can be obtained by directly scanning the impression. Alternatively, a plaster model can be made based on the impression, and oral data can be obtained by scanning the plaster model, and so on.

[0149] In one embodiment, the oral cavity data can be historical oral cavity data of the target oral cavity. Historical oral cavity data can be historical three-dimensional data obtained directly from intraoral or extraoral scanning of the target oral cavity using a digital impression instrument or an extraoral scanner, or it can be historical three-dimensional data obtained through computed tomography (CT) equipment or cone-beam computed tomography (CBCT) equipment, etc.

[0150] In this embodiment of the application, no specific limitation is made on the method of obtaining the oral cavity data of the design object.

[0151] S520. Based on the oral cavity data, determine the system design scheme for the design object, and manufacture the intraoral 3D scanner provided in any embodiment of this application according to the system design scheme.

[0152] The system design scheme is a scheme for designing an intraoral 3D scanning system. The system design scheme can be obtained by analyzing the oral data of the target object through an artificial intelligence (AI) model. The system design scheme may include at least one of the following: the material, size and shape of the dental arch tray, the material, size and condition of the fitting tray, the number of times the fitting tray is used, the connection relationship between the intraoral 3D scanner and the main control device, and the distribution of multiple 3D scanning heads.

[0153] In the embodiments of this application, the system design scheme can determine that the dental arch tray of the manufactured intraoral 3D scanner is made of elastic materials such as rubber or silicone, and the shape and size of the dental arch tray can also be a universal shape and size.

[0154] In the embodiments of this application, the system design scheme may determine that the fitting tray of the manufactured intraoral 3D scanner is made of 3D printing material. The 3D printing material may include, for example, resin, metal powder and / or ceramics and other polymers, and / or plastics and other materials. For example, the system design scheme may determine that the fitting tray is a plastic tray.

[0155] In the embodiments of this application, the system design can determine whether the interlocking tray can be used once or multiple times.

[0156] In this embodiment of the application, the system design can determine whether the connection between the intraoral 3D scanner and the main control device is wired or wireless.

[0157] If the interlocking tray is made of 3D printing material, the system design also includes 3D printing data of the interlocking tray, and can send the 3D printing data to the printer so that the printer can print the interlocking tray according to the 3D printing data.

[0158] In one optional embodiment of this application, after obtaining the system design scheme through the AI ​​model, the system design scheme is displayed on the interactive interface. Users can adjust the system design scheme on the interactive interface. After accepting user adjustments, the system design scheme is updated based on the adjustment results to obtain the updated system design scheme. The intraoral 3D scanner provided in any embodiment of this application is then manufactured based on the updated system design scheme. In this embodiment, for example, a system design scheme specific to the design object can be determined from at least one set of alternative design schemes based on oral data, or a system design scheme specific to the design object can be determined. In this embodiment, the method of determining the system design scheme specific to the design object based on oral data is not specifically limited.

[0159] The technical solution of this application embodiment obtains the oral cavity data of the design object and determines the system design scheme for the design object based on the oral cavity data. Based on the system design scheme, the intraoral three-dimensional scanning system provided in any embodiment of this application is manufactured. The intraoral three-dimensional scanning system can be more closely matched to the intraoral environment of the design object, thereby making the three-dimensional scanning results determined by the intraoral three-dimensional scanning system more accurate.

[0160] An optional technical solution involves determining a system design scheme for a target object based on oral data, including: determining a system design scheme that matches the oral data from at least a pre-set set of alternative design schemes; or, determining system design information based on the oral data, and determining a system design scheme for the target object based on the system design information, wherein the system design information includes at least one of the following: scanning head position, number of scanning heads, tray size, and tray shape.

[0161] The alternative design schemes are the proposed system design schemes. System design information refers to the relevant information for designing an intraoral 3D scanning system. Scanner head positions are the locations of each 3D scanning head on the dental arch tray. The number of scanning heads is the total number of 3D scanning heads. The tray size is the size of the dental arch tray. The tray shape is the shape of the dental arch tray.

[0162] In this embodiment, for example, at least one set of alternative design schemes can be preset, and each set of alternative design schemes can correspond to an impression data range. The oral cavity data is compared with the impression data ranges corresponding to the at least one set of alternative design schemes, and the alternative design scheme corresponding to the impression data range where the oral cavity data is located is selected as the system design scheme. In this embodiment, the method of determining the system design scheme that matches the oral cavity data from the preset at least one set of alternative design schemes is not specifically limited.

[0163] In this embodiment, for example, at least one of the following can be determined based on oral data: the size of the design mouth of the design object, the position and distribution of the teeth, the position and shape of the tongue, the position and shape of the gums, etc., to determine the system design information. In this embodiment, no specific limitation is made on the method of determining the system design information based on oral data.

[0164] In this embodiment of the application, no specific limitation is made on the scheme for determining the system design scheme for the design object based on the system design information.

[0165] In this embodiment of the application, by determining a system design scheme that matches the oral cavity data from at least a set of preset alternative design schemes, or by determining a system design scheme for the design object based on the system design information obtained from the oral cavity data, it is possible to directly use the intraoral 3D scanning system corresponding to the pre-manufactured system design scheme, avoiding the waste of time in manufacturing an intraoral 3D scanning system corresponding to each independent system design scheme, or, it is possible to make the intraoral 3D scanning system manufactured according to the system design scheme fit the oral cavity of the design object better, thereby facilitating intraoral 3D scanning of the intraoral 3D scanning system.

[0166] Figure 14 is a structural block diagram of an intraoral three-dimensional scanning device provided in an embodiment of this application. This device is used to execute the intraoral three-dimensional scanning method provided in any of the above embodiments. This device and the intraoral three-dimensional scanning method of the above embodiments belong to the same inventive concept. Details not described in detail in the embodiments of the intraoral three-dimensional scanning device can be referred to the embodiments of the intraoral three-dimensional scanning method. Referring to Figure 14, this device is applied to a main control device, which is used in conjunction with the intraoral three-dimensional scanner provided in any embodiment of this application. Specifically, it may include: a three-dimensional scanning head driving module 610, a three-dimensional scanning data acquisition module 620, and a three-dimensional scanning result determination module 630.

[0167] Among them, the three-dimensional scanning head drive module 610 is used to control the swing drive device in the intraoral three-dimensional scanner to drive the multiple three-dimensional scanning heads in the intraoral three-dimensional scanner to swing.

[0168] The 3D scanning data acquisition module 620 is used to control the 3D scanning head to perform intraoral 3D scanning on the target oral cavity of the dental arch tray in the occlusal 3D scanner during the swinging process for each of the multiple 3D scanning heads, and obtain 3D scanning data.

[0169] The 3D scanning result determination module 630 is used to determine the 3D scanning result of the target oral cavity based on the 3D scanning data corresponding to multiple 3D scanning heads.

[0170] Optionally, the device may also include:

[0171] The integrity analysis module is used to perform integrity analysis on the 3D scan results.

[0172] The supplementary scan instruction generation module is used to generate supplementary scan instructions when the obtained integrity analysis results indicate that the three-dimensional scan results are incomplete.

[0173] The supplementary scan data acquisition module is used to respond to the supplementary scan command, control the swing drive device to drive the supplementary scan head to swing, and control the supplementary scan head to perform intraoral three-dimensional scanning of the target oral cavity during the swing process to obtain supplementary scan data. The supplementary scan head is the three-dimensional scan head that corresponds to the supplementary scan command among multiple three-dimensional scan heads.

[0174] The 3D scan result update module is used to update the 3D scan results based on the 3D scan results and supplementary scan data.

[0175] Optionally, based on the above-mentioned device, a scan instruction generation module is added, including:

[0176] The supplementary scanning area determination submodule is used to determine the supplementary scanning area in the target oral cavity based on the integrity analysis results;

[0177] The supplementary scan instruction generation submodule is used to generate supplementary scan instructions based on the supplementary scan area.

[0178] Optionally, based on the above-mentioned device, a scan instruction generation submodule is added, including:

[0179] The supplementary scan instruction determination unit is used to determine the supplementary scan head based on the supplementary scan area, and to determine the supplementary scan instruction based on the supplementary scan head.

[0180] Optionally, based on the above-described apparatus, the apparatus further includes:

[0181] The 3D scan result update module is used to delete incomplete data in the 3D scan results based on the integrity analysis results before updating the 3D scan results based on the 3D scan results and supplementary scan data, and then update the 3D scan results based on the deletion results.

[0182] Optionally, the 3D scan data is data in the coordinate system of the 3D scanning head;

[0183] The 3D scan result determination module 630 includes:

[0184] The global data acquisition submodule is used to convert the 3D scanning data of each of the multiple 3D scanning heads to the global coordinate system according to the pre-determined transformation relationship of the 3D scanning heads, so as to obtain the global data.

[0185] The 3D scan result determination submodule is used to determine the 3D scan result of the target oral cavity based on the global data corresponding to multiple 3D scanning heads. The transformation relationship is the data transformation relationship between the scanning head coordinate system and the global coordinate system.

[0186] Optionally, based on the above-described apparatus, the apparatus further includes:

[0187] The calibration scan data acquisition module is used to respond to the target calibration command, control each of the multiple 3D scanning heads to scan the calibration object, and obtain the calibration scan data in the scanning head coordinate system of the 3D scanning head;

[0188] The transformation relationship determination module is used to determine the transformation relationship of each of the multiple 3D scanning heads based on the calibration scanning data of the 3D scanning head and the global coordinate system.

[0189] Optionally, based on the above-described device, the three-dimensional scanning head driving module 610 includes:

[0190] The 3D scanning head control submodule is used to control the swing drive device in the intraoral 3D scanner to drive the multiple 3D scanning heads in the intraoral 3D scanner to swing, and to control the multiple 3D scanning heads to move on the dental arch tray in the intraoral 3D scanner.

[0191] The intraoral 3D scanning device provided in this application embodiment controls multiple 3D scanning heads in the intraoral 3D scanner to swing via a 3D scanning head driving module, allowing the multiple 3D scanning heads to scan more areas of the target oral cavity. A 3D scanning data acquisition module controls each of the multiple 3D scanning heads to perform an intraoral 3D scan of the target oral cavity with the dental arch tray in the intraoral 3D scanner during the swinging process, obtaining 3D scanning data to achieve intraoral 3D scanning of the target oral cavity. A 3D scanning result determination module determines the 3D scanning result of the target oral cavity based on the 3D scanning data corresponding to each of the multiple 3D scanning heads. This device can scan the target oral cavity simultaneously with multiple 3D scanning heads, reducing scanning time. Furthermore, it allows scanning during the swinging process of the 3D scanning heads, eliminating the need for the operator to learn the scanning techniques and paths of the intraoral 3D scanner; the target oral cavity only needs to be occluded with the dental arch tray to quickly complete the scan, thereby reducing scanning time and learning costs.

[0192] The intraoral three-dimensional scanning device provided in this application embodiment can execute the intraoral three-dimensional scanning method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of the method execution.

[0193] It is worth noting that in the embodiments of the above-mentioned intraoral three-dimensional scanning device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of this application.

[0194] Figure 15 is a structural block diagram of an intraoral three-dimensional scanning system design device provided in an embodiment of this application. This device is used to execute the intraoral three-dimensional scanning system design method provided in any of the above embodiments. This device and the intraoral three-dimensional scanning system design method of the above embodiments belong to the same inventive concept. Details not described in detail in the embodiments of the intraoral three-dimensional scanning system design device can be referred to the embodiments of the intraoral three-dimensional scanning system design method. Referring to Figure 15, the device may specifically include: an oral data acquisition module 710 and an intraoral three-dimensional scanner manufacturing module 720.

[0195] Among them, the oral data acquisition module 710 is used to acquire the oral data of the design object;

[0196] The intraoral 3D scanner manufacturing module 720 is used to determine a system design scheme for a design object based on oral data, so as to manufacture the intraoral 3D scanner provided in any embodiment of this application according to the system design scheme.

[0197] Optional, the intraoral 3D scanner manufacturing module 720 includes:

[0198] The first system design scheme determination submodule is used to determine a system design scheme that matches the oral data from at least one set of preset alternative design schemes; or,

[0199] The second system design scheme determination submodule is used to determine system design information based on oral data, and to determine a system design scheme for the design object based on the system design information. The system design information includes at least one of the following: scanning head position, number of scanning heads, tray size, and tray shape.

[0200] The intraoral 3D scanning system design device provided in this application acquires oral data of the design object through an oral data acquisition module, and determines a system design scheme for the design object based on the oral data through an intraoral 3D scanner manufacturing module. Based on the system design scheme, the intraoral 3D scanning system provided in any embodiment of this application is manufactured, which can make the intraoral 3D scanning system more closely fit the intraoral environment of the design object, thereby making the 3D scanning results obtained by the intraoral 3D scanning system more accurate.

[0201] The intraoral three-dimensional scanning system design device provided in this application can execute the intraoral three-dimensional scanning system design method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of the method execution.

[0202] It is worth noting that in the embodiments of the above-mentioned intraoral three-dimensional scanning system design device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of this application.

[0203] Figure 16 shows a schematic diagram of the structure of an electronic device 10 that can be used to implement embodiments of this application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the application described and / or claimed herein.

[0204] As shown in Figure 16, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0205] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0206] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 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 processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as intraoral three-dimensional scanning methods or intraoral three-dimensional scanning system design methods.

[0207] In some embodiments, the intraoral 3D scanning method or intraoral 3D scanning system design method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the intraoral 3D scanning method or intraoral 3D scanning system design method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the intraoral 3D scanning method or intraoral 3D scanning system design method by any other suitable means (e.g., by means of firmware).

[0208] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0209] Computer programs used to implement the methods of this application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0210] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0211] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0212] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0213] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0214] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this application can be achieved, and this is not limited herein.

[0215] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application. Industrial applicability

[0216] The intraoral 3D scanner provided in this disclosure uses multiple 3D scanning heads to scan the target oral cavity, reducing scanning time. Furthermore, the scanning head can perform scanning while oscillating, eliminating the need for operators to learn the scanning techniques and paths required for the intraoral 3D scanner. Only the target oral cavity's occlusal arch tray is needed to quickly complete the scan, thus reducing scanning time and learning costs. The intraoral 3D scanner provided in this disclosure has strong industrial applicability.

Claims

1. An intraoral three-dimensional scanner, wherein, The application relates to a dental arch tray, a plurality of three-dimensional scanning heads and a swing driving device. The plurality of three-dimensional scanning heads are arranged on the dental arch tray. The swing driving device is connected with the plurality of three-dimensional scanning heads and is configured to drive the plurality of three-dimensional scanning heads to swing, and the plurality of three-dimensional scanning heads are configured to scan a target oral cavity which has been occluded with the dental arch tray during the swinging. The application further relates to a chimeric tray.

2. The scanner of claim 1, wherein, The chimeric tray is detachably embedded with the dental arch tray, the dental arch tray is made of elastic material, and the hardness of the chimeric tray is greater than that of the dental arch tray. The chimeric tray is made of 3D printing material. The dental arch tray is provided with a plurality of first tray holes, and each three-dimensional scanning head passes through a first tray hole.

3. The scanner of claim 2, wherein, The chimeric tray comprises a plurality of second tray holes, and the plurality of first tray holes and the plurality of second tray holes are in one-to-one correspondence.

4. The scanner of claim 2, wherein, The size of each second tray hole is greater than that of the corresponding first tray hole. The swing driving device comprises a centralized driving motor connected with the plurality of three-dimensional scanning heads and configured to drive all the three-dimensional scanning heads to swing simultaneously.

5. The scanner of claim 1, wherein, The swing driving device comprises a plurality of distributed motors corresponding to the plurality of three-dimensional scanning heads. The swing driving device comprises a centralized driving motor and a plurality of distributed motors. The swing driving device comprises a fixed seat, a piezoelectric body, a transfer rod and one or more rotating wheels.

6. The scanner of claim 1, wherein, The fixed seat is arranged on the dental arch tray, one end of the piezoelectric body is fixed to the fixed seat, the other end is connected to the transfer rod, the transfer rod is connected to one or more rotating wheels, each rotating wheel is connected to a corresponding three-dimensional scanning head and is configured to drive the corresponding three-dimensional scanning head to swing. ​ 7. An intraoral three-dimensional scanning method, wherein, The method is applied to a main control device, which is used in conjunction with an intraoral 3D scanner as described in any one of claims 1-6, and includes: The swing drive device in the intraoral 3D scanner is controlled to drive the multiple 3D scanning heads in the intraoral 3D scanner to swing. For each of the plurality of three-dimensional scanning heads, the three-dimensional scanning head is controlled to perform intraoral three-dimensional scanning on the target oral cavity that has been bitten into the dental arch tray in the intraoral three-dimensional scanner during the swinging process, and the obtained three-dimensional scanning data is obtained. The three-dimensional scanning result of the target oral cavity is determined based on the three-dimensional scanning data corresponding to the multiple three-dimensional scanning heads.

8. The method of claim 7, wherein, Also includes: Perform an integrity analysis on the three-dimensional scan results; If the obtained integrity analysis results indicate that the three-dimensional scan results are incomplete, a supplementary scan instruction is generated; In response to the supplementary scan command, the swing drive device is controlled to drive the supplementary scan head to swing, and the supplementary scan head is controlled to perform intraoral three-dimensional scanning of the target oral cavity during the swing process to obtain supplementary scan data, wherein the supplementary scan head is the three-dimensional scan head that corresponds to the supplementary scan command among the plurality of three-dimensional scan heads; The three-dimensional scan results are updated based on the three-dimensional scan results and the supplementary scan data.

9. The method of claim 8, wherein, The generation of supplementary scan instructions includes: Based on the integrity analysis results, the supplementary scanning area in the target oral cavity is determined; Based on the supplementary scan area, generate supplementary scan instructions; The step of generating supplementary scanning instructions based on the supplementary scanning area includes: Based on the supplementary scanning area, the supplementary scanning head is determined, and based on the supplementary scanning head, a supplementary scanning command is determined.

10. The method of claim 8, wherein, Before updating the three-dimensional scan results based on the three-dimensional scan results and the supplementary scan data, the method further includes: Based on the integrity analysis results, incomplete data in the 3D scan results are deleted, and the 3D scan results are updated based on the deletion results.

11. The method of claim 7, wherein, The three-dimensional scanning data is the data in the scanning head coordinate system of the three-dimensional scanning head; The step of determining the three-dimensional scan result of the target oral cavity based on the three-dimensional scan data corresponding to the plurality of three-dimensional scanning heads includes: For each of the plurality of three-dimensional scanning heads, according to the predetermined transformation relationship of the three-dimensional scanning heads, the three-dimensional scanning data of the three-dimensional scanning head is transformed into the global coordinate system to obtain global data; Based on the global data corresponding to the multiple 3D scanning heads, the 3D scanning result of the target oral cavity is determined, wherein the transformation relationship is the data transformation relationship between the scanning head coordinate system and the global coordinate system.

12. The method of claim 11, wherein, Also includes: In response to the target calibration command, for each of the plurality of three-dimensional scanning heads, the three-dimensional scanning head is controlled to scan the calibration object to obtain calibration scanning data in the scanning head coordinate system of the three-dimensional scanning head; For each of the plurality of three-dimensional scanning heads, a conversion relationship of the three-dimensional scanning head is determined according to the calibration scanning data of the three-dimensional scanning head and the global coordinate system.

13. The method of claim 7, wherein, The control of the swing driving device in the intraoral three-dimensional scanner to drive the plurality of three-dimensional scanning heads in the intraoral three-dimensional scanner to swing includes: The control of the swing driving device in the intraoral three-dimensional scanner to drive the plurality of three-dimensional scanning heads in the intraoral three-dimensional scanner to swing, and the control of the plurality of three-dimensional scanning heads to move on the dental arch tray in the intraoral three-dimensional scanner.

14. An intraoral three-dimensional scanning system, wherein, Comprise: The intraoral three-dimensional scanner and the master control device in any one of claims 1-6, the master control device is applied in cooperation with the intraoral three-dimensional scanner, the intraoral three-dimensional scanner and the master control device have wired connection or wireless connection, the master control device includes swing module, scanning module and processing module; wherein, The swing module is configured to control the swing driving device in the intraoral three-dimensional scanner to drive the plurality of three-dimensional scanning heads in the intraoral three-dimensional scanner to swing; The scanning module is configured to, for each of the plurality of three-dimensional scanning heads, control the three-dimensional scanning head to perform intraoral three-dimensional scanning on a target oral cavity that has bitten the dental arch tray in the intraoral three-dimensional scanner during the swing process, and send the three-dimensional scanning data obtained by scanning to the processing module; The processing module is configured to determine a three-dimensional scanning result of the target oral cavity according to the three-dimensional scanning data sent by the plurality of three-dimensional scanning heads respectively.

15. The system of claim 14, wherein, Further comprising: a calibration device, the calibration device comprises a calibration piece with the same shape or similar shape as the dental arch tray, and the calibration piece is configured to calibrate the intraoral three-dimensional scanner.

16. An intraoral three-dimensional scanning system design method, wherein, Comprise: Obtain oral data of a design object; According to the oral data, determine a system design scheme for the design object, so as to manufacture the intraoral three-dimensional scanner according to the system design scheme.

17. The method of claim 16, wherein, The determination of the system design scheme for the design object according to the oral data comprises: From at least one set of alternative design schemes, determine a system design scheme matching the oral data; or, According to the oral data, determine system design information, and determine a system design scheme for the design object according to the system design information, wherein the system design information comprises at least one of scanning head position, scanning head number, tray size and tray shape.

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