Data processing method, apparatus, and device for assisting oral scanning

Abstract

The present disclosure proposes a data processing method, apparatus, and device for assisting oral scanning, relating to the technical field of oral medicine. The data processing method for assisting oral scanning of the present disclosure comprises: acquiring intraoral scanning data, the intraoral scanning data comprising a relative positional relationship between gums and teeth; according to the intraoral scanning data, establishing a model; and according to the model and parameters of a pneumatic gingival retraction device, determining a target pose of a nozzle of the pneumatic gingival retraction device.

Description

Data processing methods, devices, and equipment for assisting oral scanning

[0001] Cross-references to related applications

[0002] This application is based on and claims priority to CN application number 202510125287.9, filed on January 26, 2025, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to the field of oral medicine technology, and in particular to a data processing method, apparatus and device for assisting oral scanning. Background Technology

[0004] During subgingival shoulder scanning, pneumatic gingival retraction is required to obtain a better field of view and improve the comprehensiveness of the scan. Pneumatic gingival retraction uses high-speed airflow to separate the gingival tissue. Clinicians adjust the device angle and airflow direction continuously during the procedure, and in conjunction with intraoral scanning equipment, obtain scanning data of the area covered by the gingiva. Summary of the Invention

[0005] One objective of this disclosure is to improve the efficiency and user-friendliness of oral scanning and reduce the difficulty of operation.

[0006] According to one aspect of some embodiments of this disclosure, a data processing method for assisting oral cavity scanning is proposed, comprising: acquiring intraoral scanning data, the intraoral scanning data including the relative positional relationship between the gingiva and teeth; establishing a model based on the intraoral scanning data; and determining the target pose of the nozzle of the pneumatic gingival retraction device based on the model and parameters of the pneumatic gingival retraction device.

[0007] In some embodiments, the data processing method further includes: determining the target pose of the scanning device based on the model and the scanning data.

[0008] In some embodiments, the data processing method further includes: determining the current position of the scanning device; and determining the movement path of the scanning device based on the current position of the scanning device and the target position of the scanning device.

[0009] In some embodiments, determining the target pose of the nozzle of the pneumatic gingival retraction device based on the model and parameters of the pneumatic gingival retraction device includes: determining the angle between the edge of the target gingiva and the axis of the corresponding tooth based on the model; and determining the target pose of the nozzle based on the angle, wherein the target pose of the nozzle includes the target pose of the nozzle.

[0010] In some embodiments, determining the target pose of the nozzle of the pneumatic gingival retraction device based on the model and the parameters of the pneumatic gingival retraction device includes: determining the distance between the target position of the nozzle and the target gingival ridge based on the target pressure at the target gingival ridge based on the parameters of the pneumatic gingival retraction device; and determining the target position of the nozzle based on the model based on the position and distance of the target gingival ridge, wherein the target pose of the nozzle includes the target position of the nozzle.

[0011] In some embodiments, acquiring intraoral scan data includes: acquiring scan data of the intraoral cavity, including the tooth surface and gingival surface, collected by a scanning device through multi-frame scanning, wherein the scanning device projects structured light images into the intraoral cavity; and establishing a model based on the intraoral scan data includes: determining the depth information of each position in the image of the scan data by comparison based on the structured light images in the scan data and the projected structured light images; acquiring the positional relationship between scan data of different frames through key point matching; and establishing a model based on the image, positional relationship, and depth information of scan data of different frames.

[0012] In some embodiments, the model building based on intraoral scanning data further includes: determining the relative position and orientation of the scanning device inside the oral cavity and the correspondence between the scanning data collected by the scanning device and the relative position information of the teeth and gums inside the oral cavity, wherein the model also includes the orientation of the scanning device and its relative position inside the oral cavity and the correspondence between the scanning device and the area scanned by the scanning device.

[0013] In some embodiments, the data processing method further includes: acquiring the area of ​​the scanned data as needed, and determining the target pose of the scanning device based on the correspondence in the model.

[0014] In some embodiments, the data processing method further includes sending the target pose of the nozzle to a display device.

[0015] In some embodiments, the data processing method further includes sending the target pose and movement path of the scanning device to the display device.

[0016] According to one aspect of some embodiments of the present disclosure, a data processing apparatus for assisting oral cavity scanning is provided, comprising: a scanning data acquisition unit configured to acquire intraoral scanning data, the intraoral scanning data including the relative positional relationship between the gingiva and teeth; a modeling unit configured to build a model based on the intraoral scanning data; and a pose determination unit configured to determine the target pose of the nozzle of the pneumatic gingival retraction device based on the model and parameters of the pneumatic gingival retraction device.

[0017] In some embodiments, the data processing apparatus further includes a data transmission unit configured to transmit information determined by the pose determination unit to the display device.

[0018] According to one aspect of some embodiments of this disclosure, a data processing apparatus for assisting oral scanning is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute any of the data processing methods for assisting oral scanning described above based on instructions stored in the memory.

[0019] According to one aspect of some embodiments of the present disclosure, a computer-readable storage medium is provided having computer instructions stored thereon that, when executed by a processor, implement any of the data processing methods described above for assisting oral scanning.

[0020] According to one aspect of some embodiments of this disclosure, a computer program product is proposed, including a computer program or instructions that, when executed by a processor, implement any of the data processing methods described above for assisting oral scanning.

[0021] According to one aspect of some embodiments of this disclosure, an apparatus for assisting oral scanning is provided, comprising: any of the data processing devices for assisting oral scanning described above; and a display device configured to acquire and display data from the data processing device.

[0022] In some embodiments, the device for assisting oral scanning further includes a scanning device configured to acquire scanning data inside the oral cavity.

[0023] In some embodiments, the device for assisting oral scanning further includes a pneumatic gingival retraction device configured to output gas from a nozzle to separate gingival tissue from the teeth.

[0024] According to one aspect of some embodiments of this disclosure, a computer program is provided for causing a processor to perform any of the data processing methods described above for assisting oral cavity scanning. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure.

[0026] Figure 1 is a flowchart of some embodiments of the data processing method for assisting oral scanning disclosed herein.

[0027] Figure 2 is a flowchart of some other embodiments of the data processing method for assisting oral scanning disclosed herein.

[0028] Figure 3 is a schematic diagram of some embodiments of the structured light projection optical path in the data processing method for assisting oral scanning disclosed herein.

[0029] Figure 4 is a schematic diagram of some embodiments of depth calculation in the data processing method for assisting oral scanning disclosed herein.

[0030] Figure 5 is a schematic diagram of some embodiments of the data processing device for assisting oral scanning disclosed herein.

[0031] Figure 6 is a schematic diagram of some other embodiments of the data processing apparatus for assisting oral scanning disclosed herein.

[0032] Figure 7 is a schematic diagram of some further embodiments of the data processing apparatus for assisting oral scanning disclosed herein.

[0033] Figure 8 is a schematic diagram of some embodiments of the device for assisting oral scanning disclosed herein.

[0034] Figure 9 is a flowchart of performing an oral scan using the device for assisting oral scanning disclosed herein.

[0035] Figure 10 is a schematic diagram of the effect of performing an oral scan using the device for assisting oral scanning disclosed herein. Detailed Implementation

[0036] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments.

[0037] In modern digital dental restorations, accurate scanning of the subgingival shoulder is crucial for obtaining high-quality digital impressions. However, traditional scanning methods often face challenges due to the complex anatomy and confined space of the subgingival region. To address the problems caused by gingival obstruction, pneumatic gingival retraction has emerged. This technique uses high-speed airflow to temporarily separate the gingival tissue, facilitating the acquisition of clear subgingival shoulder data by an intraoral 3D scanner. However, although pneumatic gingival retraction improves scanning accuracy to some extent, it still faces some technical bottlenecks in clinical application.

[0038] The inventors discovered that, due to the unidirectional airflow of pneumatic gingival retraction devices, it is difficult to achieve ideal separation results in areas with thick gingiva or complex anatomical structures, especially in certain clinical situations where the airflow cannot reach the optimal exposure angle. Secondly, the operating angle of intraoral scanning devices is limited by the patient's mouth opening and the device's design features, particularly in the posterior teeth region, where dentists struggle to find a suitable operating angle for precise scanning. This forces clinicians to repeatedly adjust the angle and airflow direction during operation, prolonging the procedure and increasing complexity. Furthermore, prolonged airflow can lead to oral dryness, causing discomfort, and may even cause gingival pain or damage, reducing patient comfort. Finally, pneumatic gingival retraction technology demands a high level of skill from the dentist, especially for inexperienced dentists who may find it difficult to quickly master the operating techniques, thus affecting scanning quality and efficiency.

[0039] To address the aforementioned issues, this disclosure proposes a data processing method, apparatus, and device for assisting oral scanning. This method can generate data in real time to guide doctors in performing oral scanning operations, reducing the operational difficulty of pneumatic gingival retraction devices and their reliance on doctors' experience, improving scanning efficiency, reducing doctors' operation time, and enhancing user-friendliness for patients.

[0040] A flowchart of some embodiments of the data processing method for assisting oral scanning disclosed herein is shown in Figure 1, including steps S11-S13. The method can be implemented by a computer device connected via wired or wireless means to other devices (e.g., one or more of a scanning device, a pneumatic gingival retraction device, or a display device).

[0041] In step S11, intraoral scan data is acquired, including the relative positional relationship between the gums and teeth. For example, a doctor can use a scanning device (such as an intraoral scanning device) to perform multi-frame scans of the patient's oral cavity to obtain the relative positional relationship between the gums and teeth within the field of view of the scanning device.

[0042] In some embodiments, doctors can obtain as comprehensive intraoral scan data as possible using only a scanning device or with the aid of a device that helps to open the patient's mouth. The scan data does not need to be detailed and complete. The data processing method for assisting oral scanning proposed in this disclosure can be used for supplementary scanning to improve the efficiency of the initial scan and then improve the comprehensiveness and completeness of the data through supplementary scanning.

[0043] In some embodiments, scan data of a patient's pre-existing oral cavity scan can be obtained by reading from storage or data transmission, thereby shortening the data preparation process and improving data processing efficiency.

[0044] In some embodiments, the scanning head of the scanning device may be equipped with a 3D camera to acquire depth information for each point.

[0045] In some embodiments, the scanning device can project structured light into the oral cavity and acquire images of the oral cavity with the structured light projected onto its surface using an image acquisition device. For example, as shown in Figure 2, the scanning head of the scanning device has a light emitter 1 and a camera 2. The light emitter 1 emits a specific structured light pattern, and the camera 2 captures the reflected light pattern in real time. The scanning device scans the surface 3 of the object.

[0046] In step S12, a model is built based on the intraoral scan data.

[0047] In some embodiments, the same feature points can be obtained by analyzing the feature points in the scan data of different frames, and then the scan data can be stitched together based on the feature points to realize the three-dimensional reconstruction of the oral cavity environment. The result of the three-dimensional reconstruction can be used as a model for subsequent use.

[0048] In some embodiments, the obtained scanning data may be image data including structured light images. Based on the structured light images in the scanning data, the depth information of each position in the image of the scanning data is determined by comparison with the projected structured light images. For example, by comparing the differences between a standard pattern and a reflective pattern, the three-dimensional depth data is analyzed to obtain the depth information of each pixel in the scanned image, thus obtaining three-dimensional scanning data. As shown in Figure 3, a simplified schematic diagram of continuous light rays on the surface of the object being scanned is provided. 1' is the light emitter, 2' is the built-in camera, 3' is the surface being scanned (the surface being scanned is shown as 3 in Figure 2), D is the position of the surface being scanned (shown as 4 in Figure 2), b is the parallax between the light emitter and the camera, and Z... O Z represents the distance from the farthest intersection point of the straight lines in the direction of region D from the viewpoints of the camera and the light emitter to the camera coordinate reference plane, f is the camera focal length, d is the parallax observed in camera coordinates, and Z... K (For depth). From Figure 2, we can see:

[0049] The above calculation formula can be used to obtain the distance between the surface of the scanned object and the scanning head, that is, the depth data in the image.

[0050] Furthermore, the positional relationship (including the queuing position and relative angle relationship) between the scan data of different frames is obtained by key point matching. Based on the image, positional relationship and depth information of the scan data of different frames, the scan data is stitched together to realize the three-dimensional reconstruction of the oral cavity environment. The result of the three-dimensional reconstruction is used as a model for subsequent use.

[0051] This method enables the use of structured light data to improve the accuracy of depth information analysis in narrow and poorly lit oral environments, thereby improving the accuracy of three-dimensional reconstruction of the oral environment and enhancing the matching degree between the model and the patient's oral environment.

[0052] In step S13, the target pose of the nozzle of the pneumatic gingival retraction device is determined based on the model and the parameters of the pneumatic gingival retraction device.

[0053] In some embodiments, the target pose of the nozzle includes the target orientation of the nozzle. This can be achieved by first determining the angle between the edge of the target gingiva and the axis of the corresponding tooth based on a model, and then determining the direction of the required airflow based on this angle, thus obtaining the target orientation of the nozzle. This method improves the targeting of pneumatic gingival retraction, reduces the impact on other areas of the oral cavity, reduces the required airflow intensity, thereby reducing patient discomfort and improving user-friendliness.

[0054] For example, based on the preliminary data obtained from the first scanning process, the tooth axis is fitted, and the angle between the tooth axis and the gingival margin is measured to obtain the angle θ. Then, the angle a between the jet nozzle axis and the tooth axis is within θ ± 15°.

[0055] In some embodiments, the target pose of the nozzle includes the target position of the nozzle. Based on the parameters of the pneumatic gingival retraction device and the target pressure at the target gingiva, the distance between the target position of the nozzle and the target gingiva is determined. Then, based on the position and distance of the target gingiva, and using a model, a position suitable for placing the nozzle, with a distance comparable to the calculated distance, is obtained as the target position of the nozzle. This method ensures the feasibility of placing the nozzle, facilitating operation by the doctor; it avoids excessive airflow causing patient discomfort due to an inappropriate distance, or insufficient airflow affecting the gingival retraction effect, thus improving the convenience and data accuracy of subsequent scans.

[0056] For example, the pressure P2 at a distance x from the nozzle can be represented by the following formula (2):

[0057] In formulas (2)-(6), P1 is the pressure at the nozzle, v1 is the air velocity, ρ is the air density, A is the cross-sectional area of ​​the nozzle, and P atm The ambient pressure is given, and L is the characteristic length of the jet diffusion. Among the parameters mentioned above, P1, v1, ρ, and A are known parameters of the pneumatic gingival device. The ambient pressure is given by P. atm The characteristic length L of the jet diffusion is also known. Information at a distance x from the nozzle can be calculated using a structured light formula from an in-orifice 3D scanner.

[0058] The specific derivation formula is as follows:

[0059] From Bernoulli's equation, we can obtain:

[0060] According to the law of conservation of momentum, we can obtain:

[0061] Where v2 is the velocity at x, and A x Let x be the cross-sectional area at a distance x.

[0062] Assuming the jet stream diffuses with increasing distance x, and the cross-sectional area A x Approximately:

[0063] Therefore, the velocity v2 is:

[0064] Applying Bernoulli's equation, we obtain the following at the nozzle and at a distance x from the nozzle:

[0065] Finally, we can obtain the above formula (2).

[0066] The distance x can be calculated based on the target pressure P2 at the target gingiva.

[0067] Based on the method in the embodiments shown above, the ideal target pose of the jet nozzle for pneumatic gingival retraction can be determined, and data to guide doctors in performing oral scanning operations can be generated in real time. This reduces the operational difficulty of the pneumatic gingival retraction device and its dependence on doctors' experience, improves scanning efficiency, reduces the doctor's operation time, and improves the user-friendliness for patients.

[0068] In some embodiments, as shown in FIG1, the data processing method for assisting oral cavity scanning further includes step S14.

[0069] In step S14, the target pose of the nozzle is sent to the display device.

[0070] Based on the method in this embodiment, the target pose of the nozzle can be displayed through a display device, for example, by displaying the nozzle in the target pose state in a model image. This helps doctors to intuitively obtain the target pose, making it easier to operate according to the target pose and further reducing the difficulty of operation.

[0071] Flowcharts of some other embodiments of the data processing method for assisting oral scanning disclosed herein are shown in Figure 4.

[0072] Step S11 is the same as or similar to the embodiment shown in Figure 1 above.

[0073] In step S12, based on step S12 above, the results of the three-dimensional reconstruction of the oral cavity can be further supplemented so that the model also includes the orientation of the scanning device and its relative position inside the oral cavity, and the correspondence between the scanning device and the area scanned by the scanning device.

[0074] For example, based on the scanning data collected by the scanning device and the relative position information of the teeth and gums inside the oral cavity, the correspondence between the relative position and posture of the scanning device inside the oral cavity and the area scanned by the scanning device can be determined.

[0075] In step S15, the target pose of the scanning device is determined based on the model and the scan data. In some embodiments, the target pose of the scanning device can be determined based on the correspondence in the model, according to the area where scan data needs to be acquired. For example, after the airflow opens the gums, the position and angle that the scanning device needs to be adjusted can be derived by combining the three-dimensional coordinates and depth information obtained from the initial scan. By adjusting the scanning device to the target pose, a clear and accurate scan result of the area where the gums have been opened can be obtained.

[0076] In some embodiments, the data processing method for assisting oral scanning further includes step S18.

[0077] In step S18, the target pose of the scanning device is sent to the display device. For example, based on the results of the three-dimensional reconstruction of the oral cavity, the scanning device (scanning head) that matches the target pose of the scanning device can be displayed, thereby providing doctors with intuitive reference information.

[0078] In some embodiments, the data processing method for assisting oral scanning further includes steps S16-S17.

[0079] In step S16, the current position of the scanning device is determined. In some embodiments, the current scanning data of the scanning device can be matched in the model to obtain the pose of the scanning device corresponding to the current scanning data, and the position data therein can be extracted as the current position.

[0080] In step S17, the movement path of the scanning device is determined based on its current position and target position. In some embodiments, the path planning for the scanning device can be performed by combining the three-dimensional reconstruction results of the oral cavity in the model to obtain the movement path. Then, in step S18, the target pose and movement path of the scanning device are sent to the display device.

[0081] This method enables real-time path planning, which is displayed on a monitor to precisely guide the scanning device's movement direction and distance, thus achieving accurate supplementary scanning of the subgingival region. It allows doctors to clearly see the direction, distance, and angle that the scanning device needs to move, presented in a visual way, helping doctors quickly adjust the scanner's position to ensure that the supplementary area is fully covered.

[0082] Based on the methods described in the above embodiments of this disclosure, automated calculation and real-time feedback significantly reduce the physician's reliance on experience in pneumatic gingival retraction, shorten the learning curve, and improve operational efficiency and accuracy, while reducing uncertainties in clinical practice. This not only improves scan quality but also greatly enhances patient comfort and reduces the complexity and operational risks of subgingival scanning. In clinical practice, an intraoral scanner is used to obtain three-dimensional data of the oral cavity, and pneumatic gingival retraction is used for supplementary scanning. The results of the supplementary scanning are combined with the previously obtained three-dimensional data of the oral cavity to improve data completeness, ultimately contributing to improved accuracy and clinical outcomes in overall restorative design.

[0083] Figure 5 shows schematic diagrams of some embodiments of the data processing apparatus for assisting oral scanning disclosed herein.

[0084] The scanning data acquisition unit 511 is capable of acquiring intraoral scan data, including the relative positional relationship between the gums and teeth. In some embodiments, the scanning data acquisition unit 511 can perform the method described in the embodiment of step S11 above.

[0085] The modeling unit 512 can build a model based on intraoral scan data. In some embodiments, the modeling unit 512 can perform the method in the embodiment shown in step S12 above.

[0086] The pose determination unit 513 can determine the target pose of the nozzle of the pneumatic gingival retraction device based on the model and the parameters of the pneumatic gingival retraction device. In some embodiments, the pose determination unit 513 can perform the method in the embodiment shown in step S13 above.

[0087] Using the apparatus in the embodiments shown in this disclosure, the ideal target pose of the jet nozzle for pneumatic gingival retraction can be determined, and data can be generated in real time to guide the doctor in performing oral scanning operations. This reduces the operational difficulty of pneumatic gingival retraction equipment and its dependence on the doctor's experience, improves scanning efficiency, reduces the doctor's operation time, and improves the user-friendliness for patients.

[0088] In some embodiments, the data processing apparatus further includes a data transmission unit 514, which can transmit the information determined by the pose determination unit to the display device. Such an apparatus can display the target pose of the nozzle on the display device, for example, by displaying the nozzle in the target pose state in a model image, which helps doctors to intuitively obtain the target pose, facilitates operation according to the target pose, and further reduces the difficulty of operation.

[0089] In some embodiments, the pose determination unit 513 can also determine the target pose of the scanning device based on the model and scan data. In some embodiments, the pose determination unit 513 can perform the method in the embodiment shown in step S15 above. Such a device can deduce the position and angle that the scanning device needs to be adjusted, providing guidance for doctors to adjust the scanning device to the target pose of the scanning device and obtain clear and accurate scan results of the area where the gums have been blown open, which is beneficial to improving the accuracy of the scan results and the scanning efficiency.

[0090] In some embodiments, the data sending unit 514 can send the target pose of the scanning device to the display device. For example, based on the results of oral cavity three-dimensional reconstruction, the scanning device (scanning head) that conforms to the target pose of the scanning device can be displayed, thereby providing doctors with intuitive reference information.

[0091] In some embodiments, the pose determination unit 513 can also determine the current position of the scanning device and, based on the current position and the target position of the scanning device, determine the movement path of the scanning device. For example, the pose determination unit 513 matches the current scanning data of the scanning device in the model to obtain the pose of the scanning device corresponding to the current scanning data, and extracts the position data therein as the current position. Further, combining the oral cavity 3D reconstruction results in the model, the scanning device is used for path planning to obtain the movement path. The data transmission unit 514 can also send the target pose and movement path of the scanning device to the display device.

[0092] Such a device can generate path planning in real time and display it on a monitor, accurately guiding the movement direction and distance of the scanning device to achieve precise supplementary scanning of the subgingival region; it allows doctors to clearly see the direction, distance and angle that the scanning device needs to move, presented in a visual way, helping doctors to quickly adjust the position of the scanner and ensure that the supplementary area is fully covered.

[0093] A schematic diagram of one embodiment of the data processing device for assisting oral scanning disclosed herein is shown in Figure 6. The data processing device for assisting oral scanning includes a memory 601 and a processor 602. The memory 601 can be a disk, flash memory, or any other non-volatile storage medium. The memory stores instructions from the corresponding embodiments of the data processing method for assisting oral scanning described above. The processor 602 is coupled to the memory 601 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 602 executes the instructions stored in the memory, enabling real-time generation of data to guide the physician in oral scanning operations, reducing the operational difficulty of pneumatic gingival retraction devices and their reliance on physician experience, improving scanning efficiency, reducing physician operation time, and enhancing patient user-friendliness.

[0094] In one embodiment, as shown in FIG7, the data processing device 700 for assisting oral scanning includes a memory 701 and a processor 702. The processor 702 is coupled to the memory 701 via a BUS bus 703. The data processing device 700 for assisting oral scanning can also be connected to an external storage device 705 via a storage interface 704 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 706. Further details are omitted here.

[0095] In this embodiment, by storing data instructions in a memory and then processing them with a processor, data can be generated in real time to guide the doctor in performing oral scanning operations. This reduces the operational difficulty of the pneumatic gingival retraction device and its reliance on the doctor's experience, improves scanning efficiency, reduces the doctor's operation time, and enhances patient user-friendliness.

[0096] In another embodiment, a computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the steps of the method in the corresponding embodiment for a data processing method for assisting oral scanning. Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0097] Schematic diagrams of some embodiments of the device for assisting oral scanning disclosed herein are shown in Figure 8.

[0098] Data processing device 81 for assisting oral scanning, which can be any of the data processing devices for assisting oral scanning described above.

[0099] Display device 82 is able to acquire and display data from data processing device.

[0100] The device described in the above embodiments can generate data in real time to guide doctors in performing oral scanning operations, reducing the operational difficulty of pneumatic gingival retraction devices and the reliance on doctors' experience, improving scanning efficiency, reducing doctors' operation time, improving patient user-friendliness, and displaying guidance information through a display device, which helps doctors intuitively obtain the target posture and facilitates operation according to the target posture, further reducing the difficulty of operation.

[0101] In some embodiments, the device for assisting oral scanning further includes a scanning device 83, which is capable of collecting scanning data inside the oral cavity, thereby facilitating the data processing device to obtain the scanning data and generate a model based on the scanning data, thereby improving processing efficiency.

[0102] In some embodiments, the device for assisting oral scanning also includes a pneumatic gingival retraction device 84 capable of outputting gas from a nozzle to separate gingival tissue from teeth, thereby avoiding data loss caused by gingival obstruction and improving the comprehensiveness and accuracy of the scanning results.

[0103] Figure 9 shows a flowchart of performing an oral scan using the device for assisting oral scanning disclosed herein.

[0104] In step 901, without performing pneumatic gingival retraction, the dentist uses an intraoral 3D scanner (the scanning device mentioned above) to perform a complete scan of the patient's oral cavity, completing one full scan operation. The purpose of this scanning step is to acquire 3D data of the teeth, gums, and related oral structures to form a digital model. This model provides the basic data for subsequent pneumatic gingival retraction. The scan data generated in this operation can generate guidance information for the dentist based on any of the data processing methods mentioned above used to assist oral scanning. Then, step 902 is executed.

[0105] In step 902, the initial full-mouth 3D data acquisition is completed, the pneumatic gingival retraction technology is activated, and guidance information is displayed. Based on the target pose information of the nozzle in the guidance information, pneumatic gingival retraction is activated, and the position of the scanning device is adjusted based on the target pose information and movement path information of the scanning device, triggering the execution of steps 903 and 904. The pneumatic gingival retraction function aims to gently open the gingiva by precisely controlling the airflow, thereby maximizing the exposure of the subgingival area and ensuring that the scanner can capture the gingival margin and subgingival details. The system calculates the optimal airflow angle, intensity, and airflow area required to open the gingiva based on the 3D data generated from the initial scan, ensuring that the airflow is effective and does not cause discomfort to the patient.

[0106] In step 903, the position of the scanning area in the oral cavity is confirmed in real time as the scanning device (or scanner, specifically, the position of the moving scanning head) is moved. In some embodiments, when the physician begins a follow-up scan (i.e., the scanner captures the first frame of data in the subgingival region), the system automatically identifies the spatial position of the scanner using 3D registration technology. The current scanner position is compared with the previously established 3D model, and guidance is provided via a real-time display based on the calculated optimal scanning path. For example, the display visually presents the required direction, angle, and distance of the scanner's movement. Arrows or path prompts may be displayed on the display to guide the physician to move the scanner in the correct direction to ensure accurate coverage of the subsequent scanning area.

[0107] In step 904, as the scanning device moves, its current position is determined and the movement path is updated. Based on the guidance information, the doctor adjusts the scanner's position and angle, gradually completing the subgingival region scan. The device dynamically adjusts navigation prompts based on real-time captured data, ensuring the doctor always operates the scanner along the optimal path. This real-time feedback-based navigation method greatly reduces the possibility of missing areas during scanning, improving the completeness and accuracy of the scan.

[0108] Furthermore, the system can automatically optimize the airflow angle and intensity during the doctor's procedure to accommodate differences in oral structure and subgingival morphology among different patients. By comparing the real-time captured 3D data of the gingival margin with the original data, the system can intelligently determine whether further adjustments to the scanner's position or airflow parameters are needed.

[0109] In step 905, guided by information displayed on the display device, the doctor completes the scan, particularly the fill-in scan of the missing areas from step 901. After completing the fill-in scan of all areas, the data from the initial scan and the fill-in scan are integrated to generate a complete, high-precision 3D model of the teeth, gums, and subgingival region. The doctor can then use this model to design subsequent diagnostic and treatment plans.

[0110] For example, as shown in Figure 10, the scan result before pneumatic gingival retraction at the location indicated by the arrow is shown in the left image. After pneumatic gingival retraction, the data in the area covered by the gingiva can be completed, resulting in the scan result shown in the right image. Figure 10 is only a schematic diagram of the scanning effect and does not constitute an undue limitation on this disclosure.

[0111] Based on the methods in the above embodiments of this disclosure, the scanner can be accurately positioned, and the operation can be guided by intelligent navigation, which greatly reduces human error in the scanning process and significantly improves the efficiency and accuracy of scanning. Through the combination of intelligent navigation system and pneumatic gingival retraction technology, doctors can complete accurate scanning of the subgingival region in a short time, which improves the smoothness of the overall operation and ensures the comfort of patients.

[0112] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0113] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0114] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0115] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0116] The methods and apparatus of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0117] It should be noted that the terms "first," "second," etc., used in the specification, claims, and drawings of this disclosure 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 disclosure described herein can be implemented in orders other than those illustrated or described herein. 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.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and not to limit them; although this disclosure has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this disclosure or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of this disclosure, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in this disclosure.

Claims

1. A data processing method for assisting oral cavity scanning, comprising: Acquire intraoral scan data, which includes the relative positional relationship between the gums and teeth; A model was built based on the intraoral scan data. Based on the model and the parameters of the pneumatic gingival retraction device, the target pose of the nozzle of the pneumatic gingival retraction device is determined.

2. The data processing method according to claim 1 further includes: Based on the model and the scanning data, the target pose of the scanning device is determined.

3. The data processing method according to claim 2 further includes: Determine the current position of the scanning device; The movement path of the scanning device is determined based on its current position and its target position.

4. The data processing method according to any one of claims 1-3, wherein, The step of determining the target pose of the nozzle of the pneumatic gingival retraction device based on the model and the parameters of the pneumatic gingival retraction device includes: The angle between the edge of the target gingiva and the axis of the corresponding tooth is determined based on the model. The target orientation of the nozzle is determined based on the included angle, wherein the target orientation of the nozzle includes the target orientation of the nozzle.

5. The data processing method according to any one of claims 1-4, wherein, The step of determining the target pose of the nozzle of the pneumatic gingival retraction device based on the model and the parameters of the pneumatic gingival retraction device includes: Based on the parameters of the pneumatic gingival retraction device and the target pressure at the target gingiva, the distance between the target position of the nozzle and the target gingiva is determined. Based on the location of the target gingiva and the distance, the target position of the nozzle is determined according to the model, wherein the target pose of the nozzle includes the target position of the nozzle.

6. The data processing method according to any one of claims 1-5, wherein, The acquisition of intraoral scanning data includes: acquiring scanning data of the intraoral cavity, including the tooth surface and gingival surface, collected by the scanning device through multi-frame scanning, wherein the scanning device projects structured light images into the intraoral cavity; The step of establishing a model based on the intraoral scan data includes: determining the depth information of each position in the scan data image by comparison based on the structured light image projected in the scan data; The positional relationship between scan data from different frames is obtained through keypoint matching; The model is established based on the images of the scanned data from different frames, the positional relationships, and the depth information.

7. The data processing method according to any one of claims 1-6, wherein, The process of building a model based on the intraoral scan data further includes: Based on the scanning data collected by the scanning device and the relative position information of the teeth and gums inside the oral cavity, the relative position and orientation of the scanning device inside the oral cavity, and the correspondence between them and the area scanned by the scanning device, are determined. The model also includes the orientation of the scanning device and its relative position inside the oral cavity, and the correspondence between these two positions and the area scanned by the scanning device.

8. The data processing method according to claim 7 further includes: Based on the correspondence in the model, the target pose of the scanning device is determined according to the area where the scanned data is acquired as needed.

9. The data processing method according to any one of claims 1-8, further comprising: The target pose of the nozzle is sent to the display device.

10. The data processing method according to claim 3, further comprising: The target pose of the scanning device and the movement path are sent to the display device.

11. A data processing device for assisting oral cavity scanning, comprising: The scanning data acquisition unit is configured to acquire intraoral scanning data, which includes the relative positional relationship between the gums and teeth. The modeling unit is configured to build a model based on the intraoral scan data; The pose determination unit is configured to determine the target pose of the nozzle of the pneumatic gingival device based on the model and the parameters of the pneumatic gingival device.

12. The data processing apparatus according to claim 11, further comprising: The data transmission unit is configured to send the information determined by the pose determination unit to the display device.

13. A data processing device for assisting oral cavity scanning, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the data processing method for assisting oral scanning as described in any one of claims 1 to 10 based on instructions stored in the memory.

14. A computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the data processing method for assisting oral cavity scanning as described in any one of claims 1 to 10.

15. A computer program product comprising a computer program or instructions that, when executed by a processor, implement the data processing method for assisting oral scanning as described in any one of claims 1 to 10.

16. A device for assisting in oral cavity scanning, comprising: The data processing apparatus for assisting oral cavity scanning according to any one of claims 11-13; A display device is configured to acquire and display data from the data processing device.

17. The device of claim 16, further comprising at least one of the following: The scanning device is configured to acquire scanning data of the interior of the oral cavity; or A pneumatic gingival retraction device is configured to output gas from a nozzle to separate gingival tissue from the tooth.

18. A computer program for causing a processor to perform the data processing method for assisting oral cavity scanning as described in any one of claims 1 to 10.

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