Method and apparatus for determining movement trajectory of mandible, and electronic device

Abstract

A method and apparatus for determining a movement trajectory of the mandible, and an electronic device. The method for determining a movement trajectory of the mandible comprises: scanning, by means of an intraoral scanning device, an auxiliary component fixed on the gingiva in the oral cavity of a target object to obtain intraoral scanning data, wherein a feature structural component is arranged on the auxiliary component (S202); collecting, by means of a facial scanning device, marker point trajectory data corresponding to marker points on the feature structural component (S204); and determining a movement trajectory of the mandible of the target object on the basis of the marker point trajectory data and the intraoral scanning data (S206). The technical problem in the related art that mandibular movement measurement is not suitable for edentulous patients is solved.

Description

Methods, devices, and electronic equipment for determining the movement trajectory of the mandible Cross-reference to related applications

[0001] This application claims priority to Chinese Patent Application No. 202510207380.4, filed on February 24, 2025, entitled “Method, Apparatus and Electronic Device for Determining Mandibular Movement Trajectory”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of oral medicine technology, and more specifically, to a method, apparatus, and electronic device for determining the movement trajectory of the mandible. Background Technology

[0003] In mandibular motion measurement in oral medicine, it is difficult to fix the mandibular forelegs in edentulous patients due to the low alveolar ridge. Using markers on the mandible is also susceptible to interference from the oral environment and mandibular movements, causing the markers to be obscured or lose reflectivity, making scanning difficult. Furthermore, mandibular motion measurement requires binding intraoral scan data with mandibular data obtained from facial scans. However, obtaining mandibular data through facial scans is extremely difficult for edentulous patients, and the stitching accuracy between facial and intraoral scans cannot be guaranteed. Moreover, it is difficult to unify the coordinate system of facial and intraoral scan data, making it impossible to effectively track the mandibular motion trajectory.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This application provides a method, apparatus, and electronic device for determining the movement trajectory of the mandible, so as to at least solve the technical problem that mandibular movement measurement is not applicable to edentulous patients in related technologies.

[0006] According to one aspect of the embodiments of this application, a method for determining the movement trajectory of the mandible is provided, comprising: scanning an auxiliary component fixed to the gingiva of a target object intraorally using an intraoral scanning device to obtain intraoral scanning data, wherein the auxiliary component is provided with a feature structure; acquiring the trajectory data of the marker points corresponding to the marker points on the feature structure using a facial scanning device; and determining the movement trajectory of the mandible of the target object based on the marker point trajectory data and the intraoral scanning data.

[0007] In some embodiments of this application, the auxiliary component includes a mounting slot for mounting a jaw fork containing a feature structure.

[0008] In some embodiments of this application, the marker is fixed on the feature structure and is located outside the opening of the target object, and the position of the marker meets the requirements of three-dimensional scanning and tracking.

[0009] In some embodiments of this application, before scanning the auxiliary component fixed to the gums inside the mouth of the target object using an intraoral scanning device, the method further includes: scanning the gums using an intraoral scanning device to obtain three-dimensional scanning data of the gums; and determining the shape of the auxiliary component based on the three-dimensional scanning data of the gums.

[0010] In some embodiments of this application, the acquisition of marker trajectory data corresponding to marker points on the feature structure is carried out by a facial scanning device, including: when the target object moves its jaw, scanning the marker points on the feature structure with a facial scanning device to obtain the marker trajectory data.

[0011] In some embodiments of this application, before determining the movement trajectory of the mandible of the target object, the method further includes: acquiring the first coordinate system where the intraoral scan data is located, and acquiring the initial marker point data corresponding to the marker points on the feature structure before the target object performs mandibular movement; and aligning the marker point trajectory data to the first coordinate system based on the initial marker point data.

[0012] In some embodiments of this application, determining the movement trajectory of the mandible of the target object includes: when the marker trajectory data and the intraoral scan data are in the same coordinate system, splicing the marker trajectory data and the intraoral scan data to obtain the movement trajectory of the mandible of the target object.

[0013] According to another aspect of the embodiments of this application, a device for determining the movement trajectory of the mandible is also provided, comprising: a scanning module configured to scan the gingiva and an auxiliary component fixed to the gingiva of a target object using an intraoral scanning device to obtain intraoral scanning data, wherein the target object is an edentulous user and the auxiliary component has a jaw fork containing a feature structure fixed thereon; an acquisition module configured to acquire the trajectory data of the marker points corresponding to the marker points on the feature structure using a facial scanning device; and a determination module configured to determine the movement trajectory of the mandible of the target object based on the marker point trajectory data and the intraoral scanning data.

[0014] According to another aspect of the embodiments of this application, an auxiliary component is also provided, which is applied to the method for determining the movement trajectory of the mandible. The auxiliary component is fixedly connected to the mandibular fork through a mounting groove. The mandibular fork includes a feature structure, on which a marker point is provided.

[0015] According to another aspect of the embodiments of this application, an electronic device is also provided, including: a memory and a processor, wherein the memory is configured to store program instructions; the processor is connected to the memory and is configured to execute program instructions that perform the following functions: scanning the gingiva and an auxiliary component fixed to the gingiva of a target object using an intraoral scanning device to obtain intraoral scanning data, wherein the target object is an edentulous user and the auxiliary component has a jaw fork containing a feature structure fixed thereon; acquiring the trajectory data of the marker points corresponding to the marker points on the feature structure using a facial scanning device; and determining the movement trajectory of the mandible of the target object based on the marker point trajectory data and the intraoral scanning data.

[0016] According to another aspect of the embodiments of this application, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored computer program, wherein the device containing the non-volatile storage medium executes the above-described method for determining the mandibular movement trajectory by running the computer program.

[0017] According to another aspect of the embodiments of this application, a computer program product is also provided, including computer instructions that, when executed by a processor, implement the above-described method for determining the mandibular movement trajectory.

[0018] In this embodiment, by fixing an auxiliary component with a characteristic structure to the gums of edentulous patients, and combining intraoral scanning equipment and facial scanning equipment, the movement trajectory of the mandible is determined, thereby improving the accuracy of obtaining the mandibular movement trajectory of edentulous patients. This achieves the technical effect of making the design and manufacture of personalized dentures more efficient and accurate, and improving patient comfort, thus solving the technical problem that mandibular movement measurement in related technologies is not applicable to edentulous patients. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0020] Figure 1 is a hardware structure block diagram of a computer terminal for a method of determining the movement trajectory of the mandible according to an embodiment of this application.

[0021] Figure 2 is a flowchart of a method for determining the movement trajectory of the mandible according to an embodiment of this application;

[0022] Figure 3 is a schematic diagram of an auxiliary component for a method of determining the movement trajectory of the mandible according to an embodiment of this application;

[0023] Figure 4 is a schematic diagram of the feature structure of a method for determining the movement trajectory of the mandible according to an embodiment of this application;

[0024] Figure 5 is a flowchart of a face scan of a method for determining the movement trajectory of the mandible according to an embodiment of this application;

[0025] Figure 6 is a schematic diagram of a device for determining the movement trajectory of the mandible according to an embodiment of this application. Detailed Implementation

[0026] 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.

[0027] 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. 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.

[0028] The mandibular motion measurement system used in related technologies is not suitable for edentulous patients. The main reason is that the alveolar ridge in edentulous patients is low and flat, lacking a stable location for the jaw fringes. The mandibular motion measurement system requires tracking markers to be attached to the patient's mandible to effectively track its movement. Furthermore, to achieve accurate repositioning of the mandibular relationship and determine its precise location, it is essential to bind intraoral scan data with mandibular data. However, for edentulous patients, scanning the gingival data is extremely difficult, and the stitching accuracy between the scanned data and the intraoral scan cannot be guaranteed. In addition, the technology requires attaching markers to the gingiva, but the moist oral environment causes these markers to become wet with saliva during mandibular movement, losing their reflective properties and becoming unrecognizable by facial scanning. Moreover, in most edentulous patients, the low alveolar ridge makes the intraoral markers easily obscured by the lips during movement.

[0029] To address the aforementioned technical problems, this application provides corresponding solutions, which are detailed below.

[0030] The method for determining the mandibular motion trajectory provided in this application can be executed in a mobile terminal, computer terminal, or similar computing device. Figure 1 shows a hardware structure block diagram of a computer terminal for implementing the method for determining the mandibular motion trajectory. As shown in Figure 1, the computer terminal 10 may include one or more processors (shown as 102a, 102b, ..., 102n in the figure) (the processor may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 configured to store data, and a transmission module 106 for communication functions connected via wired and / or wireless networks. In addition, it may also include: a display, a keyboard, a cursor control device, an input / output interface (I / O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, and a BUS bus. Those skilled in the art will understand that the structure shown in Figure 1 is only schematic and does not limit the structure of the above-mentioned electronic device. For example, computer terminal 10 may also include more or fewer components than shown in FIG1, or have a different configuration than shown in FIG1.

[0031] It should be noted that the aforementioned one or more processors and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be implemented wholly or partially as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be wholly or partially integrated into any other element in the computer terminal 10. As involved in the embodiments of this application, the data processing circuits serve as processor control (e.g., selection of a variable resistor termination path connected to an interface).

[0032] The memory 104 can be configured to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the method for determining the mandibular movement trajectory in this embodiment. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned method for determining the mandibular movement trajectory. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0033] The transmission module 106 is configured to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission module 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission module 106 may be a Radio Frequency (RF) module for wireless communication with the Internet.

[0034] The display can be, for example, a touchscreen liquid crystal display (LCD), which allows the user to interact with the user interface of the computer terminal 10.

[0035] It should be noted that, in some alternative embodiments, the computer terminal shown in FIG1 may include hardware elements (including circuitry), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. It should be pointed out that FIG1 is merely one example of a specific instance and is intended to illustrate the types of components that may exist in the aforementioned computer terminal.

[0036] In the above operating environment, this application provides an embodiment of a method for determining the movement trajectory of the mandible. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0037] Figure 2 is a flowchart of a method for determining the movement trajectory of the mandible according to an embodiment of this application. As shown in Figure 2, the method includes the following steps:

[0038] Step S202: The intraoral scanning device is used to scan the auxiliary component fixed to the gums of the target object to obtain intraoral scanning data. The auxiliary component is provided with feature structural components.

[0039] In step S202 above, the intraoral scanning device is a device specifically designed for acquiring three-dimensional data inside the oral cavity, capable of accurately acquiring three-dimensional information of oral structures such as teeth, gums, and palate. In some embodiments of this application, the intraoral scanning device can be used to acquire three-dimensional scanning data of the gums and three-dimensional data of auxiliary components (including feature structures) fixed to the gums.

[0040] The target group refers to edentulous patients who need to have their mandibular movement trajectory determined, that is, people without natural teeth.

[0041] An accessory is a personalized baseplate designed for use inside a patient's mouth, integrating distinctive structural components to provide a stable marker for easy identification and tracking by facial scanning equipment. The accessory is fixed to the patient's gums, ensuring the relative stability of the marker's position, thus providing accurate motion trajectory data. The distinctive structural components, mounted on the accessory, are parts with special geometric shapes or markings used to enhance the facial scanning equipment's ability to recognize the marker.

[0042] Intraoral scan data refers to three-dimensional information data about the internal structures of the oral cavity (such as teeth and gums) and characteristic structural components on auxiliary structures, obtained through intraoral scanning equipment.

[0043] In some embodiments of this application, the auxiliary component includes a mounting slot for mounting a jaw fork containing a feature structure.

[0044] The mounting slot is a specific groove design on the auxiliary component, used for precise installation of the jaw fork, ensuring that the feature structures on the jaw fork can be stably and accurately positioned on the patient's gums. The mounting slot improves the stability and accuracy of jaw fork installation, reduces positional displacement during movement, thereby ensuring the accuracy of marker identification and the continuity of the movement trajectory during surface scanning.

[0045] The jaw fork is an auxiliary component used to support and display feature structures. Its shape and structure ensure that the distribution of marker points in three-dimensional space meets the tracking requirements. It provides a fixed and clear marker point display platform, which is convenient for surface scanning equipment to identify and track.

[0046] To ensure a perfect fit between the accessory and the gums and reduce patient discomfort, before scanning the accessory fixed to the gums inside the mouth of the target subject using an intraoral scanning device, the process includes: scanning the gums using an intraoral scanning device to obtain three-dimensional gingival scan data; and determining the shape of the accessory based on the three-dimensional gingival scan data.

[0047] 3D gingival scan data refers to the three-dimensional data obtained after scanning a patient's gums using an intraoral scanning device. This data can include information such as the shape, texture, and spatial position of the gums. 3D gingival scan data is the foundation for designing personalized assistive devices, ensuring that the devices fit snugly and adhere to the gums, improving the accuracy and comfort of capturing mandibular movement trajectories.

[0048] Based on 3D gingival scan data, the 3D shape of the accessory can be personalized. The shape design of the accessory, taking into account the specific characteristics of the patient's gums, ensures good adaptability and fixation, while providing suitable positions for the installation of jaw forks and other characteristic structural components. It should be noted that the shape of the accessory mainly refers to the shape of the contact area with the gums. It needs to closely conform to the patient's gum contour, allowing it to adhere firmly and comfortably within the patient's oral cavity, ensuring good fixation and comfort. Simultaneously, it must achieve precise matching between the accessory and the internal oral structures, ensuring the relative positional relationship between the landmark points and the gingival data.

[0049] In some embodiments of this application, before designing and using the auxiliary component, a comprehensive three-dimensional scan of the target object's gingiva can be performed using an intraoral scanning device. During data acquisition, scanning can be performed from multiple angles and positions to cover all important areas of the gingiva, avoiding the omission of key information. Based on the acquired three-dimensional gingival scan data, the auxiliary component can be designed to ensure that its shape matches the gingival shape, achieving optimal adhesion and comfort. Furthermore, the design of the auxiliary component can also consider the installation position and method of the jaw fork, ensuring that the position of the feature structure facilitates recognition and tracking by the facial scanning device. After the auxiliary component design is completed, it can be manufactured using 3D printing or other customized processes to ensure that its shape is consistent with the three-dimensional model during design, so that it can stably adhere to the gingiva in actual use and ensure accurate installation of the jaw fork and feature structure.

[0050] Step S204: Collect the trajectory data of the marker points corresponding to the marker points on the feature structure using a facial scanning device.

[0051] In step S204 above, the facial scanning device is a device capable of acquiring three-dimensional geometric and texture information of the face, mainly used for facial feature recognition and tracking. In some embodiments of this application, the facial scanning device is used to capture the positional changes of marker points on feature structures during movement, and to acquire the motion trajectory data of the marker points.

[0052] Landmark points refer to specific markers pre-set on characteristic structural components for identifying and tracking mandibular movements. The selection and layout of landmark points can take into account their non-collinearity in three-dimensional space, ensuring that the position of each point in space can be uniquely determined, avoiding confusion and errors during the tracking process. In some embodiments of this application, landmark points may be coated with special reflective materials or have unique shapes or colors, so that facial scanning devices can effectively identify and track them under various lighting conditions.

[0053] Landmark trajectory data refers to the sequence of positional changes of landmarks in space, continuously collected by facial scanning equipment. It is used to record the spatial displacement of landmarks as the mandible moves and is the basis for analyzing the trajectory of mandibular movements.

[0054] To avoid interference from the oral cavity environment on landmark recognition, in some embodiments of this application, the landmark is fixed on a feature structure and located outside the mouth of the target object, and the location of the landmark meets the requirements of three-dimensional scanning and tracking.

[0055] By fixing the markers to the feature structure and placing them outside the target's mouth, this design solves two major problems encountered in traditional mandibular motion trajectory measurement for edentulous patients: the markers are affected by the oral environment (such as saliva), and they are easily obscured by the lips, leading to unstable tracking and decreased data quality. By fixing the markers to the feature structure outside the mouth, the stability and visibility of the markers during mandibular movement are ensured. Even when the oral environment changes, the identification and tracking of the markers are not affected, thus improving the accuracy of three-dimensional tracking.

[0056] The selection and placement of marker points must meet the requirements of 3D scanning tracking, meaning they must be effectively identified and tracked along three mutually perpendicular coordinate axes (X, Y, and Z axes). Specifically, 3D scanning tracking requirements may include, but are not limited to, the following key points:

[0057] (1) Noncollinearity: The marker points should not be located on the same straight line in three-dimensional space, because the marker points in a linear layout cannot provide enough independent information to determine a complete three-dimensional coordinate system. Noncollinearity ensures the independence between the marker points.

[0058] (2) Visibility: The markers need to be placed in a position that can be clearly identified and tracked by the facial scanning device to avoid being obscured or lost due to changes in head position during oral movement. In some embodiments of this application, by fixing the markers to the feature structures outside the mouth, it is ensured that the markers remain within the field of view of the facial scanning device during mandibular movement, thereby meeting the visibility requirements;

[0059] (3) Stability: The position of the marker point needs to remain relatively stable when the patient opens and closes their mouth, avoiding unpredictable changes in the position of the marker point due to the internal oral environment (such as saliva, deformation of oral soft tissues) or external factors (such as slight head shaking). In some embodiments of this application, the rigid structure of the metal jaw fork design can effectively resist the pressure of the lips, ensuring the relative positional stability of the marker point during movement;

[0060] (4) Identifiability: The shape, size, and color of the marker should facilitate identification by the tracking system. For example, the marker can be designed with a white center and a black outer ring. The strong contrast between black and white can improve the efficiency and accuracy of the tracking system in identifying the marker.

[0061] In some embodiments of this application, the marker points can be distributed at different heights, widths, and depths to form a three-dimensional dot matrix, ensuring accurate identification by the facial scanning device from any angle. For example, a feature structure with multiple layers can be designed, with different marker points distributed on each layer, to form a three-dimensional tracking frame.

[0062] In some embodiments of this application, the facial scanning device can continuously and dynamically acquire the three-dimensional position information of landmark points. As the patient's jaw opens and closes, the position of the landmark points in space constantly changes. The facial scanning device tracks and records these changes in real time, forming landmark point trajectory data. During the scanning process, the facial scanning device can employ various visual recognition technologies (such as structured light scanning, laser scanning, etc.) to ensure effective identification and tracking of landmark points under various lighting conditions. In some embodiments of this application, the data processing system of the facial scanning device can automatically remove background interference, retaining only the dynamic information of the landmark points to improve the purity and accuracy of the data.

[0063] To gain a comprehensive understanding of the range and patterns of mandibular movement, the following steps can be taken to obtain landmark trajectory data: while the target subject is performing mandibular movements, the landmarks on the feature structures are scanned using a facial scanning device to obtain the landmark trajectory data.

[0064] Mandibular movement refers to the natural opening and closing of the mouth performed by edentulous patients during the data collection process. This is a basic form of dynamic movement of the mandible and the basis for recording the trajectory of mandibular movement. By observing and recording mandibular movement, information on the dynamic changes of the mandible at different positions and angles can be obtained.

[0065] In some embodiments of this application, mandibular movement data can be collected in a natural state. During the collection process, the patient moves their jaw naturally without the need for additional assistive tools (such as mouth openers) or special postures. This helps reduce the influence of external factors on the movement trajectory, improving the naturalness and accuracy of the data. The facial scanning device tracks the landmarks on the feature structures in real time, recording their positional changes as the jaw moves, forming continuous landmark trajectory data. To improve the accuracy and completeness of the data, multiple angles can be captured during the scanning process, ensuring accurate recording of the three-dimensional position of the landmarks even under complex jaw movements.

[0066] To correct coordinate system offsets caused by movement in real time and ensure accurate correspondence between marker trajectory data and static gingival 3D scan data, facial scanning devices can employ dynamic 3D reconstruction technology when acquiring marker trajectory data. This combines the real-time acquired marker position information with previously acquired static gingival 3D scan data for real-time registration in 3D space. This allows for real-time analysis and updating of the marker's 3D coordinates, maintaining the continuity and accuracy of the marker trajectory data even during rapid mandibular movements.

[0067] Step S206: Based on the marker trajectory data and intraoral scan data, determine the movement trajectory of the mandible of the target object.

[0068] In step S206 above, the movement trajectory of the mandible refers to the three-dimensional path representing the opening and closing and lateral movement trajectory of the mandible, obtained by analyzing and calculating the continuous positional changes of the landmarks in three-dimensional space based on the landmark trajectory data and intraoral scan data.

[0069] In some embodiments of this application, the coordinate system of the auxiliary component and mandibular fork in the intraoral scan data can be unified with the coordinate system of the landmark trajectory data obtained by the facial scanning device through data registration technology (such as ICP algorithm) to ensure that the dynamic changes of the landmark points can be accurately reflected on the three-dimensional model of the mandible. Then, the continuous positional changes of the landmark points in the three-dimensional space are calculated based on the registered data, and the motion trajectory of the mandible is reconstructed by combining the fixed relationship between the landmark points and the mandible.

[0070] To ensure consistency between intraoral scan data and landmark trajectory data, coordinate system alignment can be performed before determining the movement trajectory of the mandible of the target object: obtain the first coordinate system in which the intraoral scan data is located, and obtain the initial landmark data corresponding to the landmarks on the feature structures before the target object performs mandibular movement; based on the initial landmark data, align the landmark trajectory data to the first coordinate system.

[0071] The first coordinate system refers to the spatial coordinate reference system in which the intraoral scan data is located, used to record the three-dimensional spatial position of the internal oral cavity structure, including the gums and personalized aids.

[0072] Initial marker data refers to the three-dimensional position data of markers on feature structures in a static state, obtained by facial scanning equipment before the target object performs jaw movement. It is used to establish the initial position of the markers in the first coordinate system and serves as the starting point reference for determining the motion trajectory.

[0073] In some embodiments of this application, three-dimensional coordinate registration technology can be used to align the trajectory data of the marker points to a first coordinate system. Specifically, an intraoral scanning device is used to acquire three-dimensional structural data of the oral cavity of the target object, including the gingiva and auxiliary components, and the first coordinate system in which these data are located is recorded; when the patient is not moving their jaw, the initial position data of the marker points on the feature structures can be acquired using a facial scanning device; a point cloud registration algorithm (such as the ICP algorithm) is used to align the initial position data of the marker points to the first coordinate system to ensure that the coordinate system of the marker points and the oral cavity structure is consistent in the initial state; after the trajectory data of the marker points during the movement process is acquired, the three-dimensional coordinate registration technology is also used to transform these dynamic data to the first coordinate system to complete the unified coordinate reference of the data.

[0074] In some embodiments of this application, feature matching can also be used for coordinate system alignment. In intraoral scan data, regions with unique geometric shapes on the aid can be identified and marked as feature points or feature regions during the registration process. Similarly, in the landmark trajectory data obtained from facial scans, landmark information corresponding to these feature points must also be identified. By matching the positions of landmarks in the landmark trajectory data with the positions of feature points in the intraoral scan data, coordinate system alignment of the two datasets can be achieved. Specifically, feature matching algorithms, such as RANSAC (Random Sample Consensus Algorithm) or feature point cloud alignment algorithms, can be used to determine the position of the landmarks in the first coordinate system, thereby accurately reflecting the motion changes in the landmark trajectory data onto the three-dimensional model of the mandible, achieving precise reconstruction of the mandibular motion trajectory.

[0075] To obtain accurate three-dimensional data reflecting the movement trajectory of the mandible of the target object, the movement trajectory of the mandible of the target object can be determined by the following steps: when the marker point trajectory data and the intraoral scan data are in the same coordinate system, the marker point trajectory data and the intraoral scan data are stitched together to obtain the movement trajectory of the mandible of the target object.

[0076] The landmark trajectory data and the intraoral scan data are in the same coordinate system. That is, the landmark trajectory data obtained by facial scanning and the intraoral scan data obtained by intraoral scanning equipment are converted into a shared coordinate system to facilitate data fusion and analysis.

[0077] Stitching refers to the process of aligning and fusing two or more datasets from different sources (e.g., landmark trajectory data and intraoral scan data) in three-dimensional space. This process combines the dynamic positional change information of landmarks with the static structural information of the oral cavity to obtain complete data reflecting the movement trajectory of the mandible. The stitching process can ensure accurate alignment between datasets through geometric registration, feature matching, or the use of specific algorithms. In some embodiments of this application, feature matching can be used to stitch landmark trajectory data and intraoral scan data. Specifically, significant features that are the same in the landmark image (including landmarks and some intraoral features) and the internal oral structure (e.g., ligaments, gingiva), such as inflection points and angles of tooth surfaces, can be selected. These features, such as those of teeth, are identified and matched in the landmark image and intraoral scan data respectively. Coordinate transformation parameters are calculated based on the matching results to unify the coordinate system of the landmarks and intraoral scan data. These coordinate transformation parameters are applied to adjust the landmark trajectory data to the same coordinate system as the intraoral scan data. Then, data fusion is performed to analyze the dynamic changes of the landmarks and reconstruct the movement trajectory of the mandible.

[0078] Through steps S202 to S206, by fixing an auxiliary component with a characteristic structure to the gums of edentulous patients, and combining intraoral scanning equipment and facial scanning equipment, the movement trajectory of the mandible is determined. This achieves the goal of improving the accuracy of obtaining the mandibular movement trajectory of edentulous patients, thereby realizing the technical effect of making the design and manufacture of personalized dentures more efficient and accurate, and improving patient comfort. It also solves the technical problem that mandibular movement measurement is not applicable to edentulous patients in related technologies.

[0079] This application also provides an auxiliary component for determining the movement trajectory of the mandible. The auxiliary component is fixedly connected to the mandibular fork via a mounting groove. The mandibular fork includes a feature structure with marker points on it.

[0080] In some embodiments of this application, three-dimensional gingival data of edentulous patients can be acquired using intraoral scanning technology, and an auxiliary device (base) can be designed personalized based on this data. When designing the auxiliary device, the specific contours of the patient's oral cavity can be considered to ensure good fit and comfort. The base is provided with mounting slots for fixed connection with the jaw fork. Featured structural members are mounted on the jaw fork, and these members are equipped with marker points. The position and layout of these marker points must meet the requirements of three-dimensional tracking. When the patient performs mandibular movements, the jaw fork remains fixedly connected to the auxiliary device through the mounting slots. The facial scanning device tracks the marker points to obtain their trajectory data, thereby indirectly obtaining the movement trajectory of the mandible.

[0081] Figure 3 is a schematic diagram of a mandibular fork according to an embodiment of the present application for determining the movement trajectory of the mandible. As shown in Figure 3, part 301 of the mandibular fork is used to connect with an auxiliary component fixed to the gingiva in the mouth via a mounting groove, and part 302 of the mandibular fork is used to connect with a feature structure component.

[0082] Figure 4 is a schematic diagram of a feature structure of a method for determining the movement trajectory of the mandible according to an embodiment of this application. As shown in Figure 4, the feature structure is installed on the mandibular fork and is adapted to the structure of the mandibular fork. Part 401 of the feature structure can be used to attach marker points (such as the dots in part 401). Part 402 of the feature structure corresponds to part 302 in Figure 3 and can fix the feature structure on the mandibular fork. In some embodiments of this application, letters or patterns can be added to the feature structure. The letters or patterns can serve as additional features. For example, the letters or patterns can be composed of multiple different lines and corners, forming a series of feature points with unique shapes. By adding letter patterns to the feature structure, more recognition information can be provided to the tracking algorithm. Especially when the marker points may cause tracking instability due to lighting, occlusion, or ghosting, the lines and shapes of the letter patterns can serve as auxiliary features. Even if some marker points are occluded or lost, other feature points in the letter patterns can still be effectively tracked, thereby ensuring the continuity and integrity of the overall movement trajectory.

[0083] Figure 5 is a flowchart of a facial scanning method for determining the movement trajectory of the mandible according to an embodiment of this application. In some embodiments of this application, the facial scanning may include the following steps:

[0084] Step 1: RPS Alignment of the Upper Target and Upper Tray Labial Surface: First, the customized base is stably attached to the patient's maxillary gingiva. The occlusal fork is fixedly connected to the base via mounting slots. Marker points are set on the characteristic structural components of the occlusal fork; these marker points are used for recognition and tracking by the facial scanning device. The facial scanning device first scans the 3D coordinates of the upper target (i.e., the marker points on the occlusal fork), and then scans the 3D features of the upper tray labial surface (i.e., the labial surface of the base). Through RPS (Rigid Point Set) alignment, the scan data of the upper tray labial surface is precisely registered with the coordinates of the upper target marker points, thereby unifying the 3D data of the upper tray labial surface and the marker point trajectory data into a single coordinate system.

[0085] Step 2: RPS alignment of the lower target and lower tray lip surface: Similar to the maxillary treatment, the base and jaw fork designed for the mandible also have fixed landmarks. The facial scanning device first acquires the 3D coordinates of the lower target (the landmark on the jaw fork), and then scans the 3D features of the lower tray lip surface (the labial surface of the base). Through RPS alignment, the scan data of the lower tray lip surface is registered with the coordinates of the lower target landmark, ensuring that the 3D data of the lower tray lip surface is also in the same coordinate system as the landmark trajectory data.

[0086] Steps 1 and 2 can be used to obtain three-dimensional data of the upper and lower jaw palpable surfaces in the trajectory coordinate system.

[0087] Step 3: ICP registration of the maxillary and mandibular tray scans: After the landmark trajectory data of the maxilla and mandible have been unified with the 3D data of the trays into the same coordinate system, the ICP (Iterative Closest Point) algorithm is used to further optimize the alignment between the scan data of the maxillary and mandibular trays (base tray along with the jaw fork). The ICP algorithm can iteratively register the closest point and gradually adjust the data until the two sets of data reach the best matching state, ensuring accurate fusion of the maxillary and mandibular tray scan data in a unified coordinate system.

[0088] Step 4: Best-fit the maxillary and mandibular model scan data using the alveolar ridge crest as a common region: After ICP registration, the maxillary model scan data (including the labial surface of the upper tray and gingival data transmitted through the denture base) is best-fitted with the mandibular model scan data (including the labial surface of the lower tray and gingival data). This process uses the alveolar ridge crest region as a common feature to precisely align the 3D models. Through this step, the maxillary and mandibular model data are unified, and they are in the same trajectory coordinate system as the motion trajectory data of the landmark points, thus enabling a comprehensive and accurate description of the mandibular bone movement trajectory in edentulous patients.

[0089] This application utilizes a personalized intraoral accessory to fix landmark points to the denture base via a feature structure, improving the issues of difficulty in attaching landmarks intraorally and the impact of landmarks being wetted or obscured on surface scanning acquisition. Furthermore, based on the data from the personalized accessory, intraoral gingival features are transferred to the extraoral region, facilitating surface scanning acquisition and improving the alignment accuracy with intraoral scans. Compared to related technologies that use surface scanning to scan intraoral gingival data, this application uses surface scanning to scan designed feature data (i.e., landmark point data) extraorally. During acquisition, patients can collect data without wearing an mouth opener, resulting in more natural movement, more accurate results, and higher alignment accuracy with intraoral scans. It also solves the problem of landmark points being wetted or obscured.

[0090] Figure 6 is a structural diagram of a device for determining the movement trajectory of the mandible according to an embodiment of this application. As shown in Figure 6, the device includes:

[0091] The scanning module 602 is configured to scan the gingiva and the auxiliary component fixed to the gingiva in the mouth of the target object using an intraoral scanning device to obtain intraoral scanning data. The target object is an edentulous user, and the auxiliary component is fixed with a jaw fork containing a feature structure.

[0092] The acquisition module 604 is configured to acquire trajectory data of marker points corresponding to marker points on the feature structure using a facial scanning device.

[0093] The determination module 606 is configured to determine the movement trajectory of the mandible of the target object based on the marker trajectory data and intraoral scan data.

[0094] It should be noted that the mandibular motion trajectory determination device shown in Figure 6 is configured to execute the mandibular motion trajectory determination method shown in Figure 2. Therefore, the relevant explanations in the mandibular motion trajectory determination method in Figure 2 also apply to the mandibular motion trajectory determination device shown in Figure 6, and will not be repeated here.

[0095] This application also provides an electronic device, which includes a memory and a processor, wherein the memory is configured to store program instructions; the processor is connected to the memory and configured to execute the steps of determining the mandibular movement trajectory in various embodiments of this application.

[0096] For example, a processor performs the following functions by executing program instructions stored in memory:

[0097] The intraoral scanning device scans the auxiliary component fixed to the gums of the target object to obtain intraoral scanning data. The auxiliary component is equipped with feature structures. The facial scanning device collects the trajectory data of the marker points corresponding to the marker points on the feature structures. Based on the marker point trajectory data and the intraoral scanning data, the movement trajectory of the target object's mandible is determined.

[0098] This application also provides a non-volatile storage medium including a stored computer program, wherein the device containing the non-volatile storage medium executes the steps of the method for determining the mandibular movement trajectory in various embodiments of this application by running the computer program.

[0099] This application also provides a computer program product, including computer instructions, which, when executed by a processor, implement the steps of the method for determining the mandibular movement trajectory in various embodiments of this application.

[0100] This application also provides a computer program that, when executed by a processor, implements the steps of the method for determining the mandibular movement trajectory in various embodiments of this application.

[0101] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0102] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0103] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0104] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0105] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0106] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0107] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application. Industrial applicability

[0108] In this embodiment, by fixing an auxiliary component with a characteristic structure to the gums of edentulous patients, and combining intraoral scanning equipment and facial scanning equipment, the movement trajectory of the mandible is determined, thereby improving the accuracy of obtaining the mandibular movement trajectory of edentulous patients. This achieves the technical effect of making the design and manufacture of personalized dentures more efficient and accurate, and improving patient comfort, thus solving the technical problem that mandibular movement measurement in related technologies is not applicable to edentulous patients.

Claims

1. A method for determining the movement trajectory of the mandible, comprising: The intraoral scanning device scans the auxiliary component fixed to the gums inside the mouth of the target object to obtain intraoral scanning data. The auxiliary component is provided with a feature structure. The trajectory data of the marker points corresponding to the marker points on the feature structure are collected using a facial scanning device; Based on the trajectory data of the marker points and the intraoral scan data, the movement trajectory of the mandible of the target object is determined.

2. The method according to claim 1, wherein, The auxiliary component includes a mounting slot for mounting a jaw fork containing the feature structure.

3. The method according to claim 1 or 2, wherein, The marker is fixed on the feature structure and is located outside the opening of the target object. The position of the marker meets the requirements of three-dimensional scanning and tracking.

4. The method according to any one of claims 1 to 3, wherein, Before scanning the intraoral accessory fixed to the gingiva of the target object using an intraoral scanning device, the method further includes: The gingiva is scanned using the intraoral scanning device to obtain three-dimensional gingival scan data; The shape of the auxiliary component is determined based on the three-dimensional gingival scan data.

5. The method according to claim 3, wherein, The trajectory data of the marker points corresponding to the marker points on the feature structure are collected by a facial scanning device, including: When the target object moves its jaw, the marker points on the feature structure are scanned by a facial scanning device to obtain the trajectory data of the marker points.

6. The method according to claim 5, wherein, Before determining the movement trajectory of the mandible of the target object, the method further includes: Obtain the first coordinate system where the intraoral scan data is located, and obtain the initial marker point data corresponding to the marker points on the feature structure before the target object performs mandibular movement; Based on the initial marker point data, the marker point trajectory data is aligned to the first coordinate system.

7. The method according to claim 6, wherein, Determining the movement trajectory of the mandible of the target object includes: When the marker trajectory data and the intraoral scan data are in the same coordinate system, the marker trajectory data and the intraoral scan data are stitched together to obtain the movement trajectory of the mandible of the target object.

8. A device for determining the movement trajectory of the mandible, comprising: The scanning module is configured to scan the gingiva inside the mouth of a target subject and an auxiliary component fixed to the gingiva using an intraoral scanning device to obtain intraoral scanning data, wherein the target subject is an edentulous user and the auxiliary component is fixed with a jaw fork containing a feature structure. The acquisition module is configured to acquire the trajectory data of the marker points corresponding to the marker points on the feature structure through a facial scanning device; The determination module is configured to determine the movement trajectory of the mandible of the target object based on the marker trajectory data and the intraoral scan data.

9. An auxiliary component, applied to the method for determining the movement trajectory of the mandible in claim 1, wherein the auxiliary component is fixedly connected to the mandibular fork via a mounting groove, the mandibular fork comprising a feature structure having marker points provided thereon.

10. An electronic device, comprising: The memory is configured to store program instructions; The processor, connected to the memory, is configured to execute program instructions to perform the following functions: scanning the gingiva and an accessory fixed to the gingiva of a target subject using an intraoral scanning device to obtain intraoral scanning data, wherein the target subject is an edentulous user and the accessory is fixed with a jaw fork containing a feature structure; acquiring the trajectory data of marker points corresponding to marker points on the feature structure using a facial scanning device; and determining the movement trajectory of the mandible of the target subject based on the marker point trajectory data and the intraoral scanning data.

11. A non-volatile storage medium, the non-volatile storage medium comprising a stored computer program, wherein, The device containing the non-volatile storage medium executes the method for determining the mandibular movement trajectory according to any one of claims 1 to 7 by running the computer program.

12. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the method for determining the mandibular movement trajectory as described in any one of claims 1 to 7.

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