CN112890765A - Intraoral three-dimensional scanning device and method - Google Patents
Intraoral three-dimensional scanning device and method Download PDFInfo
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- CN112890765A CN112890765A CN202011635646.9A CN202011635646A CN112890765A CN 112890765 A CN112890765 A CN 112890765A CN 202011635646 A CN202011635646 A CN 202011635646A CN 112890765 A CN112890765 A CN 112890765A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
- A61B5/0088—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for oral or dental tissue
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C19/00—Dental auxiliary appliances
- A61C19/04—Measuring instruments specially adapted for dentistry
Abstract
The present disclosure provides an intraoral three-dimensional scanning device and method, the device comprising a projection module for projecting a pattern onto a tooth surface; the imaging module is used for synchronously exposing and imaging the pattern projected to the tooth surface and converting the pattern into digital image data; the calculation processing module is used for calculating and processing the digital image data to obtain three-dimensional information and corresponding texture image information data; and the wireless transmission module is used for reading the three-dimensional information and the corresponding texture image information data in real time and sending the three-dimensional information and the corresponding texture image information data to a computer through wireless transmission so that the computer completes subsequent processing operation through a software system to generate a three-dimensional model of the teeth in the mouth. The method has two obvious beneficial effects that firstly, the data volume of transmission is reduced, the requirement on the bandwidth of wireless transmission is lower, and more stable transmission is realized; secondly, the calculated amount of computer data processing is shared, the requirement of a software system on computer performance configuration is reduced, and the equipment cost is further reduced.
Description
Technical Field
The disclosure relates to the technical field of intraoral three-dimensional scanning, in particular to an intraoral three-dimensional scanning device and method.
Background
Digital oral diagnosis and treatment is changing the traditional diagnosis and treatment mode of oral medicine and becoming one of the future development trends of oral medicine. The oral digital impression is used as an important information storage source in the clinical oral diagnosis and treatment process, is the basis of the design of clinical orthodontic, denture repair and implantation schemes, and is also an important reference for doctors and patients to improve the communication efficiency and judge the treatment effect.
The existing oral digital impression technology mainly comprises two main types: model digitization techniques and intraoral scanning techniques. The model digitization technology needs to carry out traditional manual model taking, the efficiency is low, the comfort level of a patient is poor, the intraoral scanning technology directly scans teeth in the oral cavity through a detector to reconstruct a three-dimensional digital model of the appearance of the oral cavity, the model taking efficiency and the patient experience are greatly improved, the material and manual consumption are reduced, and through the digital model reconstructed in real time, a more convenient and effective method is provided for communication between doctors and patients before diagnosis.
Present intraoral three-dimensional scanner in mouth needs to be handled and demonstration after image data transmission to the computer through the data line with the detector acquisition traditionally, and the intraoral environment of actual patient is more complicated, the doctor need adjust a plurality of angles and position with the detector in the mouth usually in the scanning process and just can scan complete data, receive the influence of oral cavity consulting room space and data line length, the doctor will receive the influence of data line when angle of adjustment and position, and the data line generally all connects the end at the scanner, intangibly form certain tractive effort to the scanner, long-time scanning can reduce and use experience.
Because the data volume of the acquired original image is generally large, if the wireless transmission technology is directly adopted for transmission, a very high transmission bandwidth is needed; and intraoral scanning is a dynamic real-time process, the acquisition frame rate is high, the data volume is large, a highly configured computer is usually required for completing calculation processing and rendering display in real time, and the equipment cost is increased.
Disclosure of Invention
The main purpose of the present disclosure is to provide an intraoral three-dimensional scanning device and method, so as to solve the technical problems in the prior art, such as large data volume, high requirement on wireless transmission bandwidth, high requirement on computer performance configuration, and the like.
In order to achieve the above object, the present disclosure provides an intraoral three-dimensional scanning apparatus, the apparatus comprising:
a projection module for projecting a pattern onto a tooth surface;
the imaging module is used for synchronously exposing and imaging the pattern projected to the tooth surface and converting the pattern into digital image data;
the calculation processing module is used for calculating and processing the digital image data to obtain three-dimensional information and corresponding texture image information data;
and the wireless transmission module is used for reading the three-dimensional information and the corresponding texture image information data in real time and sending the three-dimensional information and the corresponding texture image information data to a computer through wireless transmission so that the computer completes subsequent processing operation through a software system to generate a three-dimensional model of the teeth in the mouth.
Optionally, the calculation processing module is specifically configured to perform calculation processing on the digital image data through a System-on-a-chip (SoC) and convert the digital image data into the three-dimensional information and corresponding texture image information data.
Optionally, the three-dimensional information includes two-dimensional feature information and coordinates of an image, or three-dimensional point cloud coordinates.
Optionally, the calculation processing module specifically includes at least one of the following sub-modules: the system comprises an image filtering submodule, a color calibration submodule, an image enhancement submodule, a feature extraction submodule and a three-dimensional point cloud coordinate calculation submodule.
Optionally, the wireless transmission module is specifically configured to perform wireless transmission through Wi-Fi, Ultra Wide Band (UWB), Near Field Communication (NFC), or 5G.
The present disclosure also provides an intraoral three-dimensional scanning method, the method comprising:
projecting a pattern onto a tooth surface;
synchronously exposing and imaging the pattern projected on the tooth surface and converting the pattern into digital image data;
calculating the digital image data to obtain three-dimensional information and corresponding texture image information data;
and reading the three-dimensional information and the corresponding texture image information data in real time, and sending the three-dimensional information and the corresponding texture image information data to a computer through wireless transmission so that the computer completes subsequent processing operation through a software system to generate a three-dimensional model of the teeth in the mouth.
Optionally, the digital image data is computed by the SoC and converted into the three-dimensional information and the corresponding texture image information data.
Optionally, the three-dimensional information includes two-dimensional feature information and coordinates of an image, or three-dimensional point cloud coordinates.
Optionally, the calculating the digital image data to obtain the three-dimensional information and the corresponding texture image information data specifically includes at least one of the following processes: image filtering, color calibration, image enhancement, feature extraction and three-dimensional point cloud coordinate calculation.
Optionally, the method of wireless transmission comprises Wi-Fi, UWB, NFC or 5G.
This openly replaces traditional wired transmission through wireless transmission technology, makes things convenient for the doctor to adjust equipment angle and position in the scanning process is nimble, greatly improves scanning efficiency and operation experience.
The present disclosure provides an intraoral three-dimensional scanning device and method, the device comprising a projection module for projecting a pattern onto a tooth surface; the imaging module is used for synchronously exposing and imaging the pattern projected to the tooth surface and converting the pattern into digital image data; the calculation processing module is used for calculating and processing the digital image data to obtain three-dimensional information and corresponding texture image information data; and the wireless transmission module is used for reading the three-dimensional information and the corresponding texture image information data in real time and sending the three-dimensional information and the corresponding texture image information data to a computer through wireless transmission so that the computer completes subsequent processing operation through a software system to generate a three-dimensional model of the teeth in the mouth. The method has two obvious beneficial effects that firstly, the data volume of transmission is reduced, the requirement on the bandwidth of wireless transmission is lower, and more stable transmission is realized; secondly, the calculated amount of computer data processing is shared, the requirement of a software system on computer performance configuration is reduced, and the equipment cost is further reduced.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a schematic structural diagram of an intraoral three-dimensional scanning device according to an embodiment of the present disclosure;
FIG. 2 is a detailed structural diagram of an intraoral three-dimensional scanning device according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of an intraoral three-dimensional scanning method according to an embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Referring to fig. 1, a schematic structural diagram of an intraoral three-dimensional scanning apparatus according to the present disclosure is shown. The device comprises:
a projection module 101 for projecting a pattern onto a tooth surface;
the imaging module 102 is used for synchronously exposing and imaging the pattern projected to the tooth surface and converting the pattern into digital image data;
a calculation processing module 103, configured to perform calculation processing on the digital image data to obtain three-dimensional information and corresponding texture image information data;
and the wireless transmission module 104 is used for reading the three-dimensional information and the corresponding texture image information data in real time and sending the three-dimensional information and the corresponding texture image information data to a computer through wireless transmission so that the computer completes subsequent processing operation through a software system to generate a three-dimensional model of the teeth in the mouth.
Optionally, the calculation processing module is specifically configured to perform calculation processing on the digital image data through a system on chip SoC, and convert the digital image data into the three-dimensional information and corresponding texture image information data.
Optionally, the three-dimensional information includes two-dimensional feature information and coordinates of an image, or three-dimensional point cloud coordinates.
Optionally, the calculation processing module specifically includes at least one of the following sub-modules: the system comprises an image filtering submodule, a color calibration submodule, an image enhancement submodule, a feature extraction submodule and a three-dimensional point cloud coordinate calculation submodule.
Optionally, the wireless transmission module is specifically configured to perform wireless transmission through Wi-Fi, UWB, NFC, or 5G.
The invention designs a data processing system based on the system-on-chip (SoC), directly processes the acquired digital image data on the SoC to obtain three-dimensional information and corresponding texture image information, and then wirelessly transmits the three-dimensional information and the corresponding texture image information to a computer, thereby having two obvious beneficial effects, firstly reducing the transmitted data volume, having lower requirements on the bandwidth of wireless transmission and realizing more stable transmission; secondly, the calculated amount of computer data processing is shared, the requirement of a software system on computer performance configuration is reduced, and the equipment cost is further reduced.
An intraoral three-dimensional scanning device according to the present disclosure is described in detail below with reference to fig. 2:
the intraoral three-dimensional scanning device 200 includes a projection module 201, and the projection module 201 may adopt a digital image projection system designed by a spatial light modulator, or an image projection system designed based on color fringe gratings or pinhole arrays and other reticles;
the light source adopted by the projection module 201 may be any single-wavelength LED, may also be a white-light LED, may also be a combination of multiple single-wavelength LEDs, and may also be a laser light source with any wavelength; the projection module 201 includes an optical projection lens module, which may be a lens module with a fixed focus design or a lens module with a variable focus design; the zoom lens module can realize zoom design based on mechanical motion control or liquid lens control;
the intraoral three-dimensional scanning device 200 further comprises an imaging module 202, wherein the imaging module 202 comprises an imaging lens module and an image sensor; the image sensor may be a Charge Coupled Device (CCD), a Complementary Metal-Oxide-Semiconductor (CMOS) device, or other sensors capable of collecting images; the imaging lens module is used for imaging the pattern projected on the surface of the object, and the sensor is used for synchronously exposing the image, converting the image into digital image data and storing the digital image data in a special readable and writable storage medium;
the intraoral three-dimensional scanning device may further include a control module 205, where the control module 205 is configured to output a synchronization signal to the projection module 201 and the imaging module 202, and control the projection and imaging systems to synchronously expose;
the control module 205 is also used for detecting the scanning head, antifogging and heating the scanning head, detecting the system temperature, controlling sensors such as a gyroscope and an accelerometer, and controlling communication with a computer software system;
the intraoral three-dimensional scanning device 200 further comprises a calculation processing module 203, wherein the calculation processing module 203 performs calculation processing on the digital image data through an on-chip processing system SoC, converts the digital image data into three-dimensional information and corresponding texture image information data, and writes the three-dimensional information and the corresponding texture image information data into a designated readable and writable storage medium; the SoC can be FPGA, DSP, ARM, etc.; the three-dimensional information can be two-dimensional characteristic information and coordinates of an image, and can also be three-dimensional point cloud coordinates; specifically, the calculation processing module specifically includes at least one of the following sub-modules: the system comprises an image filtering submodule, a color calibration submodule, an image enhancement submodule, a feature extraction submodule and a three-dimensional point cloud coordinate calculation submodule;
the intraoral three-dimensional scanning device 200 further comprises a wireless transmission module 204, wherein the wireless transmission module 204 is used for reading the three-dimensional information and the corresponding texture image information data in real time and transmitting the three-dimensional information and the corresponding texture image information data to the computer 300 in a wireless manner; the wireless transmission method comprises Wi-Fi, UWB, NFC, 5G and the like;
the intraoral three-dimensional scanner 200 further comprises a power module 206, wherein the power module 206 is used for supplying power to an intraoral scanner hardware system; the power module 206 includes a battery and a battery management system, where the battery may be a lithium ion battery or a polymer battery;
the computer 300 comprises a wireless data receiving module, a computer system and an intraoral scanner software system; the wireless data receiving module is used for receiving the three-dimensional information and the corresponding texture image information data which are sent and transmitted by the intraoral three-dimensional scanning device; the computer system is mainly used for operating the intraoral scanner software system; the intraoral scanner software system is used for calculating the received three-dimensional information and the corresponding texture image information, generating and displaying three-dimensional data in real time, calculating and generating a three-dimensional digital model with real texture after scanning, and specifically, the computer can splice and fuse three-dimensional points in real time through the software system to obtain complete three-dimensional point cloud data of intraoral teeth, calculate point cloud color information along with the texture image, and finally generate a true color three-dimensional model.
Referring to fig. 3, a schematic flow chart of an intraoral three-dimensional scanning method according to the present disclosure is shown. May include the steps of:
s301, projecting a pattern to the surface of the tooth;
s302, synchronously exposing and imaging the pattern projected to the tooth surface and converting the pattern into digital image data;
s303, calculating the digital image data to obtain three-dimensional information and corresponding texture image information data;
s304, reading the three-dimensional information and the corresponding texture image information data in real time, and sending the three-dimensional information and the corresponding texture image information data to a computer through wireless transmission so that the computer completes subsequent processing operation through a software system to generate a three-dimensional model of the teeth in the mouth.
Optionally, the digital image data is computed by the SoC and converted into the three-dimensional information and the corresponding texture image information data.
Optionally, the three-dimensional information includes two-dimensional feature information and coordinates of an image, or three-dimensional point cloud coordinates.
Optionally, the calculating the digital image data to obtain the three-dimensional information and the corresponding texture image information data specifically includes at least one of the following processes: image filtering, color calibration, image enhancement, feature extraction and three-dimensional point cloud coordinate calculation.
Optionally, the method of wireless transmission comprises Wi-Fi, UWB, NFC or 5G.
An intraoral three-dimensional scanning method of the present disclosure is described in detail below:
1. starting a computer and opening an intraoral scanner software system;
2. starting a power supply module through a key on an intraoral three-dimensional scanning device to supply power to each module so as to complete the starting and initialization of the whole hardware equipment;
3. starting the control module through a key or an inductive switch;
4. the control module synchronously controls projection and imaging exposure and stores the converted digital image data into a designated readable and writable storage medium;
5. the calculation processing module is used for reading the digital image data from the storage medium and performing calculation processing to obtain three-dimensional information and corresponding texture image information data, and storing the three-dimensional information and the corresponding texture image information data into another specified readable and writable storage medium;
6. the wireless transmission module is used for reading the three-dimensional information and the texture image information data in real time and sending the three-dimensional information and the texture image information data to a computer through wireless transmission;
7. and the computer receives the three-dimensional information and the texture image information data, completes corresponding post-processing operation through the software system, and generates a true-color three-dimensional model of the oral teeth.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. An intraoral three-dimensional scanning device, the device comprising:
a projection module for projecting a pattern onto a tooth surface;
the imaging module is used for synchronously exposing and imaging the pattern projected to the tooth surface and converting the pattern into digital image data;
the calculation processing module is used for calculating and processing the digital image data to obtain three-dimensional information and corresponding texture image information data;
and the wireless transmission module is used for reading the three-dimensional information and the corresponding texture image information data in real time and sending the three-dimensional information and the corresponding texture image information data to a computer through wireless transmission so that the computer completes subsequent processing operation through a software system to generate a three-dimensional model of the teeth in the mouth.
2. The apparatus of claim 1, wherein the computation processing module is specifically configured to perform computation processing on the digital image data by a system on a chip (SoC) to convert the digital image data into the three-dimensional information and corresponding texture image information data.
3. The apparatus of claim 1 or 2, wherein the three-dimensional information comprises two-dimensional feature information and coordinates of an image, or three-dimensional point cloud coordinates.
4. The apparatus according to claim 1 or 2, wherein the calculation processing module specifically comprises at least one of the following sub-modules: the system comprises an image filtering submodule, a color calibration submodule, an image enhancement submodule, a feature extraction submodule and a three-dimensional point cloud coordinate calculation submodule.
5. The device according to claim 1 or 2, wherein the wireless transmission module is specifically configured for wireless transmission over Wi-Fi, ultra wideband UWB, near field communication NFC or 5G.
6. An intraoral three-dimensional scanning method, comprising:
projecting a pattern onto a tooth surface;
synchronously exposing and imaging the pattern projected on the tooth surface and converting the pattern into digital image data;
calculating the digital image data to obtain three-dimensional information and corresponding texture image information data;
and reading the three-dimensional information and the corresponding texture image information data in real time, and sending the three-dimensional information and the corresponding texture image information data to a computer through wireless transmission so that the computer completes subsequent processing operation through a software system to generate a three-dimensional model of the teeth in the mouth.
7. The method of claim 6, wherein the digital image data is computationally processed by a system-on-a-chip (SoC) to convert into the three-dimensional information and corresponding texture image information data.
8. The method of claim 6 or 7, wherein the three-dimensional information comprises two-dimensional feature information and coordinates of an image, or three-dimensional point cloud coordinates.
9. The method according to claim 6 or 7, wherein said performing computational processing on said digital image data to obtain three-dimensional information and corresponding texture image information data specifically comprises at least one of: image filtering, color calibration, image enhancement, feature extraction and three-dimensional point cloud coordinate calculation.
10. The method of claim 6 or 7, wherein the method of wireless transmission comprises Wi-Fi, ultra wideband UWB, near field communication, NFC, or 5G.
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