CN114587586B - Noninvasive layered display equipment and system for dental injury and dental pulp injury - Google Patents
Noninvasive layered display equipment and system for dental injury and dental pulp injury Download PDFInfo
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Abstract
The invention discloses a non-invasive layered display device and a system for dental and pulp injuries, and relates to the field of dental medical equipment. The invention relates to a noninvasive layered display device for dental body and pulp injury, which comprises: the modeling module is used for acquiring a tooth perspective three-dimensional model, and the tooth perspective three-dimensional model comprises physiological structure information of a tooth body and dental pulp; the scanning module extracts an outer hard contour of the tooth perspective three-dimensional model and acquires a tooth body outer contour model; irradiating the tooth body with a laser beam; acquiring a scanning spot image of a tooth body irradiated by a laser beam, and acquiring a scanning position and a scanning angle of the tooth irradiated by the laser beam according to the scanning spot image; extracting three-dimensional model slices corresponding to the tooth body and the dental pulp of the tooth perspective three-dimensional model according to the scanning position and the scanning angle; and a display module. The invention solves the problem that the comparison between the specific pathological change condition of the oral cavity and the physiological structure information of the tooth body and the dental pulp in the tooth perspective three-dimensional model is not intuitive.
Description
Technical Field
The invention belongs to the technical field of dental medical equipment, and particularly relates to noninvasive layered display equipment and system for dental and pulp injuries.
Background
After generating a three-dimensional perspective model of a medical image of a tooth of a patient by using nuclear magnetic resonance or tomography and the like, a doctor cannot realize one-to-one correspondence with the three-dimensional model of the tooth when detecting an oral entity of the patient, namely, cannot visually compare the specific pathological changes of the oral cavity with physiological structure information of the tooth body and the dental pulp in the three-dimensional perspective model of the tooth.
Disclosure of Invention
The invention aims to provide a tooth body and dental pulp injury noninvasive layered display device and system, which solve the problem that the comparison between the specific pathological change condition of an oral cavity and the physiological structure information of the tooth body and dental pulp in a tooth perspective three-dimensional model is not intuitive by detecting light spots of laser beams on the surface of the tooth body.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention provides a non-invasive layered display device for dental and pulp injuries, which comprises:
a modeling module for obtaining a perspective three-dimensional model of a tooth, the perspective three-dimensional model of the tooth including physiological structure information of the tooth body and the dental pulp;
the scanning module extracts the outer hard contour of the tooth perspective three-dimensional model to obtain a tooth body outer contour model;
irradiating the tooth body with a laser beam;
acquiring a scanning spot image of the tooth body irradiated by the laser beam, and obtaining a scanning position and a scanning angle of the tooth irradiated by the laser beam according to the scanning spot image;
extracting three-dimensional model slices of the tooth perspective three-dimensional model corresponding to the tooth body and the tooth pulp according to the scanning position and the scanning angle; and the number of the first and second groups,
and the display module is used for displaying the three-dimensional model slice to obtain the layered images of the tooth body and the dental pulp.
In one embodiment of the invention, the scanning module further emits a guiding beam, the guiding beam having a different color than the laser beam, the guiding beam being generated in a manner,
setting a hierarchical display plan of the tooth body and the tooth pulp;
obtaining a preset irradiation position and a preset irradiation angle of the laser beam according to the layered display plan;
and generating the guide light beam according to the preset irradiation position and the preset irradiation angle.
In one embodiment of the invention, the wavelength and brightness of the laser beam and the guiding beam are obtained;
obtaining human eye perception sensitivity coefficients of the laser beam and the guide light beam according to the wavelengths of the laser beam and the guide light beam;
adjusting the duty ratios of the laser beams and the guide beams according to the brightness of the laser beams and the guide beams and the human eye perception sensitivity coefficient, so that the human eyes perceive that the subjective brightness of the laser beams and the subjective brightness of the guide beams are consistent;
adjusting the timing of the laser beam and the guiding beam such that the laser beam and the guiding beam do not simultaneously irradiate the dental body.
In one embodiment of the present invention, the step of generating the guiding beam according to the preset irradiation position and the preset irradiation angle comprises,
the laser beam is strip-shaped, and the guide beam is in a hollow triangle shape;
generating a reference point mark as an end point of the laser beam and a vertex of the guiding beam, which are a laser beam reference mark and a guiding beam reference mark, respectively;
generating a translation motion path from the laser beam reference mark to the guide beam reference mark by the scanning module, and irradiating the translation motion path to the inside of the oral cavity in a light beam mode;
generating a preset irradiation rotation angle according to the angle of the laser beam and the preset irradiation angle;
when the laser beam reference mark and the guiding beam reference mark coincide,
on the premise of keeping the laser beam reference mark and the guiding beam reference mark coincident, adjusting the triangular shape of the guiding beam to make the guiding beam reference mark be a vertex, and mark the internal angle with the guiding beam reference mark as the vertex as a rotation mark angle, wherein one side of the triangle of the guiding beam coincident with the laser beam has an internal angle equal to the preset irradiation rotation angle;
keeping the laser beam reference mark and the guide beam reference mark coincident, starting from one side of the laser beam overlapped with the rotating mark angle, and rotating the scanning module or the laser beam according to the angle of the rotating mark angle, so that the laser beam is coincident with the other side of the rotating mark angle.
In one embodiment of the invention, the irradiating the tooth body with a laser beam; the step of obtaining a scanning spot image of the tooth body irradiated by the laser beam and obtaining a scanning position and a scanning angle of the tooth irradiated by the laser beam according to the scanning spot image comprises the steps of,
the laser beam is in a strip shape, and the tooth body comprises a gingival outer part exposed out of the gingiva and a gingival inner part buried in the gingiva;
when the laser beam fails to form a spot on the tooth surface inside the gingiva, the irradiation area of the laser beam is extended until the laser beam forms a spot outside the gingiva, or,
rotating the laser beam around a selected point of the laser beam until the laser beam forms a spot outside the gingiva;
when the collection of the spot image is finished, the laser beam is restored to a non-extending or non-rotating state;
and judging the position relation of the gingival inner part relative to the light spot outside the gingival according to the extending distance or the rotating angle of the laser beam to obtain the scanning position and the scanning angle of the gingival inner part corresponding to the laser beam in the non-extending or non-rotating state, namely the scanning position and the scanning angle of the laser beam irradiating the tooth.
In one embodiment of the invention, the spatial position of the scanning module and the spatial emission angle of the laser beam are acquired in real time;
acquiring the spatial position and the deflection angle of the head of a patient in real time;
obtaining the spatial position of the eyes of the patient according to the spatial position and the deflection angle of the head of the patient;
and according to the spatial position of the scanning module and the spatial emission angle of the laser beam, automatically closing the laser beam when the spatial position of the laser beam pointing to the eye of the patient is judged.
In one embodiment of the invention, the spatial position and the deflection angle of the head of the patient are acquired in real time;
acquiring the space position of the scanning module and the space emission angle of the laser beam in real time;
according to the historical records of the spatial position and the deflection angle of the head of the patient and the historical records of the spatial position of the scanning module and the spatial emission angle of the laser beam, judging the movement time required for the head of the patient and/or the scanning module to keep the current movement state to lead the laser beam to point to the eyes;
acquiring the response time required for turning off the laser beam;
turning off the laser beam when the movement time required for the laser beam to be directed to the eye is greater than or equal to the response time required for turning off the laser beam.
In one embodiment of the invention, when the scanning module starts to work, the spherical divergent pulse emits a detection light beam;
when the detection light beam can not form a detectable light spot in the oral cavity, the scanning module does not emit the laser beam.
In one embodiment of the invention, the spatial position and the deflection angle of the head of the patient are acquired in real time;
acquiring the space position of the scanning module and the space emission angle of the laser beam in real time;
and when the displacement speed and/or the rotation angular speed of the head and/or the scanning module exceed a set value, the laser beam is closed.
The invention also provides a non-invasive layered display system for dental and pulp injuries, which comprises,
a modeling module for obtaining a perspective three-dimensional model of a tooth, the perspective three-dimensional model of the tooth including physiological structure information of the tooth body and the dental pulp;
the scanning module extracts the outer hard contour of the tooth perspective three-dimensional model and acquires a tooth outer contour model;
irradiating the tooth body with a laser beam;
acquiring a scanning spot image of the tooth body irradiated by the laser beam, and obtaining a scanning position and a scanning angle of the tooth irradiated by the laser beam according to the scanning spot image;
extracting three-dimensional model slices of the tooth perspective three-dimensional model corresponding to the tooth body and the tooth pulp according to the scanning position and the scanning angle;
the display module is used for displaying the three-dimensional model slice to obtain layered images of the tooth body and the dental pulp; and the number of the first and second groups,
and the control unit is used for controlling the scanning module to move or controlling the laser beam to move on the irradiation spot on the surface of the tooth body.
The invention obtains a tooth perspective three-dimensional model containing physiological structure information of dental pulp through a modeling module, then irradiates a tooth body through a laser beam emitted by a scanning module, obtains a scanning position and a scanning angle of the tooth irradiated by the laser beam through a spot image formed on the surface of the tooth body by a laser, then extracts a three-dimensional model slice corresponding to the tooth body and the dental pulp of the tooth perspective three-dimensional model through the scanning position and the scanning angle, finally displays the three-dimensional model slice through a display module to obtain a layered image of the tooth body and the dental pulp, and a doctor can visually see the slice image of the tooth body and the dental pulp of the tooth irradiated by the laser beam in real time by using the scanning module in the process of observing the oral cavity and the tooth, thereby realizing the layered display effect.
Of course, it is not necessary for any product to practice the invention to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic block diagram illustrating an apparatus for noninvasive hierarchical display of dental and pulp lesions according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating the operation of the scan module according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating the operation of the scanning module to emit the guided light beam according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating an embodiment of the present invention in which the laser beam and the guided light beam achieve a brightness equalization effect;
FIG. 5 is a flowchart illustrating the steps of generating a guiding beam according to a predetermined illumination position and a predetermined illumination angle according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart illustrating an embodiment of obtaining a scanning spot image of a tooth irradiated by a laser beam, and obtaining a scanning position and a scanning angle of the tooth irradiated by the laser beam according to the scanning spot image, according to the present invention;
FIG. 7 is a schematic flow chart of one embodiment of the present invention for avoiding irradiating the patient's eye with a laser beam;
FIG. 8 is a schematic flow chart of a preferred embodiment of the present invention for avoiding irradiating the patient's eye with the laser beam;
FIG. 9 is a schematic view of the process of the present invention illustrating the laser beam entering the oral cavity and beginning to be emitted;
FIG. 10 is a schematic flow chart of another preferred embodiment of the present invention for avoiding irradiating the patient's eye with the laser beam;
fig. 11 is a schematic diagram illustrating a module of a non-invasive and layered display system for dental and pulp injuries according to an embodiment of the present invention.
In the drawings, the reference numbers indicate the following list of parts:
1-a noninvasive layered display device for dental injury and pulp injury,
11-modeling module, 12-scanning module, 13-display module;
2-a non-invasive layered display system for dental and pulp injuries, 21-a control unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
When a doctor examines the diseased state of the tooth body and the dental pulp of a patient, comprehensive judgment needs to be carried out by combining the pathological change condition of soft tissues in the oral cavity, because the invention provides the non-invasive layered display equipment and the system for the injury of the tooth body and the dental pulp, which are used for solving the problem that the specific pathological change condition of the oral cavity can not be visually compared with the physiological structure information of the tooth body and the dental pulp in a tooth perspective three-dimensional model.
Referring to fig. 1 to 2, the present invention provides a non-invasive layered display apparatus 1 for dental and pulp injuries, which may include a modeling module 11, a scanning module 12 and a display module 13. The modeling module 11 may be used to obtain a perspective three-dimensional model of the tooth, which includes the physiological structure information of the tooth body and the dental pulp. The scanning module 12, in the operating state, may operate as follows: firstly, step S1 may be executed to extract the outer hard contour of the perspective three-dimensional model of the tooth, and obtain the outer contour model of the tooth. Step S2 is next performed to irradiate the tooth body with the laser beam. And finally, step S4 can be executed to extract a three-dimensional model slice of the tooth body and the dental pulp corresponding to the perspective three-dimensional model of the tooth according to the scanning position and the scanning angle. After the scanning module 12 obtains the three-dimensional model slices of the tooth body and the tooth pulp, the display module 13 may be used to display the three-dimensional model slices, thereby obtaining a layered image of the tooth body and the tooth pulp. Through the mode, in the process of observing soft tissues such as gingiva in the oral cavity, a doctor can scan the part of the tooth body and the dental pulp to be observed by using the laser beam emitted by the scanning device, namely, the layered image of the corresponding tooth body and dental pulp can be seen on the display module 13, and the problem that the specific pathological change condition of the oral cavity cannot be visually compared with the physiological structure information of the tooth body and the dental pulp in the tooth perspective three-dimensional model is solved.
Referring to fig. 3, in order to fully observe the tooth body and the tooth pulp, the scanning module 12 may further emit a guiding beam, which has a different color from the laser beam, and is generated as follows: step S5 may be performed first to set a hierarchical display plan of the tooth body and the dental pulp. Then, step S6 may be executed to obtain a preset irradiation position and a preset irradiation angle of the laser beam according to the layered display plan. Finally, step S7 may be performed to generate the guiding beam according to the preset irradiation position and the preset irradiation angle. The guiding light beam can mark the corresponding positions of the tooth body and the dental pulp to be scanned, can assist a doctor using the scanning module 12 to realize complete and sufficient observation of the tooth body and the dental pulp, and is favorable for the doctor to fully know the conditions of the tooth body and the dental pulp of a patient.
Referring to fig. 4, in order to achieve brightness equalization of the laser beam and the guiding beam, step S8 may be performed to obtain the wavelength and brightness of the laser beam and the guiding beam. Step S9 may be performed next to obtain human eye perception sensitivity coefficients of the laser beam and the guided beam according to the wavelengths of the laser beam and the guided beam. Step S10 may be performed next to adjust duty ratios of the laser beam and the guiding beam according to the brightness of the laser beam and the guiding beam and the human eye perception sensitivity coefficient, so that the human eye perceives the subjective brightness of the laser beam and the guiding beam to be consistent. Finally, step S11 may be performed to adjust the timing of the laser beam and the guiding beam such that the laser beam and the guiding beam do not irradiate the tooth at the same time. According to different subjective perception effects of human eyes on different brightness, the duty ratios of the laser beam and the guide beam are balanced, so that the brightness is balanced when a doctor observes the laser beam and the guide beam, and the doctor can observe the tooth body and the dental pulp of a patient conveniently.
Referring to fig. 5, in order to realize accurate guidance of the movement of the scanning module 12 by the physician, the guiding beam may be set to be an open triangle, and the step S7 of generating the guiding beam according to the preset irradiation position and the preset irradiation angle may first perform the step S7.1 of generating a reference point identifier, which is an end point of the laser beam and a vertex of the guiding beam, and is a laser beam reference identifier and a guiding beam reference identifier, respectively. Step S7.2 may then be performed to generate a translational movement path of the scanning module 12 from the laser beam reference marker to the guidance beam reference marker, and to irradiate the translational movement path as a beam to the inside of the oral cavity. Step S7.3 may be performed next to generate a preset irradiation rotation angle based on the angle of the laser beam and the preset irradiation angle. Step S7.4 may be performed next when the laser beam reference mark and the guiding beam reference mark coincide. Step S7.5 may be performed next to adjust the triangular shape of the guiding beam on the premise of keeping the laser beam reference mark and the guiding beam reference mark coincident, so that the guiding beam reference mark is taken as a vertex, an inner angle of the triangle of the guiding beam with one side coincident with the laser beam is equal to the preset irradiation rotation angle, and an inner angle with the guiding beam reference mark as a vertex is marked as a rotation mark angle. Finally, step S7.6 may be performed to keep the laser beam reference mark and the guiding beam reference mark coincident, starting from one edge where the laser beam overlaps the rotational mark angle, and rotating the scanning module 12 or rotating the laser beam according to the angle of the rotational mark angle, such that the laser beam coincides with the other edge of the rotational mark angle. The guiding light beam with the hollow triangular structure is used for accurately and efficiently guiding a doctor.
Referring to fig. 6, since a part of the tooth body is embedded in the gum, in order to avoid the influence of the gum on the laser beam spot, the process from step S2 to step S3 may specifically include: the laser beam may first be executed in a strip shape with the tooth body including an outer gingival part exposed from the gum and an inner gingival part buried inside the gum at step S2-3.1. Step S2-3.2 may be performed next when the laser beam is unable to form a spot on the surface of the tooth body inside the gingiva, step S2-3.3 may be performed to extend the irradiation area of the laser beam until the laser beam forms a spot on the outside of the gingiva, or alternatively, the laser beam may be rotated around a selected point of the laser beam until the laser beam forms a spot on the outside of the gingiva. Steps S2-3.4 may then be performed to restore the laser beam to an unextended or unrotated state when the acquisition of the speckle image is completed. And finally, step S2-3.5 can be executed to judge the position relation of the gingival interior relative to the light spot outside the gingiva according to the extension distance or the rotation angle of the laser beam, and obtain the scanning position and the scanning angle of the gingival interior corresponding to the laser beam in a non-extension or non-rotation state, namely the scanning position and the scanning angle of the laser beam irradiating the teeth.
Referring to fig. 7, since the laser also has a certain penetration in the soft tissue of the human body, in order to avoid the injury of the laser beam to the human eye, step S12 may be first performed to obtain the spatial position of the scanning module 12 and the spatial emission angle of the laser beam in real time. Step S13 may be performed next to acquire the spatial position and the deflection angle of the head of the patient in real time. Step S14 may be performed to obtain the spatial position of the patient 'S eyes from the spatial position and the deflection angle of the patient' S head. Finally, step S15 may be executed to automatically turn off the laser beam when the laser beam is determined to be directed to the spatial position of the eye of the patient according to the spatial position of the scanning module 12 and the spatial emission angle of the laser beam.
Referring to fig. 8, in order to avoid the laser beam being directed to the eyes of the patient due to the unexpected movement of the patient or the physician, step S16 may be performed to obtain the spatial position and the deflection angle of the head of the patient in real time. Step S17 may be performed next to acquire the spatial position of the scanning module 12 and the spatial emission angle of the laser beam in real time. Step S18 may then be performed to determine the movement time required for the patient 'S head and/or the scanning module 12 to maintain the current state of motion resulting in the laser beam being directed to the eye based on the history of the spatial position and deflection angle of the patient' S head and the history of the spatial position of the scanning module 12 and the spatial emission angle of the laser beam. Step S19 may be performed next to obtain the response time required to turn off the laser beam. Finally, step S20 may be performed to turn off the laser beam when the movement time required for the laser beam to be directed to the eye is greater than or equal to the response time required to turn off the laser beam. Through the mode, the influence of the unconscious movement of the patient or a doctor on the eyes of the patient can be effectively avoided.
Referring to fig. 9, in order to further avoid the laser beam being directed to the patient's eye due to the accidental movement of the patient or the physician, step 21 may be performed first, in which the spherical divergent pulse emits the detection beam when the scanning module 12 starts to operate. Finally, step S22 may be executed when the detection beam cannot form a detectable spot in the oral cavity, and the scanning module 12 does not emit the laser beam. The adverse effect of the scanning module 12 not entering the oral cavity to emit the laser beam on the eyes is effectively avoided.
Referring to fig. 10, in order to further avoid the laser beam being directed to the eyes of the patient due to the accidental movement of the patient or the physician, step S23 may be performed to obtain the spatial position and the deflection angle of the head of the patient in real time. Step S24 may be performed next to acquire the spatial position of the scanning module 12 and the spatial emission angle of the laser beam in real time. Finally, step S25 may be executed to turn off the laser beam when the displacement speed and/or the rotational angular speed of the head and/or the scanning module 12 exceeds a set value. The influence of the patient or the doctor unconsciously moving on the eyes of the patient can be further avoided.
Referring to fig. 11, the present invention further provides a non-invasive layered display system 2 for dental and pulp injuries, which includes a modeling module 11, a scanning module 12, a display module 13 and a control unit 21. The modeling module 11 in the present scheme can be used to obtain a perspective three-dimensional model of the tooth, which includes physiological structure information of the tooth body and the dental pulp. The scanning module 12 may be configured to extract an outer hard contour of the perspective three-dimensional model of the tooth, obtain an outer contour model of the tooth, irradiate the tooth with the laser beam, obtain a scanning spot image at the position where the tooth is irradiated with the laser beam, obtain a scanning position and a scanning angle at which the tooth is irradiated with the laser beam according to the scanning spot image, and extract a three-dimensional model slice corresponding to the tooth and the dental pulp of the perspective three-dimensional model of the tooth according to the scanning position and the scanning angle. The display module 13 in the present scheme can be used for displaying three-dimensional model slices to obtain layered images of tooth bodies and dental pulp. The control unit 21 in this embodiment can be used to control the motion of the scanning module 12 or to control the movement of the laser beam irradiating spot on the tooth surface. Is convenient for doctors to observe the tooth bodies and the dental pulp of the patients in a non-invasive and layered way.
In summary, in the present invention, a three-dimensional model of tooth including physiological structure information of dental pulp is obtained by a modeling module 11, then a tooth body is irradiated by a laser beam emitted by a scanning module 12, a scanning position and a scanning angle of the tooth irradiated by the laser beam are obtained by a spot image formed on the surface of the tooth body by a laser, then a three-dimensional model slice of the tooth body and dental pulp corresponding to the three-dimensional model of tooth perspective is extracted by the scanning position and the scanning angle, and finally the three-dimensional model slice is displayed by a display module 13 to obtain a layered image of the tooth body and dental pulp, and a doctor can visually see the slice image of the tooth body and dental pulp at the tooth part irradiated by the laser beam in real time by using the scanning module 12 in the process of observing the oral cavity and the tooth, thereby realizing the layered display effect.
The above description of illustrated embodiments of the invention, including what is described in the abstract of the specification, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. While specific embodiments of, and examples for, the invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications may be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.
The systems and methods have been described herein in general terms as the details aid in understanding the invention. Furthermore, various specific details have been set forth in order to provide a thorough understanding of the embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.
Thus, although the present invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the invention will be employed without a corresponding use of other features without departing from the scope and spirit of the invention as set forth. Thus, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the invention not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the invention is to be determined solely by the appended claims.
Claims (9)
1. A noninvasive layered display equipment for dental and dental pulp injury is characterized in that the noninvasive layered display equipment comprises,
the modeling module is used for acquiring a tooth perspective three-dimensional model which comprises physiological structure information of the tooth body and the dental pulp;
the scanning module extracts the outer hard contour of the tooth perspective three-dimensional model to obtain a tooth body outer contour model;
irradiating the tooth body with a laser beam;
acquiring a scanning spot image of the tooth body irradiated by the laser beam, and obtaining a scanning position and a scanning angle of the tooth irradiated by the laser beam according to the scanning spot image;
extracting three-dimensional model slices of the tooth perspective three-dimensional model corresponding to the tooth body and the tooth pulp according to the scanning position and the scanning angle; and the number of the first and second groups,
the display module is used for displaying the three-dimensional model slice to obtain layered images of the tooth body and the dental pulp;
said irradiating said dental body with a laser beam; the step of obtaining a scanning spot image of the tooth body irradiated by the laser beam and obtaining a scanning position and a scanning angle of the tooth irradiated by the laser beam according to the scanning spot image, comprises,
the laser beam is in a strip shape, and the tooth body comprises a gum outer part exposed out of the gum and a gum inner part buried in the gum;
when the laser beam fails to form a spot on the surface of the tooth body inside the gingiva, the irradiation area of the laser beam is extended until the laser beam forms a spot outside the gingiva, or,
rotating the laser beam around a selected point of the laser beam until the laser beam forms a spot outside the gingiva;
when the collection of the spot image is finished, the laser beam is restored to a non-extending or non-rotating state;
and judging the position relationship of the gingival interior relative to the light spot outside the gingiva according to the extension distance or the rotation angle of the laser beam, and obtaining the scanning position and the scanning angle of the gingival interior corresponding to the laser beam in the non-extension or non-rotation state, namely the scanning position and the scanning angle of the tooth irradiated by the laser beam.
2. The apparatus of claim 1, wherein the scanning module further emits a guiding beam, the guiding beam being a different color than the laser beam, the guiding beam being generated in a manner,
setting a hierarchical display plan of the tooth body and the dental pulp;
obtaining a preset irradiation position and a preset irradiation angle of the laser beam according to the layered display plan;
and generating the guide light beam according to the preset irradiation position and the preset irradiation angle.
3. The apparatus of claim 2, wherein the wavelengths and intensities of the laser beam and the guided light beam are obtained;
obtaining human eye perception sensitivity coefficients of the laser beam and the guide light beam according to the wavelengths of the laser beam and the guide light beam;
adjusting the duty ratios of the laser beams and the guide beams according to the brightness of the laser beams and the guide beams and the human eye perception sensitivity coefficient, so that the human eyes perceive that the subjective brightness of the laser beams and the subjective brightness of the guide beams are consistent;
adjusting the timing of the laser beam and the guiding beam such that the laser beam and the guiding beam do not simultaneously irradiate the dental body.
4. The apparatus of claim 2, wherein the step of generating the guided light beam according to the preset illumination position and the preset illumination angle comprises,
the laser beam is strip-shaped, and the guide beam is in a hollow triangle shape;
generating a reference point mark as an end point of the laser beam and a vertex of the guiding beam, which are a laser beam reference mark and a guiding beam reference mark, respectively;
generating a translation motion path from the laser beam reference mark to the guide beam reference mark by the scanning module, and irradiating the translation motion path to the inside of the oral cavity in a light beam mode;
generating a preset irradiation rotation angle according to the angle of the laser beam and the preset irradiation angle;
when the laser beam reference mark and the guide beam reference mark are overlapped;
on the premise of keeping the laser beam reference mark and the guiding beam reference mark coincident, adjusting the triangular shape of the guiding beam to make the guiding beam reference mark be a vertex, and mark the internal angle with the guiding beam reference mark as the vertex as a rotation mark angle, wherein one side of the triangle of the guiding beam coincident with the laser beam has an internal angle equal to the preset irradiation rotation angle;
keeping the laser beam reference mark and the guiding beam reference mark coincident, starting from one side of the laser beam overlapped with the rotary mark angle, and rotating the scanning module or the laser beam according to the angle of the rotary mark angle, so that the laser beam is coincident with the other side of the rotary mark angle.
5. The apparatus of claim 1, wherein the spatial position of the scanning module and the spatial emission angle of the laser beam are acquired in real time;
acquiring the spatial position and the deflection angle of the head of a patient in real time;
obtaining the spatial position of the eyes of the patient according to the spatial position and the deflection angle of the head of the patient;
and according to the spatial position of the scanning module and the spatial emission angle of the laser beam, automatically closing the laser beam when the spatial position of the laser beam pointing to the eye of the patient is judged.
6. The apparatus according to claim 5, wherein the spatial position and the deflection angle of the patient's head are acquired in real time;
acquiring the space position of the scanning module and the space emission angle of the laser beam in real time;
according to the historical records of the spatial position and the deflection angle of the head of the patient and the historical records of the spatial position of the scanning module and the spatial emission angle of the laser beam, judging the movement time required for the head of the patient and/or the scanning module to keep the current movement state to cause the laser beam to point to the eye;
acquiring the response time required for turning off the laser beam;
turning off the laser beam when the movement time required for the laser beam to be directed to the eye is greater than or equal to the response time required for turning off the laser beam.
7. The apparatus of claim 1 or 5, wherein the scanning module is configured to operate such that the spherical divergent pulse emits a detection beam;
when the detection light beam can not form a detectable light spot in the oral cavity, the scanning module does not emit the laser beam.
8. The apparatus according to claim 1, wherein the spatial position and the deflection angle of the head of the patient are acquired in real time;
acquiring the spatial position of the scanning module and the spatial emission angle of the laser beam in real time;
and when the displacement speed and/or the rotation angular speed of the head and/or the scanning module exceed a set value, the laser beam is closed.
9. A non-invasive layered display system for dental and pulp injuries, which is characterized by comprising,
the modeling module is used for acquiring a tooth perspective three-dimensional model which comprises physiological structure information of the tooth body and the dental pulp;
the scanning module extracts the outer hard contour of the tooth perspective three-dimensional model and acquires a tooth outer contour model;
irradiating the tooth body with a laser beam;
acquiring a scanning spot image of the tooth body irradiated by the laser beam, and obtaining a scanning position and a scanning angle of the tooth irradiated by the laser beam according to the scanning spot image;
extracting three-dimensional model slices of the tooth perspective three-dimensional model corresponding to the tooth body and the tooth pulp according to the scanning position and the scanning angle;
the display module is used for displaying the three-dimensional model slices to obtain layered images of the tooth body and the dental pulp; and (c) a second step of,
the control unit is used for controlling the scanning module to move or controlling the laser beam to move on an irradiation spot on the surface of the tooth body;
said irradiating said dental body with a laser beam; the step of obtaining a scanning spot image of the tooth body irradiated by the laser beam and obtaining a scanning position and a scanning angle of the tooth irradiated by the laser beam according to the scanning spot image comprises the steps of,
the laser beam is in a strip shape, and the tooth body comprises a gingival outer part exposed out of the gingiva and a gingival inner part buried in the gingiva;
when the laser beam fails to form a spot on the surface of the tooth body inside the gingiva, the irradiation area of the laser beam is extended until the laser beam forms a spot outside the gingiva, or,
rotating the laser beam about a selected point of the laser beam until the laser beam forms a spot outside the gingiva;
when the collection of the spot image is finished, the laser beam is restored to a non-extending or non-rotating state;
and judging the position relation of the gingival inner part relative to the light spot outside the gingival according to the extending distance or the rotating angle of the laser beam to obtain the scanning position and the scanning angle of the gingival inner part corresponding to the laser beam in the non-extending or non-rotating state, namely the scanning position and the scanning angle of the laser beam irradiating the tooth.
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