CN114612541B - Implant printing method, device, equipment and medium based on 3D printing technology - Google Patents
Implant printing method, device, equipment and medium based on 3D printing technology Download PDFInfo
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Abstract
The invention relates to the field of dental implants, and discloses a dental implant printing method based on a 3D printing technology, which comprises the following steps: grouping comparison and matching cost calculation are carried out on the oral cavity characteristic images extracted from the target patient oral cavity image set, and an oral cavity depth sampling image is generated; performing fusion operation on the oral cavity depth sampling map to obtain oral cavity 3D point cloud data, and visualizing the oral cavity 3D point cloud data to obtain oral cavity modeling; acquiring the number and occupied space of teeth to be implanted of a target patient based on the oral cavity modeling, and acquiring the three-dimensional modeling of the dental implant from a dental implant model library according to the number and occupied space; and importing the three-dimensional modeling into 3D printing equipment, and printing in batches on a standard substrate to obtain the dental implant. The invention also provides a dental implant printing device, equipment and a storage medium based on the 3D printing technology. The invention can improve the production efficiency of the dental implant.
Description
Technical Field
The invention relates to the field of dental implants, in particular to a dental implant printing method and device based on a 3D printing technology, electronic equipment and a computer readable storage medium.
Background
Nowadays, more and more people pay attention to oral health, and many patients can treat damaged or missing teeth due to the loss of the previous hygiene habits or sudden conditions, and can solve the problems only by artificial tooth implantation for the teeth with less damage or missing.
The existing dental implant is basically formed by CNC (computerized numerical control) material reduction processing after data modeling. In the scheme, one CNC can only process one tooth at a time, and because the appearance of each tooth is different, different data needs to be imported in each processing, the production efficiency of the implanted tooth is low.
Disclosure of Invention
The invention provides a 3D printing technology-based dental implant printing method and device, electronic equipment and a computer-readable storage medium, and mainly aims to improve the production efficiency of dental implants.
In order to achieve the above object, the present invention provides a method for printing a dental implant based on a 3D printing technique, comprising:
constructing a multi-view three-dimensional reconstruction model based on a pre-constructed deep neural network model and the shooting parameters of the shooting equipment, and extracting a characteristic diagram in an oral cavity image set of a target patient shot by the shooting equipment by using the multi-view three-dimensional reconstruction model to obtain an oral cavity characteristic diagram;
generating a plurality of three-dimensional cost bodies by performing group comparison and matching cost calculation on the oral cavity feature map;
performing softmax regression on the three-dimensional cost body to generate an initial oral cavity depth map, and performing up-sampling on the initial oral cavity depth map to obtain an oral cavity depth sampling map;
performing fusion operation on the oral cavity depth sampling map by a preset image fusion method to obtain oral cavity 3D point cloud data, and performing visualization operation on the oral cavity 3D point cloud data to obtain oral cavity three-dimensional modeling of the target patient;
acquiring the number and occupied space of teeth to be implanted of the target patient based on the oral three-dimensional modeling, and acquiring the three-dimensional modeling of one or more implanted teeth from a preset implanted tooth model library according to the number and occupied space of the teeth to be implanted;
and importing the three-dimensional modeling of the implanted tooth into 3D printing equipment, and printing in batches on a preset standard substrate to obtain the implanted tooth.
Optionally, the generating a plurality of three-dimensional cost volumes by performing group comparison and matching cost calculation on the oral cavity feature maps comprises:
grouping the oral cavity feature maps based on different visual angles of the oral cavity feature maps to obtain a plurality of groups of oral cavity feature maps;
transforming each group of the oral cavity feature maps into a preset discrete depth plane to obtain a feature body;
and matching and fusing the feature bodies with different visual angles to obtain a plurality of three-dimensional cost bodies.
Optionally, before the extracting, by using the multi-view three-dimensional reconstruction model, the feature map in the oral cavity picture set of the target patient captured by the capturing device, the method further includes:
acquiring oral cavity video data of a target patient shot by the shooting equipment, and extracting an oral cavity picture sequence from the oral cavity video data;
performing definition detection on each oral cavity picture in the oral cavity picture sequence, and removing the oral cavity pictures of which the definitions do not meet a preset threshold value from the oral cavity picture sequence;
and calculating the similarity of adjacent pictures in the oral cavity picture sequence based on a preset feature point matching algorithm, and removing the oral cavity pictures with the similarity higher than a preset similarity threshold value to obtain an oral cavity picture set.
Optionally, the performing definition detection on each oral cavity picture in the oral cavity picture sequence includes:
acquiring the whole image domain of each oral cavity picture and the number of pixel points in the image domain;
acquiring the gray scale of each pixel point in the whole image domain of the oral cavity picture, and calculating the average gradient of the oral cavity picture based on the number of the pixel points in the image domain and the gray scale of the pixel points;
if the average gradient is smaller than a preset gradient threshold value, judging that the definition detection of the oral cavity picture does not pass;
and if the average gradient is larger than or equal to a preset gradient threshold value, judging that the definition detection of the oral cavity picture passes.
Optionally, the calculating the average gradient of the oral cavity picture comprises:
the average gradient of the oral cavity picture was calculated using the following method:
where I denotes the entire image domain except for the image border,fa gray scale representing the domain of the image,
representing the number of pixel points within the image domain,xandyis the coordinate of the pixel point.
Optionally, the calculating the similarity between adjacent pictures in the oral cavity picture sequence based on a preset feature point matching algorithm includes:
acquiring a group of adjacent pictures from the oral cavity picture sequence, and acquiring feature points of the adjacent pictures;
if the feature points of the adjacent pictures represent the same position in the oral cavity, judging that the feature points are matched feature points;
if the feature points of the adjacent pictures do not represent the same position in the oral cavity, judging that the feature points are not matched feature points;
and acquiring the total feature point number and the matching feature point number in the adjacent pictures, and obtaining the similarity of the adjacent pictures according to the ratio of the matching feature point number to the total feature point number.
Optionally, the obtaining the feature points of the adjacent pictures includes:
performing convolution processing on the adjacent pictures by using a variable-scale two-dimensional Gaussian function to obtain Gaussian scale space images of the adjacent pictures;
carrying out difference processing on the Gaussian scale space image to obtain a Gaussian difference image;
and extracting extreme values from the Gaussian difference image to obtain a maximum value point and a minimum value point, and taking the maximum value point and the minimum value point as feature points of the adjacent pictures.
In order to solve the above problems, the present invention further provides a dental implant printing apparatus based on 3D printing technology, the apparatus comprising:
the characteristic map construction module is used for constructing a multi-view three-dimensional reconstruction model based on a pre-constructed deep neural network model and the shooting parameters of the shooting equipment, and extracting a characteristic map in an oral cavity picture set of a target patient shot by the shooting equipment by using the multi-view three-dimensional reconstruction model to obtain an oral cavity characteristic map;
the oral cavity modeling module is used for generating a plurality of three-dimensional cost bodies by performing grouping comparison and matching cost calculation on the oral cavity feature map, performing softmax regression on the three-dimensional cost bodies to generate an initial oral cavity depth map, performing up-sampling on the initial oral cavity depth map to obtain an oral cavity depth sampling map, performing fusion operation on the oral cavity depth sampling map by using a preset image fusion method to obtain oral cavity 3D point cloud data, and performing visualization operation on the oral cavity 3D point cloud data to obtain the oral cavity three-dimensional modeling of the target patient;
the dental model acquisition module is used for acquiring the number and the occupied space of the teeth to be implanted of the target patient based on the oral three-dimensional modeling, and acquiring the three-dimensional modeling of one or more dental implants from a preset dental implant model library according to the number and the occupied space of the teeth to be implanted;
and the 3D printing module is used for leading the three-dimensional modeling of the implanted tooth into 3D printing equipment, and printing the implanted tooth in batches on a preset standard substrate to obtain the implanted tooth.
In order to solve the above problem, the present invention also provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of 3D printing technology based dental implant printing as described above.
In order to solve the above problem, the present invention further provides a computer-readable storage medium including a storage data area and a storage program area, the storage data area storing created data, the storage program area storing a computer program; wherein the computer program, when executed by a processor, implements a method for printing a dental implant based on 3D printing techniques as described above.
In the embodiment of the invention, a multi-view three-dimensional reconstruction model is constructed based on a pre-constructed depth neural network model and the camera parameters of a shooting device, a characteristic diagram in a centralized oral cavity image of a target patient obtained by shooting the target patient is extracted by using the multi-view three-dimensional reconstruction model to obtain an oral cavity characteristic diagram, the acquisition of the characteristic diagram is realized, then a plurality of three-dimensional cost bodies are generated by performing grouping comparison and matching cost calculation on the oral cavity characteristic diagram, softmax regression is performed on the three-dimensional cost bodies to generate an initial oral cavity depth diagram, the initial oral cavity depth diagram is up-sampled to obtain an oral cavity depth sampling diagram, fusion operation is performed on the oral cavity depth sampling diagram by a preset image fusion method to obtain oral cavity 3D point cloud data, visual operation is performed on the oral cavity 3D point cloud data to obtain the oral cavity three-dimensional modeling of the target patient, the purpose of obtaining the oral cavity modeling, then the number and the occupied space of the target patient of the teeth to be implanted is obtained based on the oral cavity three-dimensional modeling, one or more three-dimensional dental implant models are obtained from a preset dental implant model base plate based on the oral cavity three-dimensional modeling of the oral cavity three-dimensional modeling equipment, and the dental implant is printed, so that the batch production of the three-dimensional implant can be printed, and the three-dimensional implant can be printed on the three-dimensional implant base plate, and the three-dimensional implant.
Drawings
Fig. 1 is a schematic flow chart of a dental implant printing method based on a 3D printing technique according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of a dental implant printing apparatus based on 3D printing technology according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an internal structure of an electronic device for implementing a dental implant printing method based on a 3D printing technology according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the application provides a dental implant printing method based on a 3D printing technology. The execution subject of the dental implant printing method based on the 3D printing technology includes, but is not limited to, at least one of the electronic devices of the server, the terminal, and the like, which can be configured to execute the method provided by the embodiment of the present application. The server may be an independent server, or may be a cloud server that provides basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a Content Delivery Network (CDN), a big data and artificial intelligence platform, and the like. In other words, the dental implant printing method based on the 3D printing technology may be performed by software or hardware installed in a terminal device or a server device, and the software may be a block chain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, and the like.
Fig. 1 is a schematic flow chart of a method for printing a dental implant based on a 3D printing technique according to an embodiment of the present invention. In this embodiment, the method for printing a dental implant based on a 3D printing technology includes:
s1, constructing a multi-view three-dimensional reconstruction model based on a pre-constructed deep neural network model and the shooting parameters of shooting equipment, and extracting a characteristic diagram in a target patient oral cavity image set obtained by shooting of the shooting equipment by using the multi-view three-dimensional reconstruction model to obtain an oral cavity characteristic diagram.
In the embodiment of the invention, the Deep Neural Network (DNN) model can be called as a fully-connected Neural network model, belongs to a basic framework model for Deep learning, and can represent a complex function by fewer parameters. The shooting device is usually a high-definition camera, wherein the oral cavity pictures shot by the high-definition camera have more obvious characteristics in the subsequent characteristic extraction process compared with the oral cavity pictures shot by a common camera, and the oral cavity picture set is a set formed by pictures obtained by shooting the oral cavity of a target patient by the shooting device.
In the embodiment of the present invention, the constructing a multi-view three-dimensional reconstruction model based on a pre-constructed deep neural network model and imaging parameters of a shooting device includes:
acquiring a deep neural network in the deep neural network model, and an image feature network and a space regularization network in the deep neural network;
and coding the camera parameters to the deep neural network through differentiable homography transformation operation, and connecting the image feature network and the space regularization network to obtain an end-to-end multi-view three-dimensional reconstruction model.
In the embodiment of the present invention, the differentiable Homography (Homography) may deform a 2D image feature into a reference coordinate system of an image capturing apparatus, and in the present scheme, the camera parameter is encoded into the deep neural network and used for connecting the image feature network and the spatial regularization network.
Further, the extracting, by using the multi-view three-dimensional reconstruction model, the feature map in the oral cavity picture set of the target patient captured by the capturing device to obtain an oral cavity feature map includes:
extracting the characteristics of the oral cavity picture set based on the convolution layer in the image characteristic network in the multi-view three-dimensional reconstruction model to obtain oral cavity picture characteristics;
and constructing the oral cavity picture characteristics into an oral cavity characteristic map through a spatial regularization network in the multi-view three-dimensional reconstruction model.
In detail, the target patient is a patient to be implanted with teeth.
In another embodiment of the present invention, before the extracting, by using the multi-view three-dimensional reconstruction model, the feature map in the oral cavity picture set of the target patient captured by the capturing device, the method further includes:
acquiring oral cavity video data of a target patient shot by the shooting equipment, and extracting an oral cavity picture sequence from the oral cavity video data;
performing definition detection on each oral cavity picture in the oral cavity picture sequence, and removing the oral cavity pictures of which the definition does not meet a preset threshold value from the oral cavity picture sequence;
and calculating the similarity of adjacent pictures in the oral cavity picture sequence based on a preset feature point matching algorithm, and removing the oral cavity pictures with the similarity higher than a preset similarity threshold value to obtain an oral cavity picture set.
In detail, the oral cavity image sequence is a sequence formed by shooting oral cavity video data of a target patient through shooting equipment and extracting each frame of image of the oral cavity video data.
Further, the performing definition detection on each oral cavity picture in the oral cavity picture sequence includes:
acquiring the whole image domain of each oral cavity picture and the number of pixel points in the image domain;
acquiring the gray scale of each pixel point in the whole image domain of the oral cavity picture, and calculating the average gradient of the oral cavity picture based on the number of the pixel points in the image domain and the gray scale of the pixel points;
if the average gradient is smaller than a preset gradient threshold value, judging that the definition detection of the oral cavity picture does not pass;
and if the average gradient is larger than or equal to a preset gradient threshold value, judging that the definition detection of the oral cavity picture passes.
In an embodiment of the present invention, the image domain is represented as a pixel display range of the oral cavity picture.
In detail, the calculation formula for calculating the average gradient of the oral cavity picture based on the number of pixel points in the image domain and the gray scale of the pixel points is as follows:
where I denotes the entire image domain except for the image border,
representing the number of pixel points within the image domain,xandyis the coordinate of the pixel point and is,frepresenting a gray scale.
Further, the calculating the similarity of adjacent pictures in the oral cavity picture sequence based on a preset feature point matching algorithm includes:
acquiring a group of adjacent pictures from the oral cavity picture sequence, and acquiring feature points of the adjacent pictures;
if the feature points of the adjacent pictures represent the same position in the oral cavity, judging that the feature points are matched feature points;
if the feature points of the adjacent pictures do not represent the same position in the oral cavity, judging that the feature points are not matched feature points;
and acquiring the total feature point number and the matching feature point number in the adjacent pictures, and obtaining the similarity of the adjacent pictures according to the ratio of the matching feature point number to the total feature point number.
In detail, the feature points are scale invariant feature transform (SIFI) feature points, and the feature matching algorithm is a scale invariant feature transform algorithm.
In this embodiment of the present invention, the obtaining the feature points of the adjacent pictures includes:
performing convolution processing on the adjacent pictures by using a variable-scale two-dimensional Gaussian function to obtain Gaussian scale space images of the adjacent pictures;
carrying out difference processing on the Gaussian scale space image to obtain a Gaussian difference image;
and extracting extreme points from the Gaussian difference image to obtain a maximum value point and a minimum value point, and taking the maximum value point and the minimum value point as the feature points of the adjacent pictures.
In the embodiment of the present invention, the Difference processing is Gaussian Difference (DOG), which is an algorithm for enhancing a blurred image of an original grayscale image from another grayscale image, and an algorithm for reducing a blur degree of the blurred image by Gaussian Difference.
And S2, generating a plurality of three-dimensional cost bodies by performing grouping comparison and matching cost calculation on the oral cavity characteristic maps.
In the embodiment of the invention, the three-dimensional cost body is a three-dimensional structure formed by connecting cost graphs with the same length and width as the reference image in the depth direction.
Further, the generating a plurality of three-dimensional cost volumes by performing group comparison and matching cost calculation on the oral cavity feature maps comprises:
grouping the oral cavity characteristic maps based on different visual angles of the oral cavity characteristic maps to obtain a plurality of groups of oral cavity characteristic maps;
transforming each group of the oral cavity feature maps into a preset discrete depth plane to obtain a feature body;
and matching and fusing the feature bodies with different visual angles to obtain a plurality of three-dimensional cost bodies.
In the embodiment of the present invention, the feature vector is a feature vector, and the discrete depth plane is a plane for embodying an image depth.
And S3, performing softmax regression on the three-dimensional cost body to generate an initial oral cavity depth map, and performing up-sampling on the initial oral cavity depth map to obtain an oral cavity depth sampling map.
In the embodiment of the present invention, the softmax regression belongs to the general case of logistic regression for binary classification and softmax regression for multi-classification, wherein the logistic regression can map the result of linear regression (∞, infinity) to (0, 1) through a logistic function.
In detail, the softmax regression on the three-dimensional cost body generates an initial oral cavity depth map, including:
performing softmax regression on the three-dimensional cost body to generate a probability body;
and calculating the depth value of the probability body, and generating an initial oral cavity depth map according to the depth value.
In the embodiment of the present invention, the probability body is a unit for estimating pixel depth and confidence generated after normalization of probability values using softmax operation in the depth direction, the depth map may also be referred to as a distance image, and is an image in which distances (depths) from the imaging device to various points in the shooting scene are used as pixel values, and the oral depth map may reflect the geometric shape of the visible surface in the oral cavity.
Further, the upsampling is mainly used for amplifying the initial oral cavity depth map, so that the initial oral cavity depth map has more depth data.
And S4, performing fusion operation on the oral cavity depth sampling map through a preset image fusion method to obtain oral cavity 3D point cloud data, and performing visualization operation on the oral cavity 3D point cloud data to obtain the oral cavity three-dimensional modeling of the target patient.
In an embodiment of the present invention, the preset image fusion method is a laplacian pyramid fusion algorithm, and the 3D point cloud data is a set of vectors in a three-dimensional coordinate system, where the vectors are usually represented in the form of X, Y, and Z three-dimensional coordinates, and are generally used for representing the shape of an external surface of an object.
Further, before the performing the fusion operation on the oral cavity depth sampling map by the preset image fusion method, the method further includes:
and filtering the oral cavity depth sampling image by a homomorphic filtering method to remove the noise of the oral cavity depth sampling image.
In the embodiment of the invention, the homomorphic filtering method is used for operating the image in the frequency domain of the image, completing the brightness range compression and the image contrast enhancement of the image and removing the molding noise of the oral cavity depth sampling image.
And S5, acquiring the number and the occupied space of the teeth to be implanted of the target patient based on the oral three-dimensional modeling, and acquiring the three-dimensional modeling of one or more implanted teeth from a preset implanted tooth model library according to the number and the occupied space of the teeth to be implanted.
In detail, the acquiring the number and occupied space of the teeth to be implanted of the target patient based on the oral three-dimensional modeling comprises the following steps:
obtaining the position and the missing space of the defective teeth of the target patient according to the oral three-dimensional modeling;
and obtaining the number and the occupied space of the tooth to be implanted according to the position and the missing space of the defective tooth of the target patient.
In the embodiment of the invention, the space occupied by the tooth to be implanted has the shape information of the tooth to be implanted, the preset dental implant model library is a database for storing three-dimensional modeling of a plurality of dental implants, and the three-dimensional modeling of the dental implants can be stored in the dental implant model library after being constructed by previous modeling workers and dentists according to the shape of a missing tooth.
And S6, importing the three-dimensional modeling of the dental implant into 3D printing equipment, and printing in batches on a preset standard substrate to obtain the dental implant.
In the embodiment of the invention, the standard planting base plate is a planting base plate in which a plurality of planting bases are embedded in advance, the planting bases can be called as implants and are bases in the process of planting the teeth, and a prosthesis can be constructed on the planting bases to obtain a complete tooth implant, wherein after the process of planting the tooth implant is finished, the planting bases are hidden in tooth bones and play a role of tooth roots.
Furthermore, the planting substrate is used for fixing the planting base so as to facilitate the subsequent printing of the restoration body on the planting base, wherein one planting base can be fixed on the planting substrate, and a plurality of planting bases can also be fixed on the planting substrate for batch printing, and the specific number is determined according to the number of the planting teeth to be printed.
In the embodiment of the invention, the implantation base is an external spiral matrix and an internal honeycomb tissue structure, wherein the internal honeycomb tissue structure can be obtained by printing through a 3D printer, the external spiral matrix is beneficial to fixing the implant on a teethridge, the internal honeycomb tissue structure is a porous base structure, the osseointegration of the implant can be beneficial in the process of tooth implantation, the degree of fitting between the teethridge and the implant is higher, the osseointegration is a direct connection interface without soft tissue connection between the implant and the bone after the normal bone and the implant are directly contacted, and suitable implantation materials and structures can be beneficial to the formation of the osseointegration.
Further, when the internal honeycomb structure is printed by the 3D printing equipment, materials such as antibacterial silver and the like can be added into the printing material.
Further, before the three-dimensional modeling of the dental implant is imported into a 3D printing device and batch printing is performed on a preset standard substrate to obtain a plurality of dental implants, the method further includes:
and placing the 3D printing equipment and the standard substrate in vacuum or inert gas.
In the embodiment of the invention, the 3D printing equipment is a 3D printer, which can also be called a three-dimensional printer, the three-dimensional model is manufactured layer by a rapid forming process in a layer-by-layer stacking mode, and compared with a traditional printer which prints ink on paper to form a two-dimensional plane drawing, the 3D printer realizes layer-by-layer stacking and superposition of materials such as liquid photosensitive resin materials, molten plastic wires and gypsum powder by means of spraying a binder or extruding the materials to form a three-dimensional entity.
In the embodiment of the invention, the 3D printing equipment and the standard combined substrate are placed in vacuum or inert gas to prevent oxidation, so that the printed prosthesis does not meet the quality requirement and the dental implant is protected, wherein the inert gas can be helium, argon and the like.
In the embodiment of the invention, a multi-view three-dimensional reconstruction model is constructed based on a pre-constructed depth neural network model and the camera parameters of a shooting device, a characteristic diagram in a centralized oral cavity image of a target patient obtained by shooting the target patient is extracted by using the multi-view three-dimensional reconstruction model to obtain an oral cavity characteristic diagram, the acquisition of the characteristic diagram is realized, then a plurality of three-dimensional cost bodies are generated by performing grouping comparison and matching cost calculation on the oral cavity characteristic diagram, softmax regression is performed on the three-dimensional cost bodies to generate an initial oral cavity depth diagram, the initial oral cavity depth diagram is up-sampled to obtain an oral cavity depth sampling diagram, fusion operation is performed on the oral cavity depth sampling diagram by a preset image fusion method to obtain oral cavity 3D point cloud data, visual operation is performed on the oral cavity 3D point cloud data to obtain the oral cavity three-dimensional modeling of the target patient, the purpose of obtaining the oral cavity modeling, then the number and the occupied space of the target patient of the teeth to be implanted is obtained based on the oral cavity three-dimensional modeling, one or more three-dimensional dental implant models are obtained from a preset dental implant model base plate based on the oral cavity three-dimensional modeling of the oral cavity three-dimensional modeling equipment, and the dental implant is printed, so that the batch production of the three-dimensional implant can be printed, and the three-dimensional implant can be printed on the three-dimensional implant base plate, and the three-dimensional implant.
Fig. 2 is a schematic block diagram of a dental implant printing apparatus based on 3D printing technology according to the present invention.
The implant printing device 100 based on the 3D printing technology can be installed in electronic equipment. According to the realized functions, the dental implant printing device based on the 3D printing technology can comprise a characteristic diagram construction module 101, an oral cavity modeling module 102, a dental model acquisition module 103 and a 3D printing module 104. The module of the present invention, which may also be referred to as a unit, refers to a series of computer program segments that can be executed by a processor of an electronic device and that can perform a fixed function, and that are stored in a memory of the electronic device.
In the present embodiment, the functions regarding the respective modules/units are as follows:
the feature map construction module 101 is configured to construct a multi-view three-dimensional reconstruction model based on a pre-constructed deep neural network model and imaging parameters of a shooting device, and extract a feature map in an oral cavity picture set of a target patient shot by the shooting device by using the multi-view three-dimensional reconstruction model to obtain an oral cavity feature map;
the oral cavity modeling module 102 is configured to generate a plurality of three-dimensional cost bodies by performing group comparison and matching cost calculation on the oral cavity feature maps, perform softmax regression on the three-dimensional cost bodies to generate an initial oral cavity depth map, perform upsampling on the initial oral cavity depth map to obtain an oral cavity depth sampling map, perform fusion operation on the oral cavity depth sampling map by using a preset image fusion method to obtain oral cavity 3D point cloud data, and perform visualization operation on the oral cavity 3D point cloud data to obtain oral cavity three-dimensional modeling of the target patient;
the dental model obtaining module 103 is configured to obtain the number and the occupied space of the teeth to be implanted of the target patient based on the oral three-dimensional modeling, and obtain three-dimensional modeling of one or more dental implants from a preset dental implant model library according to the number and the occupied space of the teeth to be implanted;
and the 3D printing module 104 is used for importing the three-dimensional modeling of the dental implant into 3D printing equipment, and printing the three-dimensional modeling on a preset standard substrate in batches to obtain the dental implant.
In detail, when used, each module in the dental implant printing apparatus 100 based on the 3D printing technology in the embodiment of the present invention adopts the same technical means as the dental implant printing method based on the 3D printing technology described in fig. 1, and can produce the same technical effect, which is not described herein again.
Fig. 3 is a schematic structural diagram of an electronic device for implementing a dental implant printing method based on a 3D printing technology according to the present invention.
The electronic device may comprise a processor 10, a memory 11, a communication bus 12 and a communication interface 13, and may further comprise a computer program, such as a dental implant printing program based on 3D printing technology, stored in the memory 11 and executable on the processor 10.
In some embodiments, the processor 10 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or may be composed of a plurality of integrated circuits packaged with the same function or different functions, and includes one or more Central Processing Units (CPUs), a microprocessor, a digital Processing chip, a graphics processor, a combination of various control chips, and the like. The processor 10 is a Control Unit (Control Unit) of the electronic device, connects various components of the electronic device by using various interfaces and lines, and executes various functions and processes data of the electronic device by running or executing programs or modules stored in the memory 11 (for example, executing a dental implant printing program based on a 3D printing technology, etc.), and calling data stored in the memory 11.
The memory 11 includes at least one type of readable storage medium including flash memory, removable hard disks, multimedia cards, card-type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disks, optical disks, etc. The memory 11 may in some embodiments be an internal storage unit of the electronic device, for example a removable hard disk of the electronic device. The memory 11 may also be an external storage device of the electronic device in other embodiments, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the electronic device. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device. The memory 11 may be used not only for storing application software installed in the electronic device and various types of data, such as codes of a dental implant printing program based on 3D printing technology, etc., but also for temporarily storing data that has been output or is to be output.
The communication bus 12 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. The bus is arranged to enable connection communication between the memory 11 and at least one processor 10 or the like.
The communication interface 13 is used for communication between the electronic device and other devices, and includes a network interface and a user interface. Optionally, the network interface may include a wired interface and/or a wireless interface (e.g., WI-FI interface, bluetooth interface, etc.), which are commonly used to establish a communication connection between the electronic device and other electronic devices. The user interface may be a Display (Display), an input unit, such as a Keyboard (Keyboard), and optionally a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable, among other things, for displaying information processed in the electronic device and for displaying a visualized user interface.
Fig. 3 shows only an electronic device having components, and those skilled in the art will appreciate that the structure shown in fig. 3 does not constitute a limitation of the electronic device, and may include fewer or more components than those shown, or some components may be combined, or a different arrangement of components.
For example, although not shown, the electronic device may further include a power supply (such as a battery) for supplying power to each component, and preferably, the power supply may be logically connected to the at least one processor 10 through a power management device, so that functions of charge management, discharge management, power consumption management and the like are realized through the power management device. The power supply may also include any component of one or more dc or ac power sources, recharging devices, power failure detection circuitry, power converters or inverters, power status indicators, and the like. The electronic device may further include various sensors, a bluetooth module, a Wi-Fi module, and the like, which are not described herein again.
It is to be understood that the described embodiments are for purposes of illustration only and that the scope of the appended claims is not limited to such structures.
The 3D printing technology based dental implant printing program stored in the memory 11 of the electronic device is a combination of a plurality of computer programs, which when executed in the processor 10, can implement:
constructing a multi-view three-dimensional reconstruction model based on a pre-constructed deep neural network model and the shooting parameters of shooting equipment, and extracting a characteristic diagram in an oral cavity image set of a target patient shot by the shooting equipment by using the multi-view three-dimensional reconstruction model to obtain an oral cavity characteristic diagram;
generating a plurality of three-dimensional cost bodies by performing group comparison and matching cost calculation on the oral cavity feature map;
performing softmax regression on the three-dimensional cost body to generate an initial oral cavity depth map, and performing up-sampling on the initial oral cavity depth map to obtain an oral cavity depth sampling map;
performing fusion operation on the oral cavity depth sampling map by a preset image fusion method to obtain oral cavity 3D point cloud data, and performing visualization operation on the oral cavity 3D point cloud data to obtain oral cavity three-dimensional modeling of the target patient;
acquiring the number and occupied space of teeth to be implanted of the target patient based on the oral three-dimensional modeling, and acquiring the three-dimensional modeling of one or more implanted teeth from a preset implanted tooth model library according to the number and occupied space of the teeth to be implanted;
and importing the three-dimensional modeling of the implanted tooth into 3D printing equipment, and printing in batches on a preset standard substrate to obtain the implanted tooth.
Specifically, the processor 10 may refer to the description of the relevant steps in the embodiment corresponding to fig. 1 for a specific implementation method of the computer program, which is not described herein again.
Further, the electronic device integrated module/unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a non-volatile computer-readable storage medium. The computer readable storage medium may be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying said computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM).
The present invention also provides a computer-readable storage medium, storing a computer program which, when executed by a processor of an electronic device, may implement:
constructing a multi-view three-dimensional reconstruction model based on a pre-constructed deep neural network model and the shooting parameters of the shooting equipment, and extracting a characteristic diagram in an oral cavity image set of a target patient shot by the shooting equipment by using the multi-view three-dimensional reconstruction model to obtain an oral cavity characteristic diagram;
generating a plurality of three-dimensional cost bodies by performing group comparison and matching cost calculation on the oral cavity feature map;
performing softmax regression on the three-dimensional cost body to generate an initial oral cavity depth map, and performing up-sampling on the initial oral cavity depth map to obtain an oral cavity depth sampling map;
performing fusion operation on the oral cavity depth sampling map by a preset image fusion method to obtain oral cavity 3D point cloud data, and performing visualization operation on the oral cavity 3D point cloud data to obtain oral cavity three-dimensional modeling of the target patient;
acquiring the number and occupied space of teeth to be implanted of the target patient based on the oral three-dimensional modeling, and acquiring the three-dimensional modeling of one or more implanted teeth from a preset implanted tooth model library according to the number and occupied space of the teeth to be implanted;
and importing the three-dimensional modeling of the implanted tooth into 3D printing equipment, and printing in batches on a preset standard substrate to obtain the implanted tooth.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus, device and method can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof.
The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.
The block chain is a novel application mode of computer technologies such as distributed data storage, point-to-point transmission, a consensus mechanism, an encryption algorithm and the like. A block chain (Blockchain), which is essentially a decentralized database, is a string of data blocks associated by using a cryptographic method, and each data block contains information of a batch of network transactions, which is used for verifying the validity (anti-counterfeiting) of the information and generating a next block. The blockchain may include a blockchain underlying platform, a platform product service layer, an application service layer, and the like.
The embodiment of the application can acquire and process related data based on an artificial intelligence technology. Among them, artificial Intelligence (AI) is a theory, method, technique and application system that simulates, extends and expands human Intelligence using a digital computer or a machine controlled by a digital computer, senses the environment, acquires knowledge and uses the knowledge to obtain the best result.
Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A dental implant printing method based on a 3D printing technology is characterized by comprising the following steps:
constructing a multi-view three-dimensional reconstruction model based on a pre-constructed deep neural network model and the shooting parameters of shooting equipment, and extracting a characteristic diagram in an oral cavity image set of a target patient shot by the shooting equipment by using the multi-view three-dimensional reconstruction model to obtain an oral cavity characteristic diagram;
generating a plurality of three-dimensional cost bodies by performing group comparison and matching cost calculation on the oral cavity feature map;
performing softmax regression on the three-dimensional cost body to generate an initial oral cavity depth map, and performing up-sampling on the initial oral cavity depth map to obtain an oral cavity depth sampling map;
performing fusion operation on the oral cavity depth sampling map by a preset image fusion method to obtain oral cavity 3D point cloud data, and performing visualization operation on the oral cavity 3D point cloud data to obtain oral cavity three-dimensional modeling of the target patient;
acquiring the number and occupied space of the teeth to be implanted of the target patient based on the oral three-dimensional modeling, and acquiring the three-dimensional modeling of one or more implanted teeth from a preset implanted tooth model library according to the number and occupied space of the teeth to be implanted;
and importing the three-dimensional modeling of the implanted tooth into 3D printing equipment, and printing in batches on a preset standard substrate to obtain the implanted tooth.
2. The 3D printing technology-based dental implant printing method according to claim 1, wherein the generating a plurality of three-dimensional cost bodies by performing group comparison and matching cost calculation on the oral cavity feature maps comprises:
grouping the oral cavity characteristic maps based on different visual angles of the oral cavity characteristic maps to obtain a plurality of groups of oral cavity characteristic maps;
transforming each group of the oral cavity feature maps into a preset discrete depth plane to obtain a feature body;
and matching and fusing the feature bodies with different visual angles to obtain a plurality of three-dimensional cost bodies.
3. The 3D printing technology-based dental implant printing method of claim 1, wherein before the extracting the feature map in the oral cavity picture set of the target patient captured by the capturing device using the multi-view three-dimensional reconstruction model, the method further comprises:
acquiring oral cavity video data of a target patient shot by the shooting equipment, and extracting an oral cavity picture sequence from the oral cavity video data;
performing definition detection on each oral cavity picture in the oral cavity picture sequence, and removing the oral cavity pictures of which the definitions do not meet a preset threshold value from the oral cavity picture sequence;
and calculating the similarity of adjacent pictures in the oral cavity picture sequence based on a preset feature point matching algorithm, and removing the oral cavity pictures with the similarity higher than a preset similarity threshold value to obtain an oral cavity picture set.
4. The 3D printing technology-based dental implant printing method according to claim 3, wherein the performing of the sharpness detection on each oral picture in the sequence of oral pictures comprises:
acquiring the whole image domain of each oral cavity picture and the number of pixel points in the image domain;
acquiring the gray scale of each pixel point in the whole image domain of the oral cavity picture, and calculating the average gradient of the oral cavity picture based on the number of the pixel points in the image domain and the gray scale of the pixel points;
if the average gradient is smaller than a preset gradient threshold value, judging that the definition detection of the oral cavity picture does not pass;
and if the average gradient is larger than or equal to a preset gradient threshold value, judging that the definition detection of the oral cavity picture passes.
5. The method for 3D printing technology based dental implant printing of claim 4, wherein the calculating the average gradient of the oral cavity picture comprises:
the average gradient of the oral cavity picture was calculated using the following method:
where I denotes the entire image domain except for the image border,fa gray scale representing the domain of the image,
representing the number of pixel points within the image domain,xandyis the coordinate of the pixel point.
6. The method for printing dental implant based on 3D printing technology according to claim 3, wherein the calculating the similarity of the adjacent pictures in the oral picture sequence based on the preset feature point matching algorithm comprises:
acquiring a group of adjacent pictures from the oral cavity picture sequence, and acquiring feature points of the adjacent pictures;
if the feature points of the adjacent pictures represent the same position in the oral cavity, judging that the feature points are matched feature points;
if the feature points of the adjacent pictures do not represent the same position in the oral cavity, judging that the feature points are not matched feature points;
and acquiring the total feature point number and the matching feature point number in the adjacent pictures, and obtaining the similarity of the adjacent pictures according to the ratio of the matching feature point number to the total feature point number.
7. The 3D printing technology-based dental implant printing method of claim 6, wherein the obtaining of the feature points of the adjacent pictures comprises:
performing convolution processing on the adjacent pictures by using a variable-scale two-dimensional Gaussian function to obtain Gaussian scale space images of the adjacent pictures;
carrying out difference processing on the Gaussian scale space image to obtain a Gaussian difference image;
and extracting extreme values from the Gaussian difference image to obtain a maximum value point and a minimum value point, and taking the maximum value point and the minimum value point as feature points of the adjacent pictures.
8. A kind of implant printing device based on 3D printing technique, its characterized in that, the said device includes:
the characteristic map construction module is used for constructing a multi-view three-dimensional reconstruction model based on a pre-constructed deep neural network model and the shooting parameters of the shooting equipment, and extracting a characteristic map in an oral cavity picture set of a target patient shot by the shooting equipment by using the multi-view three-dimensional reconstruction model to obtain an oral cavity characteristic map;
the oral cavity modeling module is used for generating a plurality of three-dimensional cost bodies by performing grouping comparison and matching cost calculation on the oral cavity feature map, performing softmax regression on the three-dimensional cost bodies to generate an initial oral cavity depth map, performing up-sampling on the initial oral cavity depth map to obtain an oral cavity depth sampling map, performing fusion operation on the oral cavity depth sampling map by using a preset image fusion method to obtain oral cavity 3D point cloud data, and performing visualization operation on the oral cavity 3D point cloud data to obtain the oral cavity three-dimensional modeling of the target patient;
the dental model acquisition module is used for acquiring the number and the occupied space of the teeth to be implanted of the target patient based on the oral three-dimensional modeling, and acquiring the three-dimensional modeling of one or more dental implants from a preset dental implant model library according to the number and the occupied space of the teeth to be implanted;
and the 3D printing module is used for leading the three-dimensional modeling of the implanted tooth into 3D printing equipment, and printing the implanted tooth in batches on a preset standard substrate to obtain the implanted tooth.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of 3D printing technology based dental implant printing as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium includes a storage data area storing created data and a storage program area storing a computer program; wherein the computer program, when executed by a processor, implements a method for printing a dental implant based on a 3D printing technique as claimed in any one of claims 1 to 7.
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| CN116703902B (en) * | 2023-08-03 | 2023-11-17 | 深圳卡尔文科技有限公司 | Multi-image-based implant comprehensive precision evaluation and adjustment method |
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Denomination of invention: Method, device, equipment, and medium for dental implant printing based on 3D printing technology Effective date of registration: 20230912 Granted publication date: 20230407 Pledgee: Bank of Nanjing Co.,Ltd. Yancheng branch Pledgor: Jiangsu Wanjiang High Tech Co.,Ltd. Registration number: Y2023980056319 |