WO2018019274A1 - System and method for acquiring digital intraoral impression - Google Patents

System and method for acquiring digital intraoral impression Download PDF

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Publication number
WO2018019274A1
WO2018019274A1 PCT/CN2017/094748 CN2017094748W WO2018019274A1 WO 2018019274 A1 WO2018019274 A1 WO 2018019274A1 CN 2017094748 W CN2017094748 W CN 2017094748W WO 2018019274 A1 WO2018019274 A1 WO 2018019274A1
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WIPO (PCT)
Prior art keywords
cloud data
point cloud
dentition
point
local
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PCT/CN2017/094748
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French (fr)
Chinese (zh)
Inventor
张进
罗剑
吴明军
向贤毅
庄富强
谢小甫
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宁波频泰光电科技有限公司
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Priority to CN201780004253.8A priority Critical patent/CN108472108B/en
Publication of WO2018019274A1 publication Critical patent/WO2018019274A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C9/00—Impression cups, i.e. impression trays; Impression methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C9/00—Impression cups, i.e. impression trays; Impression methods
    • A61C9/004—Means or methods for taking digitized impressions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C9/00—Impression cups, i.e. impression trays; Impression methods
    • A61C9/004—Means or methods for taking digitized impressions
    • A61C9/0046—Data acquisition means or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C9/00—Impression cups, i.e. impression trays; Impression methods
    • A61C9/004—Means or methods for taking digitized impressions
    • A61C9/0046—Data acquisition means or methods
    • A61C9/008—Mechanical means or methods, e.g. a contact probe moving over the teeth
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/41—Medical

Definitions

  • the present invention relates to the field of oral hygiene, and more particularly to the field of dental restoration manufacturing, and more particularly to a system and method for obtaining an intra-oral digital impression.
  • the technical route for obtaining a three-dimensional digital model (or an intra-oral digital impression) inside the oral cavity by three-dimensional scanning mainly includes two types of extraoral scanning and intraoral scanning.
  • the method of scanning the plaster male mold requires the doctor to first obtain the silicone impression (female mold) of the patient's dentition, and then inject the gypsum and the like into the silicone impression to obtain the plaster positive mold of the dentition, and finally scan the male mold through the three-dimensional scanning device. Obtain a digital impression of the dentition.
  • the method of scanning the silicone impression directly scans the silicone impression of the patient's dentition through the three-dimensional scanning device, and does not need to reproduce the plaster male mold, which simplifies the doctor's operation process.
  • the advantage of the extraoral scan is that the gypsum male or silicone impression model can be fixed on the base during scanning, ensuring that the three-dimensional data obtained during multiple scans are all in the same coordinate system, facilitating the fusion and reconstruction of the digital model of the dentition.
  • the disadvantage of the extraoral scan is that the process of making the plaster male mold is complicated and requires a long time for the doctor; the process of scanning the silicone impression is simple, but when scanning the narrow part of the impression, it is easy to be observed by the device. Missing data for this area.
  • Intraoral scanning usually uses a hand-held three-dimensional scanning device to directly scan the patient's mouth to obtain a three-dimensional digital model of the dentition without the need to obtain a silicone impression of the patient's dentition.
  • Intraoral scanning technology has been in development for nearly 30 years, during which some commercial digital impression systems using intraoral scanning technology were born, such as the Cenotec system of Sinod, the TRIOS system of 3Shape, and Lava TM COS, iTero, E4D. And other systems.
  • ICP Intelligent Closest Point
  • the algorithm synthesizes a three-dimensional model.
  • the implementation process of the ICP algorithm is: determining all matching points in each of the adjacent two point cloud data; performing iterative calculation on the defined objective function according to all the matching points, and obtaining the adjacent two frames of point cloud data
  • the attitude transformation parameter is accumulated according to the attitude transformation parameter, and the target registration point cloud data is obtained.
  • the present invention provides an intra-oral digital impression system, comprising: an intra-oral impression scanner and an intra-oral scanning guide;
  • the intra-oral scanning guide comprises a fixing device and a rigid guide, the rigid guide A scanning guide surface is provided, the scanning guide surface is provided with a guiding mark;
  • the fixing device has a connecting piece connecting the internal structure of the oral cavity for fixing the rigid guiding plate inside the oral cavity.
  • an intraoral scanning guide is also provided.
  • a method of obtaining an intra-oral digital impression is also provided.
  • a method of acquiring dentition point cloud data is also provided.
  • a computer program for acquiring dentate point cloud data is also provided.
  • a computing device for acquiring dentition point cloud data is also provided.
  • the system and method of the invention have no cumulative error, effectively improve the accuracy of the intra-oral digital impression, and can meet the requirements for subsequent design and processing of the dental restoration.
  • FIG. 1 is a schematic diagram of a system for acquiring an intra-oral digital impression in accordance with an aspect of the present invention.
  • the ICP algorithm is used to calculate the exact transformation relationship between the local point cloud data and the auxiliary scanning device model.
  • an intra-oral digital impression system including an intra-oral impression scanner (5) and an intra-oral scanning guide.
  • Intraoral impression scanners are typically implemented as handheld three-dimensional scanning devices, but those skilled in the art will appreciate that any scanner capable of performing intra-oral impression scanning can be considered an intra-oral impression scanner of the present invention.
  • the intraoral scan guide includes a fixture (3) and a rigid guide (1).
  • the rigid guide has a scanning guide surface on which a guide mark (not shown) is provided.
  • the fixture has a connector that connects the internal structure of the oral cavity for securing the rigid guide within the oral cavity.
  • the meaning of the area of the mouth to be tested in the present invention includes teeth and/or gums. Moreover, the meanings of "measured oral area”, “teeth”, and “gum” in the present invention are versatile within the scope that can be understood by those skilled in the art.
  • the guide plate in the present invention is rigid, and it is possible to ensure that an accurate digital model associated with the guide mark is obtained in advance, and no deformation occurs in the intraoral scan.
  • the side of the rigid guide adjacent to the area of the mouth being tested has a contour that matches the area of the mouth being measured to match the rigid guide to the area of the mouth being tested, for example, the rigid guide is curved along the lingual contour of the dentition and is adjacent to the dentition Tongue outline.
  • the rigid guide is arched to the side of the tooth so that the rigid guide and the teeth and/or the gums fit as closely as possible, but it is not necessary to force the rigid guide to fit snugly to the teeth and/or the gums.
  • the rigid guides are far from the teeth One side does not require a shape.
  • the rigid guides can be mounted on the outside of the teeth, on the sides of the tongue, or on both sides.
  • the length of the rigid guide is at least approximately equal to the length of the dentition (2) formed by three or more consecutive teeth at any position of the dental arch, so as to be suitable for making complicated restorations such as bridges and/or dentition including more than three teeth. Eliminate cumulative errors when the body is in use.
  • the rigid guide is a full-mouth guide, the length of the full-mouth guide being approximately equal to the length of the dentition comprising all of the upper or lower jaw teeth.
  • the rigid guide plate is a half-port guide plate, and the length of the half-port guide plate is approximately equal to half of the teeth of the upper or lower jaw (for example, the left half tooth, the right half tooth, and the front upper and lower incisors extending to the left and right sides).
  • the length of the dentition It will be understood by those skilled in the art that a full-mouth guide or a half-port guide is not limited to the length of the guide in the sense of "cm" or "inch”, since the child's full-mouth guide may be smaller than the adult in length.
  • Half port guide In general, full-port guides are used for full-port scanning scenarios, and half-port guides are used for bridge/abutment scenarios. Those skilled in the art will appreciate that full port guides can also be used in bridge/abutment scenarios.
  • the entire surface of the rigid guide is used as the scanning guide surface. More preferably, the guide marks are distributed throughout the scanning guide surface. In some cases, the guide mark on the scanning guide surface is substantially parallel to the adjacent measured oral area.
  • the guide marks may be continuous or discontinuous three-dimensional patterns, and the guide marks have the same or different patterns at different positions on the scan guide surface.
  • the three-dimensional pattern can be a waveform or any other suitable shape.
  • the guide mark is a continuous three-dimensional pattern such that the intra-oral impression scanner is capable of scanning a portion of the guide mark at any time during the scanning process.
  • the guiding marks have different patterns at different positions of the scanning guiding surface, so that the partial scanning data of the guiding marks obtained by the intra-die impression scanner in each scanning unit are different, so that "unenveloping" is not required. operating.
  • the scanning guide surface and the tooth surface are generally obtuse angles exceeding 90 degrees.
  • the scanning guide surface and the surface of the measured oral region are substantially parallel such that the intraoral impression scanner more readily obtains scan data of the teeth (gingiva) and/or the guide mark.
  • the fixture is connected to the rigid guide.
  • the fixture is integrally formed with the rigid guide to save manufacturing costs.
  • the securing means is detachably attached to the rigid guide to ensure that the securing means can be mounted on the "good teeth” to avoid the position of the securing means just at the "bad teeth” in the case of integral molding.
  • the securing means is adapted to secure the rigid guide to the upper and lower jaws, molars or incisors.
  • the device is a clamp suitable for use in the mouth.
  • a method of obtaining an intra-oral digital impression and preferably, providing an intra-oral digital impression using the intra-oral digital impression system provided in accordance with the first aspect of the present invention method.
  • the method includes the following steps:
  • the first dentition is the upper dentition in the oral cavity
  • the second dentition is the lower dentition in the oral cavity
  • the first dentition is the lower dentition and the second dentition is the upper dentition.
  • S200 Obtain point cloud data of the first dentition and the second dentition occlusal surface.
  • S300 Obtain three-dimensional digital impression data in the mouth according to the point cloud data of the first dentition, the point cloud data of the second dentition, and the point cloud data of the occlusal surface.
  • the first boot flag and the second boot flag are the same boot flag or a different boot flag.
  • step S100 includes the following steps:
  • S120 Scan the dentition and the guiding mark to obtain first point cloud data, where the first point cloud data is point cloud data including a dentition and a guiding mark; the first point cloud data includes a plurality of point cloud data of the dentition and the guiding mark , wherein each point cloud data of the dentition and the guide mark corresponds to a part of the dentition and the guide mark.
  • S140 Scan the dentition, obtain the second point cloud data according to the result of the scanning dentition and the first point cloud data, the second point cloud data is the point cloud data of the dentition; and the second point cloud data includes the plurality of dentitions. Point cloud data, where each point cloud data of the dentition corresponds to a portion of the dentition.
  • the method for obtaining the point cloud data of the first and second dentitions in steps S110-S140 is mainly implemented according to the third aspect of the present invention.
  • a method of obtaining dentition point cloud data using an intra-oral digital impression system preferably an intra-oral digital impression system is an intra-oral digital print provided in accordance with the first aspect of the present invention.
  • a modular system the method comprising the steps of:
  • the pre-stored point cloud data is point cloud data of the guiding flag
  • the first scan data is point cloud data obtained by scanning the dentition and the guiding flag
  • the first point cloud data is point cloud data including the dentition and the guiding sign.
  • the pre-stored point cloud data is point cloud data obtained in advance according to a model of the guide mark, for example, a CAD (Computer Aided Design) model according to the guide mark
  • CAD Computer Aided Design
  • the first scan data is point cloud data obtained by the intraoral impression scanner real-time scanning the dentition and the guide mark mounted on the intraoral scanning guide. Since the intra-oral impression scanner can only scan a limited portion of the mouth at a time and can only obtain the limited local point cloud data (that is, equivalent to obtaining only a portion of the first scan data corresponding to the limited portion at a time, multiple scans) After the first first scan data is obtained, the first point cloud data includes a plurality of point cloud data of the dentition and the guide mark, wherein each point cloud data of the dentition and the guide mark (ie, equivalent to the pre-stored point) The cloud data and the point cloud data obtained by the aforementioned partial first scan data correspond to a part of the dentition and the guide mark.
  • S1100 Obtain second point cloud data according to the first point cloud data and the second scan data.
  • the second point cloud data is the dentition point cloud data
  • the second scan data is the point cloud data obtained by scanning the dentition.
  • the intraoral scan guide has been taken out of the mouth.
  • the intra-oral impression scanner can only scan a limited portion of the mouth at a time and can only obtain the limited partial point cloud data (that is, equivalent to obtaining only a portion of the second scan data corresponding to the limited portion at a time, multiple scans)
  • the second point cloud data also includes a plurality of point cloud data of the dentition, wherein each point cloud data of the dentition is equivalent to the first point cloud data and the foregoing
  • the point cloud data obtained by the partial second scan data corresponds to a part of the dentition.
  • Each point cloud data of obtaining the dentition and the guiding mark in step S1000 includes:
  • S1005 Obtain local point cloud data of the dentition and the guiding mark, and extract a first characteristic key point, where the first characteristic key point is a characteristic key point of the local point cloud data of the dentition and the guiding mark.
  • S1010 Obtain an initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data according to the feature key points of the pre-stored point cloud data and the first feature key point.
  • S1020 Perform coordinate transformation on the local point cloud data according to the initial coordinate transformation relationship, and complete initial registration of the local point cloud data.
  • S1030 Calculate the exact transformation relationship between the local point cloud data after the initial registration and the pre-stored point cloud.
  • S1040 Perform coordinate transformation on the local point cloud data after initial registration according to the precise coordinate transformation relationship, complete registration of the local point cloud data, and obtain point cloud data corresponding to the local dentition and the guiding flag.
  • step S1020 and step S1040 by performing the initial registration of step S1020 and the registration of step S1040 on the "local point cloud data of the dentition and the guide mark" obtained in step S1005 (that is, corresponding to the partial first scan data), it is possible to obtain a correspondence corresponding to Partial dentition and point cloud data for the guide mark (ie equivalent to part of the first point cloud data).
  • the complete first point cloud data can be obtained by performing two registrations of step S1020 and step S1040 for each portion of the first scan data obtained by scanning in the intraoral impression scanner.
  • the feature key points and the first feature key points of the pre-stored point cloud data are ISS key points.
  • the exact transformation relationship between the initially registered local point cloud data and the pre-stored point cloud is obtained according to an ICP algorithm.
  • the initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data obtained in step S1010 further includes:
  • S1012 Obtain a first SHOT feature descriptor, where the first SHOT feature descriptor is a SHOT feature descriptor corresponding to the first ISS key point.
  • S1016 Calculate an initial transformation relationship between the local point cloud data of the dentition and the guiding flag to the pre-stored point cloud data by using the RANSAC algorithm according to the matching point pair.
  • step S1100 Obtaining each point cloud data of the dentition in step S1100, further comprising:
  • S1120 Obtain an initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data according to the characteristic key point and the second characteristic key point of the first point cloud data, and perform coordinate transformation on the dentition local point cloud data, and complete Initial registration of local point cloud data for dentition.
  • S1130 Calculate an exact transformation relationship between the initially registered dentition local point cloud data and the first point cloud data.
  • S1140 Perform coordinate transformation on the initial dentition local point cloud data according to the precise coordinate transformation relationship, complete registration of the dentition local point cloud data, and obtain point cloud data corresponding to the local dentition.
  • step S1120 and step S1140 by performing the initial registration of step S1120 and the registration of step S1140 on the "local point cloud data of the dentition" obtained in step S1110 (that is, corresponding to part of the second scan data), it is possible to obtain a tooth corresponding to the local portion.
  • the point cloud data of the column (that is, equivalent to part of the second point cloud data).
  • the complete second point cloud data can be obtained by performing two registrations of step S1020 and step S1040 for each partial second scan data obtained by scanning through the intra-die impression scanner.
  • the feature key point and the second feature key point of the first point cloud data are ISS key points.
  • the exact transformation relationship between the initially registered dentition local point cloud data and the first point cloud data is calculated according to an ICP algorithm.
  • Step S1120 obtaining an initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data.
  • S1122 Obtain a second SHOT feature descriptor, where the second SHOT feature descriptor is a SHOT feature descriptor corresponding to the second ISS key point.
  • S1126 Calculate an initial transformation relationship between the local point cloud data of the dentition and the first point cloud data by using the RANSAC algorithm according to the matching point pair.
  • the ISS key point, the SHOT feature descriptor, the RANSAC algorithm, and the ICP algorithm are preferred technical solutions used in the present invention, and those skilled in the art may also use other key points, feature descriptors, and algorithms already existing in the prior art.
  • those skilled in the art can also implement corresponding functions by using various improvements or modifications to the ISS key points, the SHOT feature descriptors, the RANSAC algorithm, and the ICP algorithm that exist in the prior art. Obviously, the technical solutions formed by such changes are still within the scope of the present invention.
  • a computer program for implementing the above-described intra-oral digital impression system for acquiring dentition point cloud data there is provided a computer readable storage medium storing a computer program for implementing the above-described intra-oral digital impression system for acquiring dentition point cloud data.
  • a computing device comprising a processor capable of executing the above-described computer program for acquiring dentition point cloud data.
  • the computing device further comprises the above-described computationally readable storage medium, wherein a computer program for implementing the above-described intra-oral digital impression system for acquiring dentition point cloud data is stored.
  • a system for acquiring an intra-oral digital impression comprising: an intraoral scanning guide, an intra-oral impression scanner, and a computing device.
  • the intra-oral impression scanner is electrically connected to the computing device.
  • the electrical connection mode is a wired connection or a wireless connection.
  • the intra-die impression scanner obtains the first scan data in the first time and transmits the first scan data to the computing device.
  • the intraoral impression scanner obtains second scan data in a second time and transmits the second scan data to the computing device.
  • the first scan data is point cloud data obtained by scanning the dentition and the guide mark;
  • the second scan data is point cloud data obtained by scanning the dentition.
  • the computing device includes a processor and a display for displaying the second point cloud data.
  • the processor is capable of executing Implementing the above computer program module for acquiring dentition point cloud data using an intra-oral digital impression system, comprising:
  • the first program module is configured to obtain the first point cloud data according to the pre-stored point cloud data and the first scan data.
  • the second program module obtains the second point cloud data according to the first point cloud data and the second scan data, and the second point cloud data is the dent point point cloud data.
  • the intra-oral digital impression can be obtained using the system illustrated in Figure 1 by the following steps:
  • Section 4 of this paper the method of calculating the local SHOT descriptor based on the third section is introduced. The essence is to define a histogram for a point combined with its neighborhood data, except that this is a partial random sampling point of the input model. (See paragraph 5 of the text in Fig. 7 below), and the invention is calculated for the ISS key points.
  • the calculation method of the SHOT descriptor includes: constructing a local reference system for each ISS key point in combination with the three-dimensional data, and subdividing the three-dimensional mesh into the neighborhood data under the local reference system, and calculating for each grid An angle histogram is then superimposed to form a total histogram, a characterization. It is somewhat similar to the SIFT feature description in a two-dimensional image.
  • the intraoral scan guide (1) is fixed in the vicinity of the measured oral cavity inside the oral cavity by the fixing device (3), in this case, the dentition (2), so that the guiding mark (6) is adjacent to the dentition (2) And the positional relationship is fixed;
  • the method of acquiring an intra-oral digital impression further comprises obtaining a digital impression of the entire dentition (2) by repeating steps S400 through S700, wherein repeating S400 results in overall three-dimensional data of the dentition (2), and Three-dimensional data including at least a partial dentition (2) and at least a partial guiding marker (6) is obtained for each scan.
  • the method of obtaining an intra-oral digital impression further includes the following steps:
  • At least a portion of the three-dimensional data G1, G1 includes at least three non-collinear feature landmarks, and three-dimensional data A1D1 of at least a portion of the dentition (2) A1 is determined in the remainder of P1D1; in S600, at least three non-common uses The line feature flag points determine a conversion relationship between the corresponding portions of G1 and G0; in S700, the conversion relationship of S600 is applied to A1D1, and the three-dimensional data Z1 is converted to be a digital impression of A1;
  • steps S400 to 700 are repeatedly performed, in which P2 is scanned in S400 to obtain three-dimensional data P2D1; in S500, when at least part of G0 is not searched from P2D1, it is switched to search from P2D1 and identify corresponding At least a portion of the three-dimensional data A1', A1' of Z1 includes at least three non-collinear feature landmarks, and at P2D1
  • the three-dimensional data A2D1 of at least part of the dentition (2) A2 is determined in the remaining portion; in S600, the conversion relationship between the corresponding parts of A1' and Z1 is determined by using at least three non-collinear feature marking points; in S700
  • the conversion relationship of S600 is applied to A2D1, and the three-dimensional data Z2 is converted to be a digital impression of A2.
  • the method further includes:
  • the three-dimensional data G1, G1 includes at least three non-collinear feature landmarks, and three-dimensional data A1D1 of at least a portion of the dentition (2) A1 is determined in the remaining portion of P1D1; in S600, at least three non-collinear signatures are utilized Point determining a conversion relationship between G1 and a corresponding portion in G0; in S700, applying a conversion relationship of S600 to A1D1, converting to obtain three-dimensional data Z1 as a digital impression of A1;
  • the portions overlapping each other may be subjected to post-processing such as fusion, smoothing, and the like.
  • the system and method of the present invention has no cumulative multiple scanning measurement errors, and effectively improves the accuracy of the intra-oral digital impression, which can meet the requirements for subsequent design and processing of the dental restoration.

Abstract

Disclosed is a digital intraoral impression system, comprising: an intraoral impression scanner (5) and an intraoral scanning guide plate, wherein the intraoral scanning guide plate comprises a fixing device (3) and a rigid guide plate (1), the rigid guide plate (1) is provided with a scanning guide face, and the scanning guide face is provided with a guide mark; and the fixing device (3) is provided with a connector connected to the internal structure of an oral cavity and used for fixing the rigid guide plate (1) inside the oral cavity. Further disclosed is a method for acquiring a digital intraoral impression by using the digital intraoral impression system, so that intraoral impression data without accumulated measurement error can be acquired, satisfying the requirements of subsequent design and processing, and improving the precision of the digital intraoral impression.

Description

用于获取口内数字化印模的系统和方法System and method for acquiring intra-oral digital impressions 技术领域Technical field
本发明涉及口腔卫生领域，特别是牙齿修复制造领域，尤其涉及一种用于获取口内数字化印模的系统和方法。The present invention relates to the field of oral hygiene, and more particularly to the field of dental restoration manufacturing, and more particularly to a system and method for obtaining an intra-oral digital impression.
背景技术Background technique
目前，通过三维扫描获得口腔内部的三维数字化模型(或称为口内数字化印模)的技术路线主要包括口外扫描和口内扫描两种。At present, the technical route for obtaining a three-dimensional digital model (or an intra-oral digital impression) inside the oral cavity by three-dimensional scanning mainly includes two types of extraoral scanning and intraoral scanning.
口外扫描主要有两种方法：扫描翻印的石膏阳模和扫描硅胶印模。扫描石膏阳模的方法需要医生先获取患者牙列的硅胶印模(阴模)，再对硅胶印模灌注石膏等材料，获得牙列的石膏阳模，最后通过三维扫描设备扫描该阳模，获得牙列的数字化印模。扫描硅胶印模的方法直接通过三维扫描设备扫描患者牙列的硅胶印模，不需要翻制石膏阳模，简化了医生的操作过程。口外扫描的优点在于：扫描时可将石膏阳模或硅胶印模模型固定在底座上，保证在多次扫描过程中获得的三维数据均在同一坐标系下，便于融合和重建牙列的数字化模型。口外扫描的缺点在于：制作石膏阳模的过程较为复杂，需要耗费医生较长的时间；扫描硅胶印模的过程虽然简单，但是在扫描印模深处狭窄部分时，容易因设备观察不到而缺失该区域数据。There are two main methods for scanning outside the mouth: scanning a reprinted plaster male mold and scanning a silicone impression. The method of scanning the plaster male mold requires the doctor to first obtain the silicone impression (female mold) of the patient's dentition, and then inject the gypsum and the like into the silicone impression to obtain the plaster positive mold of the dentition, and finally scan the male mold through the three-dimensional scanning device. Obtain a digital impression of the dentition. The method of scanning the silicone impression directly scans the silicone impression of the patient's dentition through the three-dimensional scanning device, and does not need to reproduce the plaster male mold, which simplifies the doctor's operation process. The advantage of the extraoral scan is that the gypsum male or silicone impression model can be fixed on the base during scanning, ensuring that the three-dimensional data obtained during multiple scans are all in the same coordinate system, facilitating the fusion and reconstruction of the digital model of the dentition. . The disadvantage of the extraoral scan is that the process of making the plaster male mold is complicated and requires a long time for the doctor; the process of scanning the silicone impression is simple, but when scanning the narrow part of the impression, it is easy to be observed by the device. Missing data for this area.
口内扫描通常采用手持式三维扫描设备，直接扫描患者的口腔，获得牙列的三维数字化模型，不需要获取患者牙列的硅胶印模。口内扫描技术已经发展了近30年，期间诞生了一些商用化的采用口内扫描技术的数字化印模系统，例如西诺德公司的CEREC系统，3Shape公司的TRIOS系统，以及Lava TM C.O.S，iTero，E4D等系统。Intraoral scanning usually uses a hand-held three-dimensional scanning device to directly scan the patient's mouth to obtain a three-dimensional digital model of the dentition without the need to obtain a silicone impression of the patient's dentition. Intraoral scanning technology has been in development for nearly 30 years, during which some commercial digital impression systems using intraoral scanning technology were born, such as the Cenotec system of Sinod, the TRIOS system of 3Shape, and Lava TM COS, iTero, E4D. And other systems.
然而，口内扫描毕竟不同于口外扫描，工作时扫描设备在患者口内处于运动状态，扫描坐标系在不断改变，会影响牙列三维模型的实时合成，所以多采用ICP(Iterative Closest Point，迭代最近点法)算法合成三维模型。ICP算法的实现过程为：确定相邻的每两个点云数据中的所有匹配点；根据上述所有匹配点，对定义的目标函数进行迭代计算，得到相邻的两帧点云数据之间的姿态变换参数；根据上述姿态变换参数，对各个点云数据进行累积，得到目标配准点云数据。配准相邻的每两个点云数据时，可能会出现并不明显的配准误差，但是对口内扫描获得的点云序列，由于包含多个点云数据，使用ICP算法对逐次对各个点云数据进行配准融合时，配准误差会被累加放大， 形成所谓的累积误差，导致配准结果不准确。实验表明，当扫描范围超过四颗牙齿时，累积误差会带来较大影响；当扫描范围达到全口牙齿时，累积误差将使得扫描精度达不到后续设计和加工某些牙齿预备体的要求。However, intraoral scanning is different from oral scanning. When working, the scanning device is in motion in the patient's mouth. The scanning coordinate system is constantly changing, which will affect the real-time synthesis of the dentition 3D model. Therefore, ICP (Iterative Closest Point) is used. The algorithm) synthesizes a three-dimensional model. The implementation process of the ICP algorithm is: determining all matching points in each of the adjacent two point cloud data; performing iterative calculation on the defined objective function according to all the matching points, and obtaining the adjacent two frames of point cloud data The attitude transformation parameter is accumulated according to the attitude transformation parameter, and the target registration point cloud data is obtained. When registering each adjacent two point cloud data, there may be an inaccurate registration error, but the point cloud sequence obtained by intra-oral scanning, because it contains multiple point cloud data, uses the ICP algorithm to successively point to each point. When the cloud data is registered and merged, the registration error is cumulatively amplified. The so-called cumulative error is formed, resulting in inaccurate registration results. Experiments have shown that when the scanning range exceeds four teeth, the cumulative error will have a greater impact; when the scanning range reaches the full-mouth teeth, the cumulative error will make the scanning accuracy less than the requirements for subsequent design and processing of certain dental preparations. .
综上所述，制作三颗以上的牙桥和/或牙列等复杂修复体时，仍然需要高精度的口内扫描系统和方法。In summary, when making complex restorations such as three bridges and/or dentitions, high-precision intraoral scanning systems and methods are still required.
发明内容Summary of the invention
为解决上述问题，本发明提供了一种口内数字化印模系统，其特征在于，包括：口内印模扫描仪和口内扫描导板；所述口内扫描导板包括的固定装置和刚性导板，所述刚性导板具有扫描引导面，所述扫描引导面上设有引导标志；所述固定装置具有连接口腔内部构造的连接件用于将所述刚性导板固定在口腔内部。In order to solve the above problems, the present invention provides an intra-oral digital impression system, comprising: an intra-oral impression scanner and an intra-oral scanning guide; the intra-oral scanning guide comprises a fixing device and a rigid guide, the rigid guide A scanning guide surface is provided, the scanning guide surface is provided with a guiding mark; the fixing device has a connecting piece connecting the internal structure of the oral cavity for fixing the rigid guiding plate inside the oral cavity.
根据本发明的一个方面，还提供了一种口内扫描导板。According to an aspect of the invention, an intraoral scanning guide is also provided.
根据本发明的一个方面，还提供了一种获取口内数字化印模的方法。According to one aspect of the invention, a method of obtaining an intra-oral digital impression is also provided.
根据本发明的一个方面，还提供了一种获取牙列点云数据的方法。According to one aspect of the invention, a method of acquiring dentition point cloud data is also provided.
根据本发明的一个方面，还提供了一种用于获取牙列点云数据的计算机程序。According to one aspect of the invention, a computer program for acquiring dentate point cloud data is also provided.
根据本发明的一个方面，还提供了一种用于获取牙列点云数据的计算设备。According to one aspect of the invention, a computing device for acquiring dentition point cloud data is also provided.
本发明的系统和方法无累积误差，有效提高口内数字化印模的精度，可满足后续对牙齿修复体的设计和加工要求。The system and method of the invention have no cumulative error, effectively improve the accuracy of the intra-oral digital impression, and can meet the requirements for subsequent design and processing of the dental restoration.
附图说明DRAWINGS
图1为根据本发明的一个方面的用于获取口内数字化印模的系统的示意图。1 is a schematic diagram of a system for acquiring an intra-oral digital impression in accordance with an aspect of the present invention.
具体实施方式detailed description
为使本发明的目的、技术方案和优点更加清楚，将结合附图对本发明作进一步地详细描述。这种描述是通过示例而非限制的方式介绍了与本发明的原理相一致的具体实施方式，这些实施方式的描述是足够详细的，以使得本领域技术人员能够实践本发明，在不脱离本发明的范围和精神的情况下可以使用其他实施方式并且可以改变和/或替换各要素的结构。因此，不应当从限制性意义上来理解以下的详细描述。The present invention will be further described in detail in conjunction with the accompanying drawings in the claims. The description of the present invention is intended to be illustrative, and not restrictive, Other embodiments may be utilized and the structure of the various elements may be changed and/or substituted for the scope and spirit of the invention. Therefore, the following detailed description should not be taken in a limiting sense.
在本发明的一些实施方式中：In some embodiments of the invention:
ISS关键点的具体提取方法参考现有技术1：Zhong,Y.(2009).Intrinsic shape signatures:a shape descriptor for 3D object recognition.In Proc.int.conf.on computer vision workshops(pp.1–8)。 The specific extraction method of the ISS key points refers to the prior art 1: Zhong, Y. (2009). Intrinsic shape signatures: a shape descriptor for 3D object recognition. In Proc. int. conf. on computer vision workshops (pp. 1 - 8 ).
SHOT特征描述的具体计算过程参考现有技术2：Tombari,F.,Salti,S.,&Di Stefano,L.(2010).Unique signatures of histograms for local surface description.In Proc.Europ.conf.on computer vision(ECCV)(pp.356–369).Berlin:Springer。The specific calculation process of the SHOT feature description refers to the prior art 2: Tombari, F., Salti, S., & Di Stefano, L. (2010). Unique signatures of histograms for local surface description. In Proc. Europ.conf.on computer Vision(ECCV)(pp.356–369).Berlin: Springer.
利用RANSAC算法计算出局部点云数据到辅助扫描装置模型的初始变换关系参考现有技术3：FISCHLER M.A.Random sample consensus:A paradigm for model fitting with applications to imageanalysis and automated cartography.Commun.ACM 24,6,1981,381–395.)。Using the RANSAC algorithm to calculate the initial transformation relationship of the local point cloud data to the auxiliary scanning device model, reference is made to the prior art 3: FISCHLER MARandom sample consensus: A paradigm for model fitting with applications to imageanalysis and automated cartography.Commun.ACM 24,6, 1981, 381–395.).
利用ICP算法计算出局部点云数据到辅助扫描装置模型的精确变换关系参考现有技术4：Z.Zhang.Iterative point matching for registration of freeform curves and surfaces.Int.J.Comput.Vision,13，2:119–152,1994。The ICP algorithm is used to calculate the exact transformation relationship between the local point cloud data and the auxiliary scanning device model. Reference is made to the prior art 4: Z. Zhang.Iterative point matching for registration of freeform curves and surfaces. Int. J. Comput. Vision, 13, 2 : 119–152, 1994.
上述现有技术1-4在本发明中被全部引用而引入。The above prior art 1-4 is incorporated by reference in its entirety.
根据本发明的第一个方面，如图1所示，提供了一种口内数字化印模系统，包括口内印模扫描仪(5)和口内扫描导板。口内印模扫描仪一般实现为手持式三维扫描设备，但是本领域技术人员理解，任何能够完成口腔内部印模扫描的扫描仪均可以视为本发明中的一种口内印模扫描仪。In accordance with a first aspect of the present invention, as shown in Figure 1, an intra-oral digital impression system is provided, including an intra-oral impression scanner (5) and an intra-oral scanning guide. Intraoral impression scanners are typically implemented as handheld three-dimensional scanning devices, but those skilled in the art will appreciate that any scanner capable of performing intra-oral impression scanning can be considered an intra-oral impression scanner of the present invention.
口内扫描导板包括固定装置(3)和刚性导板(1)。刚性导板具有扫描引导面，扫描引导面上设有引导标志(未显示)。固定装置具有连接口腔内部构造的连接件，用于将刚性导板固定在口腔内部。当刚性导板固定在口腔内部时，至少将能够被口内印模扫描仪拍摄且与被测口腔区域临近的刚性导板的表面作为扫描引导面，引导标志至少分布在扫描引导面上靠近被测口腔区域的部分。The intraoral scan guide includes a fixture (3) and a rigid guide (1). The rigid guide has a scanning guide surface on which a guide mark (not shown) is provided. The fixture has a connector that connects the internal structure of the oral cavity for securing the rigid guide within the oral cavity. When the rigid guide is fixed inside the oral cavity, at least a surface of the rigid guide that can be photographed by the intraoral impression scanner and adjacent to the detected oral region is used as a scanning guide surface, and the guiding mark is distributed at least on the scanning guiding surface near the measured oral region. part.
本发明中被测口腔区域的含义包括牙齿和/或牙龈。而且，在本领域技术人员能够理解的范围内，本发明中的“被测口腔区域”、“牙齿”、“牙龈”的含义具有通用性。The meaning of the area of the mouth to be tested in the present invention includes teeth and/or gums. Moreover, the meanings of "measured oral area", "teeth", and "gum" in the present invention are versatile within the scope that can be understood by those skilled in the art.
本发明中的导板为刚性，能够确保预先获取准确的引导标志相关的数字化模型，且在口内扫描中不产生形变。The guide plate in the present invention is rigid, and it is possible to ensure that an accurate digital model associated with the guide mark is obtained in advance, and no deformation occurs in the intraoral scan.
刚性导板贴近被测口腔区域的一侧具有与被测口腔区域相匹配的轮廓以使刚性导板与被测口腔区域相配合，例如，刚性导板沿着牙列的舌侧轮廓弯曲，并贴近牙列舌侧轮廓。优选的，刚性导板贴近牙齿一侧为牙弓形，以使得刚性导板和牙齿和/或牙床尽量贴合，但不必强求刚性导板和牙齿和/或牙床紧密贴合。此外，刚性导板远离牙齿 的一侧对于形状没有要求。刚性导板的安装位置可以在牙外侧面，也可以在舌侧面，也可以两侧都安装。The side of the rigid guide adjacent to the area of the mouth being tested has a contour that matches the area of the mouth being measured to match the rigid guide to the area of the mouth being tested, for example, the rigid guide is curved along the lingual contour of the dentition and is adjacent to the dentition Tongue outline. Preferably, the rigid guide is arched to the side of the tooth so that the rigid guide and the teeth and/or the gums fit as closely as possible, but it is not necessary to force the rigid guide to fit snugly to the teeth and/or the gums. In addition, the rigid guides are far from the teeth One side does not require a shape. The rigid guides can be mounted on the outside of the teeth, on the sides of the tongue, or on both sides.
刚性导板的长度至少近似等于牙弓任意位置处连续三颗或三颗以上牙齿形成的牙列(2)的长度，以适用于制作包括三颗以上牙齿的牙桥和/或牙列等复杂修复体时消除累积误差。优选的，刚性导板为全口导板，全口导板的长度近似等于包含上颌或下颌全部牙齿形成的牙列的长度。优选的，刚性导板为半口导板，半口导板的长度近似等于上颌或下颌的一半牙齿(例如，左半部分牙齿，右半部分牙齿，正面上下门牙处向左右两边延伸部分的牙齿)形成的牙列的长度。本领域技术人员应当理解，全口导板或半口导板并非对以“厘米”或“英寸”为计量单位意义上的导板长度的限制，因为，儿童的全口导板可能在长度上还小于成人的半口导板。一般情况下，全口导板用于全口扫描场景，半口导板用于牙桥/基台场景。本领域技术人员应当理解，全口导板也可以用于牙桥/基台场景。The length of the rigid guide is at least approximately equal to the length of the dentition (2) formed by three or more consecutive teeth at any position of the dental arch, so as to be suitable for making complicated restorations such as bridges and/or dentition including more than three teeth. Eliminate cumulative errors when the body is in use. Preferably, the rigid guide is a full-mouth guide, the length of the full-mouth guide being approximately equal to the length of the dentition comprising all of the upper or lower jaw teeth. Preferably, the rigid guide plate is a half-port guide plate, and the length of the half-port guide plate is approximately equal to half of the teeth of the upper or lower jaw (for example, the left half tooth, the right half tooth, and the front upper and lower incisors extending to the left and right sides). The length of the dentition. It will be understood by those skilled in the art that a full-mouth guide or a half-port guide is not limited to the length of the guide in the sense of "cm" or "inch", since the child's full-mouth guide may be smaller than the adult in length. Half port guide. In general, full-port guides are used for full-port scanning scenarios, and half-port guides are used for bridge/abutment scenarios. Those skilled in the art will appreciate that full port guides can also be used in bridge/abutment scenarios.
优选的，将刚性导板的全部表面作为扫描引导面。更优选的，引导标志遍布扫描引导面的各处。在一些情况下，扫描引导面上的引导标志与贴近的被测口腔区域基本平行。Preferably, the entire surface of the rigid guide is used as the scanning guide surface. More preferably, the guide marks are distributed throughout the scanning guide surface. In some cases, the guide mark on the scanning guide surface is substantially parallel to the adjacent measured oral area.
引导标志可以是连续的或不连续三维图案，并且引导标志在扫描引导面上不同位置处具有相同或不同的图案。三维图案可以是波形或者其他任意合适的形状。优选的，引导标志是连续的三维图案，使得口内印模扫描仪在扫描过程中的任何时刻都能够扫描到引导标志的一部分。优选的，引导标志在扫描引导面的不同位置处具有不同的图案，使得口内印模扫描仪在每个扫描单元中获得的引导标志的局部扫描数据都不相同，从而不需要“解包络”操作。The guide marks may be continuous or discontinuous three-dimensional patterns, and the guide marks have the same or different patterns at different positions on the scan guide surface. The three-dimensional pattern can be a waveform or any other suitable shape. Preferably, the guide mark is a continuous three-dimensional pattern such that the intra-oral impression scanner is capable of scanning a portion of the guide mark at any time during the scanning process. Preferably, the guiding marks have different patterns at different positions of the scanning guiding surface, so that the partial scanning data of the guiding marks obtained by the intra-die impression scanner in each scanning unit are different, so that "unenveloping" is not required. operating.
扫描引导面与牙面一般为超过90度的钝角。优选的，扫描引导面和被测口腔区域所在面(例如牙面)基本平行，以使得口内印模扫描仪更容易获得牙齿(牙龈)和/或引导标志的扫描数据。The scanning guide surface and the tooth surface are generally obtuse angles exceeding 90 degrees. Preferably, the scanning guide surface and the surface of the measured oral region (eg, the tooth surface) are substantially parallel such that the intraoral impression scanner more readily obtains scan data of the teeth (gingiva) and/or the guide mark.
固定装置与刚性导板相连接。一个实施例中，固定装置与刚性导板一体成型，以节约制作成本。另一个实施例中，固定装置是可拆卸的连接在刚性导板上，以确保固定装置可以被安装在“好牙”上，避免一体成型情况下，固定装置的位置恰好在“坏牙”处。The fixture is connected to the rigid guide. In one embodiment, the fixture is integrally formed with the rigid guide to save manufacturing costs. In another embodiment, the securing means is detachably attached to the rigid guide to ensure that the securing means can be mounted on the "good teeth" to avoid the position of the securing means just at the "bad teeth" in the case of integral molding.
优选的，固定装置适用于将刚性导板固定在上下颌、臼齿或门牙上。例如，固定 装置为适用于口内的夹具。Preferably, the securing means is adapted to secure the rigid guide to the upper and lower jaws, molars or incisors. For example, fixed The device is a clamp suitable for use in the mouth.
根据本发明的第二个方面，提供了一种获取口内数字化印模的方法，优选的，提供了一种使用根据本发明第一个方面所提供的口内数字化印模系统获取口内数字化印模的方法。该方法包括以下步骤：According to a second aspect of the present invention, there is provided a method of obtaining an intra-oral digital impression, and preferably, providing an intra-oral digital impression using the intra-oral digital impression system provided in accordance with the first aspect of the present invention method. The method includes the following steps:
S100，根据第一、第二引导标志，分别获得第一牙列和第二牙列的点云数据。第一牙列为口腔内的上颌牙列，第二牙列为口腔内的下颌牙列，或者，第一牙列为下颌牙列，第二牙列为上颌牙列。S100. Obtain point cloud data of the first dentition and the second dentition according to the first and second guiding signs respectively. The first dentition is the upper dentition in the oral cavity, the second dentition is the lower dentition in the oral cavity, or the first dentition is the lower dentition and the second dentition is the upper dentition.
S200，获得第一牙列和第二牙列咬合面的点云数据。S200: Obtain point cloud data of the first dentition and the second dentition occlusal surface.
S300，根据第一牙列的点云数据、第二牙列的点云数据和咬合面的点云数据，获得口内三维数字化印模数据。S300: Obtain three-dimensional digital impression data in the mouth according to the point cloud data of the first dentition, the point cloud data of the second dentition, and the point cloud data of the occlusal surface.
第一引导标志和第二引导标志是相同的引导标志或不同的引导标志。The first boot flag and the second boot flag are the same boot flag or a different boot flag.
具体的，步骤S100中获得牙列的点云数据的方法，包括以下步骤：Specifically, the method for obtaining point cloud data of the dentition in step S100 includes the following steps:
S110，在口腔内安装引导标志。S110, installing a guide mark in the oral cavity.
S120，扫描牙列和引导标志，获得第一点云数据，第一点云数据为包括牙列和引导标志的点云数据；第一点云数据包括牙列和引导标志的多个点云数据，其中牙列和引导标志的每个点云数据对应于牙列和引导标志的一个局部。S120: Scan the dentition and the guiding mark to obtain first point cloud data, where the first point cloud data is point cloud data including a dentition and a guiding mark; the first point cloud data includes a plurality of point cloud data of the dentition and the guiding mark , wherein each point cloud data of the dentition and the guide mark corresponds to a part of the dentition and the guide mark.
S130，从口腔中移除引导标志。S130, removing the guiding sign from the oral cavity.
S140，扫描牙列，根据扫描牙列的结果和第一点云数据，获得第二点云数据，第二点云数据为牙列的点云数据；第二点云数据包括牙列的多个点云数据，其中牙列的每个点云数据对应于牙列的一个局部。S140: Scan the dentition, obtain the second point cloud data according to the result of the scanning dentition and the first point cloud data, the second point cloud data is the point cloud data of the dentition; and the second point cloud data includes the plurality of dentitions. Point cloud data, where each point cloud data of the dentition corresponds to a portion of the dentition.
进一步的，步骤S110-S140中获得第一、二牙列的点云数据的方法主要根据本发明的第三个方面实现。Further, the method for obtaining the point cloud data of the first and second dentitions in steps S110-S140 is mainly implemented according to the third aspect of the present invention.
根据本发明的第三个方面，提供了一种使用口内数字化印模系统获取牙列点云数据的方法，优选的，口内数字化印模系统为根据本发明第一个方面所提供的口内数字化印模系统，该方法包括以下步骤：According to a third aspect of the present invention, there is provided a method of obtaining dentition point cloud data using an intra-oral digital impression system, preferably an intra-oral digital impression system is an intra-oral digital print provided in accordance with the first aspect of the present invention. A modular system, the method comprising the steps of:
S1000，根据预存点云数据和第一扫描数据获得第一点云数据。其中，预存点云数据为引导标志的点云数据，第一扫描数据为扫描牙列和引导标志所获得的点云数据，第一点云数据为包括牙列和引导标志的点云数据。优选的，预存点云数据为预先根据引导标志的模型获得的点云数据，例如根据引导标志的CAD(计算机辅助设计)模型 获得的点云数据，再如通过扫描预先制作好的引导标志的模型而获得的点云数据。优选的，第一扫描数据为口内印模扫描仪实时扫描牙列和安装在口内扫描导板上的引导标志所获得的点云数据。由于口内印模扫描仪每次只能扫描口内的有限局部并只能获得该有限局部的点云数据(即相当于每次只能获得对应于该有限局部的部分第一扫描数据，多次扫描后才能获得完整的第一扫描数据)，因此，第一点云数据包括牙列和引导标志的多个点云数据，其中牙列和引导标志的每个点云数据(即相当于根据预存点云数据和前述部分第一扫描数据获得的点云数据)对应于牙列和引导标志的一个局部。S1000: Obtain first point cloud data according to pre-stored point cloud data and first scan data. The pre-stored point cloud data is point cloud data of the guiding flag, and the first scan data is point cloud data obtained by scanning the dentition and the guiding flag, and the first point cloud data is point cloud data including the dentition and the guiding sign. Preferably, the pre-stored point cloud data is point cloud data obtained in advance according to a model of the guide mark, for example, a CAD (Computer Aided Design) model according to the guide mark The obtained point cloud data, and the point cloud data obtained by scanning the model of the pre-made guide mark. Preferably, the first scan data is point cloud data obtained by the intraoral impression scanner real-time scanning the dentition and the guide mark mounted on the intraoral scanning guide. Since the intra-oral impression scanner can only scan a limited portion of the mouth at a time and can only obtain the limited local point cloud data (that is, equivalent to obtaining only a portion of the first scan data corresponding to the limited portion at a time, multiple scans) After the first first scan data is obtained, the first point cloud data includes a plurality of point cloud data of the dentition and the guide mark, wherein each point cloud data of the dentition and the guide mark (ie, equivalent to the pre-stored point) The cloud data and the point cloud data obtained by the aforementioned partial first scan data correspond to a part of the dentition and the guide mark.
S1100，根据第一点云数据和第二扫描数据获得第二点云数据。其中，第二点云数据为牙列点云数据，第二扫描数据为扫描牙列所获得的点云数据。优选的，获取第二扫描数据时，口内扫描导板已经被从口内取出。由于口内印模扫描仪每次只能扫描口内的有限局部并只能获得该有限局部的点云数据(即相当于每次只能获得对应于该有限局部的部分第二扫描数据，多次扫描后才能获得完整的第二扫描数据)，因此，第二点云数据也包括牙列的多个点云数据，其中牙列的每个点云数据(即相当于根据第一点云数据和前述部分第二扫描数据获得的点云数据)对应于牙列的一个局部。S1100: Obtain second point cloud data according to the first point cloud data and the second scan data. The second point cloud data is the dentition point cloud data, and the second scan data is the point cloud data obtained by scanning the dentition. Preferably, when the second scan data is acquired, the intraoral scan guide has been taken out of the mouth. Since the intra-oral impression scanner can only scan a limited portion of the mouth at a time and can only obtain the limited partial point cloud data (that is, equivalent to obtaining only a portion of the second scan data corresponding to the limited portion at a time, multiple scans) After the second second scan data is obtained, the second point cloud data also includes a plurality of point cloud data of the dentition, wherein each point cloud data of the dentition is equivalent to the first point cloud data and the foregoing The point cloud data obtained by the partial second scan data corresponds to a part of the dentition.
步骤S1000中获得牙列和引导标志的每个点云数据包括：Each point cloud data of obtaining the dentition and the guiding mark in step S1000 includes:
S1005，获得牙列和引导标志的局部点云数据，提取第一特征关键点，第一特征关键点为牙列和引导标志的局部点云数据的特征关键点。S1005: Obtain local point cloud data of the dentition and the guiding mark, and extract a first characteristic key point, where the first characteristic key point is a characteristic key point of the local point cloud data of the dentition and the guiding mark.
S1010，根据预存点云数据的特征关键点和第一特征关键点，获得局部点云数据和预存点云数据的初始坐标变换关系。S1010: Obtain an initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data according to the feature key points of the pre-stored point cloud data and the first feature key point.
S1020，根据初始坐标变换关系，对局部点云数据进行坐标变换，完成局部点云数据的初始配准。S1020: Perform coordinate transformation on the local point cloud data according to the initial coordinate transformation relationship, and complete initial registration of the local point cloud data.
S1030，计算初始配准后的局部点云数据到预存点云的精确变换关系。S1030: Calculate the exact transformation relationship between the local point cloud data after the initial registration and the pre-stored point cloud.
S1040，根据精确坐标变换关系，对初始配准后的局部点云数据进行坐标变换，完成局部点云数据的配准，得到对应于局部的牙列和引导标志的点云数据。S1040: Perform coordinate transformation on the local point cloud data after initial registration according to the precise coordinate transformation relationship, complete registration of the local point cloud data, and obtain point cloud data corresponding to the local dentition and the guiding flag.
显然，通过对步骤S1005中获得的“牙列和引导标志的局部点云数据”(即相当于部分第一扫描数据)进行步骤S1020的初始配准和步骤S1040的配准，就能够得到对应于局部的牙列和引导标志的点云数据(即相当于部分第一点云数据)。对通过口内印模扫描仪扫描获得的每个部分第一扫描数据都进行步骤S1020和步骤S1040的两次配准，就能够获得完整的第一点云数据。 Obviously, by performing the initial registration of step S1020 and the registration of step S1040 on the "local point cloud data of the dentition and the guide mark" obtained in step S1005 (that is, corresponding to the partial first scan data), it is possible to obtain a correspondence corresponding to Partial dentition and point cloud data for the guide mark (ie equivalent to part of the first point cloud data). The complete first point cloud data can be obtained by performing two registrations of step S1020 and step S1040 for each portion of the first scan data obtained by scanning in the intraoral impression scanner.
优选的，预存点云数据的特征关键点和第一特征关键点均为ISS关键点。优选的，初始配准后的局部点云数据到预存点云的精确变换关系根据ICP算法计算获得。Preferably, the feature key points and the first feature key points of the pre-stored point cloud data are ISS key points. Preferably, the exact transformation relationship between the initially registered local point cloud data and the pre-stored point cloud is obtained according to an ICP algorithm.
步骤S1010中获得局部点云数据和预存点云数据的初始坐标变换关系进一步包括：The initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data obtained in step S1010 further includes:
S1012，获得第一SHOT特征描述子，第一SHOT特征描述子是与第一ISS关键点相应的SHOT特征描述子。S1012: Obtain a first SHOT feature descriptor, where the first SHOT feature descriptor is a SHOT feature descriptor corresponding to the first ISS key point.
S1014，在预存点云数据的ISS关键点和第一ISS关键点中，基于第一SHOT特征描述子和预存点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成预存点云数据和牙列和引导标志的局部点云数据的匹配点对；预存点云数据的SHOT特征描述子根据预存点云数据的ISS关键点计算获得。S1014, in the ISS key point of the pre-stored point cloud data and the first ISS key point, based on the SHOT feature descriptor of the first SHOT feature descriptor and the pre-stored point cloud data, obtain a best match based on the SHOT feature descriptor, and form a pre-stored The matching point pair of the point cloud data and the local point cloud data of the dentition and the guiding mark; the SHOT feature descriptor of the pre-stored point cloud data is calculated according to the ISS key point of the pre-stored point cloud data.
S1016，根据匹配点对，利用RANSAC算法计算出牙列和引导标志的局部点云数据到预存点云数据的初始变换关系。S1016: Calculate an initial transformation relationship between the local point cloud data of the dentition and the guiding flag to the pre-stored point cloud data by using the RANSAC algorithm according to the matching point pair.
步骤S1100中获得牙列的每个点云数据，进一步包括：Obtaining each point cloud data of the dentition in step S1100, further comprising:
S1110，获得牙列的局部点云数据，提取第二特征关键点，第二特征关键点为牙列局部点云数据的特征关键点。S1110, obtaining local point cloud data of the dentition, extracting a second characteristic key point, and the second characteristic key point is a characteristic key point of the dentition local point cloud data.
S1120，根据第一点云数据的特征关键点和第二特征关键点，获得牙列局部点云数据和第一点云数据的初始坐标变换关系，对牙列局部点云数据进行坐标变换，完成牙列局部点云数据的初始配准。S1120: Obtain an initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data according to the characteristic key point and the second characteristic key point of the first point cloud data, and perform coordinate transformation on the dentition local point cloud data, and complete Initial registration of local point cloud data for dentition.
S1130，计算初始配准后的牙列局部点云数据到第一点云数据的精确变换关系。S1130: Calculate an exact transformation relationship between the initially registered dentition local point cloud data and the first point cloud data.
S1140，根据精确坐标变换关系，对初始配准后的牙列局部点云数据进行坐标变换，完成牙列局部点云数据的配准，得到对应于局部的牙列的点云数据。S1140: Perform coordinate transformation on the initial dentition local point cloud data according to the precise coordinate transformation relationship, complete registration of the dentition local point cloud data, and obtain point cloud data corresponding to the local dentition.
显然，通过对步骤S1110中获得的“牙列的局部点云数据”(即相当于部分第二扫描数据)进行步骤S1120的初始配准和步骤S1140的配准，就能够得到对应于局部的牙列的点云数据(即相当于部分第二点云数据)。对通过口内印模扫描仪扫描获得的每个部分第二扫描数据都进行步骤S1020和步骤S1040的两次配准，就能够获得完整的第二点云数据。Obviously, by performing the initial registration of step S1120 and the registration of step S1140 on the "local point cloud data of the dentition" obtained in step S1110 (that is, corresponding to part of the second scan data), it is possible to obtain a tooth corresponding to the local portion. The point cloud data of the column (that is, equivalent to part of the second point cloud data). The complete second point cloud data can be obtained by performing two registrations of step S1020 and step S1040 for each partial second scan data obtained by scanning through the intra-die impression scanner.
优选的，第一点云数据的特征关键点和第二特征关键点均为ISS关键点。优选的，初始配准后的牙列局部点云数据到第一点云数据的精确变换关系根据ICP算法计算获得。Preferably, the feature key point and the second feature key point of the first point cloud data are ISS key points. Preferably, the exact transformation relationship between the initially registered dentition local point cloud data and the first point cloud data is calculated according to an ICP algorithm.
步骤S1120中获得牙列局部点云数据和第一点云数据的初始坐标变换关系进一步 包括：Step S1120: obtaining an initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data. include:
S1122，获得第二SHOT特征描述子，第二SHOT特征描述子是与第二ISS关键点相应的SHOT特征描述子。S1122: Obtain a second SHOT feature descriptor, where the second SHOT feature descriptor is a SHOT feature descriptor corresponding to the second ISS key point.
S1124，在第一点云数据的ISS关键点和第二ISS关键点中，基于第二SHOT特征描述子和第一点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成第一点云数据和牙列局部点云数据的匹配点对；第一点云数据的SHOT特征描述子根据第一点云数据的ISS关键点计算获得。S1124, in the ISS key point and the second ISS key point of the first point cloud data, obtaining a best match based on the SHOT feature descriptor based on the SHOT feature descriptor of the second SHOT feature descriptor and the first point cloud data, A matching point pair of the first point cloud data and the dentition local point cloud data is formed; the SHOT feature descriptor of the first point cloud data is calculated according to the ISS key point of the first point cloud data.
S1126，根据匹配点对，利用RANSAC算法计算出牙列的局部点云数据到第一点云数据的初始变换关系。S1126: Calculate an initial transformation relationship between the local point cloud data of the dentition and the first point cloud data by using the RANSAC algorithm according to the matching point pair.
本发明中，ISS关键点、SHOT特征描述子、RANSAC算法和ICP算法是本发明优选使用的技术方案，本领域技术人员也可以使用现有技术中已经存在的其他关键点、特征描述子和算法而实现相应的功能，本领域技术人员还可以使用现有技术中已经存在的对ISS关键点、SHOT特征描述子、RANSAC算法和ICP算法的多种改进或变形而实现相应的功能。显然，通过诸如此类的变化而形成的技术方案仍然落入本发明的保护范围之内。In the present invention, the ISS key point, the SHOT feature descriptor, the RANSAC algorithm, and the ICP algorithm are preferred technical solutions used in the present invention, and those skilled in the art may also use other key points, feature descriptors, and algorithms already existing in the prior art. To achieve the corresponding functions, those skilled in the art can also implement corresponding functions by using various improvements or modifications to the ISS key points, the SHOT feature descriptors, the RANSAC algorithm, and the ICP algorithm that exist in the prior art. Obviously, the technical solutions formed by such changes are still within the scope of the present invention.
根据本发明的第四个方面，提供了实现上述使用口内数字化印模系统获取牙列点云数据的计算机程序。根据本发明的第五个方面，提供了一种计算可读存储介质，其中存储有实现上述使用口内数字化印模系统获取牙列点云数据的计算机程序。根据本发明的第六个方面，提供了一种计算设备，包括能够执行上述用于获取牙列点云数据的计算机程序的处理器。优选的，计算设备还包括上述计算可读存储介质，其中存储有实现上述使用口内数字化印模系统获取牙列点云数据的计算机程序。According to a fourth aspect of the present invention, there is provided a computer program for implementing the above-described intra-oral digital impression system for acquiring dentition point cloud data. According to a fifth aspect of the present invention, there is provided a computer readable storage medium storing a computer program for implementing the above-described intra-oral digital impression system for acquiring dentition point cloud data. According to a sixth aspect of the present invention, there is provided a computing device comprising a processor capable of executing the above-described computer program for acquiring dentition point cloud data. Preferably, the computing device further comprises the above-described computationally readable storage medium, wherein a computer program for implementing the above-described intra-oral digital impression system for acquiring dentition point cloud data is stored.
根据本发明的第七个方面，提供了一种用于获取口内数字化印模的系统，包括：口内扫描导板、口内印模扫描仪、计算设备。其中，口内印模扫描仪和计算设备电连接。优选的，电连接方式为有线连接或无线连接。According to a seventh aspect of the present invention, a system for acquiring an intra-oral digital impression is provided, comprising: an intraoral scanning guide, an intra-oral impression scanner, and a computing device. Wherein, the intra-oral impression scanner is electrically connected to the computing device. Preferably, the electrical connection mode is a wired connection or a wireless connection.
其中，口内印模扫描仪在第一时间内获得第一扫描数据，并将第一扫描数据传输到计算设备。口内印模扫描仪在第二时间内获得第二扫描数据，并将第二扫描数据传输到计算设备。第一扫描数据为扫描牙列和引导标志所获得的点云数据；第二扫描数据为扫描牙列所获得的点云数据。Wherein, the intra-die impression scanner obtains the first scan data in the first time and transmits the first scan data to the computing device. The intraoral impression scanner obtains second scan data in a second time and transmits the second scan data to the computing device. The first scan data is point cloud data obtained by scanning the dentition and the guide mark; the second scan data is point cloud data obtained by scanning the dentition.
计算设备包括处理器和显示器，显示器用于显示第二点云数据。处理器能够执行 实现上述使用口内数字化印模系统获取牙列点云数据的计算机程序模块，包括：The computing device includes a processor and a display for displaying the second point cloud data. The processor is capable of executing Implementing the above computer program module for acquiring dentition point cloud data using an intra-oral digital impression system, comprising:
第一程序模块，用于根据预存点云数据和第一扫描数据获得第一点云数据。The first program module is configured to obtain the first point cloud data according to the pre-stored point cloud data and the first scan data.
第二程序模块，根据第一点云数据和第二扫描数据获得第二点云数据，第二点云数据为牙列点云数据。The second program module obtains the second point cloud data according to the first point cloud data and the second scan data, and the second point cloud data is the dent point point cloud data.
在另一些实施方式中，使用图1所示的系统可通过以下步骤获取口内数字化印模：In other embodiments, the intra-oral digital impression can be obtained using the system illustrated in Figure 1 by the following steps:
S200，获取上述口内数字化印模系统中设于口内扫描导板(1)上的引导标志(6)的标准三维数据。由于辅助扫描装置的三维模型数据是已知的，可事先针对此三维数据提取一定数量的ISS关键点，并为各关键点计算相应的三维局部SHOT特征描述子，其中，ISS关键点的具体提取方法参考Zhong,Y.(2009).Intrinsic shape signatures:a shape descriptor for 3D object recognition.In Proc.int.conf.on computer vision workshops(pp.1–8)，SHOT特征描述的具体计算过程参考Tombari,F.,Salti,S.,&Di Stefano,L.(2010).Unique signatures of histograms for local surface description.In Proc.Europ.conf.on computer vision(ECCV)(pp.356–369).Berlin:Springer.在该文3.1节给出了ISS关键点的提取方法，简言之，即按照一定的规则从三维数据中提取出有代表性的显著特征点。规则为：对三维数据的每一点结合其邻域点进行扩散矩阵和特征值的计算，根据三个特征值大小提取出特征点，一般认为，三个特征值大小相差不大，则可认为是一个关键点。由于辅助装置三维模型事先已知，可事先进行关键点提取。S200, obtaining standard three-dimensional data of the guiding mark (6) provided on the scanning guide (1) in the mouth in the above-mentioned intraoral digital printing system. Since the three-dimensional model data of the auxiliary scanning device is known, a certain number of ISS key points can be extracted for the three-dimensional data in advance, and corresponding three-dimensional local SHOT feature descriptors are calculated for each key point, wherein the specific extraction of the ISS key points is performed. The method refers to Zhong, Y. (2009). Intrinsic shape signatures: a shape descriptor for 3D object recognition. In Proc. int. conf. on computer vision workshops (pp. 1–8), the specific calculation process of SHOT feature description refers to Tombari , F., Salti, S., & Di Stefano, L. (2010). Unique signatures of histograms for local surface description. In Proc. Europ.conf.on computer vision (ECCV) (pp. 356–369). Berlin: Springer. gives the extraction method of ISS key points in Section 3.1 of this paper. In short, it extracts representative and significant feature points from 3D data according to certain rules. The rule is: the diffusion matrix and the eigenvalue are calculated for each point of the three-dimensional data combined with the neighborhood point, and the feature points are extracted according to the three eigenvalue sizes. It is generally considered that the three eigenvalues have little difference in size, which can be considered as A key point. Since the three-dimensional model of the auxiliary device is known in advance, key point extraction can be performed in advance.
在该文第4节介绍了在第3节基础上计算局部SHOT descriptor的方法，实质是对某一点结合其邻域数据定义一种直方图，只不过该文是对输入模型的部分随机采样点(见该文第5节Fig.7下面一段文字)计算的，而本发明是针对ISS关键点计算的。In Section 4 of this paper, the method of calculating the local SHOT descriptor based on the third section is introduced. The essence is to define a histogram for a point combined with its neighborhood data, except that this is a partial random sampling point of the input model. (See paragraph 5 of the text in Fig. 7 below), and the invention is calculated for the ISS key points.
SHOT描述子的计算方法包括：结合三维数据为每一个ISS关键点建立起一个局部参考系，在此局部参考系下，对邻域数据细分多个三维网格，对每个网格计算出一个角度直方图，然后将这些直方图叠加形成一个总的直方图，即特征描述。有点类似于二维图像中SIFT特征描述。The calculation method of the SHOT descriptor includes: constructing a local reference system for each ISS key point in combination with the three-dimensional data, and subdividing the three-dimensional mesh into the neighborhood data under the local reference system, and calculating for each grid An angle histogram is then superimposed to form a total histogram, a characterization. It is somewhat similar to the SIFT feature description in a two-dimensional image.
S300，通过固定装置(3)将口内扫描导板(1)固定在口腔内部的被测口腔区域附近，此例中为牙列(2)，使得引导标志(6)与牙列(2)相邻且位置关系固定；S300, the intraoral scan guide (1) is fixed in the vicinity of the measured oral cavity inside the oral cavity by the fixing device (3), in this case, the dentition (2), so that the guiding mark (6) is adjacent to the dentition (2) And the positional relationship is fixed;
S400，使用口内印模扫描仪(5)在口腔内部扫描至少部分牙列(2)和至少部分引导标志(6)以获取图像，并且得到图像的三维数据(或者称为三维点云数据，或者 简称为点云数据或点云)；然后，通过口内数字化扫描设备对已经安装了辅助扫描装置的牙列进行扫描，获取牙列的局部三维点云数据，为其提取ISS关键点和相应的SHOT特征描述子。S400, using an intraoral impression scanner (5) to scan at least a portion of the dentition (2) and at least a portion of the guide marker (6) inside the oral cavity to acquire an image, and obtain three-dimensional data of the image (or referred to as three-dimensional point cloud data, or Referred to as point cloud data or point cloud); then, the dentition that has been installed with the auxiliary scanning device is scanned by the intra-oral digital scanning device to obtain the local three-dimensional point cloud data of the dentition, and the ISS key point and the corresponding SHOT are extracted for it. Feature descriptor.
S500，根据引导标志(6)的标准三维数据从图像的三维数据中搜寻并识别至少部分引导标志(6)的三维数据，至少部分引导标志(6)包括至少三个非共线特征标志点(也即ISS关键点)，并且在图像的三维数据的其余部分中确定至少部分牙列(2)的三维数据；S500, searching and identifying three-dimensional data of at least part of the guiding mark (6) from the three-dimensional data of the image according to the standard three-dimensional data of the guiding mark (6), wherein at least part of the guiding mark (6) comprises at least three non-collinear feature marking points ( That is, the ISS key point), and determine the three-dimensional data of at least part of the dentition (2) in the rest of the three-dimensional data of the image;
S600，利用至少三个非共线特征标志点确定至少部分引导标志(6)的三维数据与标准三维数据的对应部分之间的坐标转换关系；此时，对局部三维点云数据的各ISS关键点在辅助扫描装置模型的ISS关键点中寻找一个基于SHOT特征描述子的最佳匹配，形成匹配点对，并利用RANSAC算法(参考文献FISCHLER M.A.Random sample consensus:A paradigm for model fitting with applications to imageanalysis and automated cartography.Commun.ACM 24,6,1981,381–395.)计算出局部点云数据到辅助扫描装置模型的初始变换关系，即完成初始配准。S600: Determine, by using at least three non-collinear feature mark points, a coordinate conversion relationship between the three-dimensional data of at least part of the guide mark (6) and a corresponding part of the standard three-dimensional data; at this time, each ISS key of the local three-dimensional point cloud data The point finds a best match based on the SHOT feature descriptor in the ISS key points of the auxiliary scanning device model, forms a matching point pair, and uses the RANSAC algorithm (references FISCHLER MARandom sample consensus: A paradigm for model fitting with applications to imageanalysis And automated cartography. Commun. ACM 24, 6, 1981, 381-395.) Calculate the initial transformation relationship of the local point cloud data to the auxiliary scanning device model, ie, complete the initial registration.
S700，将S600的转换关系应用于至少部分牙列(2)的三维数据，得到至少部分牙列(2)的转换三维数据，作为至少部分牙列(2)的数字化印模。S700, applying the conversion relationship of S600 to the three-dimensional data of at least part of the dentition (2) to obtain converted three-dimensional data of at least part of the dentition (2) as a digitized impression of at least part of the dentition (2).
在一些实施方式中，获取口内数字化印模的方法还包括，通过重复步骤S400至S700来获得整个牙列(2)的数字化印模，其中重复S400得到牙列(2)的整体三维数据，并且每次扫描都获得包括至少部分牙列(2)和至少部分引导标志(6)的三维数据。In some embodiments, the method of acquiring an intra-oral digital impression further comprises obtaining a digital impression of the entire dentition (2) by repeating steps S400 through S700, wherein repeating S400 results in overall three-dimensional data of the dentition (2), and Three-dimensional data including at least a partial dentition (2) and at least a partial guiding marker (6) is obtained for each scan.
在一些实施方式中，获取口内数字化印模的方法还包括以下步骤：In some embodiments, the method of obtaining an intra-oral digital impression further includes the following steps:
S-1，执行步骤S400至S700，其中，在S400中扫描P1，得到三维数据P1D1；在S500中，设引导标志(6)的标准三维数据为G0，在P1D1中搜寻并识别对应于G0的至少部分的三维数据G1，G1包括至少三个非共线特征标志点，并且在P1D1的其余部分中确定至少部分牙列(2)A1的三维数据A1D1；在S600中，利用至少三个非共线特征标志点确定G1与G0中的对应部分之间的转换关系；在S700中，将S600的转换关系应用于A1D1，转换得到三维数据Z1，作为A1的数字化印模；S-1, performing steps S400 to S700, wherein P1 is scanned in S400 to obtain three-dimensional data P1D1; in S500, standard three-dimensional data of the guiding flag (6) is set to G0, and P1D1 is searched for and identified corresponding to G0. At least a portion of the three-dimensional data G1, G1 includes at least three non-collinear feature landmarks, and three-dimensional data A1D1 of at least a portion of the dentition (2) A1 is determined in the remainder of P1D1; in S600, at least three non-common uses The line feature flag points determine a conversion relationship between the corresponding portions of G1 and G0; in S700, the conversion relationship of S600 is applied to A1D1, and the three-dimensional data Z1 is converted to be a digital impression of A1;
S-2，重复执行步骤S400至700，其中，在S400中扫描P2，获得三维数据P2D1；在S500中，当从P2D1中未能搜寻到至少部分G0时，转为从P2D1中搜寻并识别对应于Z1的至少部分的三维数据A1′，A1′包括至少三个非共线特征标志点，并且在P2D1 的其余部分中确定至少部分牙列(2)A2的三维数据A2D1；在S600中，利用至少三个非共线特征标志点确定A1′与Z1中的对应部分之间的转换关系；在S700中，将S600的转换关系应用于A2D1，转换得到三维数据Z2，作为A2的数字化印模。S-2, steps S400 to 700 are repeatedly performed, in which P2 is scanned in S400 to obtain three-dimensional data P2D1; in S500, when at least part of G0 is not searched from P2D1, it is switched to search from P2D1 and identify corresponding At least a portion of the three-dimensional data A1', A1' of Z1 includes at least three non-collinear feature landmarks, and at P2D1 The three-dimensional data A2D1 of at least part of the dentition (2) A2 is determined in the remaining portion; in S600, the conversion relationship between the corresponding parts of A1' and Z1 is determined by using at least three non-collinear feature marking points; in S700 The conversion relationship of S600 is applied to A2D1, and the three-dimensional data Z2 is converted to be a digital impression of A2.
在一些情况下，根据获取口内数字化印模的方法，还包括：In some cases, according to the method of obtaining an intra-oral digital impression, the method further includes:
S-1，执行步骤S400至S700，其中，在S400中扫描P1，获得三维数据P1D1；在S500中，设引导标志的标准三维数据为G0，在P1D1中搜寻并识别对应于G0的至少部分的三维数据G1，G1包括至少三个非共线特征标志点，并且在P1D1的其余部分中确定至少部分牙列(2)A1的三维数据A1D1；在S600中，利用至少三个非共线特征标志点确定G1与G0中的对应部分之间的转换关系；在S700中，将S600的转换关系应用于A1D1，转换得到三维数据Z1，作为A1的数字化印模；S-1, performing steps S400 to S700, wherein P1 is scanned in S400 to obtain three-dimensional data P1D1; in S500, standard three-dimensional data of the guidance flag is set to G0, and P1D1 is searched for and identified corresponding to at least part of G0. The three-dimensional data G1, G1 includes at least three non-collinear feature landmarks, and three-dimensional data A1D1 of at least a portion of the dentition (2) A1 is determined in the remaining portion of P1D1; in S600, at least three non-collinear signatures are utilized Point determining a conversion relationship between G1 and a corresponding portion in G0; in S700, applying a conversion relationship of S600 to A1D1, converting to obtain three-dimensional data Z1 as a digital impression of A1;
S800，在S-1后，将口内扫描导板从口腔内部取出，从而暴露出原先被口内扫描导板遮挡的牙列(2)B1；S800, after S-1, the intraoral scan guide is taken out from the inside of the oral cavity, thereby exposing the dentition (2) B1 originally blocked by the intraoral scan guide;
S-4，在S800后，重复执行步骤S400至700，其中，在S400中扫描B1，得到三维数据B1D1；在S500中，从B1D1中搜寻并识别对应于Z1的至少部分的三维数据A1″，A1″包括至少三个非共线特征标志点，并且在B1D1的其余部分中确定至少部分牙列(2)A3的三维数据A3D1；在S600中，利用至少三个非共线特征标志点确定A1″与Z1中的对应部分之间的转换关系；在S700中，将S600的转换关系应用于B1D1，转换得到三维数据Z3，作为B1的数字化印模。S-4, after S800, repeating steps S400 to 700, wherein B1 is scanned in S400 to obtain three-dimensional data B1D1; in S500, three-dimensional data A1" corresponding to at least part of Z1 is searched for and identified from B1D1, A1" includes at least three non-collinear feature landmarks, and three-dimensional data A3D1 of at least a portion of the dentition (2) A3 is determined in the remaining portion of B1D1; in S600, A1 is determined using at least three non-collinear signature points "The conversion relationship with the corresponding portion in Z1; in S700, the conversion relationship of S600 is applied to B1D1, and the three-dimensional data Z3 is converted to be a digital impression of B1.
在上述实施方式中，在得到牙列(2)的所有部分的数字化印模后，可以将各部分之间相互重叠的部分进行融合、平滑等后处理。In the above embodiment, after the digitized stamps of all the portions of the dentition (2) are obtained, the portions overlapping each other may be subjected to post-processing such as fusion, smoothing, and the like.
本发明的系统和方法无累积的多次扫描测量误差，有效提高口内数字化印模的精度，可满足后续对牙齿修复体的设计和加工要求。 The system and method of the present invention has no cumulative multiple scanning measurement errors, and effectively improves the accuracy of the intra-oral digital impression, which can meet the requirements for subsequent design and processing of the dental restoration.

Claims (92)

  1. 一种口内数字化印模系统，其特征在于，包括：口内印模扫描仪和口内扫描导板；所述口内扫描导板包括固定装置和刚性导板，所述刚性导板具有扫描引导面，所述扫描引导面上设有引导标志；所述固定装置具有连接口腔内部构造的连接件用于将所述刚性导板固定在口腔内部。An intra-oral digital impression system, comprising: an intra-oral impression scanner and an intra-oral scanning guide; the intra-oral scanning guide comprises a fixing device and a rigid guiding plate, the rigid guiding plate has a scanning guiding surface, and the scanning guiding surface A guiding mark is provided thereon; the fixing device has a connecting piece connecting the internal structure of the oral cavity for fixing the rigid guiding plate inside the oral cavity.
  2. 根据权利要求1的口内数字化印模系统，其特征在于，当所述刚性导板固定在口腔内部时，至少将能够被口内印模扫描仪拍摄且与被测口腔区域临近的所述刚性导板的表面作为扫描引导面，所述引导标志至少分布在所述扫描引导面上靠近所述被测口腔区域的部分。The intraoral digital impression system of claim 1 wherein when said rigid guide is secured within the oral cavity, at least the surface of said rigid guide that can be captured by an intraoral impression scanner and adjacent to the region of the oral cavity being measured As the scanning guide surface, the guiding mark is distributed at least on a portion of the scanning guiding surface that is close to the measured oral cavity area.
  3. 根据权利要求1的口内数字化印模系统，其特征在于，将所述刚性导板的全部表面作为扫描引导面，并且所述引导标志遍布所述扫描引导面的各处。The intraoral digital impression system of claim 1 wherein the entire surface of said rigid guide is used as a scanning guide surface and said guide marks are distributed throughout said scanning guide surface.
  4. 根据权利要求1的口内数字化印模系统，其特征在于，所述引导标志是连续的或不连续三维图案，并且所述引导标志在所述扫描引导面上不同位置处具有相同或不同的图案。The intraoral digital impression system of claim 1 wherein said guide marks are continuous or discontinuous three-dimensional patterns and said guide marks have the same or different patterns at different locations on said scan guide surface.
  5. 根据权利要求1的口内数字化印模系统，其特征在于，所述扫描引导面上的引导标志与贴近的被测口腔区域基本平行。The intraoral digital impression system of claim 1 wherein the guide marks on the scanning guide surface are substantially parallel to the adjacent measured oral area.
  6. 根据权利要求1的口内数字化印模系统，其特征在于，所述刚性导板贴近被测口腔区域的一侧具有与被测口腔区域匹配的轮廓以使所述刚性导板与被测口腔区域配合。The intraoral digital impression system of claim 1 wherein the rigid guide is adjacent the side of the region of the mouth being tested to have a contour that matches the area of the mouth being measured to engage the rigid guide with the region of the mouth being measured.
  7. 根据权利要求1的口内数字化印模系统，其特征在于，所述刚性导板的长度近似等于牙弓任意位置处连续三颗或三颗以上牙齿形成的牙列的长度；优选的，所述刚性导板为全口导板，所述全口导板的长度近似等于包含上颌或下颌全部牙齿形成的牙列的长度；优选的，所述刚性导板为半口导板，所述半口导板的长度近似等于上颌或下颌的左或右半部分牙齿形成的牙列的长度。The intraoral digital impression system of claim 1 wherein said rigid guide has a length approximately equal to a length of a dentition formed by three or more consecutive teeth at any position of the dental arch; preferably, said rigid guide a full-mouth guide, the length of the full-mouth guide is approximately equal to the length of the dentition including all the teeth of the upper or lower jaw; preferably, the rigid guide is a half-guide, the length of the half-guide is approximately equal to the upper jaw or The length of the dentition formed by the left or right half of the lower jaw.
  8. 根据权利要求1的口内数字化印模系统，其特征在于，所述刚性导板可以被安装在牙外侧面和/或舌侧面。The intraoral digital impression system of claim 1 wherein said rigid guides are mountable on the lateral side of the teeth and/or the sides of the tongue.
  9. 根据权利要求1的口内数字化印模系统，其特征在于，所述固定装置与所述刚 性导板相连接，且是可拆卸的，或者所述固定装置与所述刚性导板一体成型。The intraoral digital impression system of claim 1 wherein said securing means and said rigid The guide plates are connected and detachable, or the fixing device is integrally formed with the rigid guide.
  10. 根据权利要求1的口内数字化印模系统，其特征在于，所述固定装置为夹具。The intraoral digital impression system of claim 1 wherein said fixture is a clamp.
  11. 一种口内扫描导板，其特征在于，包括：固定装置和刚性导板，所述刚性导板具有扫描引导面，所述扫描引导面上设有引导标志；所述固定装置具有连接口腔内部构造的连接件用于将所述刚性导板固定在口腔内部。An intraoral scanning guide characterized by comprising: a fixing device and a rigid guiding plate, the rigid guiding plate has a scanning guiding surface, the scanning guiding surface is provided with a guiding mark; the fixing device has a connecting piece connecting the internal structure of the oral cavity It is used to fix the rigid guide plate inside the oral cavity.
  12. 根据权利要求11的口内扫描导板，其特征在于，当所述刚性导板固定在口腔内部时，至少将能够被口内印模扫描仪拍摄且与被测口腔区域临近的所示刚性导板的表面作为扫描引导面，所述引导标志至少分布在所述扫描引导面上靠近所述被测口腔区域的部分。The intraoral scan guide according to claim 11, wherein when said rigid guide is fixed inside the oral cavity, at least a surface of said rigid guide which can be photographed by the intraoral impression scanner and adjacent to the region to be measured is scanned. a guiding surface, the guiding mark being distributed at least on a portion of the scanning guiding surface adjacent to the measured oral cavity area.
  13. 根据权利要求11的口内扫描导板，其特征在于，将所述刚性导板的全部表面作为扫描引导面，并且所述引导标志遍布所述扫描引导面的各处。The intraoral scan guide according to claim 11, wherein the entire surface of the rigid guide is used as a scanning guide surface, and the guide mark is distributed throughout the scanning guide surface.
  14. 根据权利要求11的口内扫描导板，其特征在于，所述引导标志是连续的或不连续三维图案，并且所述引导标志在所述扫描引导面上不同位置处具有相同或不同的图案。The intraoral scan guide according to claim 11, wherein said guide mark is a continuous or discontinuous three-dimensional pattern, and said guide marks have the same or different patterns at different positions on said scanning guide face.
  15. 根据权利要求11的口内扫描导板，其特征在于，所述扫描引导面上的引导标志与贴近的被测口腔区域基本平行。The intraoral scan guide according to claim 11, wherein the guide mark on the scanning guide surface is substantially parallel to the adjacent oral cavity area to be measured.
  16. 根据权利要求11的口内扫描导板，其特征在于，所述刚性导板贴近被测口腔区域的一侧具有与被测口腔区域相匹配的轮廓以使所述刚性导板与被测口腔区域相配合。The intraoral scan guide according to claim 11, wherein the side of the rigid guide adjacent to the region of the mouth to be measured has a contour matching the area of the mouth to be measured to match the rigid guide to the area of the mouth to be tested.
  17. 根据权利要求11的口内扫描导板，其特征在于，所述刚性导板的长度近似等于牙弓任意位置处连续三颗或三颗以上牙齿形成的牙列的长度；优选的，所述刚性导板为全口导板，所述全口导板的长度近似等于包含上颌或下颌全部牙齿形成的牙列的长度；优选的，所述刚性导板为半口导板，所述半口导板的长度近似等于上颌或下颌的左或右半部分牙齿形成的牙列的长度。The intraoral scan guide according to claim 11, wherein said rigid guide has a length approximately equal to a length of a dentition formed by three or more consecutive teeth at any position of the dental arch; preferably, said rigid guide is full a length guide plate, the length of the full-mouth guide plate is approximately equal to the length of the dentition including all the teeth of the upper or lower jaw; preferably, the rigid guide plate is a half-port guide, the length of the half-port guide is approximately equal to the upper or lower jaw The length of the dentition formed by the left or right half of the tooth.
  18. 根据权利要求11的口内扫描导板，其特征在于，所述刚性导板可以被安装在牙外侧面和/或舌侧面。The intraoral scan guide of claim 11 wherein said rigid guides are mountable on the lateral side of the teeth and/or the sides of the tongue.
  19. 根据权利要求11的口内扫描导板，其特征在于，所述固定装置与所述刚性导板相连接,且是可拆卸的，或者所述固定装置与所述刚性导板一体成型。The intraoral scan guide according to claim 11, wherein said fixing means is coupled to said rigid guide and is detachable, or said fixing means is integrally formed with said rigid guide.
  20. 根据权利要求11的口内扫描导板，其特征在于，所述固定装置为夹具。 The intraoral scan guide according to claim 11, wherein said fixing means is a jig.
  21. 一种获取口内数字化印模的方法，包括以下步骤：A method of obtaining an intra-oral digital impression includes the following steps:
    S100，根据第一、第二引导标志，分别获得第一牙列和第二牙列的点云数据；S100. Obtain point cloud data of the first dentition and the second dentition according to the first and second guiding signs respectively.
    S200，获得第一牙列和第二牙列咬合面的点云数据；S200, obtaining point cloud data of the occlusal surface of the first dentition and the second dentition;
    S300，根据第一牙列的点云数据、第二牙列的点云数据和咬合面的点云数据，获得口内三维数字化印模数据；S300, obtaining, according to the point cloud data of the first dentition, the point cloud data of the second dentition, and the point cloud data of the occlusal surface, obtaining three-dimensional digital impression data in the mouth;
    所述第一引导标志和第二引导标志是相同的引导标志或不同的引导标志。The first boot flag and the second boot flag are the same boot flag or different boot flags.
  22. 根据权利要求21的获取口内数字化印模的方法，其中步骤S100中获得牙列的点云数据的方法，包括以下步骤：A method of obtaining an intra-oral digital impression according to claim 21, wherein the method of obtaining point cloud data of the dentition in step S100 comprises the following steps:
    S110，在口腔内安装引导标志；S110, installing a guiding mark in the oral cavity;
    S120，扫描牙列和引导标志，获得第一点云数据，所述第一点云数据为包括牙列和引导标志的点云数据；所述第一点云数据包括牙列和引导标志的多个点云数据，其中牙列和引导标志的每个点云数据对应于牙列和引导标志的一个局部；S120: Scan the dentition and the guiding mark to obtain first point cloud data, where the first point cloud data is point cloud data including a dentition and a guiding mark; the first point cloud data includes a plurality of dentition and guiding signs Point cloud data, wherein each point cloud data of the dentition and the guide mark corresponds to a portion of the dentition and the guide mark;
    S130，从口腔中移除引导标志；S130, removing the guiding sign from the oral cavity;
    S140，扫描牙列，根据扫描牙列的结果和第一点云数据，获得第二点云数据，所述第二点云数据为牙列的点云数据；所述第二点云数据包括牙列的多个点云数据，其中牙列的每个点云数据对应于牙列的一个局部。S140: Scan a dentition, obtain second point cloud data according to the result of the scanning dentition and the first point cloud data, where the second point cloud data is point cloud data of the dentition; and the second point cloud data includes teeth A plurality of point cloud data of the column, wherein each point cloud data of the dentition corresponds to a portion of the dentition.
  23. 根据权利要求22的获取口内数字化印模的方法，其中步骤S120中获得牙列和引导标志的每个点云数据，进一步包括：A method of obtaining an intra-oral digital impression according to claim 22, wherein each point cloud data of the dentition and the guide mark is obtained in step S120, further comprising:
    S121，获得牙列和引导标志的局部点云数据，提取第一特征关键点，所述第一特征关键点为牙列和引导标志的局部点云数据的特征关键点；S121: Obtain local point cloud data of the dentition and the guiding mark, and extract a first feature key point, where the first feature key point is a characteristic key point of the local point cloud data of the dentition and the guiding mark;
    S122，根据预存点云数据的特征关键点和牙列和第一特征关键点，获得局部点云数据和预存点云数据的初始坐标变换关系，对局部点云数据进行坐标变换，完成局部点云数据的初始配准；所述预存点云数据为引导标志的点云数据；S122. Obtain an initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data according to the characteristic key points of the pre-stored point cloud data, the dentition and the first feature key point, perform coordinate transformation on the local point cloud data, and complete the local point cloud. Initial registration of data; the pre-stored point cloud data is point cloud data of a boot mark;
    S123，计算初始配准后的局部点云数据到预存点云的精确变换关系；S123, calculating an exact transformation relationship between the local point cloud data after the initial registration and the pre-stored point cloud;
    S124，根据精确坐标变换关系，对初始配准后的局部点云数据进行坐标变换，完成局部点云数据的配准，得到对应于所述局部的牙列和引导标志的点云数据。S124: Perform coordinate transformation on the initially registered local point cloud data according to the precise coordinate transformation relationship, complete registration of the local point cloud data, and obtain point cloud data corresponding to the local dentition and the guiding flag.
  24. 根据权利要求23的获取口内数字化印模的方法，其特征在于：A method of obtaining an intra-oral digital impression according to claim 23, wherein:
    所述预存点云数据的特征关键点为ISS关键点；The characteristic key point of the pre-stored point cloud data is an ISS key point;
    所述第一特征关键点为ISS关键点。 The first feature key point is an ISS key point.
  25. 根据权利要求24的获取口内数字化印模的方法，步骤S122中获得局部点云数据和预存点云数据的初始坐标变换关系进一步包括：The method for obtaining an intra-oral digital impression according to claim 24, wherein obtaining the initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data in step S122 further comprises:
    获得第一SHOT特征描述子，所述第一SHOT特征描述子是与第一ISS关键点相应的SHOT特征描述子；Obtaining a first SHOT feature descriptor, where the first SHOT feature descriptor is a SHOT feature descriptor corresponding to the first ISS key point;
    在所述预存点云数据的ISS关键点和第一ISS关键点中，基于第一SHOT特征描述子和预存点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成预存点云数据和牙列和引导标志的局部点云数据的匹配点对；In the ISS key point of the pre-stored point cloud data and the first ISS key point, based on the SHOT feature descriptor of the first SHOT feature descriptor and the pre-stored point cloud data, the best matching based on the SHOT feature descriptor is obtained, and the pre-stored is formed. Match point pairs of point cloud data and local point cloud data of the dentition and the guide mark;
    根据匹配点对，利用RANSAC算法计算出牙列和引导标志的局部点云数据到预存点云数据的初始变换关系。According to the matching point pair, the RANSAC algorithm is used to calculate the initial transformation relationship between the local point cloud data of the dentition and the guiding mark to the pre-stored point cloud data.
    所述预存点云数据的SHOT特征描述子根据所述预存点云数据的ISS关键点计算获得。The SHOT feature descriptor of the pre-stored point cloud data is obtained according to the ISS key point of the pre-stored point cloud data.
  26. 根据权利要求24的获取口内数字化印模的方法，其特征在于：A method of obtaining an intra-oral digital impression according to claim 24, wherein:
    所述初始配准后的局部点云数据到预存点云的精确变换关系根据ICP算法计算获得。The exact transformation relationship between the initially registered local point cloud data and the pre-stored point cloud is obtained according to the ICP algorithm.
  27. 根据权利要求22的获取口内数字化印模的方法，其中步骤S140中获得牙列的每个点云数据，进一步包括：The method of obtaining an intra-oral digital impression according to claim 22, wherein obtaining each point cloud data of the dentition in step S140, further comprising:
    S141，获得牙列的局部点云数据，提取第二特征关键点，第二特征关键点为牙列局部点云数据的特征关键点；S141, obtaining local point cloud data of the dentition, extracting a second feature key point, and the second feature key point is a characteristic key point of the dentition local point cloud data;
    S142，根据第一点云数据的特征关键点和第二特征关键点，获得牙列局部点云数据和第一点云数据的初始坐标变换关系，对牙列局部点云数据进行坐标变换，完成牙列局部点云数据的初始配准；S142: Obtain an initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data according to the characteristic key point and the second characteristic key point of the first point cloud data, and perform coordinate transformation on the dentition local point cloud data, and complete Initial registration of local point cloud data of the dentition;
    S143，计算初始配准后的牙列局部点云数据到第一点云数据的精确变换关系；S143, calculating an exact transformation relationship between the initial registration of the dentition local point cloud data to the first point cloud data;
    S144，根据精确坐标变换关系，对初始配准后的牙列局部点云数据进行坐标变换，完成牙列局部点云数据的配准，得到对应于所述局部的牙列的点云数据。S144: Perform coordinate transformation on the initially aligned dentition local point cloud data according to the precise coordinate transformation relationship, complete registration of the dentition local point cloud data, and obtain point cloud data corresponding to the local dentition.
  28. 根据权利要求27的获取口内数字化印模的方法，其特征在于：A method of obtaining an intra-oral digital impression according to claim 27, wherein:
    所述第一点云数据的特征关键点为ISS关键点；The characteristic key point of the first point cloud data is an ISS key point;
    所述第二特征关键点为ISS关键点。The second feature key point is the ISS key point.
  29. 根据权利要求28的获取口内数字化印模的方法，步骤S142中获得牙列局部点云数据和第一点云数据的初始坐标变换关系进一步包括： The method for obtaining an intra-oral digital impression according to claim 28, wherein obtaining the initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data in step S142 further comprises:
    获得第二SHOT特征描述子，所述第二SHOT特征描述子是与第二ISS关键点相应的SHOT特征描述子；Obtaining a second SHOT feature descriptor, where the second SHOT feature descriptor is a SHOT feature descriptor corresponding to the second ISS key point;
    在所述第一点云数据的ISS关键点和第二ISS关键点中，基于第二SHOT特征描述子和第一点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成第一点云数据和牙列局部点云数据的匹配点对；In the ISS key point and the second ISS key point of the first point cloud data, based on the SHOT feature descriptor of the second SHOT feature descriptor and the first point cloud data, obtaining a best match based on the SHOT feature descriptor, Forming a matching pair of first point cloud data and dentition local point cloud data;
    根据匹配点对，利用RANSAC算法计算出牙列的局部点云数据到第一点云数据的初始变换关系。According to the matching point pair, the RANSAC algorithm is used to calculate the initial transformation relationship of the local point cloud data of the dentition to the first point cloud data.
    所述第一点云数据的SHOT特征描述子根据所述第一点云数据的ISS关键点计算获得。The SHOT feature descriptor of the first point cloud data is obtained according to the ISS key point of the first point cloud data.
  30. 根据权利要求27的获取口内数字化印模的方法，其特征在于：A method of obtaining an intra-oral digital impression according to claim 27, wherein:
    所述初始配准后的牙列局部点云数据到第一点云数据的精确变换关系根据ICP算法计算获得。The exact transformation relationship between the initially registered dentition local point cloud data and the first point cloud data is calculated according to the ICP algorithm.
  31. 一种获取牙列点云数据的方法，包括以下步骤：A method for obtaining dentition point cloud data includes the following steps:
    S1000，根据预存点云数据和第一扫描数据获得第一点云数据；其中，所述预存点云数据为引导标志的点云数据；所述第一扫描数据为扫描牙列和引导标志所获得的点云数据；所述第一点云数据为包括牙列和引导标志的点云数据；所述第一点云数据包括牙列和引导标志的多个点云数据，其中牙列和引导标志的每个点云数据对应于牙列和引导标志的一个局部；S1000, obtaining first point cloud data according to the pre-stored point cloud data and the first scan data; wherein the pre-stored point cloud data is point cloud data of a guiding flag; the first scan data is obtained by scanning a dentition and a guiding flag Point cloud data; the first point cloud data is point cloud data including a dentition and a guide mark; the first point cloud data includes a plurality of point cloud data of the dentition and the guide mark, wherein the dentition and the guide mark Each point cloud data corresponds to a portion of the dentition and the guide mark;
    S1100，根据第一点云数据和第二扫描数据获得第二点云数据，所述第二点云数据为牙列点云数据；其中，所述第二扫描数据为扫描牙列所获得的点云数据；所述第二点云数据包括牙列的多个点云数据，其中牙列的每个点云数据对应于牙列的一个局部。S1100: Obtain second point cloud data according to the first point cloud data and the second scan data, where the second point cloud data is dentition point cloud data; wherein the second scan data is a point obtained by scanning the dentition Cloud data; the second point cloud data includes a plurality of point cloud data of the dentition, wherein each point cloud data of the dentition corresponds to a portion of the dentition.
  32. 根据权利要求31的获取牙列点云数据的方法，步骤S1000中获得牙列和引导标志的每个点云数据包括：The method for obtaining dentition point cloud data according to claim 31, wherein each point cloud data of obtaining the dentition and the guiding flag in step S1000 comprises:
    S1010，获得牙列和引导标志的局部点云数据，提取第一特征关键点，所述第一特征关键点为牙列和引导标志的局部点云数据的特征关键点；S1010: Obtain local point cloud data of the dentition and the guiding mark, and extract a first feature key point, where the first feature key point is a characteristic key point of the local point cloud data of the dentition and the guiding mark;
    S1010，根据预存点云数据的特征关键点和第一特征关键点，获得局部点云数据和预存点云数据的初始坐标变换关系；S1010: Obtain an initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data according to the feature key point of the pre-stored point cloud data and the first feature key point;
    S1020，根据初始坐标变换关系，对局部点云数据进行坐标变换，完成局部点云数据的初始配准； S1020: performing coordinate transformation on the local point cloud data according to the initial coordinate transformation relationship, and completing initial registration of the local point cloud data;
    S1030，计算初始配准后的局部点云数据到预存点云的精确变换关系；S1030: Calculate an accurate transformation relationship between the local point cloud data after the initial registration and the pre-stored point cloud;
    S1040，根据精确坐标变换关系，对初始配准后的局部点云数据进行坐标变换，完成局部点云数据的配准，得到对应于所述局部的牙列和引导标志的点云数据。S1040: Perform coordinate transformation on the initially registered local point cloud data according to the precise coordinate transformation relationship, complete registration of the local point cloud data, and obtain point cloud data corresponding to the local dentition and the guiding flag.
  33. 根据权利要求32的获取牙列点云数据的方法，其特征在于：A method of obtaining dentition point cloud data according to claim 32, wherein:
    所述预存点云数据的特征关键点为ISS关键点；The characteristic key point of the pre-stored point cloud data is an ISS key point;
    所述第一特征关键点为ISS关键点。The first feature key point is an ISS key point.
  34. 根据权利要求32的获取牙列点云数据的方法，步骤S1010中获得局部点云数据和预存点云数据的初始坐标变换关系进一步包括：The method for obtaining dentition point cloud data according to claim 32, wherein obtaining the initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data in step S1010 further comprises:
    S1012，获得第一SHOT特征描述子，所述第一SHOT特征描述子是与第一ISS关键点相应的SHOT特征描述子；S1012: Obtain a first SHOT feature descriptor, where the first SHOT feature descriptor is a SHOT feature descriptor corresponding to the first ISS key point;
    S1014，在所述预存点云数据的ISS关键点和第一ISS关键点中，基于第一SHOT特征描述子和预存点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成预存点云数据和牙列和引导标志的局部点云数据的匹配点对；所述预存点云数据的SHOT特征描述子根据所述预存点云数据的ISS关键点计算获得；S1014, in the ISS key point of the pre-stored point cloud data and the first ISS key point, based on the first SHOT feature descriptor and the SHOT feature descriptor of the pre-stored point cloud data, obtaining a best match based on the SHOT feature descriptor, Forming a matching point pair of the pre-stored point cloud data and the local point cloud data of the dentition and the guiding mark; the SHOT feature descriptor of the pre-stored point cloud data is calculated according to the ISS key point of the pre-stored point cloud data;
    S1016，根据匹配点对，利用RANSAC算法计算出牙列和引导标志的局部点云数据到预存点云数据的初始变换关系。S1016: Calculate an initial transformation relationship between the local point cloud data of the dentition and the guiding flag to the pre-stored point cloud data by using the RANSAC algorithm according to the matching point pair.
  35. 根据权利要求32的获取牙列点云数据的方法，其特征在于：所述初始配准后的局部点云数据到预存点云的精确变换关系根据ICP算法计算获得。The method for obtaining dentition point cloud data according to claim 32, wherein the exact transformed relationship between the initially registered local point cloud data and the pre-stored point cloud is obtained according to an ICP algorithm.
  36. 根据权利要求31的获取牙列点云数据的方法，其中步骤S1100中获得牙列的每个点云数据，进一步包括：The method for obtaining dentition point cloud data according to claim 31, wherein each point cloud data of the dentition is obtained in step S1100, further comprising:
    S1110，获得牙列的局部点云数据，提取第二特征关键点，第二特征关键点为牙列局部点云数据的特征关键点；S1110, obtaining local point cloud data of the dentition, extracting a second characteristic key point, and the second characteristic key point is a characteristic key point of the dentition local point cloud data;
    S1120，根据第一点云数据的特征关键点和第二特征关键点，获得牙列局部点云数据和第一点云数据的初始坐标变换关系，对牙列局部点云数据进行坐标变换，完成牙列局部点云数据的初始配准；S1120: Obtain an initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data according to the characteristic key point and the second characteristic key point of the first point cloud data, and perform coordinate transformation on the dentition local point cloud data, and complete Initial registration of local point cloud data of the dentition;
    S1130，计算初始配准后的牙列局部点云数据到第一点云数据的精确变换关系；S1130: calculating an exact transformation relationship between the initial registration of the dentition local point cloud data to the first point cloud data;
    S1140，根据精确坐标变换关系，对初始配准后的牙列局部点云数据进行坐标变换，完成牙列局部点云数据的配准，得到对应于所述局部的牙列的点云数据。S1140: Perform coordinate transformation on the initially registered dentition local point cloud data according to the precise coordinate transformation relationship, complete registration of the dentition local point cloud data, and obtain point cloud data corresponding to the local dentition.
  37. 根据权利要求36的获取牙列点云数据的方法，其特征在于： A method of obtaining dentition point cloud data according to claim 36, wherein:
    所述第一点云数据的特征关键点为ISS关键点；The characteristic key point of the first point cloud data is an ISS key point;
    所述第二特征关键点为ISS关键点。The second feature key point is the ISS key point.
  38. 根据权利要求36的获取牙列点云数据的方法，步骤S1120中获得牙列局部点云数据和第一点云数据的初始坐标变换关系进一步包括：The method for obtaining dentition point cloud data according to claim 36, wherein obtaining the initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data in step S1120 further comprises:
    S1122，获得第二SHOT特征描述子，所述第二SHOT特征描述子是与第二ISS关键点相应的SHOT特征描述子；S1122: Obtain a second SHOT feature descriptor, where the second SHOT feature descriptor is a SHOT feature descriptor corresponding to the second ISS key point;
    S1124，在所述第一点云数据的ISS关键点和第二ISS关键点中，基于第二SHOT特征描述子和第一点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成第一点云数据和牙列局部点云数据的匹配点对；所述第一点云数据的SHOT特征描述子根据所述第一点云数据的ISS关键点计算获得；S1124: In the ISS key point and the second ISS key point of the first point cloud data, obtain the best based on the SHOT feature descriptor based on the SHOT feature descriptor of the second SHOT feature descriptor and the first point cloud data. Matching, forming a matching point pair of the first point cloud data and the dentition local point cloud data; the SHOT feature descriptor of the first point cloud data is calculated according to the ISS key point of the first point cloud data;
    S1126，根据匹配点对，利用RANSAC算法计算出牙列的局部点云数据到第一点云数据的初始变换关系。S1126: Calculate an initial transformation relationship between the local point cloud data of the dentition and the first point cloud data by using the RANSAC algorithm according to the matching point pair.
  39. 根据权利要求36的获取牙列点云数据的方法，其特征在于：A method of obtaining dentition point cloud data according to claim 36, wherein:
    所述初始配准后的牙列局部点云数据到第一点云数据的精确变换关系根据ICP算法计算获得。The exact transformation relationship between the initially registered dentition local point cloud data and the first point cloud data is calculated according to the ICP algorithm.
  40. 一种用于获取牙列点云数据的计算机程序，当所述计算机程序被执行时，能够实现权利要求31-39之任一的方法。A computer program for acquiring dentate point cloud data, the method of any of claims 31-39 being achievable when the computer program is executed.
  41. 一种用于获取牙列点云数据的计算机程序，当所述计算机程序被执行时，完成以下步骤：A computer program for acquiring dentate point cloud data, when the computer program is executed, completing the following steps:
    S1000，根据预存点云数据和第一扫描数据获得第一点云数据；其中，所述预存点云数据为引导标志的点云数据；所述第一扫描数据为扫描牙列和引导标志所获得的点云数据；所述第一点云数据为包括牙列和引导标志的点云数据；所述第一点云数据包括牙列和引导标志的多个点云数据，其中牙列和引导标志的每个点云数据对应于牙列和引导标志的一个局部；S1000, obtaining first point cloud data according to the pre-stored point cloud data and the first scan data; wherein the pre-stored point cloud data is point cloud data of a guiding flag; the first scan data is obtained by scanning a dentition and a guiding flag Point cloud data; the first point cloud data is point cloud data including a dentition and a guide mark; the first point cloud data includes a plurality of point cloud data of the dentition and the guide mark, wherein the dentition and the guide mark Each point cloud data corresponds to a portion of the dentition and the guide mark;
    S1100，根据第一点云数据和第二扫描数据获得第二点云数据，所述第二点云数据为牙列点云数据；其中，所述第二扫描数据为扫描牙列所获得的点云数据；所述第二点云数据包括牙列的多个点云数据，其中牙列的每个点云数据对应于牙列的一个局部。S1100: Obtain second point cloud data according to the first point cloud data and the second scan data, where the second point cloud data is dentition point cloud data; wherein the second scan data is a point obtained by scanning the dentition Cloud data; the second point cloud data includes a plurality of point cloud data of the dentition, wherein each point cloud data of the dentition corresponds to a portion of the dentition.
  42. 根据权利要求41的用于获取牙列点云数据的计算机程序，步骤S1000中获得牙列和引导标志的每个点云数据包括： A computer program for acquiring dentition point cloud data according to claim 41, wherein each point cloud data for obtaining the dentition and the guide flag in step S1000 comprises:
    S1010，获得牙列和引导标志的局部点云数据，提取第一特征关键点，所述第一特征关键点为牙列和引导标志的局部点云数据的特征关键点；S1010: Obtain local point cloud data of the dentition and the guiding mark, and extract a first feature key point, where the first feature key point is a characteristic key point of the local point cloud data of the dentition and the guiding mark;
    S1010，根据预存点云数据的特征关键点和第一特征关键点，获得局部点云数据和预存点云数据的初始坐标变换关系；S1010: Obtain an initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data according to the feature key point of the pre-stored point cloud data and the first feature key point;
    S1020，根据初始坐标变换关系，对局部点云数据进行坐标变换，完成局部点云数据的初始配准；S1020: performing coordinate transformation on the local point cloud data according to the initial coordinate transformation relationship, and completing initial registration of the local point cloud data;
    S1030，计算初始配准后的局部点云数据到预存点云的精确变换关系；S1030: Calculate an accurate transformation relationship between the local point cloud data after the initial registration and the pre-stored point cloud;
    S1040，根据精确坐标变换关系，对初始配准后的局部点云数据进行坐标变换，完成局部点云数据的配准，得到对应于所述局部的牙列和引导标志的点云数据。S1040: Perform coordinate transformation on the initially registered local point cloud data according to the precise coordinate transformation relationship, complete registration of the local point cloud data, and obtain point cloud data corresponding to the local dentition and the guiding flag.
  43. 根据权利要求42的用于获取牙列点云数据的计算机程序，其特征在于：A computer program for acquiring dentate point cloud data according to claim 42, wherein:
    所述预存点云数据的特征关键点为ISS关键点；The characteristic key point of the pre-stored point cloud data is an ISS key point;
    所述第一特征关键点为ISS关键点。The first feature key point is an ISS key point.
  44. 根据权利要求42的用于获取牙列点云数据的计算机程序，步骤S1010中获得局部点云数据和预存点云数据的初始坐标变换关系进一步包括：The computer program for acquiring dentition point cloud data according to claim 42, wherein the obtaining the initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data in step S1010 further comprises:
    S1012，获得第一SHOT特征描述子，所述第一SHOT特征描述子是与第一ISS关键点相应的SHOT特征描述子；S1012: Obtain a first SHOT feature descriptor, where the first SHOT feature descriptor is a SHOT feature descriptor corresponding to the first ISS key point;
    S1014，在所述预存点云数据的ISS关键点和第一ISS关键点中，基于第一SHOT特征描述子和预存点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成预存点云数据和牙列和引导标志的局部点云数据的匹配点对；所述预存点云数据的SHOT特征描述子根据所述预存点云数据的ISS关键点计算获得；S1014, in the ISS key point of the pre-stored point cloud data and the first ISS key point, based on the first SHOT feature descriptor and the SHOT feature descriptor of the pre-stored point cloud data, obtaining a best match based on the SHOT feature descriptor, Forming a matching point pair of the pre-stored point cloud data and the local point cloud data of the dentition and the guiding mark; the SHOT feature descriptor of the pre-stored point cloud data is calculated according to the ISS key point of the pre-stored point cloud data;
    S1016，根据匹配点对，利用RANSAC算法计算出牙列和引导标志的局部点云数据到预存点云数据的初始变换关系。S1016: Calculate an initial transformation relationship between the local point cloud data of the dentition and the guiding flag to the pre-stored point cloud data by using the RANSAC algorithm according to the matching point pair.
  45. 根据权利要求42的用于获取牙列点云数据的计算机程序，其特征在于：A computer program for acquiring dentate point cloud data according to claim 42, wherein:
    所述初始配准后的局部点云数据到预存点云的精确变换关系根据ICP算法计算获得。The exact transformation relationship between the initially registered local point cloud data and the pre-stored point cloud is obtained according to the ICP algorithm.
  46. 根据权利要求41的用于获取牙列点云数据的计算机程序，其中步骤S1100中获得牙列的每个点云数据，进一步包括：The computer program for acquiring dentition point cloud data according to claim 41, wherein obtaining each point cloud data of the dentition in step S1100, further comprising:
    S1110，获得牙列的局部点云数据，提取第二特征关键点，第二特征关键点为牙列局部点云数据的特征关键点； S1110, obtaining local point cloud data of the dentition, extracting a second characteristic key point, and the second characteristic key point is a characteristic key point of the dentition local point cloud data;
    S1120，根据第一点云数据的特征关键点和第二特征关键点，获得牙列局部点云数据和第一点云数据的初始坐标变换关系，对牙列局部点云数据进行坐标变换，完成牙列局部点云数据的初始配准；S1120: Obtain an initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data according to the characteristic key point and the second characteristic key point of the first point cloud data, and perform coordinate transformation on the dentition local point cloud data, and complete Initial registration of local point cloud data of the dentition;
    S1130，计算初始配准后的牙列局部点云数据到第一点云数据的精确变换关系；S1130: calculating an exact transformation relationship between the initial registration of the dentition local point cloud data to the first point cloud data;
    S1140，根据精确坐标变换关系，对初始配准后的牙列局部点云数据进行坐标变换，完成牙列局部点云数据的配准，得到对应于所述局部的牙列的点云数据。S1140: Perform coordinate transformation on the initially registered dentition local point cloud data according to the precise coordinate transformation relationship, complete registration of the dentition local point cloud data, and obtain point cloud data corresponding to the local dentition.
  47. 根据权利要求46的用于获取牙列点云数据的计算机程序，其特征在于：A computer program for acquiring dentition point cloud data according to claim 46, wherein:
    所述第一点云数据的特征关键点为ISS关键点；The characteristic key point of the first point cloud data is an ISS key point;
    所述第二特征关键点为ISS关键点。The second feature key point is the ISS key point.
  48. 根据权利要求46的用于获取牙列点云数据的计算机程序，步骤S1120中获得牙列局部点云数据和第一点云数据的初始坐标变换关系进一步包括：The computer program for acquiring dentition point cloud data according to claim 46, wherein obtaining the initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data in step S1120 further comprises:
    S1122，获得第二SHOT特征描述子，所述第二SHOT特征描述子是与第二ISS关键点相应的SHOT特征描述子；S1122: Obtain a second SHOT feature descriptor, where the second SHOT feature descriptor is a SHOT feature descriptor corresponding to the second ISS key point;
    S1124，在所述第一点云数据的ISS关键点和第二ISS关键点中，基于第二SHOT特征描述子和第一点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成第一点云数据和牙列局部点云数据的匹配点对；所述第一点云数据的SHOT特征描述子根据所述第一点云数据的ISS关键点计算获得；S1124: In the ISS key point and the second ISS key point of the first point cloud data, obtain the best based on the SHOT feature descriptor based on the SHOT feature descriptor of the second SHOT feature descriptor and the first point cloud data. Matching, forming a matching point pair of the first point cloud data and the dentition local point cloud data; the SHOT feature descriptor of the first point cloud data is calculated according to the ISS key point of the first point cloud data;
    S1126，根据匹配点对，利用RANSAC算法计算出牙列的局部点云数据到第一点云数据的初始变换关系。S1126: Calculate an initial transformation relationship between the local point cloud data of the dentition and the first point cloud data by using the RANSAC algorithm according to the matching point pair.
  49. 根据权利要求46的用于获取牙列点云数据的计算机程序，其特征在于：A computer program for acquiring dentition point cloud data according to claim 46, wherein:
    所述初始配准后的牙列局部点云数据到第一点云数据的精确变换关系根据ICP算法计算获得。The exact transformation relationship between the initially registered dentition local point cloud data and the first point cloud data is calculated according to the ICP algorithm.
  50. 一种计算设备，包括处理器和存储器，所述存储器中存储有根据权利要求41-49所述的用于获取牙列点云数据的计算机程序。A computing device comprising a processor and a memory, the memory storing a computer program for acquiring dentition point cloud data according to claims 41-49.
  51. 一种计算设备，包括能够执行用于获取牙列点云数据的计算机程序的处理器，当所述计算机程序被所述处理器执行时，完成以下步骤：A computing device comprising a processor capable of executing a computer program for acquiring dentate point cloud data, when the computer program is executed by the processor, completing the following steps:
    S1000，根据预存点云数据和第一扫描数据获得第一点云数据；其中，所述预存点云数据为引导标志的点云数据；所述第一扫描数据为扫描牙列和引导标志所获得的点云数据；所述第一点云数据为包括牙列和引导标志的点云数据；所述第一点云数据包 括牙列和引导标志的多个点云数据，其中牙列和引导标志的每个点云数据对应于牙列和引导标志的一个局部；S1000, obtaining first point cloud data according to the pre-stored point cloud data and the first scan data; wherein the pre-stored point cloud data is point cloud data of a guiding flag; the first scan data is obtained by scanning a dentition and a guiding flag Point cloud data; the first point cloud data is point cloud data including a dentition and a guide mark; the first point cloud data packet a plurality of point cloud data including a dentition and a guide mark, wherein each point cloud data of the dentition and the guide mark corresponds to a portion of the dentition and the guide mark;
    S1100，根据第一点云数据和第二扫描数据获得第二点云数据，所述第二点云数据为牙列点云数据；其中，所述第二扫描数据为扫描牙列所获得的点云数据；所述第二点云数据包括牙列的多个点云数据，其中牙列的每个点云数据对应于牙列的一个局部。S1100: Obtain second point cloud data according to the first point cloud data and the second scan data, where the second point cloud data is dentition point cloud data; wherein the second scan data is a point obtained by scanning the dentition Cloud data; the second point cloud data includes a plurality of point cloud data of the dentition, wherein each point cloud data of the dentition corresponds to a portion of the dentition.
  52. 根据权利要求51的计算设备，步骤S1000中获得牙列和引导标志的每个点云数据包括：According to the computing device of claim 51, each point cloud data for obtaining the dentition and the guide flag in step S1000 comprises:
    S1010，获得牙列和引导标志的局部点云数据，提取第一特征关键点，所述第一特征关键点为牙列和引导标志的局部点云数据的特征关键点；S1010: Obtain local point cloud data of the dentition and the guiding mark, and extract a first feature key point, where the first feature key point is a characteristic key point of the local point cloud data of the dentition and the guiding mark;
    S1010，根据预存点云数据的特征关键点和第一特征关键点，获得局部点云数据和预存点云数据的初始坐标变换关系；S1010: Obtain an initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data according to the feature key point of the pre-stored point cloud data and the first feature key point;
    S1020，根据初始坐标变换关系，对局部点云数据进行坐标变换，完成局部点云数据的初始配准；S1020: performing coordinate transformation on the local point cloud data according to the initial coordinate transformation relationship, and completing initial registration of the local point cloud data;
    S1030，计算初始配准后的局部点云数据到预存点云的精确变换关系；S1030: Calculate an accurate transformation relationship between the local point cloud data after the initial registration and the pre-stored point cloud;
    S1040，根据精确坐标变换关系，对初始配准后的局部点云数据进行坐标变换，完成局部点云数据的配准，得到对应于所述局部的牙列和引导标志的点云数据。S1040: Perform coordinate transformation on the initially registered local point cloud data according to the precise coordinate transformation relationship, complete registration of the local point cloud data, and obtain point cloud data corresponding to the local dentition and the guiding flag.
  53. 根据权利要求52的计算设备，其特征在于：A computing device according to claim 52, wherein:
    所述预存点云数据的特征关键点为ISS关键点；The characteristic key point of the pre-stored point cloud data is an ISS key point;
    所述第一特征关键点为ISS关键点。The first feature key point is an ISS key point.
  54. 根据权利要求52的计算设备，步骤S1010中获得局部点云数据和预存点云数据的初始坐标变换关系进一步包括：According to the computing device of claim 52, the initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data obtained in step S1010 further includes:
    S1012，获得第一SHOT特征描述子，所述第一SHOT特征描述子是与第一ISS关键点相应的SHOT特征描述子；S1012: Obtain a first SHOT feature descriptor, where the first SHOT feature descriptor is a SHOT feature descriptor corresponding to the first ISS key point;
    S1014，在所述预存点云数据的ISS关键点和第一ISS关键点中，基于第一SHOT特征描述子和预存点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成预存点云数据和牙列和引导标志的局部点云数据的匹配点对；所述预存点云数据的SHOT特征描述子根据所述预存点云数据的ISS关键点计算获得；S1014, in the ISS key point of the pre-stored point cloud data and the first ISS key point, based on the first SHOT feature descriptor and the SHOT feature descriptor of the pre-stored point cloud data, obtaining a best match based on the SHOT feature descriptor, Forming a matching point pair of the pre-stored point cloud data and the local point cloud data of the dentition and the guiding mark; the SHOT feature descriptor of the pre-stored point cloud data is calculated according to the ISS key point of the pre-stored point cloud data;
    S1016，根据匹配点对，利用RANSAC算法计算出牙列和引导标志的局部点云数据到预存点云数据的初始变换关系。 S1016: Calculate an initial transformation relationship between the local point cloud data of the dentition and the guiding flag to the pre-stored point cloud data by using the RANSAC algorithm according to the matching point pair.
  55. 根据权利要求52的计算设备，其特征在于：A computing device according to claim 52, wherein:
    所述初始配准后的局部点云数据到预存点云的精确变换关系根据ICP算法计算获得。The exact transformation relationship between the initially registered local point cloud data and the pre-stored point cloud is obtained according to the ICP algorithm.
  56. 根据权利要求51的计算设备，其中步骤S1100中获得牙列的每个点云数据，进一步包括：The computing device of claim 51, wherein each point cloud data of the dentition is obtained in step S1100, further comprising:
    S1110，获得牙列的局部点云数据，提取第二特征关键点，第二特征关键点为牙列局部点云数据的特征关键点；S1110, obtaining local point cloud data of the dentition, extracting a second characteristic key point, and the second characteristic key point is a characteristic key point of the dentition local point cloud data;
    S1120，根据第一点云数据的特征关键点和第二特征关键点，获得牙列局部点云数据和第一点云数据的初始坐标变换关系，对牙列局部点云数据进行坐标变换，完成牙列局部点云数据的初始配准；S1120: Obtain an initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data according to the characteristic key point and the second characteristic key point of the first point cloud data, and perform coordinate transformation on the dentition local point cloud data, and complete Initial registration of local point cloud data of the dentition;
    S1130，计算初始配准后的牙列局部点云数据到第一点云数据的精确变换关系；S1130: calculating an exact transformation relationship between the initial registration of the dentition local point cloud data to the first point cloud data;
    S1140，根据精确坐标变换关系，对初始配准后的牙列局部点云数据进行坐标变换，完成牙列局部点云数据的配准，得到对应于所述局部的牙列的点云数据。S1140: Perform coordinate transformation on the initially registered dentition local point cloud data according to the precise coordinate transformation relationship, complete registration of the dentition local point cloud data, and obtain point cloud data corresponding to the local dentition.
  57. 根据权利要求56的计算设备，其特征在于：A computing device according to claim 56, wherein:
    所述第一点云数据的特征关键点为ISS关键点；The characteristic key point of the first point cloud data is an ISS key point;
    所述第二特征关键点为ISS关键点。The second feature key point is the ISS key point.
  58. 根据权利要求57的计算设备，步骤S1120中获得牙列局部点云数据和第一点云数据的初始坐标变换关系进一步包括：The computing device according to claim 57, wherein obtaining the initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data in step S1120 further comprises:
    S1122，获得第二SHOT特征描述子，所述第二SHOT特征描述子是与第二ISS关键点相应的SHOT特征描述子；S1122: Obtain a second SHOT feature descriptor, where the second SHOT feature descriptor is a SHOT feature descriptor corresponding to the second ISS key point;
    S1124，在所述第一点云数据的ISS关键点和第二ISS关键点中，基于第二SHOT特征描述子和第一点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成第一点云数据和牙列局部点云数据的匹配点对；所述第一点云数据的SHOT特征描述子根据所述第一点云数据的ISS关键点计算获得；S1124: In the ISS key point and the second ISS key point of the first point cloud data, obtain the best based on the SHOT feature descriptor based on the SHOT feature descriptor of the second SHOT feature descriptor and the first point cloud data. Matching, forming a matching point pair of the first point cloud data and the dentition local point cloud data; the SHOT feature descriptor of the first point cloud data is calculated according to the ISS key point of the first point cloud data;
    S1126，根据匹配点对，利用RANSAC算法计算出牙列的局部点云数据到第一点云数据的初始变换关系。S1126: Calculate an initial transformation relationship between the local point cloud data of the dentition and the first point cloud data by using the RANSAC algorithm according to the matching point pair.
  59. 根据权利要求58的计算设备，其特征在于：The computing device of claim 58 wherein:
    所述初始配准后的牙列局部点云数据到第一点云数据的精确变换关系根据ICP算法计算获得。 The exact transformation relationship between the initially registered dentition local point cloud data and the first point cloud data is calculated according to the ICP algorithm.
  60. 一种系统，包括根据权利要求1-10之任一的口内数字化印模系统和权利要求51-59之任一的计算设备。A system comprising an intra-oral digital impression system according to any of claims 1-10 and a computing device according to any of claims 51-59.
  61. 一种计算机可读介质，存于有用于获取牙列点云数据的计算机程序，当所述计算机程序被执行时，完成以下步骤：A computer readable medium stored in a computer program for acquiring dentate point cloud data, when the computer program is executed, completing the following steps:
    S1000，根据预存点云数据和第一扫描数据获得第一点云数据；其中，所述预存点云数据为引导标志的点云数据；所述第一扫描数据为扫描牙列和引导标志所获得的点云数据；所述第一点云数据为包括牙列和引导标志的点云数据；所述第一点云数据包括牙列和引导标志的多个点云数据，其中牙列和引导标志的每个点云数据对应于牙列和引导标志的一个局部；S1000, obtaining first point cloud data according to the pre-stored point cloud data and the first scan data; wherein the pre-stored point cloud data is point cloud data of a guiding flag; the first scan data is obtained by scanning a dentition and a guiding flag Point cloud data; the first point cloud data is point cloud data including a dentition and a guide mark; the first point cloud data includes a plurality of point cloud data of the dentition and the guide mark, wherein the dentition and the guide mark Each point cloud data corresponds to a portion of the dentition and the guide mark;
    S1100，根据第一点云数据和第二扫描数据获得第二点云数据，所述第二点云数据为牙列点云数据；其中，所述第二扫描数据为扫描牙列所获得的点云数据；所述第二点云数据包括牙列的多个点云数据，其中牙列的每个点云数据对应于牙列的一个局部。S1100: Obtain second point cloud data according to the first point cloud data and the second scan data, where the second point cloud data is dentition point cloud data; wherein the second scan data is a point obtained by scanning the dentition Cloud data; the second point cloud data includes a plurality of point cloud data of the dentition, wherein each point cloud data of the dentition corresponds to a portion of the dentition.
  62. 根据权利要求61的计算机可读介质，步骤S1000中获得牙列和引导标志的每个点云数据包括：A computer readable medium according to claim 61, wherein each point cloud data for obtaining the dentition and the guide flag in step S1000 comprises:
    S1010，获得牙列和引导标志的局部点云数据，提取第一特征关键点，所述第一特征关键点为牙列和引导标志的局部点云数据的特征关键点；S1010: Obtain local point cloud data of the dentition and the guiding mark, and extract a first feature key point, where the first feature key point is a characteristic key point of the local point cloud data of the dentition and the guiding mark;
    S1010，根据预存点云数据的特征关键点和第一特征关键点，获得局部点云数据和预存点云数据的初始坐标变换关系；S1010: Obtain an initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data according to the feature key point of the pre-stored point cloud data and the first feature key point;
    S1020，根据初始坐标变换关系，对局部点云数据进行坐标变换，完成局部点云数据的初始配准；S1020: performing coordinate transformation on the local point cloud data according to the initial coordinate transformation relationship, and completing initial registration of the local point cloud data;
    S1030，计算初始配准后的局部点云数据到预存点云的精确变换关系；S1030: Calculate an accurate transformation relationship between the local point cloud data after the initial registration and the pre-stored point cloud;
    S1040，根据精确坐标变换关系，对初始配准后的局部点云数据进行坐标变换，完成局部点云数据的配准，得到对应于所述局部的牙列和引导标志的点云数据。S1040: Perform coordinate transformation on the initially registered local point cloud data according to the precise coordinate transformation relationship, complete registration of the local point cloud data, and obtain point cloud data corresponding to the local dentition and the guiding flag.
  63. 根据权利要求62的计算机可读介质，其特征在于：A computer readable medium according to claim 62, wherein:
    所述预存点云数据的特征关键点为ISS关键点；The characteristic key point of the pre-stored point cloud data is an ISS key point;
    所述第一特征关键点为ISS关键点。The first feature key point is an ISS key point.
  64. 根据权利要求62的计算机可读介质，步骤S1010中获得局部点云数据和预存点云数据的初始坐标变换关系进一步包括：The computer readable medium according to claim 62, wherein the obtaining the initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data in step S1010 further comprises:
    S1012，获得第一SHOT特征描述子，所述第一SHOT特征描述子是与第一ISS关键 点相应的SHOT特征描述子；S1012: Obtain a first SHOT feature descriptor, where the first SHOT feature descriptor is related to the first ISS key Point the corresponding SHOT feature descriptor;
    S1014，在所述预存点云数据的ISS关键点和第一ISS关键点中，基于第一SHOT特征描述子和预存点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成预存点云数据和牙列和引导标志的局部点云数据的匹配点对；所述预存点云数据的SHOT特征描述子根据所述预存点云数据的ISS关键点计算获得；S1014, in the ISS key point of the pre-stored point cloud data and the first ISS key point, based on the first SHOT feature descriptor and the SHOT feature descriptor of the pre-stored point cloud data, obtaining a best match based on the SHOT feature descriptor, Forming a matching point pair of the pre-stored point cloud data and the local point cloud data of the dentition and the guiding mark; the SHOT feature descriptor of the pre-stored point cloud data is calculated according to the ISS key point of the pre-stored point cloud data;
    S1016，根据匹配点对，利用RANSAC算法计算出牙列和引导标志的局部点云数据到预存点云数据的初始变换关系。S1016: Calculate an initial transformation relationship between the local point cloud data of the dentition and the guiding flag to the pre-stored point cloud data by using the RANSAC algorithm according to the matching point pair.
  65. 根据权利要求62的计算机可读介质，其特征在于：A computer readable medium according to claim 62, wherein:
    所述初始配准后的局部点云数据到预存点云的精确变换关系根据ICP算法计算获得。The exact transformation relationship between the initially registered local point cloud data and the pre-stored point cloud is obtained according to the ICP algorithm.
  66. 根据权利要求61的计算机可读介质，其中步骤S1100中获得牙列的每个点云数据，进一步包括：A computer readable medium according to claim 61, wherein each point cloud data of the dentition is obtained in step S1100, further comprising:
    S1110，获得牙列的局部点云数据，提取第二特征关键点，第二特征关键点为牙列局部点云数据的特征关键点；S1110, obtaining local point cloud data of the dentition, extracting a second characteristic key point, and the second characteristic key point is a characteristic key point of the dentition local point cloud data;
    S1120，根据第一点云数据的特征关键点和第二特征关键点，获得牙列局部点云数据和第一点云数据的初始坐标变换关系，对牙列局部点云数据进行坐标变换，完成牙列局部点云数据的初始配准；S1120: Obtain an initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data according to the characteristic key point and the second characteristic key point of the first point cloud data, and perform coordinate transformation on the dentition local point cloud data, and complete Initial registration of local point cloud data of the dentition;
    S1130，计算初始配准后的牙列局部点云数据到第一点云数据的精确变换关系；S1130: calculating an exact transformation relationship between the initial registration of the dentition local point cloud data to the first point cloud data;
    S1140，根据精确坐标变换关系，对初始配准后的牙列局部点云数据进行坐标变换，完成牙列局部点云数据的配准，得到对应于所述局部的牙列的点云数据。S1140: Perform coordinate transformation on the initially registered dentition local point cloud data according to the precise coordinate transformation relationship, complete registration of the dentition local point cloud data, and obtain point cloud data corresponding to the local dentition.
  67. 根据权利要求66的计算机可读介质，其特征在于：A computer readable medium according to claim 66, wherein:
    所述第一点云数据的特征关键点为ISS关键点；The characteristic key point of the first point cloud data is an ISS key point;
    所述第二特征关键点为ISS关键点。The second feature key point is the ISS key point.
  68. 根据权利要求67的计算机可读介质，步骤S1120中获得牙列局部点云数据和第一点云数据的初始坐标变换关系进一步包括：The computer readable medium according to claim 67, wherein obtaining the initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data in step S1120 further comprises:
    S1122，获得第二SHOT特征描述子，所述第二SHOT特征描述子是与第二ISS关键点相应的SHOT特征描述子；S1122: Obtain a second SHOT feature descriptor, where the second SHOT feature descriptor is a SHOT feature descriptor corresponding to the second ISS key point;
    S1124，在所述第一点云数据的ISS关键点和第二ISS关键点中，基于第二SHOT特征描述子和第一点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹 配，形成第一点云数据和牙列局部点云数据的匹配点对；所述第一点云数据的SHOT特征描述子根据所述第一点云数据的ISS关键点计算获得；S1124: In the ISS key point and the second ISS key point of the first point cloud data, obtain the best based on the SHOT feature descriptor based on the SHOT feature descriptor of the second SHOT feature descriptor and the first point cloud data. Horse Matching, forming a matching point pair of the first point cloud data and the dentition local point cloud data; the SHOT feature descriptor of the first point cloud data is calculated according to the ISS key point of the first point cloud data;
    S1126，根据匹配点对，利用RANSAC算法计算出牙列的局部点云数据到第一点云数据的初始变换关系。S1126: Calculate an initial transformation relationship between the local point cloud data of the dentition and the first point cloud data by using the RANSAC algorithm according to the matching point pair.
  69. 根据权利要求68的计算机可读介质，其特征在于：A computer readable medium according to claim 68, wherein:
    所述初始配准后的牙列局部点云数据到第一点云数据的精确变换关系根据ICP算法计算获得。The exact transformation relationship between the initially registered dentition local point cloud data and the first point cloud data is calculated according to the ICP algorithm.
  70. 一种计算机可读介质，存储有根据权利要求41-49所述的用于获取牙列点云数据的计算机程序。A computer readable medium storing a computer program for acquiring dentition point cloud data according to claims 41-49.
  71. 一种用于获取口内数字化印模的系统，包括：口内扫描导板、口内印模扫描仪、计算设备，所述口内印模扫描仪和所述计算设备电连接；A system for acquiring an intra-oral digital impression comprises: an intraoral scanning guide, an intra-oral impression scanner, a computing device, and the intra-oral impression scanner and the computing device are electrically connected;
    所述口内扫描导板包括固定装置和刚性导板，所述刚性导板具有扫描引导面，所述扫描引导面上设有引导标志；所述固定装置具有连接口腔内部构造的连接件用于将所述刚性导板固定在口腔内部；The intraoral scanning guide includes a fixing device and a rigid guiding plate, the rigid guiding plate has a scanning guiding surface, and the scanning guiding surface is provided with a guiding mark; the fixing device has a connecting piece connecting the internal structure of the oral cavity for the rigidity The guide plate is fixed inside the oral cavity;
    所述口内印模扫描仪在第一时间内获得第一扫描数据，并将所述第一扫描数据传输到所述计算设备；所述口内印模扫描仪在第二时间内获得第二扫描数据，并将所述第二扫描数据传输到所述计算设备；所述第一扫描数据为扫描牙列和引导标志所获得的点云数据；所述第二扫描数据为扫描牙列所获得的点云数据；The intra-oral impression scanner obtains first scan data in a first time and transmits the first scan data to the computing device; the intra-die impression scanner obtains second scan data in a second time And transmitting the second scan data to the computing device; the first scan data is point cloud data obtained by scanning a dentition and a guide mark; the second scan data is a point obtained by scanning the dentition Cloud data
    所述计算设备包括处理器和显示器，所述处理器能够执行：The computing device includes a processor and a display, the processor capable of executing:
    第一程序，用于根据预存点云数据和第一扫描数据获得第一点云数据；其中，所述预存点云数据为引导标志的点云数据；所述第一点云数据为包括牙列和引导标志的点云数据；所述第一点云数据包括牙列和引导标志的多个点云数据，其中牙列和引导标志的每个点云数据对应于牙列和引导标志的一个局部；a first program, configured to obtain first point cloud data according to the pre-stored point cloud data and the first scan data; wherein the pre-stored point cloud data is a point cloud data of a guiding flag; the first point cloud data includes a dentition And point cloud data of the guide mark; the first point cloud data includes a plurality of point cloud data of the dentition and the guide mark, wherein each point cloud data of the dentition and the guide mark corresponds to a part of the dentition and the guide mark ;
    第二程序，根据第一点云数据和第二扫描数据获得第二点云数据，所述第二点云数据为牙列点云数据；所述第二点云数据包括牙列的多个点云数据，其中牙列的每个点云数据对应于牙列的一个局部；a second program, obtaining second point cloud data according to the first point cloud data and the second scan data, wherein the second point cloud data is dentition point cloud data; and the second point cloud data includes multiple points of the dentition Cloud data, wherein each point cloud data of the dentition corresponds to a portion of the dentition;
    所述显示器用于显示所述第二点云数据。The display is configured to display the second point cloud data.
  72. 根据权利要求71的用于获取口内数字化印模的系统，所述第一程序进一步包括： A system for acquiring an intra-oral digital impression according to claim 71, said first program further comprising:
    用于根据获得的牙列和引导标志的局部点云数据提取第一特征关键点的程序；所述第一特征关键点为牙列和引导标志的局部点云数据的特征关键点；a program for extracting a first feature key point based on the obtained local point cloud data of the dentition and the guide mark; the first feature key point is a feature key point of the local point cloud data of the dentition and the guide mark;
    用于根据预存点云数据的特征关键点和第一特征关键点，获得局部点云数据和预存点云数据的初始坐标变换关系的程序；a program for obtaining an initial coordinate transformation relationship between the local point cloud data and the pre-stored point cloud data according to the feature key points of the pre-stored point cloud data and the first feature key point;
    用于根据初始坐标变换关系，对局部点云数据进行坐标变换，完成局部点云数据的初始配准的程序；A program for performing coordinate transformation on local point cloud data according to an initial coordinate transformation relationship to complete initial registration of local point cloud data;
    用于计算初始配准后的局部点云数据到预存点云的精确变换关系的程序；a program for calculating an exact transformation relationship between the local point cloud data after initial registration and the pre-stored point cloud;
    用于根据精确坐标变换关系，对初始配准后的局部点云数据进行坐标变换，完成局部点云数据的配准，得到对应于所述局部的牙列和引导标志的点云数据的程序。It is used for coordinate transformation of the initially registered local point cloud data according to the precise coordinate transformation relationship, complete registration of the local point cloud data, and obtain a program corresponding to the partial dentition and the guidance point point cloud data.
  73. 根据权利要求72的用于获取口内数字化印模的系统，其特征在于：A system for acquiring an intra-oral digital impression according to claim 72, wherein:
    所述预存点云数据的特征关键点为ISS关键点；The characteristic key point of the pre-stored point cloud data is an ISS key point;
    所述第一特征关键点为ISS关键点。The first feature key point is an ISS key point.
  74. 根据权利要求73的用于获取口内数字化印模的系统，所述用于根据获得的牙列和引导标志的局部点云数据提取第一特征关键点的程序进一步包括：A system for acquiring an intra-oral digital impression according to claim 73, said program for extracting a first feature key point based on the obtained local point cloud data of the dentition and the guide mark further comprises:
    用于获得第一SHOT特征描述子的程序；所述第一SHOT特征描述子是与第一ISS关键点相应的SHOT特征描述子；a program for obtaining a first SHOT feature descriptor; the first SHOT feature descriptor is a SHOT feature descriptor corresponding to a first ISS key point;
    用于在所述预存点云数据的ISS关键点和第一ISS关键点中，基于第一SHOT特征描述子和预存点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成预存点云数据和牙列和引导标志的局部点云数据的匹配点对的程序；所述预存点云数据的SHOT特征描述子根据所述预存点云数据的ISS关键点计算获得；And in the ISS key point of the pre-stored point cloud data and the first ISS key point, based on the SHOT feature descriptor of the first SHOT feature descriptor and the pre-stored point cloud data, obtaining a best match based on the SHOT feature descriptor, Forming a program for matching point pairs of pre-stored point cloud data and local point cloud data of the dentition and the guide mark; the SHOT feature descriptor of the pre-stored point cloud data is calculated according to the ISS key point of the pre-stored point cloud data;
    用于根据匹配点对，利用RANSAC算法计算出牙列和引导标志的局部点云数据到预存点云数据的初始变换关系的程序。A program for calculating an initial transformation relationship between the local point cloud data of the dentition and the guide mark to the pre-stored point cloud data by using the RANSAC algorithm according to the matching point pair.
  75. 根据权利要求72的用于获取口内数字化印模的系统，其特征在于：A system for acquiring an intra-oral digital impression according to claim 72, wherein:
    所述初始配准后的局部点云数据到预存点云的精确变换关系根据ICP算法计算获得。The exact transformation relationship between the initially registered local point cloud data and the pre-stored point cloud is obtained according to the ICP algorithm.
  76. 根据权利要求71的用于获取口内数字化印模的系统，其中所述第二程序进一步包括：A system for acquiring an intra-oral digital impression according to claim 71, wherein said second program further comprises:
    用于根据获得的牙列的局部点云数据，提取第二特征关键点的程序；所述第二特征关键点为牙列局部点云数据的特征关键点； a program for extracting a second feature key point according to the obtained local point cloud data of the dentition; the second feature key point is a feature key point of the dentition local point cloud data;
    用于根据第一点云数据的特征关键点和第二特征关键点，获得牙列局部点云数据和第一点云数据的初始坐标变换关系的程序；a program for obtaining an initial coordinate transformation relationship between the dentition local point cloud data and the first point cloud data according to the feature key point and the second feature key point of the first point cloud data;
    用于对牙列局部点云数据进行坐标变换，完成牙列局部点云数据的初始配准的程序；A program for performing coordinate transformation on local dentition point cloud data to complete initial registration of dentition local point cloud data;
    用于计算初始配准后的牙列局部点云数据到第一点云数据的精确变换关系的程序；a program for calculating an exact transformation relationship between the initially registered dentition local point cloud data and the first point cloud data;
    用于根据精确坐标变换关系，对初始配准后的牙列局部点云数据进行坐标变换，完成牙列局部点云数据的配准，得到对应于所述局部的牙列的点云数据的程序。The method for performing coordinate transformation on the initial registered dentition local point cloud data according to the precise coordinate transformation relationship, completing registration of the dentition local point cloud data, and obtaining a point cloud data corresponding to the local dentition .
  77. 根据权利要求76的用于获取口内数字化印模的系统，其特征在于：A system for acquiring an intra-oral digital impression according to claim 76, wherein:
    所述第一点云数据的特征关键点为ISS关键点；The characteristic key point of the first point cloud data is an ISS key point;
    所述第二特征关键点为ISS关键点。The second feature key point is the ISS key point.
  78. 根据权利要求77的用于获取口内数字化印模的系统，用于根据第一点云数据的特征关键点和第二特征关键点，获得牙列局部点云数据和第一点云数据的初始坐标变换关系的程序进一步包括：A system for acquiring an intra-oral digital impression according to claim 77, for obtaining initial coordinates of the dentition local point cloud data and the first point cloud data according to the feature key points and the second feature key points of the first point cloud data The program for transforming relationships further includes:
    用于获得第二SHOT特征描述子的程序；所述第二SHOT特征描述子是与第二ISS关键点相应的SHOT特征描述子；a program for obtaining a second SHOT feature descriptor; the second SHOT feature descriptor is a SHOT feature descriptor corresponding to a second ISS key point;
    用于在所述第一点云数据的ISS关键点和第二ISS关键点中，基于第二SHOT特征描述子和第一点云数据的SHOT特征描述子，获得基于SHOT特征描述子的最佳匹配，形成第一点云数据和牙列局部点云数据的匹配点对的程序；所述第一点云数据的SHOT特征描述子根据所述第一点云数据的ISS关键点计算获得；And in the ISS key point and the second ISS key point of the first point cloud data, based on the SHOT feature descriptor of the second SHOT feature descriptor and the first point cloud data, obtaining the best based on the SHOT feature descriptor Matching, a program for forming a matching point pair of the first point cloud data and the dentition local point cloud data; the SHOT feature descriptor of the first point cloud data is calculated according to the ISS key point of the first point cloud data;
    用于根据匹配点对，利用RANSAC算法计算出牙列的局部点云数据到第一点云数据的初始变换关系的程序。A program for calculating an initial transformation relationship of the local point cloud data of the dentition to the first point cloud data by using the RANSAC algorithm according to the matching point pair.
  79. 根据权利要求78的用于获取口内数字化印模的系统，其特征在于：A system for acquiring an intra-oral digital impression according to claim 78, wherein:
    所述初始配准后的牙列局部点云数据到第一点云数据的精确变换关系根据ICP算法计算获得。The exact transformation relationship between the initially registered dentition local point cloud data and the first point cloud data is calculated according to the ICP algorithm.
  80. 根据权利要求71的口内数字化印模系统，其特征在于，当所述刚性导板固定在口腔内部时，至少将能够被口内印模扫描仪拍摄且与被测口腔区域临近的所述刚性导板的表面作为扫描引导面，所述引导标志至少分布在所述扫描引导面上靠近所述被测口腔区域的部分。 An intraoral digital impression system according to claim 71, wherein when said rigid guide is fixed inside the oral cavity, at least a surface of said rigid guide that can be photographed by an intraoral impression scanner and adjacent to the region of the oral cavity to be measured As the scanning guide surface, the guiding mark is distributed at least on a portion of the scanning guiding surface that is close to the measured oral cavity area.
  81. 根据权利要求71的口内数字化印模系统，其特征在于，将所述刚性导板的全部表面作为扫描引导面，并且所述引导标志遍布所述扫描引导面的各处。An intra-oral digital impression system according to claim 71, wherein the entire surface of said rigid guide is used as a scanning guide surface, and said guide marks are distributed throughout said scanning guide surface.
  82. 根据权利要求71的口内数字化印模系统，其特征在于，所述引导标志是连续的或不连续三维图案，并且所述引导标志在所述扫描引导面上不同位置处具有相同或不同的图案。An intra-oral digital impression system according to claim 71, wherein said guide marks are continuous or discontinuous three-dimensional patterns, and said guide marks have the same or different patterns at different positions on said scanning guide faces.
  83. 根据权利要求71的口内数字化印模系统，其特征在于，所述扫描引导面上的引导标志与贴近的被测口腔区域基本平行。The intraoral digital impression system of claim 71, wherein the guide mark on the scanning guide surface is substantially parallel to the adjacent measured oral area.
  84. 根据权利要求71的口内数字化印模系统，其特征在于，所述刚性导板贴近被测口腔区域的一侧具有与被测口腔区域匹配的轮廓以使所述刚性导板与被测口腔区域配合。The intraoral digital impression system of claim 71 wherein the rigid guide is adjacent the side of the region of the mouth being tested to have a contour that matches the area of the mouth being measured to engage the rigid guide with the region of the mouth being measured.
  85. 根据权利要求71的口内数字化印模系统，其特征在于，所述刚性导板的长度近似等于牙弓任意位置处连续三颗或三颗以上牙齿形成的牙列的长度；优选的，所述刚性导板为全口导板，所述全口导板的长度近似等于包含上颌或下颌全部牙齿形成的牙列的长度；优选的，所述刚性导板为半口导板，所述半口导板的长度近似等于上颌或下颌的左或右半部分牙齿形成的牙列的长度。An intraoral digital impression system according to claim 71, wherein said rigid guide has a length approximately equal to a length of a dentition formed by three or more consecutive teeth at any position of the dental arch; preferably, said rigid guide a full-mouth guide, the length of the full-mouth guide is approximately equal to the length of the dentition including all the teeth of the upper or lower jaw; preferably, the rigid guide is a half-guide, the length of the half-guide is approximately equal to the upper jaw or The length of the dentition formed by the left or right half of the lower jaw.
  86. 根据权利要求71的口内数字化印模系统，其特征在于，所述刚性导板可以被安装在牙外侧面和/或舌侧面。The intraoral digital impression system of claim 71 wherein said rigid guides are mountable on the lateral side of the teeth and/or the sides of the tongue.
  87. 根据权利要求71的口内数字化印模系统，其特征在于，所述固定装置与所述刚性导板相连接，且是可拆卸的，或者所述固定装置与所述刚性导板一体成型。The intraoral digital impression system according to claim 71, wherein said fixing means is coupled to said rigid guide and is detachable, or said fixing means is integrally formed with said rigid guide.
  88. 根据权利要求71的口内数字化印模系统，其特征在于，所述固定装置为夹具。The intraoral digital impression system of claim 71 wherein said fixture is a clamp.
  89. 一种获取口内数字化印模的方法，包括以下步骤：A method of obtaining an intra-oral digital impression includes the following steps:
    S200，利用根据权利要求1-10中任一项的口内数字化印模系统获取口内数字化印模系统中引导标志的标准三维数据；S200. Acquire standard three-dimensional data of a guiding mark in an intra-oral digital impression system by using the intra-oral digital impression system according to any one of claims 1-10;
    S300，通过所述固定装置将所述口内扫描导板固定在口腔内部的被测口腔区域附近，使得所述引导标志与被测口腔区域相邻且位置关系固定；S300, the in-oral scanning guide is fixed by the fixing device in the vicinity of the measured oral cavity area inside the oral cavity, so that the guiding mark is adjacent to the measured oral cavity area and the positional relationship is fixed;
    S400，使用所述口内印模扫描仪在口腔内部扫描至少部分被测口腔区域，其中包含至少部分引导标志，获得该口腔区域和至少部分引导标志的三维数据；S400, using the intra-oral impression scanner to scan at least a portion of the measured oral cavity area inside the oral cavity, including at least part of the guiding mark, obtaining three-dimensional data of the oral cavity area and at least part of the guiding mark;
    S500，根据所述引导标志的标准三维数据从所述获得的三维数据中搜寻并识别至少部分引导标志的三维数据，所述至少部分引导标志应包括至少三个非共线的引导标 志,称为特征标志点，并且在所述扫描获得的三维数据的其余部分中确定至少部分被测口腔区域的三维数据；S500. Search for and identify at least a part of the three-dimensional data of the guiding mark from the obtained three-dimensional data according to the standard three-dimensional data of the guiding mark, and the at least part of the guiding mark should include at least three non-collinear guiding signs. a feature mark, and determining three-dimensional data of at least a portion of the tested oral region in the remaining portion of the three-dimensional data obtained by the scan;
    S600，利用所述至少三个非共线的特征标志点确定所述至少部分引导标志的三维数据与所述标准三维数据的对应部分之间的坐标转换关系；S600. Determine, by using the at least three non-collinear feature mark points, a coordinate conversion relationship between the three-dimensional data of the at least part of the guide marks and a corresponding portion of the standard three-dimensional data;
    S700，将S600的转换关系应用于所述至少部分被测口腔区域的三维数据，转换得到所述至少部分被测口腔区域的三维数据，作为所述至少部分被测口腔区域的数字化印模。S700. Apply a conversion relationship of S600 to the at least part of the measured three-dimensional data of the oral cavity region, and convert the three-dimensional data of the at least part of the measured oral cavity region as a digitized impression of the at least part of the measured oral cavity region.
  90. 根据权利要求89的所述获取口内数字化印模的方法，其中通过重复步骤S400至S700来获得整个所述被测口腔区域各个部分的数字化印模，其中重复S400得到所述被测口腔区域的各个部分的三维数据，并且每个三维数据中都包括至少部分被测口腔区域和至少部分引导标志的三维数据。A method of acquiring an intra-oral digital impression according to claim 89, wherein a digital impression of each of said portions of said measured oral region is obtained by repeating steps S400 to S700, wherein repeating S400 results in each of said measured oral regions Part of the three-dimensional data, and each of the three-dimensional data includes three-dimensional data of at least a portion of the measured oral region and at least a portion of the guiding marker.
  91. 根据权利要求89或90的所述获取口内数字化印模的方法，还包括以下步骤：A method of obtaining an intra-oral digital impression according to claim 89 or 90, further comprising the steps of:
    S-1，执行步骤S400至S700，其中，在S400中扫描所述的口腔区域P1，其中包含至少部分引导标志，获得三维数据P1D1；在S500中，设所述引导标志的标准三维数据为G0，在P1D1中搜寻并识别对应于G0的至少部分的三维数据G1，G1包括至少三个非共线特征标志点，并且在P1D1的其余部分中确定至少部分被测口腔区域A1的三维数据A1D1；在S600中，利用所述至少三个非共线特征标志点确定G1与G0中的对应部分之间的转换关系；在S700中，将S600的转换关系应用于A1D1，转换得到三维数据Z1，作为A1的数字化印模；S-1, performing steps S400 to S700, wherein the oral region P1 is scanned in S400, wherein at least part of the guiding flag is included to obtain three-dimensional data P1D1; and in S500, the standard three-dimensional data of the guiding flag is set to G0 Searching for and identifying at least part of the three-dimensional data G1 corresponding to G0 in P1D1, G1 includes at least three non-collinear feature mark points, and determining three-dimensional data A1D1 of at least part of the tested oral area A1 in the remaining part of P1D1; In S600, the conversion relationship between the corresponding portions of G1 and G0 is determined by using the at least three non-collinear feature flag points; in S700, the conversion relationship of S600 is applied to A1D1, and the three-dimensional data Z1 is converted to obtain Digital impression of A1;
    S-2，重复执行步骤S400至700，其中，在S400中扫描所述的口腔区域P2，其中包含至少部分引导标志，获得三维数据P2D1；在S500中，当从P2D1中未能搜寻到至少部分G0时，转为从P2D1中搜寻并识别对应于Z1的至少部分的三维数据A1′，A1′包括至少三个非共线特征标志点，并且在P2D1的其余部分中确定至少部分被测口腔区域A2的三维数据A2D1；在S600中，利用所述至少三个非共线特征标志点确定A1′与Z1中的对应部分之间的转换关系；在S700中，将S600的转换关系应用于A2D1，转换得到三维数据Z2，作为A2的数字化印模。S-2, steps S400 to 700 are repeatedly performed, wherein the oral region P2 is scanned in S400, and at least part of the guiding flag is included to obtain three-dimensional data P2D1; in S500, when at least part of the P2D1 is not found At G0, it is converted to search for and identify at least part of the three-dimensional data A1' corresponding to Z1 from P2D1, A1' includes at least three non-collinear feature mark points, and at least part of the tested oral area is determined in the rest of P2D1 The three-dimensional data A2D1 of A2; in S600, the conversion relationship between A1' and the corresponding portion in Z1 is determined by using the at least three non-collinear feature flag points; in S700, the conversion relationship of S600 is applied to A2D1, The three-dimensional data Z2 is converted to be a digital impression of A2.
  92. 根据权利要求89或90的所述获取口内数字化印模的方法，还包括以下步骤：A method of obtaining an intra-oral digital impression according to claim 89 or 90, further comprising the steps of:
    S-1，执行步骤S400至S700，其中，在S400中扫描所述的口腔区域P1，其中包含至少部分引导标志，获得三维数据P1D1；在S500中，设所述引导标志的标准三维 数据为G0，在P1D1中搜寻并识别对应于G0的至少部分的三维数据G1，G1包括至少三个非共线的特征标志点，并且在P1D1的其余部分中确定至少部分被测口腔区域A1的三维数据A1D1；在S600中，利用所述至少三个非共线的特征标志点确定G1与G0中的对应部分之间的转换关系；在S700中，将S600的转换关系应用于A1D1，转换得到三维数据Z1，作为A1的数字化印模；S-1, performing steps S400 to S700, wherein the oral region P1 is scanned in S400, wherein at least part of the guiding flag is included to obtain three-dimensional data P1D1; and in S500, the standard three-dimensional of the guiding flag is set The data is G0, searching and identifying in P1D1 three-dimensional data G1 corresponding to at least part of G0, G1 comprising at least three non-collinear feature mark points, and determining at least part of the tested oral area A1 in the remaining part of P1D1 The three-dimensional data A1D1; in S600, the conversion relationship between G1 and G0 is determined by using the at least three non-collinear feature flag points; in S700, the conversion relationship of S600 is applied to A1D1, and the conversion is obtained. Three-dimensional data Z1, as a digital impression of A1;
    S800，在S-1后，将所述口内扫描导板从口腔内部取出，从而暴露出原先被所述口内扫描导板遮挡的待扫描的口腔区域B1；S800, after S-1, the intraoral scanning guide is taken out from the inside of the oral cavity, thereby exposing the oral cavity area B1 to be scanned which is originally blocked by the intraoral scanning guide;
    S-4，在S800后，重复执行步骤S400至700，其中，在S400中扫描B1，获得三维数据B1D1；在S500中，从B1D1中搜寻并识别对应于Z1的至少部分的三维数据A1″，A1″包括至少三个非共线的特征标志点，并且在B1D1的其余部分中确定至少部分被测口腔区域A3的三维数据A3D1；在S600中，利用所述至少三个非共线的特征标志点确定A1″与Z1中的对应部分之间的转换关系；在S700中，将S600的转换关系应用于B1D1，转换得到三维数据Z3，作为B1的数字化印模。 S-4, after S800, repeating steps S400 to 700, wherein B1 is scanned in S400 to obtain three-dimensional data B1D1; in S500, three-dimensional data A1" corresponding to at least part of Z1 is searched for and identified from B1D1, A1" includes at least three non-collinear feature landmarks, and three-dimensional data A3D1 of at least a portion of the measured oral region A3 is determined in the remaining portion of B1D1; in S600, the at least three non-collinear signatures are utilized The point determines the conversion relationship between A1" and the corresponding portion in Z1; in S700, the conversion relationship of S600 is applied to B1D1, and the three-dimensional data Z3 is converted to be a digital impression of B1.
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