WO2022022242A1 - 数字化口腔数据的获取方法及装置、牙齿扫描仪控制系统 - Google Patents

数字化口腔数据的获取方法及装置、牙齿扫描仪控制系统 Download PDF

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Publication number
WO2022022242A1
WO2022022242A1 PCT/CN2021/104840 CN2021104840W WO2022022242A1 WO 2022022242 A1 WO2022022242 A1 WO 2022022242A1 CN 2021104840 W CN2021104840 W CN 2021104840W WO 2022022242 A1 WO2022022242 A1 WO 2022022242A1
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Prior art keywords
scan
data
target
bar
target object
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PCT/CN2021/104840
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English (en)
French (fr)
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马超
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先临三维科技股份有限公司
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Priority to EP21848923.5A priority Critical patent/EP4190276A4/en
Priority to JP2023506538A priority patent/JP7505109B2/ja
Priority to US18/018,854 priority patent/US20230301755A1/en
Publication of WO2022022242A1 publication Critical patent/WO2022022242A1/zh

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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
    • A61C9/004—Means or methods for taking digitized impressions
    • A61C9/0046—Data acquisition means or methods
    • A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
    • 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
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00172—Optical arrangements with means for scanning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/24—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C13/00—Dental prostheses; Making same
    • A61C13/0003—Making bridge-work, inlays, implants or the like
    • A61C13/0004—Computer-assisted sizing or machining of dental prostheses
    • 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
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/20—ICT specially adapted for the handling or processing of medical images for handling medical images, e.g. DICOM, HL7 or PACS
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation

Definitions

  • the invention relates to the technical field of equipment processing, and in particular, to a method and device for acquiring digital oral data, and a dental scanner control system.
  • the means of obtaining dental model data in the field of dental diagnosis and treatment has gradually shifted from three-dimensional impression scanning to intraoral three-dimensional scanning technology.
  • the emergence of this technology is another revolution in digital processing of teeth.
  • the 3D scanning dental model data acquisition method can directly scan the entrance to obtain the 3D data of the teeth.
  • the two steps of impression and mold turning are omitted, which saves the cost of materials, labor costs and model express fees required by the above process, and can avoid discomfort when making impressions in terms of customer experience.
  • Oral digital impression machine also known as intraoral 3D scanner, is an application of a probing optical scanning head to directly scan the patient's oral cavity to obtain the three-dimensional topography and color texture of the soft and hard tissue surfaces such as teeth, gums, and mucous membranes in the oral cavity. information equipment.
  • One method of the device is to use the principle of active structured light triangulation imaging, and use a digital projection system to project an active light pattern.
  • the volume of the probing optical scanning head is bound to be limited, so it is determined that the size of the scanning head probing into the oral cavity will be controlled within 30mm, that is, only about two teeth images can be obtained at one time.
  • most of the data of the teeth and gums in the oral cavity need to be obtained. Therefore, it is necessary to stitch the tooth image data obtained in a single time to form all the three-dimensional spatial data consistent with the oral cavity.
  • it is to improve the efficiency of single-scan data that is, the time of a single scan and the integrity of a single scan.
  • it is to improve the fluency of splicing that is, the success rate of splicing and the time of splicing.
  • the cases that intraoral scanners can usually scan are: Restorative, Orthodontic and Implant.
  • the intraoral scanner needs to obtain the patient's dental data and directly scan the missing scan rod, abutment, etc., and their materials include highly reflective metal, bright white material, titanium alloy, etc. Regardless of the scanning rod, the base, etc., they are all highly reflective objects, which bring a lot of trouble to the intraoral scanner using the principle of optical imaging. Because light is projected onto such objects, specular reflection or light absorption at different angles will occur, resulting in the image acquisition system only obtaining overexposed images or overdark images, introducing poor image quality for 3D reconstruction, resulting in metal scan bars. Difficult to scan completely.
  • intraoral scanners Due to the high specular reflection of metal materials, intraoral scanners usually use multi-angle multiple scans to obtain data on such materials, which reduces the efficiency of data acquisition and brings discomfort to both the scanning operator and the patient. Especially when there is an optical blind spot, the intraoral scanner cannot obtain relatively complete data, which introduces the workload of restoration for the subsequent design and wearing of the teeth.
  • the normal design process is to first obtain the three-dimensional topography data in the mouth, and then send it to the dental processing factory or laboratory for design and production of teeth.
  • the scanning operator often judges whether the scanning is completed based on experience (the estimated scanning data can be set as Dental design and fabrication, especially the evaluation of metal scan data). If there is insufficient experience or wrong experience judgment, the scanned data does not meet the standards of dental design and production, which will increase the more complicated rework process and repeated scanning process.
  • the present application provides a method and device for acquiring digital oral data, and a dental scanner control system, in order to at least solve the problem that in the related art, manual determination of the completion of scanning based on experience is prone to occur that the scanning data cannot be used and matched in the design and production stages, which increases the complexity of Technical issues with reworked processes or duplicate scanning processes.
  • a method for acquiring digital oral data including: receiving an oral scan request; and acquiring scan data of a target object based on the oral scan request, wherein the scan data includes: the target Scan data of the target scan bar installed on the object; match the scan data of the target scan bar with the standard data of the target scan bar; replace the scan data with the matched standard data of the target scan bar
  • the scan data of the target scan rod is used to obtain the digitized oral cavity data of the target object.
  • the step of acquiring the scan data of the target object based on the oral cavity scan request includes: based on the oral cavity scan request, controlling a scanner to perform multi-angle scanning on the target object, to obtain multiple pieces of the target object.
  • Single-piece scan data wherein at least part of the single-piece scan data includes scan data of the target scan bar, the plurality of single-piece scan data are spliced into overall scan data of the target object, and the scan data of the target object includes the target scan bar scan data.
  • the step of matching the scan data of the target scan bar with the standard data of the target scan bar includes: acquiring identification information of the target scan bar; acquiring the target scan bar based on the identification information of the target scan bar. Standard data of the target scan bar; match the scan data of the target scan bar with the standard data of the target scan bar.
  • the step of matching the scan data of the target scan bar with the standard data of the target scan bar includes: acquiring a scan bar database, wherein the scan bar database includes standard data of various types of scan bars, The standard data of each type of scan bar corresponds to identification information, the standard data of the multiple types of scan bars includes the standard data of the target scan bar, and the standard data of the target scan bar corresponds to the identifier of the target scan bar information; loading the scan rod database into the cloud server; downloading the standard data of the target scan rod from the cloud server.
  • the acquiring method further includes: loading the scan bar database into a distributed storage disk of the current terminal; based on the identification information of the target scan bar, from the distributed The storage disk reads the standard data of the target scan bar.
  • the acquisition method further includes: determining dental mold processing data based on the digital oral cavity data, wherein the dental mold processing data includes one of the following: the abutment shape of the dental mold, the crown shape, and a model target with holes object.
  • a data acquisition method comprising: receiving a scan request; and acquiring scan data of a target object based on the scan request, wherein the scan data includes: an installation on the target object scan data of the auxiliary part; match the scan data of the auxiliary part with the standard data of the auxiliary part; replace the scan data of the auxiliary part in the scan data with the matched standard data of the auxiliary part, and obtain Digitized data of the target object.
  • a dental scanner control system comprising: a dental scanner configured to scan a target object to obtain scan data of the target object; a computer connected to the dental scanner, It is set to run a program, wherein when the program is running, the method for acquiring digital oral data described in any one of the above is executed.
  • control system further includes: a server, connected to the computer, configured to store the standard data of the scanning rod, and sending the standard data of the target scanning rod to the computer when a matching request is received.
  • a server connected to the computer, configured to store the standard data of the scanning rod, and sending the standard data of the target scanning rod to the computer when a matching request is received.
  • a device for acquiring digital oral data comprising: a receiving unit configured to receive an oral scan request; an acquiring unit configured to acquire scan data of a target object based on the oral scan request , wherein the scan data includes: scan data of a target scan bar installed on the target object; a matching unit, configured to match the scan data of the target scan bar and the standard data of the target scan bar; a replacement unit, It is set to replace the scan data of the target scan bar in the scan data of the target object with the matched standard data of the target scan bar to obtain the digitized oral cavity data of the target object.
  • the acquisition unit includes: an installation module configured to scan the oral cavity based on the oral cavity scan request, and a first control module configured to control the scanner to perform multi-angle scanning on the target object to obtain multiple single slices of the target object.
  • Scan data wherein at least part of the single piece of scan data includes partial scan data of the target scan bar, a plurality of single piece scan data are spliced into overall scan data of the target object, and the scan data of the target object includes the scan data of the target scan bar.
  • the matching unit includes: a first acquisition module configured to acquire identification information of the target scan rod; a second acquisition module configured to acquire the target scan rod based on the identification information of the target scan rod The standard data of the target scan bar; the matching module is configured to match the scan data of the target scan bar with the standard data of the target scan bar.
  • the second acquisition module includes: an acquisition sub-module configured to acquire a scan bar database, wherein the scan bar database includes standard data of multiple types of scan bars, and standard data of each type of scan bar Corresponding to identification information, the standard data of the various types of scan bars includes the standard data of the target scan bar, and the standard data of the target scan bar corresponds to the identification information of the target scan bar; the first loading submodule, setting In order to load the scan bar database into the cloud server; the downloading sub-module is set to download the standard data of the target scan bar from the cloud server.
  • the acquiring device further includes: a second loading submodule, configured to load the scan bar database into the distributed storage disk of the current terminal after acquiring the scan bar database; a reading submodule, configured as Based on the identification information of the target scan bar, the standard data of the target scan bar is read from the distributed storage disk.
  • a second loading submodule configured to load the scan bar database into the distributed storage disk of the current terminal after acquiring the scan bar database
  • a reading submodule configured as Based on the identification information of the target scan bar, the standard data of the target scan bar is read from the distributed storage disk.
  • the obtaining device further includes: a determining module configured to determine dental mold processing data based on the digital oral cavity data, wherein the dental mold processing data at least include: abutment shape and crown shape of the dental mold , Model target objects with holes.
  • a determining module configured to determine dental mold processing data based on the digital oral cavity data, wherein the dental mold processing data at least include: abutment shape and crown shape of the dental mold , Model target objects with holes.
  • an electronic device comprising: a processor; and a memory configured to store executable instructions of the processor; wherein the processor is configured to execute the The executable instructions are used to execute the method for acquiring digital oral cavity data described in any one of the above.
  • a computer-readable storage medium comprising a stored computer program, wherein the computer-readable storage medium is controlled when the computer program is executed
  • the device where the medium is located executes the method for acquiring digital oral data described in any one of the above.
  • an oral scan request is received first, and based on the oral scan request, the scan data of the target object is acquired, wherein the scan data includes: scan data of the target scan rod installed on the target object, and then the scan data of the target scan rod can be matched.
  • the scan data and the standard data of the target scan bar are used to replace the scan data of the target scan bar in the scan data with the matched standard data of the target scan bar to obtain the digital oral data of the target object.
  • the scan data of the scan rod can be automatically replaced with the standard data of the scan rod during the process of obtaining the digitized oral cavity data, and the scan data of the scan rod can be replaced with the scan rod regardless of whether the scan data of the scan rod is complete or partial.
  • the complete standard data is generated to generate digital oral data that can be directly used for design, so that after sending the three-dimensional data to the dental processing factory or laboratory, the designer standard data can directly use the digital oral data to process the user's oral teeth. It can reduce the rework link and repeated scanning process, so as to solve the technical problem that the scanning data cannot be matched in the design and production stage, and the complicated rework process or repeated scanning process is easily occurred in the related technology.
  • FIG. 1 is a flowchart of an optional method for acquiring digital oral data according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of another optional dental scanner control system according to an embodiment of the present invention.
  • Fig. 3 is a schematic diagram of an optional acquisition device for digitized oral data according to an embodiment of the present invention.
  • Oral digital impression machine also known as intraoral 3D scanner, is an application of a probe-type optical scanning head to directly scan the interior of the patient's oral cavity to obtain the three-dimensional topography and color texture of the soft and hard tissue surfaces such as teeth, gums, and mucous membranes in the oral cavity. information equipment.
  • the oral digital impression instrument adopts the principle of active structured light triangulation imaging, the principle of confocal imaging and other principles for imaging processing. The principle used is not limited.
  • the digital projection system is used to project the active light pattern, and the camera acquisition system After the pattern is obtained, 3D reconstruction and stitching are performed through algorithm processing.
  • the optical machine adopts DLP (Digital Light Processing, abbreviation for Digital Light Procession) projection technology, and uses a digital micromirror device (DMD, abbreviation for Digital Micromirror Device) as a key processing element to realize digital optical processing.
  • DMD Digital Micromirror Device
  • the optical machine can also use a laser projector or others.
  • the oral digital impression machine scans the oral cavity of a patient
  • the volume of the penetrating optical scanning head is bound to be limited.
  • most of the dental industry needs to obtain the data of the full mouth teeth and gums in the oral cavity. Therefore, it is necessary to splicing multiple single point cloud data to form the full mouth 3D data consistent with the oral cavity.
  • it is to improve the efficiency of single scan data that is, the time of a single scan and the integrity of a single scan; time.
  • the replacement action of the scanned scan rod data can be automatically completed during the scanning process or after the scanning is completed, and the standard data is improved in the scanning stage to ensure the integrity and accuracy of the scan rod data, reducing the number of problems in the prior art. Rework link.
  • an embodiment of a method for acquiring digital oral data is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer-executable instructions, and , although a logical order is shown in the flowcharts, in some cases steps shown or described may be performed in an order different from that herein.
  • FIG. 1 is a flowchart of an optional method for acquiring digital oral data according to an embodiment of the present invention. As shown in FIG. 1 , the method includes the following steps:
  • Step S102 receiving an oral scan request
  • Step S104 acquiring scan data of the target object based on the oral cavity scan request, wherein the scan data includes: scan data of the target scan rod installed on the target object;
  • Step S106 matching the scan data of the target scan bar with the standard data of the target scan bar
  • Step S108 replace the scan data of the target scan bar in the scan data with the matched standard data of the target scan bar to obtain the digitized oral cavity data of the target object.
  • the final oral prosthesis of the target object is processed, so that the user can wear the final oral prosthesis, so that the target object can wear the final oral prosthesis.
  • an oral scan request is received, and based on the oral scan request, the scan data of the target object is acquired, wherein the scan data includes: scan data of the target scan rod installed on the target object, and then the scan data of the target scan rod can be matched with the target scan rod.
  • the standard data of the target scan rod is used to replace the scan data of the target scan rod in the scan data with the matched standard data of the target scan rod to obtain the digital oral data of the target object.
  • the scan data of the scan rod can be automatically replaced with the standard data of the scan rod during the process of obtaining the digitized oral cavity data, and the scan data of the scan rod can be replaced with the scan rod regardless of whether the scan data of the scan rod is complete or partial.
  • the complete standard data is generated to generate digital oral data that can be directly used for design, so that after sending the three-dimensional data to the dental processing factory or laboratory, the designer standard data can directly use the digital oral data to process the user's oral teeth. It can reduce the rework link and repeated scanning process, so as to solve the technical problem that the scanning data cannot be matched in the design and production stage, and the complicated rework process or repeated scanning process is easily occurred in the related technology.
  • the cases that the intraoral scanner can usually scan include: restoration, orthodontics, and implantation.
  • the embodiment of the present invention takes the implantation case as an example for description.
  • the scanner can directly scan each scanning rod, abutment, etc. while acquiring the dental data in the patient's mouth.
  • the scanning rod involved in the embodiment of the present invention refers to a precise component used to determine the position and direction of the oral implant.
  • the scanning rod is detachably installed on the oral implant (implant for short), and the three-dimensional data of the scanning rod is obtained through the intraoral scanner, and the This determines the position and orientation of oral implants for designing personalized abutments; oral implants (implants for short), also known as dental implants, are also known as artificial roots, which are surgically implanted into the human body In the upper and lower jaws of the missing teeth, after the surgical wound is healed, a device for repairing dentures is installed on the upper part; the implant abutment (referred to as abutment) is an auxiliary device for implants in dental restoration. After implantation, the abutment will also be surgically permanently attached to the implant.
  • the abutment extends to the outside of the gum to form a transgingival component, which is used to fix dentures and other orthodontics (restorations).
  • the use of an abutment is not required if the implant itself contains a complete transgingival part.
  • dental implants can be replaced by substitutes and fitted to the dental mold.
  • portal scanning refers to that the scanner is inserted into the user's oral cavity, and after scanning the installed scanning rod, the result is obtained.
  • Scan data, and denture scanning refers to: rubbing the user's teeth with soft materials to obtain dentures, and externally scan the dentures to obtain scanned data.
  • the following embodiments of the present invention are illustratively illustrated by portal scanning, but are also applicable to denture scanning.
  • Step S102 receiving an oral scan request.
  • the oral scan request can refer to receiving a scan command, and the scan command can be generated directly after receiving the order request. Since the scan rod number can be directly selected while receiving the order request, the scan can be directly obtained based on the oral scan request. rod number. After receiving the oral scanning request, the standard data of the scanning rod is downloaded through background communication.
  • Step S104 based on the oral scan request, acquire scan data of the target object, where the scan data includes: scan data of a target scan rod installed on the target object.
  • scan data includes scan data for teeth, gums, and scan rods.
  • the scan data includes tooth model, gum model, and scan bar scan data.
  • the single-piece scan data of the portal scan may include any one or two or three scans of teeth, gums, and scan bars.
  • scan data can be partial scan data or complete scan data; for single-piece scan data of denture scan, it can include any one, two or three scans of tooth model, gum model and scan bar
  • scan data can be partial scan data or complete scan data.
  • the step of acquiring the scan data of the target object based on the oral scanning request includes: controlling the scanner to perform multi-angle scanning on the target object to obtain multiple single-slice scan data of the target object, wherein at least part of the single-slice scan data is obtained. It includes the scan data of a part of the target scan bar, a plurality of single-piece scan data are spliced into the overall scan data of the target object, and the overall scan data of the target object includes the scan data of the target scan bar.
  • acquiring the scan data of the target object can be understood as acquiring single-piece scan data of the target object, or it can be understood as acquiring multiple single-piece scan data of the target object and splicing the multiple single-piece data to obtain the target object.
  • the overall scan data; at least part of the single-piece scan data includes the scan data of the target scan rod, which can be understood as at least part of the single-piece scan data including the partial scan data or complete scan data of the target scan rod; the target object
  • the overall scan data includes the scan data of the target scan bar, and it can be understood that the overall scan data of the target object includes partial scan data or complete scan data of the target scan bar.
  • the scan data of the target object is acquired by real-time scanning and splicing, that is, each time a single piece of scan data is acquired, it will be spliced with the previous scan data.
  • the current scan data of the target object refers to the current moment and the current All the scan data obtained before the time are spliced together.
  • the scan data in this embodiment refers to point cloud data.
  • the camera of the scanner collects 2D images, and the 2D images are reconstructed in three dimensions to obtain point cloud data (ie, 3D images).
  • the first monolithic scan data of the target object is acquired at the current moment and before the current moment, and the current scan data of the target object includes the first monolithic scan data of the target object;
  • the second monolithic scan data of the target object is acquired at the current moment data, the first single-piece scan data of the target object is obtained before the current moment, and the current scan data of the target object is formed by splicing the first single-piece scan data and the second single-piece scan data of the target object;
  • the target object is obtained at the current moment
  • the Zth (Z is an integer greater than 1) single-slice scan data, the Z-1 slice of single-slice scan data of the target object is obtained before the current moment, and the current scan data of the target object is determined by the Zth single-slice scan data of the target object and
  • the previous Z-1 piece of single-piece scan data is spliced together, of course, it does not rule out that the single-piece scan data of some of the target objects fails to be spliced until the
  • the number of the scanning rod is the same as the scanning rod number selected when receiving the order request, that is, the scanning rod of the same specification.
  • Step S106 matching the scan data of the target scan bar with the standard data of the target scan bar.
  • the scan data of the target scan bar in the current scan data is matched with the standard data by feature splicing, and the standard data undergoes coordinate transformation during the feature splicing process.
  • the matching involved in this embodiment is regular matching, especially the regular matching in the real-time scanning process.
  • the real-time scanning process each time a certain amount of scan data is acquired or the current scan data and the standard data are feature spliced at intervals.
  • the pose of the standard data of the scan bar that has been adjusted for feature splicing is updated, and on the other hand, the standard data of the other scan bar is updated.
  • the scan data of the target object at the first moment includes M (M is an integer greater than 0) pieces of single-chip scan data, and the scan data of the target object at the first moment does not include the scan data of the target scan bar.
  • the standard data of the target object is matched with the scan data of the target object at the first moment.
  • the stitching fails, and only the scan data of the target object at the first moment is displayed in the scanned image at the first moment; the scan data of the target object at the second moment is displayed.
  • the data includes N (N is an integer greater than 0) pieces of single-chip scan data, and the scan data of the target object at the second moment includes the scan data A of the first target scan bar (the features are not obvious and/or the amount of data is small).
  • the standard data of a target scan bar and the scan data of the target object at the second moment are feature spliced.
  • the standard data of the first target scan bar and the scan data A of the first target scan bar cannot complete the feature splicing and matching, and the second moment Only the scan data at the second moment of the target object is displayed in the lower scan image;
  • the scan data at the third moment of the target object includes P (P is an integer greater than 0) pieces of single-piece scan data, and the scan data at the third moment of the target object Including the scan data B of the first target scan bar (with obvious features and/or sufficient data volume), the standard data of the first target scan bar and the scan data of the target object at the third moment are subjected to feature splicing and matching, the first target scan bar
  • the standard data of the first target scan bar and the scan data B of the first target scan bar are successfully spliced and a prompt is issued, and the scan data at the third moment of the target object and the standard data B of the first target scan bar are displayed in the scan image at the third moment;
  • the scan data of the lower target object includes Q (Q is an integer greater than 0)
  • the pose of the standard data of the target scan rod can be continuously updated and adjusted, and the standard data of the target scan rod and the scan of the target scan rod can be improved.
  • the data splicing accuracy and splicing success rate are not limited by the number of target scan bars, and feature splicing and matching can be performed whether it is one target scan bar or multiple target scan bars.
  • the step of matching the scan data of the target scan bar with the standard data of the target scan bar includes: acquiring standard data of the target scan bar; and matching the scan data of the target scan bar with the standard data of the target scan bar.
  • the step of matching the scan data of the target scan bar with the standard data of the target scan bar includes: acquiring identification information of the target scan bar; acquiring standard data of the target scan bar based on the identification information of the target scan bar; Match the scan data of the target scan bar with the standard data of the target scan bar.
  • the oral cavity scanning request download CAD data corresponding to the scanning rod identification information according to the scanning rod identification information.
  • the scanning process enters the scanning bar scanning (that is, when scanning starts)
  • a thread will be enabled in the background of the software at the same time, and the real-time stitching algorithm will be used to try to match the scanned data of the scan bar with the CAD data.
  • the identification information is the number of the scan bar
  • the standard data of the scan bar is CAD data.
  • multiple scan rod features of the scan data of the target scan rod during the scanning process can also be used to splicing and match the oral scan rod data stored in the cloud server (similarly using a splicing algorithm, based on the scan rod feature, try to stitch and match the scan bar real-time scan data and CAD data).
  • the step of matching the scan data of the target scan bar with the standard data of the target scan bar includes: acquiring a scan bar database, wherein the scan bar database includes data of various types of scan bars.
  • Standard data the standard data of various types of scan bars include the standard data of the target scan bar; load the scan bar database to the cloud server; download the standard data of the target scan bar from the cloud server.
  • the step of matching the scan data of the target scan bar with the standard data of the target scan bar includes: acquiring a scan bar database, wherein the scan bar database includes data of various types of scan bars. Standard data, the standard data of each type of scan bar corresponds to identification information, the standard data of various types of scan bars includes the standard data of the target scan bar, and the standard data of the target scan bar corresponds to the identification information of the target scan bar;
  • the scan bar database is loaded into the cloud server; based on the identification information of the target scan bar, the standard data of the target scan bar is downloaded from the cloud server.
  • all types of oral scan rod data can be acquired in advance, stored in the scan rod database, and the scan rod database can be loaded to the cloud server (because the database is large, it avoids occupying more local space).
  • the scan bar database can also be loaded into the distributed storage disk of the current terminal, and the standard data of the scan bar can be read from the distributed storage disk. Further, the scan bar database is loaded into the distributed storage disk of the current terminal, and based on the identification information of the target scan bar, the standard data of the target scan bar is read from the distributed storage disk.
  • the user may be prompted by voice or text.
  • the first is matching during the scanning process. Based on the characteristics of the scanning rod, splicing matching is performed, and matching can be performed while scanning. All scanned data are spliced together) that is spliced and matched with the standard data of the target scan bar.
  • this matching method during the scanning process, it can be determined whether the scan data of the target scan bar and the standard data of the target scan bar are correctly spliced and matched. , If the splicing match fails or the splicing matching accuracy is not enough, you can scan the target scan bar further to increase the scan data of the target scan bar until the splicing match is successful, and usually the splicing match is successful without a complete scan of the target scan bar.
  • the target scanning rod is difficult to scan due to high reflection, and the overall scanning speed is fast, and then the data replacement is completed after the scanning data is complete and the standard data features of the target scanning rod are spliced and matched, and the digital oral data of the target object is obtained.
  • the second is to perform matching after scanning, that is, after scanning all the scan data of the user, the scan bar data is matched according to the scan data of the target scan bar in the scan.
  • the advantage of this matching method is that all the scan bars can be obtained at one time
  • the matching results are more accurate, but the scanning rod needs to be scanned as completely as possible, which takes a long time. If the scanning rod scanning is not complete, it may not be possible to splicing and matching, resulting in the need to rescan.
  • Step S108 replace the scan data of the target scan bar in the scan data with the matched standard data of the target scan bar to obtain the digitized oral cavity data of the target object.
  • the scan data of the target scan rod is deleted, and the standard data of the target scan rod is retained, that is, the digitized oral data of the target object includes the tooth scan data, the gum scan data and the standard data of the scan rod.
  • the acquisition method further includes: determining dental mold processing data based on the digital oral cavity data, wherein the dental mold processing data includes at least one of the following: the abutment shape of the dental mold, the dental crown shape, and the model target with holes object.
  • the dental mold processing data can be sent to the processing equipment, so as to use the processing equipment to make the user's oral dental mold.
  • the position and orientation of the oral implant can be determined. Based on this, the shape of the abutment, the shape of the crown, and the target object with holes can be designed, and sent to the processing equipment to achieve on-site processing without the need for patients. In the second visit, the patient can try on the processed dental mold after waiting for a period of time after scanning.
  • the cloud platform can be used to load the scan rod database, and after scanning the user's oral cavity, the downloaded standard data of the target scan rod can be used to replace the scan data of the target scan rod to generate the final digital oral cavity that can be directly designed. Data, there will be no problem that the scan bar data cannot be used, and more uncertain links and the chance of rework will be saved.
  • a data acquisition method including:
  • the scan data includes: scan data of auxiliary components installed on the target object;
  • the scanned data of the auxiliary parts in the scanned data is replaced with the standard data of the matched auxiliary parts to obtain the digital data of the target object.
  • the above data acquisition method can be applied to various factory product processing (for example, machine tools, dental molds, restorations) and other environments.
  • the standard CAD data can be directly replaced according to the scanned data, and the processed product can be improved.
  • product parameters and product models are more in line with product processing specifications.
  • the 3D data of the implant digital impression can be directly obtained according to the replaced CAD data, and the designer does not need to stitch the 3D data. Matching, directly using the three-dimensional data of the digital impression, processing the oral dental mold of the target object, reducing the process of rework and repeated scanning.
  • FIG. 2 is a schematic diagram of another optional dental scanner control system according to an embodiment of the present invention.
  • the dental scanner control system includes: a dental scanner 21 and a computer 23, wherein,
  • the dental scanner 21 is configured to probe into the target object for scanning, and obtain the scanning data of the target object;
  • the dental scanner may be a digital oral scanner to scan the interior of the target object's oral cavity to obtain scan data.
  • a method that can be performed by a program running in the computer 23 includes: receiving an oral scan request; and acquiring scan data of a target object based on the oral scan request, wherein the scan data includes: a target scan rod installed on the target object match the scan data of the target scan bar with the standard data of the target scan bar; replace the scan data of the target scan bar in the scan data with the matched standard data of the target scan bar to obtain the digital oral data of the target object.
  • control system further includes: a server, connected to the computer, configured to store the standard data of the scanning rod, and sending the standard data of the target scanning rod to the computer when a matching request is received.
  • a server connected to the computer, configured to store the standard data of the scanning rod, and sending the standard data of the target scanning rod to the computer when a matching request is received.
  • the method that can be executed by the program running in the computer 23 further includes: based on the oral cavity scan request, controlling the scanner to perform multi-angle scanning on the target object to obtain multiple single-slice scan data of the target object, wherein at least Part of the single-piece scan data includes the scan data of the target scan bar, a plurality of single-piece scan data are spliced into the overall scan data of the target object, and the scan data of the target object includes the scan data of the target scan bar.
  • the method that can be executed by the program running in the computer 23 further includes: acquiring identification information of the target scan bar; acquiring standard data of the target scan bar based on the identification information of the target scan bar; matching the scan of the target scan bar The data is standard data with the target scan bar.
  • the method that can be executed by the program running in the computer 23 further includes: acquiring a scan bar database, where the scan bar database includes standard data of multiple types of scan bars, and the standard data of each type of scan bar Corresponding to the identification information, the standard data of various types of scan rods includes the standard data of the target scan rod, and the standard data of the target scan rod corresponds to the identification information of the target scan rod; load the scan rod database into the cloud server; from the cloud server Download standard data for the target scan bar in .
  • the acquiring method further includes: after acquiring the scan bar database, loading the scan bar database into the distributed storage disk of the current terminal; based on the identification information of the target scan bar, reading the target from the distributed storage disk Standard data for scan bars.
  • the method that can be executed by the program running in the computer 23 further includes: based on the digitized oral cavity data, determining the dental mold processing data, wherein the dental mold processing data includes at least one of the following: the abutment shape of the dental mold, Crown profile, model target object with holes.
  • the above-mentioned dental scanner control system can probe into the target object to scan through the dental scanner 21, and obtain the scan data of the target object, and when making the dental mold through the computer 23, first receive the oral scanning request, and based on the oral scanning request, obtain The scan data of the target object, wherein the scan data includes: scan data of the target scan rod installed on the target object, and then the scan data of the target scan rod and the standard data of the target scan rod can be matched, and the matched standard of the target scan rod can be used. The data replaces the scan data of the target scan rod in the scan data, and obtains the digitized oral cavity data of the target object.
  • the scan data in the scanning rod area can be automatically replaced to generate digital oral data that can be directly designed and used (which can be understood as a standard CAD data for oral implantation), which can After sending the 3D data to the dental processing factory or laboratory, the designer does not need to splicing and matching the standard data of the scan bar, and directly uses the digital oral data to process the oral dental mold of the target object, reducing the rework link and repeated scanning process.
  • digital oral data can be directly designed and used (which can be understood as a standard CAD data for oral implantation), which can After sending the 3D data to the dental processing factory or laboratory, the designer does not need to splicing and matching the standard data of the scan bar, and directly uses the digital oral data to process the oral dental mold of the target object, reducing the rework link and repeated scanning process.
  • FIG. 3 is a schematic diagram of an optional acquisition device for digital oral data according to an embodiment of the present invention.
  • the acquisition device may include: a receiving unit 31 , an acquiring unit 33 , a matching unit 35 , and a replacing unit 37 ,in,
  • the receiving unit 31 is configured to receive the oral cavity scanning request
  • the acquiring unit 33 is configured to acquire scan data of the target object based on the oral scanning request, wherein the scan data includes: scan data of the target scan rod installed on the target object;
  • the matching unit 35 is set to match the scan data of the target scan bar and the standard data of the target scan bar;
  • the replacement unit 37 is configured to replace the scan data of the target scan bar in the scan data with the matched standard data of the target scan bar to obtain the digitized oral cavity data of the target object.
  • the above-mentioned acquisition device for digital oral data can, in the process of obtaining the digital oral data, first receive the oral scanning request through the receiving unit 31, and obtain the scanning data of the target object through the obtaining unit 33 based on the oral scanning request, wherein the scanning data includes : scan data of the target scan bar installed on the target object, then the matching unit 35 can match the scan data of the target scan bar with the standard data of the target scan bar, and the replacement unit 37 can use the matched standard data of the target scan bar to replace the scan The scanning data of the target scanning rod in the data can obtain the digital oral data of the target object.
  • the scan data in the scan bar area can be automatically replaced to generate digital oral data that can be directly designed and used (which can be understood as a standard dental implant CAD data), which can After sending the 3D data to the dental processing factory or laboratory, the designer does not need to splicing and matching the standard data of the scan bar, and directly uses the digital oral data to process the oral dental mold of the target object, reducing the process of rework and repeated scanning. , so as to solve the technical problems in the related art that the scanning is determined manually based on experience, and the scanning data cannot be used for matching in the design and production stages, adding complex rework processes or repeating the scanning process.
  • the acquiring unit includes: an installation module, set to be based on an oral scan request, a first control module, set to control the scanner to perform multi-angle scanning on the target object, and obtain multiple single-slice scan data of the target object, wherein at least Part of the single piece scan data includes partial scan data of the target scan bar, a plurality of single piece scan data are spliced into overall scan data of the target object, and the scan data of the target object includes the scan data of the target scan bar.
  • the matching unit includes: a first acquisition module configured to acquire identification information of the target scan rod; a second acquisition module configured to acquire standard data of the target scan rod based on the identification information of the target scan rod; matching Module, set to match the scan data of the target scan bar with the standard data of the target scan bar.
  • the second acquisition module includes: an acquisition sub-module configured to acquire a scan bar database, wherein the scan bar database includes standard data of multiple types of scan bars, and the standard data of each type of scan bar corresponds to identification information.
  • the standard data of various types of scan bars include the standard data of the target scan bar, and the standard data of the target scan bar corresponds to the identification information of the target scan bar;
  • the first loading submodule is set to load the scan bar database into the cloud server ;
  • Download sub-module set to download the standard data of the target scanning rod from the cloud server.
  • the acquiring device further includes: a second loading submodule, configured to load the scan bar database into the distributed storage disk of the current terminal after acquiring the scan bar database; a reading submodule, configured to be based on the target scan bar The identification information of the target scan bar is read from the distributed storage disk.
  • a second loading submodule configured to load the scan bar database into the distributed storage disk of the current terminal after acquiring the scan bar database
  • a reading submodule configured to be based on the target scan bar The identification information of the target scan bar is read from the distributed storage disk.
  • the acquisition device further includes: a determination module configured to determine dental mold processing data based on the digital oral data, wherein the dental mold processing data includes at least one of the following: the abutment shape of the dental mold, the dental mold processing data Crown profile, model target object with holes.
  • the acquisition device of the above-mentioned digitized oral cavity data may also include a processor and a memory, and the above-mentioned receiving unit 31, acquisition unit 33, matching unit 35, replacement unit 37, etc. are all stored in the memory as program units, and are stored in the memory by the processor.
  • the above program unit to realize the corresponding function.
  • the above-mentioned processor includes a kernel, and the corresponding program unit is called from the memory by the kernel.
  • One or more kernels can be set, and by adjusting the kernel parameters, based on the digitized oral data, the oral dental mold of the target object is processed, so that the target object wears the oral dental mold.
  • the above-mentioned memory may include non-persistent memory in computer readable medium, random access memory (RAM) and/or non-volatile memory, such as read only memory (ROM) or flash memory (flash RAM), the memory includes at least a memory chip.
  • RAM random access memory
  • ROM read only memory
  • flash RAM flash memory
  • an electronic device comprising: a processor; and a memory configured to store executable instructions of the processor; wherein the processor is configured to execute the above-mentioned execution of the executable instructions A method for acquiring digital oral data of any item.
  • a computer-readable storage medium is also provided, where the computer-readable storage medium includes a stored computer program, wherein when the computer program runs, the device where the computer-readable storage medium is located is controlled to execute any of the above A method of obtaining digitized oral data.
  • the present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: receiving an oral scan request; acquiring scan data of a target object based on the oral scan request, wherein, The scan data includes: scan data of the target scan bar installed on the target object; matching the scan data of the target scan bar with the standard data of the target scan bar; replacing the scan of the target scan bar in the scan data with the matched standard data of the target scan bar data to obtain the digital oral data of the target object.
  • the disclosed technical content can be implemented in other ways.
  • the device embodiments described above are only illustrative, for example, the division of the units may be a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components may be combined or Integration into another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium.
  • the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.
  • the aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes .
  • the solutions provided by the embodiments of the present application can be used to obtain digital oral data, and during the scanning process or after the scanning is completed, the replacement action of the scanned scan rod data is automatically completed, and the standard data is improved in the scanning stage to ensure the integrity and accuracy of the scan rod data.
  • the scan data of the scan rod can be automatically replaced with the standard data of the scan rod during the process of obtaining the digitized oral data, regardless of whether the scan data of the scan rod is complete or partial , can be replaced with the complete standard data of the scan rod to generate digital oral data that can be directly designed and used, so that after the three-dimensional data is sent to the dental processing factory or laboratory, the designer’s standard data can directly use the digital oral cavity Data, processing the user's oral dental model, reducing the rework link and the process of repeated scanning, and solving the problem of manually determining the completion of the scanning based on experience in related technologies, it is easy to find that the scanning data cannot be used and matched in the design and production stages, adding complex rework processes or repeated scanning. Technical issues with the process.

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Abstract

本发明公开了一种数字化口腔数据的获取方法及装置、牙齿扫描仪控制系统。其中，该方法包括：接收口腔扫描请求；基于口腔扫描请求，获取目标对象的扫描数据，其中，扫描数据包括：目标对象上安装的目标扫描杆的扫描数据；匹配目标扫描杆的扫描数据与目标扫描杆的标准数据；利用匹配出的目标扫描杆的标准数据替换扫描数据中目标扫描杆的扫描数据，得到目标对象的数字化口腔数据。

Description

数字化口腔数据的获取方法及装置、牙齿扫描仪控制系统
本申请要求于2020年07月31日提交中国专利局、申请号为202010763543.4、申请名称“数字化口腔数据的获取方法及装置、牙齿扫描仪控制系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及设备处理技术领域，具体而言，涉及一种数字化口腔数据的获取方法及装置、牙齿扫描仪控制系统。
背景技术
相关技术中，牙齿诊疗领域牙模数据的获取手段已经从印模三维扫描逐渐转向口内三维扫描技术，该技术的出现是牙齿数字化加工的又一次革命，该技术摈弃了从印模、翻模、三维扫描的牙模数据获取方式，可以直接入口扫描获取牙齿三维数据。在流程时间上省略了印模、翻模两个步骤，在成本上节省了上述流程需要的材料、人工费及模型快递费，在客户体验上可避免制作印模时的不适感。
口腔数字印模仪，又称口内三维扫描仪，是一种应用探入式光学扫描头，直接扫描患者口腔内，获取口腔内牙齿、牙龈、黏膜等软硬组织表面的三维形貌及彩色纹理信息的设备。该设备的一种方法是采用主动结构光三角测量成像原理，利用数字投影系统投射主动光图案，摄像机采集系统获取图案后即通过算法处理进行三维重建和拼接。
因口腔内部局促的环境，探入式光学扫描头体积必然受限，如此便决定了探入口腔内的扫描头尺寸会控制在30mm以内，即一次性只能获取约两颗以内的牙齿图像，而齿科行业在设计及做牙的过程中大都需要获取口腔内部的全口牙齿和牙龈数据，因此需要将单次获取的牙齿图像数据进行拼接组成与口腔内部一致的全部三维空间数据。为提升扫描和拼接的效率，一方面是提高单次扫描数据的效率，即单次扫描的时间和单次扫描的完整性。另一方面是完善拼接的流畅性，即拼接的成功率和拼接的时间。
口内扫描仪通常能扫描的病例有：修复，正畸和种植。在种植病例领域，口内扫描仪需要获取患者口内牙齿数据的同时还能直接扫描缺失位的扫描杆、基台等，而他们的材料包括高反光的金属，亮白色的材质，钛合金等。无论扫描杆、基台等，都属于高反光物体，给利用光学成像原理的口内扫描仪都带来了不小的麻烦。因为光投射到此类物体上，会发生不同角度的镜面反射或吸光现象，导致图像采集系统只能获取到过曝图像或者过暗图像，为三维重建引入较差的图像质量，导致金属扫描杆很难扫描完整。
由于金属材质本身较多的镜面反射，通常口内扫描仪获取该类材质数据时采用多角度多次扫描的方式进行，降低了数据获取的效率，给扫描操作者和患者都带来了不适感。尤其是出现光学死角的时候，口内扫描仪无法获取到较完整的数据，为后续的设计和戴牙都引入修复的工作量。
正常的设计流程是先获取到口内三维形貌数据后，发给齿科加工厂或技工所进行设计和制作牙齿，扫描操作者往往会根据经验来判断是否扫描完成(预估扫描数据可以设置为牙齿设计和制作，特别是对金属材质扫描数据的评估)。如出现经验不足或经验判断出错，导致扫描数据达不到牙齿设计和制作的标准，会增加较复杂的返工流程 和重复扫描过程。
针对上述的问题，目前尚未提出有效的解决方案。
发明内容
本申请提供了一种数字化口腔数据的获取方法及装置、牙齿扫描仪控制系统，以至少解决相关技术中人工根据经验确定扫描完成，容易出现扫描数据无法在设计和制作阶段使用匹配，增加复杂的返工流程或重复扫描流程的技术问题。
根据本申请的一个方面，提供了一种数字化口腔数据的获取方法，包括：接收口腔扫描请求；基于所述口腔扫描请求，获取目标对象的扫描数据，其中，所述扫描数据包括：所述目标对象上安装的目标扫描杆的扫描数据；匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据；利用匹配出的所述目标扫描杆的标准数据替换所述扫描数据中所述目标扫描杆的扫描数据，得到所述目标对象的数字化口腔数据。
可选地，基于所述口腔扫描请求，获取所述目标对象的扫描数据的步骤，包括：基于所述口腔扫描请求，控制扫描仪对所述目标对象进行多角度扫描，得到目标对象的多个单片扫描数据，其中，至少部分单片扫描数据中包括目标扫描杆的扫描数据，所述多个单片扫描数据拼接成目标对象的整体扫描数据，所述目标对象的扫描数据包括目标扫描杆的扫描数据。
可选地，匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据的步骤，包括：获取所述目标对象扫描杆的标识信息；基于所述目标扫描杆的标识信息获取所述目标扫描杆的标准数据；匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据。
可选地，匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据的步骤，包括：获取扫描杆数据库，其中，所述扫描杆数据库包括多种类型的扫描杆的标准数据，每种类型的扫描杆的标准数据对应有标识信息，所述多种类型的扫描杆的标准数据包括所述目标扫描杆的标准数据，所述目标扫描杆的标准数据对应有目标扫描杆的标识信息；将所述扫描杆数据库加载至云服务器中；从所述云服务器中下载所述目标扫描杆的标准数据。
可选地，在获取扫描杆数据库后，所述获取方法还包括：将所述扫描杆数据库加载至当前终端的分布式存储磁盘中；基于所述目标扫描杆的标识信息，从所述分布式存储磁盘读取所述目标扫描杆的标准数据。
可选地，获取方法还包括：基于所述数字化口腔数据，确定牙模加工数据，其中，所述牙模加工数据包括以下之一：牙模的基台外形、牙冠外形、带孔模型目标对象。
根据本申请的另一方面，还提供了一种数据获取方法，包括：接收扫描请求；基于所述扫描请求，获取目标对象的扫描数据，其中，所述扫描数据包括：所述目标对象上安装的辅助件的扫描数据；匹配所述辅助件的扫描数据与所述辅助件的标准数据；利用匹配出的所述辅助件的标准数据替换所述扫描数据中所述辅助件的扫描数据，得到所述目标对象的数字化数据。
根据本申请的另一方面，还提供了一种牙齿扫描仪控制系统，包括：牙齿扫描仪，设置为对目标对象进行扫描，得到目标对象的扫描数据；计算机，与所述牙齿扫描仪连接，设置为运行程序，其中，所述程序运行时执行上述任意一项所述的数字化口腔数据的获取方法。
可选地，所述控制系统还包括：服务器，与所述计算机连接，设置为存储扫描杆 标准数据，并在接收到匹配请求时，将与目标扫描杆的标准数据发送至所述计算机中。
根据本申请的另一方面，还提供了一种数字化口腔数据的获取装置，包括：接收单元，设置为接收口腔扫描请求；获取单元，设置为基于所述口腔扫描请求，获取目标对象的扫描数据，其中，所述扫描数据包括：所述目标对象上安装的目标扫描杆的扫描数据；匹配单元，设置为匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据；替换单元，设置为利用匹配出的所述目标扫描杆的标准数据替换所述目标对象的扫描数据中所述目标扫描杆的扫描数据，得到所述目标对象的数字化口腔数据。
可选地，所述获取单元包括：安装模块，设置为基于所述口腔扫描请求，第一控制模块，设置为控制扫描仪对所述目标对象进行多角度扫描，得到目标对象的多个单片扫描数据，其中，至少部分单片扫描数据中包括部分目标扫描杆的扫描数据，多个单片扫描数据拼接成目标对象的整体扫描数据，目标对象的扫描数据包括目标扫描杆的扫描数据。
可选地，所述匹配单元包括：第一获取模块，设置为获取所述目标对象扫描杆的标识信息；第二获取模块，设置为基于所述目标扫描杆的标识信息获取所述目标扫描杆的标准数据；匹配模块，设置为匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据。
可选地，所述第二获取模块包括：获取子模块，设置为获取扫描杆数据库，其中，所述扫描杆数据库包括多种类型的扫描杆的标准数据，每种类型的扫描杆的标准数据对应有标识信息，所述多种类型的扫描杆的标准数据包括所述目标扫描杆的标准数据，所述目标扫描杆的标准数据对应有目标扫描杆的标识信息；第一加载子模块，设置为将所述扫描杆数据库加载至云服务器中；下载子模块，设置为从所述云服务器中下载 所述目标扫描杆的标准数据。
可选地，所述获取装置还包括：第二加载子模块，设置为在获取扫描杆数据库后，将所述扫描杆数据库加载至当前终端的分布式存储磁盘中；读取子模块，设置为基于所述目标扫描杆的标识信息，从所述分布式存储磁盘读取所述目标扫描杆的标准数据。
可选地，所述获取装置还包括：确定模块，设置为基于所述数字化口腔数据，确定牙模加工数据，其中，所述牙模加工数据至少包括：牙模的基台外形、牙冠外形、带孔模型目标对象。
根据本发明实施例的另一方面，还提供了一种电子设备，包括：处理器；以及存储器，设置为存储所述处理器的可执行指令；其中，所述处理器配置为经由执行所述可执行指令来执行上述任意一项所述的数字化口腔数据的获取方法。
根据本发明实施例的另一方面，还提供了一种计算机可读存储介质，所述计算机可读存储介质包括存储的计算机程序，其中，在所述计算机程序运行时控制所述计算机可读存储介质所在设备执行上述任意一项所述的数字化口腔数据的获取方法。
本发明实施例中，先接收口腔扫描请求，并基于口腔扫描请求，获取目标对象的扫描数据，其中，扫描数据包括：目标对象上安装的目标扫描杆的扫描数据，之后可匹配目标扫描杆的扫描数据与目标扫描杆的标准数据，利用匹配出的目标扫描杆的标准数据替换扫描数据中目标扫描杆的扫描数据，得到目标对象的数字化口腔数据。在该实施例中，可以在得到数字化口腔数据的过程中，自动将扫描杆的扫描数据替换为扫描杆的标准数据，不管扫描杆的扫描数据是完整的还是局部的，均能替换为扫描杆的完整的标准数据，生成可直接设计使用的数字化口腔数据，这样可以在将三维数据发送到齿科加工厂或技工所后，设计人员标准数据可直接利用该数字化口腔数据，加 工用户的口腔牙模，减少返工环节和重复扫描的流程，从而解决相关技术中人工根据经验确定扫描完成，容易出现扫描数据无法在设计和制作阶段使用匹配，增加复杂的返工流程或重复扫描流程的技术问题。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是根据本发明实施例的一种可选的数字化口腔数据的获取方法的流程图；
图2是根据本发明实施例的另一种可选的牙齿扫描仪控制系统的示意图；
图3是根据本发明实施例的一种可选的数字化口腔数据的获取装置的示意图。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里 图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
为便于本领域技术人员理解本发明，下面对本发明各实施例中涉及的部分术语或名词做出解释：
口腔数字印模仪，又称口内三维扫描仪，是一种应用探入式光学扫描头，直接扫描患者口腔内部，获取口腔内牙齿、牙龈、黏膜等软硬组织表面的三维形貌及彩色纹理信息的设备。本发明实施例中，口腔数字印模仪采用主动结构光三角测量成像原理、共焦法成像原理等原理进行成像处理，使用的原理并不限定，利用数字投影系统投射主动光图案，相机采集系统获取图案后即通过算法处理进行三维重建和拼接。
光机，采用DLP(数字光处理，Digital Light Procession的简写)投影技术，并使用数字微镜设备(DMD，Digital Micromirror Device的简写)作为关键处理元件以实现数字光学处理过程。当然，光机也可采用激光投射器或其他。
在相关技术中，口腔数字印模仪在对患者口腔扫描时，由于口腔内部局促的环境，探入式光学扫描头体积必然受限，一次性只能获取约两颗以内的牙齿图像，而齿科行业在设计及做牙模的过程中大都需要获取口腔内部的全口牙齿和牙龈数据，因此需要将多个单片点云数据进行拼接组成与口腔内部一致的全口三维数据。为提升扫描和拼接的效率，一方面是提高单次扫描数据的效率，即单次扫描的时间和单次扫描的完整性，另一方面是完善拼接的流畅性，即拼接的成功率和拼接的时间。本发明技术方案中，可以在扫描过程或者扫描完成后，自动化完成扫描的扫描杆数据的替换动作，标 准数据在扫描阶段提高及确保扫描杆数据的完整性和准确性，减少现有技术中的返工环节。
根据本发明实施例，提供了一种数字化口腔数据的获取方法实施例，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
图1是根据本发明实施例的一种可选的数字化口腔数据的获取方法的流程图，如图1所示，该方法包括如下步骤：
步骤S102，接收口腔扫描请求；
步骤S104，基于口腔扫描请求，获取目标对象的扫描数据，其中，扫描数据包括：目标对象上安装的目标扫描杆的扫描数据；
步骤S106，匹配目标扫描杆的扫描数据与目标扫描杆的标准数据；
步骤S108，利用匹配出的目标扫描杆的标准数据替换扫描数据中目标扫描杆的扫描数据，得到目标对象的数字化口腔数据。
基于数字化口腔数据，加工目标对象的口腔最终修复体，以使用户佩戴口腔最终修复体，以使目标对象佩戴口腔最终修复体。
通过上述步骤，接收口腔扫描请求，并基于口腔扫描请求，获取目标对象的扫描数据，其中，扫描数据包括：目标对象上安装的目标扫描杆的扫描数据，之后可匹配目标扫描杆的扫描数据与目标扫描杆的标准数据，利用匹配出的目标扫描杆的标准数据替换扫描数据中目标扫描杆的扫描数据，得到目标对象的数字化口腔数据。在该实 施例中，可以在得到数字化口腔数据的过程中，自动将扫描杆的扫描数据替换为扫描杆的标准数据，不管扫描杆的扫描数据是完整的还是局部的，均能替换为扫描杆的完整的标准数据，生成可直接设计使用的数字化口腔数据，这样可以在将三维数据发送到齿科加工厂或技工所后，设计人员标准数据可直接利用该数字化口腔数据，加工用户的口腔牙模，减少返工环节和重复扫描的流程，从而解决相关技术中人工根据经验确定扫描完成，容易出现扫描数据无法在设计和制作阶段使用匹配，增加复杂的返工流程或重复扫描流程的技术问题。
在本发明实施例中，口内扫描仪通常能扫描的病例有：修复，正畸和种植，本发明实施例以种植病例为例进行说明。在种植病例领域，扫描仪在获取患者口内牙齿数据的同时还能直接扫描各扫描杆、基台等。本发明实施例涉及的扫描杆是指用于确定口腔种植体位置和方向的精密组件，扫描杆可拆卸地安装于口腔种植体(简称种植体)，通过口内扫描仪获取扫描杆三维数据，由此确定口腔种植体位置和方向，以用于设计个性化基台；口腔种植体(简称种植体)又称为牙种植体，还称为人工牙根，是通过外科手术的方式将其植入人体缺牙部位的上下颌骨内，待其手术伤口愈合后，在其上部安装修复假牙的装置；种植体基台(简称基台)是牙科修复术中种植体的辅助器具，在手术植入种植体后，基台也将经由手术长久附着于该种植体。基台伸向牙龈外部，构成穿牙龈组分，用以固定义齿及其他矫正物(修复体)。若种植体自身包含完整的穿牙龈部分，则无须使用基台。对于义齿扫描，口腔种植体由替代体替代安装至牙模即可。
本发明例中，涉及两种扫描方式进行说明，分别为：入口式扫描和义齿式扫描，其中，入口式扫描是指将扫描仪探入用户口腔内部，对安装的扫描杆进行扫描后，得 到扫描数据，而义齿式扫描是指：通过软物资拓印用户牙齿，得到义齿，对该义齿进行外部扫描，得到扫描数据。本发明下述实施例以入口式扫描进行示意说明，但同时也适用于义齿扫描。
下面结合上述各步骤来详细说明本发明。
步骤S102，接收口腔扫描请求。
口腔扫描请求可以是指接收扫描指令，扫描指令可以是指在接收到订单请求后，直接生成的，由于接收订单请求的同时可直接选取扫描杆编号，因此，基于口腔扫描请求中可直接得到扫描杆编号。在接收口腔扫描请求后，通过后台通信下载该扫描杆的标准数据。
步骤S104，基于口腔扫描请求，获取目标对象的扫描数据，其中，扫描数据包括：目标对象上安装的目标扫描杆的扫描数据。
对于入口式扫描来说，扫描数据包括牙齿、牙龈及扫描杆的扫描数据。对于义齿扫描来说，扫描数据包括牙齿模型、牙龈模型及扫描杆的扫描数据。当然，由于三维扫描的全局扫描数据是由多个单片扫描数据拼接形成，对于入口式扫描的单片扫描数据，可包括牙齿、牙龈及扫描杆中任意一者或二者或三者的扫描数据，扫描数据可以是局部的扫描数据，也可以是完整的扫描数据；对于义齿扫描的单片扫描数据，可包括牙齿模型、牙龈模型及扫描杆中任意一者、二者或三者的扫描数据，扫描数据可以是局部的扫描数据，也可以是完整的扫描数据。
可选的，基于口腔扫描请求，获取目标对象的扫描数据的步骤，包括：控制扫描仪对目标对象进行多角度扫描，得到目标对象的多个单片扫描数据，其中，至少部分 单片扫描数据中包括部分目标扫描杆的扫描数据，多个单片扫描数据拼接成目标对象的整体扫描数据，目标对象的整体扫描数据包括目标扫描杆的扫描数据。需要说明的是，获取目标对象的扫描数据，可以理解为获取目标对象的单片扫描数据，也可以理解为获取目标对象的多个单片扫描数据并对多个单片数据拼接，获得目标对象的整体扫描数据；至少部分单片扫描数据中包括所述目标扫描杆的扫描数据，可以理解为至少部分单片扫描数据中包括所述目标扫描杆的部分扫描数据或完整的扫描数据；目标对象的整体扫描数据包括目标扫描杆的扫描数据，可以理解为目标对象的整体扫描数据包括目标扫描杆的部分扫描数据或完整的扫描数据。
对于入口式扫描来说，目标对象的扫描数据是实时扫描拼接获取的，即每获取一单片扫描数据，均会与之前的扫描数据拼接，目标对象的当前扫描数据是指当前时刻下及当前时刻之前获取到的所有扫描数据拼接而成，本实施例中的扫描数据是指点云数据，扫描仪的相机采集2D图像，2D图像经三维重建得到点云数据(即3D图像)。具体地，当前时刻下及当前时刻之前获取目标对象的第一单片扫描数据，目标对象的当前扫描数据包括目标对象的第一单片扫描数据；当前时刻下获取目标对象的第二单片扫描数据，当前时刻之前获取到目标对象的第一单片扫描数据，目标对象的当前扫描数据由目标对象的第一单片扫描数据与第二单片扫描数据拼接而成；当前时刻下获取目标对象的第Z(Z为大于1的整数)单片扫描数据，当前时刻之前获取到目标对象的Z-1片单片扫描数据，目标对象的当前扫描数据由目标对象的第Z单片扫描数据与之前的Z-1片单片扫描数据拼接而成，当然不排除其中部分目标对象的单片扫描数据拼接失败的情况，直至扫描结束。
在开始扫描前，将扫描杆安装在目标对象上，该扫描杆的编号与接收订单请求时 选取的扫描杆编号一致，即为同一规格扫描杆。
步骤S106，匹配目标扫描杆的扫描数据与目标扫描杆的标准数据。
将当前扫描数据中的目标扫描杆的扫描数据与标准数据进行特征拼接匹配，标准数据在特征拼接过程中发生坐标变换。
本实施例中涉及的匹配是定期匹配，特别是实时扫描过程中的定期匹配，在实时扫描过程中每获取到一定数量的扫描数据或每间隔一段时间将当前扫描数据与标准数据进行特征拼接，一方面更新调整已进行特征拼接的扫描杆标准数据的位姿，另一方面更新另外的扫描杆的标准数据。举例说明，目标对象的第一时刻下扫描数据包括M(M为大于0的整数)片单片扫描数据，目标对象的第一时刻下扫描数据不包括目标扫描杆的扫描数据，将目标扫描杆的标准数据与目标对象的第一时刻下扫描数据进行特征拼接匹配，此时拼接失败，第一时刻下扫描图像中仅显示目标对象的第一时刻下扫描数据；目标对象的第二时刻下扫描数据包括N(N为大于0的整数)片单片扫描数据，目标对象的第二时刻下扫描数据包括第一目标扫描杆的扫描数据A(特征不明显和/或数据量少)，将第一目标扫描杆的标准数据与目标对象的第二时刻下扫描数据进行特征拼接，此时第一目标扫描杆的标准数据与第一目标扫描杆的扫描数据A不能完成特征拼接匹配，第二时刻下扫描图像中仅显示目标对象的第二时刻下扫描数据；目标对象的第三时刻下扫描数据包括P(P为大于0的整数)片单片扫描数据，目标对象的第三时刻下扫描数据包括第一目标扫描杆的扫描数据B(特征明显和/或数据量足够)，将第一目标扫描杆的标准数据与目标对象的第三时刻下扫描数据进行特征拼接匹配，第一目标扫描杆的标准数据与第一目标扫描杆的扫描数据B拼接成功并发出提示，第三时刻下扫描图像中显示目标对象的第三时刻下扫描数据及第一目标扫描杆的 标准数据B；第四时刻下目标对象的扫描数据包括Q(Q为大于0的整数)片单片扫描数据，第四时刻下目标对象的扫描数据包括第一目标扫描杆的扫描数据(特征明显和/或数据量足够)和第二扫描杆的扫描数据(特征明显和/或数据量足够)，将目标扫描杆的标准数据与目标对象的第四时刻下扫描数据进行特征拼接匹配，第一目标扫描杆的标准数据与第一目标扫描杆的扫描数据拼接成功并发出提示，第二目标扫描杆的标准数据与第二目标扫描杆的扫描数据拼接成功并发出提示，第四时刻下扫描图像中显示目标对象的第四时刻下扫描数据、第一目标扫描杆的标准数据及第二目标扫描杆的标准数据；当然实际扫描过程中，以上过程中可仅出现其中部分过程。但可见，随着扫描数据的增加，特别是对着目标扫描杆的扫描数据的增加，可不断更新调整目标扫描杆的标准数据的位姿，提高目标扫描杆的标准数据与目标扫描杆的扫描数据的拼接精度及拼接成功率，且不受目标扫描杆数量的限制，无论是一个目标扫描杆还是多个目标扫描杆均可进行特征拼接匹配。
在本发明实施例中，匹配目标扫描杆的扫描数据与目标扫描杆的标准数据的步骤，包括：获取目标扫描杆的标准数据；匹配目标扫描杆的扫描数据与目标扫描杆的标准数据。
在本发明实施例中，匹配目标扫描杆的扫描数据与目标扫描杆的标准数据的步骤，包括：获取目标对象扫描杆的标识信息；基于目标扫描杆的标识信息获取目标扫描杆的标准数据；匹配目标扫描杆的扫描数据与目标扫描杆的标准数据。
可选的，在接收到口腔扫描请求后，根据扫描杆标识信息，下载与该扫描杆标识信息对应的CAD数据。当扫描流程进入扫描杆扫描时(即开始扫描时)，会同时在软件后台启用一个线程，运用实时拼接算法对扫描杆的扫描数据和CAD数据进行尝试 拼接匹配。在本实施例中，标识信息为扫描杆的编号，扫描杆的标准数据为CAD数据。
同时，本发明实施例中，还可以通过扫描过程中目标扫描杆的扫描数据的多个扫描杆特征，与云服务器中存储的口腔扫描杆数据进行拼接匹配(同样是运用拼接算法，基于扫描杆特征，对扫描杆实时扫描数据和CAD数据进行尝试拼接匹配)。
作为本发明可选的实施例，匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据的步骤，包括：获取扫描杆数据库，其中，扫描杆数据库包括多种类型的扫描杆的标准数据，多种类型的扫描杆的标准数据包括目标扫描杆的标准数据；将扫描杆数据库加载至云服务器中；从云服务器中下载目标扫描杆的标准数据。
作为本发明可选的实施例，匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据的步骤，包括：获取扫描杆数据库，其中，扫描杆数据库包括多种类型的扫描杆的标准数据，每种类型的扫描杆的标准数据对应有标识信息，多种类型的扫描杆的标准数据包括目标扫描杆的标准数据，目标扫描杆的标准数据对应有目标扫描杆的标识信息；将扫描杆数据库加载至云服务器中；基于目标扫描杆的标识信息，从云服务器中下载目标扫描杆的标准数据。
本发明实施例中，可以预先获取所有类型的口腔扫描杆数据，并存储在扫描杆数据库中，将扫描杆数据库加载至云服务器(因数据库较大，避免占用较多本地空间)。
当然，也可将扫描杆数据库加载至当前终端的分布式存储磁盘中，从所述分布式存储磁盘读取所述扫描杆的标准数据。进一步地，将扫描杆数据库加载至当前终端的分布式存储磁盘中，基于目标扫描杆的标识信息，从所述分布式存储磁盘读取所述目标扫描杆的标准数据。
可选的，扫描杆数据拼接匹配成功后，可通过声音或文字提示用户。
本发明实施例中，在匹配时，由于扫描是碎片化和长时间的扫描，包括两种匹配方式：扫描过程中匹配和扫描完成后匹配。
第一种，扫描过程中匹配，基于扫描杆特征，进行拼接匹配，可以边扫描边匹配，具体地，可以每获取到一定数量的扫描数据或每间隔一段时间，当前扫描数据(当前获取到的所有扫描数据拼接而成)即与目标扫描杆的标准数据进行拼接匹配，这种匹配方式，在扫描过程中即可确定目标扫描杆的扫描数据与目标扫描杆的标准数据是否进行正确的拼接匹配，如果拼接匹配失败或者拼接匹配准确度不够，可以通过进一步扫描目标扫描杆，增加目标扫描杆的扫描数据，直至拼接匹配成功，且通常无需对目标扫描杆进行完整扫描即可拼接匹配成功，这也解决了目标扫描杆因高反光难扫描的问题，整体扫描速度快，然后在扫描数据获取完整及目标扫描杆标准数据特征拼接匹配完成后完成数据替换，得到目标对象的数字化口腔数据。
第二种，在扫描完成后进行匹配，即在扫描完用户的全部扫描数据后，统一根据扫描中目标扫描杆的扫描数据进行扫描杆数据匹配，这种匹配方式的优点在于可以一次性得到所有的扫描杆数据特征，匹配结果较为准确，但是扫描杆需要尽可能扫描完全，此时需要花费较长的时间，如果扫描杆扫描不完全，可能会出现不能拼接匹配的情况，导致需要重新扫描。
步骤S108，利用匹配出的目标扫描杆的标准数据替换扫描数据中目标扫描杆的扫描数据，得到目标对象的数字化口腔数据。
可选的，在扫描完成后删除目标扫描杆的扫描数据，保留目标扫描杆的标准数据，即目标对象的数字化口腔数据包括牙齿扫描数据、牙龈扫描数据及扫描杆的标准数据。
对于本发明实施例，获取方法还包括：基于数字化口腔数据，确定牙模加工数据，其中，牙模加工数据包括下述至少之一：牙模的基台外形、牙冠外形、带孔模型目标对象。在得到牙模加工数据后，可以将牙模加工数据发送给加工设备，以利用加工设备制作用户的口腔牙模。
在获取到数字化口腔数据后，即可确定出口腔种植体的位置和方向，据此可以设计基台外形、牙冠外形、带孔模型目标对象，并发送给加工设备，实现当场加工，无需患者二次就诊，患者在扫描后，等待一段时间，即可试戴加工后的口腔牙模。
通过上述实施例，可以利用云平台加载扫描杆数据库，在对用户口腔扫描完成后，利用下载的目标扫描杆的标准数据，替换掉目标扫描杆的扫描数据，生成最终的可直接设计的数字化口腔数据，不会出现扫描杆数据无法使用的问题，省去较多不确定的环节和返工的几率。
根据本发明实施例的另一方面，还提供了一种数据获取方法，包括：
接收扫描请求；
基于扫描请求，获取目标对象的扫描数据，其中，扫描数据包括：目标对象上安装的辅助件的扫描数据；
匹配辅助件的扫描数据与辅助件的标准数据；
利用匹配出的辅助件的标准数据替换扫描数据中辅助件的扫描数据，得到目标对象的数字化数据。
上述数据获取方法，可应用于各种工厂产品加工(例如，机床、牙模、修复物) 等环境中，在加工目标对象时，可以根据扫描数据，直接替换得到标准的CAD数据，加工产品更为标准，产品参数和产品型号更为符合产品加工规格，例如，在牙模修复物加工过程中，可以根据替换的CAD数据，直接得到种植数字印模三维数据，设计人员无需对三维数据进行拼接匹配，直接利用数字印模三维数据，加工目标对象的口腔牙模，减少返工环节和重复扫描的流程。
本实施例中具体的实施方案可参照一种数字化口腔数据的获取方法的实施例。
图2是根据本发明实施例的另一种可选的牙齿扫描仪控制系统的示意图，如图2所示，该牙齿扫描仪控制系统包括：牙齿扫描仪21和计算机23，其中，
牙齿扫描仪21，设置为探入目标对象进行扫描，得到目标对象的扫描数据；
其中，牙齿扫描仪可以为口腔数字扫描仪对目标对象的口腔内部进行扫描，得到扫描数据。
计算机23，与牙齿扫描仪连接，设置为运行程序，其中，程序运行时执行上述任意一项所述的数字化口腔数据的获取方法
在本发明实施例中，计算机23中运行的程序可以执行的方法包括：接收口腔扫描请求；基于口腔扫描请求，获取目标对象的扫描数据，其中，扫描数据包括：目标对象上安装的目标扫描杆的扫描数据；匹配目标扫描杆的扫描数据与目标扫描杆的标准数据；利用匹配出的目标扫描杆的标准数据替换扫描数据中目标扫描杆的扫描数据，得到目标对象的数字化口腔数据。
可选的，控制系统还包括：服务器，与计算机连接，设置为存储扫描杆标准数据， 并在接收到匹配请求时，将与目标扫描杆的标准数据发送至所述计算机中。
在本发明实施例中，计算机23中运行的程序可以执行的方法还包括：基于口腔扫描请求，控制扫描仪对目标对象进行多角度扫描，得到目标对象的多个单片扫描数据，其中，至少部分单片扫描数据中包括目标扫描杆的扫描数据，多个单片扫描数据拼接成目标对象的整体扫描数据，目标对象的扫描数据包括目标扫描杆的扫描数据。
在本发明实施例中，计算机23中运行的程序可以执行的方法还包括：获取目标对象扫描杆的标识信息；基于目标扫描杆的标识信息获取目标扫描杆的标准数据；匹配目标扫描杆的扫描数据与目标扫描杆的标准数据。
在本发明实施例中，计算机23中运行的程序可以执行的方法还包括：获取扫描杆数据库，其中，扫描杆数据库包括多种类型的扫描杆的标准数据，每种类型的扫描杆的标准数据对应有标识信息，多种类型的扫描杆的标准数据包括目标扫描杆的标准数据，目标扫描杆的标准数据对应有目标扫描杆的标识信息；将扫描杆数据库加载至云服务器中；从云服务器中下载目标扫描杆的标准数据。
另一种可选的，获取方法还包括：在获取扫描杆数据库后，将扫描杆数据库加载至当前终端的分布式存储磁盘中；基于目标扫描杆的标识信息，从分布式存储磁盘读取目标扫描杆的标准数据。
在本发明实施例中，计算机23中运行的程序可以执行的方法还包括：基于数字化口腔数据，确定牙模加工数据，其中，牙模加工数据至少包括以下之一：牙模的基台外形、牙冠外形、带孔模型目标对象。
上述牙齿扫描仪控制系统，可以通过牙齿扫描仪21探入目标对象进行扫描，，得 到目标对象的扫描数据，通过计算机23在制作牙模时，先接收口腔扫描请求，并基于口腔扫描请求，获取目标对象的扫描数据，其中，扫描数据包括：目标对象上安装的目标扫描杆的扫描数据，之后可匹配目标扫描杆的扫描数据与目标扫描杆的标准数据，利用匹配出的目标扫描杆的标准数据替换扫描数据中目标扫描杆的扫描数据，得到目标对象的数字化口腔数据。在该实施例中，可以在得到数字化口腔数据的过程中，自动化替换扫描杆区域的扫描数据，生成可直接设计使用的数字化口腔数据(可理解为一种标准的口腔种植CAD数据)，这样可以在将三维数据发送到齿科加工厂或技工所后，设计人员无需对扫描杆标准数据进行拼接匹配，直接利用数字化口腔数据，加工目标对象的口腔牙模，减少返工环节和重复扫描的流程，从而解决相关技术中人工根据经验确定扫描完成，容易出现扫描数据无法在设计和制作阶段使用匹配，增加复杂的返工流程或重复扫描流程的技术问题。
本实施例中具体的实施方案可参照一种数字化口腔数据的获取方法的实施例。
图3是根据本发明实施例的一种可选的数字化口腔数据的获取装置的示意图，如图3所示，该获取装置可以包括：接收单元31、获取单元33、匹配单元35、替换单元37，其中，
接收单元31，设置为接收口腔扫描请求；
获取单元33，设置为基于口腔扫描请求，获取目标对象的扫描数据，其中，扫描数据包括：目标对象上安装的目标扫描杆的扫描数据；
匹配单元35，设置为匹配目标扫描杆的扫描数据与目标扫描杆的标准数据；
替换单元37，设置为利用匹配出的目标扫描杆的标准数据替换扫描数据中目标扫描杆的扫描数据，得到目标对象的数字化口腔数据。
上述数字化口腔数据的获取装置，可以在得到数字化口腔数据的过程中，先通过接收单元31接收口腔扫描请求，并通过获取单元33基于口腔扫描请求，获取目标对象的扫描数据，其中，扫描数据包括：目标对象上安装的目标扫描杆的扫描数据，之后可通过匹配单元35匹配目标扫描杆的扫描数据与目标扫描杆的标准数据，通过替换单元37利用匹配出的目标扫描杆的标准数据替换扫描数据中目标扫描杆的扫描数据，得到目标对象的数字化口腔数据。在该实施例中，可以在得到数字化口腔数据的过程中，自动化替换扫描杆区域的扫描数据，生成可直接设计使用的数字化口腔数据(可理解为一种标准的口腔种植CAD数据)，这样可以在将三维数据发送到齿科加工厂或技工所后，设计人员无需对扫描杆标准数据进行拼接匹配，直接利用该数字化口腔数据，加工目标对象的口腔牙模，减少返工环节和重复扫描的流程，从而解决相关技术中人工根据经验确定扫描完成，容易出现扫描数据无法在设计和制作阶段使用匹配，增加复杂的返工流程或重复扫描流程的技术问题。
可选的，获取单元包括：安装模块，设置为基于口腔扫描请求，第一控制模块，设置为控制扫描仪对目标对象进行多角度扫描，得到目标对象的多个单片扫描数据，其中，至少部分单片扫描数据中包括部分目标扫描杆的扫描数据，多个单片扫描数据拼接成目标对象的整体扫描数据，目标对象的扫描数据包括目标扫描杆的扫描数据。
在本发明实施例中，匹配单元包括：第一获取模块，设置为获取目标对象扫描杆的标识信息；第二获取模块，设置为基于目标扫描杆的标识信息获取目标扫描杆的标准数据；匹配模块，设置为匹配目标扫描杆的扫描数据与目标扫描杆的标准数据。
可选的，第二获取模块包括：获取子模块，设置为获取扫描杆数据库，其中，扫描杆数据库包括多种类型的扫描杆的标准数据，每种类型的扫描杆的标准数据对应有标识信息，多种类型的扫描杆的标准数据包括目标扫描杆的标准数据，目标扫描杆的标准数据对应有目标扫描杆的标识信息；第一加载子模块，设置为将扫描杆数据库加载至云服务器中；下载子模块，设置为从云服务器中下载目标扫描杆的标准数据。
可选地，获取装置还包括：第二加载子模块，设置为在获取扫描杆数据库后，将扫描杆数据库加载至当前终端的分布式存储磁盘中；读取子模块，设置为基于目标扫描杆的标识信息，从分布式存储磁盘读取目标扫描杆的标准数据。
在本发明实施例中，所述获取装置还包括：确定模块，设置为基于数字化口腔数据，确定牙模加工数据，其中，牙模加工数据至少包括以下之一：牙模的基台外形、牙冠外形、带孔模型目标对象。
上述的数字化口腔数据的获取装置还可以包括处理器和存储器，上述接收单元31、获取单元33、匹配单元35、替换单元37等均作为程序单元存储在存储器中，由处理器执行存储在存储器中的上述程序单元来实现相应的功能。
上述处理器中包含内核，由内核去存储器中调取相应的程序单元。内核可以设置一个或以上，通过调整内核参数来基于数字化口腔数据，加工目标对象的口腔牙模，以使目标对象佩戴口腔牙模。
上述存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)，存储器包括至少一个存储芯片。
根据本发明实施例的另一方面，还提供了一种电子设备，包括：处理器；以及存储器，设置为存储处理器的可执行指令；其中，处理器配置为经由执行可执行指令来执行上述任意一项的数字化口腔数据的获取方法。
根据本发明实施例的另一方面，还提供了一种计算机可读存储介质，计算机可读存储介质包括存储的计算机程序，其中，在计算机程序运行时控制计算机可读存储介质所在设备执行上述任意一项的数字化口腔数据的获取方法。
本申请还提供了一种计算机程序产品，当在数据处理设备上执行时，适于执行初始化有如下方法步骤的程序：接收口腔扫描请求；基于口腔扫描请求，获取目标对象的扫描数据，其中，扫描数据包括：目标对象上安装的目标扫描杆的扫描数据；匹配目标扫描杆的扫描数据与目标扫描杆的标准数据；利用匹配出的目标扫描杆的标准数据替换扫描数据中目标扫描杆的扫描数据，得到目标对象的数字化口腔数据。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
在本发明的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。
工业实用性
本申请实施例提供的方案可以用于获取数字化口腔数据，在扫描过程或者扫描完成后，自动化完成扫描的扫描杆数据的替换动作，标准数据在扫描阶段提高及确保扫 描杆数据的完整性和准确性，在本申请实施例提供的技术方案中，可以在得到数字化口腔数据的过程中，自动将扫描杆的扫描数据替换为扫描杆的标准数据，不管扫描杆的扫描数据是完整的还是局部的，均能替换为扫描杆的完整的标准数据，生成可直接设计使用的数字化口腔数据，这样可以在将三维数据发送到齿科加工厂或技工所后，设计人员标准数据可直接利用该数字化口腔数据，加工用户的口腔牙模，减少返工环节和重复扫描的流程，解决相关技术中人工根据经验确定扫描完成，容易出现扫描数据无法在设计和制作阶段使用匹配，增加复杂的返工流程或重复扫描流程的技术问题。

Claims (10)

  1. 一种数字化口腔数据的获取方法，包括：
    接收口腔扫描请求；
    基于所述口腔扫描请求，获取目标对象的扫描数据，其中，所述扫描数据包括：所述目标对象上安装的目标扫描杆的扫描数据；
    匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据；
    利用匹配出的所述目标扫描杆的标准数据替换所述目标对象的扫描数据中所述目标扫描杆的扫描数据，得到所述目标对象的数字化口腔数据。
  2. 根据权利要求1所述的获取方法，其中，基于所述口腔扫描请求，获取所述目标对象的扫描数据的步骤，包括：
    基于所述口腔扫描请求，控制扫描仪对所述目标对象进行多角度扫描，得到目标对象的多个单片扫描数据，其中，至少部分单片扫描数据中包括所述目标扫描杆的扫描数据，所述多个单片扫描数据拼接成所述目标对象的整体扫描数据，所述目标对象的扫描数据包括所述目标扫描杆的扫描数据。
  3. 根据权利要求1所述的获取方法，其中，匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据的步骤，包括：
    获取所述目标对象扫描杆的标识信息；
    基于所述目标扫描杆的标识信息获取所述目标扫描杆的标准数据；
    匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据。
  4. 根据权利要求1或3中任意一项所述的获取方法，其中，匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据的步骤，包括：
    获取扫描杆数据库，其中，所述扫描杆数据库包括多种类型的扫描杆的标准数据，每种类型的扫描杆的标准数据对应有标识信息，所述多种类型的扫描杆的标准数据包括所述目标扫描杆的标准数据，所述目标扫描杆的标准数据对应有目标扫描杆的标识信息；
    将所述扫描杆数据库加载至云服务器中；
    从所述云服务器中下载所述目标扫描杆的标准数据。
  5. 一种数字化数据的获取方法，其中，包括：
    接收扫描请求；
    基于所述扫描请求，获取目标对象的扫描数据，其中，所述扫描数据包括：
    所述目标对象上安装的辅助件的扫描数据；
    匹配所述辅助件的扫描数据与所述辅助件的标准数据；
    利用匹配出的所述辅助件的标准数据替换所述目标对象的扫描数据中所述辅助件的扫描数据，得到所述目标对象的数字化数据。
  6. 一种牙齿扫描仪控制系统，包括：
    牙齿扫描仪，设置为对目标对象进行扫描，得到目标对象的扫描数据；
    计算机，与所述牙齿扫描仪连接，设置为运行程序，其中，所述程序运行时执行权利要求1至4中任意一项所述的数字化口腔数据的获取方法。
  7. 根据权利要求6所述的控制系统，其中，所述控制系统还包括：
    服务器，与所述计算机连接，设置为存储扫描杆标准数据，并在接收到匹配请求时，将与目标扫描杆的标准数据发送至所述计算机中。
  8. 一种数字化口腔数据的获取装置，包括：
    接收单元，设置为接收口腔扫描请求；
    获取单元，设置为基于所述口腔扫描请求，获取目标对象的扫描数据，其中，所述扫描数据包括：所述目标对象上安装的目标扫描杆的扫描数据；
    匹配单元，设置为匹配所述目标扫描杆的扫描数据与所述目标扫描杆的标准数据；
    替换单元，设置为利用匹配出的所述目标扫描杆的标准数据替换所述目标对象的扫描数据中目标扫描杆的扫描数据，得到目标对象的数字化口腔数据。
  9. 一种电子设备，包括：
    处理器；以及
    存储器，设置为存储所述处理器的可执行指令；
    其中，所述处理器配置为经由执行所述可执行指令来执行权利要求1至4中任意一项所述的数字化口腔数据的获取方法。
  10. 一种计算机可读存储介质，所述计算机可读存储介质包括存储的计算机程序，其中，在所述计算机程序运行时控制所述计算机可读存储介质所在设备执行权利要求1至4中任意一项所述的数字化口腔数据的获取方法。
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