CN115429469A - Scanning device, method, orthodontic monitoring method, device, medium and equipment - Google Patents
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- A61C9/00—Impression cups, i.e. impression trays; Impression methods
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- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
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- A61C9/00—Impression cups, i.e. impression trays; Impression methods
- A61C9/004—Means or methods for taking digitized impressions
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- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本公开涉及扫描仪技术领域，具体涉及一种扫描装置、方法、牙齿矫正监测方法、装置、介质及设备。The present disclosure relates to the technical field of scanners, in particular to a scanning device, method, orthodontic monitoring method, device, medium and equipment.
背景技术Background technique
牙齿对于人类而言除了最重要的咀嚼功能之外，一定程度上也存在着美观的作用，牙齿的生长位置是否合理会直接影响人们的面部轮廓，因此在现代社会中越来越多的人出于美观的目的主动矫正牙齿。In addition to the most important chewing function for human beings, teeth also have an aesthetic effect to a certain extent. Whether the growth position of teeth is reasonable will directly affect people's facial contours. Therefore, in modern society, more and more people are out of Active orthodontics for cosmetic purposes.
矫正牙齿的方法是通过金属托槽对牙齿施加一定的压力来进行矫正，矫正的时长一般会持续在半年到一年之间，一些患者由于牙齿情况比较复杂的原因，矫正时长还可能达到三到四年。目前存在着大量患者的牙齿矫正效果不好，究其原因，不是矫正方案有误，而是患者无法坚持。由于传统的扫描方法需要掌握一定的扫描技能才能较好地获得牙齿三维模型，而患者往往不具备这样的扫描技能，因此患者在牙齿矫正期间，一般只能定期到医生处，由医生进行采用专业的仪器进行检查和纠正，一旦发现矫正效果未达预期，就需要及时调整矫正方案，保证矫正的顺利进行。由于需要浪费大量的时间和精力，有些患者可能没有及时到医生处检查牙齿矫正效果从而调整矫正方案，导致最终的牙齿矫正的效果偏离初衷，即矫正失败，给医生和患者都带来了不可估量的损失。因此对于医生和患者来说，都迫切需要一种操作简单的扫描牙齿三维模型的工具，方便患者自身就能及时地对牙齿进行扫描，确定牙齿三维模型，以便能够及时生成监测结果，即及时查看牙齿矫正效果，从而提高最终的矫正成功率。The method of orthodontics is to apply a certain amount of pressure to the teeth through metal brackets. The orthodontic period generally lasts between six months and one year. Some patients may have three to three years of orthodontic treatment due to the complex condition of their teeth. four years. At present, there are a large number of patients whose orthodontic effect is not good. The reason is not that the orthodontic plan is wrong, but that the patients cannot persist. Because the traditional scanning method needs to master certain scanning skills to get a good three-dimensional model of teeth, and patients often do not have such scanning skills, patients generally can only go to the doctor regularly during orthodontics, and the doctor uses professional Once the corrective effect is found to be unsatisfactory, it is necessary to adjust the correction plan in time to ensure the smooth progress of the correction. Due to the need to waste a lot of time and energy, some patients may not go to the doctor to check the effect of orthodontics in time to adjust the orthodontic plan, resulting in the final effect of orthodontics deviating from the original intention, that is, the failure of orthodontics, bringing immeasurable costs to both doctors and patients Loss. Therefore, for doctors and patients, there is an urgent need for an easy-to-operate tool for scanning the 3D model of teeth, so that patients can scan their teeth in time to determine the 3D model of teeth, so that the monitoring results can be generated in time, that is, they can be viewed in time. Orthodontic effect, thereby improving the final success rate of orthodontics.
发明内容Contents of the invention
为了解决上述技术问题或至少部分解决上述技术问题，本公开提供了一种扫描装置、方法、牙齿矫正监测方法、装置、介质及设备。In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a scanning device, method, orthodontic monitoring method, device, medium and equipment.
第一方面，本公开提供了一种扫描装置，所述装置包括：In a first aspect, the present disclosure provides a scanning device, the device comprising:
扫描仪、印模和印模控制件；Scanners, impressions and impression controls;
所述扫描仪与所述印模控制件相对位置固定；所述印模控制件用于调整所述印模的位姿；所述印模用于与使用者的牙齿咬合，印出所述使用者的牙齿形状；所述扫描仪用于对至少两种位姿下的所述印模进行扫描，通过所述印模印出的所述使用者的牙齿形状确定所述使用者的牙齿三维模型。The relative position of the scanner and the impression control part is fixed; the impression control part is used to adjust the pose of the impression; The tooth shape of the user; the scanner is used to scan the impression in at least two postures, and the tooth shape of the user printed by the impression determines the three-dimensional model of the user's teeth .
可选地，所述印模包括印模本体、牙弓槽和托盘底座；所述印模本体用于与使用者的牙齿咬合，印出所述使用者的牙齿形状，所述印模本体设置于所述牙弓槽中，所述托盘底座用于承托所述牙弓槽；所述牙弓槽和所述托盘底座的形状均与所述使用者的牙弓形状相匹配；Optionally, the impression includes an impression body, a dental arch groove, and a tray base; the impression body is used to occlude with the user's teeth to print out the shape of the user's teeth, and the impression body is set In the dental arch slot, the tray base is used to support the dental arch slot; the shapes of the dental arch slot and the tray base are both matched with the shape of the user's dental arch;
在所述使用者的牙齿相互咬合所对应的平面上，所述牙弓槽的宽度大于所述使用者的牙齿宽度，且牙弓槽的宽度与所述牙齿宽度的差值小于或等于第一宽度阈值，所述托盘底座的宽度大于或等于所述牙弓槽的宽度，且所述托盘底座的宽度与所述牙弓槽的宽度的差值小于或等于第二宽度阈值；所述第一宽度阈值大于零，所述第二宽度阈值大于等于零。On the plane corresponding to the mutual occlusal of the user's teeth, the width of the dental arch groove is greater than the width of the user's teeth, and the difference between the width of the dental arch groove and the tooth width is less than or equal to the first a width threshold, the width of the tray base is greater than or equal to the width of the dental arch groove, and the difference between the width of the tray base and the width of the dental arch groove is less than or equal to a second width threshold; the first The width threshold is greater than zero, and the second width threshold is greater than or equal to zero.
可选地，所述印模本体设置至少两个牙位，所述牙位用于引导所述使用者将牙齿与所述牙位对齐，所述任一所述牙位的位置与其对应的所述使用者的牙齿的位置相匹配。Optionally, the impression body is provided with at least two teeth positions, and the teeth positions are used to guide the user to align the teeth with the teeth positions, and the position of any one of the teeth positions corresponds to all teeth positions. match the position of the user's teeth.
可选地，所述装置还包括扫描仓；所述扫描仪设置于所述扫描仓内，所述印模控制件使所述印模在所述扫描仓内调整位姿，且所述印模与所述扫描仪之间留有间隙。Optionally, the device further includes a scanning chamber; the scanner is arranged in the scanning chamber, the impression control part adjusts the pose of the impression in the scanning chamber, and the impression Leave a gap with the scanner.
可选地，所述扫描仓侧壁设置转轴，所述印模控制件安装于所述转轴处，并且通过所述转轴旋转自身实现调整所述印模的位姿。Optionally, a rotating shaft is provided on the side wall of the scanning chamber, the impression control member is installed on the rotating shaft, and the pose of the impression can be adjusted by rotating the rotating shaft itself.
可选地，所述转轴设置至少两个旋转档位，所述旋转档位用于引导使用者将所述印模的位姿旋转至预设的角度。Optionally, the rotating shaft is provided with at least two rotation gears, and the rotation gears are used to guide the user to rotate the pose of the impression to a preset angle.
第二方面，本公开还提供了一种扫描方法，所述方法应用于如第一方面中任一项所述的扫描装置，所述方法包括：In a second aspect, the present disclosure also provides a scanning method, the method is applied to the scanning device according to any one of the first aspect, and the method includes:
通过印模印出使用者的牙齿形状；Print the shape of the user's teeth through the impression;
通过所述印模控制件调整所述印模的位姿，同时通过扫描仪对至少两种位姿下的所述印模进行扫描，通过所述印模印出的所述使用者的牙齿形状确定所述使用者的牙齿三维模型。The pose of the impression is adjusted by the impression control part, and at the same time, the impression is scanned in at least two poses by the scanner, and the tooth shape of the user is printed out by the impression A three-dimensional model of teeth of the user is determined.
可选地，所述通过所述印模控制件调整所述印模的位姿，包括：Optionally, the adjusting the pose of the impression through the impression control part includes:
通过所述印模控制件将所述印模依次调整至预设的位姿，使所述印模处于不同的预设倾斜角度，所述位姿的数量大于等于2。The impression is sequentially adjusted to preset poses through the impression control member, so that the impression is at different preset inclination angles, and the number of poses is greater than or equal to two.
第三方面，本公开还提供了一种扫描装置，所述装置包括：In a third aspect, the present disclosure also provides a scanning device, the device comprising:
印模控制模块，用于通过印模印出使用者的牙齿形状；The impression control module is used to print out the tooth shape of the user through the impression;
模型确定模块，用于通过所述印模控制件调整所述印模的位姿，同时通过扫描仪对至少两种位姿下的所述印模进行扫描，通过所述印模印出的所述使用者的牙齿形状确定所述使用者的牙齿三维模型。A model determination module, configured to adjust the pose of the die through the die control part, and at the same time scan the die in at least two poses through the scanner, and print out the die through the die The shape of the teeth of the user determines the three-dimensional model of the teeth of the user.
第四方面，本公开还提供了一种牙齿矫正监测方法，所述方法包括如第二方面中任一项所述的扫描方法，所述方法还包括：In the fourth aspect, the present disclosure also provides a method for monitoring orthodontics, the method includes the scanning method according to any one of the second aspect, and the method further includes:
获取所述使用者当前的矫正阶段，基于所述当前的矫正阶段确定使用者的目标牙齿三维模型；Acquiring the current correction stage of the user, and determining the three-dimensional model of the user's target teeth based on the current correction stage;
将实际牙齿三维模型与所述目标牙齿三维模型进行比较，确定牙齿位置的偏差值，基于所述偏差值生成监测结果。The actual tooth three-dimensional model is compared with the target tooth three-dimensional model, the deviation value of the tooth position is determined, and the monitoring result is generated based on the deviation value.
可选地，所述将实际牙齿三维模型与所述目标牙齿三维模型进行比较，确定牙齿位置的偏差值，包括：Optionally, the comparing the actual tooth three-dimensional model with the target tooth three-dimensional model to determine the deviation value of the tooth position includes:
将所述实际牙齿三维模型与所述目标牙齿三维模型对齐至同一坐标系下；Aligning the actual tooth three-dimensional model and the target tooth three-dimensional model in the same coordinate system;
获取实际牙齿三维模型中的第一目标点的坐标，以及获取和与所述第一目标点对应的所述目标牙齿三维模型中的第二目标点的坐标；acquiring the coordinates of a first target point in the actual three-dimensional tooth model, and acquiring the coordinates of a second target point in the target tooth three-dimensional model corresponding to the first target point;
将所述第一目标点的坐标与所述第二目标点的坐标进行比较，确定坐标差值，基于所述坐标差值确定牙齿位置的偏差值。Comparing the coordinates of the first target point with the coordinates of the second target point, determining a coordinate difference, and determining a tooth position deviation value based on the coordinate difference.
第五方面，本公开还提供了一种牙齿矫正监测装置，所述装置包括如第三方面所述的扫描装置，所述装置还包括：In the fifth aspect, the present disclosure also provides an orthodontic monitoring device, the device includes the scanning device as described in the third aspect, and the device further includes:
模型获取模块，用于确定所述使用者当前的矫正阶段，基于所述当前的矫正阶段获取使用者的目标牙齿三维模型，其中不同的所述矫正阶段对应的目标牙齿三维模型均不同；A model acquisition module, configured to determine the user's current correction stage, and obtain the user's target tooth three-dimensional model based on the current correction stage, wherein the target tooth three-dimensional models corresponding to different correction stages are different;
比较模块，用于将所述实际牙齿三维模型与所述目标牙齿三维模型进行比较，确定牙齿位置的偏差值，基于所述偏差值生成监测结果。A comparison module, configured to compare the actual tooth three-dimensional model with the target tooth three-dimensional model, determine the deviation value of the tooth position, and generate a monitoring result based on the deviation value.
第六方面，本公开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存储程序或指令，所述程序或指令使计算机执行如第二方面中任一项或第四方面中任一项所述方法的步骤。In a sixth aspect, the present disclosure also provides a computer-readable storage medium, the computer-readable storage medium stores a program or an instruction, and the program or instruction causes the computer to execute any one of the second aspect or the fourth aspect. The steps of any one of the methods.
第七方面，本公开还提供了一种电子设备，包括：处理器和存储器；In a seventh aspect, the present disclosure also provides an electronic device, including: a processor and a memory;
所述处理器通过调用所述存储器存储的程序或指令，用于执行如第二方面中任一项或第四方面中任一项所述方法的步骤。The processor is used to execute the steps of the method according to any one of the second aspect or any one of the fourth aspect by invoking the programs or instructions stored in the memory.
本公开提供的扫描装置包括扫描仪、印模和印模控制件；扫描仪与印模控制件相对位置固定；印模控制件用于调整印模的位姿；印模用于与使用者的牙齿咬合，印出使用者的牙齿形状；扫描仪用于对至少两种位姿下的印模进行扫描，通过印模印出的使用者的牙齿形状确定使用者的牙齿三维模型。基于上述装置，使用者可以在需要确定牙齿三维模型时将印模放到自身的牙齿上进行咬合，印出牙齿的形状，然后将印模安装在印模控制杆上，只需要通过印模控制杆调整印模的位姿，同时通过扫描仪对至少两种位姿下的印模进行扫描，就可以确定出使用者的牙齿三维模型。此装置操作简单快捷，降低了使用者的使用难度，提升了使用者的使用体验，使用者可以通过该装置自行确定出牙齿三维模型；另外，使用者通过该装置及时获取牙齿三维模型，可以及时生成监测结果，即及时查看牙齿矫正效果，有助于提高最终的矫正成功率。The scanning device provided by the present disclosure includes a scanner, an impression, and an impression control part; the relative position of the scanner and the impression control part is fixed; the impression control part is used to adjust the pose of the impression; the impression is used to communicate with the user Teeth are occluded, and the shape of the user's teeth is printed out; the scanner is used to scan the impressions in at least two poses, and the shape of the user's teeth printed by the impressions is used to determine the three-dimensional model of the user's teeth. Based on the above-mentioned device, the user can put the impression on his own teeth for occlusion when he needs to determine the three-dimensional model of the teeth, print out the shape of the teeth, and then install the impression on the impression control rod, only through the impression control The rod adjusts the pose of the impression, and at the same time, the scanner scans the impression in at least two poses to determine the three-dimensional model of the user's teeth. The device is simple and quick to operate, which reduces the user's difficulty in use and improves the user's experience. The user can determine the three-dimensional model of the tooth through the device; in addition, the user obtains the three-dimensional model of the tooth in time through the device, and can Generate monitoring results, that is, check the effect of orthodontics in time, which helps to improve the final success rate of orthodontics.
附图说明Description of drawings
图1为本公开实施例提供的一种扫描装置结构示意图；FIG. 1 is a schematic structural diagram of a scanning device provided by an embodiment of the present disclosure;
图2为本公开实施例提供的一种印模结构示意图；Fig. 2 is a schematic structural diagram of a stamp provided by an embodiment of the present disclosure;
图3为本公开实施例提供的一种转轴结构示意图；FIG. 3 is a schematic structural diagram of a rotating shaft provided by an embodiment of the present disclosure;
图4为本公开实施例提供的一种扫描方法流程示意图；FIG. 4 is a schematic flowchart of a scanning method provided by an embodiment of the present disclosure;
图5为本公开实施例提供的一种扫描装置结构示意图；FIG. 5 is a schematic structural diagram of a scanning device provided by an embodiment of the present disclosure;
图6为本公开实施例提供的一种牙齿矫正监测方法流程示意图；FIG. 6 is a schematic flowchart of a method for monitoring orthodontics provided by an embodiment of the present disclosure;
图7为本公开实施例提供的一种牙齿矫正监测装置结构示意图；Fig. 7 is a schematic structural diagram of an orthodontic monitoring device provided by an embodiment of the present disclosure;
图8为本公开实施例提供的电子设备的结构示意图。FIG. 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.
具体实施方式detailed description
为了能够更清楚地理解本公开的上述目的、特征和优点，下面将对本公开的方案进行进一步描述。需要说明的是，在不冲突的情况下，本公开的实施例及实施例中的特征可以相互组合。In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, in the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.
在下面的描述中阐述了很多具体细节以便于充分理解本公开，但本公开还可以采用其他不同于在此描述的方式来实施；显然，说明书中的实施例只是本公开的一部分实施例，而不是全部的实施例。In the following description, many specific details are set forth in order to fully understand the present disclosure, but the present disclosure can also be implemented in other ways than described here; obviously, the embodiments in the description are only some of the embodiments of the present disclosure, and Not all examples.
下面结合附图对本公开实施例提供的扫描装置、方法、牙齿矫正监测方法、装置、介质及设备进行示例性说明。The scanning device, method, orthodontic monitoring method, device, medium and equipment provided by the embodiments of the present disclosure will be exemplarily described below with reference to the accompanying drawings.
图1为本公开实施例提供的一种扫描装置结构示意图，该装置包括：Fig. 1 is a schematic structural diagram of a scanning device provided by an embodiment of the present disclosure, the device includes:
扫描仪11、印模12和印模控制件13。
扫描仪11与印模控制件13相对位置固定。印模控制件13用于调整印模12的位姿。印模12用于与使用者的牙齿咬合，印出使用者的牙齿形状。扫描仪11用于对至少两种位姿下的印模12进行扫描，通过印模12印出的使用者的牙齿形状确定使用者的牙齿三维模型。The relative position of the
在一些实施方式中，装置还包括扫描仓14。扫描仪11设置于扫描仓14内，印模控制件13使印模12在扫描仓14内调整位姿，且印模12与扫描仪11之间留有间隙。In some embodiments, the device also includes a
在一些实施方式中，扫描仓14侧壁设置转轴15(未示出)，印模控制件13安装于转轴15处，并且通过转轴15旋转自身实现调整印模12的位姿。In some embodiments, a rotating shaft 15 (not shown) is provided on the side wall of the
具体地，扫描仪11可以是结构光三维扫描仪，用于确定牙齿三维模型。印模12是用于拓印使用者的牙齿形状的器件，将印模12与使用者的牙齿咬合后，印模12可以保留使用者的牙齿的形状。印模控制件13是用于调整印模12的位姿的器件，印模控制件13可以是一控制杆，为了固定印模12，印模12和印模控制件13上还可以设置相互配合作用的卡扣或插销，用于将印模12固定在印模控制件13上。使用者可以是患者，即需要进行牙齿矫正的人员。Specifically, the
参阅图1，扫描仪11与印模控制件13的位置相对固定，在使用时可以将印模12安装在印模控制件13上，通过印模控制件13调整印模12的位姿，例如旋转印模控制件13，同时带动印模12旋转，即实际上实现了印模12以一轴心为轴旋转，进而实现印模12的不同位姿，使扫描仪11可以对至少两种位姿下的印模12进行扫描，在获取到至少两种位姿下的印模的扫描图像后，可以对扫描图像进行拼接等等，确定出使用者的牙齿三维模型。在一些实施方式中，还可以以其他的方式调整印模12的位姿，例如通过将印模12安装于印模控制件13之后，通过拨动印模12本身，实现印模12以一轴心为轴旋转；又或者是调整印模12的相对于印模控制件的安装位置，以实现改变印模12的位姿；又或者是在印模控制件13上设置多个用于安装印模12的安装槽，印模12安装在不同的安装槽上时，印模12的位姿均不同等等。另外，扫描仪11与印模控制件13的位置相对固定实际上保证了扫描仪11与印模12之间距离的相对固定，有效提升了扫描仪11的扫描精度，防止印模12与扫描仪11之间的距离过近或过远而导致扫描仪11无法扫描到清晰的印模12的图像。本领域技术人员应当理解的是，上述实施例仅仅是本方案的一种示例，在一些其他的实施方式中，印模控制件13可以任意一种方式对印模12的位姿进行调整，以达到扫描仪11对印模12进行扫描，确定使用者的牙齿三维模型的目的。Referring to Fig. 1, the positions of the
基于上述装置，使用者可以在需要确定牙齿三维模型时将印模放到自身的牙齿上进行咬合，印出牙齿的形状，然后将印模安装在印模控制杆上，只需要通过印模控制杆调整印模的位姿，同时通过扫描仪对至少两种位姿下的印模进行扫描，就可以确定出使用者的牙齿三维模型。此装置操作简单快捷，降低了使用者的使用难度，提升了使用者的使用体验，使用者可以通过该装置自行确定出牙齿三维模型；另外，使用者通过该装置及时获取牙齿三维模型，可以及时生成监测结果，即及时查看牙齿矫正效果，有助于提高最终的矫正成功率。Based on the above-mentioned device, the user can put the impression on his own teeth for occlusion when he needs to determine the three-dimensional model of the teeth, print out the shape of the teeth, and then install the impression on the impression control rod, only through the impression control The rod adjusts the pose of the impression, and at the same time, the scanner scans the impression in at least two poses to determine the three-dimensional model of the user's teeth. The device is simple and quick to operate, which reduces the user's difficulty in use and improves the user's experience. The user can determine the three-dimensional model of the tooth through the device; in addition, the user obtains the three-dimensional model of the tooth in time through the device, and can Generate monitoring results, that is, check the effect of orthodontics in time, which helps to improve the final success rate of orthodontics.
图2为本公开实施例提供的一种印模结构示意图，在一些实施方式中，印模12包括印模本体121(未示出)、牙弓槽122和托盘底座123。印模本体121用于与使用者的牙齿咬合，印出使用者的牙齿形状，印模本体121设置于牙弓槽122中，托盘底座123用于承托牙弓槽122。牙弓槽122和托盘底座123的形状均与使用者的牙弓形状相匹配。FIG. 2 is a schematic structural view of an impression provided by an embodiment of the present disclosure. In some embodiments, the
在使用者的牙齿相互咬合所对应的平面上，牙弓槽122的宽度大于使用者的牙齿宽度，且牙弓槽122的宽度与牙齿宽度的差值小于或等于第一宽度阈值，托盘底座123的宽度大于或等于牙弓槽122的宽度，且托盘底座123的宽度与牙弓槽122的宽度的差值小于或等于第二宽度阈值。第一宽度阈值大于零，第二宽度阈值大于等于零。On the plane corresponding to the mutual occlusal of the user's teeth, the width of the dental
具体地，印模可以包含三个部分，第一部分为印模本体121，该部分为拓印使用者牙齿形状的设备(或工具)，可以是硅橡胶印模材料；第二部分为牙弓槽122，其主要作用为放置或承装印模本体121；第三部分为托盘底座123，用于固定牙弓槽122。Specifically, the impression can include three parts. The first part is the impression body 121, which is a device (or tool) for rubbing the shape of the user's teeth, which can be a silicone rubber impression material; the second part is the dental
为了使印模12更加契合使用者，可以首先通过扫描仪等设备提前获取使用者的牙齿三维模型，确定使用者的牙弓形状以及牙齿形状等等，基于使用者的牙弓形状以及牙齿形状可以对印模12进行订制，将印模的体积做小。继续参阅图2，以图2中示出的牙弓槽的宽度x为例，在同一方向上的使用者的牙齿的宽度略小于牙弓槽的宽度即可，例如使用者的牙齿宽度为3mm(长度单位：毫米)那么牙弓槽122的宽度则可以为5mm，即实际上印模本体121的宽度为5mm，即可满足使用者的使用需求，应用于本实施例中，第一宽度阈值可以是2mm，即牙弓槽122的宽度与牙齿宽度的差值小于或等于2mm；对于托盘底座123而言，托盘底座123的主要作用在于固定牙弓槽122，因此在图2中宽度x的方向上，托盘底座123的宽度大于等于牙弓槽122的宽度即可，应用于本实施例中，第二宽度阈值可以任一大于或等于零的数值；另外，牙弓槽122和托盘底座123的形状与使用者的牙弓形状也可以相同。In order to make the
基于上述装置，可以提供使用者一种契合使用者的牙齿形状的印模，提升使用者的使用体验，同时由于基于使用者的牙齿形状或牙弓形状订制印模，因此可以将印模的体积做小，无需考虑普适性而故意做大面积，一定程度上能够节省物料成本。Based on the above device, the user can be provided with an impression that fits the shape of the user's teeth, which improves the user's experience. At the same time, because the impression is customized based on the shape of the user's teeth or dental arch, the shape of the impression can be The volume is small, and there is no need to consider the universality to deliberately make the area large, which can save material costs to a certain extent.
在一些实施方式中，印模本体121设置至少两个牙位，牙位用于引导使用者将牙齿与牙位对齐，任一牙位的位置与其对应的使用者的牙齿的位置相匹配。In some embodiments, the impression body 121 is provided with at least two tooth positions, and the tooth positions are used to guide the user to align the teeth with the tooth positions, and the position of any tooth position matches the position of the corresponding teeth of the user.
继续参阅图2，为了让使用者更加方便地使用印模12拓印牙齿的形状，还可以在印模本体121的表面或其他任一位置处设置用于定位的牙位124，牙位124的数量一般为两个以上，牙位124的位置与使用者牙齿的位置相匹配，且牙位124的形状也可以与使用者的牙齿的形状相匹配。Continuing to refer to Fig. 2, in order to allow the user to use the
基于该牙位，使用者通过自身的操作就可以较为容易地将牙齿对准该牙位进行咬合，使印模12可以较好地拓印出使用者的牙齿形状，降低了使用难度。Based on the tooth position, the user can easily align the teeth to the tooth position for occlusal through the user's own operation, so that the
图3为本公开实施例提供的一种转轴结构示意图，在一些实施方式中，转轴15设置至少两个旋转档位151，旋转档位151用于引导使用者将印模12的位姿旋转至预设的角度。Fig. 3 is a schematic diagram of a rotating shaft structure provided by an embodiment of the present disclosure. In some embodiments, the rotating
在一些应用场景中，可能无需扫描到印模的极限角落即可满足使用需求，即使用者仅仅需要将印模12调整至几个固定的位姿，扫描仪就可以根据获取到的扫描图像自动拼接并且计算出完整的牙齿三维模型。因此，为了方便使用者的使用，可以在转轴15设置至少两个旋转档位151，使用者可以将印模12旋转到特定的位姿。例如在转轴上以均匀间隔设置两个小型凹槽(即旋转档位)，在印模控制件13上以均匀间隔设置两个小型凸起，该凸起与该凹槽形状相互匹配，并且印模控制件13和该凸起均可以产生一定的形变，通过该装置，使用者可以在旋转印模控制件13时，将印模控制件13卡至固定的角度，即将印模12调整至固定的位姿。基于上述设置，可以通过旋转档位151提醒使用者已经旋转到位，同时防止使用者过度旋转，通过该旋转档位151保证旋转角度的准确性。In some application scenarios, it may not be necessary to scan to the extreme corners of the impression to meet the usage requirements, that is, the user only needs to adjust the
图4为本公开实施例提供的一种扫描方法流程示意图，该扫描方法应用于上述扫描装置实施例中任一项的扫描装置，方法包括：FIG. 4 is a schematic flow chart of a scanning method provided by an embodiment of the present disclosure. The scanning method is applied to the scanning device in any one of the above-mentioned scanning device embodiments. The method includes:
S401：通过印模印出使用者的牙齿形状。S401: Print out the shape of the teeth of the user through the impression.
S402：通过印模控制件调整印模的位姿，同时通过扫描仪对至少两种位姿下的印模进行扫描，通过印模印出的使用者的牙齿形状确定使用者的牙齿三维模型。S402: Adjust the pose of the impression through the impression control part, and at the same time scan the impression in at least two poses through the scanner, and determine the three-dimensional model of the user's teeth through the tooth shape of the user printed out by the impression.
在一些实施方式中，通过印模控制件调整印模的位姿，包括：In some embodiments, adjusting the pose of the impression via the impression controls includes:
通过印模控制件将印模依次调整至预设的位姿，使印模处于不同的预设倾斜角度，位姿的数量大于等于2。The impression is sequentially adjusted to preset poses through the impression control part, so that the impression is at different preset tilt angles, and the number of poses is greater than or equal to two.
具体地，使用者为了对牙齿的矫正效果进行监测，可以使用上述扫描装置实施例中的扫描装置，并且通过上述扫描方法准确地确定出使用者的实际牙齿三维模型。Specifically, in order to monitor the orthodontic effect of the teeth, the user may use the scanning device in the above scanning device embodiment, and accurately determine the user's actual three-dimensional tooth model through the above scanning method.
图5为本公开实施例提供的一种扫描装置结构示意图，该装置包括：Fig. 5 is a schematic structural diagram of a scanning device provided by an embodiment of the present disclosure, the device includes:
印模控制模块51，用于通过印模印出使用者的牙齿形状。The impression control module 51 is used to print out the tooth shape of the user through the impression.
模型确定模块52，用于通过印模控制件调整印模的位姿，同时通过扫描仪对至少两种位姿下的印模进行扫描，通过印模印出的使用者的牙齿形状确定使用者的牙齿三维模型。The model determination module 52 is configured to adjust the pose of the impression through the impression control part, and at the same time scan the impression in at least two poses through the scanner, and determine the shape of the user's teeth printed by the impression. 3D model of teeth.
本公开实施例提供的扫描装置与上述扫描方法相对应，因此也可以实现与上述扫描方法相同的技术效果，在此不再赘述。The scanning device provided by the embodiments of the present disclosure corresponds to the above-mentioned scanning method, and therefore can also achieve the same technical effect as the above-mentioned scanning method, which will not be repeated here.
图6为本公开实施例提供的一种牙齿矫正监测方法流程示意图，牙齿矫正监测方法包括上述扫描方法实施例中任一项的扫描方法，牙齿矫正监测方法还包括：Fig. 6 is a schematic flow chart of a method for monitoring orthodontics provided by an embodiment of the present disclosure. The method for monitoring orthodontics includes any one of the scanning methods in the foregoing scanning method embodiments. The method for monitoring orthodontics also includes:
S601：获取使用者当前的矫正阶段，基于当前的矫正阶段确定使用者的目标牙齿三维模型。S601: Obtain the current correction stage of the user, and determine the three-dimensional model of the user's target teeth based on the current correction stage.
S602：将实际牙齿三维模型与目标牙齿三维模型进行比较，确定牙齿位置的偏差值，基于偏差值生成监测结果。S602: Comparing the three-dimensional model of the actual tooth with the three-dimensional model of the target tooth, determining a deviation value of the tooth position, and generating a monitoring result based on the deviation value.
具体地，使用者首先可以基于上述扫描方法确定出实际牙齿三维模型。Specifically, the user may first determine the actual three-dimensional tooth model based on the above-mentioned scanning method.
在确定出实际牙齿三维模型之后，可以获取使用者当前的矫正阶段，然后基于当前的矫正阶段确定目标牙齿三维模型。其中，使用者在牙齿矫正过程中，可以分为多个矫正阶段，例如一个月的时长为一个矫正阶段，即使用者在开始矫正的第一个月内处于第一矫正阶段，在第二个月内处于第二矫正阶段等等，不同矫正阶段对应的目标牙齿三维模型可能相同也可能不同，可以将实际牙齿三维模型与目标牙齿三维模型进行比较，确定牙齿位置的偏差值，基于偏差值生成监测结果。可以将监测结果发送给医生，由医生根据监测结果确定下一阶段的矫正方案。After the actual three-dimensional tooth model is determined, the user's current orthodontic stage can be obtained, and then the target three-dimensional tooth model can be determined based on the current orthodontic stage. Among them, the user can be divided into multiple orthodontic stages in the process of orthodontics, for example, the length of one month is one orthodontic stage, that is, the user is in the first orthodontic stage in the first month of starting orthodontics, and in the second orthodontic stage. It is in the second correction stage within a month, etc. The 3D models of the target teeth corresponding to different correction stages may be the same or different. You can compare the actual 3D model of the teeth with the 3D model of the target teeth to determine the deviation value of the tooth position, and generate a tooth based on the deviation value. Monitoring results. The monitoring results can be sent to the doctor, and the doctor will determine the correction plan for the next stage based on the monitoring results.
由于可以基于上述牙齿矫正监测方法生成监测结果，使用者可以以比较简单的方式自行完成牙齿矫正监测的过程，进而使用者不需要去医院由医生采用专业的检测设备对牙齿矫正效果进行检测，只需要在家中就可以完成牙齿矫正效果的监测，只需要将监测结果发给医生即可，医生可以根据监测结果确定下一步的矫正方案。因此一定程度上降低了牙齿矫正的难度，节省了使用者的时间和精力，有助于提升最终的牙齿矫正的成功率。Since the monitoring results can be generated based on the above-mentioned orthodontic monitoring method, users can complete the process of orthodontic monitoring by themselves in a relatively simple manner, and then users do not need to go to the hospital for the doctor to use professional testing equipment to detect the orthodontic effect. It is necessary to complete the monitoring of the orthodontic effect at home, and only need to send the monitoring results to the doctor, and the doctor can determine the next step of the orthodontic plan based on the monitoring results. Therefore, the difficulty of orthodontics is reduced to a certain extent, the time and energy of the user are saved, and the success rate of final orthodontics is improved.
在一些实施方式，将实际牙齿三维模型与目标牙齿三维模型进行比较，确定牙齿位置的偏差值，包括：In some embodiments, the actual tooth three-dimensional model is compared with the target tooth three-dimensional model, and the deviation value of the tooth position is determined, including:
将实际牙齿三维模型与目标牙齿三维模型对齐至同一坐标系下。Align the actual three-dimensional tooth model with the target three-dimensional tooth model in the same coordinate system.
获取实际牙齿三维模型中的第一目标点的坐标，以及获取和与第一目标点对应的目标牙齿三维模型中的第二目标点的坐标。The coordinates of the first target point in the actual tooth three-dimensional model are obtained, and the coordinates of the second target point in the target tooth three-dimensional model corresponding to the first target point are obtained.
将第一目标点的坐标与第二目标点的坐标进行比较，确定坐标差值，基于坐标差值确定牙齿位置的偏差值。The coordinates of the first target point are compared with the coordinates of the second target point, a coordinate difference is determined, and a deviation value of the tooth position is determined based on the coordinate difference.
具体地，为了确定牙齿位置的偏差值，可以将实际牙齿三维模型与目标牙齿三维模型对齐至同一坐标系下，然后分别获取实际牙齿三维模型和目标牙齿三维模型中的目标点的坐标，即上述第一目标点的坐标和第二坐标点的坐标，将第一坐标点的坐标和第二坐标点的坐标进行比较，即可确定出坐标差值，该坐标差值即可以是牙齿位置的偏差值。Specifically, in order to determine the deviation value of the tooth position, the actual three-dimensional tooth model and the target tooth three-dimensional model can be aligned in the same coordinate system, and then the coordinates of the target points in the actual tooth three-dimensional model and the target tooth three-dimensional model are respectively obtained, that is, the above-mentioned The coordinates of the first target point and the coordinates of the second coordinate point, the coordinates of the first coordinate point and the coordinates of the second coordinate point are compared to determine the coordinate difference, which can be the deviation of the tooth position value.
通过上述方法，可以准确地确定出牙齿位置的偏差值。Through the above method, the deviation value of the tooth position can be accurately determined.
图7为本公开实施例提供的一种牙齿矫正监测装置结构示意图，牙齿矫正监测装置包括上述扫描装置实施例中的扫描装置，牙齿矫正监测装置还包括：Fig. 7 is a schematic structural diagram of an orthodontic monitoring device provided by an embodiment of the present disclosure. The orthodontic monitoring device includes the scanning device in the above scanning device embodiment, and the orthodontic monitoring device further includes:
模型获取模块71，用于确定使用者当前的矫正阶段，基于当前的矫正阶段获取使用者的目标牙齿三维模型，其中不同的矫正阶段对应的目标牙齿三维模型均不同。The model acquisition module 71 is configured to determine the user's current correction stage, and obtain the user's target tooth three-dimensional model based on the current correction stage, wherein different correction stages correspond to different target tooth three-dimensional models.
比较模块72，用于将实际牙齿三维模型与目标牙齿三维模型进行比较，确定牙齿位置的偏差值，基于偏差值生成监测结果。The comparison module 72 is configured to compare the actual tooth three-dimensional model with the target tooth three-dimensional model, determine the deviation value of the tooth position, and generate a monitoring result based on the deviation value.
本公开实施例提供的牙齿矫正监测装置与上述牙齿矫正监测方法相对应，因此也可以实现与上述牙齿矫正监测方法相同的技术效果，在此不再赘述。The orthodontic monitoring device provided in the embodiments of the present disclosure corresponds to the above-mentioned orthodontic monitoring method, and therefore can also achieve the same technical effect as the above-mentioned orthodontic monitoring method, which will not be repeated here.
本公开实施例还提供了一种计算机可读存储介质，计算机可读存储介质存储程序或指令，程序或指令使计算机执行上述实施方式提供的任一种方法的步骤。An embodiment of the present disclosure also provides a computer-readable storage medium, where the computer-readable storage medium stores a program or an instruction, and the program or instruction causes a computer to execute the steps of any one of the methods provided in the foregoing implementation manners.
在一些实施例中，该计算机可执行指令在由计算机处理器执行时还可以用于执行本公开实施例所提供的上述扫描方法或牙齿矫正监测方法的技术方案，实现对应的有益效果。In some embodiments, the computer-executable instructions can also be used to execute the technical solutions of the scanning method or the orthodontic monitoring method provided by the embodiments of the present disclosure when executed by the computer processor, so as to achieve corresponding beneficial effects.
本公开实施例还提供了一种电子设备，包括：处理器和存储器；处理器通过调用存储器存储的程序或指令，用于执行上述实施方式提供的任一种方法的步骤，实现对应的有益效果。An embodiment of the present disclosure also provides an electronic device, including: a processor and a memory; the processor is used to execute the steps of any one of the methods provided in the above-mentioned embodiments by calling a program or instruction stored in the memory to achieve corresponding beneficial effects .
图8为本公开实施例提供的电子设备的结构示意图。如图8所示，电子设备包括一个或多个处理器801和存储器802。FIG. 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. As shown in FIG. 8 , the electronic device includes one or
处理器801可以是中央处理单元(CPU)或者具有数据处理能力和/或指令执行能力的其他形式的处理单元，并且可以控制电子设备中的其他组件以执行期望的功能。The
存储器802可以包括一个或多个计算机程序产品，所述计算机程序产品可以包括各种形式的计算机可读存储介质，例如易失性存储器和/或非易失性存储器。所述易失性存储器例如可以包括随机存取存储器(RAM)和/或高速缓冲存储器(cache)等。所述非易失性存储器例如可以包括只读存储器(ROM)、硬盘、闪存等。在所述计算机可读存储介质上可以存储一个或多个计算机程序指令，处理器801可以运行所述程序指令，以实现上文所述的本公开的实施例的方法，和/或者其他期望的功能。在所述计算机可读存储介质中还可以存储诸如输入信号、信号分量、噪声分量等各种内容。
在一个示例中，电子设备还可以包括：输入装置803和输出装置804，这些组件通过总线系统和/或其他形式的连接机构(未示出)互连。In an example, the electronic device may further include: an
此外，该输入装置803还可以包括例如键盘、鼠标等等。In addition, the
该输出装置804可以向外部输出各种信息，包括确定出的距离信息、方向信息等。该输出装置804可以包括例如显示器、扬声器、打印机、以及通信网络及其所连接的远程输出设备等等。The
当然，为了简化，图8中仅示出了该电子设备中与本公开有关的组件中的一些，省略了诸如总线、输入/输出接口等等的组件。除此之外，根据具体应用情况，电子设备还可以包括任何其他适当的组件。Of course, for simplicity, only some of the components related to the present disclosure in the electronic device are shown in FIG. 8 , and components such as bus, input/output interface, etc. are omitted. In addition, the electronic device may also include any other suitable components according to specific applications.
需要说明的是，在本文中，诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Moreover, the term "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed, Or also include elements inherent in such a process, method, article or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征作出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings, but those skilled in the art will easily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.
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