阅读说明：本技术 口扫机系统及口扫机的操作方法 (Mouth scanner system and mouth scanner operation method ) 是由 吴壮为 詹宏智 于 2020-03-20 设计创作，主要内容包括：本发明提供一种口扫机系统及口扫机的操作方法。口扫机系统包含取像装置及处理器。口扫机的操作方法包含取像装置沿第一牙弓依序撷取M个影像,处理器依据M个影像建立第一牙弓的第一牙弓模型,取像装置沿第一牙弓的第一锚点位置至第二锚点位置的直线路径依序撷取N个影像,第一锚点位置位于第一牙弓的中心线的一侧,第二锚点位置位于中心线的另一侧,处理器依据N个影像产生第一锚点位置的第一坐标及第二锚点位置的第二坐标,及处理器依据第一坐标及第二坐标校正第一牙弓模型,如此,能够不需外部辅助装置定位而获得精准的牙齿模型及操作简单。(The invention provides a mouth-scanning machine system and an operation method of a mouth-scanning machine. The oral scanning system comprises an image capturing device and a processor. The operation method of the oral-scanning machine comprises the steps that the image capturing device captures M images in sequence along a first dental arch, the processor establishes a first dental arch model of the first dental arch according to the M images, the image capturing device captures N images in sequence along a linear path from a first anchor point position to a second anchor point position of the first dental arch, the first anchor point position is located on one side of a central line of the first dental arch, the second anchor point position is located on the other side of the central line, the processor generates a first coordinate of the first anchor point position and a second coordinate of the second anchor point position according to the N images, and the processor corrects the first dental arch model according to the first coordinate and the second coordinate.)

1. An operation method of a mouth-scanning machine, the mouth-scanning machine comprising an image capturing device and a processor, the operation method of the mouth-scanning machine comprising the steps of:

sequentially capturing M images along a first dental arch by the image capturing device, wherein M is a positive integer greater than 1;

establishing a first dental arch model of the first dental arch by the processor according to the M images;

sequentially capturing N images by the image capturing device along a linear path from a first anchor point position of the first dental arch to a second anchor point position of the first dental arch, wherein the first anchor point position is positioned on one side of a central line of the first dental arch, the second anchor point position is positioned on the other side of the central line, and N is a positive integer greater than 1;

generating a first coordinate of the first anchor point position and a second coordinate of the second anchor point position by the processor according to the N images; and

the processor corrects the first dental arch model according to the first coordinate and the second coordinate.

2. The method of operating a oral cleaning machine according to claim 1, further comprising the steps of:

sequentially capturing P images along a second dental arch by the image capturing device, wherein P is a positive integer greater than 1;

establishing a second dental arch model of the second dental arch by the processor according to the P images;

sequentially capturing Q images including the first part of the first dental arch and the second part of the second dental arch by the image capturing device, wherein Q is a positive integer;

establishing an alignment model of the first dental arch and the second dental arch by the processor according to the Q images; and

and correcting the second dental arch model by the processor according to the corrected first dental arch model and the alignment model.

3. The method as claimed in claim 2, wherein the capturing the Q images sequentially including the first portion of the first dental arch and the second portion of the second dental arch comprises:

the Q images are sequentially captured by the image capturing device along the side alignment path of the first portion of the first dental arch and the second portion of the second dental arch.

4. The method of claim 3, wherein the laterally aligned path is a laterally occlusal path of the first portion of the first arch and the second portion of the second arch.

5. The method of claim 2, wherein the alignment models include a left-side alignment model, a right-side alignment model, and a front-side alignment model.

6. The method of claim 2, wherein the first arch is an upper arch and the second arch is a lower arch.

7. The method of claim 1, wherein the capturing device sequentially captures N images along the linear path from the first anchor point to the second anchor point of the first dental arch, comprising:

the image capturing device captures N images in sequence along the straight line path from the first alignment surface at the first anchor point position to the second alignment surface at the second anchor point position.

8. The method of claim 1, wherein the processor calibrating the first arch model according to the first and second coordinates comprises:

adjusting the position of the teeth in the first arch model by the processor according to the center line and the first coordinate or the second coordinate.

9. The method of claim 1, wherein the first and second anchor points are proximate to the molars of the first arch.

10. The method of claim 9, wherein the two molars are opposed molars.

11. An oral scanning system, comprising:

the image capturing device is used for scanning the object to be detected;

a processor coupled to the image capturing device;

when the first object to be detected is a first dental arch, the image capturing device sequentially captures M images along the first dental arch, wherein M is a positive integer greater than 1; the processor establishes a first dental arch model of the first dental arch according to the M images; the image taking device sequentially captures N images along a linear path from a first anchor point position of the first dental arch to a second anchor point position of the first dental arch, wherein the first anchor point position is positioned on one side of a central line of the first dental arch, the second anchor point position is positioned on the other side of the central line, and N is a positive integer greater than 1; the processor generates a first coordinate of the first anchor point position and a second coordinate of the second anchor point position according to the N images; the processor corrects the first dental arch model according to the first coordinate and the second coordinate.

12. The oral scanning system of claim 11, wherein when the object is a second dental arch, the image capturing device sequentially captures P images along the second dental arch, where P is a positive integer greater than 1; the processor establishes a second dental arch model of the second dental arch according to the P images; the image capturing device sequentially captures Q images including a first part of the first dental arch and a second part of the second dental arch, wherein Q is a positive integer; the processor establishes an alignment model of the first dental arch and the second dental arch according to the Q images; the processor corrects the second arch model according to the corrected first arch model and the alignment model.

Technical Field

The invention relates to intraoral scanning, in particular to an oral scanner system and an operation method of the oral scanner.

Background

The oral scanner uses laser light to scan teeth rapidly, and then uses software to build a tooth model, so as to provide medical personnel with tooth reconstruction, orthodontic treatment or other purposes. Tooth reconstruction can be performed on missing or damaged teeth by using false teeth such as tooth sockets, tooth bridges and tooth implants. Orthodontic appliances improve abnormal occlusion of teeth using an orthodontic device. An accurate model of the teeth can be used to prepare a suitable denture or orthotic device, reducing the risk of dental surgery.

However, the existing oral scanner has a complex scanning mode, an external auxiliary device is needed for positioning to obtain an accurate tooth model, the using mode is complex, the time for arranging the device is long, and the discomfort of a patient is increased.

Therefore, there is a need for a new oral cleaning system and method for operating an oral cleaning machine that overcomes the above-mentioned drawbacks.

Disclosure of Invention

The invention aims to provide an oral scanning machine system and an operation method of the oral scanning machine, which can obtain an accurate tooth model without external auxiliary device positioning and have simple operation.

To achieve the above object, the present invention provides a method for operating a mouth-scanning machine, the mouth-scanning machine comprising an image capturing device and a processor, the method comprising: sequentially capturing M images along a first dental arch (dental arch) by the image capturing device, wherein M is a positive integer greater than 1; establishing a first dental arch model of the first dental arch by the processor according to the M images; sequentially capturing N images by the image capturing device along a linear path from a first anchor point position of the first dental arch to a second anchor point position of the first dental arch, wherein the first anchor point position is positioned on one side of a central line of the first dental arch, the second anchor point position is positioned on the other side of the central line, and N is a positive integer greater than 1; generating a first coordinate of the first anchor point position and a second coordinate of the second anchor point position by the processor according to the N images; and calibrating the first dental arch model by the processor according to the first coordinate and the second coordinate.

Preferably, the operation of the oral cleaning machine further comprises the following steps: sequentially capturing P images along a second dental arch by the image capturing device, wherein P is a positive integer greater than 1; establishing a second dental arch model of the second dental arch by the processor according to the P images; sequentially capturing Q images including the first part of the first dental arch and the second part of the second dental arch by the image capturing device, wherein Q is a positive integer; establishing an alignment model of the first dental arch and the second dental arch by the processor according to the Q images; and correcting the second arch model by the processor according to the corrected first arch model and the alignment model.

Preferably, the capturing the Q images sequentially including the first portion of the first dental arch and the second portion of the second dental arch by the image capturing device comprises: the Q images are sequentially captured by the image capturing device along the side alignment path of the first portion of the first dental arch and the second portion of the second dental arch.

Preferably, the laterally aligned path is a laterally occlusal path of the first portion of the first arch and the second portion of the second arch.

Preferably, the alignment models include a left-side alignment model, a right-side alignment model, and a front-side alignment model.

Preferably, the first arch is an upper arch and the second arch is a lower arch.

Preferably, the capturing device sequentially captures N images along the linear path from the first anchor point of the first dental arch to the second anchor point of the first dental arch, and the capturing device comprises: the image capturing device captures N images in sequence along the straight line path from the first alignment surface at the first anchor point position to the second alignment surface at the second anchor point position.

Preferably, the processor calibrating the first dental arch model according to the first coordinate and the second coordinate comprises: adjusting the position of the teeth in the first arch model by the processor according to the center line and the first coordinate or the second coordinate.

Preferably, the first and second anchor points are proximate to the molars of the first arch.

Preferably, the two molars are opposite molars.

The invention also provides a mouth-scanning machine system, which is characterized by comprising the following components: the image capturing device is used for scanning the object to be detected; a processor coupled to the image capturing device; when the first object to be detected is a first dental arch, the image capturing device sequentially captures M images along the first dental arch, wherein M is a positive integer greater than 1; the processor establishes a first dental arch model of the first dental arch according to the M images; the image taking device sequentially captures N images along a linear path from a first anchor point position of the first dental arch to a second anchor point position of the first dental arch, wherein the first anchor point position is positioned on one side of a central line of the first dental arch, the second anchor point position is positioned on the other side of the central line, and N is a positive integer greater than 1; the processor generates a first coordinate of the first anchor point position and a second coordinate of the second anchor point position according to the N images; the processor corrects the first dental arch model according to the first coordinate and the second coordinate.

Preferably, when the first object to be measured is a second dental arch, the image capturing device sequentially captures P images along the second dental arch, wherein P is a positive integer greater than 1; the processor establishes a second dental arch model of the second dental arch according to the P images; the image capturing device sequentially captures Q images including a first part of the first dental arch and a second part of the second dental arch, wherein Q is a positive integer; the processor establishes an alignment model of the first dental arch and the second dental arch according to the Q images; the processor corrects the second arch model according to the corrected first arch model and the alignment model.

Compared with the prior art, the oral scanning machine system and the operation method of the oral scanning machine provided by the embodiment of the invention comprise an image capturing device and a processor, wherein the image capturing device is used for scanning an object to be detected, the processor is coupled with the image capturing device, the image capturing device sequentially captures M images along a first dental arch, and M is a positive integer greater than 1; the processor establishes a first dental arch model of the first dental arch according to the M images; the image taking device sequentially captures N images along a straight line path from a first anchor point position of the first dental arch to a second anchor point position of the first dental arch, the first anchor point position is positioned on one side of a central line of the first dental arch, the second anchor point position is positioned on the other side of the central line, and N is a positive integer greater than 1; the processor generates a first coordinate of a first anchor point position and a second coordinate of a second anchor point position according to the N images; the processor corrects the first dental arch model according to the first coordinate and the second coordinate, so that an accurate tooth model can be obtained without external auxiliary device positioning and the operation is simple.

Drawings

FIG. 1 is a block diagram of a swipe scanning system according to an embodiment of the present invention;

FIG. 2 is a schematic view of a first dental arch according to an embodiment of the present invention;

FIG. 3 shows the relationship between scan length and tooth mold error;

FIG. 4 is a schematic diagram showing a pre-corrected first arch model, a post-corrected first arch model, and a first arch transverse portion model generated by the oral scanner of FIG. 1;

FIG. 5 is a schematic diagram illustrating a scanning method of the image capturing device of FIG. 1 along a side alignment path;

FIG. 6 is a schematic diagram showing a method of aligning a first arch model and a second arch model after correction;

FIG. 7 is a flow chart of a method of operation of the oral sweeper of FIG. 1;

figure 8 is a flow chart of another method of operation of the oral sweeper of figure 1.

Detailed Description

In order to further understand the objects, structures, features and functions of the present invention, the following embodiments are described in detail.

Fig. 1 is a block diagram of a swipe machine system 1 according to an embodiment of the present invention. The oral scanner system 1 can include an oral scanner 10 and a display 12 coupled to each other. The oral scanner 10 may be a hand-held oral scanner and may be coupled to the display 12 via a wired or wireless connection. The oral scanner 10 can scan the patient's mouth according to a predetermined scan path to accurately reconstruct a three-dimensional dental model of the full-mouth dental arch. The display 12 may display the reconstructed three-dimensional tooth model.

The oral cavity scan apparatus 10 may comprise a processor 100, a projection device 102, an image capturing device 104 and a memory 106. The processor 100 may be coupled to the projection device 102, the image capturing device 104, the memory 106 and the display 12 to control operations thereof. The projection device 102 can project a pre-programmed predetermined pattern to the object along a predetermined scan path. The image capturing device 104 can scan the object along a predetermined scanning path to obtain a plurality of two-dimensional images of the predetermined pattern projected on the surface of the object. The object to be measured may be a first arch whole, a first arch part, a second arch whole, a second arch part, a first arch and second arch side whole, and a first arch and second arch side part. In this embodiment, the first arch may be an upper arch and the second arch may be a lower arch. In other embodiments, the first arch may be a lower arch and the second arch may be an upper arch. The predetermined pattern may be a structured light pattern, such as a checkered, striped, circular, cross pattern, gray scale coded pattern, color coded pattern, other coded pattern, or random pattern. The predetermined pattern is deformed when projected onto the surface of the object to be measured having different shapes, lines and/or depths. The two-dimensional image may display a deformed predetermined pattern. The processor 100 can calculate three-dimensional position data of the feature points on the surface of the object to be measured, which is called point cloud, according to the original predetermined pattern and the deformed predetermined pattern. The memory 106 may be a non-volatile memory such as a random access memory or a hard disk. The memory 106 may store image and point cloud data. The processor 100 may generate a plurality of sets of point clouds according to the plurality of two-dimensional images, and generate a three-dimensional model of the object to be measured by stitching the plurality of sets of point clouds through a stitching algorithm and a data post-processing procedure.

FIG. 2 is a schematic view of a first dental arch 200 in accordance with one embodiment of the present invention. Oral scanner 10 may scan first arch 200 according to predetermined scan path 20 to create a first arch model, scan a first arch transverse portion according to predetermined scan path 22 to create a first arch transverse portion model, and calibrate the first arch model according to the first arch transverse portion model. Predetermined scan path 20 may include an alignment surface path of first arch 200, a medial path of first arch 200, and a lateral path of first arch 200. The alignment surface path of the first dental arch 200 can be a path on an opposite surface relative to the alignment surface of the second dental arch. Predetermined scan path 22 may be a straight line path along first anchor point position 22a of first dental arch 200 to second anchor point position 22b of first dental arch 200. The first arch transverse portion may be a transverse cross-section cut through the first anchor location 22a of the first arch 200 and the second anchor location 22b of the first arch 200. The first anchor point location 22a may be located on one side of a centerline 24 of the first dental arch 200 and the second anchor point location 22b may be located on the other side of the centerline 24. The first and second anchor points 22a, 22b may be the molars proximate the first arch 200, which may be the small molars or the large molars. For example, the first anchor location 22a and the second anchor location 22b may be two directly opposing molars of the first dental arch 200, respectively. In other examples, first anchor point 22a and second anchor point 22b may be any two opposing molars of first arch 200, respectively. The oral scanner 10 can scan the predetermined scan path 20 in a single scan, multiple scans, or in segments to create a first arch model. Similarly, the oral scanner 10 can scan the predetermined scan path 22a single time or multiple times to create a first arch transverse segment model. In some embodiments, oral scanner 10 may scan a plurality of predetermined scan paths 20 to create a plurality of sets of models of the lateral portions of the first arch, and each predetermined scan path 20 may be a straight line path between any two anchor points on first arch 200 and on either side of centerline 24 to calibrate the first arch model according to the plurality of sets of models of the lateral portions of the first arch.

The first anchor point position 22a and the second anchor point position 22b of the predetermined scan path 22 overlap with the two corresponding anchor point positions 20a,20b of the predetermined scan path 20, so the processor 100 can register the corresponding anchor point positions 20a,20b of the first dental arch model to the first anchor point position 22a and the second anchor point position 22b to correct the first dental arch model. When the first dental arch model is created, the image capturing device 104 may sequentially capture M images along the first dental arch 200 according to the predetermined scanning path 20, where M is a positive integer greater than 1, and the processor 100 may generate M groups of point clouds according to the M images, and concatenate the M groups of point clouds to generate the first dental arch point cloud set as the first dental arch model. The processor 100 may use an Iterative Closest Point (ICP) algorithm to iteratively grow each newly added first arch point cloud to the created first arch point cloud set to successively concatenate the M sets of point clouds to generate the first arch point cloud set. Similarly, when building the first dental arch transverse portion model, the image capturing device 104 may sequentially capture N images along the predetermined scanning path 22, where N is a positive integer greater than 1, and the processor 100 may generate N sets of point clouds based on the N images, and concatenate the N sets of point clouds to generate the first dental arch transverse portion point cloud set as the first dental arch transverse portion model. The image capturing device 104 can capture N images sequentially along a linear path from the first alignment surface of the first anchor point 22a to the second alignment surface of the second anchor point 22 b. The first and second alignment surfaces of the first arch 200 may be opposite the corresponding alignment surfaces of the second arch. In some embodiments, the first and second alignment surfaces of the first arch 200 can be intermeshed with corresponding alignment surfaces of the second arch. The memory 106 may store a first arch point cloud set, a corrected first arch point cloud set, and a first arch transverse portion point cloud set.

Each point cloud stitching generates errors, and the errors can be increased along with the times of point cloud stitching. Fig. 3 shows the relationship between the scan length and the tooth model error, wherein the horizontal axis represents the number of teeth particles and the vertical axis represents the error. The error increases exponentially with the number of teeth. The error resulting from stitching the point clouds for 30 teeth may be about 500 microns. Since the length of predetermined scan path 20 may be much greater than the length of predetermined scan path 22, the error of the first arch point cloud set may be much greater than the error of the first arch lateral segment point cloud set. Compared with the predetermined scanning path 20, the predetermined scanning path 22 has a shorter length, the scanned surface material is simpler, and the rotation during the scanning process is less, so that the point cloud collection of the transverse part of the first dental arch is more accurate.

The first arch transverse portion point cloud set includes a first coordinate of the first anchor point position 22a and a second coordinate of the second anchor point position 22 b. Processor 100 may use a three-dimensional point cloud registration algorithm, such as a random sample consensus (RANSAC) algorithm, to find first coordinates of first anchor point position 22a and second coordinates of second anchor point position 22b from the first dental arch transverse portion point cloud set, and coordinates of anchor point positions 20a,20b from the first dental arch point cloud set, and then precisely register anchor point positions 20a,20b found from the first dental arch point cloud set to the first coordinates of first anchor point position 22a and second coordinates of second anchor point position 22b, respectively, using a superposition algorithm, such as an ICP algorithm. The processor 100 finds the relative rotation relation matrix R and the relative translation relation matrix T of the first dental arch point cloud set and the first dental arch transverse portion point cloud set by the ICP algorithm, and superimposes the anchor point positions 20a and 20b of the first dental arch point cloud set on the first coordinates of the first anchor point position 22a and the second coordinates of the second anchor point position 22b according to the relative rotation relation matrix R and the relative translation relation matrix T, respectively. The processor 100 may then correct the first arch model using a point cloud global optimization algorithm, or successively, by superimposing the remaining data points of the first arch point cloud from the anchor locations 20a,20b outwardly.

Figure 4 shows a schematic representation of a pre-corrected first arch model 40, a post-corrected first arch model 42, and a first arch transverse segment model 46 generated by the oral scan machine 10. The first dental arch transverse portion model 46 has a first anchor point position 22a and a second anchor point position 22 b. The first arch model 40 has respective anchor point positions 20a,20b prior to correction. First, processor 100 may register anchor points 20a,20b to first anchor point location 22a and second anchor point location 22b, respectively, to generate two corrected anchor point locations of corrected first dental arch model 42, which may be located at first coordinates of first anchor point location 22a and second coordinates of second anchor point location 22b, respectively. Processor 100 may generate centerline 44 of corrected first arch model 42 based on a center point between the first and second coordinates, where centerline 44 is a straight line perpendicular to a line passing through first and second anchor point positions 22a and 22 b. The processor 100 can also adjust the position of the teeth in the first arch model 40 before correction according to the center line 44 and the first or second coordinates. For example, the processor 100 may calculate a lateral distance w1 from the second coordinate to the centerline 44, calculate a longitudinal distance d between the second coordinate and the data point of the first dental arch model 40 before correction, calculate a lateral distance w2 in an equal proportion based on the lateral distance w1 and the longitudinal distance d, and correct the data point of the first dental arch model 40 before correction based on the lateral distance w 2. Processor 100 may scale the remaining data points of first arch model 40 in the manner described above to produce corrected first arch model 42. The corrected first arch model 42 has a high accuracy since the errors are evenly spread over the individual data points of the first arch point cloud via the anchor point registration.

The oral scanner 10 may then scan the second arch to create a second arch model, scan the aligned sides to create an aligned model, and calibrate the second arch model based on the calibrated first arch model and the aligned model. The alignment model may be a model of the first and second arches when aligned or occluded. When the second dental arch model is established, the image capturing device 104 may sequentially capture P images along the second dental arch according to the predetermined scanning path 20, where P is a positive integer greater than 1, and the processor 100 may generate P groups of point clouds according to the P images, and concatenate the P groups of point clouds to generate a second dental arch point cloud set as the second dental arch model. When the alignment model is established, the image capturing device 104 may sequentially capture Q images including the first portion of the first dental arch 200 and the second portion of the second dental arch along the lateral alignment path, Q being a positive integer, and the processor 100 may generate Q sets of point clouds according to the Q images, and concatenate the Q sets of point clouds to generate an alignment point cloud set as the alignment model. The memory 106 may store a second arch point cloud set, a corrected second arch point cloud set, and an alignment point cloud set. The laterally aligned path may be a laterally occlusal path of a first portion of the first arch 200 and a second portion of the second arch. Fig. 5 shows a schematic diagram of a scanning method of the image capturing device 104 along the side alignment path. The image capture device 104 can scan along the side alignment path 54 from the position 50 to the position 52 to generate Q images. The alignment models may include a left-side alignment model, a right-side alignment model, and/or a front-side alignment model. The left side alignment model may be a model of the first arch 200 and the second arch when aligned or occluded to the left of the centerline of the first arch 200 or the second arch. The right side alignment model may be a model of the first arch 200 and the second arch when aligned or occluded to the right of the centerline of the first arch 200 or the second arch. The anterior alignment model may be a model of when the anterior teeth (anterior teeth) of the first arch 200 and the second tooth are aligned or occluded. The anterior teeth can be incisors and canines.

FIG. 6 shows a schematic diagram of the first arch model 42 and the second arch model 60 after alignment correction using the left side alignment model 620 and the right side alignment model 622. The left-side alignment model 620 may include an anchor position 6200 of the first dental arch 200 and an anchor position 6202 of the second dental arch that are aligned with one another, and the right-side alignment model 622 may include an anchor position 6220 of the first dental arch and an anchor position 6222 of the second dental arch that are aligned with one another. Corrected first arch model 42 may include anchor position 420 and anchor position 422. Second arch model 60 may include anchor position 600 and anchor position 602. The processor 100 may determine that the corrected anchor point position 420 of the first arch model 42 corresponds to the anchor point position 6200 of the left alignment model 620, that the anchor point position 600 of the second arch model 60 corresponds to the anchor point position 6202 of the left alignment model 620, and align the corrected anchor point position 420 of the first arch model 42 with the anchor point position 600 of the second arch model 60. Similarly, the processor 100 may determine that the corrected anchor position 422 of the first dental arch model 42 corresponds to the anchor position 6220 of the right side alignment model 622, the anchor position 602 of the second dental arch model 60 corresponds to the anchor position 6222 of the right side alignment model 622, and align the corrected anchor position 422 of the first dental arch model 42 with the anchor position 602 of the second dental arch model 60. Processor 100 may then perform a global optimization of second arch model 60 to obtain an accurate corrected second arch model. Thereafter, processor 100 may remove the first arch transverse portion cloud of points and the alignment cloud of points from memory 106 and display 12 may display a full mouth model including corrected first arch model 42 and the corrected second arch model.

In some embodiments, the oral scanner 10 may determine whether to fill the upper and lower jaw soft tissue image data with the corrected first arch model 42 and the corrected second arch model, depending on user settings.

In some embodiments, the oral scanner 10 can generate two three-dimensional models. The first three-dimensional model is a real-time display point cloud set, and the second three-dimensional model is a high-precision point cloud set. The accuracy of displaying the point cloud set in real time is smaller than that of the high-precision point cloud set. For example, the real-time display point cloud sets may be a pre-corrected first arch model and a pre-corrected second arch model, and the high-precision point cloud sets may be a post-corrected first arch model and a post-corrected second arch model. During the scanning process of the oral scanner 10, the display 12 may first display the cloud set of points in real time, so that the operator can visually observe the three-dimensional model in the latest state and the corresponding position of the oral scanner 10. The high-precision point cloud set can be generated by the registration superposition algorithm, which is huge in computation amount, time-consuming in computation, and requires a large amount of processor resources. In some embodiments, the high-precision point cloud set is generated and output after the full-aperture scanning is completed.

The oral scanner 10 generates an accurate lateral portion model of a first dental arch by scanning a predetermined scan path 22 of the first dental arch 200, corrects the first dental arch model according to the lateral portion model of the first dental arch, scans aligned flanks of the first dental arch 200 and a second dental arch to generate an aligned model, and corrects the second dental arch model according to the corrected first dental arch model and the aligned model, which can quickly and efficiently increase the accuracy of a full-mouth model without external positioning aids or complex scan protocols.

FIG. 7 is a flow chart of a method 700 of operation of the oral scanning machine 1, comprising steps S702-S710 of calibrating a first arch model based on a first arch transverse portion model to produce an accurate corrected first arch model. Any reasonable variation of techniques or steps is within the scope of the present disclosure. Steps S702 to S710 are explained below:

step S702, the image capturing device 104 sequentially captures M images along the first dental arch 200;

step S704, the processor 100 establishes a first dental arch model 40 of the first dental arch 200 according to the M images;

step S706, the image capturing device 104 sequentially captures N images along a linear path from the first anchor point 22a of the first dental arch 200 to the second anchor point 22b of the first dental arch 200;

step S708, the processor 100 calculates a first coordinate of the first anchor point position 22a and a second coordinate of the second anchor point position 22b according to the N images;

in step S710, the processor 100 corrects the first dental arch model 40 according to the first coordinate and the second coordinate.

The method 700 generates an accurate lateral portion model of the first arch by scanning the predetermined scan path 22 of the first arch 200 and corrects the first arch model according to the accurate lateral portion model of the first arch, thereby rapidly and effectively increasing the accuracy of the first arch model without external positioning aids or complex scan protocols.

FIG. 8 is a flowchart of another method 800 of operating the oral scanning machine 1, comprising steps S802 to S810 for calibrating a second arch model based on the calibrated first arch model and the alignment model to generate an accurate calibrated second arch model. Any reasonable variation of techniques or steps is within the scope of the present disclosure. The following describes steps S802 to S810 in detail:

s802, the image capturing device 104 captures P images along the second dental arch in sequence;

step S804, the processor 100 establishes a second dental arch model 60 of the second dental arch according to the P images;

step S806, the image capturing device 104 sequentially captures Q images including the first portion of the first dental arch 200 and the second portion of the second dental arch;

step S808, the processor 100 establishes an alignment model of the first dental arch 200 and the second dental arch according to the Q images;

in step S810, the processor 100 corrects the second arch model 60 according to the corrected first arch model and the alignment model.

The method 800 may be used in succession with the method 700 to calibrate the second arch model based on the calibrated first arch model and the alignment model, and may quickly and efficiently increase the accuracy of the second arch model and the full mouth model without the need for external positioning aids or complex scanning protocols.

In summary, the present invention provides a mouth-scanning system and a method for operating a mouth-scanning device, the method for operating a mouth-scanning device includes using an image capturing device to sequentially capture M images along a first dental arch (dental arch); establishing a first dental arch model of the first dental arch according to the M images by the processor; sequentially capturing N images along a linear path from a first anchor point position of the first dental arch to a second anchor point position of the first dental arch by using an image capturing device, wherein the first anchor point position is positioned on one side of a central line of the first dental arch, and the second anchor point position is positioned on the other side of the central line; generating a first coordinate of a first anchor point position and a second coordinate of a second anchor point position by the processor according to the N images; and correcting the first dental arch model by the processor according to the first coordinate and the second coordinate, so that an accurate tooth model can be obtained without external auxiliary device positioning and the operation is simple.

Although the present invention has been described in connection with the accompanying drawings, the embodiments disclosed in the drawings are intended to be illustrative of preferred embodiments of the present invention and should not be construed as limiting the invention. The scale in the schematic drawings does not represent the scale of actual components for the sake of clarity in describing the required components.

The present invention has been described in relation to the above embodiments, which are only exemplary of the implementation of the present invention. It should be noted that the disclosed embodiments do not limit the scope of the invention. Rather, it is intended that all such modifications and variations be included within the spirit and scope of this invention.