CN112884852A - Portable oral cavity scanner and oral cavity scanning system - Google Patents
Portable oral cavity scanner and oral cavity scanning system Download PDFInfo
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Abstract
The invention discloses a portable oral scanner and an oral scanning system, wherein an image acquisition module of the portable oral scanner acquires image information of teeth to be scanned; the image processing module establishes a tooth model to be tested and at least extracts the distance between two adjacent teeth; the tooth position determining module determines the tooth position of the tooth model to be tested according to a tooth reference model and the tooth model to be tested; the tooth position display module displays the tooth position of the tested tooth model. The invention identifies and indicates the scanning area, has simple operation and convenient carrying, and can acquire the tooth information of the user at once.
Description
Technical Field
The invention relates to the technical field of oral cavity scanning, in particular to a portable oral cavity scanner and an oral cavity scanning system.
Background
Orthodontics may include repositioning misaligned teeth and changing bite configurations to improve appearance and/or dental function. In just abnormal process, need acquire patient's intraoral information, the oral cavity scanner that acquires intraoral information that uses at present uses with the computer cooperation usually, and medical personnel can use the hand-held oral cavity scanner to carry out optical scanning to the palate area in patient's oral cavity usually, and intraoral image information that the scanning in-process formed can show on the computer screen that the scanner is connected to instruct the progress of scanning.
Because the existing scanner does not have a scanning indication function, the scanner can be used by matching with a computer to complete scanning, cannot be used independently, and is inconvenient to carry, so that the user is limited in use, and portable scanning at any time and any place can not be really realized. Because the oral cavity scanning is an important link in the orthodontic process, with the development of the orthodontic industry, people have higher and higher requirements on orthodontics, and the oral cavity scanner tends to be miniaturized and portable.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art, and provides a portable oral cavity scanner and an oral cavity scanning system, which solve the problems that the conventional oral cavity scanner has no scanning indication function and needs to be matched with a computer to complete scanning in use, and really realize portable scanning at any time and any place.
The technical scheme provided by the invention is as follows:
a portable oral cavity scanner comprises an image acquisition module, an image processing module, a tooth position determining module and a tooth position display module,
the image acquisition module acquires image information of teeth to be scanned and sends the image information to the image processing module;
the image processing module establishes a tooth model to be tested according to the image information, and extracts the characteristic quantity of the characteristic position of each tooth in the tooth model to be tested and the distance between two adjacent teeth;
the tooth position determining module determines the tooth position of the tooth model to be tested according to a tooth reference model, the characteristic quantity of the characteristic position of each tooth in the tooth model to be tested and the distance between two adjacent teeth;
and the tooth position display module displays the tooth position of the tooth model to be tested.
Preferably, the reference model of the tooth comprises a first prior model and a second prior model, the first prior model comprises the distance between every two adjacent teeth in the reference model of the tooth and the number of missing teeth corresponding to the distance, and the probability distribution function value is calculated for the distance between different numbers of missing teeth; the second prior model comprises characteristic quantities of the characteristic position of each tooth in the tooth reference model, and probability distribution function values are calculated for the characteristic quantities of at least the characteristic positions of the teeth with the same number; the tooth position determining module determines the tooth position of the tooth model to be tested based on the hidden Markov model.
Preferably, the tooth reference model further includes a third prior model, and the third prior model includes tooth arrangement conditions of every two adjacent teeth after no tooth is missing or different numbers of teeth are missing in the tooth reference model, and calculates a probability distribution function value of the tooth arrangement conditions.
Preferably, the tooth position determining module determines the tooth position of the tooth model to be tested based on the hidden markov model, specifically: calculating a probability value of each value of the tooth state sequence and a tooth observation sequence appearing at the same time based on the tooth reference model, and taking a tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as a tooth position of the tooth model to be tested, wherein the tooth state sequence represents the tooth reference model, and the tooth observation sequence represents the tooth model to be tested.
Preferably, the characteristic quantity of the characteristic position of each tooth refers to an abscissa and an ordinate of a central point of each tooth on a occlusal plane.
Preferably, the tooth position display module is a tooth socket-shaped indication panel, a plurality of indication lamps corresponding to teeth on the tooth position are arranged on the tooth socket-shaped indication panel one by one, and the tooth position display module changes the state of the indication lamps corresponding to the tooth socket-shaped indication panel based on the tooth position of the tooth model to be tested.
Preferably, the test device further comprises a communication module, and the communication module sends the tooth position information of the tooth model to be tested to an external data receiving terminal.
A portable oral scanner comprises an image acquisition module, an image processing module, a tooth position determining module and a tooth position display module, wherein the image acquisition module acquires image information of teeth to be scanned and sends the image information to the image processing module; the image processing module establishes a tooth model to be tested according to the image information and extracts the distance between two adjacent teeth in the tooth model to be tested; the tooth position determining module determines the tooth position of the tooth model to be tested according to a tooth reference model and the distance between two adjacent teeth in the tooth model to be tested; and the tooth position display module displays the tooth position of the tooth model to be tested.
Preferably, the reference model of the tooth comprises a first prior model, the first prior model comprises the distance between every two adjacent teeth in the reference model of the tooth and the number of missing teeth corresponding to the distance, and the probability distribution function value is calculated for the distance between the missing teeth with different numbers; the tooth position determining module determines the tooth position of the tooth model to be tested based on the hidden Markov model.
Preferably, the dental reference model further comprises a third prior model; the third prior model comprises the tooth position arrangement conditions of every two adjacent teeth after the teeth are not lost or different numbers of teeth are lost in the tooth reference model, and the probability distribution function value of the tooth position arrangement conditions is calculated.
Preferably, the determining the tooth positions of the tooth model to be tested based on the hidden markov model is that: calculating a probability value of each value of the tooth state sequence and a tooth observation sequence appearing at the same time based on the tooth reference model, and taking a tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as a tooth position of the tooth model to be tested, wherein the tooth state sequence represents the tooth reference model, and the tooth observation sequence represents the tooth model to be tested.
Preferably, the tooth position display module is a tooth socket-shaped indication panel, a plurality of indication lamps corresponding to teeth on the tooth position are arranged on the tooth socket-shaped indication panel one by one, and the tooth position display module changes the state of the indication lamps corresponding to the tooth socket-shaped indication panel based on the tooth position of the tooth model to be tested.
Preferably, the test device further comprises a communication module, and the communication module sends the tooth position information of the tooth model to be tested to an external data receiving terminal.
Preferably, the external data receiving end is a mobile terminal with a communication function.
An oral cavity scanning system comprises an image acquisition module, an image processing module, a tooth position determining module, a communication module and a mobile terminal with a communication function, wherein the image acquisition module acquires image information of teeth to be scanned and sends the image information to the image processing module; the image processing module establishes a tooth model to be tested according to the image information, and extracts the characteristic quantity of the characteristic position of each tooth in the tooth model to be tested and the distance between two adjacent teeth; the tooth position determining module determines the tooth position of the tooth model to be tested according to a tooth reference model, the characteristic quantity of the characteristic position of each tooth in the tooth model to be tested and the distance between two adjacent teeth; the communication module sends the tooth position information of the tooth model to be tested to the mobile terminal; and the mobile terminal displays the tooth position of the tooth model to be tested.
Preferably, the reference model of the tooth comprises a first prior model and a second prior model, wherein the first prior model comprises the distance between every two adjacent teeth in the reference model of the tooth and the number of missing teeth corresponding to the distance, and probability distribution function values are calculated for the distances between different numbers of missing teeth; the second prior model comprises characteristic quantities of the characteristic position of each tooth in the tooth reference model, and probability distribution function values are calculated for the characteristic quantities of at least the characteristic positions of the teeth with the same number; the tooth position determining module determines the tooth position of the tooth model to be tested based on the hidden Markov model.
Preferably, the tooth reference model further includes a third prior model, and the third prior model includes tooth arrangement conditions of every two adjacent teeth after no tooth is missing or different numbers of teeth are missing in the tooth reference model, and calculates a probability distribution function value of the tooth arrangement conditions.
Preferably, the tooth position determining module determines the tooth position of the tooth model to be tested based on the hidden markov model, specifically: calculating a probability value of each value of the tooth state sequence and a tooth observation sequence appearing at the same time based on the tooth reference model, and taking a tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as a tooth position of the tooth model to be tested, wherein the tooth state sequence represents the tooth reference model, and the tooth observation sequence represents the tooth model to be tested.
An oral cavity scanning system comprises an image acquisition module, an image processing module, a tooth position determining module, a communication module and a mobile terminal with a communication function, wherein the image acquisition module acquires image information of teeth to be scanned and sends the image information to the image processing module; the image processing module establishes a tooth model to be tested according to the image information and extracts the distance between two adjacent teeth in the tooth model to be tested; the tooth position determining module determines the tooth position of the tooth model to be tested according to a tooth reference model and the distance between two adjacent teeth in the tooth model to be tested; the communication module sends the tooth position information of the tooth model to be tested to the mobile terminal; and the mobile terminal displays the tooth position of the tooth model to be tested.
Preferably, the reference model of the tooth comprises a first prior model, the first prior model comprises the distance between every two adjacent teeth in the reference model of the tooth and the number of missing teeth corresponding to the distance, and the probability distribution function value is calculated for the distance between the missing teeth with different numbers; the tooth position determining module determines the tooth position of the tooth model to be tested based on the hidden Markov model.
Preferably, the dental reference model further comprises a third prior model; the third prior model comprises the tooth position arrangement conditions of every two adjacent teeth after the teeth are not lost or different numbers of teeth are lost in the tooth reference model, and the probability distribution function value of the tooth position arrangement conditions is calculated.
Preferably, the determining the tooth positions of the tooth model to be tested based on the hidden markov model is that: calculating a probability value of each value of the tooth state sequence and a tooth observation sequence appearing at the same time based on the tooth reference model, and taking a tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as a tooth position of the tooth model to be tested, wherein the tooth state sequence represents the tooth reference model, and the tooth observation sequence represents the tooth model to be tested.
The oral scanner and the oral scanning system provided by the invention can bring at least one of the following beneficial effects:
1. the oral cavity scanner and the oral cavity scanning system can identify and indicate the scanning area, so that a user can acquire complete tooth information without an external computer device.
2. The oral cavity scanner and the oral cavity scanning system of the invention determine the tooth positions of the tooth models to be tested based on the hidden Markov model, thereby realizing accurate identification and indication of the scanning area.
3. The oral cavity scanner and the oral cavity scanning system are simple to operate and convenient to carry, save time and can quickly and easily acquire image information of teeth.
Drawings
The foregoing features, technical features, advantages and embodiments are further described in the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings.
FIG. 1 is a schematic structural view of an oral scanner of the present application;
FIG. 2 is a flowchart of a method for determining the position of a tooth model to be tested by the tooth position determining module of the present application;
FIG. 3 is a schematic view of an upper row of teeth having tooth numbers;
FIG. 4 is a schematic illustration of a dental position arrangement of a dental model to be tested according to the present application;
FIG. 5 is another schematic view of the dental position arrangement of the dental model to be tested of the present application;
FIG. 6 is another schematic view of the dental position arrangement of the dental model to be tested of the present application;
FIG. 7 is another schematic view of the dental position arrangement of the dental model to be tested of the present application;
FIG. 8 is a schematic view of the arrangement of the indicator lights of the present application;
FIG. 9 is another schematic view of the indicator light arrangement of the present application;
FIG. 10 is a schematic structural view of another oral scanner of the present application;
FIG. 11 is a flow chart of a method for determining the position of a tooth model to be tested by another tooth position determining module of the present application;
FIG. 12 is a flow chart of a method for determining the position of a tooth model to be tested by another tooth position determining module of the present application;
FIG. 13 is a flowchart of a method for determining the position of a tooth model to be tested by another tooth position determining module of the present application;
fig. 14 is a schematic structural diagram of another oral scanning system of the present application.
The reference numbers in the figures are: 10-image acquisition module, 20-image processing module, 30-tooth position determining module, 40-tooth position display module, 50-communication module, 60-mobile terminal, 70-scanning head, 80-shell and 401-indicator light.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
Example one
Referring to fig. 1, a portable oral scanner includes an image acquisition module 10, an image processing module 20, a dental position determination module 30 and a dental position display module 40, wherein,
the image acquisition module 10 acquires image information of a tooth to be scanned and sends the image information to the image processing module 20;
the image processing module 20 establishes a tooth model to be tested according to the image information, and extracts the characteristic quantity of the characterization position of each tooth in the tooth model to be tested and the distance between two adjacent teeth;
optionally, any one or more of characteristic quantities characterizing area, volume, shape size of each tooth of the tooth model to be tested is also obtained.
As a preferred embodiment, the characteristic quantity of the characteristic position of each tooth refers to an abscissa and an ordinate of a central point of each tooth on the occlusal plane.
Specifically, the characteristic quantity of the characteristic position of each tooth refers to an abscissa and an ordinate of a central point of each tooth on a occlusal plane. The characteristic quantity of the characteristic area of each tooth refers to the surface area of each tooth. The characteristic volume of each tooth is referred to as the volume of each tooth. The characteristic quantity of the characteristic shape size of each tooth comprises the length, the width and the height of a minimal cube circumscribed by each tooth; and per tooth surface curvature distribution statistics.
The tooth position determining module 30 determines the tooth position of the tooth model to be tested according to the tooth reference model, the characteristic quantity of the characteristic position of each tooth in the tooth model to be tested and the distance between two adjacent teeth; the tooth reference model comprises a first prior model, a second prior model and a third prior model, the first prior model comprises the distance between every two adjacent teeth in the tooth reference model and the number of missing teeth corresponding to the distance, and probability distribution function values are calculated for the distances of the missing teeth with different numbers; the second prior model comprises characteristic quantities of the characteristic position of each tooth in the tooth reference model, and probability distribution function values are calculated for the characteristic quantities of at least the characteristic positions of the teeth with the same number; the third prior model comprises the tooth position arrangement conditions of every two adjacent teeth after the teeth are not lost or different numbers of teeth are lost in the tooth reference model, and the probability distribution function value of the tooth position arrangement conditions is calculated;
the tooth position determining module 30 determines the tooth position of the tooth model to be tested based on the hidden markov model.
As a preferred embodiment, the tooth position determining module 30 determines the tooth position of the tooth model to be tested based on the hidden markov model, specifically: calculating a probability value of each value of the tooth state sequence and a tooth observation sequence appearing at the same time based on the first prior model, the second prior model and the third prior model, and taking a tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as a tooth position of the tooth model to be tested, wherein the tooth state sequence represents a tooth reference model, and the tooth observation sequence represents the tooth model to be tested.
Specifically, referring to fig. 2, the dental position determining module 30 determines the dental position of the tooth model to be tested according to the following steps:
step S110: and establishing a first prior model, a second prior model and a third prior model.
The first prior model comprises the steps of collecting the distance between every two adjacent teeth in the tooth reference model and the number of missing teeth corresponding to the distance, and calculating probability distribution function values for the distances of the missing teeth with different numbers. Preferably, the first prior model comprises at least the function values of the probability distribution of the tooth spacing in different situations with a number of missing teeth of between 0 and 4.
The second prior model comprises collecting characteristic quantities characterizing the position of each tooth in the reference model of teeth, and calculating probability distribution function values for characteristic quantities characterizing at least the position of teeth having the same number. Optionally, the second prior model further includes acquiring any one or more of the characteristic quantities of the characteristic area, the characteristic volume and the characteristic shape size of each tooth in the existing tooth model, and calculating probability distribution function values for the characteristic quantities of the characteristic area, the characteristic volume and the characteristic shape size of the teeth with the same number respectively.
The third prior model comprises the steps of collecting the tooth position arrangement conditions of every two adjacent teeth after the teeth are not lost or different numbers of teeth are lost in the tooth reference model, and calculating the probability distribution function value of the tooth position arrangement conditions. Preferably, the third prior model at least comprises probability distribution function values for calculating the tooth arrangement conditions of the left and right adjacent teeth under different situations with the number of missing teeth being 0 to 4.
Preferably, the probability distribution function value is any one of a Gaussian distribution (Gaussian distribution) function value or a chi-square distribution (chi-square distribution) function value. Among them, the gaussian distribution is also called normal distribution (normal distribution).
Step S120: and determining the tooth positions of the tooth model to be tested based on the hidden Markov model. Hidden markov models are a classical machine learning model that can be used for prediction (filter), smoothing (smoothing), or decoding (most likely extension). Wherein decoding means that given a prior model and an observed sequence, a state sequence corresponding to the observed sequence most likely is obtained. In the embodiment, different tooth position arrangement conditions of the tooth reference model are used as a state sequence, the tooth model to be tested is used as an observation sequence, and the tooth position of the tooth model to be tested is determined based on a hidden Markov model machine learning algorithm.
Here, the given prior model includes a first prior model, a second prior model, and a third prior model, and the sequence of tooth states is a vector K, K ═ K1,k2,k3,...,k2n-1]N is the number of teeth included in the reference model of teeth; the vector K comprises 2n-1 elements, the odd elements take the tooth number, and the even elements take the missing tooth number between two adjacent teeth. The tooth state sequence K has 16! /[ n! X (16-n)!]A seed value, wherein! Represents a factorial operation, n is an integer from 0 to 16; each value of the tooth state sequence K respectively corresponds to one tooth position arrangement condition of the tooth reference model.
As an example, the tooth number is: suppose the tooth does not have the disappearance, and the upper right wisdom tooth is numbered 1 to 16 in proper order towards the upper left wisdom tooth direction, and the wisdom tooth is numbered 17 to 32 in proper order towards the lower left wisdom tooth direction under the right side. According to the tooth numbering, different tooth positions of the upper-row tooth model are arranged according to the tooth numbering mode shown in the figures 3 to 7. The circles in the figure represent actual remaining teeth, and the numbers in the circles are tooth numbers. The boxes in the figure represent the gaps between two adjacent remaining teeth, and the numbers in the boxes represent the number of missing teeth between two adjacent remaining teeth.
Further, representing the tooth model to be tested by the tooth observation sequence; the tooth observation sequence is vector B, B ═ X1,b1,X2,b2,...,bn-1,Xn](ii) a Wherein XiRepresents a characteristic quantity of an ith tooth, i is an integer of 1 to n; bjRepresents the spacing value between two adjacent teeth, and j is an integer from 1 to n-1; and n is the number of teeth contained in the tooth model to be tested.
Finally, the determination of the tooth positions of the tooth model to be tested based on the hidden markov model is as follows: and calculating a probability value of each value of the tooth state sequence and the tooth observation sequence appearing at the same time based on the first prior model, the second prior model and the third prior model, and taking the tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as the tooth position of the tooth model to be tested.
Specifically, the probability P (B | K) of generating the tooth observation sequence B under each value of the tooth state sequence K and the state transition probability P (K) of forming the tooth state sequence K are calculated, and then the probability P (B | K) P (K) of simultaneously appearing each value of the tooth observation sequence B and the tooth state sequence K is calculated; and taking the tooth position arrangement condition represented by the value of the tooth state sequence K corresponding to the maximum probability value P (B, K) as the tooth position of the tooth model to be tested.
For example, P (B | K) is calculated using the following formula;
wherein Π represents the multiplication number, P (X)i|k2i-1) The expression number is k2i-1Tooth appearance characteristic quantity X ofiProbability of (A), P (b)j|k2j) Indicates that the number of missing teeth is k2jWhen the distance between two adjacent teeth is bjThe probability of (c).
For example, p (k) is calculated using the following formula;
wherein pi represents a multiplication number, P (k)2i+1|k2i-1) The representative tooth number is k2i-1The number of teeth appearing behind the teeth is k2i+1The probability of the tooth arrangement of the teeth.
For example, P (B, K) is calculated using the following formula;
where max represents the maximum value, and Q represents the set of all values of the vector K.
Finally, the tooth position display module 40 displays the tooth position of the tooth model to be tested.
As a preferred embodiment, please refer to fig. 8 and 9, the tooth position display module 40 is a tooth socket-shaped indication panel, a plurality of indication lamps 401 corresponding to teeth on the tooth position are arranged on the tooth socket-shaped indication panel, and the tooth position display module 40 changes the state of the corresponding indication lamps 401 on the tooth socket-shaped indication panel based on the tooth position of the tooth model to be tested.
Specifically, with continuing reference to fig. 8 and 9, the portable oral scanner includes a housing 80 and a scanning head 70 disposed at an end of the housing 80, a dental position display module 40 (alveolar indication panel) is disposed on the housing 80, tooth models corresponding to teeth on the dental positions are disposed on the alveolar indication panel, indicator lights 401 correspond to the tooth models one to one, and the indicator lights 401 may be disposed in the following manner: in the first arrangement mode, the indicator light 401 is arranged on one side of the tooth model, as shown in fig. 8; in the second arrangement, the indicator light 401 is arranged inside the tooth model (not shown), as shown in fig. 9.
When the indicator light 401 is controlled, a control circuit can control the state change of the indicator light corresponding to the corresponding tooth on the tooth position according to the determined tooth position of the tooth model to be tested, for example, the state of the indicator light 401 is changed from dark to bright or from bright to dark, and the scanning condition of the corresponding tooth can be known according to the bright and dark conditions of the indicator light 401.
It should be understood that the present embodiment does not limit the specific arrangement, shape, brightness, and the like of the indicator light 401, as long as it can indicate the scanning condition of the corresponding tooth.
As a preferred embodiment, please refer to fig. 10, the portable oral cavity scanner further includes a communication module 50, and the communication module 50 sends the tooth position information of the tooth model to be tested to an external data receiving terminal 60.
As a preferred embodiment, the external data receiving terminal 60 is a mobile terminal having a communication function.
When the portable oral cavity scanner is used, a user opens the portable oral cavity scanner to start scanning, the portable oral cavity scanner is inserted into the oral cavity of a patient, the image acquisition module 10 scans tooth images of the patient, the image processing module 20 establishes a tooth model to be tested according to image information, and extracts characteristic quantity of a characteristic position of each tooth in the tooth model to be tested and a distance between two adjacent teeth; the tooth position determining module 30 determines the tooth position of the tooth model to be tested according to the tooth reference model, the characteristic quantity of the characteristic position of each tooth in the tooth model to be tested and the distance between two adjacent teeth, and the tooth position displaying module 40 displays the tooth position of the tooth model to be tested.
Example two
The portable oral scanner of the present embodiment is different from the portable oral scanner of the first embodiment only in that: the dental reference model comprises only the first prior model;
specifically, since the tooth reference model only includes the first prior model, the image processing module 20 only needs to extract the distance between two adjacent teeth in the tooth model to be tested, and may not extract the characteristic quantity of the characteristic position of each tooth, and the tooth position determining module 30 determines the tooth position of the tooth model to be tested according to the tooth reference model and the distance between two adjacent teeth of each tooth in the tooth model to be tested;
accordingly, the process of determining the tooth position of the tooth model to be tested by the tooth position determining module 30 has a certain difference, please refer to fig. 11, which includes the following steps:
step S210: a first prior model is established.
The first prior model comprises the steps of collecting the distance between every two adjacent teeth in the tooth reference model and the number of missing teeth corresponding to the distance, and calculating probability distribution function values for the distances of the missing teeth with different numbers.
Step S220: and determining the tooth positions of the tooth model to be tested based on the hidden Markov model.
The determination of the tooth positions of the tooth model to be tested based on the hidden Markov model is as follows: and calculating the probability value of each value of the tooth state sequence and the tooth observation sequence appearing at the same time based on the established prior model or a plurality of prior models, and taking the tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as the tooth position of the tooth model to be tested.
Here, the tooth observation sequence is a vector B, B ═ X1,b1,X2,b2,...,bn-1,Xn](ii) a Wherein XiRepresents a characteristic quantity of an ith tooth, i is an integer of 1 to n; bjRepresents the spacing value between two adjacent teeth, and j is an integer from 1 to n-1; n is the number of teeth contained in the tooth model to be tested; due to the lack of a second prior model, XiA constant is used.
Specifically, in step S220, a probability P (B | K) of generating the tooth observation sequence B at each value of the tooth state sequence K and a state transition probability P (K) of forming the tooth state sequence K are calculated, and then a probability P (B | K) P (K) of simultaneous occurrence of each value of the tooth observation sequence B and the tooth state sequence K is calculated; and taking the tooth position arrangement condition represented by the value of the tooth state sequence K corresponding to the maximum probability value P (B, K) as the tooth position of the tooth model to be tested.
For example, P (B | K) is calculated using the following formula;
wherein Π represents the multiplication number, P (X)i|k2i-1) The expression number is k2i-1Tooth appearance characteristic quantity X ofiThe probability of (d); p (b)j|k2j) Indicates that the number of missing teeth is k2jWhen the distance between two adjacent teeth is bjThe probability of (c). Due to the lack of a second prior model, P (X)i|k2i-1) With uniform distribution.
For example, p (k) is calculated using the following formula;
wherein pi represents a multiplication number, P (k)2i+1|k2i-1) The representative tooth number is k2i-1The number of teeth appearing behind the teeth is k2i+1The probability of the tooth arrangement of the teeth. P (k) due to the absence of the third prior model2i+1|k2i-1) With uniform distribution.
For example, P (B, K) is calculated using the following formula;
where max represents the maximum value, and Q represents the set of all values of the vector K.
EXAMPLE III
The portable oral scanner of the present embodiment is different from the portable oral scanner of the first embodiment only in that: the dental reference model comprises only the first prior model and the second prior model;
specifically, since the tooth reference model only includes the first prior model and the second prior model, the process of determining the tooth position of the tooth model to be tested by the tooth position determining module 30 is different from each other, please refer to fig. 12, which includes the following specific steps:
step S310: a first prior model and a second prior model are established.
The first prior model comprises the steps of collecting the distance between every two adjacent teeth in the tooth reference model and the number of missing teeth corresponding to the distance, and calculating probability distribution function values for the distances of the missing teeth with different numbers. The second prior model comprises collecting characteristic quantities of the characteristic positions of each tooth in the existing tooth model, and calculating probability distribution function values for the characteristic quantities of at least the characteristic positions of the teeth with the same number.
Step S320: and determining the tooth positions of the tooth model to be tested based on the hidden Markov model.
The determination of the tooth positions of the tooth model to be tested based on the hidden Markov model is as follows: and calculating the probability value of each value of the tooth state sequence and the tooth observation sequence appearing at the same time based on the established prior model or a plurality of prior models, and taking the tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as the tooth position of the tooth model to be tested.
Here, the tooth observation sequence is a vector B, B ═ X1,b1,X2,b2,...,bn-1,Xn](ii) a Wherein XiRepresents a characteristic quantity of an ith tooth, i is an integer of 1 to n; bjRepresents the spacing value between two adjacent teeth, and j is an integer from 1 to n-1; and n is the number of teeth contained in the tooth model to be tested.
Specifically, in step S320, a probability P (B | K) of generating the tooth observation sequence B at each value of the tooth state sequence K and a state transition probability P (K) of forming the tooth state sequence K are calculated, and then a probability P (B | K) P (K) of simultaneous occurrence of each value of the tooth observation sequence B and the tooth state sequence K is calculated; and taking the tooth position arrangement condition represented by the value of the tooth state sequence K corresponding to the maximum probability value P (B, K) as the tooth position of the tooth model to be tested.
For example, P (B | K) is calculated using the following formula;
wherein Π represents the multiplication number, P (X)i|k2i-1) The expression number is k2i-1Tooth appearance characteristic quantity X ofiThe probability of (d); p (b)j|k2j) Indicates that the number of missing teeth is k2jWhen the distance between two adjacent teeth is bjThe probability of (c).
For example, p (k) is calculated using the following formula;
wherein pi represents a multiplication number, P (k)2i+1|k2i-1) The representative tooth number is k2i-1The number of teeth appearing behind the teeth is k2i+1The probability of the tooth arrangement of the teeth. P (k) due to the absence of the third prior model2i+1|k2i-1) With uniform distribution.
For example, P (B, K) is calculated using the following formula;
where max represents the maximum value, and Q represents the set of all values of the vector K.
Example four
The portable oral scanner of the present embodiment is different from the portable oral scanner of the first embodiment only in that: the dental reference model comprises only the first prior model and the third prior model;
specifically, since the tooth reference model only includes the first prior model and the third prior model, the image processing module 20 only needs to extract the distance between two adjacent teeth in the tooth model to be tested, and may not extract the characteristic quantity of the characteristic position of each tooth, and the tooth position determining module 30 determines the tooth position of the tooth model to be tested according to the tooth reference model and the distance between two adjacent teeth of each tooth in the tooth model to be tested;
accordingly, the process of determining the tooth position of the tooth model to be tested by the tooth position determining module 30 has a certain difference, please refer to fig. 13, which includes the following steps:
step S410: and establishing a first prior model and a third prior model.
The first prior model comprises the steps of collecting the distance between every two adjacent teeth in the tooth reference model and the number of missing teeth corresponding to the distance, and calculating probability distribution function values for the distances of the missing teeth with different numbers.
The third prior model comprises the steps of collecting the tooth position arrangement conditions of every two adjacent teeth after the teeth are not lost or different numbers of teeth are lost in the existing tooth model, and calculating the probability distribution function value of the tooth position arrangement conditions.
Step S420: and determining the tooth positions of the tooth model to be tested based on the hidden Markov model.
The determination of the tooth positions of the tooth model to be tested based on the hidden Markov model is as follows: and calculating the probability value of each value of the tooth state sequence and the tooth observation sequence appearing at the same time based on the established prior model or a plurality of prior models, and taking the tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as the tooth position of the tooth model to be tested.
Here, the tooth observation sequence is a vector B, B ═ X1,b1,X2,b2,...,bn-1,Xn](ii) a Wherein XiRepresents a characteristic quantity of an ith tooth, i is an integer of 1 to n; bjRepresents the spacing value between two adjacent teeth, and j is an integer from 1 to n-1; n is the number of teeth contained in the tooth model to be tested; due to the lack of a second prior model, XiA constant is used.
Specifically, in step S420, a probability P (B | K) of generating the tooth observation sequence B at each value of the tooth state sequence K and a state transition probability P (K) of forming the tooth state sequence K are calculated, and then a probability P (B | K) P (K) of simultaneous occurrence of each value of the tooth observation sequence B and the tooth state sequence K is calculated; and taking the tooth position arrangement condition represented by the value of the tooth state sequence K corresponding to the maximum probability value P (B, K) as the tooth position of the tooth model to be tested.
For example, P (B | K) is calculated using the following formula;
wherein Π represents the multiplication number, P (X)i|k2i-1) The expression number is k2i-1Tooth appearance characteristic quantity X ofiThe probability of (d); p (b)j|k2j) Indicates that the number of missing teeth is k2jWhen the distance between two adjacent teeth is bjThe probability of (c). Due to the lack of a second prior model, P (X)i|k2i-1) With uniform distribution.
For example, p (k) is calculated using the following formula;
wherein pi represents a multiplication number, P (k)2i+1|k2i-1) The representative tooth number is k2i-1The number of teeth appearing behind the teeth is k2i+1The probability of the tooth arrangement of the teeth.
For example, P (B, K) is calculated using the following formula;
where max represents the maximum value, and Q represents the set of all values of the vector K.
EXAMPLE five
Based on the oral cavity scanner provided in the first to fourth embodiments, the present embodiment further provides an oral cavity scanning system, please refer to fig. 14, which includes an image acquisition module 10, an image processing module 20, a dental position determining module 30, a communication module 50, and a mobile terminal 60 having a communication function, wherein the image acquisition module 10, the image processing module 20, and the dental position determining module 30 implement the functions of the image acquisition module 10, the image processing module 20, and the dental position determining module 30 in any one of the first to fourth embodiments.
Further, the communication module 50 transmits the tooth position information of the tooth model to be tested to the mobile terminal 60, and the mobile terminal 60 displays the tooth position of the tooth model to be tested.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (22)
1. A portable oral scanner is characterized by comprising an image acquisition module, an image processing module, a tooth position determining module and a tooth position display module, wherein,
the image acquisition module acquires image information of teeth to be scanned and sends the image information to the image processing module;
the image processing module establishes a tooth model to be tested according to the image information, and extracts the characteristic quantity of the characteristic position of each tooth in the tooth model to be tested and the distance between two adjacent teeth;
the tooth position determining module determines the tooth position of the tooth model to be tested according to a tooth reference model, the characteristic quantity of the characteristic position of each tooth in the tooth model to be tested and the distance between two adjacent teeth;
and the tooth position display module displays the tooth position of the tooth model to be tested.
2. The portable oral cavity scanner of claim 1, wherein the dental reference model comprises a first prior model and a second prior model, the first prior model comprises the distance between every two adjacent teeth in the dental reference model and the number of missing teeth corresponding to the distance, and the probability distribution function value is calculated for the distances between different numbers of missing teeth; the second prior model comprises characteristic quantities of the characteristic position of each tooth in the tooth reference model, and probability distribution function values are calculated for the characteristic quantities of at least the characteristic positions of the teeth with the same number;
the tooth position determining module determines the tooth position of the tooth model to be tested based on the hidden Markov model.
3. The portable oral scanner of claim 2, wherein the dental reference model further comprises a third prior model, wherein the third prior model comprises a function value of a probability distribution function of the arrangement of the teeth calculated for the arrangement of the teeth of every two adjacent teeth after the teeth of the dental reference model are not missing or different numbers of teeth are missing.
4. The portable oral scanner of claim 2 or 3, wherein the bite level determining module determines the bite level of the tooth model to be tested based on the hidden Markov model, in particular: calculating a probability value of each value of the tooth state sequence and a tooth observation sequence appearing at the same time based on the tooth reference model, and taking a tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as a tooth position of the tooth model to be tested, wherein the tooth state sequence represents the tooth reference model, and the tooth observation sequence represents the tooth model to be tested.
5. The portable oral scanner of claim 1, wherein the characteristic quantity of the characteristic position of each tooth is an abscissa and an ordinate of a central point of each tooth on the occlusal plane.
6. The portable oral cavity scanner of claim 1, wherein the dental position display module is a dental socket-shaped indication panel, a plurality of indication lamps corresponding to teeth on the dental position are arranged on the dental socket-shaped indication panel, and the dental position display module changes the state of the corresponding indication lamps on the dental socket-shaped indication panel based on the dental position of the tooth model to be tested.
7. The portable oral cavity scanner of claim 1, further comprising a communication module, wherein the communication module transmits the dental information of the tooth model to be tested to an external data receiving terminal.
8. A portable oral scanner is characterized by comprising an image acquisition module, an image processing module, a tooth position determining module and a tooth position display module, wherein,
the image acquisition module acquires image information of teeth to be scanned and sends the image information to the image processing module;
the image processing module establishes a tooth model to be tested according to the image information and extracts the distance between two adjacent teeth in the tooth model to be tested;
the tooth position determining module determines the tooth position of the tooth model to be tested according to a tooth reference model and the distance between two adjacent teeth in the tooth model to be tested;
and the tooth position display module displays the tooth position of the tooth model to be tested.
9. The portable oral scanner of claim 8, wherein the dental reference model comprises a first prior model, the first prior model comprises a distance between every two adjacent teeth in the dental reference model and a missing tooth number corresponding to the distance, and probability distribution function values are calculated for the distances between different numbers of missing teeth;
the tooth position determining module determines the tooth position of the tooth model to be tested based on the hidden Markov model.
10. The portable oral scanner of claim 9, wherein the dental reference model further comprises a third prior model; the third prior model comprises the tooth position arrangement conditions of every two adjacent teeth after the teeth are not lost or different numbers of teeth are lost in the tooth reference model, and the probability distribution function value of the tooth position arrangement conditions is calculated.
11. The portable oral scanner of claim 9 or 10, wherein the determining the dentition of the tooth model to be tested based on the hidden markov model is: calculating a probability value of each value of the tooth state sequence and a tooth observation sequence appearing at the same time based on the tooth reference model, and taking a tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as a tooth position of the tooth model to be tested, wherein the tooth state sequence represents the tooth reference model, and the tooth observation sequence represents the tooth model to be tested.
12. The portable oral cavity scanner according to claim 8, wherein the dental position display module is a dental socket-shaped indication panel, a plurality of indication lamps corresponding to teeth on the dental position are arranged on the dental socket-shaped indication panel, and the dental position display module changes the state of the corresponding indication lamps on the dental socket-shaped indication panel based on the dental position of the tooth model to be tested.
13. The portable oral cavity scanner of claim 8, further comprising a communication module, wherein the communication module transmits the dental information of the tooth model to be tested to an external data receiving terminal.
14. The portable oral scanner of claim 13, wherein the external data receiving terminal is a mobile terminal having a communication function.
15. An oral cavity scanning system is characterized by comprising an image acquisition module, an image processing module, a tooth position determining module, a communication module and a mobile terminal with a communication function,
the image acquisition module acquires image information of teeth to be scanned and sends the image information to the image processing module;
the image processing module establishes a tooth model to be tested according to the image information, and extracts the characteristic quantity of the characteristic position of each tooth in the tooth model to be tested and the distance between two adjacent teeth;
the tooth position determining module determines the tooth position of the tooth model to be tested according to a tooth reference model, the characteristic quantity of the characteristic position of each tooth in the tooth model to be tested and the distance between two adjacent teeth;
the communication module sends the tooth position information of the tooth model to be tested to the mobile terminal;
and the mobile terminal displays the tooth position of the tooth model to be tested.
16. The oral scanning system of claim 15, wherein the dental reference model comprises a first prior model and a second prior model, wherein the first prior model comprises the distance between every two adjacent teeth in the dental reference model and the number of missing teeth corresponding to the distance, and the probability distribution function values are calculated for the distances between different numbers of missing teeth; the second prior model comprises characteristic quantities of the characteristic position of each tooth in the tooth reference model, and probability distribution function values are calculated for the characteristic quantities of at least the characteristic positions of the teeth with the same number;
the tooth position determining module determines the tooth position of the tooth model to be tested based on the hidden Markov model.
17. The oral scanning system of claim 16, wherein the dental reference model further comprises a third prior model, wherein the third prior model comprises a probability distribution function value of the tooth arrangement calculated for the tooth arrangement of every two adjacent teeth after the tooth in the dental reference model is not missing or a different number of teeth are missing.
18. The oral scanning system of claim 16 or 17, wherein the bite level determination module determines the bite level of the tooth model to be tested based on a hidden markov model, in particular: calculating a probability value of each value of the tooth state sequence and a tooth observation sequence appearing at the same time based on the tooth reference model, and taking a tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as a tooth position of the tooth model to be tested, wherein the tooth state sequence represents the tooth reference model, and the tooth observation sequence represents the tooth model to be tested.
19. An oral cavity scanning system is characterized by comprising an image acquisition module, an image processing module, a tooth position determining module, a communication module and a mobile terminal with a communication function,
the image acquisition module acquires image information of teeth to be scanned and sends the image information to the image processing module;
the image processing module establishes a tooth model to be tested according to the image information and extracts the distance between two adjacent teeth in the tooth model to be tested;
the tooth position determining module determines the tooth position of the tooth model to be tested according to a tooth reference model and the distance between two adjacent teeth in the tooth model to be tested;
the communication module sends the tooth position information of the tooth model to be tested to the mobile terminal;
and the mobile terminal displays the tooth position of the tooth model to be tested.
20. The oral scanning system of claim 19, wherein the dental reference model comprises a first prior model, the first prior model comprises a distance between every two adjacent teeth in the dental reference model and a number of missing teeth corresponding to the distance, and probability distribution function values are calculated for the distances between different numbers of missing teeth;
the tooth position determining module determines the tooth position of the tooth model to be tested based on the hidden Markov model.
21. The oral scanning system of claim 20 wherein the dental reference model further comprises a third prior model; the third prior model comprises the tooth position arrangement conditions of every two adjacent teeth after the teeth are not lost or different numbers of teeth are lost in the tooth reference model, and the probability distribution function value of the tooth position arrangement conditions is calculated.
22. The oral scanning system of claim 20 or 21, wherein the determining the dentition of the tooth model to be tested based on the hidden markov model is: calculating a probability value of each value of the tooth state sequence and a tooth observation sequence appearing at the same time based on the tooth reference model, and taking a tooth position arrangement condition represented by the value of the tooth state sequence corresponding to the calculated maximum probability value as a tooth position of the tooth model to be tested, wherein the tooth state sequence represents the tooth reference model, and the tooth observation sequence represents the tooth model to be tested.
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