EP-4659702-B1 - SCANNING METHOD AND SYSTEM OF SCANNING ROD, AND STORAGE MEDIUM

EP4659702B1EP 4659702 B1EP4659702 B1EP 4659702B1EP-4659702-B1

Inventors

XIAO, Shujuan
CHEN, XIAOJUN
MA, CHAO
ZHAO, Xiaobo

Dates

Publication Date: 20260513
Application Date: 20241205

Claims (14)

A scanning method of a scanning rod, applied to a scanned scene with scanning rods, is characterized in that comprising: scanning a scanned scene in a first scanning rod assembling status to obtain first scanning data, wherein scanning rods are assembled at a third assembly site and a first assembly site in an oral cavity in the first scanning rod assembling status; scanning the scanned scene in a second scanning rod assembling status to obtain second scanning data, wherein the scanning rods are assembled at the third assembly site and a second assembly site in the scanned scene in an oral cavity in the second scanning rod assembling status; and obtaining position information of the assembly sites in the scanned scene based on the first scanning data and the second scanning data.
The method as claimed in claim 1, wherein a distance between the first assembly site and the second assembly site is less than a preset threshold.
The method as claimed in claim 2, wherein a distance between the first assembly site and the third assembly site is greater than the preset threshold, and a distance between the second assembly site and the third assembly site is greater than the preset threshold.
The method as claimed in claim 2, wherein the preset threshold is determined based on a fixed value and diameters of the scanning rods.
The method as claimed in claim 1, wherein the method further comprises: when scanning the scanned scene in the first scanning rod assembling status, scanning the scanning rods at the first assembly site and the third assembly site to obtain the first scanning data; acquiring a display image based on the first scanning data; when scanning the scanned scene in the second scanning rod assembling status, cancelling data of the scanning rod corresponding to the first assembly site in the display image, and scanning the scanning rods at the second assembly site and the third assembly site to obtain the second scanning data; and updating the display image based on the second scanning data.
The method as claimed in claim 1, wherein an assembling status of the scanning rod at the third assembly site in the scanned scene in the first scanning rod assembling status is the same as an assembling status of the scanning rod at the third assembly site in the scanned scene in the second scanning rod assembling status, and the obtaining the position information of the assembly sites in the scanned scene based on the first scanning data and the second scanning data further comprises: registering the first scanning data with the second scanning data to obtain a registered image; and obtaining the position information of the assembly sites in the scanned scene based on the registered image.
The method as claimed in claim 6, wherein registering the first scanning data with the second scanning data to obtain the registered image comprises: registering the first scanning data with the second scanning data based on the mark points at the third assembly site in the first scanning data and the second scanning data.
The method as claimed in claim 1, wherein obtaining the position information of the assembly sites in the scanned scene based on the first scanning data and the second scanning data comprises: determining an orientation vector between the scanning rods at the first assembly site and the third assembly site based on the first scanning data; determining an orientation vector between the scanning rods at the second assembly site and the third assembly site based on the second scanning data; and determining the position information of the assembly sites in the scanned scene based on the orientation vector between the scanning rods at the first assembly site and the third assembly site as well as the orientation vector between the scanning rods at the second assembly site and the third assembly site.
The method as claimed in claim 1, wherein an assembling status of the scanning rod at the third assembly site in the scanned scene in the first scanning rod assembling status is the same as an assembling status of the scanning rod at the third assembly site in the scanned scene in the second scanning rod assembling status, and obtaining the position information of the assembly sites in the scanned scene based on the first scanning data and the second scanning data further comprises: determining an orientation vector between mark points on a surface of the scanning rod at the third assembly site based on the first scanning data; determining an orientation vector between the mark points on the surface of the scanning rod at the third assembly site based on the second scanning data; and determining the position information of the assembly sites in the scanned scene based on the orientation vectors between the mark points on the surface of the scanning rod at the third assembly site.
The method as claimed in claim 5, wherein the scanning rods are provided with feature patterns, and the obtaining the position information of the assembly sites in the scanned scene based on the registered image comprises: determining the position information of the first assembly site, the second assembly site, and the third assembly site based on the feature patterns of all the scanning rods in the registered image; or, the scanning rods are provided with mark points, and the obtaining the position information of the assembly sites in the scanned scene based on the registered image comprises: determining relative position information among the first assembly site, the second assembly site, and the third assembly site based on the mark points on the scanning rods in the registered image.
The method as claimed in claim 1, wherein the first assembly site and the second assembly site are two assembly sites where the scanning rods interfere with each other, and the third assembly site is an assembly site where there is no interference with the first assembly and the second assembly.
The method as claimed in claim 1, wherein the method further comprises: scanning mark points on the scanning rods; generating three-dimensional scanning data of the scanning rods based on the mark points; generating a scanned image based on the three-dimensional scanning data of the scanning rods.
The method as claimed in claim 1, wherein obtaining position information of the assembly sites in the scanned scene based on the first scanning data and the second scanning data comprises: updating the second scanning data based on the first scanning data to obtain an updated image of the second scanning data, wherein the updated image of the second scanning data includes coordinates of the third assembly site and the second assembly site.
The method as claimed in claim 1, wherein the method further comprises: obtaining a registration matrix by coordinates of the third assembly sites in the first scanning data and the second scanning data; transforming the coordinates in the second scanning data into a coordinate system in the first scanning data based on the registration matrix to obtain the updated image of the second scanning data.

Description

Technical Field The present disclosure relates to the technical field of scanning with a scanning rod, and in particular, relates to a scanning method and system of a scanning rod, and a storage medium. Background Digital impression collection for dental implant restoration involves connecting a scanning rod to an implant/abutment through a tightened screw for scanning in an oral cavity to obtain a scanned image, and the scanned image is then analyzed to acquire feature information of the scanning rod to determine the position of the implant. In practical applications, there may be situations where adjacent implants are too close to each other and two scanning rods cannot be put in place simultaneously. In the related art, when scanning rods are used for digital impression making, the problem that adjacent implants are too close to each other and two scanning rods cannot be put in place simultaneously cannot be effectively solved, resulting in problems that complete feature information of the scanning rods in the oral cavity cannot be obtained, and the exact position of the implant cannot be determined. Therefore, the related art has many shortcomings. DE 102011053336 A1, WO 2022060017 A1, US 2024122685 Aland CN 117064582 A provide respective technical solutions, however, the above problem still remains unsolved. Summary Embodiments of the present disclosure provide a scanning method and system of a scanning rod, and a storage medium. In a first aspect, the Embodiments of the present disclosure provide a scanning method of a scanning rod, which is applied to a scanned scene with scanning rods. The method includes: scanning a scanned scene in a first scanning rod assembling status to obtain first scanning data, where scanning rods are assembled at a third assembly site and a first assembly site in the scanned scene in the first scanning rod assembling status;scanning the scanned scene in a second scanning rod assembling status to obtain second scanning data, where the scanning rods are assembled at the third assembly site and a second assembly site in the scanned scene in an oral cavity in the second scanning rod assembling status; andobtaining position information of the assembly sites in the scanned scene based on the first scanning data and the second scanning data. In some alternative embodiments of the present disclosure, a distance between the first assembly site and the second assembly site is less than a preset threshold. In some alternative embodiments of the present disclosure, when scanning the scanned scene in the first scanning rod assembling status, the scanning rods at the first assembly site and the third assembly site are scanned to obtain the first scanning data; a display image is acquired based on the first scanning data;when scanning the scanned scene in the second scanning rod assembling status, data of the scanning rod corresponding to the first assembly site in the display image is cancelled, and the scanning rods at the second assembly site and the third assembly site are scanned to obtain the second scanning data; andthe display image is updated based on the second scanning data. In some alternative embodiments of the present disclosure, an assembling status of the scanning rod at the third assembly site in the scanned scene in the first scanning rod assembling status is the same as an assembling status of the scanning rod at the third assembly site in the scanned scene in the second scanning rod assembling status, and the obtaining position information of the assembly sites in the scanned scene based on the first scanning data and the second scanning data further includes: register the first scanning data with the second scanning data to obtain a registered image; andobtaining the position information of the assembly sites in the scanned scene based on the registered image. In some alternative embodiments of the present disclosure, the obtaining position information of the assembly sites in the scanned scene based on the first scanning data and the second scanning data includes: determining an orientation vector between the scanning rods at the first assembly site and the third assembly site based on the first scanning data;determining an orientation vector between the scanning rods at the second assembly site and the third assembly site based on the second scanning data; anddetermining the position information of the assembly sites in the scanned scene based on the orientation vector between the scanning rods at the first assembly site and the third assembly site as well as the orientation vector between the scanning rods at the second assembly site and the third assembly site. In some alternative embodiments of the present disclosure, the assembling status of the scanning rod at the third assembly site in the scanned scene in the first scanning rod assembling status is the same as an assembling status of the scanning rod at the third assembly site in the scanned scene in the seco