| CPC A61B 1/247 (2013.01) [A61B 1/000094 (2022.02); A61B 1/00045 (2013.01); A61B 1/00194 (2022.02)] | 6 Claims |
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1. A dental image display method, wherein an intraoral scanner is provided with a light sensing component and a first camera disposed on a back surface of the light sensing component; a dental handpiece comprises a main structure, one end of the main structure is provided with a working end of the dental handpiece, the other end thereof is a handheld end, a display screen is disposed between the working end and the handheld end that are of the dental handpiece, a working component is disposed on a front surface of the working end of the dental handpiece, and a second camera is disposed on a back surface of the working end; a positional relationship of the second camera relative to the working component of the dental handpiece is the same as that of the first camera relative to the light sensing component; the dental handpiece and the intraoral scanner are communicatively connected to a processing module respectively, to execute the method by using the processing module; and the method comprises the following steps:
obtaining a three-dimensional tooth image formed by scanning an oral cavity of a patient by using the light sensing component of the intraoral scanner;
obtaining a first local dental arch image collected by the light sensing component at each moving position when the light sensing component of the intraoral scanner moves along a dental arch, and obtaining a second local dental arch image collected by the first camera at each moving position, wherein the first local dental arch image is a local image of one of an upper dental arch and a lower dental arch in the three-dimensional tooth image, and the second local dental arch image is a local image of the other one of the upper dental arch and the lower dental arch in the three-dimensional tooth image;
establishing a positional association between the first local dental arch image and the second local dental arch image that are collected at each moving position, to form paired data;
obtaining a first real-time image collected by the second camera when the dental handpiece is operated in the oral cavity, and querying the paired data according to the first real-time image, to determine a local dental arch image aligned by the working component of the dental handpiece; and
displaying the local dental arch image aligned by the working component of the dental handpiece on the display screen of the dental handpiece;
wherein a fourth camera configured to collect a doctor image is disposed at the handheld end of the dental handpiece; and the method further comprises:
establishing a three-dimensional coordinate system according to the three-dimensional tooth image;
calculating positional coordinates of the working end of the dental handpiece in the three-dimensional coordinate system by using the first real-time image obtained by the second camera when the working end of the dental handpiece moves at different positions in the oral cavity;
establishing the doctor image in the three-dimensional coordinate system by using the doctor image collected by the fourth camera, to determine doctor coordinates and determine a doctor sight line range;
recognizing a diseased region from the three-dimensional tooth image, and extracting diseased region coordinates, wherein the diseased region comprises a diseased tooth and surrounding tissue of the diseased tooth;
calculating sight line blind region coordinates of the three-dimensional tooth image relative to the doctor coordinates; and
displaying the local dental arch image aligned by the working component of the dental handpiece and the first real-time image collected by the second camera on the display screen when the positional coordinates of the working end of the dental handpiece are located at an overlapped region between the sight line blind region coordinates and the diseased region coordinates;
wherein the step of establishing the doctor image in the three-dimensional coordinate system by using the doctor image collected by the fourth camera, to determine doctor coordinates and determine a doctor sight line range comprises:
obtaining the doctor image collected by the fourth camera at each set moment;
obtaining a position of the working end of the dental handpiece in the three-dimensional coordinate system at each set moment;
converting the doctor image at each set moment to the three-dimensional coordinate system according to the positional coordinates of the working end of the dental handpiece in the three-dimensional coordinate system, to determine the doctor coordinates; and
determining the doctor sight line range according to the doctor coordinates and a set observation view angle;
wherein the step of calculating sight line blind region coordinates of the three-dimensional tooth image relative to the doctor coordinates comprises:
simulating a coverage situation of the three-dimensional tooth image in an oral environment according to the three-dimensional tooth image; and
determining the sight line blind region coordinates of a doctor according to the doctor sight line range and the coverage situation of the three-dimensional tooth image in the oral environment;
wherein the method further comprises:
calculating a view angle deviation between the doctor coordinates and the three-dimensional tooth image; and
calculating a comfortable display angle, adjusted according to the view angle deviation, of the three-dimensional tooth image; and
the step of displaying the local dental arch image aligned by the working component of the dental handpiece and the first real-time image collected by the second camera on the display screen when the positional coordinates of the working end of the dental handpiece are located at an overlapped region between the sight line blind region coordinates and the diseased region coordinates comprises:
displaying, according to the comfortable display angle, the local dental arch image aligned by the working component of the dental handpiece and the first real-time image collected by the second camera on the display screen when the positional coordinates of the working end of the dental handpiece are located at the overlapped region between the sight line blind region coordinates and the diseased region coordinates.
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