CN112767347A

CN112767347A - Image registration method and device, electronic equipment and storage medium

Info

Publication number: CN112767347A
Application number: CN202110061825.4A
Authority: CN
Inventors: 刘畅; 赵亮
Original assignee: Shanghai Sensetime Intelligent Technology Co Ltd
Current assignee: Shanghai Sensetime Intelligent Technology Co Ltd
Priority date: 2021-01-18
Filing date: 2021-01-18
Publication date: 2021-05-07

Abstract

The present disclosure relates to an image registration method and apparatus, an electronic device, and a storage medium, the method including: determining target data of a target organ located on the surface of the oral cavity from the tomographic image of the oral cavity; and registering the target data and the surface scanning data of the oral cavity to obtain a registration result of the tomography image of the oral cavity and the surface scanning data.

Description

Image registration method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to an image registration method and apparatus, an electronic device, and a storage medium.

Background

Image registration (Image registration) technology, which can match and superimpose two or more images acquired at different times and under different sensors (imaging devices) or under different conditions (weather, illuminance, camera position and angle, etc.), has been widely used in the fields of remote sensing data analysis, computer vision, Image processing, etc.

The image registration technology is also widely applied to the medical field at present, in the medical field, a computed tomography imaging technology can be used for obtaining a tomography image of an organ in the oral cavity, a surface scanning technology can be used for obtaining surface scanning data of the oral cavity, the tomography image of the oral cavity and the surface scanning data are registered, and after the registration, multi-level visual display can be carried out on each organ in the oral cavity.

However, in the related art, the accuracy of registering the tomographic image of the oral cavity with the surface scan data is low.

Disclosure of Invention

The present disclosure proposes an image registration technical solution.

According to an aspect of the present disclosure, there is provided an image registration method including:

determining target data of a target organ located on the surface of the oral cavity from the tomographic image of the oral cavity;

and registering the target data and the surface scanning data of the oral cavity to obtain a registration result of the tomography image of the oral cavity and the surface scanning data.

In the embodiment of the present disclosure, in the process of registering the images, target data of a target organ located on the surface of the oral cavity is determined from the tomographic images of the oral cavity, and the target data is registered with the tomographic data of the oral cavity to obtain a registration result between the tomographic images of the oral cavity and the tomographic data. Therefore, the interference of the image part of the non-oral surface organ in the tomographic image to the image registration process is reduced, and the accuracy of the image registration result is improved. In addition, the efficiency of image registration is improved because the image portions of non-oral surface organs in the tomographic image are reduced.

In one possible implementation, the target organ includes a tooth, and determining target data of the target organ located on a surface of an oral cavity from a tomographic image of the oral cavity includes:

from the tomographic image of the oral cavity, target data of teeth located outside the jaw bone is determined.

In the embodiment of the present disclosure, the target data of the tooth located outside the jaw bone is determined from the tomographic image of the oral cavity, and in the case that the tomographic image is a three-dimensional image, the target data may be data representing a three-dimensional structure of the tooth, and then the target data is registered with the oral cavity surface scan data to obtain a registration result. Since the density of the teeth and the jaw bone is high, it can be accurately recognized, and thus the accuracy of the obtained target data can be improved. In addition, because the target data is the target data of the teeth positioned outside the jaw bone, the influence of the tooth parts in the jaw bone in the tomographic image on the image registration accuracy is reduced, and the image registration accuracy is improved.

In one possible implementation, the determining target data of the teeth located outside the jawbone from the tomographic image of the oral cavity includes:

identifying jaw and tooth regions in the tomographic image;

acquiring data of teeth located outside the jaw area in the tooth area as the target data.

In the embodiment of the disclosure, the jaw region and the tooth region in the tomographic image are segmented, that is, the region in the tooth region outside the jaw region is determined, and then the data of the teeth in the tooth region outside the jaw region can be extracted as the target data, so that the target data of the teeth outside the jaw can be accurately obtained, and the accuracy of image registration is improved.

In one possible implementation, determining target data for teeth located outside a jaw bone from a tomographic image of an oral cavity includes:

from the tomographic image of the oral cavity, surface data of teeth located outside the jaw bone is determined as the target data.

In the embodiment of the present disclosure, by determining the surface data of the teeth located outside the jaw bone from the tomographic image of the oral cavity as the target data, thereby performing registration using the surface data of the teeth located outside the jaw bone in the tomographic image and the oral cavity surface scan data, since both parts of data to be subjected to registration are surface data, the influence of the tooth part not located on the oral cavity surface in the tomographic image on the image registration accuracy is reduced, and thus the accuracy of registration of the tomographic image and the oral cavity surface scan data is improved. In addition, the target data only has one layer of data on the surface, so that the data volume is smaller and the calculation speed is higher.

inputting the tomography image into a neural network to obtain a tooth region and a jaw region in the tomography image output by the neural network;

removing a tooth region included in the jaw region among the tooth regions, and taking data of the removed tooth region as target data.

In the embodiment of the disclosure, the tooth region and the jaw region in the tomographic image are determined through the neural network, so that not only the accuracy of tooth and jaw segmentation is improved, but also the accuracy of registration of the tomographic image and the oral cavity surface scanning data is improved. In addition, the tooth area is further segmented through the jaw area, teeth contained in the jaw area are removed, the residual tooth area is used as target data, the tooth area not on the oral surface is further reduced, the influence of the tooth part not on the oral surface in the tomographic image on the image registration accuracy is reduced, and therefore the registration accuracy of the tomographic image and the oral surface scanning data is improved.

In a possible implementation manner, the registering the target data with the surface scan data of the oral cavity to obtain a registration result of the tomographic image of the oral cavity and the surface scan data includes:

performing three-dimensional reconstruction on the target data to obtain three-dimensional reconstruction data;

and registering the three-dimensional reconstruction data and the surface scanning data to obtain a registration result of the tomography image of the oral cavity and the surface scanning data.

In the embodiment of the disclosure, since the surface scanning data is three-dimensional data, the target data is three-dimensionally reconstructed, and the three-dimensional reconstructed data and the surface scanning data are used for registration, so that the registration accuracy of the tomographic scanning image and the oral surface scanning data is improved.

In one possible implementation, the tomographic image comprises a cone-beam computed tomography image CBCT;

the surface scan data of the oral cavity includes surface data obtained by scanning the surfaces of teeth and gums.

In the embodiment of the disclosure, the neural network is adopted to realize the rapid segmentation of the teeth and the jaw bone, so that the accuracy of the segmentation of the teeth and the jaw bone is improved, in addition, according to the segmentation result of the jaw bone, the part of the teeth hidden in the jaw bone is removed, in the registration process, the negative influence caused by the fact that soft tissues such as gum cannot be effectively displayed by CBCT is reduced, and the accuracy of the registration is improved.

According to an aspect of the present disclosure, there is provided an image registration apparatus including:

a data determining unit for determining target data of a target organ located on the surface of the oral cavity from the tomographic image of the oral cavity;

and the registration unit is used for registering the target data and the surface scanning data of the oral cavity to obtain a registration result of the tomography image of the oral cavity and the surface scanning data.

In a possible implementation, the target organ comprises teeth, and the data determination unit is configured to determine target data of teeth located outside a jaw bone from a tomographic image of an oral cavity.

In one possible implementation, the data determination unit is configured to identify a jaw region and a tooth region in the tomographic image; acquiring data of teeth located outside the jaw area in the tooth area as the target data.

In one possible implementation, the data determination unit is configured to determine surface data of teeth located outside a jaw bone as the target data from a tomographic image of an oral cavity.

In a possible implementation manner, the data determination unit is configured to input the tomographic image into a neural network, and obtain a tooth region and a jaw region in the tomographic image output by the neural network; removing a tooth region included in the jaw region among the tooth regions, and taking data of the removed tooth region as target data.

In a possible implementation manner, the registration unit is configured to perform three-dimensional reconstruction on the target data to obtain three-dimensional reconstruction data; and registering the three-dimensional reconstruction data and the surface scanning data to obtain a registration result of the tomography image of the oral cavity and the surface scanning data.

According to an aspect of the present disclosure, there is provided an electronic device including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.

According to an aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.

In the embodiment of the present disclosure, in the process of registering the images, target data of an organ located on the oral surface is determined from the tomographic images of the oral cavity, and the target data is registered with the oral surface scan data to obtain a registration result. Therefore, the two parts of images to be registered are both images of the oral surface organs, the interference of the image parts of the non-oral surface organs in the tomographic scanning images on the image registration process is reduced, and the accuracy of the image registration result is improved. In addition, the efficiency of image registration is improved because the image portions of non-oral surface organs in the tomographic image are reduced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

Fig. 1 shows a flow chart of an image registration method according to an embodiment of the present disclosure.

FIG. 2 illustrates a schematic representation of the relationship between a tooth region and a gum region according to an embodiment of the present disclosure.

Fig. 3 shows a block diagram of an image registration apparatus according to an embodiment of the present disclosure.

Fig. 4 shows a block diagram of an electronic device in accordance with an embodiment of the disclosure.

Fig. 5 shows a block diagram of an electronic device in accordance with an embodiment of the disclosure.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.

With the development of medical and health fields in recent years, the application of computed tomography imaging technology is becoming more and more extensive, and in the field of oral medicine, the computed tomography imaging technology can obtain tomographic images of organs in the oral cavity. Common tomographic techniques may be, for example, CT (Computed Tomography), CBCT (Cone beam Computed Tomography), and the like.

The tomographic image of the oral cavity includes internal structures such as bones and teeth in the oral cavity, but some structures on the surface of the oral cavity, for example, gum structures, cannot be accurately represented in the tomographic image. And the oral surface scan data can characterize the topography of the oral surface, such as the topography of the tooth surface and the gum surface. Then, the tomography image of the oral cavity and the oral cavity surface scanning data containing the gum surface topography are registered, and the tomography image of the oral cavity and the oral cavity surface topography are displayed under the same coordinate system after the registration, so that the structure of the tissue organ in the oral cavity can be reflected more accurately.

The image registration method provided by the present disclosure may be executed by an electronic device such as a terminal device or a server, where the terminal device may be a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, or the like, and the method may be implemented by a processor calling a computer-readable instruction stored in a memory.

Fig. 1 shows a flowchart of an image registration method according to an embodiment of the present disclosure, as shown in fig. 1, the image registration method includes:

in S11, target data of a target organ located on the surface of the oral cavity is determined from the tomographic image of the oral cavity.

The tomographic image of the oral cavity may be an image obtained based on the degree of absorption of X-rays by organs and tissues, and may include, for example: CT images obtained by CT techniques, CBCT images obtained by CBCT techniques, and the like.

Tissues and organs in tomographic images are represented in different gray scales, which reflect the degree of absorption of X-rays by the tissues and organs. In the tomographic image, the shading represents a low absorption region, i.e., a low density region; white shading represents a high absorption area, i.e. a high density area, such as bone, teeth, etc. Therefore, the tissue structures of the jaw, teeth, and the like of the oral cavity can be clearly displayed in the tomographic image of the oral cavity.

The organs located on the oral surface include gums, teeth, and the like, wherein the density of the teeth is high, the absorption degree of the X-rays is high, and the teeth are not covered by the skin, that is, the air around the teeth does not absorb the X-rays, so that the teeth can be remarkably displayed in the tomographic image and can be accurately identified. Therefore, in the embodiment of the present disclosure, the target data of the tooth can be extracted from the tomographic image of the oral cavity, and the accuracy of image registration can be improved.

Specifically, in the process of determining the target data, a target organ located on the oral surface may be determined in the tomographic image, and then the relevant data of the target organ may be extracted as the target data. For example, a target organ located on the surface of the oral cavity can be segmented in the tomographic image through a neural network, and then corresponding target data is extracted according to the segmentation result; of course, the target organ may also be determined by an image segmentation technique such as threshold segmentation, which is not limited in the embodiment of the present disclosure.

The tomographic image in the embodiment of the present disclosure may be a two-dimensional image or a three-dimensional image, for example, may be a two-dimensional CT image, or may also be a three-dimensional CBCT image. The determined target data may be a two-dimensional image or three-dimensional data, which is not limited by the present disclosure.

In S12, the target data and the surface scan data of the oral cavity are used for registration, and a registration result of the tomographic image of the oral cavity and the surface scan data is obtained.

The surface scan data of the oral cavity is data obtained by scanning the surface of the oral cavity, and reflects the structure of the inner surface of the oral cavity. In some embodiments, the data may be obtained by an intraoral scanner, which may scan the intraoral surfaces of teeth, gums, and the like by an optical probe to obtain surface scanning data of the oral cavity, where the oral surface scanning data may be data of a Mesh (Mesh) structure, or may also be data in the form of an image, and the visualization of the oral surface topography may be achieved by rendering the oral surface scanning data.

The tomographic image and the surface scan data of the oral cavity are acquired by different imaging devices for tissue organs of the same oral cavity, so that the same tissue organs in the tomographic image and the surface scan data of the oral cavity are overlapped as much as possible in the image registration process, that is, coordinates of points corresponding to the same tissue organs in the tomographic image and the surface scan data of the oral cavity are the same as much as possible.

In a possible implementation manner, the registering the target data with the surface scan data of the oral cavity to obtain a registration result of the tomographic image of the oral cavity and the surface scan data includes: rotating and translating a first point set formed by the target data and/or a second point set formed by the oral surface scanning data to obtain target relative positions of the first point set and the second point set, wherein the target relative positions enable the distance between the first point set and the second point set to be minimum; and determining a registration result of the tomography image and the surface scanning data according to the relative position of the target and the position of the target data in the tomography image.

Since the target data and the oral surface scanning data are composed of a series of feature points characterizing the structure, in the ICP algorithm, the target data and the oral surface scanning data are regarded as 2 point sets, and then the distance between the two point sets is minimized through rotation and translation, i.e. the registration of the target data and the oral surface scanning data is realized. The distance between the first point set and the second point set may be the sum of the distances between each point in the first point set and the closest point in the second point set.

Specifically, in the process of performing registration by using the target data and the oral surface scanning data, an algorithm such as an Iterative Closest Point (ICP) algorithm may be used to perform image registration.

The target data is extracted from the tomography image of the oral cavity, so that the registration of the target data and the oral cavity surface scanning data is realized, namely the registration of the tomography image of the oral cavity and the oral cavity surface scanning data is realized.

The image registration method provided by the present disclosure can also be varied, and in an alternative mode, the target organ includes a tooth, and the determining target data of the target organ located on the surface of the oral cavity from the tomographic image of the oral cavity includes: from the tomographic image of the oral cavity, target data of teeth located outside the jaw bone is determined.

Since the teeth can be prominently displayed in the tomographic image and can be accurately identified, the target data of the teeth on the surface of the oral cavity can be determined from the tomographic image of the oral cavity, and the accuracy of image registration can be improved.

Since a part of the teeth is embedded in the gingiva and the jaw bone, that is, there is a part of the teeth which is not on the oral surface, and the tomographic image is registered with the oral surface scan data in the present disclosure, the part of the tomographic image which is not on the oral surface can be eliminated to reduce the influence of the part of the image on the image registration accuracy.

Furthermore, since the jaw bone can be clearly displayed in the tomographic image, that is, the jaw bone can be accurately recognized, in order to improve the accuracy of image registration, teeth located in the jaw bone may be rejected, and image registration is performed using target data of teeth located outside the jaw bone to reduce the influence of tooth portions not on the oral surface in the tomographic image on the accuracy of image registration as much as possible.

In the disclosed embodiment, the registration result is obtained by determining target data of teeth located outside a jaw bone from a tomographic image of an oral cavity and then registering the target data with the oral cavity surface scan data. Since the density of the teeth and the jaw bone is high, it can be accurately recognized, and thus the accuracy of the obtained target data can be improved. In addition, because the target data is the target data of the teeth positioned outside the jaw bone, the influence of the tooth parts in the jaw bone in the tomographic image on the image registration accuracy is reduced, and the image registration accuracy is improved.

In one possible implementation, the determining target data of the teeth located outside the jawbone from the tomographic image of the oral cavity includes: identifying jaw and tooth regions in the tomographic image; acquiring data of teeth located outside the jaw area in the tooth area as the target data.

The jaw and tooth regions in the tomographic image may be determined by an image segmentation technique, for example, the jaw and tooth regions in the tomographic image may be segmented using a neural network, which may be trained using a labeled tomographic image sample in which the jaw and tooth regions have been labeled. The neural network is trained by using the tomography image samples marked with the jaw bone area and the tooth area, so that the trained neural network can predict the jaw bone area and the tooth area in the tomography image, and the jaw bone area and the tooth area are segmented.

After identifying the jaw region and the tooth region in the tomographic image, since a part of the tooth is embedded in the gum and the jaw, there may be a partially overlapping region between the tooth region and the jaw region, and then, in determining the target data of the tooth located outside the jaw, data located outside the jaw region in the tooth region may be acquired as the target data. Specifically, points located within the jaw bone may be deleted from the tooth surface data point set, with the remaining data points being targeted data.

The fast segmentation of tooth areas as well as jaw areas in the tomographic image can be achieved by algorithms such as neural network or threshold segmentation. Specifically, in one possible implementation, the determining target data of teeth located outside a jaw bone from a tomographic image of an oral cavity includes: inputting the tomography image into a neural network to obtain a tooth region and a jaw region in the tomography image output by the neural network; removing a tooth region included in the jaw region among the tooth regions, and taking data of the removed tooth region as target data.

Referring to fig. 2, the tooth area and the jaw area obtained by the neural network are shown in the left diagram of fig. 2, wherein a part of the tooth area 21 is embedded in the jaw area 22, and the remaining tooth area 21-1 of the tooth area 21, which is included in the jaw area 22, is removed, is shown in the right diagram of fig. 2.

In one possible implementation, determining target data for teeth located outside a jaw bone from a tomographic image of an oral cavity includes: from the tomographic image of the oral cavity, surface data of teeth located outside the jaw bone is determined as the target data.

The tomographic image is an image composed of a cross section of a human body part, and includes the internal structure of a tissue organ, and the tomographic image of the oral cavity also includes the internal structure of a tooth. Since the oral surface scan data is the structure of the oral surface, in order to realize the accurate registration of the tomographic image and the surface scan data of the oral cavity, the surface data of the teeth positioned outside the jaw bone can be determined from the tomographic image of the oral cavity as target data, so that the interference of the image registration of the teeth inside the tomographic image is reduced, and the accuracy of the image registration is improved.

There are various ways of determining the tooth surface data located outside the jaw bone, for example, after determining the jaw bone region and the tooth region in the tomographic image, the surface data of the teeth in the image located outside the jaw bone region in the tooth region may be acquired as the target data. That is, it is possible to segment a tooth region in a tomographic image of the oral cavity based on an image segmentation technique and then extract a portion of the edge of the tooth region as surface data of a tooth outside the jaw bone.

In some embodiments of the present disclosure, surface data of teeth located outside of a jaw may be determined from a tomographic image of an oral cavity based on iso-surface extraction (Marching cubes).

In a possible implementation manner, the registering the target data with the surface scan data of the oral cavity to obtain a registration result of the tomographic image of the oral cavity and the surface scan data includes: performing three-dimensional reconstruction on the target data to obtain three-dimensional reconstruction data; and registering the three-dimensional reconstruction data and the surface scanning data to obtain a registration result of the tomography image of the oral cavity and the surface scanning data.

In the embodiment of the present disclosure, the target data may be three-dimensionally reconstructed by a surface rendering algorithm (MC), so as to obtain three-dimensional reconstruction data. Then, in the registration process, the three-dimensional reconstruction data and the surface scan data can be used for registration to obtain a registration result of the tomography image of the oral cavity and the surface scan data.

In one possible implementation, the determining target data of a target organ located on the surface of the oral cavity from the tomographic image of the oral cavity includes: carrying out preprocessing operation on the tomography image to obtain a preprocessed image; segmenting the target organ from the preprocessed image to obtain target data of the target organ;

the pre-treatment operation comprises at least one of: adjusting the size of the tomography image to a preset size; and carrying out normalization processing on pixel points in the tomographic image. The normalization process here may be, for example, normalizing the values of the pixels to be between 0 and 1.

In the embodiment of the disclosure, the tomography image is processed into the image form supported by the subsequent operation by performing normalization processing on the tomography image, so that the subsequent processing is facilitated.

In one possible implementation, the tomographic image comprises a cone-beam computed tomography image CBCT; the surface scanning data of the oral cavity comprises data obtained by scanning the surfaces of teeth and gums.

In the following, the tomographic image is taken as a CBCT image of the oral cavity, and the oral surface scan data includes data obtained by scanning the surfaces of the teeth and the gums, as a specific application scenario of the present disclosure, the image registration method provided by the present disclosure is exemplified, and the contents not described in detail in this section can refer to the related description, and the contents in this section can also be used to exemplify the foregoing contents.

In a possible application scenario provided by the present disclosure, the information processing method provided by the present disclosure includes:

and preprocessing the received CBCT image to obtain a preprocessed CBCT image. The preprocessing may include adjusting the size of the image of the received CBCT image to a preset size, or may also include normalizing the pixel values of the pixels in the CBCT image, and details of the specific preprocessing process are not described herein.

And carrying out tooth segmentation and jaw segmentation on the preprocessed CBCT image by utilizing a neural network to obtain a tooth region and a jaw region in the CBCT image. Surface data of teeth located outside of a jaw area in the tooth area is extracted. And registering the surface data of the teeth with the oral cavity surface scanning data to obtain a registration result of the tomography image of the oral cavity and the surface scanning data.

It is understood that the above-mentioned method embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted. Those skilled in the art will appreciate that in the above methods of the specific embodiments, the specific order of execution of the steps should be determined by their function and possibly their inherent logic.

In addition, the present disclosure also provides an image registration apparatus, an electronic device, a computer-readable storage medium, and a program, which can be used to implement any one of the image registration methods provided by the present disclosure, and the corresponding technical solutions and descriptions and corresponding descriptions in the methods section are not repeated.

Fig. 3 shows a block diagram of an image registration apparatus according to an embodiment of the present disclosure, as shown in fig. 3, the apparatus 301 comprising:

a data determining unit 31 for determining target data of a target organ located on the surface of the oral cavity from the tomographic image of the oral cavity;

and the registering unit 32 is used for registering the target data and the surface scanning data of the oral cavity to obtain a registering result of the tomography image of the oral cavity and the surface scanning data.

In a possible implementation, the target organ comprises teeth, and the data determination unit 31 is configured to determine target data of teeth located outside a jaw bone from a tomographic image of an oral cavity.

In one possible implementation, the data determination unit 31 is configured to identify a jaw region and a tooth region in the tomographic image; acquiring data of teeth located outside the jaw area in the tooth area as the target data.

In a possible implementation, the data determination unit 31 is configured to determine surface data of teeth located outside a jaw bone as the target data from a tomographic image of an oral cavity.

In the embodiment of the present disclosure, by determining the surface data of the teeth located outside the jaw bone from the tomographic image of the oral cavity as the target data, thereby performing registration using the surface data of the teeth located outside the jaw bone in the tomographic image and the oral cavity surface scan data, since both parts of data to be subjected to registration are surface data, the influence of the tooth part not located on the oral cavity surface in the tomographic image on the image registration accuracy is reduced, and thus the accuracy of registration of the tomographic image and the oral cavity surface scan data is improved.

In a possible implementation manner, the data determining unit 31 is configured to input the tomographic image into a neural network, and obtain a tooth region and a jaw region in the tomographic image output by the neural network; removing a tooth region included in the jaw region among the tooth regions, and taking data of the removed tooth region as target data.

In a possible implementation manner, the registration unit 32 is configured to perform three-dimensional reconstruction on the target data, so as to obtain three-dimensional reconstruction data; and registering the three-dimensional reconstruction data and the surface scanning data to obtain a registration result of the tomography image of the oral cavity and the surface scanning data.

In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.

Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the above-mentioned method. The computer readable storage medium may be a non-volatile computer readable storage medium.

An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.

The disclosed embodiments also provide a computer program product comprising computer readable code which, when run on a device, a processor in the device executes instructions for implementing the image registration method provided in any of the above embodiments.

The embodiments of the present disclosure also provide another computer program product for storing computer readable instructions, which when executed cause a computer to perform the operations of the image registration method provided in any of the above embodiments.

The electronic device may be provided as a terminal, server, or other form of device.

Fig. 4 illustrates a block diagram of an electronic device 800 in accordance with an embodiment of the disclosure. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like terminal.

Referring to fig. 4, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.

The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 800 is in an operation mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the electronic device 800. For example, the sensor assembly 814 may detect an open/closed state of the electronic device 800, the relative positioning of components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, orientation or acceleration/deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a Complementary Metal Oxide Semiconductor (CMOS) or Charge Coupled Device (CCD) image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as a wireless network (WiFi), a second generation mobile communication technology (2G) or a third generation mobile communication technology (3G), or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the electronic device 800 to perform the above-described methods.

Fig. 5 illustrates a block diagram of an electronic device 1900 in accordance with an embodiment of the disclosure. For example, the electronic device 1900 may be provided as a server. Referring to fig. 5, electronic device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the above-described method.

The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system, such as the Microsoft Server operating system (Windows Server), stored in the memory 1932^TM) Apple Inc. of the present application based on the graphic user interface operating System (Mac OS X)^TM) Multi-user, multi-process computer operating system (Unix)^TM) Free and open native code Unix-like operating System (Linux)^TM) Open native code Unix-like operating System (FreeBSD)^TM) Or the like.

In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1932, is also provided that includes computer program instructions executable by the processing component 1922 of the electronic device 1900 to perform the above-described methods.

The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An image registration method, comprising:

2. The method of claim 1, wherein the target organ comprises a tooth, and wherein determining target data for the target organ located on the surface of the oral cavity from the tomographic image of the oral cavity comprises:

from the tomographic image of the oral cavity, target data of teeth located outside a jaw bone is determined.

3. The method of claim 2, wherein determining target data for teeth located outside a jaw bone from the tomographic image of the oral cavity comprises:

identifying jaw and tooth regions in the tomographic image;

4. The method according to claim 2 or 3, wherein determining target data of teeth located outside a jaw bone from the tomographic image of the oral cavity comprises:

from the tomographic image of the oral cavity, surface data of teeth located outside a jaw bone is determined as the target data.

5. The method of claim 2, wherein determining target data for teeth located outside a jaw bone from the tomographic image of the oral cavity comprises:

6. The method according to any one of claims 1-5, wherein said using said target data to register with said surface scan data of said oral cavity to obtain a registration result of said tomographic image of said oral cavity with said surface scan data comprises:

7. The method of any of claims 1-6, wherein the tomographic image comprises a cone-beam computed tomography image (CBCT);

8. An image registration apparatus, comprising:

9. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to invoke the memory-stored instructions to perform the method of any of claims 1 to 7.

10. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1 to 7.