JP2012016573A - System for measuring and processing dental prosthesis - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system which allows to contactlessly and directly acquire data of the three-dimensional shape of a dental prosthesis from the intraoral cavity of a patient with the alleviated burden on the patient and a dentist, and produce the accurate dental prosthesis.SOLUTION: The system includes: an image data preparing means, a carrier, and a three-dimensional shape obtaining means, wherein the image data preparing means takes a stationary photograph of an intraoral object to target; the carrier has a dimension to insert itself into an intraoral cavity, and comprises a fixing site for fixing the image data preparing means to take such a position that the three-dimensional shape of the object to be measured can be measured; and the three-dimensional shape obtaining means bases on the photographic information obtained by the image data preparing means to obtain the three-dimensional shape of the targeted intraoral object.

Description

The present invention relates to a system for acquiring three-dimensional shape information directly from the oral cavity and manufacturing a prosthesis or the like based on the three-dimensional shape information.

Processing and manufacturing of dental prostheses using CAD / CAM has made it possible to manufacture high-precision prosthetics by improving the performance of computers, measuring instruments, etc., but it is still concave from the oral cavity during automatic measurement. Taking the impression of having a tooth shape, forming a convex model from this impression, automatically measuring the surface shape of this convex model and converting it to data, and processing the processing block to manufacture a prosthesis Many.
The application of the impression material to the oral cavity is uncomfortable for the patient, and is troublesome for the dentist and dental technician.

  Japanese Patent Application Laid-Open No. 2000-74635 proposes a probe that directly acquires a tooth shape from the oral cavity without contact. This is a technique that irradiates a measurement site in the oral cavity and measures the shape of the oral cavity in a non-contact manner using a triangulation method based on the angle between the path of the irradiated light and the reflected light. It is disclosed. As described in International Publication WO2009 / 139110, this technique describes that it is necessary to obtain a reflected light clearly by applying a solution containing titanium oxide or the like to teeth in advance. .

Also, in International Publication WO2009-113068, laser light is irradiated to scan the intraoral object, and multiple interference fringes are formed on the intermediate screen by utilizing the phase shift of the reflected return light. It uses a conoscopic method for measuring the distance between subjects from the characteristics of the stripes, and describes that the three-dimensional shape of an intraoral shaped object is measured directly from the oral cavity without contact.
Japanese Patent Application Laid-Open No. 2000-74635 and International Publication No. WO2009-1113068 are both hand-held measuring instruments, but during a plurality of repeated reciprocating scans as in an image scanner, or by forming a group of light beams and triangulating them. In the method of moving the angle, it is necessary to fix the probe firmly.

On the other hand, in Japanese Patent Laid-Open No. 2003-148934, a video camera is mainly used to shoot a large number of images, three-dimensional data is formed by photogrammetry, and an accurate prosthesis is obtained by three-dimensional morphing correction. It is disclosed.
In order to take a large number of images, as in the above-described prior art, a semi-fixed shooting is required for a long time, and the patient as a subject is forced to endure so as not to move in the middle.

  These are both hand-held instruments that can be captured by flexible measuring instruments, but the measurement time is long, so that the restriction that patients and doctors must not shake during that time There are many.

In order to eliminate such restrictions, Japanese translations of PCT publication No. 2004-519289 discloses a method for measuring while moving a sensor and illumination on a mouthpiece type experimental device and moving it around the mouthpiece,
In Japanese Translation of PCT International Publication No. 2004-502137, a guide body that can be driven by a robot with a sensor or the like is formed outside the oral cavity, and the guide body is directly placed in the mouth. A technique is disclosed.
These methods are stationary and fixed, and can be driven more stably than the hand-held type, so various sensors such as moire, photogrammetry, interference spectroscopy, and stereo cameras can be used. Because of the large scale and the fixed placement of the device in the oral cavity, it imposes a certain burden on the patient.

  The stationary fixed type and the hand-held measuring instrument shown in the above prior art measure the surface of the oral cavity directly in the oral cavity, but the scanning period for acquiring many images and measuring the shape As shown in JP-A-2002-224143 and JP-A-2004-237104, there are many practically difficult points such as fixation of the patient and introduction of a device that imposes a burden on the patient into the oral cavity. There are still a lot of impression models.

Japanese Patent Laid-Open No. 2002-224143 measures tooth measurement data of a prosthetic part after three-dimensional measurement and a healthy tooth in a three-dimensional shape in advance, and uses this as a sample to measure processing data. In Japanese Patent Application Laid-Open No. 2004-237104, the state in the oral cavity is previously measured with a 3D camera and a CT scan to form three-dimensional shape data. In this document, a virtual denture is formed by combining artificial tooth data created in advance, and based on this virtual denture, a denture is manufactured by processing a processing block and arranging an artificial tooth corresponding to the data. However, there is no specific method for acquiring information in the oral cavity, and there are various other proposals for data processing. But because it is not yet sufficient in their handling, without using an impression model, and obtains the oral information directly from the mouth, the method such that manufacture various prosthesis, is still insufficient in practical use.

International Publication WO2009-1113068 International Publication WO2009-139110 JP 2000-74635 A JP 2003-148934 A JP 2004-519284 A JP 2004-502137 A JP 2002-224143 A JP 2004-237104 A JP 2004-283594 A

In this way, methods for direct three-dimensional measurement of the oral cavity have been proposed, so-called hand-held type, fixed type in the oral cavity, etc., both of which are burdensome for measurement. We propose a method for manufacturing dental prostheses that eliminates the three-dimensional measurement directly in the oral cavity.

  In view of the above, the present invention provides an image data converting means for converting the intraoral image data into a still image, and the image data converting means is installed in a state capable of measuring the three-dimensional shape of the object to be measured and can be placed in the oral cavity. A metric space manually inserted into the oral cavity is defined by a three-dimensional shape acquisition means for obtaining a three-dimensional shape of the object in the oral cavity from the imaging information obtained by the image data conversion means. An image that can be obtained three-dimensional data by the image data converting means arranged in the state is obtained, forming the data that can virtually obtain the prosthetic shape by digital processing of the coordinates of the subject obtained from the image, This can be displayed on a computer monitor and processed data can be created to create a prosthesis, and the oral shape can be obtained without any burden on either the patient or the medical party. It is possible, in a short time the production of dental prosthesis, was and realize that accurately manufactured.

  The image data conversion means in the present invention indicates, for example, that the shooting screen is captured at the timing when the shutter is pressed, and is a still image or a plurality of continuous images before and after one image. May be incorporated. Such capturing of a plurality of images, addition of a function for performing photographing after a predetermined time, and the like are suitable for preventing camera shake during a so-called shutter operation. In some cases, camera shake prevention functions generally used in cameras and mobile phones may be combined. When a moving image shooting device such as a video camera is used, a still image may be selected from the moving images, and there is no particular limitation as long as a still image is finally obtained.

  In the present invention, the image data conversion means is installed in a state in which the three-dimensional shape of the object to be measured can be measured, and the support having a size that can be placed in the oral cavity is a three-dimensional coordinate using a still image. The acquisition state is arranged at the measurement site and differs depending on the three-dimensional coordinate acquisition method.For example, when a single camera is supported and moved to take a plurality of photographs, It is a condition, and it can take a structure that can move so that the moving distance, moving direction, moving position can be displayed as numerical values, for example, a rod-shaped support is photographed at predetermined intervals in the longitudinal direction Etc. may be shown. With this configuration, it is possible to suppress as much as possible the part that cannot be measured. Further, a stereo camera in which this is fixed at two points is effective in that the amount of calculation is reduced when acquiring coordinates and the position of the camera is fixed.

When acquiring three-dimensional coordinate data with a stereo camera, the acquisition operation is a fixed interval due to the relationship between the horizontal and vertical positions of the cameras, at least when shooting all the cameras facing a specific direction, It is formed. Especially when shooting at close range,
The angle of view may be narrowed and installed with an angle in a direction facing each other. When shooting with a narrow angle of view (including lenses in the standard range (50 ° to 25 °), and may be in a telephoto lens state of 15 ° or less), the intersecting range is also small. In addition, since the imaging area to be borne is reduced in units of pixels, it becomes possible to create a highly accurate prosthesis because grasping and estimation of common points increases accuracy.
Next, shoot while changing the position, convert the coordinates of the image data at each camera position into world coordinates, and obtain the world coordinate data obtained at the previous shooting and the current world coordinate data. Connected to form three-dimensional coordinate data representing a three-dimensional shape. In this case, the camera is preferably moved actively, and it is preferable that the processing is performed in real time while continuously shooting and removing out-of-focus image data.

Continuous shooting refers to continuous automatic shooting, single shooting refers to manual shutter operation, and the obtained image pair may include not only one image but also a plurality of image data pairs by continuous shutter operation. is there.
The image pairs shown here may be in a state in which a parallax image is obtained, and may show two or more images.
Common point coordinates are obtained from a plurality of captured image coordinate data as world coordinates, and this is accumulated, plotted on the world coordinate display on a computer monitor, and converted into a wire frame model at a predetermined interval. By displaying the (Computer Graphics) display, it is possible to determine a place where the image is not captured, and by moving the probe to the site and capturing the image, it is possible to form a three-dimensional model in the oral cavity in which occlusion is eliminated.
Here, “at the time of measurement” is an object indicating that it is possible to move before and after the photographing timing. In the present invention, for example, in the case of a stereo camera, it is indicated that the image data conversion means is inserted into the oral cavity and manually arranged with a certain distance from the teeth, so that a three-dimensional measurement shape can be measured. Manual placement is accompanied by rocking, but if the support is a fixed camera, even if it is rocked, if the image is clear as usual, the 3D coordinate data will be within the range of the photograph. You can get it.

The camera used as the image data conversion means can be made closer to a dental mirror by using a camera module whose vertical and horizontal height dimensions are preferably within 10 mm or smaller, which are currently used in mobile phones. To do. In close-up shooting, it is preferable that the lens has a depth of field at a distance of 10 mm or less or up to 25 mm. Furthermore, the present invention analyzes the image information obtained from the image data conversion means by the three-dimensional shape acquisition means for obtaining the three-dimensional shape of the intraoral object from the photographing information obtained by the image data conversion means. Passive measurement for measuring a three-dimensional distance is preferable.
In addition, even if it is a method of projecting a contour line pattern, such as moire, onto a subject, capturing it as a still image to be acquired instantaneously, and detecting the three-dimensional coordinates of this contour line pattern, the structure is supported May be fixedly arranged during measurement.

The present invention is a state in which at least a tooth loss part or a missing part corresponding to a subject is included in a still image taken by one or more image data converting means or a plurality of still images taken at different positions. It is sufficient that the image is photographed so as to be capable of three-dimensional measurement, and positioning may be set on the support, such as photogrammetry.
The inclination information detecting means in the present invention is preferably a microchip such as an inclination sensor or an acceleration sensor. However, the present invention is not limited to this, and a combination of software processing for extracting inclination from a photographed image and a positioning sensor such as a GPS sensor. Etc.
The timing at the time of measurement of the present invention may be taken at an arbitrary timing by the dentist,
Further, the camera direction is measured by the tilt sensor, and when the vertical, horizontal, or optimum angle according to the measuring means is reached, the LED display and the monitor screen display are notified, and the operator detects this and the shutter. The shutter may be pressed at the timing when the tilt sensor outputs a signal in an optimum state.

In the present invention, when the image data converting means is installed on the support, for example, in the case of side view photographing of the dentition, when the photographer holds the support and places the image data converting means in the oral cavity, the image data It may be configured like a so-called cancer light in which the adjusting means always maintains a vertical state.
The present invention may not require such a tilt sensor.
That is, the present invention may adopt a means for converting a plurality of photographed image coordinates into world coordinates so that the photographed image may be tilted or inverted.
For the conversion to the world coordinates, a known method such as trigonometry may be used. In this way, by adopting the process of converting to world coordinates, the camera's shooting posture is not a problem, and the camera is actively moved to form a plurality of image pairs that can be used to determine the distance, and the prosthesis 3D coordinates around the part can be easily acquired. By converting to world coordinates, the occlusion site generated by one imaging can be further activated by moving the probe and performing continuous imaging. At that time, a three-dimensional shape is obtained on the screen, for example, displayed as CG, and the probe is moved while confirming which part is not measured on the monitor, so that an effective imaging of the part not imaged is performed. Is possible.

About manufacturing method of dental prosthesis by wax upless method based on intraoral photography,

In the present invention, not only directly measuring the shape of the teeth in the oral cavity, but also from the missing tooth portion, the maximum ridge obtained by the adjacent tooth, the tooth height value obtained from the relationship with the counter teeth, etc. It is possible to use the parameters simply by obtaining the parameters for forming the virtual prosthesis.
That is, a still image capable of detecting three-dimensional coordinates of adjacent teeth and prosthetic sites taken in the oral cavity, and a still image capable of three-dimensional detection of a pair of teeth are photographed by the image data converting means, and from the still image, Extracts numerical data necessary for forming the prosthesis shape, detects the three-dimensional coordinates of the occlusal surface and the abutment tooth surface corresponding to the data, and acquires the virtual prosthesis shape from the numerical data and the three-dimensional coordinates By combining the steps or means to perform the process, the block can be processed directly by the processing device after the virtual prosthesis is formed on the computer without manufacturing the model from the portion where the teeth in the oral cavity are missing.

    In the present invention, the means for obtaining three-dimensional shape data by instantaneous continuous shooting or single shooting is used in a semi-fixed state or a state close to a hand-held type, that is, a probe configuration. By taking images from a closer distance, accurate intraoral information can be obtained without burdening patients, dentists, and healthcare professionals. Furthermore, virtual dental prosthesis can be used from the missing part and its surroundings. It becomes possible to manufacture the prosthesis efficiently.

The block diagram which shows one Example of this invention. The figure which shows one Example of this invention. The figure for demonstrating the Example of this invention. The figure for demonstrating the Example of this invention. The figure which shows the other Example of this invention. The figure which shows the other Example of this invention. The figure which shows the other Example of this invention. The figure which shows the other Example of this invention. The figure which shows the other Example of this invention. The figure explaining the other Example of this invention. The figure which shows the other Example of this invention. The figure which shows the other Example of this invention. The figure which shows the other Example of this invention. The figure for demonstrating the other Example of this invention.

The present invention is for obtaining information sufficient for manufacturing dental prostheses such as crowns, inlays, dentures, and onlays for natural abutments and implant abutments from the oral cavity, and the dental prosthesis is a crown. For example, three-dimensional data is acquired from two sets of stereo images taken from the side surface and the top surface. In the case of an inlay, a set of images in only that direction is sufficient.
In some cases, three-dimensional coordinates are acquired for each set, combined with consistency between two three-dimensional coordinates, and intraoral information is formed.
Consistency between the three-dimensional coordinates can be obtained, for example, by performing coordinate conversion based on the abutment tooth and the processing part for the inlay, and adjusting and combining the shooting angle and shooting distance at the time of shooting. I can do it. That is, since it is in a hand-held type or semi-fixed state, when the shooting angle and distance are different, a part of the processed part such as the abutment tooth is converted as the central coordinate.
Another image is superimposed on the center coordinates, the distance is adjusted, and an operation is performed so that the shooting angles coincide. Further, coordinate values may be adjusted from the values of both inclination sensors in order to form an orthogonal relationship. Alternatively, the plurality of captured image coordinates may be converted into world coordinates by a known method such as trigonometry.
The adjustment of the photographing angle is similarly processed on the image, and the patient is not burdened.
Examples of the semi-fixed type shown in the present invention include, for example, a hand-held type that is also provided with a fixing support for temporarily fixing the distance between the imaging camera and the dentition by contacting other teeth in the oral cavity. Is done.
By semi-fixing, the vertical and horizontal directions are maintained, and the photographing angle and the photographing distance can be easily corrected.
Due to the semi-fixation, the contact point in the oral cavity may be the center coordinate.

FIG. 4 shows an example of coordinate acquisition when the crown is three-dimensionally measured using, for example, stereo imaging.
Reference numeral 101 denotes an abutment tooth, which is formed by shaping a natural tooth for a dentist to attach a prosthesis. 21A and 21B are adjacent teeth, and 21C is a gingival part. Reference numeral 102 denotes a photographed image of the photographing camera, which is a schematic display in which coordinates are attached to a plane on which the photographing screen is projected. Reference numeral 103 denotes a photographed image of the photographing camera, and reference numeral 104 denotes a photographed image of the photographing camera, which includes three cameras. Both have the same configuration, and are formed, for example, by arranging camera modules of a general digital camera vertically and horizontally. f is a focal length and is preferably set to the same value using the same photographing camera.

The embodiment shown in FIG. 4 uses three photographing cameras. However, the three photographing cameras are not necessarily required. At least two photographing cameras 102 and the photographing screen 104 in the horizontal direction or the photographing screen 103 are used. There may be two combinations of the shooting screen 104 in the vertical direction.
Even when the three image data conversion means are arranged and fixed on the support, either the preferred three-dimensional coordinate data obtained or the average processing for each coordinate is obtained by a combination of vertical and horizontal cameras. In some cases, more accurate coordinates may be obtained.
In the present invention, since a limited space in the oral cavity is to be imaged, main objects that enter the window indicating the imaging range of the camera may be different in either horizontal or vertical directions. The camera arrangement shown in FIG. 4 is preferable in that a sufficient shooting window can be secured.
102P, 103P, and 104P are coordinates when the point 101P on the surface of the abutment tooth is photographed,
The respective coordinates are indicated by 102P (xa, ya), 103P (xb, yb), and 104P (xc, yc).

From the coordinates 102P of the shooting screen 102 based on the horizontal relationship and the coordinates 104P of the shooting screen 104

The expression for obtaining the target coordinates 101P (x, y, z) is

x = Tb (xa + xc) / 2 (xa-xc) y = Tb (ya + yc) / 2 (xa-xc)
z = Tbf / (xa-xc)
(Xa-xc: horizontal parallax Tb: distance between the center point oa of the shooting screen 102 and the center point oc of the shooting screen 104)
From the coordinates 103P of the shooting screen 103 based on the vertical relationship and the coordinates 104P of the shooting screen 104

The expression for obtaining the target coordinates 101P (x, y, z) is

x = Ta (xb + xc) / 2 (xb-xc) y = Ta (yb + yc) / 2 (xb-xc)
z = Taf / (yb-yc)
(Yb-yc: vertical parallax Ta: distance between the center point ob of the shooting screen 103 and the center point oc of the shooting screen 104)

The two may actually be different, but either one may be selected, or one of the imaging may be used for the purpose of supplementing the region that was not imaged. It is preferable to use a combination of two video means.
For the arrangement of the image data conversion means, for example, the measurement technique described in 1998 by New Technology Communications, Optical 3D Measurement: Toru Yoshizawa, 1998, is preferably used.
This principle is based on two camera configurations, but even if one is used, the same is true, and this is a so-called photogrammetric technique.
That is, the above-mentioned coordinates can be obtained from the obtained photographic images by photographing at 102 sites with one camera and then capturing at 104 sites.
Further, if the camera is photographed at the position 105 by sliding sideways from 104, similar coordinates can be obtained from the photographic image 104 and the photographic image at 105, and the three-dimensional coordinates of the portion that cannot be measured in the 104 photographic image. Can be obtained. If the camera can be moved, it is possible to take an image of an invisible part and obtain a wider range of coordinates.
In this case, regarding the setting of the coordinates 101P, if the position cannot be recognized due to the tooth color, the light reflectivity of the tooth, etc., the shadows of the lines and points are projected on the surface in advance for positioning, For easy recognition, a solution containing titanium oxide powder may be applied to the imaging region.

Furthermore, if a reference point is provided on the photographing screen, it is possible to set positions at equal intervals from the reference point to obtain position coordinates for calculation. In the case of FIG. 4, for example, it can be set around the upper plane of the abutment tooth 101.
In addition, in a single stereo photograph, there is a part that is hidden and cannot be seen. In this case, there are cases in which repeated photographing is performed at an angle that can be seen by changing the angle of the camera. At this time, an angle with respect to the reference may be set in advance, and correction may be performed using X, Y, and Z coordinate values obtained from a photograph when the angle changes.
Since at least the virtual shape of the prosthesis can be obtained according to the present invention, it is not always necessary to photograph the opposite side surface. Next, it is preferable that the photographing positions for photographing from the upper surface are equidistant at right angles to each other, but may not be particularly vertical as long as they can be corrected.

3D display

Image conversion means for converting the image displayed on the display unit into an image for the right eye and an image for the left eye, the image for the right eye and the image for the left eye converted by the image conversion means on a screen, a liquid crystal monitor, etc. By providing a 3D display means for displaying and an output adjustment unit for outputting a right eye image for the right eye and an output of the left eye image for the left eye with respect to the image output by the 3D display means. It is used as data for treatment in dental treatment, explanation data for informed consent, tooth database, and the like.
Since the prosthesis in the virtual space that is observed on a normal computer flat monitor is flat, there are things that are not sufficient in reality and aesthetics, and the amount of adjustment after creating the prosthesis increases. On the other hand, the 3D display can be seen as a three-dimensional display as if it appears in space, and a more realistic shape can be observed. Therefore, it is possible to accurately adjust the shape of the prosthesis by visual observation.

The image for the right eye in the image conversion means may be one still image of the image data conversion means and corresponds to the right eye, and the same applies to the image for the left eye.
Also, images for the right eye and the left eye may be formed.
These images are alternately displayed from the display unit, but may be displayed alternately at such a speed that there is no flickering of the images.
At that time, these images are displayed with different polarization properties, or the left eye image and the right eye image are displayed separately. Display polarized images, such as linear polarization, anaglyph, color filter, polarization filter, and liquid crystal shutter. As a means to display polarized images, use a liquid crystal display to display right-eye and left-eye images. Is output for each dot line, passes through polarization filters whose polarization directions differ from each other by 90 degrees with respect to the output of each dot line, and outputs a right eye image and a left eye image polarized in different directions, respectively. The case of using the display is a preferred embodiment.

  Examples of the output adjustment unit according to the present invention include glasses type so-called 3D glasses, or those mounted on the surface of the display unit, and at least the left-eye image is the left eye and the right-eye image. It suffices if a situation that can be seen with the right eye is formed, as long as such a display is performed.

FIG. 1A is a block diagram showing an embodiment of the present invention.
Reference numeral 1 denotes image data conversion means for obtaining photographing data directly from the oral cavity without contact. For example, a stereo image method using parallax, a moire method combining a slit with illumination, photogrammetry, etc. Examples are those in which a still image is acquired and this image analysis is the main processing technique.
The image data converting means 1 mainly shoots the prosthetic part. For example, in the case of a denture such as a full denture,
When all the dentitions in the oral cavity cannot be photographed at one time, the images may be photographed in a panoramic picture in which marks are provided in the image and joined together.
In addition, a wide-angle image may be obtained by photographing the reflected light of the spherical mirror with a camera.

Since this wide-angle image has curved coordinates, the wide-angle image can be applied as long as it can be corrected and converted into an orthogonal coordinate system.
The wide-angle image may be preferably used for shape measurement by passive stereo vision, and may be preferable when the three-dimensional shape measurement is performed with a short image of a dentition or the like.
In some cases, the image data conversion means preferably performs shooting in a close distance state, and obtains partial three-dimensional coordinates by so-called close-up. In taking a picture by inserting a camera into the oral cavity, the distance from the teeth is about several tens of millimeters, taking a picture with a narrowed angle of view, and converting the area where the common point was obtained into common coordinates, By connecting these, intraoral information including highly accurate three-dimensional coordinate data is obtained, and an operation such as processing a block is performed based on this information. Further, the shape around the gingival part and the equivalent tooth is measured to obtain the shape data of the gingival joint surface in the denture base.

Reference numeral 2 denotes an inclination information detection unit, which is exemplified by a microchip that outputs an electrical signal or the like indicating an imaging state of the image data conversion unit, such as an inclination sensor or an acceleration sensor.
The inclination information detection means 2 is an apparatus for installing an image data conversion means and outputting an inclination state of a support body arranged in the oral cavity as an electric signal or the like.

3 is a three-dimensional coordinate acquisition means, which is a means for acquiring three-dimensional coordinates from the image obtained by the image data conversion means, and differs depending on the three-dimensional measurement method. Done.
Reference numeral 4 denotes an adjustment unit, which adjusts the three-dimensional coordinate value obtained by the three-dimensional coordinate acquisition unit 3 using calibration values obtained by the inclination information detection unit 2 in the X, Y, and Z directions. In the adjusted three-dimensional coordinate data, a virtual prosthesis may be created and displayed on the monitor for confirmation by interpolating between the coordinates with a line or a surface as necessary.
Reference numeral 5 denotes processing data forming means for forming processing data in accordance with the processing specifications of the subsequent processing means 6. The three-dimensional coordinate acquisition means 3, the adjustment means 4 and the processing data formation means 5 are mainly processed by a single microcomputer for calculation processing, but only the measurement is performed at the dental clinic and the processing is performed at a remote place. In some cases, the three-dimensional coordinate acquisition unit 3 and the adjustment unit 4 and the processing data forming unit 5 and the processing unit 6 may be separate.

  6 is a processing means, which is formed by a ceramic material such as feldspar, quartzite, ceramic material, hydroxyapatite, α-TCP, zirconia, alumina, glass-like ceramic, a resin material, and a composite material of the resin material and the ceramic material. CAD / CAM equipment, NC processing equipment, such as grinding blocks, cutters, mills, etc., manufacturing prostheses by processing with cutting tools, rapid construction equipment such as automatic construction, 3D printers, etc. Illustrated.

Next, the operation of the embodiment shown in FIG.
The image data conversion means 1 and the inclination information detection means 2 are inserted into the oral cavity as a support body installed on the same support member, for example, and manually placed in the vicinity of the measurement target site, so that camera shake does not occur. In the state, focus and shoot. Alternatively, one or a plurality of still images photographed by photographing a plurality of the same parts and then selecting one in focus is transmitted to the three-dimensional coordinate acquisition unit 3 by wire or wirelessly.
When the image data converting means 1 images a prosthetic part, a monitor that displays a moving image for positioning may be provided.
Simultaneously with this photographing, the inclination information detecting means 2 for detecting the photographing direction of the image data converting means 1 outputs the inclination data to the adjusting means 4 in a wired or wireless manner.

The output information of the image data conversion means 1 and the inclination information detection means 2 is generally image information when output wirelessly and can be compressed into JPEG, GIF, etc. In some cases, it is preferable to output the output. In addition, there are cases where delivery is performed using media such as FD, MO, CD, SD card, and USB memory.
The image transmitted from the image data conversion means 1 is converted into a three-dimensional coordinate value by the three-dimensional coordinate acquisition means 3 and output to the adjustment means 4.
The adjusting means 4 adjusts the three-dimensional coordinate value from the three-dimensional information acquisition means 3 with the inclination value of the inclination information detecting means 2, and adjusts the adjusted three-dimensional coordinate data to the processing data forming means. Send to 5.

The processing data forming unit 5 converts the three-dimensional coordinate data into data for processing by the processing unit 6, displays the virtual dental prosthesis on the computer monitor, and sets an adjustable state. is there.
The processing means 6 manufactures a prosthesis based on the processing data sent from the processing data forming means 5. The manufactured prosthesis is delivered to the dentist by home delivery, mailing, etc. when the dentist and the dental technician department are separated.
In the present invention, if image data conversion means is manually or semi-fixedly inserted into the oral cavity of a patient and direct intraoral imaging is performed in a short time, then three-dimensional data for processing is performed by computer image analysis. Therefore, it is possible to realize a measurement processing system for a dental prosthesis that does not impose a burden on both the patient and the dentist, such as eliminating the need to create a model.
Note that the inclination information detection means 2 and the adjustment means 4 may be able to calculate the inclination even from the obtained image, and may not be necessary. In this case, the configuration shown in FIG. .
In the case of FIG. 1B, the above-described operation is performed except for the inclination information detecting means 2 and the adjusting means 4. Although the processing data forming means is indicated by 7 and the processing means is indicated by 8, the operation is the same as described above, and only the sign is changed.

FIG. 2 shows an embodiment including a specific form of the present invention.
Reference numeral 10 denotes an example of a support body, which is composed of a combination of a measurement support portion 11 in which a camera is arranged so as to be capable of three-dimensional measurement and a grip portion 12 for manual operation.
FIG. 3 shows a specific configuration example of the support 10.
In FIG. 3A, reference numeral 301 denotes a measurement support unit, which is preferably fixedly connected horizontally with cameras 302 and 303 having the same specifications and the same settings. The cameras 302 and 303 are exemplified by small camera modules used in mobile phones and digital cameras. Although the image sensor can be used as it is, the focal length is about the intraoral camera in order to perform close-up shooting. It is preferable to use a short lens. One or a plurality of images may be captured when the shutter is pressed, and in some cases, the image may be captured continuously. The images have the same focal length and are arranged and fixed parallel to the longitudinal direction of the grip portion 12.
Reference numeral 310 denotes an inclination sensor, which is also called an acceleration sensor. A chip-shaped sensor, for example, a microchip-shaped tilt sensor such as that manufactured by GP1S36J0000F Sharp is exemplified. One or a plurality of arrangement parts may be arranged at an appropriate part depending on the shape and arrangement of the measurement support part.

For example, when three cameras are used as shown in FIG. 3C, the tilt sensor 310 may be unnecessary because it may be corrected with camera images or may be converted into world coordinates.
In order to suppress the burden on the patient, the size is preferably about a dental mirror or about one time larger, and is preferably formed with a curved surface and a spherical surface as a whole. Reference numeral 13 denotes a transmission unit for processing an image externally, and is connected to an external monitor. Note that a shutter may be provided on the grip portion 12, but may be set externally when shaking such as camera shake is involved. Reference numeral 304 denotes an illumination light source, which is a light source that can recognize the tooth surface of the measurement site. Reference numeral 305 denotes a pointer through a slit for projecting a pattern indicating a measurement point such as a striped pattern or a point sequence pattern in the oral cavity, and a part for detecting the three-dimensional coordinates of the part to be measured is extracted by photographing. If difficult, it can also play a pointer role.
The illumination light source 304 and the pointer 305 may be configured separately from the outside, and may not be installed on the measurement support unit or may be unnecessary.

FIG. 3B shows a camera arranged in the vertical direction, whereas FIG. 3A shows the camera arranged in the horizontal direction. (A) and (b) may be appropriately selected and used depending on the measurement site in the oral cavity, but in that case, it may be formed to be rotatable from the vertical state to the horizontal state or vice versa before measurement. good.
FIG. 3C shows an embodiment in which three cameras are used, and one camera can be moved up and down to enable photographing from the left and right side surfaces.
The camera 306a is moved when the probe images the left and right side surfaces of the dentition, thereby enabling three-dimensional measurement both vertically and horizontally.
Reference numeral 307 denotes a guide hole for sliding, and the photographing camera 306a moves along the guide hole.
Reference numeral 12 denotes a gripping portion, which is a portion that becomes a gripping portion when used by an operator. Reference numeral 308 denotes a sliding button, and a guide hole 309 is formed so that the sliding button can slide in the longitudinal direction. The sliding button 308 is interlocked with the photographing camera 306 a, and when the sliding button 308 is moved along the guide hole 309, the photographing camera 306 a is also interlocked and moved along the guide hole 307. The photographing camera 306a may be fixed without being slidable, and there may be two cases where the left and right arrangements are changed.

2 and 3 (c),
A transmission unit 13 is a cable for transmitting an on / off signal of the shutter of the camera and a video signal of the photographing camera to the display arithmetic unit 14. Note that the present invention relates to transmission of still images, and may use wireless means.
Reference numeral 14 denotes a display arithmetic unit which displays transmitted image data, and in some cases, is formed of a portable monitor, a cellular phone or the like for creating three-dimensional data.
Reference numeral 15 denotes a display unit which is formed of a liquid crystal panel or the like and displays a photographed intraoral photograph, synchronous display of three-dimensional data after calculation, and the like.
15a, 15b, and 15c are intraoral images displayed on the display unit 15, and are displayed in a stereo display state.
15d displays the x-axis component, y-axis component, and z-axis component of the tilt detected by the tilt sensor 310.
FIG. 2 shows an example of the display screen of the display unit 15 obtained by photographing the occlusal surface 1A including the prosthesis mounting recess 1B formed on the tooth occlusal surface surface with the cameras 306a to 306c shown in FIG. 3C. .
The XY coordinates are respectively shown and are the same display, and the position of the camera is different. Therefore, this becomes a parallax, and the XY coordinate position of the captured occlusal surface is shifted.
In some cases, the three-dimensional display of the measurement site may be performed in the virtual mode after the calculation.

Reference numeral 16 denotes a shooting on / off button, which is formed by a shutter or the like. By pressing this button, the shooting cameras 306a, 306b, and 306c shown in FIG. 3C are, for example, push buttons for simultaneously shooting. In addition, if the display unit 15 is a touch panel system, it may be due to contact with a finger, a dedicated pen, or the like.
FIG. 3 (e) is an example of a configuration in the case where three-dimensional measurement is performed by moving one camera.
One camera 311 is mounted on the measurement support portion 301 and is formed so as to be movable in parallel along the slide hole 312 of the grip portion 12.
In addition, an inclination sensor, illumination, a pointer, etc. may be provided.
The camera 311 shoots the slide hole 312 for every predetermined moving distance,
For example, between the 311 and 311a, the three-dimensional coordinates of the subject are acquired from the two photographs taken, and then the different parts from the two photographs taken between the 311a and 311b, the 311 camera It is possible to acquire the solid coordinates of the portion that is not captured and is captured by both the cameras 311a and 311b.

The movement of the camera 311 is exemplified by a mechanism equipped with a mechanism for automatically moving at intervals of several seconds by automatic driving by remote operation and timer setting.
In order to prevent the position of the gripper from changing as much as possible, automatic moving shooting may be preferable.
Note that when the camera 311 is fixed, the image is taken with the grasping portion 12, but in this case, a parallel or vertical movement may be performed using a semi-fixing tool for positioning in the oral cavity.
In FIG.
Reference numeral 18 denotes a computer, such as a personal computer. The display calculation unit 4 may be used in an auxiliary manner when sufficient processing is not performed.
When necessary, the computer 18 is used by connecting via a connection cable 17 indicated by USB, infrared, wireless, or the like, or for transmitting processing three-dimensional data to a subsequent processing device 19. It may be used for
In addition to the case where the computer 18 is required alone, the computer 18 may be unnecessary when the display arithmetic unit 14 has the function.
In addition, the computer 18 or the display calculation unit 14 having an equivalent function forms a connection relationship by data transfer between a dentist having a measuring device and a technical factory that processes and manufactures a prosthesis using a network such as the Internet. It is also possible.

In this case, the dentist will send out three photographic images that can be converted into a commonly used format such as jpeg, GIF, BMP, TIFF, etc. Since the dentist's work is about simple mail, a system that does not require much time can be formed. Instead of e-mail, when taking a picture, the dentist does nothing, and a plurality of photographs may be sent to the laboratory, which may further simplify the system.
Reference numeral 19 denotes a processing apparatus, exemplified by a CAD / CAM apparatus, for grinding and cutting a ceramic block based on the three-dimensional processing data sent from the computer 18. . FIG. 2 shows a part thereof.
Reference numeral 20 denotes a processing block, which is formed of ceramics or a composite material of ceramics and resin.
Reference numeral 21 denotes a machining mill, which grinds and cuts the tip and side portions against the machining block while the drill rotates. Reference numeral 22 denotes a mounting portion for mounting and fixing the processing block 20. The configuration of the processing apparatus in FIG. 2 schematically shows a processing portion of the trade name CADIM (registered trademark) (manufactured by Advance).

The operation of the embodiment shown in FIGS. 2 and 3B will be described.
The holding part 12 shown in FIG.2 and FIG.3 (b) is held, and it moves to a measurement site | part. If it is only the upper surface, the measurement support unit 11 takes the tooth to be measured to the part to be measured and presses the photographing on / off button 16.
When the shooting on / off button 16 is pressed, the shooting camera instantaneously forms a shot image. At that time, there may be a case where the imaging region is illuminated by a flash or an illumination light source 304 that performs constant illumination.
Here, the display unit 15 shows a case where an image transmitted via the transmission unit 13 is displayed. The image in this case is the occlusal surface 1A and the surface of the prosthetic site 1B of the measurement site.
A common part is obtained from the three images displayed on the display unit 15, and the three-dimensional coordinates of the part are obtained by calculation using the method shown in FIG. 4 to obtain the whole three-dimensional shape data. The three-dimensional coordinate value can be obtained by calculation according to the operation principle shown in FIG. 4 if at least common measurement points can be confirmed by a plurality of photographs. Further, when a dot pattern or a striped pattern by the pointer 305 shown in FIG. 3 is used as a measurement point, three-dimensional coordinates can be obtained with high accuracy.

In the present invention, since a specific point of a tooth is identified by two or more images, it is necessary to recognize this specific point. . In some cases, direct light may be avoided, and for example, dome illumination using reflected light in the dome or illumination through a filter such as a slide glass may be used.
An example of how to find common points is shown.
Means for identifying the corresponding range pixels of the photo B and determining the luminance of each range pixel for the range pixels of the specific portion of the photo A in order to specify the common portion of the photo image;
Means for taking the luminance difference of the range pixels of photo A and setting the difference value pattern, Means for taking the luminance difference of the range pixels of photo B and setting the difference value pattern, Difference value pattern of photo A and photo B A means for setting the difference value patterns as a common point when they match or approximate, and a means for making a similar comparison by moving the range pixels of photo B when they do not match And the configuration is illustrated. The range pixel is a range that can be set as one common point. Since the difference indicates the amount of change in luminance, even if the luminance appears to be uniform, it may differ depending on the amount of change. A common point is determined by forming a value pattern and comparing this difference value pattern with a difference pattern on another photographic image.

The difference value pattern is obtained by sequentially obtaining a difference value between one pixel luminance value and an adjacent pixel luminance value, and by connecting them, the difference between the difference value and the difference value, that is, 2 It is also possible to take the difference between the two times and connect the values of these two differences, take the difference value two or more times, and specify the common part of both images. In that case, as a reference point In some cases, it may be used to obtain a common coordinate with a three-dimensional coordinate photographed from another direction.
In other words, even if it is difficult to specify a part in the comparison and matching of pixel luminances on the image, the difference value is a change pattern before and after, so that comparison and matching can be easily performed on both images.
The range pixel is an example, and means for connecting the difference values on the image coordinates, for example, in the x-axis direction or the y-axis direction to form the brightness difference connection data R, and the brightness difference connection data can be used in other images. Means for forming the luminance difference concatenated data L in the same direction (that is, the previously obtained luminance difference concatenated data R and the x-axis direction, the y-axis direction, or the direction having the same inclination), the luminance difference concatenated data R A combination configuration by means for detecting a portion having the same connection pattern in the luminance difference connection data L and selecting a common point from the common pattern is also exemplified. Due to this difference, photos taken in the same direction but with slightly different directions are focused on images with roughly the same brightness, but with different brightness ranges. By setting a part having the same pattern or a certain amount of tail as a common part and obtaining three-dimensional coordinates, highly accurate three-dimensional coordinate data can be obtained.
This difference gives the rate of change in the brightness of the adjacent portion. However, by further subtracting this, it may be a preferable aspect when two images are collated to obtain a common point.

If still another surface requires a photograph of the opposite side surface via the dentition, the slide unit 308 may be operated to slide the photographing camera 306a up and down for adjustment.
When three-dimensional data is obtained, it is further constructed, and dental prostheses such as inlays and crowns are output and displayed on the computer 18, etc., adjusted again if necessary, and then converted into processing data. .
The processing data is further transmitted to the processing device 19, and the mounting block is ground and cut with respect to the processing block 20.
In this way, three-dimensional measurement processing can be performed without burdening the patient and dental care workers.

In addition, since the present invention is formed with a plurality of still image images, the image is two-dimensional and has a small capacity, so that teeth and dentition in a healthy state can be easily obtained in a state where three-dimensional shape coordinates can be acquired. Since it can be easily stored in a general personal computer, a processing technique as shown in FIG. 5 can be taken.
In FIG. 5A, reference numeral 402 denotes a tooth shape before caries, and at the time of this measurement, at least three images are stored as stereo images.
Further, a stereo image of the counter teeth 401 is also taken and stored as necessary.
After the caries treatment, as shown in FIG. 5B, a photograph is taken of the occlusal surface 404 including the prosthetic part 403 in which the prosthesis is required. A photographed image example is shown in FIG. 404a is an occlusal image, and 403a is an image showing a processed prosthetic part.

Further, an image that has been taken before is called up, coordinates are obtained as a three-dimensional image, and a virtual three-dimensional tooth shape before caries is displayed. 402a in FIG. 5D is a virtual occlusal surface before caries.
When this and the three-dimensional occlusal surface image 404a of the tooth that requires treatment are superimposed as shown in FIG. 5D, a shape 405 of the entire prosthesis is obtained.
The prosthesis shape 405 is transmitted to the processing device 19, and the processing block 20 is ground and cut to obtain the prosthesis 23.
In this embodiment, the tooth data when healthy is recorded. However, the present invention is not limited to this, and the data of the counter teeth is recorded, or the data of the counter teeth 401 at the time of treatment is recorded and used. An occlusal surface may be formed.

Since the present invention is a method for manufacturing a prosthesis by directly measuring the shape of the oral cavity, it is more suitably used in a wax upless method in which a wax model is not created.
Therefore, another embodiment of the present invention will be described in detail with reference to FIG.
FIG. 6A shows the inside of the oral cavity where the abutment tooth or the implant abutment tooth 504 is exposed from the surface of the gingival part 505.
In this state, the support shown in FIGS. 2 and 3 is inserted into the oral cavity and photographed.
Reference numerals 501 a and 501 b are counter teeth adjacent to the counter teeth 501.
Reference numerals 502 and 503 denote adjacent teeth.
The captured photographic images for obtaining the three-dimensional coordinates are the scene of FIG. 6 (a), the scene of FIG. 6 (b), and the scene of FIG. 6 (c), each of which is a plurality of stereo images. Taken.

Using this photograph, the diameter P1 and the tooth height value P2 of the maximum protuberance of the virtual prosthesis, which is the distance between the maximum protuberances of the adjacent teeth 502 and 503, are obtained as the main parts for creating the virtual prosthesis.
The tooth height value P2 may be obtained by extracting the distance from the occlusal surface of the counter teeth 501 to the surface of the gingiva 505. To the gingival 505 surface.
In this case, the value can be obtained from a single planar image and can be used as it is to form a virtual prosthesis shape. However, by obtaining depth data, that is, the y-coordinate, a photographed image from the upper surface can be obtained. It may be easy to match with.

FIG. 6B shows a state taken from above. In this state, the tooth width value P3 coordinates can be acquired. This value is also sufficient for one plane coordinate, but by obtaining the z value, a more accurate tooth width value P3 can be obtained.
Furthermore, the surface shape P8 and the margin line PM of the abutment tooth are obtained. The margin line PM may be subjected to marker processing such as coloring, and preprocessing that makes it easy to capture.
FIG. 6C shows the occlusal surface of the paired teeth, and is obtained by photographing the three-dimensional shape P4 of the occlusal surface of the paired teeth 501 with the camera shown in FIG.
The virtual prosthesis has a height P5 from the maximum ridge (circumference of diameter P1) from the gingival portion 505 of the abutment tooth, a diameter P6 of the top surface of the abutment tooth, a diameter P7 of the bottom surface of the abutment tooth, and the abutment tooth. Are formed on the basis of the values of the surface shape P8 and the margin line PM.
The surface shape of the abutment tooth can be determined by the surface shape P8 and the margin line PM restored based on the three-dimensional coordinate data, but the abutment tooth is originally formed by a dentist. In some cases, only other numerical values may be determined.
In the case of passive three-dimensional shape measurement using a still image, the values obtained from the two-dimensional image are used as they are, and the occlusal surface and the abutment tooth surface are obtained three-dimensionally using stereo images and used. Thus, an appropriate virtual prosthesis can be created on a computer monitor in a short time with little processing data.

Since the present invention can store a large amount of prosthetic data as a two-dimensional image, it is stored in a database and converted into a three-dimensional shape at the time of restoration into a virtual pre-built model. It is also possible to compare objects and determine the virtual pre-built model that most closely approximates.
FIG. 6D shows a screen 506 of the computer 18 or the display unit 15, and a virtual prosthesis when the 507 displayed in the small window 506a virtually creates a prosthesis based on P1 to P8 and PM, for example. It is a thing.
Note that all of P1 to P8 and PM are not always necessary, and may be selectively used as appropriate.
Reference numeral 508 denotes a database display, in which data related to a typical shape of the prosthesis is stored, and a half-processed block having a shape corresponding to each data is prepared.
The virtual pre-built model is formed by cutting and grinding a processing block in advance corresponding to the data, and the virtual pre-built model 509 determined and displayed is virtual as shown by a small window 506b in FIG. 6D. Alternatively, a state in which the virtual prosthesis 507 of the prosthesis formed in an overlapping manner is displayed may be displayed.
In the state diagram in which the virtual prosthesis 507 indicated by the small window 506b and the ready-made prosthesis shape 509 determined from the database 508 are overlapped, the difference 510 (between the solid line and the dotted line) is processed, thereby shortening the processing time. Thus, a prosthesis corresponding to the virtual prosthesis 507 can be formed.
Note that the main part of prosthesis formation is not limited to the wax-up-less method, and the virtual prosthesis can be easily created by combining two-dimensional data and three-dimensional data.

  According to the present embodiment, since the elements constituting the virtual prosthesis can be obtained from the two-dimensional coordinate data and the three-dimensional coordinate data obtained from a plurality of two-dimensional still images, it is possible to manufacture a dental prosthesis that can reduce the processing time. In addition, it is possible to easily obtain a keyword for searching for an approximate model from a database, and to manufacture a dental prosthesis with less burden on the dentist and the patient.

FIG. 7 shows another embodiment and will be described.
This embodiment shows a system in which measurement and processing are separated using a network line such as the Internet or a cellular phone line network. In FIG. 7, the same components as those in the other embodiments are designated by the same reference numerals and the description thereof is omitted.
Reference numeral 601 denotes a network line, which indicates the Internet, an intranet, an extranet, a mobile phone network, or the like.
Reference numerals 602 and 603 denote providers in the case of the Internet, and relay stations and the like in the case of mobile phones.
604 is a network transmission path for connecting the display arithmetic unit 14 and the provider 602, and 607 is a network transmission path for connecting the provider 603 and the laboratory server 606, all of which are telephone lines, optical lines, LAN cables, etc. A wired network or a wireless LAN is used.

Reference numeral 608 denotes a wired cable that connects the technical laboratory server and the processing apparatus 19 and is formed of a USB cable, a parallel cable, a serial cable, or the like.
Reference numeral 613 denotes a user mobile phone, and reference numeral 614 denotes a laboratory mobile phone, which is connected by a wireless mobile phone network 615 (a relay station is omitted on the way).
Reference numerals 605a, 605b, and 605c denote transmission photographs, which are three-dimensional shape data photographs each having a parallax. How many sheets are sent? It may be a multiple of 3 depending on the shooting conditions.
Reference numeral 606 denotes a technical laboratory server, which calculates three-dimensional coordinate data from a transmitted photographic image and converts it into processing data.

Reference numeral 609 denotes a delivery route, which is a means for delivering a completed prosthesis such as mail, home delivery, and bringing to a dentist or the like.
Reference numeral 610 denotes a transmission body that connects the support 10 and the user's mobile phone 613, and is formed of a wired cable such as a USB, infrared rays, radio waves, and wireless.
Reference numeral 611 denotes a transmission body that connects the support 10 and the display arithmetic unit 14, and is similarly formed by a wired cable such as a USB, infrared rays, radio waves, radio, or the like.
Reference numeral 612 denotes a transmission path for connecting the laboratory mobile phone 614 and the laboratory server 606. An SD memory, a USB memory, or the like can be used in addition to a wired cable such as USB, infrared rays, radio waves, and wireless.

The operation of this embodiment will be described.
The support body 10 is grasped and directly inserted into the oral cavity, and the surface of the prosthetic site 1B of the occlusal surface 1A is photographed in a stereo state by a camera group fixed to the measurement support unit 11.
The obtained photographs 605a, 605b, and 605c and the tilt information output from the tilt sensor are transmitted to the user mobile phone 613 via the transmitter 610.
Alternatively, these photographs are transmitted to the display calculation unit 14 via the transmission body 611.
Either of the two may be selected, but depending on the case, if the display screen of the mobile phone is used, the display calculation unit 14 may be unnecessary or the button of the mobile phone may be used as a shutter. Cost burden is reduced. In addition, the display calculation unit 14 can display the oral cavity in a moving image state until a still image is captured. If smooth movement is expected, both are connected, and the support 10 is used for imaging positioning of the prosthetic site. Until the display operation unit observes the inside of the oral cavity, presses the photographing on / off button 16 to capture a still image, checks the display unit 15 for blurring and blurring, and then takes a picture via the user mobile phone 613. The inclination information output from the sensors 605a, 605b, and 605c and the inclination sensor may be transmitted.

When the network line 601 is used, the photo information 605a, 605b, 605c and the tilt information output by the tilt sensor are transmitted from the display calculation unit 14 via the network transmission path 604, the provider 602, the network line 601, and the provider 603 to the laboratory server. 606 is transmitted.
When sending the photos 605a, 605b, 605c to the user mobile phone 613,
In addition to transmitting from the display calculation unit 14 using existing transmission means such as infrared rays and radio waves, and media such as an SD card, the transmission path of the support 10 is directly carried by the USB specification without using the display calculation unit 14. In some cases, it may be possible to connect to a telephone, send a shutter signal from the mobile phone, and directly take a picture on the mobile phone.

In addition, since it is possible to see the photographed picture with a mobile phone, it is possible to confirm whether there is any focus or camera shake, and it becomes a simpler form, and only the support 10 is required. The burden on the dentist is further reduced.
The technical laboratory server 606 calculates three-dimensional data from the transmitted three photographs, converts the data into processing data based on the virtual prosthesis shape, and transmits the processing data to the processing device 19.
The processing device 19 processes and manufactures the prosthesis 23 by grinding and cutting the processing block 20 by a processing mill 21 which is a processing jig based on the processing data.
The processed prosthesis 23 is transmitted to a user such as a dentist via a delivery route 609.
This embodiment shows a system in which a user such as a dentist transmits a measurement photograph using the Internet or a mobile phone, and the laboratory uses this photograph to process the prosthesis and deliver it to the dentist. The burden on the dentist has never been reduced by simply holding the support, taking a picture, and sending it to the laboratory without using an impression material directly from the oral cavity. Will be.

Next, another embodiment of the present invention will be described in detail with reference to FIG.
Reference numeral 801 denotes a computer monitor, which mainly includes a liquid crystal display and a projector.
If the monitor 801 is a projector system as shown in FIG. 8B, for example, a screen having the same reflection characteristics as a mirror is obtained by using two projectors 810 and 811 for the left-eye image and the right-eye image. 809 is projected. The left-eye image is output to the screen while performing polarization driving of an internal polarizing plate such that the polarization axis direction is 45 degrees, for example, and the right-eye image is subjected to polarization driving such as 135 degrees.
When the monitor 801 is a liquid crystal display, for example, the left-eye and right-eye images are alternately arranged for each dot line of the liquid crystal display screen, and the right-eye or left-eye polarization direction is changed for each line. For example, a liquid crystal filter made of, for example, 25 μm cellophane that changes by 90 degrees is installed.

Reference numeral 802 denotes a glasses-type 3D display device, reference numeral 803 denotes a left-eye polarized light transmission section, and reference numeral 804 denotes a right-eye polarization transmission section. The left-eye polarization transmission unit 803 is a polarization filter that allows only the left-eye image displayed on the monitor 801 to pass therethrough, and the right-eye polarization transmission unit 804 is a polarization filter that allows only the right-eye image displayed on the monitor 801 to pass therethrough. Is formed.
FIG. 8B shows a display method using two projectors 810 and 811 and a screen 809 instead of the monitor 801 shown in FIG.
The left projector 810 outputs a left eye image, and the right projector 811 outputs a right eye image. The surface of the screen 809 is preferably a so-called silver screen coated with a metal powder such as aluminum.
FIG. 8C shows a polarizing filter unit 805 that is connected to the display surface of the monitor 801 or arranged at a predetermined distance. Reference numeral 806 denotes a left-eye filter, which is a left output from the monitor 801. Only the eye image is passed. Reference numeral 807 denotes a right-eye filter that passes only the right-eye image output from the monitor 801.
The filter unit 805 is not worn like glasses, and is intended to pass the left eye image to the left eye and the right eye image to the right eye, and a shielding plate 808 is installed in the center perpendicular to the filter surface. May be.
The filter unit 805 is used by being placed on the front surface of the monitor 805, and the left and right images are not completely separable depending on the viewing direction. However, depending on the use mode, the filter unit 805 can be used sufficiently and does not use the shielding plate 808. Sometimes it is okay.

Next, the operation of the embodiment shown in FIG. 8 will be described.
In the present invention, teeth and the like are simultaneously photographed by a plurality of cameras. In this case, since the images captured by the individual cameras can be parallaxed, the individual images are respectively designated as a left eye image and a right eye image. It may be used. Both these images are decomposed into dot lines, and the monitor 801 adjusts so that the left eye image and the right eye image are displayed for each dot line.
On the dot line where the image for the right eye is displayed, the polarization direction changes by 90 degrees.
The display in which the monitor 801 outputs the left-eye image and the right-eye image for each dot line is a 3D display 802, and the left-eye image 801a passes through the left-eye polarization transmission unit 803, and the left-eye image is displayed. Only input to the left eye. The right-eye image 801b passes through the right-eye polarization transmission unit 804, and only the right-eye image is input to the right eye, and the person wearing the 3D display 802 is viewing a stereoscopic image. It becomes a state.

This state is a 3D display of the photographed intraoral cavity, and further, three-dimensional coordinate data is obtained based on the photographing data, and a virtual prosthesis shape having three-dimensional coordinates is formed.
By converting the coordinates of the prosthesis shape into coordinates based on the photographing position of the photographing camera, left eye image data and right eye image data are produced and displayed on the monitor 801 in the same manner as described above. To do.
The person wearing the 3D display tool 802 sees the 3D display of the intraoral 3D display and the 3D display of the virtually formed 3D prosthesis. Since the occlusal state can be seen in a 3D display, adjustment at the time of actual mounting can be performed in advance, and the prosthesis can be manufactured based on the adjustment. This realizes more accurate prosthesis manufacturing in a method of manufacturing a prosthesis by processing a processing block based on three-dimensional virtual prosthesis data, particularly by wax-upless.

Next, another embodiment of the present invention will be described in detail with reference to FIGS.
FIG. 9 is an example of a database that accumulates three-dimensional coordinate data prepared in advance for an object to be measured. 90D1 is prepared in advance with a plurality of continuation shapes of a part to which a target prosthesis is to be attached, and is registered in a computer database. 90D2 is prepared with a plurality of shapes of a target prosthesis in advance. Registered in the database.
The database 90D1 shown in FIG. 9 (a) is obtained from the oral cavity in order to prepare a prosthesis by a wax-up-less method or the like. Various shapes are stored in a database by using data and data supplemented thereto.
900 is the 1st reference | standard virtual data registered inside one virtual oral cavity, Preferably, ID code | symbol is attached | subjected. The first virtual data 900 is an aggregate of three-dimensional data, and is a three-dimensional display list that is three-dimensionally displayed so that the user can easily select it. Reference numeral 901 denotes second reference virtual data. 902 is a three-dimensional perspective view, 903 is a three-dimensional side view, and 904 is a three-dimensional top view. In the three-dimensional coordinate data, the invisible data structure is displayed as a list so that the user can easily understand the structure. Here, two virtual data are shown, but it is preferable that there are more virtual data. The virtual data is used as reference data

The database 90D2 shown in FIG. 9B is a database in which the shape of the prosthesis to be manufactured is registered in advance, and 905 is formed by detecting the prosthesis model to be manufactured from the oral cavity in advance 3 It is an example of a dimensional coordinate data berth.
Reference numeral 906 denotes a virtual three-dimensional display when one piece of three-dimensional coordinate data is viewed from a predetermined direction.
907 is a virtual perspective view, 908 is a virtual side surface, 909 is a virtual top surface, and 910 is a diagram showing a virtual bottom surface. To compare with measured three-dimensional data, tooth height value data 908a, tooth width value data 909a, Margin diameter data 910a is set and registered as a keyword,
The data is compared and searched with the corresponding measured value data, and the closest data is used as the reference data.
Such a display is not necessarily required. Actually, comparison is made as data, and the most approximate virtual data is selected.
The approximation in this case is, for example, the diameter 903a and the tooth height value 903b of the largest ridge in FIG.

FIG. 10 shows an embodiment when three-dimensional data processing is performed using the database 90D1 in which the virtual three-dimensional shape data shown in FIG. 9 is accumulated.
The search based on the database shown in FIG. 9 may be based on a search based on at least one photograph. For example, the tooth height 903b, the value 903b indicating the diameter of the maximum protuberance of the prosthesis, the shape of the adjacent tooth, the size of the margin line of the abutment tooth as seen from the top photograph 904, obtained from the photograph shown at 903 Search for approximate 3D data.
In this way, by searching for approximate three-dimensional shape data from plane data, the processing can be further speeded up.

FIG. 10A shows actually measured virtual data configured based on three-dimensional data calculated from actual photograph images.
The actually measured virtual data 911 includes a blind spot portion caused by imaging, and further selects and compares the selected reference virtual data 911S selected for the portion whose accuracy is lowered due to the situation in the oral cavity, and calculates the difference. A portion that has not been photographed due to blind spots or a portion that has not been accurately measured due to intraoral conditions is supplemented with reference to the reference data 911S.
912 is measured first adjacent tooth 3D data, 913 is measured 23D data, and 914 is measured 3D abutment tooth data.
Reference numeral 915 denotes the diameter of the profound difference of the prosthesis to be produced, and 916 corresponds to the diameter of the abutment tooth 914.
From these measured values 915 and 914, the approximated data is searched from the virtual database shown in FIG.

The virtual data obtained as a result of the search is shown in FIG.
The measured first adjacent tooth data 912 and the reference first adjacent tooth data 912S, the measured second adjacent tooth data 913, the reference second adjacent tooth data 913S, the measured abutment tooth data 914, and the reference measured tooth data 914S are compared.
Reference numerals 917, 918, 919, and 920 are areas that cannot be measured due to blind spots. In this case, the data 917S, 918S, 919S, and 920S of the corresponding area of the reference data 911 are referred to and supplemented.
921 is actually measured virtual gingival data, and data up to a region related to these teeth is recorded in advance as reference virtual gingival data 921S, but this part may or may not be used as approximate data. is there.
FIG. 10C is a cross-sectional view taken along the line aa ′ in a state where the measured first adjacent tooth 3D data and the reference first adjacent tooth 3D data are superimposed.
There is a difference L between the measured first adjacent tooth data 912 and the reference first adjacent tooth data 912S. If this difference L is significantly different, the reference data is prioritized, or the region 917S where the actual measurement cannot be performed due to the blind spot. 'Is complemented with the reference data 917S' as it is, or the computation for obtaining the value of the difference L and a smooth curve is completed, and processed data for prosthesis production is formed.

  In the present invention, three-dimensional coordinates with respect to a common point are obtained from at least two photographic images and the three-dimensional shape of the subject is recognized. The three-dimensional coordinates are calculated, and the state of the measurement site is a representative numerical value. At the timing when the value of the part corresponding to the keyword registered in the database shown in FIG. 9 is calculated, data corresponding to the intraoral part is searched from the database shown in FIG. The three-dimensional data of each part may be determined as described above based on the obtained reference data, and intraoral data suitable for obtaining a prosthesis can be calculated in a shorter time.

Next, another embodiment of the present invention will be described in detail with reference to FIG.
FIG. 11 shows an example of an imaging probe for enabling simultaneous imaging of the upper and side surfaces of the dentition in the oral cavity. FIG. 10A is a perspective view of the probe viewed from the upper surface direction, and FIG. 10B is a perspective view of the probe viewed from the back surface.
Reference numeral 1001 denotes an upper surface support portion, and reference numeral 1002 denotes a side surface support portion, both of which are preferably arranged and fixed at a right angle or an angle at which coordinates can be easily obtained. 1003 extends.
The gripper 1003 may be further connected to an external monitor device by an electrical lead wire. However, since the present embodiment is about the data of a plurality of photographic images, it can be transmitted wirelessly to an external monitor. In some cases, it may be recorded on a small media such as an SD card.
Focusing may be performed automatically, but since a mechanical mechanism is required for this purpose, multiple photos are automatically captured from one camera, and the image that is in focus is selected from that. You may choose.

Reference numeral 1004 denotes a top camera R, and reference numeral 1005 denotes a top camera L. It is preferable that the configuration is the same digital camera and the resolution is high.
1006 is illumination, and white LED etc. are irradiated in the state etc. which passed through the slide glass.
Reference numeral 1007 denotes a side camera R, reference numeral 1008 denotes a side camera L, and reference numeral 1009 denotes an illumination unit, which has a configuration similar to that of the upper surface part.
FIG. 11C is an explanatory diagram when the probe of the present embodiment is actually taken to the measurement site in the oral cavity, and from this figure, information necessary for wax-upless imaging is taken at a time. In addition, when photographing separately, it is not necessary to unify the coordinates obtained at the probe position.
Since the support members are orthogonally arranged, the position of the camera is inevitably left in the orthogonal coordinates, and processing such as coordinate conversion is not required, and three-dimensional coordinates can be easily obtained. It is also possible to adopt a configuration in which irregular reflection is prevented by making the color around the camera arrangement non-reflective color.

Next, another embodiment of the present invention will be described in detail with reference to FIG.
Reference numeral 001 denotes a close-up photographed image acquisition means, which is a plurality of cameras, for example, the same photographing means each having a lens set within a range of several tens of millimeters in a shallow depth of field. A means for acquiring a plurality of images photographed by a photographing member having a photographing surface that is fixedly or semi-fixedly mounted in a flat plate shape or at a predetermined angle.
The camera used here preferably has a high resolution, and is exemplified by about 0.3 to 10 megapixels. However, since the camera is disposed at the tip of the probe inserted into the oral cavity or a portion close to the tip, Since it is preferable to be small, an example of a smaller and higher resolution is exemplified, and in the off-the-shelf product, about 1 megapixel is preferable, but if a camera with higher resolution and a smaller size is produced in the future, The present invention preferably uses it.
Similarly, when the lens and the image sensor are separated to form a custom camera, it is preferable that the camera can be syntactically and is small in size. Semi-fixed means a configuration that moves in a fixed direction by forming one camera so as to be movable.

In addition, it is preferable to shoot continuously, and delete a photographed image that is not in focus or in hand shake from a plurality of photographed images. For example, from the level of 30 moving images per second to 1 is exemplified, but in the case of moving images, the resolution may be limited. It may be good if it is possible.
In the case of an image with a shallow depth of field, the periphery may be out of focus, but in this case,
You may obtain the distance image only in the range where the image is clear in the image.
That is, even if the ratio of defocus is 60%, for example, 40% is adopted as a distance image, thereby enabling measurement in a short time. The larger the ratio of clear images, the better. However, if it is 10% or more, it can be used.

Reference numeral 002 denotes selection means for selecting a pair of captured images from the image data obtained by the one-time image capturing. A method of judging according to the degree is adopted.
By adopting this selection means, shooting is not performed with the camera fixed. While moving, the camera shoots and detects a pair of images that are out of focus and free from camera shake. Even if the image has a small depth of field and is out of focus, if the image has a clear image range, only that portion needs to be used.

Auto-focus means can also be used, but in that case, the image may be taken while still during auto-focus setting.
Reference numeral 003 denotes a correction unit, which is formed by camera calibration software or the like, and is a unit that adjusts the distortion of the image by the lens, the brightness between the image periphery and the center, and the like, and a unit that converts the image into a distance acquisition image It is.
004 is a captured image coordinate setting unit for setting a coordinate value to the captured image corrected by the correcting unit 003, and is an orthogonal xy coordinate having a center point at the same part for a plurality of images. It is preferable to set common coordinates such as.
Reference numeral 005 denotes a common shooting range setting unit that sets a common range among shooting ranges of a plurality of shot images obtained by the closest shot image acquisition unit 001.
This is for setting a common range by, for example, extracting and superimposing the contours and characteristic parts of each image. This is performed in order to increase the processing speed of the means for determining the common point in the subsequent stage. If there is no problem in the processing speed, there is a case where the common imaging range may not be set at this time. Further, in the case of close-up photography, the outline may not be detected, so the common range may be determined later.

006 is a common point determination means, which is a means for specifying a common point on a common range of a plurality of images using a so-called block matching method and sub-pixel estimation method.
First, the common point determination unit 006 uses one point on one image as a reference point, and searches and determines a point corresponding to the reference point on another image. The search is mainly a luminance value, and may be performed for each of the three primary colors if it is a color image. The luminance value match may be a match within an approximate range, and the subpixel estimation method for estimating the difference between the luminance value of the search point and the reference point or the point at which the square value is the smallest is more accurate. It is preferable to look for high commonalities.
The reference point shown here and the point shown by the common point may indicate a plurality of other pixels indicating one pixel, and in the case of a plurality of pixels, examples using an average luminance value are exemplified.
Reference numeral 007 denotes a common coordinate setting unit that obtains a so-called world coordinate value from each image coordinate value of the common point estimated or deterministically obtained by the common point determination unit 006.

As a method for obtaining the world coordinate value, a known trigonometric method or the like may be used. If necessary, a plurality of common points such as an 8-point algorithm are obtained, and an algorithm such as a basic matrix is determined from each image coordinate value. A technique may be used.
Reference numeral 008 denotes a combining unit that reads the previously formed three-dimensional coordinate data from the temporary recording unit 008 and combines this with the three-dimensional common coordinate data formed at the present time. The combination is exemplified by a method of finding a coordinate group that is approximately in common with the previous data and matching the coordinate group to combine them.
Reference numeral 009 denotes temporary storage means, and examples thereof include a digital memory and other digital media for temporarily storing common three-dimensional coordinate data obtained by combining with the previous combining means.
Reference numeral 010 denotes processing data forming means for converting the combined data obtained by the combining means 008 into processing data. The data is displayed on the computer monitor and sequentially combined. Data is displayed and processing data for the prosthesis is formed for CAM processing. By displaying the combined data on the screen, an unmeasured part can be displayed and the part can be complemented.

Next, the operation will be described.
The close-up image acquisition means 001 continuously takes images at close distances while holding a probe with a plurality of cameras attached to the tip of the camera pair with respect to the portion to be imaged in the oral cavity. Shooting is performed by continuous shooting while moving or stationary, and a plurality of image pairs are output to the selection unit 002 (0a).
The selection unit 002 performs an edge detection process on the input image data, grasps the state of camera shake from the value, selects an image without blurring or camera shake, and outputs the image to the correction unit 002 (0b).
After the calibration process is performed by the correction unit 002 and the distance image is corrected, the distance image pair is output to the captured image coordinate setting unit 003 (0c).
Coordinates are set for the input multiple pairs of distance images and output to the common photographing range setting means 005 (0d).

The common shooting range setting unit 005 detects and sets a common shooting range from the image pair, and outputs the range to the common point determination unit 006 (0e).
The reference point is set using one image of the image pair in which the common range is set as a reference image, and a point that matches or approximates the reference point is sequentially determined from other images, and the luminance value is converted to the unit point. Detect by moving.
If a point estimated to match or approximate is obtained, the same operation is performed for the next reference point using this as a common point, a common point is determined, this is repeated, and the image coordinates of the common point of each image are determined. This is output to the common coordinate setting means 007 (0f).
The common coordinate setting unit 007 converts the image coordinates of the common point on each image data into world coordinates and outputs them to the combining unit 008 (0g).
The world coordinate data input to the combining unit 008 is read based on the common coordinate portion by reading the previously processed world coordinate data from the temporary storage unit 009 (0i).
The combined world coordinate data is recorded so as to be temporarily overwritten in the temporary recording unit 009 (0h), and further output to the processed data forming unit 010 (0j).

The processed data forming means 010 stores the obtained world coordinate data until the shape data to the state where the prosthesis can be formed is obtained after the area that has not been measured disappears while actually displaying the three-dimensional world coordinate data. Convert to processing path data for use. Based on this processing data, a prosthesis is obtained by processing a block formed of a composite material of ceramics, resin, and others, or by a modeling process using a rapid prototype.
According to the present invention, highly accurate coordinate data can be obtained by limiting the photographing range by close-up photography.

Next, a specific configuration example according to another embodiment of the present invention will be described in detail with reference to FIG.
In FIG. 13A,
Reference numeral 110 denotes a camera unit in which the same CCD or CMOS camera is installed at a predetermined angle with respect to each other. The individual cameras A111a and B111b of the camera unit 110 preferably have a resolution of, for example, 1M (1 million) pixels or more, but may be 1M pixels or less depending on the degree of processing.
112a is a close-up lens for the camera 111a, and 112b is a close-up lens for the camera 111b. In any case, a focal length is short, and a pinhole lens or a close-up lens may be applied, and one or a plurality of lenses may be used. In some cases, a calibrated range may be used even when a magnifying lens is used.
Reference numeral 113 denotes an illumination light output unit, and an output unit is formed along the periphery of the camera unit. A translucent member such as plastic or glass is mounted on the surface of the illumination light output unit 113.

Reference numeral 114 denotes a light source, which is mainly formed of an LED, and has a light path length based on the light guide path, so that a high output light is selected in consideration of attenuation.
Reference numeral 115 denotes a light guide, which is for transmitting the output light of the light source 114 to the illumination light output unit 113, and is preferably covered with a member that reflects light.
The illumination light output unit 113 is a part that outputs the light emitted from the light source 114 in the light guide 115 to the outside, and can compensate for the darkness of the periphery of the screen when a digital image is taken.
In addition, the illumination light output unit 113 that avoids receiving and reflecting the outline of the light of the LED on the measurement surface can use a polished glass-like translucent member or a transparent translucent member. Since the loss of the spectrum occurs, a transparent one may be preferable.
The illumination light output unit 113 may use not only such an indirect light source but also a means for directly irradiating illumination light, and the contour of the light source formed on the irradiation surface of the living body. Etc. may be a part for obtaining a measure of common points.

Reference numeral 116 denotes a main body tip portion, which is formed integrally with the main body gripping portion 117, and a push button type switch 118 is formed at the center.
The main body front end portion 116 and the main body gripping portion 117 are made of hard plastic, and are preferably light in weight and easy to carry.
Reference numeral 119 denotes an electrical lead wire for transmitting image data to the outside or supplying power. The electrical lead 119 may be a general-purpose cable such as a USB cable, and may be unnecessary if wireless transmission / reception is possible.

Reference numeral 120 denotes an indicator that indicates an operation state by display. For example, the indicator is displayed by emitting light during a shooting period, or is out of focus or in focus. It is a display body that is intended to indicate that it is in the depth of field range by light emission, color, intensity, etc. In addition to LEDs, displayable elements such as liquid crystal panels may be used.

Reference numeral 121 denotes a sensor light source, which is preferably covered with a peripheral side surface so that a so-called spotlight-like output is performed.
This is an output for measuring the distance to the subject, and for outputting light that is divergently output at a narrow angle in advance. The spread of the output light is associated with the distance to the subject, and the distance to the subject can be obtained by measuring the diameter, area, etc. of the light projected as a spotlight. A light source is used.

The operation of the embodiment shown in FIG. 13A will be described.
Holding the main body holding part 117, the part of the camera unit 110 is brought close to the teeth. Shooting is started when the camera unit 110 is in focus.
The light source 114 outputs illumination light from the illumination light output unit around the camera unit 110 via the light guide path 115 when output is performed at all times or during photographing.
The illumination light may be output adjusted to white or other colors close to white.
When constantly irradiating, since a high-power LED is adopted, the power consumption is increased, and thus illumination such as a flash lamp may be used.
When the camera 111a, 111b is in auto focus, it is executed when the camera 111a, 111b is in focus.

For example, as shown in FIG. 14, the output of the sensor light source 121 that approaches the camera unit 110 and the imaging region draws an arc on the imaging surface, so the diameter or area of the arc is measured and the distance to the subject is measured. Is measured based on a pre-measured relationship, and when the distance enters the depth of field, photographing is automatically started, and the indicator 120 emits light (color and intensity are changed).
If the image is not automatically shot, shooting is started by pressing the switch 118 or another shutter.
It is only necessary to shoot an image that is out of focus and has no camera shake at one time. However, a plurality of shootings may be performed by continuous shooting, and an image may be selected from among them.
As shown in FIG. 14 (a), the camera body 110 is moved while holding the body gripping part 117 as shown in FIG. 14 (b). However, if the distance is within the depth of field, and at least within a predetermined range in focus, continuous shooting is continued and image data is stored in the internal memory. In addition to being stored in the internal memory, it may be stored in an external storage device via the electrical lead wire 119.

Illumination from the illumination light output unit 113 may be output at the time of shooting or may be always output. still,
Continuous shooting is only required to be fast enough to select and extract images that are free from camera shake and blurring, and may be about 30 images per second at the video level, or less than that, for example, when obtaining resolution. If the number of sheets is large, the memory is consumed greatly, so that the number is appropriately selected according to the memory capacity.
Further, a magnifying lens may be used, or a small area may be photographed.
The camera unit 110 is inclined at a predetermined angle toward each other. In this state, a common imaging region is indicated by H21 in FIG.

A common point M is detected from each common imaging region H21 in FIG. The common point M is determined based on the illuminance for the M selected from one of the images and the other image based on the angle.
In the present invention, in order to reduce the photographing burden of the illuminance value, close photographing is performed.
In other words, by reducing the shooting area with respect to the size of the image sensor unit that is an aggregate of CCD and CMOS pixels, the range of the pixels is reduced, the resolution is improved, and the camera structure capable of close-up shooting is provided. In addition, highly accurate measurement is possible.

The obtained photographic image is passed through calibration means that corrects distortion caused by the lens and corrects the amount of light as necessary. The calibration means may be realized by using a combination of software such as OPEN-CV.

Therefore, if the range of the three-dimensional data obtained by one imaging is 10 mm × 10 mm, the imaging range of one pixel is several tens μm × several tens μm when about 1 million pixels (1M pixels) are used. Yes, one block to be compared at the time of block matching has the same value, and the accuracy of coordinates in determining the common point can be improved.
Next, block matching operation is performed. For example, in the case of a horizontal camera relationship, the difference between the reference block pixel and the comparison block pixel is taken as in the case of coincidence by comparison along the y-axis or SSD SAD, and if necessary, the minimum is obtained by squaring. In some cases, the value may be drawn as a parabola, the minimum value thereof may be taken, and sub-pixel estimation using the block on the comparison screen of the minimum value as a common point may be performed.
When the block unit is 2 × 2, 3 × 3, and accuracy is required, a smaller one may be preferable. In determining the block from the reference image, in addition to performing the matching process by detecting adjacent blocks, it is only necessary to obtain data that can at least obtain processing accuracy, so it is necessary to select every other block or skip multiple blocks. Then, a matching operation may be performed.

The connection of the reproduced three-dimensional data may be a curve interpolation process using a spline curve or the like, which may enable time reduction and real-time processing.
It is only necessary to select a block with sufficient accuracy to obtain processed data, and if the 3D image is reproduced on the screen at the same time as shooting without performing processing, the block is further skipped and matching processing is performed. This enables real-time image display.
After the common point M is obtained, the common point M is converted into common coordinates such as world coordinates.
As the conversion method to the common coordinates, a known method by using an algorithm using a perspective projection matrix of the camera may be used.
An algorithm for calculating a basic matrix by an existing 8-point algorithm by obtaining a plurality of world coordinate values of a common point and converting known captured image coordinates such as trigonometry to world coordinates using this basic matrix. The common point coordinates on the world coordinates may be obtained based on the coordinates of the common points in the captured images.

After the world coordinate data of a partial region in the oral cavity (FIG. 14, H21) is obtained from a single imaging in this way, the world coordinate data from the range of H22 in FIG. Then, the process moves to the area of H23, and each shape is converted into world coordinates. .
The three-dimensional shape data of the tooth is obtained by connecting the three-dimensional data planes H21 and H22 converted into world coordinates by comparing and approximating the coordinates of the common parts. Further, the periodontal portion other than the teeth can be three-dimensionalized by the same method.
In addition, the texture in the oral cavity may be used as a feature of the image by taking a close-up, and further, it is used for matching depending on the pattern projection by using the diffractive optical element, the direction and type of illumination. May be obtained. Further, there are cases where the accuracy is further improved by taking a close-up image so as to trace the same part and averaging the three-dimensional data of the same part.

Although the present invention can adopt a passive stereo system, since close-up and continuous shooting are performed, as shown in FIG. 14B, the tooth surface 2H is actively moved at an approximate close distance. Since shape measurement is also possible and use as an intraoral camera is possible, the present invention is a preferred embodiment.
FIG. 13B is referred to as a method for eliminating the defocused image in the present invention.
The sensor light source 121 is turned into a spotlight by outputting output light having a directivity angle of about 5 degrees or more with the side face shielded by a black shield. Since the LED light has a straight traveling property, the irradiation distance 121a and the area of the circular irradiation surface 121b substantially correspond to each other (when the irradiation distance becomes longer, the area of the irradiation surface becomes larger). When measuring, irradiate and measure its diameter and area, identify whether it is in the depth of field range, and if it is in range, flash the light of indicator 120 or display different colors The user may grasp the state from the indicator display and may take an active image of the oral cavity while adjusting the camera position.
In addition, when the presence of a probe in the depth of field range is automatically detected by measuring the irradiation surface 121b, continuous shooting is started, so that the operation of pressing the shutter is eliminated, thereby reducing the amount of camera shake. The factor may be eliminated. If the area of the irradiated surface 121b is difficult to calculate due to the unevenness of the irradiated part, the diameter and area of the estimated circle obtained by detecting several points of the contour may be calculated. .

The sensor light source 121 may be mounted as necessary, or may be used as a pattern light source. In other words, since this embodiment is close to the close-up state, an optical pattern can be formed on the measurement surface using various slits if an LED having a narrow directivity angle is used.
The external monitor may operate the position of the camera unit while viewing the unfinished part by displaying CG on the screen at the same time as obtaining the three-dimensional coordinates.

In this case, only the image may be recorded and the others may be deleted. In some cases, it is possible to detect a feature part that can be easily detected from the obtained image data of the pair without using such a sensor light source, to obtain a common point from the detected feature part, and to obtain its coordinates. However, in the case of close-up photography, the use of a sensor light source may be appropriate.

Note that when using an autofocus type camera module, a certain amount of still time is required for each shooting, but there are cases where the operation is roughly active in combination with a continuous shooting method.

FIG. 13C shows another embodiment of the present invention, in which one image sensor is divided into four and each is used compoundly as an independent image sensor.
The same components as those shown in FIG.
Reference numerals 122a to 122d denote lens bodies to which the lenses 123a to 123d are attached, and are inclined inward. By tilting, it is appropriate when photographing a narrow range for 3D, but it may be planar and facilitates the detection of common points.
Also, it is possible to adopt a technique that reduces the number of reflections inside the reflecting mirror, reflecting prism, etc. so that the calibration is not complicated.
In the drawing, 124a and 124c are first reflecting members, which are formed by prisms and mirrors, and reflect incident light to the next second reflecting member in a state where distortion is suppressed.

Since the first reflecting member corresponds to the lens member, only two are shown in the figure, but there are four, and each lens member corresponds to the lens member 123a. The first reflecting member 124c corresponds to the lens member 123c, and the first reflecting member 124d corresponds to the lens member 123b, and the first reflecting member 124d corresponds to the lens member 123d. It corresponds.
Reference numeral 125 denotes a second reflecting member, which uses the same mirror and prism as the first reflecting member 124, and reflects incident light to a corresponding area of the image sensor.
Similarly, four second reflecting members 125a to 125d are arranged corresponding to the first reflecting members 124a to 124d, respectively.
Reference numeral 126 denotes an image sensor, which has a square shape and is easily divided into four equal parts.
FIG. 13C shows a state where the range is divided. In order to receive the reflected light of the second reflecting member, they are divided and used equally.
The partition may not be necessary, and it is preferable to provide a software system that partitions the data output by the image sensor 126.

In the illumination of this embodiment as well, the light source 114 by analog illumination such as one LED or a ball ball is irradiated with illumination light from the irradiation unit 127 formed around the lens member via the light guide path 115 to the measurement site. It has the composition to do.
This embodiment is configured to perform three-dimensional shape measurement using a maximum of four cameras. A pair of cameras is selected, a common point is detected from a captured image, three-dimensional coordinates are obtained, and four cameras are used. In such a case, the same common point obtained by at least four combinations may be obtained, and a coordinate with higher accuracy may be obtained by averaging.
In some cases, three or two of the four regions may be used.

    Since the present invention acquires data in a state close to the moment and performs computer processing on this data to obtain prosthesis data, it is easy to obtain information in the oral cavity and reduce the amount of data. The prosthesis can be created, and instantaneous measurement can reduce the burden on the patient and save the labor of the worker in the dentistry field.

DESCRIPTION OF SYMBOLS 1 Image data conversion means 2 Tilt information detection means 3 Three-dimensional coordinate acquisition means 4 Adjustment means 5, 7 Processing data formation means 6, 8 Processing means 10 Support body 11 Measurement support part 12 Grip part 13 Transmission part 14 Display calculation unit 15 Display unit 16 Shooting on / off button 17 Connection cable 18 Computer 19 Processing device

Claims (10)

Image data generating means for continuously shooting or single-shoting one or more image data in a still image using a close-up shooting means for a subject in the oral cavity, and the image as a state in which the three-dimensional shape of the object to be measured can be measured A support having a size capable of being placed in the oral cavity and having a data conversion means; a three-dimensional shape acquisition means for obtaining a three-dimensional shape of the object in the oral cavity from the image data obtained by the image data conversion means; A dental prosthesis measuring and processing system. The dental prosthesis measurement processing system according to claim 1, wherein a close-up shooting distance of the close-up shooting means is in a range of 5 mm to 20 mm. The fixed part of the image data converting means of the support has an inclination information detecting means for detecting inclination information, and an adjusting means for adjusting the three-dimensional data of the three-dimensional shape acquiring means based on the inclination information output of the inclination information detecting means. The dental prosthesis measurement processing system according to claim 1, which is provided. The dental prosthesis manufacturing system according to claim 1, further comprising processing means for processing a processing block to manufacture and process a dental prosthesis based on data obtained by the three-dimensional shape acquisition means. The display unit for displaying the video obtained by the image data converting unit and the switching unit for starting and stopping the imaging of the image data converting unit are formed separately from the support, and are connected by wire or wirelessly. The dental prosthesis manufacturing system according to claim 1.   A still image capable of detecting the three-dimensional coordinates of the adjacent tooth and the prosthetic region taken in the oral cavity and a still image capable of detecting the three-dimensional of the opposing tooth are photographed by the image data converting means, and the virtual prosthesis is obtained from the still image Extracting numerical data necessary for shape formation, detecting three-dimensional coordinates of an occlusal surface and an abutment tooth surface corresponding to the data, and acquiring a virtual prosthesis shape from the numerical data and the three-dimensional coordinates Item 2. The dental prosthesis manufacturing system according to Item 1. Image conversion means for converting the image displayed on the display section into a unidirectional image and a multidirectional image, 3D display means for displaying the unidirectional image and multidirectional image converted by the image conversion means, and the 3D display 6. The dental prosthesis manufacture according to claim 5, further comprising an output adjustment unit that outputs a unidirectional image to the right eye and outputs a multidirectional image to the left eye with respect to the image output by the means. system. Prepare a database that accumulates multiple 3D shape data corresponding to the target prosthesis,
A search unit that searches the database for a shape that approximates the data obtained by the three-dimensional shape acquisition unit, and complements the actual measurement data obtained by the three-dimensional shape acquisition unit on the data obtained by the search unit. The dental prosthesis manufacturing system according to claim 1.   The dental prosthesis manufacturing system according to claim 8, wherein the supplementary calculation supplements the actual measurement data with respect to the approximate shape obtained in the database.   The dental prosthesis manufacturing system according to claim 1, wherein the support has a shape in which two image data forming units are arranged at right angles to each other.

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