AT522854A1 - Process for creating three-dimensional images of cavities - Google Patents

Abstract

The invention relates to a method for creating three-dimensional images of cavities, in particular of parts of cavities and / or at least parts of the inner area of objects, and possibly of the outer area surrounding the cavities and / or of reference structures outside the cavity, with a common receiving arrangement (100 ) comprising a carrier (10) with a preferred feed direction for feeding into the cavity, the receiving arrangement comprising at least a first imaging system (1) and a second imaging system (2), the first and the second imaging system (1, 2) to one another are arranged on the carrier (10) so as to be rigid in terms of movement and rotation, the first imaging system (1) being designed to capture a three-dimensional image based on a first coordinate system (K1) of at least parts of the interior of the cavity, and the second imaging system (2) is designed to use a second coordinate system to capture em (K2) related three-dimensional image of surfaces and / or reference structures outside the cavity when the carrier (10) is at least partially introduced into the cavity.

Description

The measurement and / or three-dimensional imaging of difficult to access, often narrowly limited cavities or inner areas of objects often turns out to be problematic, since on the one hand access to such narrowly limited spaces is difficult. On the other hand, the cavities or interiors often have little or no surface structure, so that in a three-dimensional image the spatial location of the areas of the auditory canal that is depicted in individual recorded images, for example the parts of the auditory canal required for the production of hearing aids, turns out to be difficult or almost impossible. since there are no relevant reference points. This also applies to the area of robotics, to the area of production or quality control of the smallest mechanical components, but also to the fields of medicine, cosmetics or electronics, e.g. for the manufacture of individually adapted headphones.

For example, to manufacture a hearing aid that is individually adapted to a person, it has hitherto been necessary to take a manual impression of the required parts of the auditory canal and the auricle, since the auditory canal is difficult to access and hardly offers topographically sufficiently clear reference points for the location of recorded images . To make the impression, for example a type of silicone impression material is filled into the auditory canal and removed again after a few minutes of solidification. This imprint is then used to manufacture the housing of the hearing aid or the earmold that is attached to the hearing aid. Creating the impression of the auditory canal with the help of impression material is perceived by many people as uncomfortable and can lead to particular stress for the person if, for example, the taking of an impression has to be repeated because the impression does not adequately reproduce the auditory canal. Furthermore, the precision of the impression can depend on the

person taking the impression.

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The invention achieves this object with a method for recording and model registration of three-dimensional images of cavities, in particular of parts of cavities and / or at least parts of the inner area of objects, and possibly of the area surrounding the cavities and / or of reference structures outside the cavity a receiving arrangement comprising a carrier with a

Preferred feed direction for feeding into the cavity.

According to the invention it is provided that - the recording arrangement comprises at least a first imaging system and a second imaging system, - the first and the second imaging system are arranged on the carrier so as to be rigid with respect to movement and rotation, - the first imaging system is designed to be based on a first coordinate system related three-dimensional image of at least parts of the inner region of the cavity, and the second imaging system is designed to acquire a three-dimensional image of surfaces and / or reference structures outside the cavity related to a second coordinate system when the carrier is at least partially into the cavity is introduced, - a calibration of the imaging systems to one another is carried out beforehand by determining a coordinate transformation from the respective coordinate system into a common recording coordinate system for each of the imaging systems, and - this coordinate en transformations each - assigns exactly one position in the recording coordinate system to a position of a measurement space point determined with one of the imaging systems in the respective coordinate system, - and possibly each with at least one other

Positioning system determined in the respective coordinate system

be combined into a recording image,

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merged and kept available.

This advantageously enables three-dimensional measurement or modeling of at least parts of cavities and / or the interior of objects that are difficult to access due to their size and / or shape or have a comparatively small spatial extent or have no distinctive surface structures. Even if the cavities or inner regions of objects to be recorded or measured in this way do not have any distinctive structures that could serve for orientation, it is advantageously possible with the method according to the invention, through the additional recording of that surrounding the cavity or the object Has the outside area of the structures, or another reference structure outside the cavity, a spatial location of the recorded three-dimensional images of the inside area of the cavity or of the object

to undertake.

It is particularly advantageous in the procedure according to the invention that three-dimensional overall images or models of the interior of cavities or objects can be created quasi in real time, since the imaging systems parallel images, in particular of parts of cavities and / or at least parts of the interior

of objects and possibly of the outer area surrounding the cavities

For use in the medical and / or cosmetic field, it can be advantageous if three-dimensional images of body orifices of humans or animals, in particular of at least parts of the inner area of the body orifice and possibly the body surface surrounding the body orifice or of reference structures, are recorded,

- wherein the receiving arrangement comprises a carrier with a preferred feed direction for feeding into the body opening,

- wherein the first imaging system is designed to capture a three-dimensional image of at least the inner region of the body opening, in particular parts thereof, and

- wherein the second imaging system is designed to capture a three-dimensional image of the body surface surrounding the body opening or of the reference structures when the carrier is at least partially introduced into the inner region of the body opening,

- wherein the carrier is at least partially inserted into the inner region of the body opening,

- the imaging systems being used to create a large number of three-dimensional images of the body opening, in particular at least parts of the inner region of the body openings and, if applicable, the body surface surrounding the body opening or the reference structures,

- whereby the registration of the created image images to a three-dimensional overall image is carried out as a reference image, specifying in particular parts of the image image that were created with the second imaging system at least from parts of the body surface surrounding the body opening or the reference structures, and

- using the respectively determined transformation at least those parts of the recording images that were created with the first imaging system to a three-dimensional overall image, in particular at least parts of the

Inner area of the body opening and possibly the area surrounding the body opening

In this way, three-dimensional images or models of difficult to access body regions or inner areas of body orifices for, for example, diagnostic applications and / or surgical interventions in the medical sector and / or in endoscopy can be created.

For use in the manufacture of hearing aids, in particular otoplastics for hearing aids, it can be advantageous if three-dimensional images of the ear, in particular at least parts of the external auditory canal and possibly the auricle and possibly the eardrum, are recorded,

- wherein the receiving arrangement comprises a carrier with a preferred feed direction for feeding into the auditory canal,

- wherein the first imaging system is designed to capture three-dimensional images of at least regions of the external auditory canal and possibly the eardrum, and

- the second imaging system being designed to capture a three-dimensional image of at least parts of the auricle when the wearer is at least partially introduced into the ear canal,

- wherein the carrier is at least partially inserted into the ear canal,

- With the imaging systems a large number of three-dimensional images of the ear, in particular at least parts of the auditory canal and / or the auricle, are created,

- wherein the registration of the created image images to a three-dimensional overall image is carried out as a reference image by specifying in particular parts of the image image that were created with the second imaging system of at least parts of the auricle, and

- using the transformation determined in each case, at least those parts of the recording images that were created with the first imaging system are merged into a three-dimensional overall image, in particular at least parts of the auditory canal and / or the auricle, and the overall image is kept available .

This embodiment of the invention advantageously enables a three-dimensional measurement of the part of the auditory canal required for the production of hearing aids and, if required, the parts of the auricle required for the production of a hearing aid

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A detailed recording of the interior of cavities or objects or body parts, in particular of at least parts of the external auditory canal and possibly the auricle and the eardrum, can be ensured,

if the first imaging system is arranged in the region of the end face of the carrier oriented in the feed direction and is oriented in a region of an angle of +/- 180 ° to the feed direction or the longitudinal axis of the carrier, and

- if the wearer executes a superimposed movement comprising a forward and / or backward movement in the feed direction and possibly a rotational and / or pivoting movement about the longitudinal axis of the and / or possibly also further movements during insertion into the auditory canal

Pivots and translations are carried out by the carrier.

A particularly simply configured recording arrangement, which at the same time ensures a reliable recording of the interior of cavities or objects or body parts, in particular the ear, can be provided if the first imaging system for recording three-dimensional images of the surroundings of the wearer or parts thereof in relation to the first coordinate system is formed, it being provided in particular that the first imaging system

- on the cavity, the body opening or the ear canal or parts

of which the area of the carrier to be introduced is arranged,

- in the range of an angle of + 180 ° to -180 ° to the feed direction or

The longitudinal axis of the beam is aligned,

- optionally at least one planar mirror element or

a rotationally symmetrical and in a radial or axial direction

curved, especially hyperboloid or paraboloid or

conical, mirror element for the detection of three-dimensional

A particularly detailed recording of the interior of cavities or objects or body parts, in particular the ear, can be ensured if the wearer comprises a third imaging system in addition to the first imaging system, the third imaging system for recording three-dimensional images of the wearer's surroundings is formed on a third coordinate system, and it is provided in particular that the third imaging system - is arranged on the area of the wearer to be introduced into the cavity, the body opening or the auditory canal or parts thereof, - in the range of an angle of + 180 ° to -180 ° to the feed direction or longitudinal axis of the carrier, and - optionally at least one planar mirror element or a rotationally symmetrical and in the radial or axial direction curved, in particular hyperboloid or paraboloid or conical, mirror element for capturing three-dimensional images the surroundings at an angle of up to 360 ° around the longitudinal axis of the carrier, - is arranged to be rigid in terms of movement and rotation relative to the first and second imaging system, and - in addition to the first imaging system and the second imaging system for creating three-dimensional images of cavities according to a method according to the invention , preferably for calibration, for the determination of the recorded image and the overall image.

The use of a third imaging system multiplies the number of recorded three-dimensional images in the interior or in the ear canal, so that

an extended three-dimensional image or model can be created.

The method according to the invention can also integrate 3D information obtained via the projection of random images as part of the transfer of the images or point clouds obtained thereby into a common coordinate system or within the framework of the registration of the images or point clouds with one another. For this purpose it can be provided that at least one imaging system is used to create a

wherein the individual pixels of the random image preferably have one of at least two color values and / or intensity values that differ from one another and

wherein the surroundings of each pixel within the random image can be clearly assigned to the respective pixel in the images generated with the imaging systems, in particular with the image recording units.

This ensures a particularly true-to-detail three-dimensional image of the interior of cavities or objects or body parts, in particular of the ear, and possibly of the surrounding outer area and / or of reference structures outside the cavity.

In order to achieve a precise image of body regions covered with skin, in particular the ear, it can be provided that for the projection of the at least one predetermined random image onto the area of the cavity to be recorded and possibly the area surrounding the cavity or reference structures outside the cavity , in particular the body opening and possibly the area surrounding the body opening or reference structures outside, preferably of at least parts of the ear canal, the eardrum and / or the auricle, light, in particular in a wavelength range from 350 to 450 nm, preferably from 380 to 400 nm, is used. By using short-wave light, an ideal reflection of the projected pattern through the subject's skin can be ensured.

In order to be able to identify particularly efficiently reflections that originate from interfering bodies in the area to be recorded, for example impurities, it can advantageously be provided that the respective predetermined random image from at least one of the imaging systems in a different wavelength range onto the area of the cavity to be recorded by the respective imaging system and, if necessary, the Area surrounding the cavity or from reference structures outside the cavity, at least parts of the auditory canal, possibly the eardrum and / or the auricle, is projected.

In order to ensure a model structure, fed by images or point clouds from the at least two imaging systems, during the scanning process, it can be provided that the start of the exposure for recording the images of the cavity and, if applicable, of the area surrounding the cavity or of reference structures outside the cavity, in particular the body opening and possibly the area surrounding the body opening or from reference structures outside, preferably at least parts of the auditory canal, the eardrum and / or the auricle, in all imaging systems a predetermined time interval threshold of less than 700 ms, in particular 100 ms , preferably 20 ms, does not exceed, particularly preferably takes place simultaneously.

The images or point clouds recorded at least approximately synchronously with the imaging systems and continuously transmitted can be easily converted into a common three-dimensional coordinate system by means of the calibration carried out in advance or the determined coordinate transformations and simply inserted into the three-dimensional overall image by subsequent registration

become.

In order to ensure that if there is an interruption or an error during the creation of the overall image of the required area, you do not have to start again with the creation of the overall image, it can be provided that in the event that a previously created overall image at least of areas of the cavity and possibly of the area surrounding the cavity or of reference structures outside the cavity, in particular at least areas of the body opening and possibly the area surrounding the body opening or of reference structures outside, preferably at least areas of the auditory canal, the eardrum and possibly the auricle , present,

- When images are recorded, it is checked whether there is a match between the recorded area and the previously recorded areas,

- if no match is determined, further individual images are created,

- it is checked whether and / or at which point the individual images created match the previously created overall image, and

If a match has been found, the creation of the overall image, in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or reference structures outside the cavity, preferably at least areas of the body opening and possibly the body surface surrounding the body opening or a reference structure, especially

preferably at least parts of the auditory canal, the eardrum and possibly the auricle, are continued at the determined point.

In order to ensure a particularly precise reproduction of three-dimensional images of cavities, in particular parts of cavities and / or at least parts of the inner area of objects and possibly the area or reference structures outside, or for example the surface of the auditory canal, possibly the eardrum and the auricle, it can be provided that

- A three-dimensional recording space is specified for the measuring space to be examined, with each of the created images of the cavity, in particular at least parts of the interior of the cavity and / or the area surrounding the cavities and / or reference structures outside the cavity, preferably at least areas of the The body opening and possibly the body surface surrounding the body opening or a reference structure, particularly preferably at least parts of the auditory canal, possibly the eardrum and / or the auricle, is registered in a common coordinate system in the three-dimensional recording space,

- the recording space is divided into voxels,

- A search is made for surface voxels under the voxels of the recording space, in which an image of the surface of the cavity, in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or of reference structures outside the cavity, preferably at least of Areas of the body opening and possibly the body surface surrounding the body opening or of a reference structure, particularly preferably the ear, most preferably at least parts of the auditory canal, the eardrum and / or the auricle,

- On the basis of the individual image images that fall into the respective surface voxel, a surface point is established which represents the actual position of the surface in the surface voxel as well as possible and

a total surface of the cavity, in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or reference structures outside the cavity, preferably at least areas of the body opening and possibly the body surface surrounding the body opening or a reference structure, particularly preferred of the ear, most preferably at least parts of the auditory canal, the eardrum and / or the auricle, based on the surface voxels and the surface points found in this way within the surface voxels.

This ensures that for each 3D model voxel, based on the accumulation of all images falling into this voxel, the most exact possible representation of the surface, for example of the ear, is determined.

According to the invention, a recording arrangement is also provided for recording three-dimensional images, in particular of parts of cavities and / or at least parts of the inner area of objects, and possibly the outer area surrounding the cavities or reference structures outside the cavity. According to the invention, the recording arrangement comprises - a carrier with a preferred feed direction for feeding into the cavity, - a control and processing unit, and - at least a first and a second imaging system, - the first imaging system at least one image recording unit and the second imaging system at least one image recording unit - wherein the first and the second imaging system are arranged on the carrier so as to be rigid in terms of movement and rotation, and - wherein the first imaging system is designed to capture a three-dimensional image of at least parts of the inner region of the cavity in relation to a first coordinate system, and - wherein the second imaging system is designed to capture a three-dimensional image of surfaces and / or reference structures outside the cavity in relation to a second coordinate system when the carrier is at least partially introduced into the cavity, the control and processing itation unit is in data communication with the imaging systems of the carrier and is designed to - perform a calibration of the imaging systems to each other beforehand by determining a coordinate transformation from the respective coordinate system into a recording coordinate system for each of the imaging systems and - these coordinate transformations in each case - assigns exactly one position in the recording coordinate system to a position of a measuring space point determined with one of the imaging systems in the respective coordinate system, and, if necessary, assigning the same position in the recording to the positions of the same measuring space point determined with at least one other imaging system in the respective coordinate system based on the recorded images of the measuring space -Assigns coordinate system,

- at least the coordinate transformation for the first imaging system and the coordinate transformation for the second imaging system are selected so that - given at least two measurement space points each with a given relative position, - the first measurement space point is in the recording area of the first imaging system and - the second measurement space point is located in the recording area of the second imaging system, - the relative position of the image of the first measurement space point in the measurement space defined by the common recording coordinate system using the coordinate transformation for the first imaging system and the image of the second measurement space point using the _coordinates- Transformation for the second imaging system to one another of the given relative position of the two measurement space points, in particular the given relative position of the two measurement space points with a deviation of less than 250 μm, particularly preferably with a deviation - to control the imaging systems, to create a large number of three-dimensional images of the cavity, in particular of the inner area of the cavity and / or the area surrounding the cavity and / or of reference structures outside the cavity, - selected, preferably to transfer all three-dimensional images created with the imaging systems, the recording times of which do not exceed a predetermined temporal distance threshold value to one another, using the determined coordinate transformations into a recording coordinate system and, if necessary, to combine them to form a recording image A, - a registration of the recorded image Carry out images to a three-dimensional overall image in relation to a reference image, in particular by specifying parts of the recorded image as a reference image, preferably by specifying the parts of the recorded image with the second imaging system were created as a reference image, and in this way to determine a transformation in each case, the transformation in each case indicating the positions of the pixels of the reference image in relation to a three-dimensional overall image,

where those parts of the recorded image that do not correspond to the reference image contained in the recorded image, in particular those image points in the recorded image that were created with the first imaging system, are related to the transformation via the respective coordinate transformations and possibly via this relationship to the overall image are inserted, and - using the respectively determined transformation, the recording images or at least the parts of the recording images created by the first imaging system to form a three-dimensional overall image, in particular of parts of cavities and / or at least parts of the interior of objects and / or the Area surrounding cavities and / or reference structures outside the cavity, to be brought together and available

to keep.

This configuration of the receiving arrangement advantageously enables a three-dimensional measurement or modeling of cavities and / or the inner area of objects or parts thereof that are difficult to access and / or are spatially narrowly limited and / or have an inadequate surface structure. The recorded areas of the surfaces surrounding the cavity or reference structures outside the cavity can also be included in the model formation.

For use in endoscopy, surgery or cosmetics it can be advantageous if the recording arrangement is designed to record three-dimensional images of body orifices of humans or animals, in particular at least parts of the inner area of the body orifices and possibly the body surface surrounding the body orifice or of reference structures - wherein the first imaging system is designed to capture a three-dimensional image of at least parts of the inner region of the body opening, and - wherein the second imaging system is designed to capture a three-dimensional image of the body surface surrounding the body opening or the reference structures, if the wearer at least is partially introduced into the body opening, wherein the control and processing unit is designed to - control the imaging systems, a plurality of three-dimensional images of the body opening, in particular at least parts of

To create the inner area of the body opening and / or possibly the body surface surrounding the body opening or the reference structures,

- to register the created image images to form a three-dimensional overall image, specifying parts of the image image, in particular those created with the second imaging system of at least parts of the body surface surrounding the body opening or the reference structures, as a reference image, and

- using the transformation determined in each case, at least those parts of the recording images that were created with the first imaging system to form a three-dimensional overall image, in particular at least parts of the inner region of the body opening and / or possibly the body surface or reference structures surrounding the body opening,

merge and keep the overall image available.

For use in the manufacture of hearing aids, hearing aids and / or headphones or hearing protection, it can be advantageous if the recording arrangement is designed to record three-dimensional images of at least areas of the external auditory canal, possibly the eardrum and / or the auricle, - wherein the first imaging system is designed to capture a three-dimensional image of at least parts of the auditory canal and possibly of the eardrum, and - the second imaging system is designed to capture a three-dimensional image of at least parts of the auricle when the wearer is at least partially inserted into the ear canal and - the control and processing unit being designed to - control the imaging systems, create a large number of three-dimensional images of the ear, in particular at least parts of the auditory canal and possibly the auricle, - register the created recording-A to carry out images to a three-dimensional overall image, specifying in particular parts of the recorded image that were created with the second imaging system of at least parts of the auricle as a reference image, and - using the transformation determined in each case, at least those parts of the recorded images, which were created with the first imaging system to form a three-dimensional overall image, in particular at least parts of the auditory canal and / or the auricle, and to keep the overall image available.

This refinement of the recording arrangement ensures that digital images of at least parts of the external auditory canal and possibly of the eardrum and the auricle can be created so that the information required for the production of a wide variety of hearing aid types is available. The digital image can also

Include parts of the eardrum.

A particularly simple acquisition of z. B. Areas and / or reference structures outside a cavity to be examined can be guaranteed if the second imaging system is arranged in the area of the side of the carrier opposite the end face oriented in the feed direction,

it is provided in particular that the second imaging system is aligned in the range of an angle of + 180 ° to -180 ° to the feed direction or longitudinal axis of the carrier and

- That the carrier is designed to perform an overlay movement during insertion into the auditory canal including a forward and / or backward movement in the feed direction and possibly a rotational and / or pivoting movement about the longitudinal axis of the carrier and / or possibly also further pivoting and

Perform translations.

A particularly precise recording of a three-dimensional image can be ensured if the first imaging system - is arranged on the area of the wearer to be introduced into the cavity, the body opening or the auditory canal or parts thereof - in the range of an angle of + 180 ° to -180 ° is aligned with the direction of advance or the longitudinal axis of the carrier, and that the carrier is designed to perform an overlay movement during insertion into the ear canal, including a forward and / or backward movement in the direction of advance and possibly a rotational and / or pivoting movement around the longitudinal axis of the Carrier and / or possibly also further pivoting and

Perform translations

An optional refinement with a third imaging system which enables the surface detection to be expanded and made more precise, in particular at least of parts of cavities, of parts of the inner region of objects, of

Body orifices or the external ear canal can provide a third

Imaging system is provided in addition to the first imaging system with at least one image recording unit, wherein - the third imaging system is designed to capture three-dimensional images of the surroundings of the wearer in relation to a third coordinate system, it being provided in particular that the third imaging system - on the in the Cavity, the body opening or the auditory canal or parts thereof to be introduced area of the wearer is arranged, - is aligned in the range of an angle of + 180 ° to -180 ° to the feed direction or longitudinal axis of the wearer, and - optionally at least one planar mirror element or a rotationally symmetrical one and in the radial or axial direction curved, in particular hyperboloid or paraboloid or conical, mirror element for capturing three-dimensional images of the environment at an angle of up to 360 ° around the longitudinal axis of the carrier and - movement to the first and second imaging system - and

is arranged rotationally rigid.

A simple embodiment of the third imaging system can provide that the imaging system comprises at least one planar mirror element and the carrier is designed to perform an overlay movement comprising a forward and / or backward movement in the feed direction, pivoting and rotational movements about the longitudinal axis during the creation of the three-dimensional images of the carrier and / or possibly also further swiveling and translations from the carrier

execute.

Another optional embodiment of the third imaging system, with which a recording of the surroundings around the jacket wall of the carrier is ensured, can provide that the imaging system is a rotationally symmetrical and in the radial or axial direction curved, in particular hyperboloid, paraboloid or conical mirror element for recording a three-dimensional image the surroundings of the carrier at an angle of up to 360 ° around the longitudinal axis of the carrier

includes. For the integration of 3D images obtained by projecting random images

Information as part of the transfer of the images or point clouds into a common coordinate system or as part of the registration of the images

to each other, it can be provided that selected, preferably all, imaging systems each have at least one projection unit for projecting a predetermined random image onto the area of the cavity to be recorded by the respective imaging system and possibly the area surrounding the cavities and / or reference structures outside the cavity, in particular the body opening , preferably at least parts of the auditory canal, the eardrum and optionally the auricle,

wherein the control and processing unit is designed to control the projection units of the imaging systems, the predetermined random image on the respective area of the cavity to be recorded and possibly the area surrounding the cavities and / or reference structures outside the cavity, in particular the body opening and possibly the body opening projecting the surrounding area and / or reference structures, preferably at least parts of the auditory canal, the eardrum and / or the auricle,

In particular, it is provided that the individual pixels of the random image have one of at least two different color values and / or intensity values and the surroundings of each pixel within the random image can be clearly assigned to the respective pixel in the images generated with the imaging systems, in particular with the image recording units is.

In order to achieve precise imaging of body regions covered with skin, in particular the ear, for example, it can be provided that the projection units of the imaging systems for projecting the predetermined random image each have a lighting unit for generating light, in particular in one

Include wavelength range from 350 to 450 nm, preferably from 380 to 400 nm.

In order to be able to capture surface areas with different properties in a particularly efficient manner in the course of a scanning process, it can advantageously be provided that the projection units of at least one of the imaging systems have lighting units for generating light in different

Include wavelength ranges.

A configuration of a recording arrangement with advantages, in particular for the miniaturization of the structure of the recording arrangement, can be achieved if selected, in particular all, imaging systems each have an image recording unit

and a projection unit.

In order to be able to continue the creation of an overall image after an interruption, it can be provided that the control and processing unit is designed to, in the event that a previously created overall image at least of areas of the cavity, and possibly the area surrounding the cavity or of Reference structures outside the cavity, in particular at least from areas of the body opening and possibly the area surrounding the body opening or from reference structures outside, preferably at least from areas of the auditory canal and possibly the auricle,

- when recording images to check whether there is a match between the recorded area and the previously recorded areas,

- if there is no agreement, control the imaging systems to create additional individual images,

- to check whether and / or at which point the individual created images match the previously created overall image, and

If a match has been found, the creation of the overall image, in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or reference structures outside the cavity, preferably at least areas of the body opening and possibly the body surface surrounding the body opening or of reference structures, particularly preferably at least parts of the auditory canal and / or the auricle, on the

determined point to continue.

For a particularly precise three-dimensional reproduction of the surface - of cavities, in particular parts of cavities and / or at least parts of the inner area of objects and possibly the outer area of the cavity or of reference structures outside the cavity, in particular parts of the external auditory canal and possibly the auricle of the test person - it can be provided that the control and processing unit is designed to

- to specify a three-dimensional recording room for the measuring room to be examined,

- each of the created images of the cavity, in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or reference structures outside the cavity, preferably at least areas of the body opening and possibly the body surface or reference structure surrounding the body opening, in particular preferably at least parts of the auditory canal, optionally the eardrum and optionally the auricle, in one

to register a common coordinate system in the three-dimensional recording space,

- divide the recording room into voxels,

- Search under the voxels of the receiving space for surface voxels in which an image of the surface of the cavity, in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or of reference structures outside the cavity, preferably at least from Areas of the body opening and possibly the body surface or reference structure surrounding the body opening, particularly preferably the ear, most preferably at least parts of the auditory canal and / or the auricle,

- On the basis of the individual image images that fall into the respective surface voxel, to define a point which represents the actual position of the surface in the surface voxel as well as possible and

- a total surface of the cavity, in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or reference structures outside the cavity, preferably at least areas of the body opening and possibly the body surface or reference structure surrounding the body opening, particularly preferably the Ear, most preferably at least parts of the auditory canal, possibly the eardrum and / or the auricle, based on the surface voxels and the surface points within the surface

Create voxels.

A further simplification of the model structure, fed by images or point clouds from the at least two imaging systems, can be achieved during the scanning process if the control and processing unit is designed to operate the shutter of all image recording units of the imaging systems in such a way that

- that the recording times of the three-dimensional images created with the imaging systems do not exceed a predetermined time interval threshold value, in particular of 700 ms, in particular 100 ms, preferably 20 ms, to one another,

- It is particularly preferred that the three-dimensional images are recorded simultaneously in all imaging systems.

A particularly precise three-dimensional reproduction of the surfaces can

can be ensured if the control and processing unit is designed to include the third imaging system in addition to the first imaging system and the second

Imaging system for creating three-dimensional images of cavities according to a method according to the invention, preferably for calibration, for determining the

The recording image and the overall image are to be used.

Further advantages and configurations of the invention emerge from the description and the accompanying drawings.

The invention is shown schematically in the following with the aid of particularly advantageous but not restrictive exemplary embodiments in the drawings and is described by way of example with reference to the drawings.

The following shows schematically:

1 shows a representation of a receiving arrangement according to the invention,

Fig. 2 schematically the measurement of at least parts of the external auditory canal, the auricle and the eardrum with the recording arrangement,

3 shows a first embodiment of the third imaging system,

4 shows a second embodiment of the third imaging system,

5 shows a third embodiment of the third imaging system,

6 shows an example of a random image,

7a, 7b, 7 / c schematically three created three-dimensional images,

7d shows the images from FIGS. 7a, 7b, 7c transformed into a common recording coordinate system,

7e schematically shows an overall image created in the form of a surface model of at least parts of the external auditory canal, the auricle and the eardrum,

8 schematically shows the registration of recorded images in an overall image of at least parts of the external auditory canal, the auricle and the eardrum.

1 schematically shows the structure of a receiving arrangement 100 according to the invention for creating three-dimensional images of cavities, in particular of parts of cavities and / or at least parts of the inner area of objects, and possibly the area surrounding the cavities and / or of reference structures outside the cavity. In the exemplary embodiment shown, the receiving arrangement 100 comprises a carrier 10 with a preferred feed direction for feeding into a cavity, a control and processing unit 20 and a first imaging system 1, a second imaging system 2 and a third imaging system 3.

Such an imaging system 1, 2, 3 can include, for example, two image recording units so that a spatial impression of the recorded areas of the ear or the cavity or the object can be achieved with the aid of stereoscopy or images recorded from different angles. Alternatively, an imaging system can comprise an image recording unit and a projector.

The first imaging system 1, the second imaging system 2, and the third imaging system 3 are arranged on the carrier 10 so as to be rigid with respect to movement and rotation and in the exemplary embodiment shown in FIGS. 1 and 2 each comprise an image recording unit and a projection unit.

In the exemplary embodiment shown, the imaging systems 1, 2, 3 each include an image recording unit 11, 21, 31 each with an objective and a video sensor and a projection unit 12, 22, 32 each comprising an objective, a slide, which contains a predetermined random image Z or projection pattern carries, a condenser optics and a light source. The image recording unit 11, 21, 31 and the projection unit 12, 22, 32 are each mechanically rigidly connected to one another. The position and orientation of the image recording unit 11, 21, 31 and the projection unit 12, 22, 32 with respect to one another is determined by extrinsic calibration, for example. Such a structure of the imaging systems 1, 2, 3 can be used in all methods or recording arrangements 100 according to the invention.

The first imaging system 1 is for capturing three-dimensional images A; formed at least the inner region of the cavity in relation to a first coordinate system K +. The first imaging system 1 can, for example, also be used for capturing parts of the area surrounding the cavity and / or reference structures outside the cavity or the auricle M, in particular areas of the auricle M that are not accessible with a larger imaging system such as the second imaging system 2 are to be used. This is particularly advantageous, for example, at the end of a scanning process when the receiving arrangement 100 is removed from the cavity or the auditory canal G.

is pulled out.

The second imaging system 2 is designed to capture a three-dimensional image of the outer area surrounding the cavity and / or reference structures outside the cavity in relation to a second coordinate system K when the carrier 10 is at least partially introduced into this cavity. Such reference structures can be, for example, structured areas such. B. the surface of a

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Act like a robot. The field of view S 1 ″ of the second imaging system 2 can be set up as desired.

In the exemplary embodiment shown, the first imaging system 1 is arranged in the region of the end face of the carrier 10 oriented in the feed direction and is aligned in the feed direction. This means that the first imaging system 1 is arranged on that side of the carrier 10 which is at the front when it is introduced into a cavity and is first introduced into the cavity and is oriented in such a way that it receives images of the interior of the cavity during the advance into the cavity records. In the exemplary embodiment shown, the first imaging system 1 is arranged on the longitudinal axis centrally on the end face of the carrier 10, which is oriented in the feed direction. However, this is by no means absolutely necessary and the first imaging system 1 can alternatively be arranged offset in relation to the center point of the end face of the carrier 10. As an alternative to alignment in the feed direction, the first imaging system 1 can be aligned in a range of an angle of + 180 ° to -180 ° to the feed direction or the longitudinal axis of the carrier 10. The field of view S; of the first imaging system 1 can be set up as desired.

As an alternative to this, the first imaging system 1 can also be used to acquire three-dimensional images A, of the surroundings of the carrier 10 in relation to the first coordinate system K +; be designed, be arranged at any position of the part of the carrier 10 to be introduced into the cavity and optionally at least one planar mirror element 33; 33a, 33b or a rotationally symmetrical and in the radial or axial direction curved, in particular hyperboloid or paraboloid or conical, mirror element 33 for capturing three-dimensional images A; the surroundings at an angle of up to 360 ° around the longitudinal axis of the carrier 10

include.

The first coordinate system K; is defined in relation to the carrier 10 and is defined depending on the position and orientation of the imaging system 1 in relation to the carrier 10.

In the exemplary embodiment shown, the second imaging system 2 is arranged in the area of that end face of the carrier 10 which is opposite the end face oriented in the feed direction and can be arranged with respect to any position of the part of the carrier 10 that is not to be inserted into the cavity and in an area of an angle of +180 ° to -180 ° to the feed direction or the longitudinal axis of the carrier 10

be aligned. The second imaging system 2 can, for example, as recorded in FIG. 1, be arranged to the longitudinal axis of the carrier 10 and be oriented in the feed direction in relation to the carrier 10.

The second coordinate system K 1 is defined in relation to the carrier 10 and is defined as a function of the position and orientation of the imaging system 2 in relation to the carrier 10.

In the exemplary embodiment shown, the recording arrangement 100 furthermore comprises a third imaging system 3, which comprises a third image recording unit 31. In the exemplary embodiments in FIGS. 1 and 2, the third imaging system 3 is aligned orthogonally to the longitudinal axis. However, this is by no means absolutely necessary. As an alternative to this, the third imaging system 3 can also be oriented in any other area at an angle of + 180 ° to -180 ° to the feed direction or longitudinal axis of the carrier 10. Furthermore, the third imaging system 3 is designed to capture three-dimensional images As of the surroundings of the carrier 10 in relation to a third coordinate system K3. The field of view S3 of the third imaging system 3 can be set up as desired.

The third coordinate system K3 is established in relation to the carrier 10 and is defined as a function of the position and orientation of the imaging system 3 in relation to the carrier 10.

The third imaging system 3 is provided as a supplement to the first imaging system 1, and in the event that the first imaging system 1 is arranged in the area of the end face of the carrier 10 oriented in the feed direction, it is designed to capture three-dimensional images As of the surroundings of the carrier 10.

Although the recording arrangement 100 in the exemplary embodiments in FIGS. 1 and 2 includes a third imaging system 3, this is by no means absolutely necessary. Alternatively, there is a recording arrangement 100 according to the invention or a method according to the invention for recording three-dimensional images, in particular of parts of cavities and / or at least parts of the inner area of objects and possibly the outer area surrounding the cavities and / or of reference structures outside the cavity, also with two Imaging systems. In this case too, the measurement is sufficiently accurate

or three-dimensional image of the cavities or the interior of

Objects possible, even if they do not have a distinctive surface structure or a smooth surface.

The control and processing unit 20 of the recording arrangement 100 is in data communication with the imaging systems 1, 2, 3 of the carrier 10. This data communication can be implemented wirelessly, for example using Bluetooth or WLan, or also via a data cable. The control and processing unit 20 is also designed to carry out the calibration, transformation and

To carry out registration work.

In detail, a calibration of the individual imaging systems 1, 2, 3 is carried out beforehand, e.g. with regard to the resulting optical focal lengths, lens distortion parameters, three-dimensional alignment of the projection and the camera in all 6 degrees of freedom, and then the imaging systems are calibrated to one another using a calibration object and for each of the imaging systems 1, 2, 3 a coordinate transformation KT +, KT », KT3 is determined from the respective coordinate system 1, 2, 3 into a common recording coordinate system Ka. The coordinate transformations KT +, KT », KT3 assign exactly one position in the common recording coordinate system Ka to the respective positions of the measurement space points that were captured by the imaging systems 1, 2, 3 of the calibration object. These positions in the common three-dimensional coordinate system KA can in particular be voxel positions

act.

In this way, all three-dimensional images A + 4, A », As created with the first and second imaging systems 1, 2 and, if applicable, the third imaging system 3 included in the recording arrangement 100, the recording times of which do not exceed a predetermined temporal distance threshold from one another, are included in the Recording coordinate system Ka transferred. This almost simultaneous recording of images A-, A », As is ensured by the fact that the control and processing unit 20 of the recording arrangement 100 is designed to actuate the shutter of all image recording units 11, 21, 31 of the imaging systems 1, 2, 3 in this way that the recording times of the three-dimensional images Ay, A », Az created with the imaging systems 1, 2, 3 do not exceed a predetermined time interval threshold value of, for example, 700 ms, in particular 100 ms, preferably 20 ms, or that the three-dimensional images are recorded A +, A », Az is particularly preferably carried out simultaneously in all imaging systems 1, 2, 3.

The image A captured by the imaging system 1, the image A captured by the imaging system 2 within a predetermined time distance threshold value »,

The images Az captured by the imaging system 3 are identified below with “t”. The subsequent images recorded in the predetermined time interval threshold value are marked with t + 1, ..., t + N, for example Ay, Ayıız, Attın-

The generation of images A + ;, A », Az is continued until the required recording surface is covered, if necessary by executing feed movements, rotational movements, pivoting movements with the carrier 10, for example.

The areas of application of the invention have in common that a three-dimensional image of such difficult-to-access areas such as the auditory canal G of a person or animal, the interior of body openings of people or animals or the interior of objects or cavities can only be created with difficulty or three-dimensional models can be measured with difficulty, since the receiving areas of the cavity may be difficult to access, may require miniaturized imaging systems and may have a surface with little or inadequate structure, which the spatial location of individual three-dimensional images A +;, As, As in the context of the registration to a Model or

Overall image GA designed difficult.

The invention provides a remedy for this in that, as explained above, the images or point clouds recorded via the individual imaging systems 1, 2, 3 are transferred via the coordinate transformations KT + 4, KT », KTz into a common recording coordinate system KA, thus the recording Images AA, which are generated within a predetermined time interval threshold value t, are merged to form an integrated image image AA and then, in the method according to the invention, the created image images AA are registered with respect to one another with reference to a reference image RA. This reference image RA corresponds to a recording image of an imaging system taken into account in the integrated recording image AA, such as the recording image of the second imaging system 2, the recording area of which is aimed specifically at a surface with sufficient structure and can therefore be used for orientation.

Such a structured area can be found, for example, in the recorded outer area of cavities or objects or on the body surface that surrounds body openings, such as the auricle M, for example, can serve as a structured area for the registration of images of the auditory canal G and possibly the eardrum TF. The reference image RA is part of the recorded image AA.

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In each integrated recording image AAy, AAyı, ..., AAyun generated within a predetermined distance threshold value there is a reference image RA, RAyı, ..., RAyun which is used for the implementation of the registration and which corresponds to the recording image of the second imaging system 2 .

During the registration, matching overlapping image points or the currently recorded three-dimensional images or image point clouds, which for example depict the same surface point of the surface to be recorded, are used for spatial localization in the three-dimensional overall image GA.

That is, the respective areas of agreement between two three-dimensional images or clouds of pixels, in the method mentioned here between two reference images, e.g. RA, and RA with frame-to-frame registration, serve for orientation for three-dimensional images that go beyond the respective area of agreement and are added to the overall image GA and thus expand the overall image GA piece by piece. The registration can be done for areas with a sufficient surface structure according to the procedure shown using the process frame-to-frame, RA, and RA41, or frame-to-model, RA to GA. The positions in the common three-dimensional recording coordinate system KA of the overall model GA can in particular be voxel positions.

The method according to the invention provides a remedy if at least one imaging system, for example the first imaging system 1 or the third imaging system 3, is aimed at surfaces with inadequate structure. The images recorded via these imaging systems and transferred into a common recording coordinate system Ka by using the coordinate transformations KT + 4, KT », KT3 are registered on the basis of topographically characteristic measurement surface areas that are recorded and provided by the second imaging system 2, for example.

The transformation T determined in the course of the registration for locating the respective reference image RA in the overall image GA is applied to the images processed in the individual image images AA that go beyond the reference image RA, for example the image image of the first imaging system 1 and the recorded image of the third imaging system 3, taking into account the coordinate transformations KT4; and KT3 also applied. The coordinate transformations KT + and KT3 are related to T.

The method by Horn, Berthold K. P. (1987), Closed-form solution of absolute orientation using unit quaternions. Journal of the Optical Society of America A: Optics, Image Science, and Vision, Volume 4, Issue 4, April 1987, pp.629-642.

The three-dimensional images A ;, A »and A; are calculated with calibrated 3D sensors from video images that represent the measurement surface with a very high spatial resolution. For example, the method of Weber, Michael & Humenberger, Martin & Kubinger, Wilfried. (2009), A very fast census-based stereo matching implementation on a graphics processing unit. 786 - 793.10.1109 / 1CCVW.2009.5457622.

The recording arrangement 100 according to the invention or the method according to the invention is suitable for creating three-dimensional images, in particular of parts of cavities and / or at least parts of the inner area of objects and possibly the area surrounding the cavities and / or of reference structures outside the cavity.

The recording arrangement 100 according to the invention or the method according to the invention can also be used, for example, in the field of industry or robotics or also, for example, in the cosmetic or surgical field and for recording three-dimensional images of body orifices of humans or animals, in particular at least parts of the inner area of the body orifices and possibly of the body surface surrounding the body opening or of reference structures. In the field of surgery, for example, there is also an application, e.g. for recording three-dimensional images of internal organs

a receiving arrangement 100 designed like an endoscope is possible.

A recording arrangement 100 according to the invention or a method according to the invention can particularly preferably be used to capture three-dimensional images of the auditory canal G, the eardrum TF and, if necessary, the auricle M.

All these areas of application have in common that the recording areas are difficult to access, require miniaturized imaging systems and possibly one

Have a surface with little structure.

Fig. 2 shows an embodiment of a method or a method according to the invention

Receiving arrangement 100 according to the invention for receiving three-dimensional

Imaging of the ear O, in particular at least parts of the external auditory canal and possibly the auricle. In the exemplary embodiment shown, the recording arrangement 100 comprises a carrier 10 with a preferred feed direction for feeding into the auditory canal G. The first imaging system 1 is for capturing three-dimensional images A; formed at least from parts of the auditory canal G and, if necessary, from surfaces of the auricle M and the eardrum TF, and the second imaging system 2 is designed to capture three-dimensional images A »of at least parts of the auricles M when the wearer 10 is at least partially into the auditory canal G is introduced. The outer dimensions of the first imaging system 1 or of the carrier 10 are suitable for application in human auditory canals G and for their contactless surface measurement.

The second imaging system 2 detects and measures the surface of the human auricle M shown schematically in FIG. 2 without contact. For this purpose, the external dimensions of the second imaging system 2 are selected according to the application so that, for example, an ergonomic, hand-guided or an automated three-dimensional measurement of the required parts of the ear O is possible. In the exemplary embodiment shown, the second imaging system 2 is offset on the longitudinal axis of the carrier 10 to the center of the carrier 10, but this is by no means

is imperative.

In the exemplary embodiment shown in FIGS. 1 and 2, the second imaging system 2 is arranged in the area of that end face of the carrier 10 which is opposite the end face oriented in the feed direction and is arranged with respect to a position of the part of the carrier 10 not to be inserted into the ear canal and to the feed direction or the longitudinal axis of the carrier 10 aligned.

The third imaging system 3 included in the receiving arrangement 100 in FIG. 2 is oriented in the exemplary embodiment shown at an orthogonal angle to the feed direction or longitudinal axis of the carrier 10. The third imaging system 3 is for the acquisition of three-dimensional images As of the environment of the wearer in relation to a third coordinate system K; educated.

In this case, however, the first imaging system 1 is by no means necessarily arranged on the end face of the carrier 10 oriented in the feed direction, but can also be used for the acquisition of three-dimensional images A; the surroundings of the carrier 10 at a different position of the part of the carrier to be introduced into the cavity

and, for example, be oriented at an orthogonal angle in relation to the direction of advance or the longitudinal axis of the carrier 10.

As can be seen in FIG. 2, the surroundings of the wearer are parts of the auditory canal G and the eardrum TF. The external dimensions of the third imaging system 3 are suitable for application in human auditory canals G and for their contactless surface measurement. The axial and radial distance between the first imaging system 1 and third imaging system 3 is selected so that a three-dimensional surface measurement of the required area of the auditory canal G, possibly the eardrum TF and possibly the auricle M, e.g. for the production of housings or Ear adapters for hearing aids, in-ear headphones, are guaranteed.

While the carrier 10 is at least partially inserted into the auditory canal G, the carrier 10 executes and / or possibly also a superimposed movement comprising a forward and / or backward movement in the feed direction and possibly a rotational and / or pivoting movement about the longitudinal axis of the carrier 10 further swings and translations are carried out by the carrier 10. This movement can be achieved in that the carrier 10 is manually inserted into the auditory canal G of a patient or customer by a user of the receiving arrangement 100, for example a doctor or hearing care professional, the carrier 10 being moved back and forth or around in particular piece by piece its longitudinal axis is rotated and / or pivoted in order to obtain a complete three-dimensional overall image GA for the required part of the auditory canal G, possibly the eardrum TF and possibly the auricle M. Such superimposed movements, for example when advancing into the auditory canal G, can also be achieved, for example, by automatically introducing / executing the receiving arrangement 100 or the carrier 10 into the auditory canal G of a patient or customer, for example by a computer-aided device, and / or motorizing the rotation he follows.

Also when recording images, in particular of parts of cavities and / or parts of the inner area of objects or body orifices of humans or animals, in particular at least parts of the inner area of the body orifices, and possibly of the body surface surrounding the body opening and / or of reference structures outside Such a superimposing movement comprising a forward and / or backward movement in the feed direction and the opening becomes

possibly a rotational and / or pivoting movement about the longitudinal axis of the carrier 10 and / or possibly also further pivoting and translation of the carrier 10, which can be operated by manual insertion / removal of the carrier 10 and manual execution of the mentioned movements or also

automated.

In order not to touch the eardrum or the cavity with the receiving arrangement 100, for example in the case of the ear, an optical or auditory warning can be issued from the receiving arrangement 100, in particular from the control unit, if a safety distance to the eardrum TF or to the inner wall of the cavity is not reached. and processing unit 20.

3 and 4 show examples of a receiving arrangement 100 according to the invention with the inclusion of a mirror element 33, 33a, 33b or an alternative object for redirecting the direction of view and FIG. 5 for redirecting the direction of view and for expanding the field of view or field of view S3.

In order to use such mirror arrangements to capture images of the required surroundings of the carrier 10 or at an angle of up to 360 degrees around the surroundings of the carrier 10, the carrier 10 is, if necessary, designed to perform an overlay movement comprising a forward and / or or backward movement in the feed direction and / or a pivoting or rotational movement of up to 360 degrees around the longitudinal axis of the carrier 10 and / or possibly also further pivoting and translation from the carrier 10

execute.

As can be seen in FIGS. 3 to 5, the third imaging system 3, if it is present, does not need to be arranged and oriented in such a way that it can pass through an opening in the carrier 10 or its jacket wall, for example, which is covered with a transparent material such as Glass or plastic is covered, recordings of the surroundings of the carrier 10 are made directly through this opening. Alternatively, the third imaging system 3 can be arranged on the inside part of the carrier 10 to be introduced into the cavity and oriented in the feed direction with respect to the carrier 10 and, for example, comprise a mirror element 33 in which the surroundings around the jacket wall of the carrier 10 are reflected and which is aligned such that the mirror image of the surroundings around the carrier 10 can be recorded by the third imaging system 3. Here too, to cover the for the application of the mirror element 33 such as a

Mirror or an alternative object for the deflection of the field of view S3 of the third imaging system 3 required opening in the carrier 10 a transparent material

be used.

3 shows a first exemplary embodiment of a third imaging system 3 with such a mirror arrangement. In the exemplary embodiment in FIG. 3, the third imaging system 3 comprises two planar mirror elements 33a, 33b, which, starting from the longitudinal axis of the carrier 10, enclose an acute angle with the longitudinal axis of the carrier 10 and, for example, by one with the transparent plastic or Glass-covered area of the carrier 10 mirror visible areas of the surroundings of the carrier 10 into the interior of the carrier 10 for the third imaging system 3. In order to capture as complete an image as possible of the surroundings of the carrier or at an angle of up to 360 degrees around the surroundings of the carrier 10 with such a mirror arrangement, the carrier 10 is in this case designed to include an overlay movement during the creation of the three-dimensional images to execute a forward and / or backward movement in the feed direction and a pivoting or rotational movement of up to 360 degrees around the longitudinal axis of the carrier 10.

4 shows a further exemplary embodiment of a third imaging system 3 with a mirror element 33 which mirrors mirror images of the surroundings of the carrier 10 inside to the third imaging system 3, in which case the carrier 10 only has an opening or a transparent area on one side in contrast to FIG. 3, where an opening or a transparent area is present in the carrier 10 for each mirror element 33a, 33b. In order to obtain a complete three-dimensional image of the surroundings around the carrier 10 with the mirror arrangement shown in FIG. 4, the carrier 10 is designed in this case to carry out an overlay movement comprising a forward and / or backward movement in the feed direction and a pivoting movement and / or Rotational movement around the longitudinal axis of the carrier 10, that is to say 360 degrees around the longitudinal axis of the carrier.

5 shows a third exemplary embodiment of a third imaging system 3 with a mirror element 33 which, in the exemplary embodiment shown, is designed as a rotationally symmetrical parabolic mirror element 33 which is curved in the axial direction. Alternatively, such a mirror element 33 can be curved in the radial direction and be hyperboloidal or conical. In the exemplary embodiment shown, the mirror element 33 is designed in such a way that three-dimensional images of the surroundings

of the carrier 10 can be detected at an angle of up to 360 degrees around the longitudinal axis of the carrier. For this purpose, an annular, transparent area is arranged in the carrier 10, for example, through which mirror images of the surroundings of the carrier 10 can be reflected into the interior of the carrier 10.

This means that if the mirror element 33 is designed to capture an image at an angle of 360 degrees around the longitudinal axis of the carrier 10, a pivoting / rotational movement around the longitudinal axis of the carrier 10 when advancing into the ear canal or into the interior of a cavity, for example or an object is not absolutely necessary.

In the exemplary embodiment shown in FIG. 2, the carrier 10 of the receiving arrangement 100 is first at least partially inserted into the auditory canal G of a patient or customer. The auricle M or the auditory canal G advantageously only need to be cleaned superficially. As described above, the movement can be done manually or automatically. A large number of three-dimensional images A ;, A, Az of at least parts of the auditory canal G and possibly of the eardrum TF and / or the auricle M are created by the imaging systems 1, 2, 3.

For the creation of three-dimensional overall images GA with the method according to the invention or overall surfaces, in all of the aforementioned areas of application, ie for recording three-dimensional images of cavities or the interior of objects and possibly the area surrounding the cavity or of reference structures, for recording body openings or the inner area of the body orifices and the body surface surrounding the body orifices or of reference structures or the required parts of the auditory canal, possibly the eardrum TF and possibly the auricle, each of the imaging systems 1, 2, 3, for example, comprise one or more image recording units 11, 21, 31, so that with the help of stereoscopy or images recorded from different angles, a spatial impression of the recorded areas of the ear or also of the cavity or of the object is achieved

can be. A receiving arrangement 100 according to the invention can be used to receive

three-dimensional images of all the aforementioned objects or body parts can be designed in such a way that selected, preferably all, imaging systems 1, 2, 3

in each case at least one projection unit 12, 22, 32 for projecting a predetermined random image Z onto the area of the cavity to be recorded by the respective imaging system 1, 2, 3, in particular the body opening, preferably the auditory canal G, and possibly an area which the cavity or the Surrounds the body opening, or the auricle M and / or of reference structures outside the cavity or the

Embrace the body orifice.

The control and processing unit 20 of the recording arrangement 100 is designed to control the projection units 12, 22, 32 of the imaging systems 1, 2, 3 and the predetermined random image Z on the area of the cavity or the body opening to be recorded and, if necessary, the cavity or the area surrounding the body opening or onto reference structures lying outside or onto the required area of the auditory canal G, the eardrum TF and, if necessary, the auricle M. The individual pixels of the random image Z can be one of at least two that differ from one another

Have color values and / or intensity values.

The imaging systems 1, 2, 3 of the recording arrangement 100 shown in FIG. 2 each comprise such projection units 12, 22, 32 that the predetermined random image onto the respective area of the ear to be recorded, ie in the case of the imaging systems 1 and 3 onto the area to be recorded at least of parts of the auditory canal G and, if necessary, in the case of a required overall image of the auricle M, on the area of the auricle M to be recorded, in particular on surfaces that cannot be adequately reproduced with the second imaging system 2, or in the case of the second imaging system 2 on the area to be recorded the auricle M, project. The background to the use of such a random image Z is that, for the method according to the invention for creating three-dimensional mapping, the surroundings of each pixel, for example a 3x3 or 5x5 surroundings within the entire random image Z, should be clearly assignable to the respective corresponding pixels in the recorded image AA. Due to the uniqueness of the surroundings, a point in space can be found at different locations in two or three images A 1, A 1, As recorded with one of the image recording units 11, 21, 31 of the imaging systems 1, 2, 3, or the recorded digital images

become.

If two differing brightness values, for example white and black, are specified as possible random values per pixel, then one is used

Surroundings of five by five pixels, around 17 million different environments are available, so that images with around 17 million pixels can be recorded without any further restriction of the method according to the invention

recorded pixels can be assigned a unique environment.

The random image Z can be realized with simple means and can be present as a slide, for example. The calculation of the individual random values assigned to the pixels can be carried out by means of an already known algorithm, for example a Mersenne Twister algorithm, such as that described in Makoto Matsumoto, Takuji Nishimura: Mersenne twister, for example. A 623-dimensionally equidistributed uniform pseudorandom number generator. In: ACM Transactions on Modeling and Computer Simulation. 8, 1998, ISSN 1049-3301, pp. 3-30. An example of such a random image Z is shown schematically in FIG.

In the exemplary embodiment shown, from each of the imaging systems 1, 2, 3, a predetermined random image Z is generated on the area of the cavity, the inner area of an object, the body opening or the auditory canal G and possibly the respective area to be recorded by the respective imaging system 1, 2, 3 Area surrounding the opening or parts thereof or possibly a reference structure projected outside the opening. Identical random images Z can be projected onto the area to be recorded or different ones can be used

Random images Z are used.

In the exemplary embodiment shown, near UV light in a wavelength range from 350 to 450 nm, preferably from 380 to 400 nm, is used for the projection of the at least one predetermined random image Z onto the area of the ear to be recorded or at least parts of the auditory canal G and / or the auricle M nm is used. This procedure is particularly advantageous in areas of application in which three-dimensional images of body regions covered with skin are to be recorded, since skin reflects particularly well in the near UV range.

Alternatively, it can be provided that at least one of the imaging systems 1, 2, 3 projects the respective predetermined random image Z in a different wavelength range onto the area of a cavity, an object of a body region or, for example, the ear to be recorded by the respective imaging system 1, 2, 3 becomes. The use of different wavelength ranges for the projection is particularly advantageous if the recording surfaces to be recorded have different textures

having different requirements on the light source, such as skin, hair on the skin, impurities on the skin.

The three-dimensional images A, A, Az created in this way with the imaging systems 1, 2, 3 within a predetermined time interval threshold value, in particular at least of parts of the auditory canal G and / or the auricle M, are converted using the previously determined coordinate transformations KT +, KT », KT3 converted into a recording coordinate system Ka.

The application of the coordinate transformations KT + 4, KT », KT3 to the individual three-dimensional images A, A ,, As is shown in FIGS. 7a-7d. A calibration object whose dimensions are known is used to derive the coordinate transformations KT4, KT », KT3z. The calibration object or partial areas thereof lies in the respective field of view S 1, S 1, S S of the imaging systems 1, 2, 3 included by the recording arrangement 100. On the basis of the images of the calibration object created by the imaging systems 1, 2, 3, possibly taking into account a Mirror element 33 such as a mirror or an alternative object for deflecting the direction of view or expanding the field of view, the position and orientation of each surface point contained in the images of the calibration object in relation to the coordinate system of the calibration object and the respective coordinate system of the imaging systems 1, 2, 3 determined and in the form of the coordinate transformations KT; or KT, or KT3 expressed. The coordinate system of the calibration object is an additional coordinate system, the position and orientation of which are specified by the 3D data of the calibration object. The relationships between the data points of the imaging systems are also derived from this.

Such a procedure is for example in Minghao Ruan, Daniel Huber, Calibration of 3D Sensors Using a Spherical Target. 2nd International Conference on 3D Vision, pp 187-193, 8-11 Dec. 2014, described.

The transfer of the created three-dimensional images A +, Az, As into a recording coordinate system KA is shown schematically in FIGS. 7a, 7b, 7c and 7d, where using the coordinate transformations KT; KT », KT3 the positions of the measurement space points determined by the imaging systems 1, 2, 3 in the respective coordinate system K-, K», K3 are assigned to exactly one position in the recording coordinate system KA.

In this way, all three-dimensional images A, A, As created with the imaging systems 1, 2, 3, the recording times of which do not exceed a predetermined temporal distance threshold value t from one another, are transferred to the recording coordinate system K., see FIG. 7d, and are integrated into one Image AA merged. This almost simultaneous recording of images is guaranteed by the fact that the control and processing unit 20 of the recording arrangement 100 is designed to operate the shutter of all image recording units 11, 21, 31 of the imaging systems 1, 2, 3 in such a way that the recording times of the Imaging systems 1, 2, 3 created three-dimensional images Ay, As, As do not exceed a predetermined time interval threshold of, for example, 700 ms, in particular 100 ms, preferably 20 ms, or that the recording of the three-dimensional

Images are particularly preferably carried out simultaneously in all imaging systems.

The images A ;, A, As recorded with the imaging systems 1, 2, 3 within a predetermined time interval threshold value are identified by t. The time interval threshold value given in the following with t + 1, ..., +1.

The generation of images A 1, A 1, A3 is continued until the required recording surface is covered, if necessary by executing, for example, feed movements, rotational movements, pivoting movements with the carrier 10.

This means that the recording coordinate system KA now includes the images A-, A », Az of parts of the external auditory canal G and the auricle M created with the imaging systems and the images generated with the imaging systems 1, 2, 3 within a predetermined distance threshold value A ;, As, As can be combined to form an integrated recording image AA ,, ..., AA for a respective point in time t, ..., t + Nn. The individual images of the imaging systems 1, 2, 3, which are combined in the integrated recording image AA using the coordinate transformations, are each referred to as a partial recording image.

The recording images AA are then registered using the transformation T to form a model, or the overall image GA, of the recording object or the required parts of the recording object, as addressed in the transition from FIG. 7d to FIG. 7e, the former being the Overall image of GA in the form of a point cloud in the measuring room

is created and then a surface model is determined as shown in Fig. 7e

can be.

The recording images AA can be registered, for example, frame-to-frame or according to the frame-to-frame model. The registration of the created recording images AA is carried out with reference to a reference image RA. The registration takes place on the basis of a partial recording image of the imaging system, preferably of the second imaging system 2, which is directed onto a recording surface provided with a structure. Since the auditory canal G usually has a surface that is not very structured, it is advantageous to use e.g. B. a partial recording image of an imaging system is specified as a reference image RA, which images at least part of the auricle M, as is the case for the second imaging system 2. By specifying a structured area as reference image RA, it is also possible with the method according to the invention to clearly locate smooth, unstructured areas, for example of the auditory canal G or the inner area of objects or cavities, in space without

that it would be necessary to attach markers, for example.

In the exemplary embodiment in FIG. 8, the integrated recording images AA-, AA- ,, AA; to AAyn for n consecutive recording times t = 1, ..., t + nN. As shown in Fig. 8, in each individual integrated picture image AA, AA ,, AA; to AAyn each contain a reference image RA showing the auricle M as a reference structure. As part of the registration, the individual recording images AA:, AA, AAz3 to AAyn are rotated and shifted in such a way that the matching reference structures, which are defined by the image points of the reference image RA, are mapped to the same position in the overall image GA. This means that within the framework of the registration after a transformation T, for each recording image AA-, AA ,, AA; until AAyn is searched, below which the reference structures in the overall image GA lie congruently one above the other, as is shown schematically in FIG. 8.

This means that the reference image RA is part of the recorded image AA. In each recording image AAy AAyı, AAyun generated within a predetermined distance threshold value there is a reference image RA ,, RAy ;, RA required for the implementation of the registration, which in the exemplary embodiment shown in FIG. 8 is in each case the one using the corresponding coordinate transformation KT , »Corresponds to the partial recording image of the second imaging system 2 determined.

The images of the other imaging systems, for example the first imaging system 1 and the third imaging system 3, are converted into the context of the respective recording image AA, in which the relations between the data points of the imaging systems 1, 2, 3 are processed via the coordinate transformations used Overall registration included. This means that the registration is carried out on the basis of the partial image of the second imaging system 2 taken into account in the respective image image AA, which is defined as the reference image RA.

Also take into account the partial image images AA AA AALn © of the first imaging system 1 and partial image images AAFUS AALıCS AALn CS determined in the image image AA ,, AAyı, AAyun using the respective coordinate transformations KT + 4, KT3 of the third imaging system 3 are also inserted into the overall image GA on the basis of the transformation determined in the course of the registration of the reference image RA. This means that the transformation T determined in the course of the registration for locating the respective reference image RA in the overall image GA indicates the positions of the image points of the reference image RA in relation to the overall image GA. The image points of the partial recording images that were not defined as reference images RA, for example of the first imaging system 1 and the third imaging system 3, are each related to the transformation T via the coordinate transformation KT +, KT », KT3.

Using the determined transformation T, the created recording images AA, or at least those parts of the created recording images AA that were created by the first imaging system 1 and show at least parts of the auditory canal G, are then combined to form a three-dimensional overall image GA and are available held. Optionally, not only parts of the auditory canal G, but also areas of the auricle M and / or the eardrum TF can be included in the overall image GA.

The recording images AA are registered to form an overall image GA, for example, as a frame-to-model registration, with a three-dimensional recording space being specified for the measuring space to be examined and each of the created images of parts of the auditory canal G and / or the auricle M or the cavities or objects are registered in a common recording coordinate system KA in the three-dimensional recording space. The recording space is in voxels

divided.

40767

Surface voxels into which an image of the surface, for example of parts of the auditory canal G or the auricle M, falls, are then searched among the voxels of the recording space. On the basis of the individual recording images AA, which fall into the respective surface voxel, a surface point is defined per surface voxel, which represents the actual position of the surface in the surface voxel as well as possible.

Within the three-dimensional recording space or voxel grid for the measurement space to be examined or the measurement volume to be examined, the points of the overall image GA can each be shifted within a voxel, so that an estimate of the points of the voxel further clarifies the images and the reconstruction of the Surface results. Such a procedure is for example in R. A. Newcombe, S. Izadi, O. Hilliges, D. Molyneaux, D. Kim, A. J. Davison, P. Kohi, J. Shotton, S. Hodges, and A. Fitzgibbon. Kinectfusion: Real-time dense surface mapping and tracking. In Mixed and augmented reality (ISMAR), 2011 10th IEEE international symposium on, pages 127-136. IEEE, 2011.

A total surface, as shown in FIG. 7e, can then be created at least for parts of the auditory canal G and / or the auricle M using the surface voxels and the previously described surface points found within the surface voxels. The total surface can also include parts of the

Tympanic membrane TF include.

Methods such as those in William E. Lorensen, Harvey E. Cline: Marching Cubes: A high resolution 3D surface construction algorithm are suitable for converting the overall image GA determined in the course of this process into a surface model. In: Computer Graphics, Vol. 21, No. 4, July 1987, pp. 163-169.

Furthermore, building on the overall image GA, further methods for processing the overall image GA according to the requirements in the application domain, as listed below, for example, can be used if necessary: Fast resampling of three-dimensional point clouds via graphs, Siheng Chen, Dong Tian, ChenFeng , Anthony Vetro and Jelena Kovacevic, IEEE TRANSACTIONS ON SIGNAL PROCESSING, VOL. 66, NO. February 3, 2018; Meshfree Thinning of 3D Point Clouds. Dyn N, Iske A, Wendland H., Foundations of Computational Mathematics. 409-425, 2007; Filling holes on the surface of 3D point clouds based on tangent plane of hole boundary points. Sinh Van Nguyen, Ha Manh Tran, Nguyen Tien Thanh, Published

2016 in SoICT, A Robust Hole-Filling Algorithm for Triangular Mesh. Wei Zhao, Shuming Gao, Hongwei Lin, The Visual Computer, December 2007, Volume 23, Issue 12, pp 987997, November 2007.

The visualization of the current overall image GA builds up live during the scanning process. This visualization can take place from any freely selectable viewing position and viewing angle. Furthermore, an additional color camera can be attached to the carrier 100, the live video images of which are displayed during the measurement process in addition to the X total image GA and / or used for the photorealistic coloring of the representation of the total image GA

can.

Such an overall image GA of at least parts of the auditory canal G and / or the auricle M can now serve as a model to produce individually adapted hearing aids, in-ear headphones or hearing protection without first taking a lengthy impression that patients or customers find unpleasant becomes,

is required. The overall image GA can also include parts of the eardrum TF.

In all the areas of application described above, the method according to the invention or a recording arrangement 100 according to the invention can be designed to continue the creation of an overall image GA if this was interrupted. In this case, a previously created overall image GA is available, for example at least of areas of the cavity or the object or of areas of the ear O such as parts of the auditory canal G, for example. When new images A ;, Az, As are recorded, it is now checked whether the recorded area of the cavity or the ear, in particular of the auditory canal G, matches the areas recorded beforehand. If this is not the case, further individual images A +, A », As are created by the imaging systems 1, 2, 3. It is checked whether and / or at which point the individual created images A, A, As match the previously created overall image GA and if a match is found, the creation of the overall image GA is continued at this point.

Based on the overall images GA created in this way, at least of parts of the outer auditory canal G, but also of the inner area of cavities or objects, for example analyzes of surface characteristics or textures can be carried out, the volume can be determined or position data from im

42767

Areas or structures recorded in the recording area, such as the position of the eardrum TF in relation to a respective imaging system 1, 2, 3, for example.

In order not to touch the eardrum TF or the cavity with the receiving arrangement 100, for example in the case of the ear, an optical or auditory warning can be issued from the receiving arrangement 100, in particular from the control and monitoring device, if a safety distance to the eardrum TF or the inner wall of the cavity is not reached Processing unit 20, are delivered.

The carrier 10 including the imaging system can be completely or partially protected by an additional cover material, openings being covered with a transparent or translucent material such as glass or plastic so that images of the surroundings of the carrier 10 can be made through this opening.

43767

Claims (1)

Claims 1. A method for creating three-dimensional images of cavities, in particular parts of cavities and / or at least parts of the inner area of objects, and possibly the outer area surrounding the cavities and / or reference structures outside the cavity, with a common receiving arrangement (100) a carrier (10) with a preferred feed direction for feeding into the cavity, - wherein the receiving arrangement comprises at least a first imaging system (1) and a second imaging system (2), - wherein the first and the second imaging system (1, 2) are rigid in relation to one another in terms of movement and rotation are arranged on the carrier (10), - wherein the first imaging system (1) is designed to capture a three-dimensional image based on a first coordinate system (K +) of at least parts of the inner region of the cavity, and - the second imaging system (2 ) is designed to be a related to a second coordinate system (K 1) to acquire a three-dimensional image of surfaces and / or reference structures outside the cavity when the carrier (10) is at least partially introduced into the cavity, - the imaging systems (1, 2) being calibrated to one another beforehand by performing a calibration for each of the imaging systems ( 1, 2) a coordinate transformation (KT +, KT ») is determined from the respective coordinate system (K-, K>) into a common recording coordinate system (Ka), and - these coordinate transformations (KT +, KT») each - one assigns exactly one position in the recording coordinate system (Ka) with one of the imaging systems (1, 2) in the respective coordinate system (K ;, K,) determined position of a measurement space point, - and, if applicable, the one with at least one other imaging system (1, 2) positions of the same measuring space point determined in the respective coordinate system (K-, K;) on the basis of the recorded images of the measuring space the same position in the recording coordinate system (Ka ), - at least the coordinate transformation for the first imaging system (KT +) and the coordinate transformation for the second imaging system (KT) are selected so that - given at least two measurement space points, each with one given relative position, where 44/67 become. 2. The method according to claim 1, characterized in that three-dimensional images of body orifices of humans or animals, in particular at least parts of the inner area of the body orifice and possibly the body surface surrounding the body orifice or of reference structures, are recorded, - wherein the receiving arrangement (100) comprises a carrier (10) with a preferential feed direction for feeding into the body opening, - wherein the first imaging system (1) is designed to capture a three-dimensional image of at least the inner region of the body opening, in particular parts thereof, and - wherein the second imaging system (2) is designed to capture a three-dimensional image of the body surface surrounding the body opening or of the reference structures when the carrier (10) is at least partially introduced into the inner region of the body opening, - wherein the carrier (10) is at least partially inserted into the inner region of the body opening, - with the imaging systems (1, 2) being used to create a large number of three-dimensional images (A, A ») of the body opening, in particular at least parts of the inner region of the body opening and, if applicable, the body surface surrounding the body opening or the reference structures, - the registration of the created recording images (AA) to form a three-dimensional overall image with the specification in particular of parts of the recording image (AA) which are made with the second imaging system (2) at least from parts of the Body surface surrounding the body opening or the reference structures have been created as a reference image (RA), and - using the respectively determined transformation (T) at least those parts of the recording images (AA) that were created with the first imaging system (1) to form a three-dimensional overall image (GA), in particular at least parts of the inner area of the body opening and optionally the body surface surrounding the body opening or the reference structures are brought together and the overall image (GA) is kept available. 3. The method according to claim 1 or 2, characterized in that three-dimensional images of the ear (O0), in particular at least parts of the external auditory canal (G) and optionally the auricle (M) and optionally the eardrum (TF), are recorded, - wherein the receiving arrangement (100) comprises a carrier (10) with a preferred feed direction for feeding into the auditory canal (G), - wherein the first imaging system (1) is designed to capture three-dimensional images (A) at least of areas of the external auditory canal (G) and possibly of the eardrum (TF), and - the second imaging system (2) being designed to capture a three-dimensional image of at least parts of the auricle (M) when the carrier (10) is at least partially introduced into the auditory canal (G), - wherein the carrier (10) is at least partially inserted into the ear canal (G), - the imaging systems (1, 2) being used to create a large number of three-dimensional images of the ear (O), in particular at least parts of the auditory canal (G) and / or the auricle (M), - whereby the registration of the created recording images (AA) to a three-dimensional overall image, specifying in particular parts of the recording image (AA) that were created with the second imaging system (2) of at least parts of the auricle (M), as a reference image (RA) is performed, and - using the respectively determined transformation (T) at least those parts of the recording images (AA) that were created with the first imaging system (1) to form a three-dimensional overall image (GA), in particular at least parts of the auditory canal (G) and / or the auricle (M), are brought together and the overall image (GA) is kept available. 4. The method according to any one of the preceding claims, characterized in, 47767 - that the carrier (10) during the introduction into the auditory canal (G) executes a superimposing movement comprising a forward and / or backward movement in the feed direction and possibly a rotational and / or pivoting movement about the longitudinal axis of the carrier (10) and / or if necessary, further swings and translations can also be carried out by the carrier (10). 5. The method according to any one of claims 1 to 3, characterized in that the first imaging system (1) for capturing three-dimensional images (A;) of the surroundings of the carrier (10) or parts thereof in relation to the first coordinate system (K;) is designed, wherein it is provided in particular that the first imaging system (1) - is arranged in the region of the carrier (10) to be introduced into the cavity, the body opening or the auditory canal (G) or parts thereof, - in the range of an angle of + 180 ° to -180 ° to the feed direction or longitudinal axis of the carrier (10) is aligned and - optionally at least one planar mirror element (33; 33a, 33b) or a rotationally symmetrical and in the radial or axial direction curved, in particular hyperboloid or paraboloid or conical, Mirror element (33) for capturing three-dimensional images (A) of the surroundings at an angle of up to 360 ° around the longitudinal axis of the carrier (10). 6. The method according to claim 4 or 5, characterized in that the carrier (10) comprises a third imaging system (3) in addition to the first imaging system (1), the third imaging system (3) for capturing three-dimensional images (As) of the Environment of the carrier (10) is formed in relation to a third coordinate system (K3), and it is provided in particular that the third imaging system (3) - on the into the cavity, the body opening or the ear canal (G) or Parts of the region of the carrier (10) to be introduced is arranged, - in the range of an angle of + 180 ° to -180 ° to the feed direction or The longitudinal axis of the carrier (10) is aligned, - optionally at least one planar mirror element (33; 33a, 33b) or a rotationally symmetrical one and in a radial or axial direction - Is arranged to be rigid in terms of movement and rotation relative to the first and second imaging system (1, 2), and - In addition to the first imaging system (1) and the second imaging system (2) for creating three-dimensional images of cavities according to one of claims 1 to 3, preferably for calibration, for determining the recorded image (AA) and the overall image (GA ) is used. 7. The method according to any one of the preceding claims, characterized in that by means of at least one imaging system (1, 2, 3) for creating an image at least one predetermined random image (Z) of the area of the cavity to be recorded and possibly the area surrounding the cavities and / or from reference structures outside the cavity, in particular the body opening, preferably at least parts of the auditory canal (G) and possibly the auricle (M) and possibly the eardrum (TF), wherein the individual pixels of the random image (Z) preferably have one of at least two color values and / or intensity values that differ from one another and the surroundings of each pixel within the random image (Z) of the respective pixel in the images (A ;, A>, As generated with the imaging systems (1, 2, 3), in particular with the image recording units (11, 21, 31) ) clearly is assignable. 8. The method according to claim 7, characterized in that for the projection of the at least one predetermined random image (Z) on the area to be recorded of the cavity and optionally the area surrounding the cavity or reference structures outside the cavity, in particular the body opening and possibly the body opening surrounding area or from reference structures outside, preferably of at least parts of the auditory canal (G) and / or the auricle (M), light, in particular in a wavelength range from 350 to 450 nm, preferably from 380 to 400 nm, is used and / or that from at least one of the imaging systems the respective predetermined random image (Z) in a different wavelength range onto the region of the cavity to be recorded by the respective imaging system and, if necessary, the region surrounding the cavity Area or reference structures outside the cavity, at least parts of the auditory canal (G) and / or the auricle (M), is projected. 9. The method according to any one of the preceding claims, characterized in that the start of the exposure for recording the images of the cavity and optionally of the area surrounding the cavity or of reference structures outside the cavity, in particular the body opening and optionally the area surrounding the body opening or of Reference structures outside, preferably at least parts of the auditory canal (G), possibly the eardrum (TF) and / or the auricle (M), in all imaging systems (1, 2, 3) have a predetermined time interval threshold of less than 700 ms, in particular 100 ms, preferably 20 ms, does not exceed, particularly preferably occurs simultaneously. 10. The method according to any one of the preceding claims, characterized in that in the case that a previously created overall image (GA) at least of areas of the cavity and possibly of the area surrounding the cavity or of reference structures outside the cavity, in particular at least areas of the body opening and optionally the area surrounding the body opening or reference structures outside, preferably at least areas of the auditory canal (G) and possibly the auricle (M), - When images are recorded, it is checked whether there is a match between the recorded area and the previously recorded areas, - if no match is determined, further individual images are created, - it is checked whether and / or at which point the individual images created match the previously created overall image, and If a match has been found, the creation of the overall image, in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or reference structures outside the cavity, preferably at least areas of the body opening and possibly the body surface surrounding the body opening or reference structure, particularly preferably at least parts of the auditory canal (G), optionally the eardrum (TF) and optionally the auricle (M), is continued at the determined point. 11. The method according to any one of the preceding claims, characterized in that - a three-dimensional recording space is specified for the measuring space to be examined, each of the created images (A, A »As) of the cavity, in particular at least parts of the inner area of the cavity and / or that surrounding the cavities - the recording space is divided into voxels, - A search is made for surface voxels under the voxels of the recording space in which an image (A-, A », As) of the surface of the cavity, in particular at least parts of the inner area of the cavity and / or of the area surrounding the cavities and / or of reference structures outside the cavity, preferably at least areas of the body opening and possibly the body surface or reference structure surrounding the body opening, particularly preferably the ear (O0), most preferably at least parts of the auditory canal (G), possibly the eardrum (TF) and / or the auricle (M), falls, - On the basis of the individual recording images (AA) that fall into the respective surface voxel, a surface point is established which represents the actual position of the surface in the surface voxel as well as possible and - a total surface of the cavity, in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or reference structures outside the cavity, preferably at least areas of the body opening and possibly the body surface or reference structure surrounding the body opening, particularly preferably the Ear (O0), most preferably at least parts of the auditory canal (G) and / or the auricle (M), based on the surface voxels and the surface points found in this way within the surface voxels. 12. Recording arrangement (100) for creating three-dimensional images of cavities, in particular parts of cavities and / or at least parts of the inner area of objects, and possibly the outer area surrounding the cavities and / or reference structures outside the cavity, in particular according to a method according to one of claims 1 to 11, wherein the receiving arrangement (100) - A carrier (10) with a preferred feed direction for feeding into the cavity, - A control and processing unit (20), and - comprises at least a first and a second imaging system, Imaging system (2) is located, Images (AA) or at least the parts created by the first imaging system (1) bring them together and keep them available. 13. Recording arrangement (100) according to claim 12, characterized in that the recording arrangement (100) for recording three-dimensional images of body orifices of humans or animals, in particular at least parts of the inner area of the body orifices and possibly the body surface surrounding the body orifice or of reference structures, - wherein the first imaging system (1) is designed to capture a three-dimensional image of at least parts of the inner region of the body opening, and - wherein the second imaging system (2) is designed to provide a three-dimensional image of the body surface surrounding the body opening or the reference structures to detect when the carrier (10) is at least partially introduced into the body opening, the control and processing unit (20) being designed to - control the imaging systems (1, 2), a plurality of three-dimensional images of the body opening, in particular at least v on parts of the inner area of the body opening and / or, if applicable, the body surface surrounding the body opening or the reference structures, - the registration of the recorded images (AA) created to form a three-dimensional overall image, specifying in particular parts of the recorded image (AA), which were created with the second imaging system (2) of at least parts of the body surface surrounding the body opening or of the reference structures to be carried out as a reference image (RA), and - using the transformation (T) determined in each case, at least those parts of the image images ( AA), which were created with the first imaging system (1), to merge into a three-dimensional overall image (GA), in particular at least parts of the inner region of the body opening and / or possibly the body surface surrounding the body opening and / or of reference structures, and the overall image ( GA) available. 15. Recording arrangement (100) according to one of claims 12 to 14, characterized in that the second imaging system (2) is arranged in the region of the side of the carrier (10) opposite the end face oriented in the feed direction, it is provided in particular that the second imaging system (2) is aligned in the range of an angle of + 180 ° to -180 ° to the direction of advance or the longitudinal axis of the carrier (10) and - That the carrier (10) is designed to perform a superimposing movement comprising a forward and / or backward movement in the feed direction and possibly a rotational and / or pivoting movement about the longitudinal axis of the carrier (10) and during insertion into the ear canal (G) / or possibly also carry out further swings and translations. 16. Recording arrangement (100) according to one of claims 12 to 15, characterized in that the first imaging system (1) is on the area of the wearer (10) to be introduced into the cavity, the body opening or the auditory canal (G) or parts thereof ) is arranged, - is aligned in the range of an angle of + 180 ° to -180 ° to the direction of advance or the longitudinal axis of the carrier (10), and - that the carrier (10) is designed to during the insertion into the ear canal (G) an overlay movement comprising a forward and / or backward movement in the feed direction and optionally a rotational and / or pivoting movement about the longitudinal axis of the carrier (10) and / or optionally also carry out further swings and translations. 17. Recording arrangement (100) according to claim 16, characterized in that a third imaging system (3) is provided in addition to the first imaging system (1) with at least one image recording unit (31), wherein - the third imaging system (3) for recording three-dimensional Imaging (As) of the surroundings of the wearer (10) in relation to a third coordinate system (Ks) is formed, it being provided in particular that the third imaging system (3) - on the one in the cavity, the body opening or the auditory canal (G) or parts thereof to be introduced area of the carrier (10) is arranged, - is aligned in the range of an angle of + 180 ° to -180 ° to the feed direction or longitudinal axis of the carrier (10), - optionally at least one planar mirror element (33; 33a, 33b) or a rotationally symmetrical and in the radial or axial direction curved, in particular hyperboloid or paraboloid or conical, mirror element (33) for the detection of three-dimensional alen images (As) of the environment at an angle of up to 360 ° around the longitudinal axis of the carrier (10), and - is arranged to be rigid in terms of movement and rotation relative to the first and second imaging system (1, 2). 18. Recording arrangement (100) according to claim 12 to 17, characterized in that the first imaging system (1) comprises at least one planar mirror element (33; 33a, 33b) and the carrier (10) is designed to do this during the creation of the three-dimensional images an overlay movement comprising a forward Perform translations from the carrier (10). 19. Recording arrangement (100) according to claim 12 to 18, characterized in that the first imaging system (1) is a rotationally symmetrical and in the radial or axial direction curved, in particular hyperboloid or paraboloid or conical mirror element (33) for capturing a three-dimensional image of the environment Carrier (10) at an angle of up to 360 ° around the longitudinal axis of the carrier (10) includes. 20. Recording arrangement (100) according to one of claims 12 to 19, characterized in that selected, preferably all, imaging systems (1, 2, 3) each have at least one projection unit (12, 22, 32) for projecting a predetermined random image (Z) the area of the cavity to be recorded by the respective imaging system (1, 2, 3) and possibly the area surrounding the cavities and / or reference structures outside the cavity, in particular the body opening, preferably at least parts of the auditory canal (G), possibly the eardrum (TF ) and / or the auricle (M), wherein the control and processing unit (20) is designed to control the projection units (12, 22, 32) of the imaging systems (1, 2, 3), the predetermined random image (Z) on the respective area of the cavity to be recorded and, if necessary, the Area surrounding cavities and / or reference structures outside the cavity, in particular the body opening and possibly the area surrounding the body opening and / or reference structures, preferably at least parts of the auditory canal (G) and / or the auricle (M), wherein In particular, it is provided that the individual pixels of the random image (Z) have one of at least two color values and / or intensity values that differ from one another and that the surroundings of each pixel within the random image (Z) correspond to the respective pixel in the imaging systems (1, 2, 3), in particular with the image recording units (11, 21, 31), generated images (A ;, A,, As) can be clearly assigned is. 21. Receiving arrangement (100) according to claim 20, characterized in that the Projection units (12, 22, 32) of the imaging systems (1, 2, 3) for projecting the predetermined random image (Z) each have a lighting unit for generating light, 57767 the projection units (12, 22, 32) of at least one of the imaging systems (1, 2, 3) lighting units for generating light in different Include wavelength ranges. 22. Recording arrangement (100) according to one of claims 20 or 21, characterized in that selected, in particular all, imaging systems (1, 2, 3) each have an image recording unit (11, 21, 31) and a projection unit (12, 22, 32) include. 23. Recording arrangement (100) according to one of claims 12 to 22, characterized in that the control and processing unit (20) is designed to, in the event that a previously created overall image (GA) at least of areas of the cavity, and possibly the area surrounding the cavity or reference structures outside the cavity, in particular at least areas of the body opening and possibly the area surrounding the body opening or reference structures outside, preferably at least areas of the auditory canal (G), possibly the eardrum (TF) and possibly the auricle (M) is present, - when recording images (A, A », As) to check whether there is a correspondence between the recorded area and the previously recorded areas, - if there is no correspondence, control the imaging systems (1, 2, 3), further individual ones Create images (A ;, A, As), - to check whether and / or at what point the individual created images (A-, A », As) match the previously created overall image (GA), and - If a match has been found, the creation of the overall image (GA), in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or reference structures outside the cavity, preferably at least areas of the body opening and possibly the Body surface surrounding the body opening or reference structures, particularly preferably at least parts of the auditory canal (G), optionally the eardrum (TF) and optionally the auricle (M), at the determined location. 24. Recording arrangement (100) according to one of claims 12 to 23, characterized in that the control and processing unit (20) is designed to - a three-dimensional recording space for the measuring space to be examined to pretend - Each of the created images (A, A »As) of the cavity, in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or reference structures outside the cavity, preferably at least areas of the body opening and possibly the To register the body surface surrounding the body opening or a reference structure, particularly preferably at least parts of the auditory canal (G), possibly the eardrum (TF) and possibly the auricle (M), in a common coordinate system (Ka) in the three-dimensional recording space, - divide the recording room into voxels, - Search under the voxels of the receiving space for surface voxels in which an image of the surface of the cavity, in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or of reference structures outside the cavity, preferably at least from Areas of the body opening and possibly the body surface or reference structure surrounding the body opening, particularly preferably the ear (O0), most preferably at least parts of the auditory canal (G) and / or the auricle (M), - On the basis of the individual image images (AA) that fall in the respective surface voxel, to define a point which represents the actual position of the surface in the surface voxel as well as possible and a total surface of the cavity, in particular at least parts of the inner area of the cavity and / or the area surrounding the cavities and / or reference structures outside the cavity, preferably at least areas of the body opening and possibly the body surface surrounding the body opening or a reference structure, particularly preferred of the ear (O), most preferably at least parts of the auditory canal (G), possibly the eardrum (TF) and / or the auricle (M), based on the surface voxels and the surface points within the surface voxels. 25. Recording arrangement (100) according to one of claims 12 to 24, characterized in that the control and processing unit (20) is designed to close all image recording units (11, 21, 31) of the imaging systems (1, 2, 3) to operate in such a way - that the recording times of the three-dimensional images (A, A, As) created with the imaging systems (1, 2, 3) have a predetermined time interval threshold of less than 700 ms, in particular 100 ms, preferably 20 ms, do not exceed each other, 26. Recording arrangement (100) according to one of claims 17 to 25, characterized in that the control and processing unit (20) is designed to use the third imaging system (3) in addition to the first imaging system (1) and the second imaging system (2) to be used for creating three-dimensional images of cavities according to a method according to one of claims 1 to 11, preferably for calibration, for determining the recording image (AA) and the overall image (GA).