ES2607052T3 - Aparato de escaneo de enfoque - Google Patents

Aparato de escaneo de enfoque Download PDF

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ES2607052T3
ES2607052T3 ES10727345.0T ES10727345T ES2607052T3 ES 2607052 T3 ES2607052 T3 ES 2607052T3 ES 10727345 T ES10727345 T ES 10727345T ES 2607052 T3 ES2607052 T3 ES 2607052T3
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pattern
image
focus
correlation
camera
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Rune Fisker
Henrik ÖJELUND
Rasmus KjÆr
Mike Van Der Poel
Arish A Qazi
Karl-Josef Hollenbeck
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3Shape AS
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3Shape AS
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0062—Arrangements for scanning
    • A61B5/0068—Confocal scanning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1077—Measuring of profiles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2518—Projection by scanning of the object
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1075—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions by non-invasive methods, e.g. for determining thickness of tissue layer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1076—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions inside body cavities, e.g. using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A61B5/4542—Evaluating the mouth, e.g. the jaw
    • A61B5/4547—Evaluating teeth
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/58—Wireless transmission of information between a sensor or probe and a control or evaluation unit

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Microscoopes, Condenser (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
  • Endoscopes (AREA)
  • Mechanical Light Control Or Optical Switches (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Automatic Focus Adjustment (AREA)
  • Structure And Mechanism Of Cameras (AREA)
  • Focusing (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Lens Barrels (AREA)
  • Stroboscope Apparatuses (AREA)

Abstract

Un escáner para la obtención y/o la medida de la geometría 3D de al menos una parte de la superficie de un objeto, comprendiendo el citado escáner: - al menos una cámara (180) que contiene una matriz de elementos sensores, - un medio para generar (110, 120, 130) una luz de sondeo que incorpora un patrón espacial, - un medio para transmitir (140, 150, 170) la luz de sondeo hacia el objeto, iluminando por ello al menos una parte del objeto con el citado patrón en una o más configuraciones, - un medio para transmitir (140, 150, 170) al menos una parte de la luz devuelta desde el objeto a la cámara (180), - un medio para variar (151) la posición del plano de enfoque del patrón sobre el objeto aun manteniendo una relación espacial fija entre el escáner y el objeto, - un medio para obtener al menos una imagen de la citada matriz de elementos sensores, - un medio para evaluar una medida de la correlación en cada posición del plano de enfoque entre al menos un pixel de imagen y una función de ponderación, en el que la función de ponderación se determina sobre la base de la información de la configuración del patrón espacial; y - un medio de procesamiento de datos para: a) determinar mediante análisis de la medida de la correlación la posición o posiciones de enfoque de: - cada uno de la pluralidad de píxeles de imagen para un rango de posiciones de enfoque, o - cada uno de la pluralidad de grupos de píxeles de imagen para un rango de posiciones del plano de enfoque, y b) transformar los datos enfocados en coordenadas mundo real 3D.

Description

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Aquí, Aj es la medida de la correlación estimada del elemento sensor j, imagen22 imagen23son las n señales grabadas del
elemento sensor j,
son los n valores de la señal de referencia obtenidos a partir del conocimiento de la configuración del patrón para cada grabación de imagen. f tiene dos índices i, j. La variación de f con el primer índice se obtiene a partir del conocimiento de la posición del patrón durante cada grabación de imagen. La variación de f con el segundo índice se obtiene a partir del conocimiento de la geometría del patrón, que se puede determinar antes del escaneo 3D.
La posición de enfoque correspondiente al patrón que está enfocado sobre el objeto para un solo sensor en la cámara vendrá dada por un extremo en la medida de la correlación grabada de ese sensor cuando la posición de enfoque se varía sobre un rango de valores, preferiblemente en etapas iguales de un extremo al otro de la región de escaneo.
Correlación espacial
En un ejemplo del esquema de la correlación espacial, una imagen del objeto con patrón en damero proyectada se graba con una resolución tan alta como lo permita el sensor de imagen. El esquema en la correlación espacial es entonces analizar los grupos de píxeles en la imagen grabada y extraer la medida de la correlación en el patrón. Un extremo en las medidas de la correlación obtenidas indica la posición de enfoque. Por sencillez, se puede utilizar un patrón en damero con un periodo correspondiente a n = N x N píxeles sobre el sensor y, a continuación, analizar la medida de la correlación en un periodo del patrón (en el caso general, el patrón no necesita ser cuadrático N x N). En el caso mejor, será posible alinear el patrón de tal manera que los bordes del damero coincidan con los bordes del pixel, pero el principio de escaneo no se basa en esto. La figura 16 muestra esto para el caso n = 4 x 4 = 16. Para un sensor con W x H = 1024 x 512 píxeles, esto correspondería a obtener 256 x 128 puntos de medida de la correlación de una imagen. La extracción de la medida de la correlación Aj dentro de un grupo de píxeles N x N con subíndice j viene dada por
imagen24
imagen25
es el vector de la señal de entrada. Para suprimir cualquier parte de CC en la luz, se prefiere para todo j que
imagen26
Para la situación representada en la figura 16, por ejemplo, fij = -1 para los píxeles correspondientes a las partes oscuras del patrón, y fij = +1 para el resto. Si el borde del patrón no estuviese alineado con los bordes de los píxeles,
o si el sistema óptico no fuese perfecto (y por tanto en todas las aplicaciones prácticas), entonces fij asumiría valores entre -1 y +1, para alguna i. A continuación, se proporciona una descripción detallada de cómo determinar la función de referencia.
Correlación óptica
Un ejemplo de correlación óptica se muestra en la figura 2. En esta realización, se forma una imagen en la cámara 180 que es una superposición del patrón 130 con el objeto sondeado 200. En esta realización, el patrón es de una naturaleza transmisora, en el que la luz se transmite a través del patrón y la imagen del patrón se proyecta sobre el objeto y de nuevo hacia atrás. En particular, esto implica la retransmisión de la luz a través del patrón en la dirección opuesta. Entonces, se forma una imagen del patrón sobre la cámara con la ayuda de un divisor de haz 140. El resultado de esta disposición es que se forma una imagen en la cámara que es una superposición del propio patrón y el objeto que se está sondeando. Una manera diferente de expresar esto es que la imagen en la cámara sea substancialmente una multiplicación de una imagen del patrón proyectada sobre el objeto con el propio patrón.
La variación es periódica en la ilustración de ejemplo. La medida de la correlación entre la variación de la luz sobre el objeto y el patrón para una distancia de enfoque dada se puede obtener integrando en el tiempo la señal de la cámara sobre un gran número de periodos de oscilación, de tal manera que la sincronización exacta del tiempo de oscilación del patrón y el tiempo de integración de la cámara no es importante. Estando la posición de enfoque correspondiente al patrón enfocada sobre el objeto para un solo sensor en la cámara, vendrá dada por el valor máximo de la señal grabada de ese sensor cuando la posición de enfoque se varía en un rango de valores, preferiblemente en etapas iguales de un extremo al otro de la región de escaneo.
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Encontrar la función de referencia predeterminada
A continuación, se describe el proceso para el cálculo de la señal de referencia f para una realización de la correlación espacial de esta invención, y se representa estilizada en la figura 17.
El proceso se inicia grabando una serie de imágenes del patrón en damero como proyectadas, por ejemplo, sobre una superficie plana, preferiblemente orientada ortogonalmente al eje óptico del escáner. Las imágenes se toman en diferentes posiciones del elemento de enfoque, cubriendo, en efecto, todo el rango de desplazamiento del citado elemento de enfoque. Preferiblemente, las imágenes se toman en ubicaciones equidistantes.
Dado que el plano de enfoque generalmente no es un plano geométrico, diferentes regiones de la superficie plana estarán enfocadas en diferentes imágenes. Ejemplos de tres de tales imágenes se muestran en las figuras 17a – 17c, en las que 1700 es una región enfocada. Se debe observar que, en esta figura estilizada, las transiciones entre regiones enfocadas y desenfocadas, respectivamente, están exageradas con el fin de demostrar el principio con mayor claridad. Asimismo, en general existirán muchas más imágenes que solo las tres utilizadas en este ejemplo simple.
Las regiones enfocadas dentro de una imagen son las de mayor varianza de intensidad (indicando máximo contraste) sobre todas las citadas series de imágenes. La región para calcular la varianza no necesita ser la misma que la dimensión del grupo de píxeles utilizado en la correlación espacial, pero debe ser lo suficientemente grande para contener las regiones tanto oscuras como claras del patrón, y debe ser la misma para todas las imágenes de la serie.
Finalmente, una “imagen mezclada” (figura 17d) se genera combinando todas las regiones enfocadas de la serie (17a – 17c). Se debe observar que, en las aplicaciones reales, la imagen mezclada generalmente no es un damero perfecto de blanco y negro, sino que más bien incluye valores de gris intermedios provocados por un sistema óptico imperfecto, y un damero no está perfectamente alineado con los sensores de la cámara. Un ejemplo de parte de una imagen mezclada real se muestra en la figura 17e.
Las intensidades de los píxeles dentro de esta imagen se pueden interpretar como una “imagen ponderada” con las mismas dimensiones que la imagen original del patrón. En otras palabras, los valores de pixel se pueden interpretar
como la señal de referencia, y el conjunto I de vectores de referencia de valores ponderados los n píxeles en el grupo de píxeles con índice j se puede encontrar a partir de los valores de pixel.
Por conveniencia en la implementación de los cálculos, especialmente cuando se lleva a cabo en una FPGA, la imagen mezclada puede ser subdividida en grupos de píxeles. La parte de CC de la señal se puede entonces eliminar restando el medio de intensidad dentro del grupo para cada valor de intensidad de pixel. Además, se puede entonces normalizar dividiendo por la desviación estándar dentro del grupo. Los valores de ponderación así procesados son una descripción alternativa de la señal de referencia.
Dado que la naturaleza periódica de la “imagen mezclada” y, por consiguiente, la “imagen ponderada,” esta última se puede comprimir de manera eficiente, minimizando con ello las necesidades de memoria en la electrónica que puede implementar el algoritmo descrito aquí. Por ejemplo, el algoritmo PNG se puede utilizar para compresión.
La “imagen de correlación”
Una imagen de “correlación” se genera sobre la base de la “imagen mezclada” y el conjunto de imágenes grabadas con la cámara durante el escaneo. Para la correlación espacial basada en un patrón en damero de N x N, se debe recordar que la medida de la correlación dentro del grupo es
imagen27
imagen28
donde
imagen29son valores de la imagen mezclada, e
imagen30son valores de una imagen grabada en la cámara. Los agrupamientos de píxeles utilizados en cualquier eliminación de CC y posiblemente normalización que condujeron a la imagen mezclada son los mismos que en el cálculo anterior. Para cada imagen grabada por el escáner durante un barrido del elemento de enfoque existirá, por consiguiente, una matriz de (H/N) x (W/N) valores de A. Esta matriz se puede visualizar como imagen.
La figura 18 (sección superior) muestra una imagen de medida de la correlación de ejemplo, aquí de parte de un diente humano y su borde. Un grupo de píxeles de 6x6 píxeles se marca mediante un cuadro 1801. Para este grupo de píxeles de ejemplo, la serie de medidas de la correlación A sobre todas las imágenes dentro de un barrido del elemento de enfoque se muestra en el cuadro en la sección inferior de la figura 18 (pelos cruzados). El eje x del cuadro está en la posición del elemento de enfoque, mientras que el eje y muestra la magnitud de A. Ejecutar un filtro Gaussiano simple sobre la serie sin procesar, resulta en una serie continua (línea continua). En la figura, el elemento de enfoque está en la posición que proporciona un enfoque óptimo para el grupo de píxeles de ejemplo. Este hecho es visible subjetivamente en la imagen, pero también se determina cuantitativamente como el máximo de
24
imagen31
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Claims (1)

  1. imagen1
    imagen2
    imagen3
ES10727345.0T 2009-06-17 2010-06-17 Aparato de escaneo de enfoque Active ES2607052T3 (es)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US18774409P 2009-06-17 2009-06-17
US187744P 2009-06-17
US23111809P 2009-08-04 2009-08-04
US231118P 2009-08-04
PCT/DK2010/050148 WO2010145669A1 (en) 2009-06-17 2010-06-17 Focus scanning apparatus

Publications (1)

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ES2607052T3 true ES2607052T3 (es) 2017-03-29

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US (16) US8878905B2 (es)
EP (1) EP2442720B1 (es)
JP (2) JP5654583B2 (es)
CN (2) CN102802520B (es)
AU (1) AU2010262191B2 (es)
BR (1) BR112012000189B1 (es)
CA (1) CA2763826C (es)
DK (1) DK2442720T3 (es)
ES (1) ES2607052T3 (es)
WO (1) WO2010145669A1 (es)

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