JP2003532125A - Method and system for scanning a surface to create a three-dimensional object - Google Patents

Abstract

An image is projected (611) on the surface of a three-dimensional object, and the image may include a pattern including a plurality of individual shapes used to measure and map the surface. The image further comprises features that include coded information to individually identify the plurality of shapes. The features containing the coded information are oriented such that the coded information is retrieved (613) along a line perpendicular to the plane formed by the points along the projection and viewing axes. The use of features is used to perform a multi-frame independent scan (612).

Description

Detailed Description of the Invention

RELATED APPLICATION This application is related to US patent application Ser. No. 09 / 560,1 filed April 28, 2000.
No. 31, U.S. Patent Application No. 09 / 560,13, filed April 28, 2000.
No. 2, US patent application Ser. No. 09 / 560,583, filed April 28, 2000.
No. 09 / 616,093, filed Jul. 13, 2000, U.S. patent application No. 09 / 560,645, filed Apr. 28, 2000,
US patent application Ser. No. 09 / 560,644, filed April 28, 2000, 2
U.S. Patent Application Nos. 09 / 560,584 and 2 filed April 28, 000
Priority of US patent application Ser. No. 09 / 560,133, filed April 28, 000, is hereby incorporated by reference in its entirety.

FIELD OF THE INVENTION The present invention relates generally to object mapping, and more specifically to creating a three-dimensional model of an object and aligning parts of the object to create an object model. When,
Aligning scanned portions of the object to provide a three-dimensional object, scanning anatomical structures for treatment and diagnosis, and developing and manufacturing medical and dental devices and appliances; Providing a specific image to assist in mapping the object.

BACKGROUND OF THE INVENTION It is well known that anatomical devices such as prostheses, orthodontics and appliances such as orthodontics can be made. Current methods of making anatomical devices are subjective, which allows the doctor to view his or her anatomy, where the device is used, and to remember his experience and similar circumstances. Specify or design the anatomical device based on subjective criteria such as. Such subjective criteria result in the development of anatomical devices, which can be highly variable by physicians, and prevent them from obtaining a database of knowledge that can be used by others. Attempts to develop a less subjective anatomical device include taking an impression of the anatomical structure. A male model of the anatomical structure can be created from the impression of a female representation of the anatomical structure. However, impressions and models made from impressions are vulnerable to distortion, wear and damage, have short expiration dates, are inaccurate,
Making multiple copies is expensive and accuracy cannot be easily verified. Therefore, it is not easy to verify whether the impression or model of the structure is an authentic representation of the anatomical structure. Moreover, impression processing is generally uncomfortable and inconvenient for the patient, has to go to the doctor and is time consuming. Furthermore, if multiple models are required, then either multiple impressions must be made or multiple models must be made from a single impression. In each case, there is no reliable standard reference available that guarantees the similarity of each of the models. Moreover, the model still has to be visually judged by one doctor, resulting in a subjective process.

Another attempt at less subjective development involves the use of two-dimensional images. However, the use of two-dimensional images, as is known, cannot provide precise structural information and must still be objectively interpreted by the physician. Moreover, device manufacturing still relies on an objective interpretation.

When the impression is transported from the doctor to the manufacturing facility, the model being manufactured or the three-dimensional model used to design the prosthetic device is available only at the manufacturing facility. Communication between the doctor and the technician regarding problems with the device is prevented. Even when multiple models exist, they are physically distinct objects and cannot be viewed simultaneously from the same perspective, because there is no interactive way to reference the models to each other.

In addition to molds and impressions, other types of records maintained by doctors such as dentists and orthodontists are prone to loss or damage and are expensive to make duplicates. Therefore, a method or system that overcomes these disadvantages would be useful.

The use of scanning techniques to map the surface of an object is well known. Prior art FIG. 1 illustrates an object 100 having visible surfaces 101-104. In general, the visible surfaces 101-103 form a rectangular shape and are on top of the substantially flat surface 104.

An image is projected on the object 100, which includes lines 110. In operation, line 11
The zero image is received by a viewing device such as a camera (not shown) and processed to determine the shape of that portion of the object 100 where the line 110 is. By moving the line 110 across the object 100, it is possible to map the entire object 100. The limitations associated with using an image with a single line 110 require a significant amount of time to scan the object 100 to provide an accurate map, fixed reference to either the scanner or the object. The point is that it is necessary.

FIG. 2 illustrates a prior art solution that reduces the amount of time it takes to scan an object. Specifically, FIG. 2 illustrates an image that includes lines 121-125. By providing multiple lines, it is possible to scan a larger surface area at one time, which allows for more efficient processing of data associated with object 100. The limitations of using a pattern such as that illustrated in FIG. 2 are mapped because of the need for fixed reference points and the potential for improper processing of data due to overlapping discontinuities in the image. It is possible to reduce the surface resolution.

To better understand the concept of overlap, it is useful to understand the scanning process. Prior art FIG. 3 illustrates the shape of FIGS. 1 and 2 from the side so that only surface 102 is visible. For consideration, a projection device (not shown) projects the pattern in a direction perpendicular to surface 101 forming the top edge of surface 102 of FIG. The point from the center of the projection lens to the surface is called the projection axis, the axis of rotation of the projection lens or the centerline of the projection lens. Similarly, the imaginary line from the center point of the viewing device (not shown) is referred to as the visual axis, the axis of rotation of the viewing device or the center line of the viewing device and extends in the direction in which the viewing device is oriented.

The physical relationship between the projection axis and the visual axis with respect to each other is generally known. In the particular illustration of FIG. 3, the projection axis and the viewing axis are in a common plane. The relationship between the projection system and the viewing system is physically calibrated so that the relationship between the projector and the viewing device is known. Note that the term "point of reference" describes a reference by which a third party, such as a reader, sees an image. For example, in FIG.
The points of reference are above and to the sides of the points formed by the surfaces 101, 102 and 103.

FIG. 4 illustrates an object 100 with the image of FIG. 2 projected at a point of reference equal to the projection angle. When the reference point is equal to the projection angle, no discontinuity is visible in the projected image. In other words, lines 121-125 appear straight on object 100. However, if the point of reference is equal to the projection angle, no distortion is visible in the line and no useful data is obtained for mapping the object.

FIG. 5 illustrates the object 100 from a point of reference equal to the viewing angle fleet of FIG.
In FIG. 5, surfaces 104, 103 and 101 are visible because the visual axis is substantially perpendicular to the line formed by surfaces 101 and 103 and is to the right of the plane formed by surface 102. Yes, so this is not illustrated in FIG. See FIG. Due to the angle at which the image is viewed or received by the viewing device, lines 121 and 122 appear as a single continuous straight line.
Similarly, line pairs 122 and 123 and 123 and 124 are matched to give the impression of being a single continuum. Since line 125 is projected to a single horizontal surface height, surface 104, line 125 is a single continuous line.

When the pattern of FIG. 5 is received by the processor and implements the mapping function, line pairs 121 and 122, 122 and 123, and 123 and 124.
Is misinterpreted as a single line. As a result, the two-tiered object illustrated in FIG. 2 may actually be mapped as a single horizontal surface, or otherwise the processing step distinguishes between pairs of lines. Because I can't
Displayed incorrectly.

FIG. 6 illustrates a prior art solution that overcomes the problem described in FIG. Specifically, FIG. 6 illustrates a shape 100 having an image projected thereon, whereby multiple lines having different line widths or thicknesses are used. FIG. 7 illustrates the pattern of FIG. 6 from the same point of reference as FIG.

As illustrated in FIG. 7, a processing element that analyzes the received data can distinguish between previously indistinguishable pairs of lines. Referring to FIG. 7, line 421 is still aligned with line 422, forming what appears to be a continuous line. However, since lines 421 and 425 have different thicknesses, it is now possible to determine the exact identification of a particular line segment by analyzing the image. In other words, by analyzing the received image, the surface 10 is now
It can be determined that the line 422 projected on 4 and the line 422 projected on the surface 101 are in fact a common line. Using this information, it is determined by analyzing the received image that step-type features occur in the object being scanned, resulting in a mismatch between the two segments of line 422. You can

By using varying line thickness, as illustrated in FIG. 7, while assisting in identifying line segments, an object with varying features of the illustrated type results in As such, it may still be in error while analyzing the received image.

FIG. 8 illustrates a structure having a surface 710 with well-varying features in terms of side references. Surface 710 is illustrated as being substantially perpendicular to the point of reference in FIG. Additionally, the object 700 has side surfaces 713 and 715, and
It has top surfaces 711 and 712. From the point of reference in FIG. 8, the actual surface 711,
712, 713 and 715 are not visible, only their edges are represented. Surface 711 is a relatively steep surface, while surface 712 is a relatively gently sloping surface.

Further illustrated in FIG. 8 are three projected lines 721-723 having varying widths. The first line 721 has a width of 4. The second projected line 722 has a width of 1. The third projected line 723 has a width of 8.

Line 721 has a width of 4 and is projected onto a relatively flat surface 714. Due to the angle between the projection axis and the viewing axis, the width of the actual line 721 seen on the flat surface 714 is:
It is about 2. If the lines 722 and 723 are also projected onto the relatively flat surface 714, their respective widths are approximately the same as the width of 721, so that the thickness can be detected during the analysis step of mapping the surface. Fluctuates by the amount of. However, since the line 722 is projected onto the inclined surface 711, the viewpoint from the viewing device along the visual axis is such that the line 722 appears to have a width of 2.

Due to the steep angle of the surface 710, most of the projected line 722 can be projected onto a larger area of the surface 711 so that the line 722 appears to have a width of 2. It is the larger area of the surface 722 being viewed that gives the perception that the projected line 722 has a width of 2.

In the opposite way how line 722 is affected by surface 711,
Line 723 is affected by surface 712, giving the perception that projected line 723, which actually has a width of 8, has a width of 2. This occurs because the angle of surface 712 with respect to the viewing device causes the surface area with projected line 723 to appear to have a width of 2. The result of this phenomenon is further illustrated in FIG.

FIG. 9 illustrates the shape 700 of FIG. 8 in terms of a visual axis reference. From the point of reference of the visual axis, the lines 721 to 72 are so that the difference between the line thicknesses can be easily determined.
3 is projected onto the surface 714. Thus, when the surface area 714 is analyzed, the lines are easily identifiable based on the image seen. However, when the analysis includes surfaces 711 and 712, line 722 is erroneously identified as line 721 because not only are the widths the same, but line 722 on surface 711 is aligned with line 721 on surface 714. Can be. Similarly, line 723 has a projected width of 8 but the width seen is 2. Therefore, it is not possible to distinguish between the lines 721, 722 and 723 on the surfaces 711 and 712 during the analysis of the received image. Since it is not possible to distinguish such lines, it can result in a false analysis of the surface.

One proposed method of scanning used a pattern in which black and white triangles and rectangular rows run parallel to the plane of triangulation, as disclosed in foreign patent DE 1982611.4. Rows used measurement features containing digital encryption patterns.
However, when the surface being scanned causes shadowing and / or undercut, some of the pattern is hidden, which can result in sequence interruptions. Moreover, it is not possible to know which part of the pattern is lost, so the disclosed cipher pattern may result in the pattern not being able to be decoded as a result of the interruption of the sequence. . A further limitation of the type of coded described is that its distortion may cause one coded feature to resemble another coded feature. For example, a triangle can look like a rectangle.

Accordingly, a method and apparatus that can overcome the problems associated with the prior art of mapping objects is advantageous.

Detailed Description of the Preferred Embodiments An image is projected onto a surface according to a particular embodiment of the invention. The image can include a pattern having a plurality of discrete features used to measure and map the surface. The plurality of discrete shapes includes features that are detectable in a direction parallel to the plane formed by the points associated with the projection axis and the visual axis of the projected shape. The image further comprises features including coded information for uniquely identifying the plurality of shapes. The coded feature varies in a direction substantially orthogonal to the plane formed by the projection axis and the point of view of the axis, and may be a separate feature from each of the plurality of discrete shapes, the plurality of individual features. It can be an integral feature of the shape and / or can be displayed from different individual shapes at different time intervals. The features containing coded information are oriented such that the coded information is retrieved along a line substantially perpendicular to the plane formed by the points along the projection and viewing axes. The use of features is used to implement a multi-frame reference independent scan. In certain embodiments, the scanned frames are aligned with respect to each other.

Specific embodiments of the present invention are best understood with reference to the accompanying Figures 10 to 24. 10 and 11 represent a system for implementing a particular embodiment of the invention, FIGS. 12 and 19 to 22 illustrate a particular method according to the invention, and FIGS. 13 to 18, 23, 24 3 illustrates a particular implementation of the method combined with the system.

FIGS. 44-52 illustrate certain methods and apparatus of another embodiment of the present invention using three-dimensional scan data of an anatomical structure, obtained in the particular manner illustrated herein. You can The 3D scan data is transmitted to the remote facility for further use. For example, the three-dimensional scan data can represent the anatomy of an anatomical structure and can be used to design an anatomical device, manufacture an anatomical device, or Dynamic changes, save data belonging to anatomical structures for a certain period of time, perform closed loop iterative analysis of anatomical structures, conduct interactive consultation of structures, structure Based simulation, perform anatomical structure related diagnosis, or determine an anatomical structure based treatment plan.

FIG. 10 illustrates a system controller 951 that provides control signals to the scanning device 980. The scanning device 980 projects the image boundaries by lines 962 and 963 and retrieves or views the image within the reflected lines 972 and 973.

In one operation, the system controller 951 sends specific information to the scanner 980.
A specific image to be projected onto the surface 991 of the object 990. The reflected image is captured by the scanning device 980, which in turn returns the captured information to the system controller 951. The captured information can be automatically returned to the system controller 951 or stored within the scanning device 980 and retrieved by the system 951. The image data received by the system controller 951 is analyzed to determine the shape of the surface 991. The analysis of the received data is performed by the system controller 95.
It should be noted that it may be implemented either by means of an external processing unit (not shown) or by an external processing device (not shown).

Further illustrated in FIG. 10 is a scanning device 980, which includes a projection device (projector) 960 and an observation device (viewer) 970. The projector 960 is oriented so that the image is projected on the object 990. The projector 960 has a projection axis 961. The projection axis 961 starts at the center of the lens that projects the image,
Indicates the projection direction. Similarly, the viewer 970 has a visual axis 971, which
It extends from the center of the lens associated with the viewer 970 and represents the direction in which the image is being received.

Once the scanning device is calibrated, an analysis of the received signal can be performed to map the scanned surface. Those skilled in the art will understand that the angles depicted in the drawings of the present application are depicted for illustrative purposes only. Actual angles and distances may vary significantly from those illustrated.

FIG. 11 illustrates the system controller 951 of FIG. 10 in more detail. The system controller 951 further includes a data processor 952, a projected image display 953, a projector controller 954 and a viewer controller 955.

Viewer controller 955 provides the interface necessary to receive data from viewer 970, which represents the reflected image data. The reflected image data is received from viewer 970 at viewer controller 955 and then
Provided to the data processor 952. In a similar manner, the projector controller 954 provides the interface needed to control the projector 960. The projector controller 954 provides the projector 960 with an image projected in a format supported by the projector. In response, projector 960 projects an image on the surface of the object. The projector control device 954 is
Receives or accesses a projected image display 953 to provide an image to the projector.

In the illustrated embodiment, the projected image representation 953 is an electronic representation of the image stored in the memory location. The stored image may represent a bitmapped image or other standard or custom protocol used to define the image projected by projector 960. The projected image is a digital image (
Electronically produced), the display can be stored in memory by the data processor 952, which allows the data processor 952 to modify the projected image display, in accordance with the present invention. The image can be changed as needed.

In another embodiment, the projected image display 953 need not be present. Alternatively, projection controller 954 may select one or more transparency (not shown) associated with projector 960. Such transparency is a film,
It can include any combination of plates or other types of reticle devices that project images.

Data processor 952 controls the projection and reception of data through controllers 954 and 955, respectively.

FIG. 12 illustrates a method in accordance with the present invention that is discussed with reference to the system of FIG. 10 and the accompanying drawings. For a better understanding of the methods discussed herein, the terminology and characteristics unique to the present invention are described. The term "projection / viewing plane" means the plane formed by at least one point of the projection axis and the viewing axis. The term projection / viewing plane is best understood with reference to FIG. Assume that FIG. 3 represents a cross section of object 100. The illustrated projection axis is oriented such that it lies entirely within the plane formed by the paper containing FIG. Similarly, the visual axis of FIG. 3 is entirely within the plane represented by the sheet of FIG. In this example, the projection / viewing plane formed by at least one point of the projection axis of FIG. 3 and the viewing axis of FIG.

However, if the visual axis of FIG. 3 is actually oriented such that the end point close to the viewing device is on the plane of the paper, then the end of the arrow on the visual axis indication may be while the paper is facing the reader. It is not possible to form a plane that includes the entire visual axis and projection axis. Therefore,
The projection / viewing plane can be described as including substantially all of the projection axis and at least one point of the visual axis, or all of the visual axis and at least one point of the projection axis. For the purposes of this study, the point on the visual axis closest to the observation device is the projection /
It is assumed that it is a point that should be included in the observation plane. For example, referring to prior art FIG. 4, the projection / viewing plane described with reference to FIG. 3 is substantially orthogonal to surface 104 and orthogonal to each of lines 121-125. The projection / view plane is line 99
Represented by the plane from the edge view that intersects lines 121-125.

In step 611 of FIG. 12, an image having a coded (variable) feature with one or more components varying orthogonal to the projection / viewing plane is projected. For FIG. 13, the projection / viewing plane is illustrated by line 936, the orientation of the projection / viewing plane is on the edge so that such plane appears as a line, and each of the shapes or patterns 931 to 935. , Which represent the encoded features.

Each of the individual features 931 to 935 has one or more components that vary in a direction orthogonal to the projection / viewing plane. For example, the feature part 933 is
It varies perpendicular to the projection plane so that three individual lines can be identified.
A unique pattern is associated with each of the features 931 to 935 by varying the thickness of the three individual lines. For example, the barcode feature 933 varies orthogonally between no line, thin line, no line, thick line, no line, thin line and no line. The individual lines of feature 933 are projected parallel to the projection / viewing plane. A projection line parallel to the projection / viewing plane reduces or eliminates the observed distortion effect of surface phase on the width of the line. Therefore, the observed width of the individual lines that make up the feature 933 is substantially undistorted, so that the thickness or relative thickness of each individual line of the feature 933 can be readily independent of the surface phase. Can be identified. As a result, the features 933 can be identified substantially independent of the surface phase.

FIG. 13 displays a particular embodiment of an image having five distinct lines (measurement features) 431-435. The illustrated lines 431 to 435 have a length that runs substantially orthogonal to the projection / viewing plane and are evenly spaced from one another in a direction parallel to the projection / viewing plane. By providing multiple detectable lines in a direction parallel to the projection / viewing plane, multiple measurement lines can be observed and analyzed simultaneously. In one embodiment, lines 431-435. In addition to lines 431-435, five unique barcodes 931-935 are also illustrated. Each unique barcode (variable feature) 931 to 935 is associated with and is repeated along with a respective measurement feature 431 to 435. In another implementation, each barcode can be repeated along the measurement feature more than the two times illustrated. Note that the illustrated barcode is illustrated as a repeating set. In another implementation, barcodes need not be grouped in sets.

In certain embodiments, lines 431-435 and barcodes 931-93
5 is made using low intensity visible light so that the pattern is visually endurable and skin resistant. For example, lines 431-435 can be seen as white lines and barcodes 931-935 can be seen as a particular color or combination of colors. In another embodiment, high intensity or laser light may also be used, depending on the application.

By associating a barcode with a particular line in the manner illustrated, it is possible to distinguish the lines from each other even when the lines appear to be in straight line correspondence. For example, lines 432 and 433 appear to be continuous lines at the edge of object 101. However, the lines 432 and 433 can be distinguished from each other by analyzing the (coded feature) barcode associated with each line. In other words, if lines 432 and 433 appear to be common to the viewer, the bar code associated with line 432 on the left is not the same as the bar code associated with line 433 on the right, and the two It can be easily determined that the lines are different.

In the particular embodiment illustrated in FIG. 13, by analyzing the retrieved image, the leftmost bar code 932 and the rightmost bar code 932 represented as a common line for line segments 432 and 433. It is determined that there is a discontinuity anywhere with the barcode 933. In certain embodiments, the location of such edges can be more precisely determined by repeating the barcode pattern relatively proximal to each other. For example, the edge where surface 102 meets surface 101 can only be determined with an accuracy equal to the spacing between adjacent barcodes. This is when analyzing what looks like a single line with two different barcodes,
It is not known where the discontinuity occurred between the two barcodes. Therefore, by repeating the bar code more frequently along the measurement line of FIG. 13, the location of the discontinuity can be more accurately identified.

The coded features 931 to 935 of FIG. 13 do not repeat because the two barcodes are not the same. However, the coded values or sequences can be repeated in the projected image as long as ambiguity is avoided. For example, if the image contains 60 lines (measurement features) using binary coded, 6 bits of data are required to uniquely identify each line. However, due to the fact that the range of focus of the scanner is limited by the depth of field, each individual line of the 60 lines can appear as a recognizable image only within a certain range.

FIGS. 25 and 26 better illustrate how the depth of field affects feature repetition. FIG. 25 illustrates a projector that projects a shape along a path 2540. When the shape is projected on the surface, the image reflects to the viewing device 2506 along the reflection path. For example, when the shape reflects from the surface at location 2531, the resulting reflection path 2544 results, when the shape reflects from the surface at location 2532, the resulting reflection path 2541, and the shape results at location 2533.
The result is a reflection path 2542 when reflected from a surface at
Reflection path 2543 results when reflected from the surface at 534.

FIG. 26 shows a shape that the viewer 2506 shows. Specifically, the image reflected from the surface 2531, which is the surface closest to the project, is seen in the rightmost image in FIG. 26, and the image reflected from the surface 2534, the surface furthest from the project, is shown in FIG. Seen in the far left image of. However, it should be noted that the rightmost and leftmost images are farthest from and closest to the project 2505, respectively, and are out of focus. Due to the defocus, it cannot be accurately detected based on the image received by the viewing device 2506.

Referring back to FIG. 25, any surface closer to the projection device 2505 than the plane 2525 or further away from the projection device 2505 than the plane 2526 is outside the visible range 2610 or in the field of view. Since it is outside, it cannot reflect a usable shape. Therefore, the repeated shape is the range 26 in FIG.
Unless visible in 10, the shape can be repeated and still be uniquely identified.

In a particular embodiment, the projector projects approximately 80 lines. For example, when using 3 colors (red, blue, green), a coded feature with 3 color locations uniquely identifies 27 different lines. Given the field of view such that the same coded line cannot be seen at the same location, this 27 coding sequence can be repeated 3 times to cover all 80 lines. In another embodiment, five color locations can be added, with or without increasing the number of lines in the sequence, to provide cognitive ability where a particular color location can be lost.

This means that the coding features may be repeated as long as the fields of view that cannot see each of the repeating features overlap. Therefore, 1
A sequence of two unique coded features requires only 4 bits of binary data to encode all 60 lines unless the feature has the opportunity to be seen in the same place. It can be repeated 5 times.

A reference independent scan is achieved by providing a pattern with multiple measurement features with associated coding features. In particular, neither the object nor the scanner need be fixed in space or referenced to each other. Instead, on a frame-by-frame basis, a reference-independent scanner provides sufficient measurement information (3D
Cloud), which is accurate due to the coding features and can be aligned to its adjacent frames. Alignment is the process of determining overlapping features on adjacent frames and forming an integrated map of the object.

FIG. 14 illustrates the object of FIG. 13, whereby the measurement lines 431-435 have varying thicknesses. However, the thickness of lines 431-435 is subject to strain. Thereby, identifying the individual lines 431-435 based solely on their thickness is error prone. This is better illustrated with reference to FIG.

FIG. 15 illustrates the object 700 of FIGS. 8 and 9 having a pattern projected on its surface in accordance with the present invention. FIG. 15 shows lines 721 to 72 having varying widths.
3 illustrates a projection of 3. As discussed above, lines 722 and 723 appear to have the same line thickness as line 721 when projected onto surfaces 711 and 712, respectively. Therefore, by simply measuring lines of varying thickness, it is not possible to determine which line is which by analysis of the image. However, by further incorporating the coded features 451-453 to have components that vary orthogonally to the projection / viewing plane, the identification of lines 721-723 and the subsequent mapping analysis is prior art. Will be improved.

The particular implementation illustrated, in which the coded features are projected to have a portion perpendicular to the projection / viewing plane, identifies particular lines associated with the pattern by analyzing the received image. One of ordinary skill in the art will recognize that it is advantageous over the prior art because it can be more accurately identified. Those skilled in the art will further appreciate and appreciate that the particular implementations described herein have been described with reference to lines and bar codes. However, other patterns, shapes and features can be used.

Referring to FIG. 16, illustrated is a table that illustrates a particular set of shapes used in a direction orthogonal to the projection / viewing plane. Column 1 of Table 16 represents the unique feature identifier. Columns 2-4 of Table 16 illustrate the particular way each feature identifier can be represented. Column 2 shows the bar code. Column 3 shows the colors that can be used alone or with other coded features. It should be noted that some types of coded features, including color features, can be implemented as an integral part of the measurement feature and as a coded feature separate from the measurement feature. . Similarly, other types of coded, but also measurement and / or features and the intensities at which the coded features are projected can be based. Column 4 represents a pattern that can be used independently of the shape that identifies the shape, or combined as part of the shape. In other words, it is possible to provide a line containing a repeating pattern sequence of the type illustrated in column 4. In this way, the change in pattern in the direction orthogonal to the projection / viewing plane can be relative to the actual shape itself. In addition, those skilled in the art will recognize that many variations on variable components are envisioned by the present invention.

FIG. 17 illustrates the use of a unique non-repeating identifier for each line on a tubular foam. For example, referring to the first column of FIG. 17, sequences 0 through F are presented sequentially. In one implementation, each value from 0 to F represents a unique code associated with a particular line. It will be appreciated by those skilled in the art that certain types of spacers need to be present between each individual code to identify the particular code. For example, long spaces or unique codes can be used.

In a system used to project and analyze four lines, each with one of the sequences illustrated in FIG. 17, once a sequence of three codes has been retrieved, four It is possible to identify which one of the lines of is being analyzed. In general, the lost code does not cause a misidentification problem, as the code varies orthogonal to the projection / viewing plane.

FIG. 18 illustrates four unique repeating code sequences. The letter S in Table 18 is used to represent the spacer used during the repeating sequence.
The spacer may be a unique identifier that identifies where each of the repeated codes in the encoded sequence begins and / or ends.

Returning to the flow of FIG. 12, once the image with the coded features orthogonal to the projection / viewing plane is projected, the display of the surface image is received at the viewer. This is similar to the discussion of Figure 10, whereby the viewer 970 receives the reflected image. Next, in step 613, the location of the points associated with the object is determined based on the orthogonally varying features. In a particular embodiment of the invention, each one of the shapes, eg lines, is quantified into a unique code pattern before being used for object analysis, so the points are based on variable components.

FIG. 19 illustrates substeps associated with step 611 of FIG. At step 621, the first image is projected, while at step 622 the second feature is projected. Referring to FIG. 14, the first image can resemble the combination of the measurement line 431 and its associated coded feature 931. In a similar manner, the second feature is the measurement line 432 and its coded feature 932.
It can be represented by a combination with. In addition to being able to analyze line 431 for features 931, in another embodiment, coded features 93
Note that it is also possible to determine the identification of line 431 based on 2.
In other words, a particular line in a group of lines, as illustrated in FIG.
Identification can be based on two or more of the various coded features. However, in certain embodiments, only a single contiguous set of coded features or multiple contiguous sets of coded features are used. In addition, steps 621 and 622 can occur at different times, as discussed with reference to FIG.

FIG. 21 illustrates another method according to the present invention. In step 631, a plurality of first features and a plurality of second features are projected. These features may be projected simultaneously or at separate locations.

At step 632, one of the plurality of first features is determined or identified based on the second feature. Referring to FIG. 14, the plurality of first features includes lines 431 to 435 to measure. The second feature, barcode 931 to 935, can be used to identify the particular one of lines 431 to 435.

In step 633, the location of the point on the surface is determined based on the particular one of the plurality of parallel first features.

This particular embodiment is advantageous over the prior art, since the line identified by the analysis of the received shape is not used until its identification is verified based on the coded information.

FIG. 22 illustrates another method according to the present invention. In step 641, parallel first and second discontinuities are projected. As an example of such a discontinuous shape,
Lines 431 and 432 of FIG. 14 are mentioned. However, one skilled in the art will recognize that various other parallel shapes can be projected.

At step 642, the coded features for the first discontinuity shape are projected. Referring again to FIG. 14, the coded features for line 432 can include coded features 932 or even coded features 933.

At step 643, the coded features for the second discontinuity shape are projected.

At step 644, a first discontinuity shape is identified based on the first coded feature. This is accomplished in a similar manner as previously discussed.

At step 645, the location of the particular point on the object is determined based on the first discontinuity shape.

FIG. 23 illustrates another embodiment of the present invention. Specifically, FIG. 23 shows time T
1 illustrates a series of images projected at 1, T2, T3 and T4. At time T1, the projected image includes measurement features 1011-1013. No coded features are projected during time T1. Coded feature 1 during time T2
An image including 021 to 1023 is projected. The patterns of time T1 and T2 are
Repeated during times T3 and T4, respectively. As a result of the alternating projection of the coded and measurement features, a denser pattern can be used and more information can be obtained. Note that the image at time T4 shows the coded features 1021-1023 overlying the measurement features 1011-1013. However, in one embodiment, the measurement features are included for illustrative purposes only and generally do not co-exist with the coded features.

In yet another embodiment of the present invention, FIG. 24 illustrates an image having features with different characteristics. Specifically, FIG. 24 illustrates an image 1100 having lines 1131 to 1134 with a distance X between the individual lines, while lines 1134, 1
The distance between 135 and 1136 exemplifies a substantially larger distance Y separating the lines. By allowing the features to have different isolation characteristics, it is possible to provide high resolution features. In other words, the line 1135 can be used to map surface features that otherwise could not be mapped. Note that the pattern 1100 can be used with or without the coding techniques described herein.

Once the scanner receives or views the projected frame pattern, the frame pattern is digitized into multiple 2D points (2D image frames). Since the projection axis and the visual axis of the scanner are fixed and known, if each 2D point of a 2D image frame can be correlated to the projected point, the conventional 3D
Imaging techniques can be used to convert each 2D point in a 2D image frame into a 3D point. By using the projected frame pattern with coded features, the points in the 2D image can be correlated to each projected point. Multi-frame reference independent scanning is described herein in accordance with another aspect of the disclosure. In certain embodiments, multiple 3D images are received by scanning the object one frame at a time using a handheld scanner to acquire multiple frames, each frame capturing only a portion of the object. To do. With reference to multiple frames, a reference independent scan has a spatial position that can vary from frame to frame with respect to the object being scanned, the spatial position being fixed relative to a reference point, or
Or not tracked. For example, there is no fixed reference point for the object being scanned.

One type of reference independent scanner disclosed herein includes a handheld scanner that projects a pattern into a continuous frame having measurement features and coded features.
This allows each observed point of the frame to have a known corresponding projected point, which can convert 2D frame data to 3D frame data.

[0075]   27-28 are used to consider multiple frame reference independent scans.

27, 28 and 30 illustrate the object 2700 from different perspectives. As illustrated in FIG. 27, the object 2700 has three teeth 2710, 2720 and 2730.
And a gingival portion 2740 adjacent to three teeth.

FIG. 27 is a viewpoint in which a plurality of non-continuous surface portions can be seen. For example, in Figure 2.
From the perspective of 7, three discontinuous surface portions 2711 to 2713 are visible. Surface portion 2713 represents a side portion of tooth 2710. The surface portion 2711 is the surface portion 27.
13 represents a part of the meshing surface of the tooth 2710 which is not continuous. Surface part 27
12 represents another part of the meshing surface of the tooth 2710 which is not continuous with the parts 2711 and 2713. In a similar manner, tooth 2720 has four surface portions 2721.
To 2724 and the tooth 2730 has four surface portions 2731 to 2734.

FIG. 28 illustrates the object 2700 from a slightly different viewpoint (FIG. 28 viewpoint). The change in perspective from FIG. 27 to FIG. 28 is the result of the viewer or scanner moving in a direction that allows a larger portion of the upper tooth surface to be viewed.
Changes in viewpoint result in variations for multiple visible surface portions. Tooth 2
For 710, tooth portion 2813 now represents a smaller 2D surface than its corresponding tooth portion 2713. On the other hand, tooth portions 2811 and 2812 are now seen as larger 2D surfaces than their corresponding portions 2711 and 2712 in FIG.

For tooth 2720, surface 2824 is seen as a smaller 2D surface than its corresponding tooth surface 2724 in FIG. For tooth 2720, surface 2821 represents the tooth surface as seen in succession including both surfaces 2721 and 2723 from the perspective of FIG.

For tooth 2730, visible 2D surfaces 2832 and 2835 each include a portion of surface 2732 and a previously unseen surface area. This is tooth 273
The result is a formative feature of 0, which results in the surface 2732 not being continuously visible from the second frame viewpoint.

The relationship of the tooth portion of FIG. 27 to the tooth portion of FIG. 28 is well understood with reference to FIG. Specifically, FIG. 29 is from the same perspective as FIG. 28, with the visible surface portion of FIG. 27 shown as the shaded area. For example, in Figure 2.
7 surface portion 2711 is represented as the shaded portion within surface portion 2811. As illustrated, due to the change in viewpoint between FIGS. 27 and 28, the result is:
The visible surface portion 2811 includes a smaller-looking surface portion 2711.
Similarly, a change in viewpoint will result in different surface portions being viewed.

FIG. 30 illustrates the object 2700 from another perspective. Specifically, the perspective of FIG. 30 is from directly above teeth 2710-2730. The visible surface portion of FIG. 28 is overlaid on FIG. 27. The object 2700 illustrated in FIG. 27 is further referred to herein to describe particular embodiments of multi-frame reference independent scan.

FIG. 31 illustrates a method according to a particular embodiment of reference independent scanning. In step 3101, the object is scanned to obtain a 2D cloud of data. Data 2
The D cloud has a plurality of frames. Each of the frames has multiple 2D points, which when viewed represent a 2D image.

At step 3102, the first frame of the 2D cloud of data is transformed into a 3D frame model. In one embodiment, the 3D frame model is 3D
A point model, which includes multiple points in three-dimensional space. The actual conversion to a 3D frame point model is performed on some or all of the 2D cloud of frames of data using conventional techniques for converting a scanned 2D cloud of data to a 3D point model. . In certain embodiments that use coded features as disclosed herein, surfaces with non-contiguous visible surfaces, eg, teeth 2710-2730 of FIG. 27, are successfully scanned frame by frame. It is possible to

32 and 33 illustrate the object 2700 being scanned from the perspectives of FIGS. 27 and 28, respectively. In FIG. 32, the scan pattern is lines 3211 to 32.
Including 23. No part of the scan line outside the frame boundary 3210 can be properly scanned. Within the boundary 3210, each scan line is a plurality of 2D points (cloud of data) as detected by the CCD (charge coupled diode) chip of the scanner.
Converted to. Some or all points in the scan line can be used in accordance with the present invention. For example, every other or every other point in the scan line may be used, depending on the desired resolution of the final 3D model. FIG. 32 illustrates four points (A to D) on each line being identified. 2D coordinate values, eg XY
Coordinates are determined for each of these points.

In a particular embodiment of scanning, a scan rate of 1 to 20 frames per second is used. Higher scan rates can also be used. In a particular embodiment, the scanning speed is chosen so that the three-dimensional image can be viewed in real time. The pulse time during which each frame is captured is a function of the speed at which the scanner is expected to be moving. For dentition structures, the maximum pulse width is approximately 14
It is determined to be 0 microseconds, but a much faster pulse width may be used, ie 3 microseconds. Additionally, in certain embodiments, teeth 2710-2
The material is applied to 730, resulting in a surface that is more opaque than the teeth themselves.

In particular embodiments, each point of the cloud of data is analyzed during the various steps and functions described herein. In another embodiment, only a portion of the cloud of data is analyzed. For example, it may be determined that only every second or third point needs to be analyzed to meet the desired resolution. In another embodiment, a portion of the frame data is a frame of data such that only a particular spatial portion of the cloud of data is used, for example, only a central portion of the cloud of data is included in the bounding box. It can be a bounding box that is smaller than the whole. By using a cloud subset of data, it is possible to speed up various routines described herein.

FIG. 33 illustrates the object 2700 being scanned from the perspective of FIG. As such, the pattern seen, including lines 3321 to 3323, is tooth 271
Differently positioned from 0 to 2730. In addition, the frame boundary 3310 is
Moves to include most of teeth 2720.

FIG. 34 illustrates another embodiment of the 3D frame model referred to herein as the 3D initial model. The 3D initial model includes a plurality of initial shapes based on the 3D points of the frame. In the particular embodiment illustrated, points adjacent to the 3D point model are selected to form a triangle, including triangles PS1 to PS3 as initial shapes. Other implementations may use different or different initial shapes.

Using the initial shape to perform the registration allows a lower resolution model to be used by using one initial surface representation of the point cloud, resulting in faster registration. Is obtained and there is no undesired error penalty, which is advantageous for registration techniques that try to get the points of the two point clouds as close as possible to each other. For example, if a scan resolution of 1 mm is used for point-to-point registration, the best guaranteed alignment between the two frames is 0.5 mm. This is due to the fact that the handheld scanner randomly captures which points on the surface are mapped. The point-to-surface use provides more accurate results because the registration can occur at any point on the surface, not just at the vertices.

In step 3103 of FIG. 31, a second 3D frame model is created from the second frame of cloud data. Depending on the particular implementation, the second 3D frame model may be a point model or an initial model.

At step 3104, alignment is performed between the first frame model and the second frame model to create a cumulative model. "Alignment" refers to the process of aligning a first model with a second model and determining the best fit by using the portion of the second model that overlaps the first model. The portion of the second model that does not overlap the first model is the portion of the scanned object that has not yet been mapped and is added to the first model to create a cumulative model. Alignment is well understood with reference to the method of FIG.

FIG. 35 includes an alignment method 3500, which in certain embodiments is invoked by one of the alignment steps of FIG. In step 3501 of FIG. 35, item points for alignment are determined. Item points for alignment are
It defines an initial guess for the alignment of the overlapping parts of the two models. Specific embodiments for choosing item points are discussed in more detail with reference to FIG.

At step 3502, two shape registrations are attempted. Alignment is successful if an overlap is detected that matches the defined approximation or quality of fit. If the alignment is successful, the flow returns to the calling step of FIG. If the registration is not successful, the flow proceeds to step 3598,
It is then decided whether or not to continue.

The decision to proceed may be based on the number of factors. In one embodiment, the decision to proceed is made based on the number of registration item points tried. If the determination at step 3598 is to discontinue the registration attempt, flow proceeds to step 3503 where registration error handling occurs.
Otherwise, the flow continues at step 3501.

FIG. 36 illustrates a particular method for choosing alignment item points. Step 3
At 699, a determination is made whether this is the first entry point for the particular alignment attempt of the new frame. If so, the flow proceeds to step 3601; otherwise, the flow proceeds to step 3698.

At step 3601, the X and Y components of the entry point are determined based on a 2D analysis of the 2D cloud of data for each of the two frames. In a particular embodiment, two-dimensional analysis performs cross-correlation of 2D images. These 2D images are
It does not have to be from a 2D cloud of data, but instead data associated with plain video images of objects without patterns can be used for cross-correlation. In this way, promising movements of the scanner can be determined. For example, using cross-correlation to determine how the scanner probably moved
Determines how the pixel has moved.

In another embodiment, rotation analysis is possible, but this is not done for certain embodiments, as it is time consuming and has the correct entry points in the X and Y coordinates. Allows the registration algorithm described here to handle rotation.

[0099]   In step 3602, the probable movement in the Z direction is determined.

In one particular embodiment, the Z coordinate of the previous frame is used and any change in the Z direction is calculated as part of the alignment. In another embodiment, the probable Z coordinate is calculated as part of the entry point. For example, the optical parameters of the system may "zoom" the second frame relative to the first frame until the best fit is received. 2 depending on the zoom factor used for that
You can see how far the two surfaces are from each other at Z. In certain embodiments, the X, Y, and Z coordinates can be aligned such that the Z coordinate is substantially parallel to the visual axis.

[0101]   In step 3603, the item point value is returned.

In step 3698, all item point variations are registered in the registration step 3601.
And 3602, it is determined whether or not it has been tried. If not, the flow proceeds to step 3603, and if so, the flow proceeds to step 3697.

In step 3603, the next item point variation is selected. FIG. 37 illustrates a particular method for selecting registration item point variation. Specifically, FIG. 37 illustrates an initial item point E1 and subsequent item points E2 to E9. The item points E2 to E9 are sequentially selected in any predetermined order. The particular embodiment of FIG. 37 has alignment entry points E2 through E9 as various points on a circle 3720 having a radius 3710.
Is illustrated. According to a particular embodiment, the range of item point variation is two-dimensional,
For example, the X and Y dimensions. In other embodiments, item points can vary in three dimensions. Note that a varying number of item points or a subset of item points can be used to speed up the registration process. For example, the single frame alignment used here may use fewer than the nine entry points shown. Similarly, the cumulative registration described herein can benefit by using a large number beyond the 9 points illustrated.

Returning to step 3698 of FIG. 36, once all variations of the first identified item point have been tried, flow proceeds to step 3697. Step 3697
Now, all item points associated with the first identified item point are tried and it is determined whether the second identified item point was identified by step 3604. If not, the flow proceeds to step 3604 where the second item point is defined. Specifically, in step 3604, the movement of the scanner between the two previous frame models is determined. It is then assumed that the movement of the scanner is constant for at least one additional frame. Using these assumptions, step 36
The entry point at 04 is defined as the location where the calculated scanner motion was added to the previous frame. The flow proceeds to step 3606, which illustrates the item points in FIG.
Return to call step 1. In another embodiment, it can be assumed that the direction of movement of the scanner remains the same, but is accelerated at different speeds.

If the second identified item point of step 3604 has been previously determined, then flow from step 3697 proceeds to step 3696. At step 3696, it is determined whether there is an additional registration item point variation for the second identified item point. If so, flow proceeds to step 3605; otherwise,
The flow returns to the calling step of FIG. 31 in step 3607, indicating that the selection of a new item point was unsuccessful. In step 3605, the item point variation next to the second identified item point is identified and flow returns to the calling step of FIG.

Different entry point routines may be used, depending on the type of alignment being performed. For example, an alignment process that is not tolerant of breaking frame data requires trying more item points before discarding a particular frame. A registration process that is tolerant of frame data breaks may attempt simpler or fewer item points, which speeds up the registration process.

Returning to FIG. 31, in step 3105, the next 3D model portion is created from the next frame of cloud data.

In step 3106, registration is performed between the next 3D model portion and the cumulative model to update the cumulative model. In a particular implementation, the cumulative model is updated by adding all new points from the frame to the existing cumulative model to arrive at the new cumulative model. In another implementation, a new surface based on previously acquired 3D points can be stored, thereby reducing the amount of data stored.

If all frames have been aligned, method 3100 is complete, otherwise flow proceeds through step 3199 to step 3105 until the cloud of points in each frame is aligned. . As a result of the registration process described in method 3100, it is possible to develop the model for object 2700 from multiple smaller frames, such as frames 3210 and 3310. By being able to align multiple frames, a highly accurate model of a large object can be obtained. For example, a model of the patient's entire dentition structure can be obtained, including gingiva, teeth and orthodontic and prosthesis structures. In another embodiment, a model of the patient's face can be obtained.

FIG. 38 illustrates method 3800, which is an alternative method of aligning an object using multiple frames from a reference independent scanner. Specifically, step 38
At 01, the object is scanned and cloud data for the object is received. As described above, the cloud of data includes data from multiple frames, each frame including multiple points.

At step 3802, a single frame alignment is performed. Single frame registration performs registration between adjacent frames of the scanned image without creating a cumulative model. Instead, in certain embodiments, a cumulative image of a single frame registration process is displayed. The image formed by the single frame registration process can be used to assist the scanning process. For example, the image displayed as a result of a single frame registration, although less accurate than the cumulative model, can be used by the operator of the scanner to determine the areas where additional scanning is required.

The single frame registration process is such that any error introduced between any two frames will be propagated to all subsequent frames of the 3D model created using single frame registration. "Expanded". However, the level of accuracy is adequate to assist the operator during the scanning process. For example, the alignment result describes the movement from one frame to another and can be used as an item point for the cumulative alignment process. Single frame alignment is discussed in more detail with reference to FIG.

At step 3803, cumulative registration is performed. Cumulative registration creates a cumulative 3D model by registering each new frame with a cumulative model. For example, 1000 representing 1000 reference independent 3D model parts (frames).
If individual frames of are captured in step 3801, a cumulative registration step 3803 combines the 1000 reference independent 3D model portions into a single cumulative 3D model representing the object. For example, if each of the 1000 reference independent 3D model portions represents a portion of one or more teeth including frames 3210 and 3310 of FIGS. 32 and 33, then a single cumulative 3D model may be tooth 2710. From 273
Represents the entire set of teeth, including 0.

At step 3804, the alignment result is reported. This is discussed in more detail below.

FIG. 39 describes a method 3900 that is specific to the single frame rendering implementation of step 3802 of FIG. In step 3903, the variable x is 2
Is set equal to.

In step 3904, alignment between the current frame (3DFx) and the immediately preceding or first adjacent frame (3DFx-1) is performed. Alignment between two frames is referred to as single frame alignment. Specific embodiments of the alignment between the two models are discussed in more detail with reference to the method illustrated in FIG.

In step 3999, it is determined whether the single frame registration of step 3904 was successful. In a particular embodiment, a registration method such as the method of FIG. 40 provides a success indicator evaluated at step 3999. If the alignment is successful, the flow proceeds to step 3905, otherwise the flow proceeds to step 3907.

If it is determined in step 3999 that the alignment is successful, the flow proceeds to step 3905. In step 3905, the current 3D frame (3DFx
) Is added to the current set of 3D frames. Note that this set is generally a set of transformation matrices. The current frame set of 3D frames is a contiguous set of frames, and each frame of the sequence is likely to be successfully aligned with its two adjacent frames (both). In addition, the newly aligned frame can be displayed relative to the previous frame already displayed.

In step 3998, it is determined whether the variable x has a value equal to n, where n is the total number of frames to be evaluated. If x equals n, then single frame alignment is complete and flow may return to step 38 at step 3910. If x is less than n, then single frame alignment continues at step 3906 and x is incremented before proceeding to step 3904.

Returning to step 3999, if the alignment in step 3904 is not successful, the flow proceeds to step 3907. In step 3907, an attempt is made to align between the current frame (3DFx) and the next adjacent frame (3DFx-2). If the alignment in step 3907 is successful, step 399
7 directs the flow to step 3905. Otherwise, step 39
97 directs the flow to step 3908, which causes the current frame (
3DFx) registration is unsuccessful.

If the current frame cannot be aligned, step 3908.
Saves the current frameset or matrix set and a new current frameset is started. The flow from step 3908 is step 390.
Proceed to 5, where the current frame was added to the current frame set, which was newly created in step 3908. Thus, the single frame registration step 3802 can identify multiple frame sets.

Creating multiple frame sets during cumulative registration is not desirable due to the amount of intervention required to reconcile multiple cumulative models. However, interruption of single frame registration is generally accepted because the purpose of single frame registration is to assist the operator and define the entry points for cumulative registration. One way to deal with breaks during single frame registration is to simply display the first frame after the break in the same place as the last frame before the break, thereby allowing the operator to view the image. You can continue.

According to step 4001 of FIG. 40, the first model is a 3D initial shape model, while the second model is a 3D point model. For reference purposes, the first 3D
The initial shape of the model is referred to as S1 ... Sn, where n is the total number of shapes of the first model and the points of the second 3D model are referred to as P1 ... Pz, where z is the second The total number of models.

At step 4002, the individual points P1 ... Pz of the second model are analyzed to determine the shape closest to that location. In a particular embodiment, point P1 includes
The shape S1 ... Sn closest to P1 is the shape having the surface location closest to P1 than any other surface location of any other shape. The shape closest to the point P1 is called Sc1, while the shape closest to the point Pz is called Scz.

In another embodiment, only points located directly above or below the triangle are associated with the triangle, and points not located directly above or below the surface of the triangle were formed between two triangles. It is associated with a line or a point formed by multiple triangles.
It should be noted that, in a broad sense, the lines forming the triangle and the points forming the corner points of the triangle can be considered as shapes.

In step 4003, the vectors D1 ... Dz are calculated for each of the points P1 ... Pz. In a particular implementation, each vector, eg D1, has a magnitude and direction defined by the minimum distance from its corresponding point, eg P1, to the closest point of its closest shape, eg Sc1. Generally, only some of the points P1 ... Pz overlap the accumulated image. Non-overlapping points that do not need to be aligned have associated vectors with a relatively larger magnitude than the overlapping points, or
Alternatively, it need not be directly above or below a particular triangle. Therefore, in a particular embodiment, only vectors having a magnitude less than a predetermined value (epsilon value) are used for further alignment.

In addition to eliminating points that are unlikely to overlap, the epsilon value can be used to further reduce the risk of decoding errors. For example, if one of the measurement lines of the pattern is misinterpreted as a different line, the misinterpretation may result in a large error in the Z direction. If the typical distance between adjacent pattern lines is approximately 0.3 mm and the angle of triangulation is approximately 13 degrees, an error of 0.3 mm in the X direction results in approximately 1. A three-dimensional deformation error of 3 mm occurs (0.3 mm / tan 13 degrees). If the epsilon distance is kept below 0.5 mm, it is certain that there will be no effect of surface areas further away from each other by more than 0.5 mm. Note that in certain embodiments, the epsilon value is initially selected to be greater than 0.5 mm, for example 2.0 mm, and the value is reduced when a certain quality is reached.

In step 4004, in a particular embodiment, the vectors D1 ... Dz are treated as spring forces to determine the movement of the second 3D model frame. In a particular embodiment, the second 3D model is moved in a linear direction defined by the sum of all force vectors D1 ... Dz divided by the number of vectors.

In step 4005, the vectors D1 ... Dz are recalculated for each point of the second 3D model.

In step 4006, the vectors D1 ... Dz are treated as spring forces and determine the movement of the second 3D model. For the particular embodiment of step 4004, the second 3D model frame rotates about the center of mass based on the vectors D1 ... Dz. For example, the second 3D model rotates about the center of mass until the spring force is minimal.

In step 4007, the quality of alignment of the second 3D model with respect to the current orientation is determined. Those skilled in the art will appreciate that various methods can be used to define the quality of alignment. For example, the standard deviation of the vectors D1 ... Dz having a magnitude smaller than epsilon can be used. In another embodiment, the following steps may be used to calculate quality. That is, the distances of the vectors are squared, the squared distances of all the vectors within the epsilon distance are summed, and the sum is divided by the number of vectors to take the square root. Note that those skilled in the art will recognize that the vector values D1 ... Dz need to be recalculated after the rotation step 4006. In addition, one of ordinary skill in the art will recognize that there are other statistical calculations that can be used to provide a quantitative value indicative of quality.

In step 4009, it is determined whether or not the quality determined in step 4007 matches the desired quality level. A high degree of confidence indicates that perfect alignment between the two frame models can be achieved if the quality is within the desired level. By terminating the flow of method 4000 when the desired degree of quality is achieved, it is possible to sort immediately across all pairs of frames to present the image to the user. By eliminating possible interruptions in the data at this point of the method, subsequent cumulative registration is likely to produce a single cumulative model rather than multiple segments of the cumulative model. If the current quality level matches the desired level, the flow indicates success and returns to the appropriate calling step. If the current quality level does not match the desired level, flow proceeds to step 4098.

At step 4098, it is determined whether the current quality of registration is improving. In a particular embodiment, this is determined by comparing the quality of previous passes through the loop including step 4003 with the current quality. If the quality has not improved, the flow indicates that the registration was not successful and returns to the calling step. If so, the flow proceeds to step 4003.

Returning to step 4003, another registration iteration occurs using the new frame location. Note that once the frame data is scanned and stored, it is not necessary to align it exactly in the scan order. Alignment can start in reverse, or any other order that makes sense may be used. It is already known where the frame belongs approximately, especially when the scan results in multiple passes. Therefore, the alignment of adjacent frames can be performed regardless of the order of image formation.

FIG. 41 illustrates a particular embodiment of method 4100 for FIG. Specifically, method 4100 discloses cumulative registration that attempts to combine all individual 3D frame models into a single cumulative 3D model.

Steps 4101 to 4103 are setup steps. Step 41
At 01, the variable x is set equal to 1, and the variable x_last defines the total number of 3D model sets. The number of 3D model sets is determined by step 39 in FIG.
Note that it is based on 08.

In step 4102, the 3D cumulative model (3Dc) is initially set equal to the first 3D frame of the current set of frames. The 3D cumulative model is modified to include that information from subsequent frame models that are not already represented by the 3D cumulative model.

In step 4103, Y is set equal to 2 and the variable Y_last is defined to indicate the total number of frames (3DF) or frame models of the set Sx, where Sx is the aligned frame. Represents the current set of models.

In step 4104, the 3D cumulative model (3Dc) provides additional information based on the alignment between the current 3D frame model (Sx (3DFy)) being aligned and the 3D cumulative model (3DC). Modified to include. In FIG. 41, the current 3D frame model is referred to as Sx (3Dy), where 3Dy
Note that denotes the frame model and Sx denotes the frame set. Particular embodiments for performing the alignment of step 4104 are shown in FIGS.
It is further described by the method illustrated in 3.

In step 4199, it is determined whether the current 3D frame model is the last 3D frame model of the current step. According to the particular embodiment of FIG. 41, this can be achieved by determining whether the variable Y is equal to the value Y_last. When Y is equal to Y_last, the flow is step 41.
Proceed to 98. Otherwise, flow proceeds to step 4106, where
Y is incremented before returning to step 4104 for further alignment of the 3D frame model associated with the current set Sy.

In step 4198, it is determined whether the current set of frames is the last set of frames. According to the particular embodiment of FIG. 41, this can be achieved by determining whether the variable x is equal to the value x_last. When x is equal to x_last, the flow proceeds to step 4105. If not, flow proceeds to step 4107, where x is incremented before returning to step 4103 for further alignment using the next set.

When the flow reaches step 4105, all frames in all sets have been aligned. Step 4105 reports the results of the alignment of method 4100 and any other cleanup operations. For example, although method 4100 ideally results in a single 3D cumulative model, in practice
It is possible to create multiple cumulative models (see discussion of step 4207 in Figure 43). When this occurs, step 4105 results in 3
The number of D cumulative models can be reported to the user or to the next routine for handling. As part of step 4105, the user may have options to help align multiple 3D models with each other. For example,
Once the two 3D cumulative models have been created, the user can graphically manipulate the 3D cumulative model to help identify item points, which can be used to align the two 3D cumulative models. Can be carried out.

In accordance with another embodiment of the present invention, the second cumulative registration process may be performed using the resulting matrix from the first cumulative registration as entry points for the new calculation. . In one embodiment, a larger number of item points may be used, or a larger number of item points may be used when the process encounters a point where the frame or frames cannot be successfully registered in the first attempt. Higher percentages can be used.

42 to 42 disclose particular embodiments of alignment associated with step 4104 of FIG.

Step 4201 is similar to step 4002 of FIG. 40 and each point (P1 ... Pm) of the current frame Sx (3Dy) is analyzed to determine the shape of the closest cumulative model.

Step 4202 defines a vector for each point of the current frame in a manner similar to that previously described with reference to step 4003 of FIG.

Steps 4203 to 4206 move the current 3D frame model in the manner described in steps 4004 to 4006 of FIG. 40, the first model of method 4000 is a cumulative model, and the second model of method 4000 is Is the current frame.

At step 4299, it is determined whether the current pass through registration steps 4202 to 4206 resulted in an improved alignment between the cumulative model and the current frame model. One way to determine the quality improvement is to compare the quality value based on the current position of the model to the quality value based on the previous position of the model. As discussed above with reference to FIG. 40, quality values can be determined using standard deviations or other quality calculations based on the D vector. Note that by default, the first pass through steps 4202 to 4206 for each model 3Dy results in an improved alignment. If the improved alignment occurs, flow returns to step 4202, else flow proceeds to step 4298 of FIG.

Note that the flow control for the cumulative registration method of FIG. 42 is different from the flow control for the single frame registration method of FIG. Specifically, the cumulative flow continues until no quality improvement is realized, but the single frame flow stops once a certain quality is reached. Other embodiments of controlling flow within the registration routine are envisioned.

In an alternative flow control embodiment, the registration iteration process continues as long as the convergence criteria are met. For example, the convergence criterion is considered to be met as long as a quality improvement greater than a constant rate is achieved. Such a percentage is 0.
It can be in the range of 5 to 10%.

In another embodiment, additional stationary iterations may be used even if certain first criteria are met, such as once there is no convergence or quality improvement. The static iteration passes through the registration routine once the quality level stops improving or meets a predetermined criterion. In a particular implementation, the number of stationary iterations can be fixed. For example, 3 to 10 additional iterations can be identified.

At step 4298, it is determined whether the current alignment is successful. In a particular implementation, success is simply based on whether the calculated quality value of the current model placement meets the predetermined criteria. If so, the alignment was successful and routine 4200 returns to the calling step. If the criteria are not met, flow proceeds to step 4207.

In step 4207, it is determined that the current frame model cannot successfully align with the cumulative 3D model. Therefore, the current cumulative 3
The D model is saved and a new cumulative 3D model with the current frame is started. Since a new 3D cumulative model has been started, as described above, the current 3D frame model, which is a point model, is converted to the initial model before returning to the calling step.

There are many other embodiments of the invention. For example, steps 4004, 40
The motion of the frame between 06, 4203 and 4205 may include components of acceleration or hypermotion. For example, the analysis can indicate that movement in a particular direction should be 1 mm. However, to compensate for the size of the sample being calculated or other factors, the frame can move by 1.5 mm, or some other scaled factor. The subsequent movement of the frame is
Similar or different accelerating factors can be used. For example, a smaller acceleration value can be used for registration progress. The use of acceleration factors helps compensate for the local minima that occur when the aligning overlapping features do not occur. When this occurs, small motion values can result in lower quality levels. However, misalignment is likely to be overcome by using acceleration. In general, acceleration can be beneficial in overcoming feature "bumps".

It should be understood that the particular steps shown in the methods of the present application and / or the functionality of the particular modules of the present application may generally be implemented in hardware and / or software. For example, particular steps or functions may be implemented using software and / or firmware running on one or more processing modules.

[0156] Typically, systems for scanning and / or alignment of scanned data include general or specific processing modules and memory. The processing module
It can be based on a single processor or multiple processors. Such a processor may be a microprocessor, microcontroller, digital processor, microcomputer, part of a central processing unit, state machine, logic circuit, and / or any device that manipulates signals.

Manipulation of these signals is generally based on manipulation instructions represented in memory. The memory may be a single memory device or multiple memory devices.
Such memory devices (machine-readable media) include read-only memory, random access memory, floppy disk memory, magnetic tape memory, erasable memory, part of system memory, operating instructions in digital format. May be any other device that stores When the processing module performs one or more functions, it may be performed where the memory storing the corresponding operating instructions is embedded in a circuit with a state machine and / or other logic circuits. Please note.

The present invention has been described with reference to particular embodiments. In other embodiments, more than two alignment processes can be used. For example, if the cumulative registration process is interrupted, resulting in multiple cumulative models, a subsequent registration routine may be used to attempt the registration between the multiple cumulative models.

44 to 52 illustrate particular methods and devices using three-dimensional scan data of anatomical structures that can be obtained in the particular manner described herein. The 3D scan data is transmitted to a remote facility for further use. For example, the three-dimensional scan data is used to design an anatomical device, manufacture an anatomical device, monitor a structural change of a living tissue, or store data belonging to an anatomical structure for a predetermined period. Perform closed loop iterative analysis of anatomical structures, iterative consultation of structures, structure-based simulations, make diagnostics on anatomical structures, or , Can represent anatomy anatomy used to determine an anatomical-based treatment plan.

As used herein, anatomical devices are defined to include devices that actively or passively supplement or modify anatomical structures. Anatomical instruments include orthodontic instruments, which may be active or passive, and include items such as orthodontic bridges, retainers, brackets, wires and positioners. However, the present invention is not limited to this. Examples of other anatomical instruments include splints and stents. Examples of orthodontic and prosthetic anatomical devices include removable prosthetic devices, fixed prosthetic devices and implantable devices. Examples of removable prosthesis devices include dentures, dental structures such as partial dentures, and prosthesis structures for other body parts, such as limbs, eyes, implants included in cosmetic surgery, hearing aids, Also included are prosthetic devices that act as artificial body parts including analogues such as eyeglass frames. Examples of fixed prosthetic device anatomical devices include caps, crowns, and other non-dental anatomical replacement structures. Examples of implantable prosthetic devices include endosseous and orthodontic implants and fixation devices such as plates used to hold or reduce fractures.

FIG. 44 illustrates a flow according to the present invention. Specifically, FIG. 44 illustrates scanning anatomical structure 4400 by scanning device 4401 at facility 4441. According to one aspect of the invention, any scanner type or method capable of producing digital data for the purposes proposed herein can be used. Direct three-dimensional surface scanning shows that some or all of the anatomical structures can be scanned directly. One embodiment for performing a direct three-dimensional surface scan has been previously described herein. In one embodiment, the scan is a surface scan whereby the scanning device 4401 detects signals and / or patterns reflected therefrom at or near the surface of the structure 4400. Specific surface scanning methods and devices have been previously described herein. Other scanning methods can also be used.

Generally, a surface scan of an anatomical structure is a direct scan of the anatomical structure. Direct scanning means scanning the actual anatomy (in vivo). In alternative embodiments, indirect scanning of the anatomical structure can be performed or integrated with direct scanning. Indirect scanning means scanning the representation of the actual original anatomical structure (in vitro).

Digital data 4405 is generated at facility 4441 based on a direct scan of anatomical structure 4400. In one embodiment, digital data 4
405 represents the raw scan data, which is typically a two-dimensional cloud of points created by the scanning device 4401. In another embodiment, digital data 4405 represents a three-dimensional point model, which is generally created based on a two-dimensional cloud of points. In yet another embodiment, digital data 4405 represents a three-dimensional initial model. The digital data 4405 may be a composite of multiple independent scans, which may be performed at about the same or different points in time, and at the same or different locations. Good.

The actual data type of digital data 4405 is determined by the amount of processing performed on the raw scan data at location 4441. Generally, the data received directly from the scanner 4401 is a two dimensional cloud of points. Therefore, facility 4
When no processing is performed at 441, the digital data 4405 is a two-dimensional cloud of points. The 3D point model and the 3D initial model are generally created by further processing the 2D point cloud.

Facility 4441 represents where a physical scan of the anatomical structure occurs. In one embodiment, the facility 4441 is a dedicated or predominantly dedicated location for scanning anatomical structures. In this embodiment, the facility is located within easy access to a large number of clients (patients) in need of scanning. For example, a shopping mall box or small shopping center location may be dedicated to performing the scan. Such a facility may perform a wide variety of scans, or may be specialized for a particular type of scan, such as a scan of facial or dental structures. In an alternative embodiment, the scanning can be performed at home by the user. For example, a user may be provided with a handheld scanner and used to generate scan data that can be used remotely to scan an anatomical structure and used to monitor the progress of a treatment plan. , Or for diagnostic purposes, or for investigative or monitoring purposes.

In another embodiment, facility 4441 is a location for performing other value-added services related to scanning anatomical structures and producing digital data 4405. Other examples of value-added services include digital data 440.
Designing or partially designing an anatomical device based on scan data to create 5, or installing such an anatomical device. In one embodiment, value-added services beyond the production of digital data 4405 are not performed at facility 4441.

Once the digital data 4405 has been created at the facility 4441, the digital data can be provided to the client. Connection 4406 represents digital data being provided to a third party. This step of providing can be performed by the client, by facility 4441, or by any other intermediate source. Generally, the client identifies the third party to which the data should be sent. Digital data 4405 can be provided to facility 4442 physically, ie, by post or courier, or remotely, ie, by communication. For example, the digital data 4405 can be physically provided in a non-volatile storage device, such as a portable magnetic medium, a read-only fuse device or a programmable non-volatile device. In other embodiments, the digital data is a direct connection, the internet, a local area network, a wide area network,
It may be transmitted to the client or a third party by a wireless connection and / or any device capable of transferring digital information from one computing system to another. In certain embodiments, all or some of the digital data needs to be transmitted. For example, if the scan is the patient's teeth and associated structures, such as the gingiva, a portion of the teeth is transmitted.

In the particular embodiment of FIG. 44, digital data 4405 received at facility 4442 (recipient facility) is used to design an anatomical device at step 4415. FIG. 45 illustrates a method having two alternative embodiments of step 4415. The first embodiment starts at step 4501 to design an anatomical structure using a physical model, while the second embodiment starts at step 4511 to create a virtual anatomical device. Design a structure that uses the model. The virtual model of the anatomical device is generally a computer-generated virtual model.

In step 4501, digital data 4405 is used to generate a physical three-dimensional physical model of the anatomical structure. In certain embodiments, the physical model of the scanned object uses numerically controlled processing techniques such as three-dimensional printing, automated milling, laser sintering, stereolithography, injection molding and extrusion. It is made by.

In step 4502, the three-dimensional physical model is used to design an anatomical device. For example, using the physical model, the doctor creates the anatomical device used by the client. In one embodiment, the anatomical device is custom designed based on the physical model. In another embodiment, a standard orthodontic device is selected based on the physical model of the anatomy. These standard devices may be modified as needed to form a semi-custom device.

In step 4503 of FIG. 45, anatomical device fabrication may be based on a physical model. If a physical model is used, design step 4502
And manufacturing step 4503 is often the step where the design and manufacturing processes are occurring at the same time. In another embodiment, a molding or specification of the desired anatomical device is made and sent to a processing center for custom design and / or manufacturing.

In an alternative embodiment starting at step 4511, a virtual three-dimensional model of the anatomical device is used to design the anatomical device. A virtual three-dimensional model means a model produced by a numerically controlled device, such as a computer, either containing digital data 4405 or made based on digital data 4405. In one embodiment, the virtual three-dimensional model is included as part of the digital data 4405 provided to the design center. In another embodiment, a three-dimensional model is created using digital data, step 4
Received at 511. In another embodiment, the alternative 3D model is based on the 3D model included as part of the digital data 4405, step 451.
Made in 1. In another embodiment, multiple 3D models can be stitched together from multiple scans. For example, data from multiple scan sessions can be used.

Further, in step 4511, the virtual anatomical device is designed (modeled) using the virtual three-dimensional model. Virtual devices can be designed using standard or custom design software to identify virtual devices. Examples of such design software include commercially available products such as AutoCAD, Alia.
s, Inc and ProEngineer. For example, the design software can be used to design a virtual crown using a 3D virtual model of an anatomical structure, or a near custom or standard from a library of devices that represent the actual device. Alternatively, a virtual device can be selected. Following the selection of standard equipment, customization can be done.

At step 4512, the anatomical device can be manufactured directly based on the virtual specifications of the device. For example, anatomical devices have numerically controlled processing techniques,
For example, three-dimensional printing, automated milling, or laser sintering,
Using stereolithography and injection and extrusion and casting techniques,
Can be made. Manufacture of anatomical devices consists of partially manufacturing the device,
And that it includes manufacturing the device at multiple locations.

At step 4426, the manufactured anatomical device is scanned. By creating a virtual model of the manufactured anatomical device, a simulation can be performed to verify the relationship between the manufactured anatomical device and the anatomical structure, thereby A closed loop is provided to ensure proper manufacture of the device.

At step 4504, the completed anatomical device is shipped to a specific location for installation. For example, returning to FIG. 44, the anatomical device is sent to facility 4444 where the installation occurs at step 4435. In one embodiment, the anatomical device is installed at step 4435 by a physician, eg, a dentist, orthodontist, physician, or therapist. In another embodiment, the patient may install some orthodontic devices, such as retainers or similar positioning devices.

In accordance with certain embodiments of the present invention, the anatomical device includes digital data 44
Designed or manufactured at a location remote from where 05 is received or made. In one embodiment, the digital data is location 444.
Received in 1. Specifically, digital data is received by scanning anatomical structure 4400. Once received, the digital data is transmitted to location 4442, which is remote to location 4441, where the anatomical device is at least partially designed.

A remote location (facility) is one that is somehow separated from another location. For example, a remote location may be a location that is physically remote from other locations. For example, scanning facilities may be in different rooms, buildings, cities, states, countries or other locations. In another embodiment, the remote location may be a functionally independent location. For example, one location can be used to perform one particular function or set of functions, while another location can be used to perform a different function. Examples of different functions include scanning, designing and manufacturing.
Remote areas are generally supported by separate structural foundations such as personnel and equipment.

In another embodiment, digital data 4405 at facility 4441 includes partially designed anatomical devices. The anatomical device is further designed at remote facility 4442. Facility 4442 may determine the final anatomical device, make a diagnosis, formulate a treatment plan, monitor progress, or determine cost, expertise, ease of communication and required response time. It should be noted that, depending on whether the device is designed on the basis, it may represent one or more remote facilities that can be used in parallel or serially. An example of a parallel facility is further illustrated in FIG.

FIG. 46 illustrates another embodiment of the present invention. The flow of FIG. 46 is similar to the flow of FIG. 44 and has an additional intermediate step 4615. Intermediate step 461
5 indicates that the digital data 4405 need not be received directly from the facility 4441 from which the data was scanned. For example, digital data 4405 can be produced at a first facility (delivery facility) by scanning the digital data and providing it to a second facility 4641 (reception facility) where intermediate step 4615 occurs. . Once the intermediate step 4615 is complete, the digital data 44
05 or modified digital data, which is a display of digital data, can be transmitted to a third facility (remote facility) remote to at least one of the first and second facilities. During the intermediate step 4615, other steps may modify the digital data 4405 before the data is sent to the third facility. For example, the scan data can be processed to provide a three-dimensional virtual model of the anatomy, the data can be added to the digital data, image data of the scanned anatomy 4400, color information. , Video and / or photographic data, including diagnostic information, treatment information, audio data, text data, X-ray data, anatomical device design information, and any other data pertaining to anatomical device design or manufacture. Including. In an alternative embodiment, the intermediate step 4615 need not change the digital data 4405.

FIG. 47 illustrates an alternative embodiment of the invention in which digital data 4405 is received at facility 4742 for forensic evaluation at step 4741. An example of forensic evaluation includes victim identification based on scanned anatomical structures.
Such identification is generally based on matching a particular anatomical structure to an anatomical structure contained within the target database, which may be a single structure or multiple structures. Can be included. In one embodiment, the target database may be a centrally located database that contains data stored for a period of time.

FIG. 48 illustrates that digital data 4405 or a representation thereof may be displayed at steps 4844 and 4845 for one or more remote facilities 4 for diagnostic purposes or treatment planning.
8 illustrates an embodiment of the present invention sent to 843. The ability to publish data for diagnostic purposes can provide three-dimensional information of the anatomical structure to other physicians, such as specialists, without the need for the patient to be physically present. This ability improves the overall speed and convenience of treatment and the accuracy with which multiple diagnoses can be made in parallel. The ability to send digital data 4405, or an indication thereof, to multiple facilities for treatment planning and diagnostics allows for multiple views. Once a particular treatment plan has been selected, any one of the devices identified as part of the treatment plan can be selected for manufacture.

In the particular implementation of FIG. 48, an estimated price may be obtained from each of the facilities.
The quoted price can be based on the particular treatment specified by the trading partner, where the treatment relates to the anatomical structure. Alternatively, the quoted price can be based on the desired outcome specified by the trading partner, and the treatment definition and its associated delivery costs are determined by the facility providing the quote. In this way, the patient or the patient's agent can get competitive bids in an effective manner.

FIG. 49 illustrates an alternative embodiment of the present invention, in which digital data 4405 or an indication thereof is received at facility 4942, so that the data can be used in step 4941 for educational purposes. Because of the deterministic nature of the embodiments described herein, educational techniques can be implemented in standardized ways that are not possible using previous methods. Examples of educational objectives include the ability to provide self-learning objectives, educational monitoring objectives, and standardized application tests not previously possible. Further, the case facts of a particular patient can be matched to the previous or current symptom records of other patients, the symptom record being stored or retained for a period of time.

FIG. 50 illustrates an embodiment in which the scan data can be stored at step 5001 for a predetermined period of time at location 5 for easy retrieval by an authorized person.
It occurs in 002. In certain embodiments, such retention for a period of time is provided as a service, whereby the data is commonly maintained, thereby obtaining an independent "golden rule" copy of a common site of digital data. it can.

FIG. 51 illustrates a particular embodiment of the invention in which digital data obtained by scanning an anatomical structure is used in a closed loop iterative system. Figure 5
The flow of 1 is also interactive. Specifically, anatomical changes, whether intentional or unintentional, can be monitored and controlled as part of a closed loop system. The closed-loop system according to the invention is deterministic, since the scan data can be measured in three-dimensional space, whereby a standard reference in the form of a three-dimensional model can be used for the analysis.

[0187]   In step 5101, three-dimensional scan data of the anatomical device is obtained.

At step 5102, the data from the scan of step 5001 or the display of data is transmitted to the remote facility.

At step 5103, design / evaluation of the transmitted data is performed. For example, treatment planning, diagnostics, and anatomical device designs are determined during a first pass through the loop including step 5103. During the next pass through step 5103, the treatment or device status or progress is monitored and changes are made as needed. In one embodiment, monitoring is performed by comparing current scan data against simulated expected results, prior history or consistent symptom records.

At step 5104, the device or treatment plan is implemented or properly installed. Manufacturing of any of the devices is performed as part of step 5104.

It is determined in step 5105 if an additional pass through the closed loop system of FIG. 50 is required. If so, the flow proceeds to step 5101. If not required, the flow ends. As discussed with reference to FIG. 51, a closed loop feedback loop can exist during any of the steps illustrated in FIG.

The ability to use feedback to verify progress is an advantage over the prior art where physicians rely on one or more of text notes, visual observations of models and other images. However, these observations were made without a fixed three-dimensional model that allows the doctor to ensure that they are viewed from the same perspective.
A fixed reference can be obtained by using the visual model described here. For example, one method of obtaining a fixed reference point for an orthodontic structure involves selecting an oriented reference point based on the physical characteristics of the orthodontic structure. The orientation reference points can then be used to map a digital image of the orthodontic structure to a three-dimensional coordinate system. For example, a swath can be selected as one of the orientation reference points and a wrinkle can be selected as the other orientation reference point. A frenulum is a fixed point on an orthodontic patient that remains unchanged or minimal during treatment. The frenulum is a triangular shaped tissue of the upper part of the gingiva of the upper arch. A wrinkle is a cavity in the palate 68 of the upper arch. Wrinkles also do not change their physical location during treatment. As such, frenulums and wrinkles are fixed points in orthodontic patients that do not change during treatment. As such, three-dimensional coordinate systems can be mapped by using them as orientation reference points. Incisor papilla, cleft lip, midpoint between pupils, midpoint between pallets (eg between lips), midpoint between wings (eg between sides of nose), nose (eg tip of nose), under nose (eg Other physical of orthodontic patients, including fixed bone markers (eg, nose-lips junction), midline points, bony points, implants (eg root canal treatment, screws from oral surgery) Note that attributes are also used as orientation reference points.

FIG. 52 illustrates that iterative feedback steps can occur within and between any combination of the steps illustrated herein. For example, interactive and / or interactive loops may be manufactured step 4425.
And design step 4415, or within the single step described with reference to step 4426 of FIG.

In addition to the many ways of using scanned data derived in the steps of the present application, many ways of facilitating the use of data are possible. For example, the fee for using such scan data 4405 may be the use of the data, the cost of the service provided, the anatomical device being created, or the value added to the device or service based on the data. Or it may be a fixed or variable fee based on. In addition, it is clear that many other types of fees are imaginable.

The steps and methods described herein may be performed by a processing module (not shown). The processing module may be a single processing device or multiple processing devices. Such processing modules may include microprocessors, microcomputers, digital signal processors, central processing units of computers or workstations, digital circuits, state machines, and / or signals (eg, analog and / or analog) based on operating instructions. It may be any device that operates digitally). The operation of the processing module is generally controlled by the data stored in memory. For example, if a microprocessor is used, the microprocessor's bus is connected to the memory's bus to access the instructions. Examples of memory are single or multiple memory devices, eg random access memory,
These include read-only memory, floppy disk memory, hard drive memory, extended memory, magnetic tape memory, zip drive memory, and / or any device that stores digital information. Such memory devices may be local (ie directly connected to the processing unit) or physically different locations (ie a site connected to the Internet). When the processing module performs one or more functions via a state machine or logic circuit, the memory storing the corresponding operating instructions is embedded in the circuit comprising the state machine or logic circuit. Please note.

Those skilled in the art will appreciate that the particular embodiments described herein provide advantages over known techniques. For example, the anatomy being scanned may have one or more associated anatomical devices or instruments. In addition, the present invention provides a deterministic method for diagnosing, treating, monitoring, designing and manufacturing anatomical devices. In addition, this embodiment can be used to provide an interactive method for communicating between the various parties designing and manufacturing the prosthesis. Such an interactive method can be implemented in real time. The methods described herein allow data to be stored for a period of time in a manner that allows others to obtain the actual information and knowledge gained from their experience. Multiple consultants have access to the same deterministic copy of information regardless of location, and objective design, manufacturing and / or treatment monitoring, even when multiple independent sites are used. You can get information. This embodiment allows the avoidance of conventional laboratories used to make anatomical devices. Specifically, the support facilities used to create anatomical devices are now numerous and remote to the patient. This can reduce the overall cost to doctors and patients. Since the scanning location may be remote from other support locations, the patient does not have to go to the doctor to have the status or progress of the device monitored. Overall, due to the fixed, storable nature of the digital data of this embodiment, an identical replica model can be produced from the golden rule model at low cost, which results in lost or inaccurate data. Less likely to be. By reducing the amount of time and movement required of the patient to analyze a particular anatomy, treatment costs are reduced. Prior art methods increase the accessibility of multiple opinions (estimations, treatment plans, diagnoses, etc.) without further inconvenience to associated patients. Competitive quotes can also be easily obtained using the particular embodiment illustrated.

In the preceding specification, the present invention has been described with reference to particular embodiments.
However, one of ordinary skill in the art appreciates that various modifications and changes can be made without departing from the scope of the present invention as set forth in the claims below. For example, the digital data may be a composite of direct scanning of the anatomical structure and indirect scanning of the structure. This may occur when a portion of the anatomical structure is not visible by the scanner 4401, so an impression of at least that portion of the anatomical structure is not visible. The impression or model made from the impression is then scanned and "binded" to the direct scan data to form a full scan. In other embodiments, the digital data 4405 can be used in combination with other conventional methods. In other embodiments, the digital data described herein may be compressed or secured using encryption methods. When encrypted, one or more of the patient, the scanning facility and the facility or patient representative that may be stored for a period of time may have a cryptographic key for digital data. Therefore, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of the present invention. In the claims, one or more means-plus-function terms, if any, cover the structures described herein that perform the recited function (s). The means plus function term (s) also covers structural equivalents, and equivalent structures that perform the recited function (s). Benefits, other advantages, and solutions to problems have been described above with regard to specific embodiments. However, benefits, other advantages, solutions to problems, and any singular and plural elements that may give rise to or make clear any benefit or advantage or solution may be defined by any or all of the claims. It should not be construed as a critical required or essential feature or element.

Those skilled in the art will appreciate that the present invention is advantageous over the prior art because reference independent scanners have been disclosed in certain embodiments to incorporate variable identifiers in a direction orthogonal to the projection / viewing plane. recognize. By providing the variables in a direction orthogonal to the projection / viewing plane, the distortion of these variables is less than the distortion in the direction parallel to the projection / viewing plane and does not prohibit the identification of particular shapes. As a result, greater accuracy of object mapping can be obtained.

[Brief description of drawings]

FIG. 1 illustrates an object being scanned by a single line according to the prior art.

FIG. 2 illustrates an object being scanned by multiple lines according to the prior art.

[Figure 3]   FIG. 3 illustrates the projection and viewing axes associated with the lines of FIG. 2 according to the prior art.

[Figure 4]   FIG. 4 illustrates the object of FIG. 3 from a point of reference equal to the projection axis of FIG.

[Figure 5]   FIG. 5 illustrates the object of FIG. 3 from the visual axis of FIG.

FIG. 6 illustrates an object having a plurality of projected lines of varying thickness according to the prior art.

[Figure 7]   FIG. 7 illustrates the object of FIG. 6 from the point of reference equal to the visual axis shown in FIG.

FIG. 8 illustrates a side view of an object with varying projected line thicknesses according to the prior art.

[Figure 9]   FIG. 9 illustrates the object of FIG. 8 from the point of reference equal to the visual axis of FIG.

[Figure 10]   FIG. 10 illustrates a system according to the present invention.

FIG. 11   FIG. 11 illustrates a portion of the system of FIG. 10 according to the present invention.

[Fig. 12]   FIG. 12 illustrates the method according to the invention in the form of a flow chart.

13 illustrates the object of FIG. 3 from a point of reference equal to the visual axis of FIG. 3 according to the present invention.

14 illustrates the object of FIG. 3 from a point of reference equal to the visual axis of FIG. 3 in accordance with the present invention.

FIG. 15   FIG. 15 illustrates an object having a projected pattern according to the present invention.

FIG. 16 illustrates a table that identifies various types of pattern components in accordance with the present invention.

FIG. 17   FIG. 17 illustrates a set of unique identifiers in accordance with the present invention.

FIG. 18   FIG. 18 illustrates a set of repeating identifiers according to the present invention.

FIG. 19   FIG. 19 illustrates the method according to the invention in the form of a flow chart.

FIG. 20   FIG. 20 illustrates the method according to the invention in the form of a flow chart.

FIG. 21   FIG. 21 illustrates the method according to the invention in the form of a flow chart.

FIG. 22   FIG. 22 illustrates the method according to the invention in the form of a flow chart.

FIG. 23 illustrates a series of images to be projected on an object according to an embodiment of the invention.

FIG. 24 illustrates an image with varying features according to an embodiment of the invention.

FIG. 25 illustrates projected image features reflecting from a surface at different depths in accordance with a preferred embodiment of the present invention.

FIG. 26   FIG. 26 illustrates the projected image of FIG. 25 seen at different depths.

FIG. 27 illustrates a dentition object from various perspectives, in accordance with a preferred embodiment of the present invention.

FIG. 28 illustrates a dentition object from various perspectives, in accordance with a preferred embodiment of the present invention.

FIG. 29 illustrates a dentition object from various perspectives, according to a preferred embodiment of the present invention.

FIG. 30 illustrates a dentition object from various perspectives, according to a preferred embodiment of the present invention.

FIG. 31   FIG. 31 illustrates a method according to a particular embodiment of the invention.

FIG. 32 illustrates a dentition object being scanned from various perspectives in accordance with a preferred embodiment of the present invention.

FIG. 33 illustrates a dentition object being scanned from various perspectives, in accordance with a preferred embodiment of the present invention.

FIG. 34   FIG. 34 illustrates an initial shape for modeling a dentition object.

FIG. 35   FIG. 35 illustrates a method according to a particular embodiment of the invention.

FIG. 36   FIG. 36 illustrates a method according to a particular embodiment of the invention.

FIG. 37 illustrates a schematic representation of a method for selecting various item points for registration, according to a preferred embodiment of the present invention.

FIG. 38   FIG. 38 illustrates a method according to a particular embodiment of the invention.

FIG. 39   FIG. 39 illustrates a method according to a particular embodiment of the invention.

FIG. 40 FIG. 40 illustrates a method according to a particular embodiment of the invention.

FIG. 41   FIG. 41 illustrates a method according to a particular embodiment of the invention.

FIG. 42   FIG. 42 illustrates a method according to a particular embodiment of the invention.

FIG. 43   FIG. 43 illustrates a method according to a particular embodiment of the invention.

FIG. 44   FIG. 44 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 45   FIG. 45 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 46   FIG. 46 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 47   FIG. 47 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 48   FIG. 48 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 49   FIG. 49 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 50   FIG. 50 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 51   FIG. 51 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 52   FIG. 52 illustrates a particular flow according to a particular embodiment of the invention.

[Procedure amendment]

[Submission date] November 29, 2002 (2002.1.19)

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0081

[Correction method] Delete

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0082

[Correction method] Delete

[Procedure 3]

[Document name to be amended] Statement

[Name of item to be corrected] Brief description of the drawing

[Correction method] Change

[Contents of correction]

[Brief description of drawings]

FIG. 1 illustrates an object being scanned by a single line according to the prior art.

FIG. 2 illustrates an object being scanned by multiple lines according to the prior art.

[Figure 3]   FIG. 3 illustrates the projection and viewing axes associated with the lines of FIG. 2 according to the prior art.

[Figure 4]   FIG. 4 illustrates the object of FIG. 3 from a point of reference equal to the projection axis of FIG.

[Figure 5]   FIG. 5 illustrates the object of FIG. 3 from the visual axis of FIG.

FIG. 6 illustrates an object having a plurality of projected lines of varying thickness according to the prior art.

[Figure 7]   FIG. 7 illustrates the object of FIG. 6 from the point of reference equal to the visual axis shown in FIG.

FIG. 8 illustrates a side view of an object with varying projected line thicknesses according to the prior art.

[Figure 9]   FIG. 9 illustrates the object of FIG. 8 from the point of reference equal to the visual axis of FIG.

[Figure 10]   FIG. 10 illustrates a system according to the present invention.

FIG. 11   FIG. 11 illustrates a portion of the system of FIG. 10 according to the present invention.

[Fig. 12]   FIG. 12 illustrates the method according to the invention in the form of a flow chart.

13 illustrates the object of FIG. 3 from a point of reference equal to the visual axis of FIG. 3 according to the present invention.

14 illustrates the object of FIG. 3 from a point of reference equal to the visual axis of FIG. 3 in accordance with the present invention.

FIG. 15   FIG. 15 illustrates an object having a projected pattern according to the present invention.

FIG. 16 illustrates a table that identifies various types of pattern components in accordance with the present invention.

FIG. 17   FIG. 17 illustrates a set of unique identifiers in accordance with the present invention.

FIG. 18   FIG. 18 illustrates a set of repeating identifiers according to the present invention.

FIG. 19   FIG. 19 illustrates the method according to the invention in the form of a flow chart.

FIG. 20   FIG. 20 illustrates the method according to the invention in the form of a flow chart.

FIG. 21   FIG. 21 illustrates the method according to the invention in the form of a flow chart.

FIG. 22   FIG. 22 illustrates the method according to the invention in the form of a flow chart.

FIG. 23 illustrates a series of images to be projected on an object according to an embodiment of the invention.

FIG. 24 illustrates an image with varying features according to an embodiment of the invention.

FIG. 25 illustrates projected image features reflecting from a surface at different depths in accordance with a preferred embodiment of the present invention.

FIG. 26   FIG. 26 illustrates the projected image of FIG. 25 seen at different depths.

FIG. 27 illustrates a dentition object from various perspectives, in accordance with a preferred embodiment of the present invention.

FIG. 28 illustrates a dentition object from various perspectives, in accordance with a preferred embodiment of the present invention.

FIG. 31   FIG. 31 illustrates a method according to a particular embodiment of the invention.

FIG. 32 illustrates a dentition object being scanned from various perspectives in accordance with a preferred embodiment of the present invention.

FIG. 33 illustrates a dentition object being scanned from various perspectives, in accordance with a preferred embodiment of the present invention.

FIG. 34   FIG. 34 illustrates an initial shape for modeling a dentition object.

FIG. 35   FIG. 35 illustrates a method according to a particular embodiment of the invention.

FIG. 36   FIG. 36 illustrates a method according to a particular embodiment of the invention.

FIG. 37 illustrates a schematic representation of a method for selecting various item points for registration, according to a preferred embodiment of the present invention.

FIG. 38   FIG. 38 illustrates a method according to a particular embodiment of the invention.

FIG. 39   FIG. 39 illustrates a method according to a particular embodiment of the invention.

FIG. 40   FIG. 40 illustrates a method according to a particular embodiment of the invention.

FIG. 41   FIG. 41 illustrates a method according to a particular embodiment of the invention.

FIG. 42   FIG. 42 illustrates a method according to a particular embodiment of the invention.

FIG. 43   FIG. 43 illustrates a method according to a particular embodiment of the invention.

FIG. 44   FIG. 44 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 45   FIG. 45 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 46   FIG. 46 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 47   FIG. 47 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 48   FIG. 48 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 49   FIG. 49 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 50   FIG. 50 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 51   FIG. 51 illustrates a particular flow according to a particular embodiment of the invention.

FIG. 52   FIG. 52 illustrates a particular flow according to a particular embodiment of the invention.

─────────────────────────────────────────────────── ─── Continued front page    (31) Priority claim number 09 / 560,583 (32) Priority date April 28, 2000 (April 28, 2000) (33) Priority claiming countries United States (US) (31) Priority claim number 09 / 560,644 (32) Priority date April 28, 2000 (April 28, 2000) (33) Priority claiming countries United States (US) (31) Priority claim number 09 / 560,645 (32) Priority date April 28, 2000 (April 28, 2000) (33) Priority claiming countries United States (US) (31) Priority claim number 09/560, 133 (32) Priority date April 28, 2000 (April 28, 2000) (33) Priority claiming countries United States (US) (31) Priority claim number 09 / 560,584 (32) Priority date April 28, 2000 (April 28, 2000) (33) Priority claiming countries United States (US) (31) Priority claim number 09 / 616,093 (32) Priority date July 13, 2000 (July 13, 2000) (33) Priority claiming countries United States (US) (81) Designated countries EP (AT, BE, CH, CY, DE, DK, ES, FI, FR, GB, GR, IE, I T, LU, MC, NL, PT, SE, TR), OA (BF , BJ, CF, CG, CI, CM, GA, GN, GW, ML, MR, NE, SN, TD, TG), AP (GH, G M, KE, LS, MW, MZ, SD, SL, SZ, TZ , UG, ZW), EA (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM), AE, AG, AL, AM, AT, AU, AZ, BA, BB, BG, BR, BY, B Z, CA, CH, CN, CR, CU, CZ, DE, DK , DM, DZ, EE, ES, FI, GB, GD, GE, GH, GM, HR, HU, ID, IL, IN, IS, J P, KE, KG, KP, KR, KZ, LC, LK, LR , LS, LT, LU, LV, MA, MD, MG, MK, MN, MW, MX, MZ, NO, NZ, PL, PT, R O, RU, SD, SE, SG, SI, SK, SL, TJ , TM, TR, TT, TZ, UA, UG, UZ, VN, YU, ZA, ZW (72) Inventor Weize, Thomas             Germany 10965 Berlin Mehring             Dam 91 (72) Inventor Sakdeva, Rohit             United States Texas 75093             Rano Courtside Lane 2605 F term (reference) 2F065 AA04 AA53 BB05 CC16 DD06                       FF01 FF02 FF09 GG24 HH07                       HH12 JJ03 JJ08 JJ26 MM11                       NN20 QQ00 QQ03 QQ24 QQ27                       QQ28 QQ38 QQ41                 2F069 AA04 AA61 BB40 DD15 GG04                       GG07 JJ01 NN00 NN08 NN25                 5B057 AA07 BA02 BA19 CA01 CA12                       CA16 CB02 CB13 CB16 CC02                       CD14 DA07 DA17 DC05

Claims (48)

[Claims] 1. A method of creating a three-dimensional model of an object, the method comprising: receiving a 3D initial model of a first object portion, the 3D initial model including a plurality of initial shapes; Receiving a 3D point model of a model portion, said 3D point model comprising a plurality of points, said valid and possibly overlapping a portion of said 3D initial model of said first object portion. Determining a first set of points of a 3D point model; aligning the 3D point model with the 3D initial model based on the first set of points. 2. The determining step comprises: substituting a minimum distance from the point Px to the initial model, where x = 1 to n, where n is the number of points in the 3D point model. The method of claim 1, comprising: a substep of including a point Px in the first set of points if Dx is less than a predetermined value. 3. A device for scanning the surface of an object, comprising: a scanning device including a projection device and an observation device; and a system controller operatively connected to the scanning device, the projection device comprising: An apparatus provided with a combination of a system control apparatus having a first control apparatus for controlling and a second control apparatus for controlling the observation apparatus. 4. A method for producing a three-dimensional model of an object, comprising at least one component that varies orthogonal to a plane formed by at least one point of a projection axis and a visual axis. Projecting an image having one coded feature, receiving a display of a surface image at a viewing device, and observing a point on the surface of the object based on the at least one coded feature. Determining the position. 5. A method for producing a three-dimensional model of an object from a reference independent scanning device, comprising the steps of: a) scanning and receiving first data representing two-dimensional object data, Data of a plurality of frames, b) creating a first three-dimensional model from a first frame of the first data, and c) a second frame of the first data. 2) creating a three-dimensional model; d) performing a process of aligning the first three-dimensional model with the second three-dimensional model to produce a cumulative model; and e) aligning. Repeating the steps b) to d) until the process of producing a cumulative model is completed for all frames of the first data. 6. A method of registering data, the step of receiving reference independent data representing an object, said reference independent data comprising a plurality of frames F1 to Fn, where n is a positive number greater than one. And each of frames F1 to Fn represents an object part of said object and performing an alignment between said object part during frame Fx and said object part during frame Fx + 1. Where x is an integer between 1 and n-1. 7. The method of claim 6, wherein the spatial position of the object portion of frame Fx is unknown and the spatial position of the object portion of frame Fx + 1 is unknown. 8. The method of claim 6, wherein the spatial position of the scanner is unknown when frame Fx is captured and the spatial position of the scanner is unknown when frame Fx + 1 is captured. 9. The method of claim 8, wherein the spatial position of the object portion of frame Fx is unknown and the spatial position of the object portion of frame Fx + 1 is unknown. 10. A method of registering data, the method comprising: receiving a first two-dimensional image representing a first portion of an object, the first two-dimensional image being a reference independent image. Receiving a second two-dimensional image representing a second part of the object, the second two-dimensional image being a reference independent image; and the second image with respect to the first image. Determining the original item points used to perform the three-dimensional registration of the. 11. The method of claim 10, further comprising performing a three-dimensional registration based on the original item points. 12. The method of claim 11, further comprising: defining alternative item points based on the original item points; and performing three-dimensional registration based on the alternative item points. 13. A method of registering data, the method comprising receiving reference independent data representing an object, the reference independent data comprising a plurality of frames F1 to Fn, where n is a positive number greater than one. And each frame F1 to Fn represents an object portion of the object, and performing a first registration using the reference independent data to create a first three-dimensional model. Performing a second registration using the reference independent data to produce a second three-dimensional model. 14. The method of claim 13, wherein the first alignment has a first characteristic and the second alignment has a second characteristic. 15. The first and second characteristics are accuracy characteristics.
The method described in. 16. The method of claim 15, wherein the first characteristic results in a second three-dimensional model that is more accurate than the first three-dimensional model. 17. The method of claim 16, wherein the step of performing the first alignment takes less time than the step of performing the second alignment. 18. The first alignment is a single frame alignment that attempts to align each frame Fx with an adjacent frame Fx−1 when x = 2 ... n. 13. The method according to 13. 19. Receiving digital data, the digital data being based on a direct three-dimensional surface scan of an anatomical structure, and displaying the digital data to remotely design an anatomical device. And a step of transmitting to the ground. 20. The method of claim 19, wherein the receiving step further comprises scanning the anatomical structure that directly receives the digital data. 21. The method of claim 19, wherein said receiving step further comprises receiving said digital data at a receiving facility from a sending facility, wherein said receiving facility, said sending facility and said remote facility are different facilities. 22. The method of claim 19, wherein the step of transmitting to design an anatomical device comprises manufacturing the device. 23. The method of claim 19, wherein the receiving step includes the digital data based on a reference independent scan. 24. The method of claim 23, wherein the reference independent scan comprises a multi-frame reference independent three-dimensional scan of an object. 25. The method of claim 19, wherein the receiving step comprises receiving the digital data at a facility that does not design the anatomical device. 26. Receiving digital data, the digital data being based on a direct three-dimensional surface scan of an anatomical structure, and transmitting the representation of the digital data to a remote location for forensic purposes. And, including. 27. A processing module having a bus and a memory having a bus connected to the bus of the processing module, wherein the processing module is provided with digital data based on a three-dimensional surface scan of an anatomical structure. A system for receiving instructions for receiving and transmitting a display of the digital data to a remote location to design an anatomical device. 28. A method of mapping a surface, the method comprising: projecting a first image along a projection axis onto an object to be mapped during a first period of time, the first image being a measurement feature. And a step of projecting a second image along the projection axis onto the surface during a second period, the second image being the measurement of the first image. Having a coded feature used to identify a feature, said first
And the second period are temporally adjacent to each other and are substantially mutually exclusive. 29. The step of projecting the second image includes a coded feature that is at least partially substantially orthogonal to a plane formed by one point of the projection axis and the viewing axis. The method of claim 28. 30. An apparatus for mapping an object, the first image having a measurement feature being emitted during a first time period along a projection axis to the object to be mapped, and a first image along the projection axis. A projector emitting a second image having features coded during two periods, the second image being at least partially orthogonal to a plane, the measurement of the first image A device used to identify features, wherein the first time period and the second time period are temporally adjacent and are substantially mutually exclusive. 31. An apparatus for scanning an object, comprising: a data processor for executing a command; and a plurality of commands for projecting a first image below onto an object to be mapped along a projection axis. An operation for identifying a first period to be performed, wherein the first image is detectable in a direction parallel to a plane formed by one point of the projection axis and the visual axis. An operation having a section, and an operation specifying a second time period during which a second image should be projected onto a surface along the projection axis, the second image being at least partially orthogonal to the plane. And having an encoded feature used to identify the measurement feature of the first image, and a plurality of operations that can be performed in the data processor to perform A first term, including: The space and the second time period are adjacent in time and are substantially mutually exclusive. 32. A method of scanning, providing a patient; providing a scanner using a pattern with coded features orthogonal to a plane of triangulation; and multi-frame reference independent. Scanning a portion of the patient using a three-dimensional scan to receive scan data. 33. The method of claim 32, wherein the portion of the patient is a dentition structure. 34. The method of claim 33, wherein the portion of the patient comprises a tooth portion. 35. The method of claim 32, wherein the portion of the patient is unfixed during the scanning step. 36. A method of scanning a portion of a patient's mouth, the step of receiving scan data having an image with an undercut of a dentition structure, the known method relating to said scan data reference points. Free spatial reference of the denture structure, and using the scan data to create a three-dimensional model of the dentition structure. 37. A method of mapping an object, the method comprising: projecting a first image onto a surface of the object along a projection axis, the first image having a first characteristic. Including a measurement feature for mapping a set of surface features of the first set, and projecting a second image along the projection axis onto the surface of the object, the second image comprising: Including a measurement feature for mapping a second set of surface features having a second characteristic. 38. The method of claim 37, wherein the step of projecting the second image further comprises projecting the second image at the same time as the first image. 39. The first image further comprises a first image having a plurality of parallel features, each of the plurality of parallel features being separated by a predetermined distance X, and the second image. 39. The method of claim 38, wherein includes at least one feature separated from any other feature by a predetermined distance Y, where Y is greater than X. 40. The second image based on projecting the first image feature
38. The method of claim 37, further comprising: determining surface features of the second set of surface features, wherein the second set of surface features is not mapped using the first image features. 41. An apparatus comprising a projector used to project an image for mapping an object, the projector projecting a first image and a second image along a projection axis onto a surface of the object, The first image includes a measurement feature for mapping a first set of surface features having a first characteristic, projecting a second image onto the surface of the object along the projection axis. , The second image comprises a measurement feature for mapping a second set of surface features having a second characteristic. 42. A method of mapping a surface, the method comprising: projecting an image onto the surface along a projection axis to provide a surface image.
The image includes a variable feature that varies in a direction substantially orthogonal to a plane formed by one point of the projection axis and the visual axis, and receives a display of the surface image along the visual axis. Determining a location at a point on the surface based at least in part on the variable feature of the representation of the surface image. 43. The method of claim 42, wherein the image is a predetermined pattern. 44. A first feature wherein the predetermined pattern has a first feature that includes at least a location at the point on the surface and a second feature that includes at least a portion of the variable feature. An image portion and a second image portion having a third feature and a fourth feature, wherein the determining step uses the second feature to determine the first feature. 44. The method of claim 43, further comprising identifying. 45. A method of mapping a surface, the method comprising: projecting a pattern onto the surface, the pattern having a plurality of first features and a plurality of second features. Each of the plurality of second features is uniquely identifiable regardless of the phase of the surface; and identifying the plurality of first features based on the plurality of second features. Determining a feature. 46. The method of claim 45, further comprising the step of calculating the relative position of one point on the surface based on the particular feature. 47. A method of scanning an object, comprising: projecting a plurality of discontinuity shapes to scan an object, the plurality of discontinuity shapes including a first discontinuity shape and a second discontinuity shape. And a step of projecting a first coded feature onto the first discontinuous shape. 48. An apparatus for scanning an object, comprising: a data processor for executing a command; and a plurality of commands, the operations of: projecting a plurality of discontinuous shapes to scan an object. And wherein the plurality of discontinuity shapes includes an operation including a first discontinuity shape and a second discontinuity shape, and projecting a first coded feature onto the first discontinuity shape. And a plurality of instructions that can be executed by the data processor to perform the operation.