JP2018171323A - Image pickup apparatus and tip member detachably attachable with respect to housing of image pickup apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image pickup apparatus having excellent operability and capable of stably capturing an image, and tip member detachably attachable with respect to a housing of the image pickup apparatus.SOLUTION: An intraoral scanner 100 for capturing an image of teeth 200 is provided. The intraoral scanner 100 includes an optical measurement part 30, and a probe 10 being connectable to the optical measurement part 30 via a connecting part 20. The probe 10 includes: a housing 12 having an opening part 11 to be connected to the optical measurement part 30; a measurement window 13 (a daylighting part) provided at an opposite side of the opening part 11 in the housing 12; and a mirror 14 reflecting light introduced from the measurement window 13 to a direction of the opening part 11. The probe 10 includes a recess 15 at a side provided with the measurement window 13. More specifically, the recess 15 is provided at a farthest position from the opening part 11, at the position adjacent to the measurement window 13.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an imaging device that images a target object and a tip member that is detachable from a housing of the imaging device.

  In the dental field, when imaging an object (such as a tooth) in the oral cavity for purposes such as diagnostic imaging or obtaining an optical impression, the distal end portion of the imaging device is inserted into the oral cavity. For convenience of insertion into a narrow oral cavity, it is necessary to make the tip of the imaging device small enough to enter the oral cavity. Accordingly, the imaging field of view is narrowed because the imaging optical system incorporated in the tip is also subject to size restrictions. For this reason, it is difficult to capture an entire intraoral image (for example, an image of the entire dentition) at once. In view of this, a method has been developed in which individual images of the oral cavity that are continuously captured while moving the tip portion in the oral cavity are combined to generate an entire image (Patent Document 1). In Patent Document 1, a dental camera, which is an imaging device held by hand during measurement, moves relative to a dental object such as the lower jaw or the upper jaw and takes images at regular time intervals. Is disclosed.

Special table 2015-530137

  As disclosed in Patent Document 1, when images in the oral cavity are continuously captured and the images of the entire dentition are generated by combining the individual images, the common images necessary for the combining process are required between the individual images. It is necessary to include a characteristic structure. In the oral cavity, a tooth part with large irregularities often contains more characteristic structures than a gingival part with few irregularities. Therefore, it is advantageous to perform continuous imaging while always keeping a tooth portion including more characteristic structures within the imaging field. That is, the operator needs to move the imaging device along the dentition while directing the tip of the imaging device toward the teeth. However, there is a problem that the position of the tip portion may be displaced from the dentition due to slippage of the contact portion between the tip portion and the oral cavity, and stable imaging cannot be performed. Further, in order to continuously capture images in the oral cavity, for example, a direction turning operation for turning the direction of the moving tip, or along the side surface of the tooth with the upper teeth and the lower teeth engaged. Therefore, it is desired that the imaging device has good operability and can cope with various operations such as a lateral imaging (bite scan) operation for moving the tip member.

  An object of the present invention is to provide an imaging device that has good operability and can stably capture images, and a tip member that is detachable from a housing of the imaging device.

  An image pickup apparatus according to the present invention is an image pickup apparatus that picks up an image of an object, and is provided in a housing, a daylighting unit for capturing light from the object, and a housing. The detection unit for detecting the light taken in from the daylighting unit and the processing unit for processing the result detected by the detection unit are provided, and a depression is provided on the side of the tip portion where the daylighting unit is provided.

  A tip member that is detachable from a housing of an imaging device that captures an image of an object according to the present invention is provided on a connection portion connectable to the housing and on the opposite side of the connection portion, and is used for capturing light from the object And a recess was provided on the side where the daylighting unit was provided.

  The imaging device according to the present invention can perform continuous imaging while slid on the object by applying the object to a recess provided on the side of the distal end where the daylighting unit is provided. Since the object can be assigned to the depression, the position of the apparatus is stabilized, and the object can be prevented from moving in a direction different from the sliding direction. As a result, the imaging apparatus according to the present invention has good operability and can perform stable imaging. Moreover, the hollow was provided in the side which provided the lighting part among the front-end | tip members which can be attached or detached from the housing of the imaging device which concerns on this invention. The object can be slid on the object while applying the object to the depression. Since the object can be assigned to the depression, the position of the apparatus is stabilized, and the object can be prevented from moving in a direction different from the sliding direction. As a result, by using the tip member according to the present invention for the imaging apparatus, it is possible to perform stable imaging with good operability.

It is a block diagram which shows the structure of the three-dimensional scanner which concerns on Embodiment 1 of this invention. It is the schematic for demonstrating the structure of the front-end | tip member which concerns on Embodiment 1 of this invention. It is a bottom view of the tip member concerning Embodiment 1 of the present invention, and is the figure which expanded the neighborhood of a measurement window. It is an enlarged view at the time of seeing the hollow which concerns on Embodiment 1 of this invention from the front of a front-end | tip member. It is a schematic diagram which shows a mode that the front-end | tip member which concerns on Embodiment 1 of this invention was applied to the upper surface of the tooth | gear. It is a schematic diagram which shows a mode that the front-end | tip member which concerns on Embodiment 1 of this invention was applied to the side surface of the tooth | gear. It is a schematic diagram of the optical system arrange | positioned in the handpiece which concerns on Embodiment 1 of this invention. It is a figure which shows the image which the three-dimensional scanner which concerns on Embodiment 1 of this invention imaged. It is a figure for demonstrating the method to synthesize | combine the image imaged by the three-dimensional scanner which concerns on Embodiment 1 of this invention. It is the schematic for demonstrating the structure of the front-end | tip member which concerns on Embodiment 2 of this invention. It is the schematic for demonstrating the structure of the front-end | tip member which concerns on Embodiment 3 of this invention. It is the schematic for demonstrating the structure of the front-end | tip member which concerns on Embodiment 4 of this invention. It is the schematic for demonstrating the structure of the front-end | tip member which concerns on Embodiment 5 of this invention. It is the schematic for demonstrating the structure of the handpiece which concerns on Embodiment 6 of this invention. It is the schematic for demonstrating the shape of the hollow of the modification 1. FIG. 10 is a schematic diagram for explaining a shape of a recess according to Modification 2. FIG.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings.
(Embodiment 1)
The imaging apparatus according to Embodiment 1 of the present invention is an imaging apparatus (three-dimensional scanner) for capturing a three-dimensional image of teeth in the oral cavity. However, the imaging apparatus according to the present invention is not limited to the three-dimensional scanner, and can be applied to other imaging apparatuses having the same configuration. For example, an optical coherence tomography apparatus for capturing a tomographic image of an object, a camera for capturing a two-dimensional image of the object, a panorama of the object obtained by superimposing and synthesizing a plurality of two-dimensional images It can also be applied to a camera for capturing an image. Further, the object to be imaged by the imaging device is not limited to the tooth, and may be a living body or an artificial object having a protrusion that can be contacted by the distal end portion or the distal end member of the imaging device provided with the depression. For example, a human or animal bone, a living body type (impression) obtained using an impression material, an artificial skeletal model or living body model, other industrial products, or the like can be targeted for imaging by the imaging apparatus.

[Configuration of 3D scanner]
FIG. 1 is a block diagram showing a configuration of a three-dimensional scanner 100 according to Embodiment 1 of the present invention. A three-dimensional scanner 100 shown in FIG. 1 includes a tip member 10, a connection unit 20, an optical measurement unit 30, a control unit 40, a display unit 50, and a power supply unit 60. The tip member 10 is inserted into the oral cavity, projects light having a pattern (hereinafter also referred to as a pattern) onto the tooth 200 that is the object, and the reflected light from the tooth 200 onto which the pattern is projected is reflected in the optical measurement unit 30. Leading to. Further, since the tip member 10 is detachable from the optical measurement unit 30, only the tip member 10 that may come into contact with the living body is removed from the optical measurement unit 30 as a countermeasure against infection and sterilized (for example, at a high temperature). Treatment in a high-humidity environment). When the entire apparatus of the three-dimensional scanner 100 is sterilized, there are disadvantages that the life of the apparatus is shortened because many optical parts and electronic parts are included. However, when only the tip member 10 is removed and sterilized, the disadvantage occurs. Absent. The connecting portion 20 has a shape that can be fitted to the tip member 10 and is a portion protruding from the optical measuring portion 30. The connection unit 20 includes a lens system for guiding the light collected by the tip member 10 to the optical measurement unit 30, and optical components such as a cover glass, an optical filter, and a phase difference plate (¼ wavelength plate). Also good.

  The optical measurement unit 30 projects a pattern on the tooth 200 via the tip member 10, and detects and processes reflected light from the tooth 200 on which the pattern is projected, thereby capturing a three-dimensional image of the tooth 200. Although not shown in FIG. 1, the optical measurement unit 30 forms an image on the surface of the tooth 200 with an optical component (pattern generation element), a light source, and a pattern for generating a pattern to be projected onto the target tooth 200. Lens components, a focus variable unit capable of changing the focus position (focus), and an image sensor 23 for detecting the projected pattern (see FIG. 7). The optical measurement unit 30 will be described below as a configuration for acquiring a three-dimensional shape using the principle of the focusing method. However, the configuration is not limited to the configuration, and the confocal method, the triangulation method, the white interference method, and the stereo method are used. The three-dimensional shape may be obtained using a principle such as a photogrammetry method, a SLAM method (Simultaneous Localization and Mapping), or an optical coherence tomography (OCT). That is, the tip member provided by the present invention is different in the form of the pattern (may be light without a pattern) and the configuration of the optical component and the electronic component built in the optical measurement unit 30 depending on the measurement principle. No. 10 can be applied to any configuration using any principle as long as the configuration acquires a three-dimensional shape using an optical technique. The tip member 10, the connection unit 20, and the optical measurement unit 30 constitute a handpiece 80 for imaging the oral cavity. The image sensor 23 is, for example, an optical sensor such as a CCD image sensor or a CMOS image sensor, a sensor for detecting an interference signal between the reflected light from the tooth 200 and the reference light, and the like, and is suitable for use. An image sensor 23 is provided in the optical measurement unit 30.

  The control unit 40 controls the operation of the optical measurement unit 30 and processes information on the reflected light from the teeth 200 detected by the optical measurement unit 30 to capture a three-dimensional image of the object. Specifically, the control unit 40 detects reflected light from the teeth 200 as a two-dimensional element image (hereinafter also referred to as a two-dimensional element image), and focuses the two-dimensional element image on the focus variable unit. Repeat several times, changing little by little. Based on the obtained two-dimensional element images, the control unit 40 obtains a most in-focus distance by arithmetic processing in the control unit 40, thereby obtaining one three-dimensional image. Here, the three-dimensional image includes three-dimensional shape information of the teeth 200, color information (for example, reflectance information for each color such as red, blue, and green). Of course, the three-dimensional image may include other information such as the normal direction information of the three-dimensional texture. The control unit 40 includes a CPU (Central Processing Unit) as a control center, a ROM (Read Only Memory) that stores programs and control data for operating the CPU, and a RAM (Random Access) that functions as a work area for the CPU. Memory) and an input / output interface for maintaining signal consistency with peripheral devices. Further, the control unit 40 can output the acquired three-dimensional image to the display unit 50 and can input information such as settings of the optical measurement unit 30 with an input device (not shown). It should be noted that at least a part of the calculation for processing the captured two-dimensional element image and capturing the three-dimensional image may be realized as software by the CPU of the control unit 40, or processing is performed separately from the CPU. It may be realized as hardware. In addition, at least a part of the processing unit such as the CPU or hardware may be incorporated in the optical measurement unit 30. In FIG. 1, each component (30, 40, 50, 60) of the three-dimensional scanner 100 is depicted as being wired by a cable (thick line in the figure). Or all may be connected by radio | wireless communication. If the control unit 40 is sufficiently small and light enough to be lifted with one hand, the control unit 40 and the optical measurement unit 30 may be integrated and configured as a single handpiece 80.

  The display unit 50 is a display device for displaying the imaging result of the three-dimensional image of the tooth 200 obtained by the control unit 40. The display unit 50 can also be used as a display device for displaying other information such as setting information of the optical measurement unit 30, patient information, scanner activation status, instruction manual, help screen, and the like. . As an example of the display unit 50, for example, a stationary liquid crystal display, a head mounted type or a glasses type wearable display can be applied. In addition, a plurality of display units 50 may be provided, and the imaging result of the three-dimensional image and other information may be displayed on the plurality of display units 50 simultaneously or dividedly. The power supply unit 60 is a device for supplying power for driving the optical measurement unit 30 and the control unit 40. As shown in FIG. 1, the power supply unit 60 may be provided outside the control unit 40 or may be provided inside the control unit 40. Further, a plurality of power supply units 60 may be provided so that power can be separately supplied to the control unit 40, the optical measurement unit 30, and the display unit 50.

[Configuration of tip member]
FIG. 2 is a schematic diagram of the configuration of the tip member 10 according to Embodiment 1 of the present invention. One end of the tip member 10 has a shape obtained by cutting a rectangular parallelepiped diagonally. The tip member 10 includes a housing 12 having an opening 11 for connection to the optical measurement unit 30, a measurement window 13 (lighting unit) provided in the housing 12 on the side opposite to the opening 11, and a measurement window And a mirror 14 that reflects the light taken in from 13 in the direction of the opening 11. Further, a recess 15 is provided on the side of the tip member 10 on which the measurement window 13 is provided. More specifically, the recess 15 is provided at a position farthest from the opening 11 and adjacent to the measurement window 13. Further, the recess 15 is provided so that a gap is generated between the flat surface and the tip member 10 when the tip member 10 is installed on a flat surface with the surface on which the measurement window 13 is provided as the installation surface. .

  In the following, for convenience of explanation, the longitudinal direction of the tip member 10 is defined as the Y axis, and is defined as the X axis parallel to the surface on which the measurement window 13 is provided and extending in the direction perpendicular to the Y axis. It is assumed that a Z axis perpendicular to the X axis is set. The direction from the position where the opening 11 is provided toward the measurement window 13 is the front, the right side when the tip member 10 is viewed from the front is called right, and the left side is called left.

  FIG. 3 is a bottom view of the tip member 10 according to Embodiment 1 of the present invention, and is an enlarged view of the vicinity of the measurement window 13. As shown in FIG. 3, the recess 15 is provided between the outer periphery of the tip member 10 and the measurement window 13. The width of the recess 15 in the Y-axis direction is drawn so as to match the thickness of the housing 12 in the Y-axis direction, but the width of the recess 15 in the Y-axis direction is the same as that of the housing 12 in the Y-axis direction. You may comprise so that it may become narrower than thickness.

  FIG. 4 is an enlarged view of the hollow 15 according to Embodiment 1 of the present invention when viewed from the front of the tip member 10. As shown in FIG. 4, the depression 15 is provided so that the measurement window 13 can be seen through the depression 15 when the tip member 10 is viewed from the front. In FIG. 4, the state in which the measurement window 13 can be seen through the depression 15 is not shown. Further, the shape of the recess 15 is a shape in which the depth d of the recess is maximized in the vicinity of the central portion of the recess 15 and becomes an extreme value. The shape of the recess 15 when viewed from the front of the tip member 10 is the maximum depth of the recess gently from the bottom surface of the tip member 10 (the XY plane, that is, the plane orthogonal to the optical axis passing through the measurement window 13). It has a curved shape that reaches d and gently returns to the bottom surface of the tip member 10. The imageable range H in the Z direction of the three-dimensional scanner 100 is based on a point located in a region of the recess 15 from a position where the depth d of the recess is maximum to a position slightly inside the tip member from the position. To the outside of the tip member 10. An object placed within the imageable range H is correctly imaged, and an object placed outside the range is not correctly imaged. The imageable range H corresponds to the focus adjustable width of the focus variable unit (not shown) and cannot be increased indefinitely.

  The angle α formed between the tangent line T that is in contact with the curved shape of the depression 15 and the XY plane, which is the inclination angle of the depression 15, is 45 degrees or less. That is, the recess 15 does not have a shape in which the depth changes suddenly, but has a shape in which the depth changes gradually. When the angle α is too large (for example, an angle close to 90 degrees), the shape of the tip member 10 is such that the inner surface of the recess 15 sandwiches and holds the side surfaces of the teeth. Therefore, when continuously imaging while moving the tip member 10 in the oral cavity of the patient, especially when turning the direction, the imaging is interrupted, the tip member 10 is once pulled in the Z direction, and then the direction of the tip member 10 is reset. There is a trouble such as having to. On the other hand, when the angle α is set to a shallow angle of 45 degrees or less, the holding effect is not generated and the direction turning is facilitated, so that continuous imaging can be performed without interruption. That is, the operability of the three-dimensional scanner 100 is improved. In addition, since the shape of the recess 15 is a smooth curved shape, the risk of causing a part of the recess 15 to be caught on an object during imaging and causing discomfort to the patient as compared to the case where the recess 15 has an angular shape. Is reduced.

  The shape of the inner surface of the recess 15 according to Embodiment 1 of the present invention is a curved surface. Note that the shape of the recess 15 may not be changed along the Y-axis direction, or may be changed along the Y-axis direction. Specifically, the shape in which the shape of the recess 15 does not change along the Y-axis direction is a shape in which a substantially cylindrical curved surface is fitted in the recess 15. In addition, the shape in which the shape of the depression changes along the Y-axis direction is a shape in which a substantially conical, substantially spherical, or substantially toroidal curved surface is fitted in the depression 15.

  As shown in FIG. 4, the width w of the recess in the X-axis direction is larger than half the width a of the tip member 10 in the X-axis direction. That is, a relationship of a <w × 2 is established between the width w of the recess and the width a of the tip member 10 in the X-axis direction. Thus, by setting the width w of the dent sufficiently large, it is possible to secure the width w of the dent sufficient to bring the dent 15 into contact with the tooth 200 (having a width of about 10 mm) and stabilize it. In addition, by setting the width w of the recess sufficiently large, it becomes easier for the cleaning tool and the chemical solution to reach the interior of the recess during cleaning, so that it becomes more hygienic.

  Further, the shape of the recess 15 is such that the maximum depth d of the recess is less than half of the width w of the recess. That is, the relationship d <w × 1/2 is established between the maximum depth d of the recess and the width w of the recess. Further, by setting the maximum depth d of the depression sufficiently small, it is possible to sufficiently secure the imageable range H ′ outside the tip member 10 from the XY plane in the imageable range H. If the imageable range H ′ is not sufficiently secured, the occlusal surface of the tooth 200 can be imaged, but it is desired to image the gingiva at a position far from the occlusal surface of the tooth 200 in contact with the depression 15 in the Z direction. In other imaging situations, such as when it is desired to image the side surface of the tooth 200 in the bite scan operation, the object cannot be positioned within the imageable ranges H and H ′, and imaging cannot be performed correctly. Therefore, the maximum depth d of the depression needs to be set small. Moreover, the holding effect which inhibits the above-mentioned direction turning operation | movement does not arise by setting the maximum depth d of a hollow sufficiently small.

  FIG. 5 is a schematic diagram showing a state in which the tip member 10 according to Embodiment 1 of the present invention is applied to the upper surface of the tooth 200. FIG. 6 is a schematic diagram showing a state in which the tip member 10 according to Embodiment 1 of the present invention is applied to the side surface of the tooth 200. Here, “to apply” means to apply the tip member 10 to the tooth 200 so that the tip member 10 and the tooth 200 are in contact with each other at least at one point or more. As shown in FIG. 5, when the tip member 10 according to the first embodiment is applied to the upper surface of the tooth 200, the tooth 200 fits into the recess 15, and the inner side of the recess 15 and the tooth 200 are two points (FIG. 5). Contact at the middle contact 201). Since the inner side of the recess 15 and the tooth 200 are in contact with each other at two points, the tip member 10 is not easily displaced in the left-right direction in the drawing with respect to the tooth 200. Therefore, by providing the depression 15 on the side of the tip member 10 on which the measurement window 13 is provided, it is possible to prevent the tip member 10 from being displaced from the tooth 200 during measurement, and to stably capture an image. Can do. Further, since the recess 15 is only in contact with the tooth 200 at two points and does not have a shape sandwiching the tooth 200, the tip member 10 is shifted in the front-rear direction or the direction swivel while maintaining the position in the left-right direction in the figure. Since the movement becomes possible, the handpiece 80 can be moved so as to slide the upper surface of the tooth 200 along the recess 15 when the tooth 200 is continuously imaged. Therefore, by providing the depression 15 on the side of the tip member 10 on which the measurement window 13 is provided, measurement can be performed without separating the tip member 10 from the tooth 200, and imaging can be performed with good operability. Even if the number of the contact points is one, it is possible to take an image. For example, when the object is a tooth 200 having a small width such as an anterior tooth, or even if it is a molar, it has a sharp structure due to individual differences among patients, and the tooth 200 is 1 in the depression 15. There may be contact at a point. In this case, the tip member 10 is moved to a position where the depth d of the dent is maximized (takes an extreme value) by pressing the tip portion 10 against the tooth 200 by applying a force in a substantially Z direction. Since the position is stabilized, it is possible to take an image with good operability. Of course, it is also possible to image the tip member 10 slightly away from the tooth 200 without making contact.

  As shown in FIG. 6, when a bite scan is performed, by providing the recess 15, the non-recessed portions at both ends of the recess 15 correspond to the gingiva 210. Even in such a case, the handpiece 80 can be moved so as to slide the surface of the gingiva 210 while allocating a portion not depressed in the gingival 210. Further, when performing a bite scan, since the tip member 10 is sandwiched between the teeth 200 and the cheek meat, there is no possibility that the tip member 10 is displaced from the teeth 200 during measurement. Here, if the value of the maximum depth d of the dent is set too large, that is, if the inner surface of the dent 15 becomes the shape of the tip member 10 that holds the side surfaces of the teeth 200, Since the imageable range H ′ shown in FIG. 4 is narrowed, there is a possibility that the side surface of the tooth 200 that is the imaging target deviates from the imageable ranges H and H ′, and imaging cannot be performed correctly. Furthermore, since the height of the tip member 10 is increased according to the size of the maximum depth d, there is a possibility that the meat of the cheek is excessively pulled and pain is given to the patient. Therefore, it is preferable to set the depth d of the recess small.

  Note that when the tip member 10 and the gingiva 210 are brought into contact with each other, a portion of the tip member 10 that is not recessed corresponds to the gingiva 210. At this time, the gingiva 210 contacts with the surface of the portion of the tip member 10 that is not recessed. Since the gingiva 210 is in contact with the surface, there is no risk of causing pain to the patient.

[Composition of 3D images]
A 3D image synthesis method executed by the 3D scanner 100 according to the first embodiment of the present invention will be described with reference to FIGS. FIG. 7 is a schematic diagram of an optical system arranged in the handpiece 80 according to Embodiment 1 of the present invention. FIG. 8 is a diagram showing a three-dimensional image captured by the three-dimensional scanner 100 according to Embodiment 1 of the present invention. FIG. 9 is a diagram for explaining a method of synthesizing a 3D image captured by the 3D scanner 100 according to Embodiment 1 of the present invention.

  As shown in FIG. 7, the handpiece 80 is provided with lenses 21 and 22 that are optical elements, and an image sensor 23 that detects and images light. In addition to this, the handpiece 80 includes an optical component (pattern generation element) and a light source for generating a pattern to be projected onto the measurement object, a focus adjustment mechanism for adjusting the focus of the lens, and a tooth 200 from the light source. A beam splitter or the like that separates the light traveling toward and the light traveling from the teeth 200 toward the image sensor 23 is provided as necessary. However, for these configurations, illustration and detailed description in FIG. 7 are omitted. In addition, although an example in which the lens system includes two lenses 21 and 22 is shown, the number of lenses is not limited to two, and the lens system includes one lens or three or more lenses. Also good. In addition, the optical path 24a and the optical path 24b that the lens system configures are depicted as a telecentric lens system in which the optical path 24a and the optical path 24b are parallel to each other in the vicinity of the imaging device 23 and the teeth 200. Such a lens may be used. For example, it may be a wide-angle lens, a super-wide-angle lens such as a fish-eye lens, or a high-percentric lens that can focus on the top and side surfaces of the object at the same time.

  The image sensor 23 captures a two-dimensional element image of the tooth 200 by detecting the reflected light from the tooth 200 guided through the lenses 21 and 22. The three-dimensional scanner 100 captures a single three-dimensional image 70 based on a plurality of two-dimensional element images captured while changing the focus using the focus varying unit. Here, the three-dimensional image 70 includes three-dimensional shape information of the teeth 200, color information (for example, reflectance information of each color such as red, blue, and green). Of course, other information such as normal direction information of the three-dimensional texture may be included. The optical paths passing through the lenses 21 and 22 include an optical path 24 a passing through the specific areas 21 a and 22 a near the centers of the lenses 21 and 22 and an optical path 24 b passing through the non-specific areas 21 b and 22 b near the outer periphery of the lenses 21 and 22. is there. Of the three-dimensional image 70 picked up by the three-dimensional scanner 100 shown in FIG. 8, the specific portion 70a picked up based on the light passing through the optical path 24a is compared with the non-specific portion 70b picked up based on the light passing through the optical path 24b. As a result, the non-specific portion 70b is more strongly affected by lens aberration, lens imperfection in coating, lens processing error, and the like, so that the quality (image quality and shape accuracy) of the three-dimensional image 70 is lowered. Since the three-dimensional scanner 100 according to the first embodiment of the present invention images the depression 15 located at the center of the tip member 10 while applying the depression 15 to the dentition, the tooth 200 that is an imaging object of interest has good accuracy. It can be easily positioned near the center of the three-dimensional image 70 (specific portion 70a). Therefore, the imaging accuracy is improved. Further, the accuracy can be improved even when a plurality of three-dimensional images 70 are synthesized as described below.

  The control unit 40 of the three-dimensional scanner 100 according to Embodiment 1 of the present invention can combine a plurality of three-dimensional images with each other and display them on the display unit 50 as one large three-dimensional image. Specifically, three-dimensional images captured separately while changing the position of the tip member 10 on the dentition (for example, a three-dimensional image capturing a range of about one or two teeth) are compared and common to both. A portion to be detected is detected, and both are overlapped based on the common portion, thereby constructing a single large three-dimensional image (for example, a three-dimensional image of the entire dentition). The above three-dimensional image composition processing is performed by the control unit 40. With reference to FIG. 9, the process of synthesizing the three-dimensional image executed by the control unit 40 will be described. Here, a first three-dimensional image (hereinafter also referred to as a first image 71) and a second three-dimensional image (hereinafter referred to as a second image 72) each having a common three-dimensional image (hereinafter also referred to as a common image 73). A case where the control unit 40 combines the above is also considered. The common image 73 includes a region A in which the specific portions 71a and 72a of the first image 71 and the second image 72 overlap, a region C in which the non-specific portions 71b and 72b of the first image 71 and the second image 72 overlap, and Other regions B are included. The control unit 40 adjusts the position (three-dimensional coordinates after synthesis), the color of the three-dimensional image, the brightness of the three-dimensional image, and the like based on only the common image 73 in the region A. In addition, for the region B, the control unit 40 does not use the common image 73 of the non-specific portions 71b and 72b, and generates a three-dimensional image using only the specific portions 71a and 72a. For the region C, the control unit 40 generates a three-dimensional image by combining the first image 71 and the second image 72.

  Further, when the control unit 40 specifies a common three-dimensional image, if the specific parts 71a and 72a are not common to each other, the common image of the region B in which one is the specific part 70a and the other is the non-specific part 70b. Based on 73, adjustment of the position of the common 3D image, the color of the 3D image, the brightness of the 3D image, etc. is performed. In addition, when specifying the common three-dimensional image, the control unit 40 may not synthesize the three-dimensional image if all the common three-dimensional images are three-dimensional images corresponding to the region C. Good.

  In other words, the control unit 40 identifies which region of the lenses 21 and 22 has been captured based on the light that has passed through the captured three-dimensional image, and weights each identified region. To determine which of the two three-dimensional images 71 and 72 is to be preferentially adopted for the synthesis process based on the weighted three-dimensional image area information, and to synthesize the three-dimensional image data To do. By doing so, it is possible to preferentially use information of a highly reliable region with little distortion, and a more accurate three-dimensional image can be obtained.

  The weighting method is not limited to the above. For example, a ratio such as “use 70% of specific part information and 30% of non-specific part information” may be set. In the above example, the specific portion 70a (71a, 72a) and the non-specific portion 70b (71b, 72b) are weighted by defining the two portions in the image. You may prescribe | regulate and weight. Alternatively, the weight may be set continuously as a function such as a distance from the center of the three-dimensional image. Since the three-dimensional scanner 100 according to the first embodiment of the present invention images the depression 15 located at the center of the tip member 10 while applying the depression 15 to the dentition, the tooth 200 that is an imaging object of interest has good accuracy. It can be easily positioned near the center of the three-dimensional image 70 (specific portion 70a). The dentition portion includes a lot of shape feature information necessary for the synthesis process of the three-dimensional image, as compared with other tissues such as gums. Therefore, the process of detecting the common part between the three-dimensional images in the synthesis process of the three-dimensional images can be executed with high accuracy, and the accuracy of the combined three-dimensional image is improved.

  In Embodiment 1 of the present invention, the control unit 40 uses the region of the non-specific portion 70b for the synthesis of the three-dimensional image, but excludes the non-specific portion 70b and uses only the specific portion 70a. Thus, a three-dimensional image may be synthesized. In this way, since only information on a highly reliable area with little distortion is used, a more accurate three-dimensional image can be obtained. In addition, since the three-dimensional scanner 100 according to the first embodiment of the present invention images the depression 15 positioned at the center of the tip member 10 while applying it to the dentition, the tooth 200 that is an imaging object of interest can be accurately obtained. It can be easily positioned near the center of the good three-dimensional image 70 (specific portion 70a). Therefore, even if the imaging result of the non-specific part (non-specific part 70b) is excluded, the dentition part that contains a lot of shape feature information necessary for the image composition process is not likely to be excluded. Is unlikely to occur. Further, since the synthesis is performed excluding the non-specific portion 70b, the number of data points required for the processing can be reduced. As a result, compared to the case where weighting is performed for each identified area, the processing load for synthesis can be reduced. That is, continuous imaging can be performed at high speed. Further, since the imaging result of the outer peripheral portion (non-specific portion 70b) of the three-dimensional image is not adopted, the lens without considering the light passing through the corresponding lens region (non-specific region 21b, 22b). It becomes possible to design. Therefore, it is possible to reduce the diameter of the lens, and it is possible to reduce the number of correction lenses and expensive aspherical lenses that have been necessary to reduce aberrations. Further, by reducing the diameter of the lens, the diameter of the tip member 10 can also be reduced, and the tip member 10 can be reduced in size. Thereby, when a bite scan is performed, it is possible to prevent the cheek meat from being pulled excessively and causing pain to the patient. Note that when image data is synthesized based on weighted image area information, the data of the non-specific portion 70b can also be used, so that the image data can be used effectively. As a result, the entire shape of the tooth 200 can be captured with a small number of images, and imaging can be performed quickly.

  Further, by using the three-dimensional scanner 100 according to the first embodiment of the present invention, the following advantageous effects can be obtained in operability as compared with a conventional three-dimensional scanner using a tip member without a depression. . In general, as shown in FIG. 1, a dental three-dimensional scanner includes a handpiece 80, a display unit 50, a control unit 40, and the like. In addition, the calculation for obtaining a three-dimensional image executed by the control unit 40 requires a certain processing time. That is, even when the measurer sees the tooth 200 displayed as an imaging result on the screen of the display unit 50 at the timing when the tip member 10 is placed on the tooth 200 in the oral cavity of the patient, the tip member 10 is placed. The position of the tooth 200 that is displayed does not necessarily match the position of the tooth 200 that is displayed as the imaging result on the screen of the display unit 50. Therefore, when a conventional 3D scanner that does not have a dent in the tip member is used, and imaging is continued by gazing only at the screen of the display unit without checking the inside of the oral cavity of the patient, on the screen of the display unit, Even if the tip member appears to be placed at the correct position (the center of the tooth 200), the tip member may have skidding on the actual tooth 200, and imaging may fail. In order to prevent the failure, it is necessary for an operator (such as a dentist) to take an image while alternately comparing the patient's oral cavity and the screen of the display unit, and the operability is poor. On the other hand, when the three-dimensional scanner 100 according to the first embodiment of the present invention is used, imaging failure due to the skidding hardly occurs due to the effect of providing the recess 15 in the tip member 10. As a result, the operator can take an image while only looking at the image displayed on the display unit 50 without frequently checking the inside of the patient's mouth, and the operability is improved.

(Embodiment 2)
In the tip member 10 according to Embodiment 1, the configuration having one recess 15 has been described. However, in the tip member 10 according to the second embodiment, a configuration having two depressions 15 will be described. FIG. 10 is a schematic diagram for explaining the configuration of the tip member 10 according to the second embodiment of the present invention. In the tip member 10 according to the second embodiment, the same reference numerals are used for the same components as those of the tip member 10 according to the first embodiment shown in FIGS. In FIG. 10, the mirror 14 is not shown.

  As shown in FIG. 10, two indentations 15 are provided on the side of the tip member 10 according to the second embodiment where the measurement window 13 is provided. Specifically, the tip member 10 according to the second embodiment is a position adjacent to the depression 15a provided at the same position as the depression 15 according to the first embodiment and the measurement window 13, and behind the measurement window 13. And a recess 15b provided in the. The depressions 15a and 15b have the same shape and the same size as the depression 15 provided in the tip member 10 according to the first embodiment. The recess 15b is a position adjacent to the measurement window 13, and is provided in the Y-axis direction from the front to the rear.

  In this way, the recesses 15a and 15b are provided in parallel like rails along the tooth row, and the teeth are applied to both recesses, so that the upper surface of the tooth 200 is slid more stably than when only the recess 15a is provided. Thus, the tip member 10 can be moved. That is, imaging accuracy and operability are improved.

(Embodiment 3)
In the tip member 10 according to Embodiment 1, the configuration having one recess 15 has been described. However, in the tip member 10 according to the third embodiment, a configuration in which two depressions 15 are provided and a step 16 is provided between the measurement window 13 and the housing 12 will be described. FIG. 11 is a schematic diagram for explaining the configuration of the tip member 10 according to Embodiment 3 of the present invention. In the tip member 10 according to the third embodiment, the same components as those of the tip member 10 according to the first embodiment shown in FIGS. In FIG. 11, the mirror 14 is not shown.

  As shown in FIG. 11, a step 16 is provided between the housing 12 of the tip member 10 according to the third embodiment and the measurement window 13. Further, the surface of the outer surface of the housing 12 on which the measurement window 13 is provided is an inclined surface 17. Two indentations 15 are provided on the side of the tip member 10 according to Embodiment 3 where the measurement window 13 is provided. Specifically, the tip member 10 according to the third embodiment includes a dent 15 a provided at the same position as the dent 15 according to the first embodiment, and a dent 15 c provided at the step 16. Each of the recesses 15a and 15c has the same shape and the same size as the recess 15 provided in the tip member 10 according to the first embodiment. The recess 15c is provided in the step 16, and is provided in the Z-axis direction. The formation of the step 16 is effective when the thickness of the casing 12 of the tip member 10 is insufficient and a sufficient depth d of the recess cannot be secured in the recess 15c.

  Further, by providing the step 16 on the tip member 10, a slope 17 is formed, and the following effects are also achieved. When the tip member 10 that does not include the inclined surface 17 is applied to the tooth 200, if an attempt is made to fit the tooth 200 in the recess 15 a, a gap is formed between the measurement window 13 and the upper surface of the tooth 200. There is a possibility that light other than the pattern enters the optical measurement unit 30 from this gap and affects imaging. Therefore, by providing the inclined surface 17, it is possible to reduce a gap that occurs between the measurement window 13 and the upper surface of the tooth 200. As a result, it is possible to prevent light other than the pattern from entering the optical measurement unit 30. Furthermore, since the rail along the tooth row is formed by the depressions 15a and 15c by providing the depression 15c in the step 16, the tip member is slid on the upper surface of the tooth 200 more stably than providing only the depression 15a. 10 can be moved.

(Embodiment 4)
In the tip member 10 according to Embodiment 1, the configuration having one recess 15 has been described. However, in the tip member 10 according to the fourth embodiment, a configuration having three recesses 15 will be described. FIG. 12 is a schematic view for explaining the configuration of the tip member 10 according to the fourth embodiment of the present invention. In the tip member 10 according to the fourth embodiment, the same reference numerals are used for the same components as those of the tip member 10 according to the first embodiment shown in FIGS. In FIG. 12, the mirror 14 is not shown.

  As shown in FIG. 11, three depressions 15 are provided on the side where the measurement window 13 is provided in the tip member 10 according to the fourth embodiment. Specifically, the tip member 10 according to the fourth embodiment is a position adjacent to the depression 15a provided at the same position as the depression 15 according to the first embodiment and the measurement window 13, and left and right of the measurement window 13. And dimples 15d and 15e. Each of the recesses 15a, 15d, and 15e has the same shape and the same size as the recess 15 provided in the tip member 10 according to the first embodiment. The depressions 15d and 15e are positions adjacent to the measurement window 13 and are provided in the Z-axis direction.

  When the handpiece 80 is moved along the upper surface of the tooth 200 in the Y-axis direction (for example, when imaging a molar tooth), the handpiece 80 can be moved while the upper surface of the tooth 200 is applied to the recess 15a. Further, when the handpiece 80 is moved in the X-axis direction along the upper surface of the tooth 200 (for example, when imaging the front teeth), the handpiece 80 can be moved while the upper surface of the tooth 200 is applied to the recesses 15d and 15e. it can. As described above, the distal end member 10 according to the fourth embodiment includes the recesses 15d and 15e in addition to the recess 15a, and thus can cope with various movement directions of the distal end member 10 in imaging of the dentition. The part which can be imaged stably increases.

(Embodiment 5)
In the tip member 10 according to Embodiment 1, the configuration in which only the recess 15 is provided in the tip member 10 has been described. However, in the tip member 10 according to the fifth embodiment, a configuration in which the soft member 18 is provided in the recess 15 will be described. FIG. 13 is a schematic view for explaining the configuration of the tip member 10 according to the fifth embodiment of the present invention. In the tip member 10 according to the fifth embodiment, the same reference numerals are used for the same components as those of the tip member 10 according to the first embodiment shown in FIGS. In FIG. 13, the mirror 14 is not shown.

  As shown in FIG. 13, one recess 15 is provided on the side where the measurement window 13 is provided in the tip member 10 according to the fifth embodiment. The position where the dent 15 is provided, and the size and shape of the dent 15 are all the same as the dent 15 provided in the tip member 10 according to the first embodiment. A soft member 18 is provided in the recess 15 provided in the tip member 10 according to the fifth embodiment so as to fill the recess 15. The flexible member 18 may be a plastic member or an elastic member, and may be a member that deforms when an external force is applied. As the flexible member 18, for example, medical rubber (silicone rubber or fluorine rubber) can be used. The flexible member 18 is integrated with the tip member 10 (for example, adhesive fixing), and may be configured to be sterilized together with the tip portion 10 and repeatedly used, or the flexible member 18 is detached from the tip portion 10. A replaceable configuration may be used. The latter is suitable when, for example, the flexible member 18 is disposable after every use or after a certain number of uses. In FIG. 13, one side of the soft member 18 is drawn so as to be straight, but may be curved. In addition, if the object to be imaged is not a living body (such as a biological model of a population or an industrial product), the material of the flexible member 18 may not be a medical material. For example, the soft member 18 may be made of a soft material (sponge, felt, various fibers, etc.) so as not to damage the object that the dent 15 contacts.

  By pressing the soft member 18 against the tooth 200, the soft member 18 is deformed. Therefore, even when the soft member 18 is provided in the recess 15, since the soft member 18 is deformed, the teeth 200 can be fitted in the recess 15, and the same effect as in the case where the soft member 18 is not provided is obtained. . Further, by applying a high friction member such as rubber as the soft member 18, friction is generated between the tip member 10 and the teeth 200, and it is possible to appropriately prevent slipping. Therefore, the soft member 18 is provided. Compared to the case where there is no measurement, the measurement can be performed more stably.

(Embodiment 6)
In the handpiece 80 according to the first embodiment, the example in which the tip member 10 is detachably provided on the optical measurement unit 30 has been described. However, in the handpiece 80 according to the sixth embodiment, a configuration in which the tip member 10 and the optical measurement unit 30 are integrated will be described. FIG. 14 is a schematic diagram for explaining a configuration of a handpiece 80 according to Embodiment 6 of the present invention. In addition, in the front-end | tip part 83 which concerns on this Embodiment 6, the detailed description is not repeated using the same code | symbol about the same structure as the front-end | tip member 10 which concerns on Embodiment 1 shown to FIGS.

  A handpiece 80 according to the sixth embodiment includes a housing 81, lenses 21 and 22 and an image sensor 23 provided in the housing 81. The casing 81 includes a main body portion 82 and a distal end portion 83 provided continuously to the main body portion 82. The main body part 82 has a gripping part function that the measurer has when measuring.

  In FIG. 14, although the light source is not shown, the light source is provided in the housing 81, and the light emitted from the light source is reflected on the teeth 200, and the reflected light directly passes along the optical path 24 to the lens 21. , 22 and imaged by the image sensor 23. In FIG. 14, the number of lenses does not have to be two, and of course, a mirror or the like for turning back the direction of the optical axis may be provided. In addition, although the lenses 21 and 22 and the image sensor 23 are all drawn in the tip portion, some components may be built in the grip portion side.

  A recess 15 is provided on the side of the front end 83 of the housing 81 where the measurement window 13 is provided. Here, the depression 15 provided in the handpiece 80 according to the sixth embodiment and the depression 15 provided in the handpiece 80 according to the first embodiment have the same shape and the same size. Further, the provided position is also a position adjacent to the measurement window 13 and the farthest position from the boundary between the distal end portion 83 and the main body portion 82, and is provided in the handpiece 80 according to the first embodiment. It is common with the position where the recess 15 is provided. Therefore, similarly to the three-dimensional scanner 100 according to the first embodiment, even when the three-dimensional scanner 100 according to the sixth embodiment is used, the operability is good and stable imaging can be performed. In particular, in the case of imaging a measurement object that does not require sterilization (for example, an artificial model that is not a living body), a structure in which the three-dimensional scanner main body 82 and the tip 83 are integrated can be applied. .

(Modification 1)
FIG. 15 is a schematic diagram for explaining the shape of the recess 15 of the first modification. The shape of the recess 15 provided in the three-dimensional scanner 100 according to the first to sixth embodiments is such that the angle α formed between the tangent line T in contact with the inner surface of the recess 15 and the XY plane is 45 degrees or less. did. However, as shown in FIG. 15, the recess 15 may include a region where the angle α formed between the tangent line T in contact with the curved shape of the recess 15 and the XY plane exceeds 45 degrees. As shown in FIG. 15, there may be a region where the angle α formed by the tangent line T and the XY plane exceeds 45 degrees, but if the depth d of the region is sufficiently short (for example, 1 mm or less). For example, the width w1 of the area is also shortened, and the side surface of the tooth 200 is not sandwiched and held from both sides. Therefore, the holding effect does not occur, and the direction turning operation necessary for imaging the dentition is not hindered.

(Modification 2)
FIG. 16 is a schematic diagram for explaining the shape of the recess 15 of the second modification. Although the shape of the recess 15 provided in the three-dimensional scanner 100 according to the first to sixth embodiments is a curved surface, it is not limited to a curved surface. For example, as shown in FIG. The recess 15 shown in FIG. 16 has a shape in which a triangular prism is fitted. Even in such a case, since the inner surface of the recess 15 is in contact with the tooth 200 that is the object at two points, the same effects as those of the first to sixth embodiments can be obtained. Further, the shape of the recess 15 is not limited to the shapes of the first and second modifications, and may be a shape in which unevenness is provided on the surface of the recess 15.

(Modification 3)
In Embodiment 1-5, although the shape of the front-end | tip member 10 was made into the shape which cut the rectangular parallelepiped diagonally, it is not restricted to this. For example, the shape of the tip member 10 may be a rectangular parallelepiped shape or may be a cylindrical shape. Moreover, although the shape of the measurement window 13 is illustrated as a quadrangle, the shape is not limited to this, and may be a shape such as a circle, an ellipse, a rounded rectangle, or a polygon. The shape of the tip member 10 is preferably a shape in which the side of the outer surface of the tip member 10 on which the measurement window 13 is provided is substantially flat. When the side on which the measurement window 13 is provided is a substantially flat surface, when the depression 15 is fitted in the tooth 200, even if the tooth 200 is detached from the depression 15, the side on which the measurement window 13 is provided is spherical. It becomes hard to shift compared with. In addition, in FIGS. 2 and 10 to 13 and the like, the tip member 10 having an angular shape (the edge portion is sharp) is illustrated for easy understanding. However, the edge portion may be chamfered or filleted. Of course, it may be processed. By performing the processing, a sharp edge comes into contact with the patient's mouth, and the possibility of giving the patient discomfort such as pain is reduced. Further, the risk of breakage of medical gloves due to the edge portion being caught in the operator's hand is reduced. The shape of the mirror 14 is not limited to the illustrated rectangle, and an elliptical shape, a chamfered polygon, or the like may be selected as appropriate in accordance with the shape of the tip member or the tip portion.

(Modification 4)
In the first to sixth embodiments, the depression 15 is provided so that the measurement window 13 can be seen through the depression 15 when the tip member 10 is viewed from the front. However, it is not necessary to provide the depression 15 having the same size as the thickness of the casing 12, and the depression 15 smaller than the thickness of the casing 12 may be provided. Specifically, instead of the recess 15 that penetrates the casing 12 in the thickness direction, the recess 15 that is obtained by scraping the surface of the casing 12 of the casing 12 may be used.

(Modification 5)
In the first embodiment, the image data to be combined by the control unit 40 is a three-dimensional image. However, when the imaging apparatus is an optical coherence tomography apparatus, the control unit 40 combines the tomographic image data. It may be. Similarly, the imaging device may be a camera that captures a two-dimensional image. In that case, the image data synthesized by the control unit 40 is a two-dimensional image. Overall data (panoramic two-dimensional image) is formed by combining a plurality of two-dimensional image data.

(Modification 6)
In the second to fifth embodiments, the recesses 15a to 15e have the same shape and the same size as the recess 15 according to the first embodiment, but the recesses 15a to 15e may have different shapes. Some may be common and some may be different.

(Modification 7)
In the first to sixth embodiments, the recess 15 is provided in the housing 12. However, the tip member 10 may be provided with a recess by attaching to the housing 12 a component different from the housing 12 provided with the recess 15.

(Modification 8)
Although FIG. 11 shows an example in which the step 16 is arranged only on one side behind, the step may be on another side or on a plurality of sides. That is, a structure in which the front side has a step (the inclination direction of the inclined surface 17 is reversed), or a step may be formed on all four sides.

(Modification 9)
In Embodiment 1-6, although the image which an imaging device images was demonstrated as a three-dimensional image, it is not restricted to this. The image captured by the imaging device may be, for example, a two-dimensional image, a tomographic image, or a combination of a three-dimensional image, a two-dimensional image, and a tomographic image. The image includes information on the normal direction of the texture, information on the physical properties of the object, information on the time of imaging, information on the patient, information indicating the reliability of the image data, individual information (serial number) of the imaging device and the tip member, Other information such as calibration information and information on weighting used when images are combined may be included. The two-dimensional image is a two-dimensional image, which may be a color image including color information or a monochrome image not including color information, an infrared image, an ultraviolet image, a fluorescence image, or a multispectral image. It may be. The tomographic image is, for example, three-dimensional tomographic data including information on a portion deeper than the surface of the object. The image obtained by combining the three-dimensional image, the two-dimensional image, and the tomographic image is, for example, an image obtained by pasting the two-dimensional image as a texture on the surface of the three-dimensional shape information or tomographic data.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  DESCRIPTION OF SYMBOLS 10 Tip member, 11 Opening part, 12, 81 Case, 13 Measuring window, 14 Mirror, 15, 15a, 15b, 15c, 15d, 15e Dimple, 16 steps, 17 Inclined surface, 18 Flexible member, 20 Connection part, 21 , 22 Lens, 21a, 22a Specific area, 21b, 22b Non-specific area, 23 Image sensor, 24, 24a, 24b Optical path, 40 Control section, 50 Display section, 60 Power supply section, 70 Three-dimensional image, 70a, 71a, 72a Specific part, 70b, 71b, 72b Non-specific part, 71 First image, 72 Second image, 73 Common image, 80 Handpiece, 82 Main body part, 83 Tip part, 100 Three-dimensional scanner, 200 Teeth, 201 Contact, 210 Gingiva, T tangent, w, w1 Depth width, d Depth depth, a Width of tip member.

Claims (18)

An imaging device for imaging an object,
A housing,
A lighting unit provided at the tip of the housing, for capturing light from the object;
A detection unit provided in the housing for detecting light taken from the daylighting unit;
A processing unit for processing the result detected by the detection unit,
The imaging device which provided the hollow in the side which provided the said lighting part among the said front-end | tip parts.   The imaging device according to claim 1, wherein a side of the outer surface of the tip portion on which the daylighting unit is provided is a substantially flat surface.   The imaging device according to claim 1 or 2, wherein the depression is provided between an outer periphery of the outer surface of the tip portion on the side where the daylighting unit is provided and the daylighting unit.   The imaging device according to claim 1, wherein the recess is provided at a position farthest from a boundary between the tip portion and a main body portion of the housing.   The imaging device according to any one of claims 1 to 4, wherein the recess has a size such that an inner side of the recess and the object can contact at least two points. The relationship between the maximum depth d of the recess and the width w of the recess is
d <w × 1/2
The imaging device according to any one of claims 1 to 5, wherein The relationship between the width a of the tip at the position where the depression is provided and the width w of the depression,
a <w × 2
The imaging device according to any one of claims 1 to 6, wherein   The imaging device according to claim 1, wherein the depression has a shape in which the depth of the depression is maximum and an extreme value of the depression near the center of the depression.   The imaging device according to claim 1, wherein a shape of the depression is a curved surface shape.   The imaging device according to any one of claims 1 to 9, wherein an angle formed by a surface perpendicular to the optical axis passing through the daylighting unit and a tangent line in contact with the inner surface of the depression is 45 degrees or less.   The depth of the dent in a region where an angle formed by a plane perpendicular to the optical axis passing through the daylighting section and a tangent line in contact with the inner surface of the dent exceeds 45 degrees is 1 mm or less. The imaging device according to any one of the above.   The imaging device according to claim 1, wherein the tip is detachable from a main body of the housing.   In the case where the processing unit captures an image by moving the tip with respect to the object, among the plurality of image data obtained as a result of detection by the detection unit, image data in which a part of an imaging range is common The imaging device according to claim 1, wherein the imaging device is synthesized.   The processing unit weights a region in the image data according to a region through which an optical element provided in the casing passes, and based on information on the region in the weighted image data, The imaging apparatus according to claim 13, wherein image data having common parts is synthesized.   The imaging device according to claim 14, wherein the processing unit synthesizes image data having a common imaging range by excluding specific information from information on areas in the weighted image data.   The imaging apparatus according to claim 13, wherein the image data is three-dimensional image data.   The imaging apparatus according to claim 13, wherein the image data is three-dimensional tomographic image data. A tip member that is detachable from the housing of the imaging device that images the object,
A connecting portion connectable to the housing;
Provided on the opposite side of the connection portion, and a daylighting portion for taking in light from the object,
The tip member which provided the hollow in the side which provided the said lighting part.