JPH01218445A - Method for three-dimensional determination of relative motion of upper and lower jaws and measuring apparatus for executing the same - Google Patents

Abstract

PURPOSE: To make it possible to decide directly the relative movement between the upper jaw and the lower jaw with a simple device by optically detecting in an axial direction relative positions of three standard marks which spatially deviate from each other between the upper jaw and lower jaw and finding the change in relative positions of the standard marks. CONSTITUTION: On the outside surface of incisor 1 or 2 which is separate from and facing the other, retentive elements 3, 4 holds rod-shaped elements 5, 6, respectively. By means of rod-shaped elements 5, 6, pyramidal objects 11, 12 are set with all the apexes facing the lips outside the mouth. On rod-shaped element 16 of standard element 14 connecting apexes 7' and 9', a light source 17 is set which emits focused light beam 18 straight up. Light beam 18 is reflected forward off mirror 19 attached to rod-shaped element 15 on the surface formed on apexes 7, 8 and 10 of element 13 as shown by reflected light beam 18'. The reflected light beam varies up and down according to the movement of the lower jaw and in response to the amount of relative movement of the upper and lower jaws.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a method for three-dimensionally determining the relative movement between an upper jaw and a lower jaw, and a measuring device therefor.

BACKGROUND OF THE INVENTION In dental technology and dentistry it is often necessary to measure the movement of the lower jaw relative to the upper jaw and to store the obtained results. This is especially necessary when jaw movements are simulated in so-called "articulators", which determine the movement and relative position of the lower jaw with respect to the patient's upper jaw and determine the determined values. to an articulator or to compare their values in that articulator against the simulated motion.

Devices have already been proposed to determine the relative movements between the upper and lower jaws of a person; designed to install measuring devices consisting of a pair of connected transmitter elements, and in each measuring device the relative motion between the two transmitter elements is determined in three axial directions; .

SUMMARY OF THE INVENTION These known devices or measuring devices, inter alia, are not error-free in the measurement results obtained with them by their systems, and the installation of the transmitter element, in particular the patient's Placement on the lower jaw is problematic and, above all, the device is so cumbersome that the natural movement of the lower jaw relative to the upper jaw is actually impeded, at least psychologically.

It is an object of the present invention to provide a method for determining the relative movement between the upper and lower jaws in at least two dimensions, and which consists of a simple device for carrying out the method, which provides extremely accurate results, and In particular, it is an object of the present invention to provide a measuring device with which the relative movements between the upper and lower jaws can be directly determined.

(Summary of the Invention) In order to solve this problem, a method according to the present invention includes the features of claim 1, and a measuring device for carrying out the method includes the features of claim 15. Designed to contain parts.

That is, in the method according to the invention at least a two-dimensional determination of the relative movement between the upper and lower jaws is carried out, preferably on the side of the jaw facing the optoelectric device, in the case of a two-dimensional determination of the movement. at least two, and in the case of three-dimensional determination of motion, at least three or four spatially offset reference marks are placed on each jaw; The relative positions of the fiducial marks on one jaw and the fiducial marks on the other jaw, as well as changes in their positions, are detected optically and thereby preferably by using a computer. ) the relative movements of the jaws are determined.

In one embodiment of the invention, the optical detection of the relative position of the fiducial mark and the change in said position is carried out by at least one video camera, preferably by at least one color video camera and by an electrical frame equipped with this camera. carried out at, preferably after intermediate storage in an image storage device, the fiducial marks utilized and their relative positions are determined and data indicating the position of the fiducial marks are predetermined for the determination of the relative movement between the jaws. Evaluated by computer by the program.

Ascertaining the position of the fiducial marks in the electrical frames can be carried out, for example by scanning the frames by lines or columns, respectively, with fiducial marks that stand out from the rest of the video signal or from the content of the frames. A special brilliance and/or special shade of the fiducial mark is suitable as a reference for ascertaining the position of the fiducial mark in the frame.

In another embodiment of the invention, the optical detection of the relative position of the fiducial mark and the change in said position is carried out by at least one laser device emitting at least one laser beam, and the optical detection of the relative position of the fiducial mark and the change in said position is carried out by means of at least one laser device emitting at least one laser beam, and the optical detection of the reference mark formed by the laser beam. The measurement area is scanned by lines and columns. Only when the scanning laser beam strikes the fiducial mark will the fiducial mark reflect a portion of the laser beam onto a photodetector provided in the optoelectric device. Since a solid (SQLIO) angle is formed by the scanning laser beam, it always intersects the beam reflected to the photodetector associated with the original position,
By selectively using an associated telemetry device between the laser device and each fiducial mark, the position of the fiducial mark is determined and stored in memory. From the stored data of all fiducial marks, the relative position of the fiducial mark or both jaws to each other and the relative movement of these jaws can be determined. In particular, in determining the relative movement between the upper and lower jaws, at least four fiducial marks are formed on each fiducial element.

"Determination of relative motion in at least two dimensions" means determination of relative motion in at least two mutually orthogonal spatial axes. "Observation axis" means the axis in which the measurement area formed by the fiducial mark is detected by the optoelectronic device. Further developments of the invention are the subject of the dependent claims.

(Example) Next, an example of the present invention will be described with reference to the drawings. The measuring device shown in Figure 1 is for measuring the relative movement between the upper and lower jaws of a patient in three dimensions.To simplify the illustration, only one incisor (one ) or (2) is shown. On the front side of the incisors (1) in the upper jaw are attached curved retaining elements (3) with diagonal lines, preferably elements made of thermoplastic material, glued or in any other suitable manner. A similarly designed retaining element (4) is attached to the front side of the lower incisor (2). On the surface side facing away from the incisors (1) or (2) each retaining element (3) or (4) has a bar-shaped element (5) or (6) which extends outwardly and at its free end. lies above the associated retaining element, its longitudinal direction is perpendicular to the sides of the included retaining element and at its free end lies at one apex (7) or (7″) of the pyramidal object (11) or (12). The pyramid-shaped object has a total of four vertices (7).

(8), (9) and (10) or (7″), (8″
), (9″) and (10′). Vertex (7
) - (to) forms one reference element (13) together with the rod-shaped element (5) and the holding element (3), and the apex (7') - (10')
The pyramid-shaped object (12) having a rod-shaped element (6)
and the other reference element of the measuring device (
14). Both reference elements (13) and (14)
is designed as follows. That is.

By means of rod-shaped elements (5) or (6) a pyramid-shaped object (11) or (12) is placed in such a way that all its apexes are located outside the oral cavity and in front of the lips, and the apex (7) or (
7″) have a small distance from the incisors (1) or (2) and the vertices (8), (9) and (10) or (8″)
), (9″) and (10′) are incisors (1), respectively.
or (2), and further in the illustrated example, the axis of the rod-like element (5) or (6) lies opposite the apex (7) or (7″) and ),
(9) and (10) or (8″), (9′) and (10′) intersect at an angle of approximately 90°.Pyramidal objects (11) and (12)
further vertices (8) - (10) or (8') - (1
The triangular faces formed by 0') are each vertex (
8) and (10) or (8'') and (10') and the apex (9) or (9'') is below that lateral length; It will be installed so that it is located at The pyramidal objects (11) and (12) are at the apex (
7) Rod-like elements (I5) or (16) of the same length connected to each other with - (10) or (7') - (10'')
in the illustrated embodiment, the respective apex (7) or (7″) of the back side is fully visible in the viewing direction (arrow A). A reference element connecting the apexes (7″) and (9″) (14
) has a focused ray (1
A light source (17) is mounted which emits a light beam (8) vertically upwards, and in the illustrated measuring device the light beam reaches the vertex (7) of the reference element (13).
), (8) and (10), the mirror (19
) and the ray (18) is reflected forward by this mirror, as shown by the reflected ray (18'). Mirror (19)
In the illustrated example, since the axes of the rod-like elements (5) and (6) are inclined with respect to the horizontal axis, which is approximately the same direction, the reflected light beam is directed toward the upper jaw in this horizontal axis direction (double arrow H). The dotted line (18') in Figure 1 during the horizontal movement of the lower jaw against
It changes up and down as shown by , and the change corresponds to the amount of relative movement of the lower jaw to the upper jaw in the direction of the double arrow H.

Vertex (7 - (10) or (7') - (10') is
Compared to the reference element (13) or (14), it is designed to stand out in contrast or brightness and/or tint and preferably has a color that differs significantly both from the facial color and from the lip color.

Furthermore, the measuring device includes a video camera (20) placed at a predetermined distance from the patient, for example sitting in a chair, with its lens directed towards the visual field (arrow A) and towards the patient. Mouth or incisors (1) and (
2) to the reference elements (13) and (14) attached to the reference elements (13) and (14). The motion of the reference elements (13) and (14) or the apex (7) − (to
) and (7')-(10') displacement and reflected ray (
18') is recorded. A corresponding video signal is then stored in an image storage device (21). The image storage device is formed, for example, at least in part by a video recorder. With the help of an electronic switch (22), the frames stored in the image storage device (21) can be scanned by lines and columns and if the vertices (7) - (10) or (7) are designed to stand out during scanning.
' ) - (10') or reflected ray (18')
, especially if something noticeable due to its brightness is detected, a signal is transmitted to the memory (23).

Since each scanning phase (PHASE) provides the position of the vertex or reflected ray (18') detected at each time, the electrical signal or data characteristics at that position are stored in the memory (
23) The data stored in the memory (23) is then sent to a computer (24) which determines from the data the relative movement between the upper and lower jaws by means of a suitable program. The data obtained in this way is transmitted for various purposes or for use in various applications, such as optically displaying the relative movement between the upper jaw and the lower jaw, and various movements of this relative movement. Used in 1 etc. to express the chronological progression of elements. moreover,
This data can also be stored and later used for comparison with the relative movement between the upper and lower jaws simulated in the dental articulator.

FIG. 3 shows another measuring device different from that of FIG. 1, in particular in which, in addition to a video camera (20),
Another video camera (25) associated with the image storage device (26)
) and an associated electronic switch (27). Image storage device (26) and electronic switch (27)
has an image storage device (21) and an electronic switch (2) in function.
This corresponds to 2). The video camera (25), like the video camera (20), is placed at a predetermined distance from the patient, for example sitting in a chair, and its lens is directed toward the visual field (arrow A'') towards the patient's mouth. Reference elements (13) fixed to or to the incisors (1) and (2)
) and (14). However, in the embodiment shown in FIG. 3, the optical axes (arrows A and A') of both video cameras (20) and (25)
5) is at an angle of <45 degrees towards the measuring device facing. 3, the video signals provided by the six video cameras (25) which are open to the left are stored in an image storage device (26), which image storage device is, for example, at least partially is configured with a video camera. Of course, other suitable memories can also be used for image storage devices (26) and (21). With the help of an electronic switch (27), the frame stored in the image storage (26) can be scanned by lines or columns, and during this scanning, prominently designed vertices ( 7) -(10) or (7')-(
to'') is detected, the electronic switch (27)
A signal is constantly transmitted to the memory (23) which is also connected to the memory (23). From each scanning phase, the position of the vertex is obtained which is sequentially determined by the video camera (25), so that this position can be stored in the memory (23) together with the position of the vertex picked up by the video camera (20). The data stored in memory is transferred to a computer (24
), and the computer calculates each reference element (13) or (14) from this data by a suitable program.
) vertex (7) - (10) or (7') - (10'
) of the position and reference element (14) presented by
.

Reference element (1) for reference mark (7')-(10')
3) determine the positions occupied by the individual fiducial marks (7)-(10) and thereby determine the relative movement between the upper and lower jaws. The embodiment of FIG. 3 has the advantage that the light source (17) and mirror (19) for movement in the direction of the double arrow H are unnecessary, and the direction of movement of the horizontal axis is controlled by the video camera (20) and (25). can be determined by the mutually inclined optical axes of the .

Of course, in the embodiment of FIG. 3 it is also possible to connect both video cameras (20) and (25) to a single image storage device with two channels and 4± memories, in which case their outputs The signals are evaluated by a single electronic switch in a multiplexing process, in particular in the first step the video signal of the video camera (20) is
Then, in the next step, the video signal of the video camera (25) is evaluated. Apart from this, in the embodiment of FIG. 1 and the embodiment of FIG.
6) can of course be omitted, in which case the signals provided by the video camera (20) or (25), respectively, are connected to the corresponding electronic switch (22) or (27).
directly evaluated using the method described above. Furthermore, apart from this, the vertices (7) - (10) or (7') - (
The position of the video camera (20') is compared with a preset optical or electronic grid and from that comparison the actual position of the designated vertex is determined.
) or (25) or vertices (7) −(1o) or (7′ ) −(10′
) can be determined. This can also be done as follows. For example, an electronic grid is created at the electronic switch (22) or (27) so that the vertices (7) - (10) or (
7') - (10''), the distance appearing during the scanning of the signal is detected by a line or column by a preceding or subsequent grid signal, and taking into account this grid signal which determines a position from this. Therefore, the included vertices (7) - (10) or (7') - (10'
) is determined. In particular, by using a precise grid division, this method allows vertices (7) − (1
o) or (7')-(10') can be determined with a particularly high degree of accuracy.

A third element viewed from two viewing directions (A, A') in which the reference elements (13) and (14) are at an angle to each other.
The measuring device in the figure can also consist of a single video camera, in which case the reference mark is measured alternately at each time by that camera through a mirror device, at one time from one viewing direction and then from the other. The signals from both such viewing directions are viewed in a chronological sequence and are therefore fed to an image storage device or an electronic switch for evaluation of the video signal.

Figure 4 shows vertices (7) - (10) or (7') - (1
0'') is not made by a single or multiple video cameras, but by a laser device! (2g), which is a point-like or highly concentrated laser beam of a predetermined wavelength. It comprises a laser emitting a light beam (30), a refraction or scanning device (31) with two refraction mirrors for the light beam (30), a photodetector (32) and an electronic measurement and evaluation device (33).

That outfit! The output of (33) is connected to a memory (23) for a computer (24). Laser device!
(28) is placed at a predetermined distance from the patient sitting, for example, in a chair, and the light beam (30') refracted by the refractor is arranged by a line or column along one axis, for example a horizontal axis perpendicular to the drawing, and a vertical axis. scanning the measurement area formed by the vertices (7) - (10) and (7') - (10') of the reference elements (13) and (14) in two mutually perpendicular axial directions such as It looks like this. The light beam (3G') reflected by the photodetector (32) is converted in this detector into an electrical signal, which signal, in particular together with the signal obtained from the refraction device (31), is sent to the measurement and evaluation device (33); The signal then specifies, for example, the respective spatial angle defined by the ray (30') with respect to the reference axis. (2
8) fiducial mark from (7) - (10) or (7″
) − (based on the distance presented by (10′)),
The actual positions of these reference marks are determined in the measuring and evaluating device and the corresponding values are transmitted by the measuring and evaluating device to the memory (23). The measurement of the distance required for determining the position of the reference mark takes place in the illustrated measuring device in the same manner as is conventionally done in corresponding distance measuring devices operating with laser radiation. For measuring this distance, the elapsed time between the emitted beam (30) and the beam hitting the detector (32) can be used, for example in a pulsed laser (29). for determining its distance.

Reference elements (13) placed at a predetermined distance from each other
and (14) respectively installed vertices (7) −(
10) or (7') - (10'') can also be used. Furthermore, interferometric measurements are also possible to determine the distance.

FIG. 5 shows in a simplified form another embodiment of the measuring device, which differs from the embodiment of FIG. 4 in that the measuring area is or (7'
)-(10') with a beam of light (30'), but preferably of different wavelengths, are provided with two laser devices (28). Since the two laser devices (28) are installed at a spatial distance from each other, the scanning beams (3
0') form an angle with each other and therefore from the signal given by the measuring and evaluation device I (33) of the laser device (28), the vertices (7) − (10) or (7
')-(10') or the change in this position in the horizontal axis direction can be determined without requiring distance measurements by the laser device (28) described above with respect to FIG.

Not only the rotation or movement of the scanning beam (30') but also the embodiment of FIGS.
It is also possible to rotate parts of a particular laser device (28) with this laser relative to each other in two mutually orthogonal spatial axes.

Furthermore, in principle, in the embodiment of FIG. 5, one beam emitted from, for example, a single laser (29) is split into two beams (30') using a semi-transparent mirror, so that both scanning It is also possible to obtain a beam of light (30″), in which case both laser devices I (28) at least partially form a common device.

FIG. 6 shows, in a simplified manner, a further embodiment of a measuring device which works with laser radiation.

The device has a laser (34), which is placed at a distance from the measurement location, ie the reference elements (13) and (14), and emits a concentrated beam of light (35). The method of operation of this measuring device is essentially based on the fact that one of the two objects whose relative movement is to be measured is fixed and only the other moves. This measuring device uses a light beam (
35) is directed to a prominent reference mark of the moving object, i.e. to the apex (7'') of the reference element (14) fixed to the lower jaw, for example, which first achieves a line and column scanning movement of the light beam (35). This is done by manual adjustment of the laser (34) or by rotation of this laser, and the beam (
35') is reflected on the photodetector (36), the laser (
The rotational movement of 34) is blocked by the signal created by this photodetector and the laser (34) then maintains the most recent position it occupies. During the movement of the apex (7″), the laser (34) will cause the beam (35) to always stay at the apex (7″).
''), and the movement of redirecting the laser (34) is done while it is being moved, so that the laser (34) is moved or redirected so that it hits the vertical and transverse axes, i.e. The movement of the vertex (7″) in the plane can be determined very precisely. The control reference for moving the laser (34) is the ray (35') that strikes the detector (36).
), i.e. by automatic electrical control driven by the detector (36), the light beam (3
The laser (34) is guided accordingly so that the laser (34) produces the maximum signal at the output of its detector.

In order to achieve direction selection during tracking of the laser (34), the measuring device comprises a device for setting the direction of movement of the apex (7'') in each axial direction. or by making the laser (34) perform, in addition to its tracking movement, a oscillation about two axial directions about which the laser (34) revolves during tracking. , the direction of movement of the apex (7'') in the two axial directions can be determined from the point hit by the maximum signal by the detector (36) during its oscillation.

Regarding the distance measuring device, the movement of the apex (7'') in the horizontal axis direction can be determined with the measuring device according to FIG.

Even without this distance measuring device, you can use fiducial marks or vertices (
7'') is expected in one plane, the measuring device of FIG. 6 can be used.

However, the measuring device of FIG. 6 can also be combined with other previously mentioned measuring devices.

FIG. 7 shows yet another embodiment. In this example, three fiducial marks (8) - (10) or (8') - (10'') are placed on the upper and lower jaws of the patient's head (37).
are placed, their fiducial marks are spatially offset and form the vertices of a triangle. Reference mark (8) - (1
0) or (8')-(10'') are the reference elements (
38) or (39), each reference element being provided for attachment to a row of teeth on the upper or lower jaw or the piping fork. To enable the determination in three dimensions of the relative movement between the upper and lower jaws.

In this embodiment, two optoelectronic devices (40) and (41) are provided, which devices include reference marks (8) - (10
) and (8') - (10'') are placed spatially offset so as to cover the measurement area formed by two different axial directions (visual axes).

FIG. 8 shows an embodiment similar to FIG. 7, and in the embodiment of FIG.
) and fiducial marks (8')-(10'), and each set of fiducial marks (8')-(10') or (8')-( 10') are placed spatially offset to form the vertices of the triangle, and the two triangles are located at the head (3').
7) with a fiducial mark (10') arranged like a mirror image in a vertical central plane (M) perpendicular to the front surface of the plane and forming the side of the triangle adjacent to the central plane (M); 9″)
Alternatively, (10') and (91) are each provided in the vertical direction. The fiducial mark (8')-(10') is installed on the fiducial element (39'') and the fiducial mark (8')-
(10') is installed on the reference element (39'). Both reference elements (39') and (39') are attached separately to the lower jaw, in detail, for example parts (44) and (4
5) By or two-piece piping fork (46)
and fiducial mark (8″) - (10
') is on the part (44), the fiducial mark (8") - (10'
) is attached to the part (45). The advantage of this device is that the devices (40) and (41) not only allow the detection or measurement in three dimensions of the relative movement between the upper and lower jaws, but also that they Or, the deformation of the lower jaw that occurs during chewing can be detected. In the embodiment of FIGS. 8 and 9, a total of six fiducial marks are provided. In principle, a total of five reference marks is sufficient. If deformation of the upper jaw is to be detected, fiducial marks (8) - (10) are placed on the lower jaw and fiducial marks (8') - (xo'') and (8'') - (10'') is placed on the upper jaw.

In the embodiment shown in FIGS. 7 and 8, the fiducial mark (8
) - (10), (8') - (10') or (8'
) - (10''') are the triangular sides formed by their fiducial marks are devices (40) and (4'), respectively.
1) and placed at a certain distance from the front of the head (37).
) and (43) form an angle with the sides of their triangle.

Although the invention has been described on the basis of exemplary embodiments, it will be understood that variations and improvements are possible without departing from the basic idea of the invention, so that, for example, the reference element (13)
and vertices (7) - (10) or (7') in at least one of those two in (14)
- Instead of using a fiducial mark formed by (10'') 1 it is also possible to use a fiducial mark placed directly on the head or skull of the patient, for example 0 the photodetector (32) used in the invention and/or or (36) is a photodiode or photodiode device or other suitable opto-electrical converter which generates an electrical signal when illuminated with light, such as a phototransistor or photoresistor.

In order to simplify the positioning and/or verification of the reference marks during the determination of relative movements, these reference marks can also be formed by light-emitting elements (e.g. photodiodes), each with a different color and/or It may also be formed by elements emitting light with a luminance and/or wavelength and/or modulated light, i.e. with a modulated intensity, and in which case at least part of the fiducial mark for identification of the lateral fiducial marks. It is advantageous that the light emitted by the reference mark differs in modulation frequency from the light of other fiducial marks.

Of course, conspicuous points or lines formed on the reference element or object can also be used as reference marks.

[Brief explanation of the drawing]

Figure 1 is a side view diagrammatically showing a measuring device for determining the relative movement between the upper and lower jaws of a person in three dimensions using a video camera; Figure 2 is a side view of the front teeth of the upper or lower jaw of a person; Or, the reference mark of the measuring device installed on the incisors is seen from the direction of arrow A in Figure 1, Figure 3 is a diagram schematically showing the measuring device using two video cameras, and Figure 4 is a diagram showing the measuring device using a laser device. FIG. 5 is a diagram schematically showing the measuring device used; FIG. 5 is a diagram schematically showing the measuring device using two laser devices; FIG. 6 schematically shows another embodiment of a measuring device using a laser device, and FIGS. 7, 8, and 9 schematically show still other embodiments of the measuring device.

Claims (1)

[Claims] (1) A method for determining relative movement between an upper jaw and a lower jaw in three dimensions, comprising at least three spatially shifted
fiducial marks (7-10, 7'-10';8''-10
'') are placed on the upper and lower jaws and optically detect the relative position of the reference mark on one jaw with respect to the position of the reference mark on the other jaw in at least one axial direction (visual axis), and reference mark (7-10, 7'-
10';8''-10'') A three-dimensional determination method for relative motion between an upper jaw and a lower jaw, characterized in that the relative motion between the upper jaw and the lower jaw is determined from a change in the relative position of the upper jaw and the lower jaw. (2), reference mark (7-10, 7'-10';8''-
A method for three-dimensional determination of relative movement between an upper jaw and a lower jaw as claimed in claim 1, wherein the relative movement of the upper jaw and the lower jaw is determined with the aid of a computer from changes in the mutual positions of the upper and lower jaws. 3), reference mark (7-10, 7'-10';8''-
The method for determining the relative movement between the upper jaw and the lower jaw in three dimensions according to claim 1 or 2, wherein the position of the upper jaw and the lower jaw is determined using at least two visual axes. (4), Spatial Three or four fiducial marks that are off target (
7-10, 7'-10';8''-10'') on each jaw (1
, 2) and set the reference mark (7-10;
The relative position of the reference mark (7-10; 7'-10') of the other jaw with respect to the position of 7'-10') is detected optically, and the relative movement of those jaws is determined from the change in the relative position of the reference mark. A method for determining three-dimensional relative movement between an upper jaw and a lower jaw according to any one of claims 1 to 3, wherein the relative movement between the upper jaw and the lower jaw is determined with the aid of a computer. (5) at least one reference element (13, 14, 38, 39) is attached to at least one jaw (1, 2);
The fiducial elements are spatially displaced fiducial marks (7-10, 7
8''-10''), the method for three-dimensional determination of relative movement between an upper jaw and a lower jaw according to any one of claims 1 to 4. (6), reference mark (7-10, 7'-10';8''-
10") relative position of at least one video camera (2
0, 25) and an image storage device (
21) A method for determining three-dimensional relative movement between an upper jaw and a lower jaw according to any one of claims 1 to 5. (7), the frames provided by the video camera (20, 25) and/or stored in the image storage device (21, 26) are scanned by lines or columns to mark the fiducial marks (7-10, 7'-10). A method for three-dimensionally determining relative movement between an upper jaw and a lower jaw according to any one of claims 1 to 6, which determines the position of the upper jaw and the lower jaw. (8) further uses a beam of light to determine the relative movement between the jaws (1, 2) in the axial direction (H), said beam of light being arranged on one of the jaws (1, 2) or on the reference element (13, 14); emitted from the light source (17) and the other jaw (2,1)
or the relative relationship between the upper jaw and the lower jaw according to any one of claims 1 to 7, which is reflected by a reflective surface on a reference element (14, 13) provided therein. A method for determining three-dimensional motion. (9), reference mark (7-10, 7'-10';8''-
10'') at different viewing angles (A
, A′) of the relative movement between the upper and lower jaws according to any one of claims 6 to 8, observed with two video cameras (20, 25). How to decide. (10), using a video camera (20), reference mark (
7-10, 7'-10') is determined in a chronological sequence from two viewing directions (A, A') by means of a light refraction device, such as a mirror device A method for determining three-dimensional relative movement between an upper jaw and a lower jaw as described in any one of paragraphs 6 to 9. (11), reference mark (7-10, 7'-10';8''
10'') from a laser beam (30', 34) from at least one laser (29, 34).
35) A method for determining three-dimensional relative movement between an upper jaw and a lower jaw according to any one of claims 1 to 5. (12), scanning the relative positions of the reference marks (7-10, 7'-10'), the solid angle of the laser beam (30') and the relative positions of the reference marks (7-10, 7'-10') and the laser (29
) The method for determining three-dimensional relative movement between an upper jaw and a lower jaw according to claim 11, wherein the method is determined from the distance between the upper jaw and the lower jaw. (13), the measuring area formed by the fiducial marks (7-10, 7'-10') is divided into two laser beams (30'
) A method for three-dimensional determination of relative movement between an upper jaw and a lower jaw according to claim 11 or 12, wherein scanning is performed with the aid of a scanning method. (14) concentrating the laser beam (35) provided by the laser (34) on one fiducial mark (7') and moving with the movement of this fiducial mark (7') and from that movement; A method for determining a three-dimensional relative movement between an upper jaw and a lower jaw according to any one of claims 11 to 13, which determines a change in position of the upper jaw and the lower jaw. (15) A measuring device for determining the relative movement between an upper jaw and a lower jaw in at least two dimensions, wherein both jaws have at least two spatially offset reference marks (7-10,
7′-10′; 8″-10″) and placed at a distance from the measuring area formed by those reference marks (20, 21, 22,
23, 24, 25, 26, 27, 28, 34, 36, 4
0,41), thereby making it possible to determine the relative position of the reference mark of each jaw with respect to the reference mark of the other jaw. (16), three or four spatially offset reference marks (7-10, 7'-10';8''-10'') are placed on each jaw to determine the relative movement in three dimensions. 16. A measuring device for determining the relative movement between an upper jaw and a lower jaw as claimed in claim 15. (17),
At least one reference element (13, 14) is installed in at least one jaw (1, 2), said reference element having spatially offset reference marks (7-10, 7'-10'; 8 ″－
10'') for determining the relative movement between the upper and lower jaws. (18) The reference elements (13, 14) include at least one Two fiducial marks (7, 7') are installed, which fiducial marks (8-10; 8'-10') in one axial direction extending in the direction of the "optoelectronic device - measurement zone".
18. A measuring device for determining the relative movement between an upper jaw and a lower jaw as claimed in claim 17, which are spatially offset relative to each other. (19), reference mark (7-10, 7'-10';8''
-10″) is a two-dimensional or three-dimensional object (11, 12, 3
8, 39, 39', 39'') or other prominent point or area of the object between the upper and lower jaws according to claim 17 or 18. Measuring device for determining relative movements. (20), the reference marks (7-10; 7'-10') are formed at the apex of the pyramid-shaped object (11, 12), between the upper and lower jaws. (21), at least one jaw (1, 2) has at least one light source (17) emitting a directed light beam (18).
), the light beam being reflected in the direction of the optoelectronic device by a reflective surface or mirror (19) of the other jaws (2, 1);
Measuring device for determining relative movement between an upper jaw and a lower jaw according to any one of claims 16 to 20. (22), the light source (17) is one of the reference elements (14)
and the reflective surface or mirror (19) is provided on the other reference element (13).
Measuring device for determining the relative movement between the upper and lower jaws as described in Section 1. (23) The upper jaw according to claim 21 or 22, wherein the reflected light beam (18') is at an angle of less than 90° with respect to the axial direction extending between the measurement area and the optoelectronic device. Measuring device for determining the relative movement between the lower jaws. (24), reference mark (7-10, 7'-10';8''
-10″) are optically noticeable by contrast, brilliance and/or tint and/or preferably different colored lights and/or their brightness adjusted at the same or different frequencies for the identification of individual fiducial marks. designed as a light spot that emits a light signal that
Measuring device for determining relative movement between an upper jaw and a lower jaw according to any one of claims 15 to 23. (25), reference mark (7-10, 7'-10';8''
-10'') is designed as a light-reflecting surface, the measuring device for determining the relative movement between the upper and lower jaws according to any one of claims 15 to 24. (26), the optoelectronic device preferably comprises an image storage device (21,
at least one video camera (20) connected to
, 25). Measuring device for determining relative movement between an upper jaw and a lower jaw according to any one of claims 15 to 25. (27), optoelectronic devices are reference marks (7-10; 7'-
Two video cameras (20, 2
5). Measuring device for determining the relative movement between an upper jaw and a lower jaw according to claim 26. (28), the optoelectronic device comprises a video camera (20);
Thereby, by means of a light-refracting device such as a mirror device, the measurement area formed by the fiducial marks (7-10, 7'-10';8''-10'') is covered from two different viewing directions in the chronological sequence. 27. A measuring device for determining the relative movement between an upper jaw and a lower jaw according to claim 26. (29), optoelectronic devices are reference marks (7-10, 7'-
at least one laser device (28, 34) for scanning the measurement area formed by the laser beam (30', 35) and the reference mark (7);
-10, 7'-10';8''-10'') comprising at least one photodetector (32, 36) for the laser beam (30'', 35') reflected at the A measuring device for determining the relative movement between the upper and lower jaws according to any of paragraphs 15 to 25. (30) at least two laser beams (30) for scanning the measurement area. A measuring device for determining the relative movement between the upper and lower jaws according to claim 29, in which there is a laser device (28) emitting a laser beam (31), the optoelectronic device comprising a memory (23). a data processing unit (24) having a reference mark (7-10, 7'-10';8''-10'');
Determining the relative movement between the upper jaw and the lower jaw according to any one of claims 15 to 30, wherein the relative movement between the jaws is detected by the program from the respective relative positions of the jaws. Measuring device for (32), the optoelectronic device is an electronic scanning unit (22)
and in the unit there are reference marks (7-10, 7
'-10';8''-10''), frames or segments provided on at least one video camera (20, 25) are scanned by a line or column due to the presence of a fiducial mark; Measuring device for determining the relative movement between the upper and lower jaws according to any of the preceding claims. (33), the optoelectronic device comprises at least one measuring and evaluation unit (33), by means of which the scanning laser beam (30', 35) is able to measure the light from the spatial angle occupied by the predetermined original position. Detector (32, 36)
The reference marks (7-10, 7'-10';8''-10
Measuring device for determining the relative movement between the upper and lower jaws according to any of the preceding claims, wherein the position of the upper and lower jaws is determined.