KR101175616B1 - Scanner for oral cavity - Google Patents

Abstract

The oral cavity scanner according to the present invention includes a reflection member for reflecting incident light toward a scanning target tooth and an angle adjustment member connected to form a predetermined angle with the reflection member, and the reflection according to the position of the angle adjustment member. An optical system in which a reflection angle of the member is set; An optical system driving member coupled to the angle adjusting member and moving the optical system to a predetermined reflection position along a guide; It is connected to one end of the guide, is inserted into the optical system driving member to contact one end of the angle adjusting member, and to apply a force in a predetermined direction with respect to the angle adjusting member to change the position of the angle adjusting member. An optical stop member having a stop projection formed thereon; An optical output element for outputting light toward the optical system according to a preset output position and output angle; An optical sensing element configured to generate a sensing value by sensing the reflected light from which the output light is reflected through the optical system and the reflected light reflected from the tooth; A control module configured to control scanning of the tooth by setting at least one of the reflection position, the reflection angle, the output position, and the output angle; And a data processing module for merging the sensing values by the position coordinates of the tooth and transmitting the scanning data including the merged sensing values for the position coordinates to a data processor to generate a 3D scanning model for the target tooth to be scanned. It includes.

Description

Oral Scanner {SCANNER FOR ORAL CAVITY}

The present invention relates to an oral scanner, and more particularly, to an oral scanner capable of being inserted into the oral cavity to scan a tooth in three dimensions.

In general, a dental clinic or the like performs treatment and treatment of a patient's affected area through an impression taking process of producing a plaster model of the patient's teeth. However, in the impression acquisition process of manufacturing such a plaster model, there are problems such as material consumption and cross infection, possibility of breakage and preservation of the manufactured model.

In addition, the method widely used to grasp the state of the oral cavity of the related art is to insert a sheet-like film into the oral cavity to fix the film near the affected area using the patient's hand or tongue, and then radiate an X-ray to the affected area of the oral cavity. Projections on and using films based thereon have been proposed.

However, this method may cause errors in the process of two-dimensional plane measurement of a three-dimensional structure by performing manual measurement in two dimensions using a radiograph or relying on computer tomography. There is this. In addition, the patient may be exposed to a large amount of radiation, and the patient's economic burden and complexity at the implementation stage may cause many clinical problems.

Therefore, there is a need for an oral scanner capable of accurately three-dimensional modeling of teeth while having a low possibility of causing a problem in a patient's health.

An embodiment of the present invention is to provide a oral scanner that is inserted into the oral cavity of a user to generate a three-dimensional scanning model by scanning the teeth in a non-contact manner.

In addition, an embodiment of the present invention is to provide a oral scanner for generating a three-dimensional scanning model by accurately sensing the shadow portion of the scanning target tooth.

In addition, an embodiment of the present invention is to provide a oral scanner including a reflection angle adjusting device for adjusting the reflection angle of the optical system to accurately measure the shaded portion of the tooth.

As a technical means for achieving the above-described technical problem, the scanner for oral cavity according to an aspect of the present invention, a reflection member for reflecting the incident light in the direction of the scanning target tooth and the angle adjustment so as to form a predetermined angle with the reflection member An optical system including a member, wherein a reflection angle of the reflective member is set according to a position of the angle adjusting member; An optical system driving member coupled to the angle adjusting member and moving the optical system to a predetermined reflection position along a guide; It is connected to one end of the guide, is inserted into the optical system driving member to contact one end of the angle adjusting member, by applying a force in a predetermined direction with respect to the angle adjusting member to change the position of the angle adjusting member. An optical system stop member in which a stop protrusion is formed; An optical output element for outputting light toward the optical system according to a preset output position and output angle; An optical sensing element configured to generate a sensing value by sensing the reflected light from which the output light is reflected through the optical system and the reflected light reflected from the tooth; A control module configured to control scanning of the tooth by setting at least one of the reflection position, the reflection angle, the output position, and the output angle; And a data processing module for merging the sensing values by the position coordinates of the tooth and transmitting the scanning data including the merged sensing values for the position coordinates to a data processor to generate a 3D scanning model for the target tooth to be scanned. A first rotating rod connected to one end of the angle adjusting member and moving to the same position as the moving position of the angle adjusting member, and a second rotating rod connected to one surface of the optical system driving member facing the first rotating rod; The position of the angle adjusting member is fixed to one position by using an elastic force acting on the elastic member sandwiched therebetween.

According to any one of the problem solving means of the present invention described above, by varying the reflection angle of the optical system for reflecting the output light to the scanning target tooth to project the exit light of different exit angle to the same position of the tooth, Accurate scanning of shadows is possible.

And, according to any one of the problem solving means of the present invention, by merging the sensing values for the shaded portion and the normal portion with respect to the same position of the scanning target tooth, by generating the total sensing value of the scanning target tooth to three-dimensional A scanning model can be created.

In addition, according to any one of the problem solving means of the present invention, by using the optical system reflection angle adjusting devices including physical members it is possible to simply change the reflection angle of the optical system to a different reflection angle and then fix.

1 is a block diagram showing the configuration of a scanner for oral cavity according to an embodiment of the present invention.
2 is a side view of an oral scanner according to an embodiment of the present invention.
3 is a plan view of a scanner for oral cavity in accordance with an embodiment of the present invention.
4 and 5 are diagrams for describing a method of sensing a shaded portion of a scanning target tooth according to an exemplary embodiment of the present invention.
6 is a perspective view of an optical system and an optical system driving member according to an embodiment of the present invention.
7 is a plan view of a state in which an optical system according to an embodiment of the present invention is coupled with an optical system driving member.
8 is a front view and a rear view of an optical system driving member according to an embodiment of the present invention.
9 and 10 are views for explaining the operation of the reflection angle adjustment apparatus according to an embodiment of the present invention.
11 is a view showing the structure of the reflection angle adjustment member according to an embodiment of the present invention.
12 is a view for explaining a method of adjusting the reflection angle by using an elastic member according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

1 is a block diagram showing the configuration of a scanner for oral cavity according to an embodiment of the present invention.

In this case, the components shown in FIG. 1 according to the embodiment of the present invention mean software components or hardware components such as a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC), and perform predetermined roles.

However, 'components' are not meant to be limited to software or hardware, and each component may be configured to be in an addressable storage medium or may be configured to reproduce one or more processors.

Thus, as an example, a component may include components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, procedures, and subs. Routines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables.

Components and the functionality provided within those components may be combined into a smaller number of components or further separated into additional components.

As shown in FIG. 1, the oral cavity scanner 100 according to the embodiment of the present invention includes an optical system 110, an optical system driving unit 120, an optical system driving control unit 130, an optical output unit 140, and an optical output control unit ( 150, a light sensing unit 160, a sensing value merging unit 170, a scanning data generating unit 180, and a data processing unit 190.

The optical system driver 120 moves the optical system 110 to a set reflection position under the control of the optical system driving controller 130, and adjusts the angle of the optical system 110 to the set reflection angle. For reference, the reflection position and the reflection angle of the optical system 110 are set so that the light incident on the optical system 110 is reflected at the set exit angle.

Specifically, the optical system driver 120 drives the optical system 110 horizontally back and forth according to the movement direction and the movement distance set from the optical system drive controller 130 to be positioned at a reflection position corresponding to one position of the target tooth to be scanned. . The optical system driver 120 adjusts the angle by rotating the optical system 110 according to the set reflection angle so that the optical system 110 can reflect the light toward the tooth at the set exit angle.

At this time, based on the reflection position information and the reflection angle information of the optical system 110 by the driving of the optical system driver 120 of the coordinates (hereinafter referred to as "first coordinate") for the position where the light is projected to the scanning target tooth The value can be calculated. In this case, the first coordinate represents a coordinate of one axis (eg, B axis in FIG. 2) of the scanning target tooth.

The optical system driving controller 130 sets a reflection position and a reflection angle at which the optical system 110 can reflect the incident light toward the tooth at a set exit angle, and according to the set reflection position and the reflection angle, Control the operation.

In particular, the optical system driving control unit 130 according to the embodiment of the present invention controls the optical system driving unit 120 to perform at least two scanning of the scanning target tooth.

In detail, the optical system driving controller 130 sets the reflection angles of the optical system 110 to two or more different angles for each position of the scanning target tooth. The optical system driving control unit 130 controls the optical system driving unit 120 such that the optical system 110 is adjusted to two or more different angles at the same reflection position.

For example, the optical system driving controller 130 allows the reflection position to be moved in the first moving direction while maintaining the reflection angle of the optical system 110 at the first reflection angle, and the reflection angle is different from the first reflection angle. The optical system driver 120 may be controlled to move the reflection position in the second movement direction opposite to the first movement direction while maintaining the second reflection angle.

In addition, the optical system driving controller 130 moves the reflection position of the optical system 110 in one direction, and adjusts the reflection angle of the optical system 110 to the first reflection angle at the same reflection position and then adjusts the second reflection angle. The optical system driver 120 may be controlled to control the optical system driver 120.

As such, by changing the reflection angle of the optical system 110 to two or more different angles with respect to the same reflection position, incident light having the same position and angle is reflected at different exit angles through the optical system 110.

Therefore, the optical system 110 according to the embodiment of the present invention may reflect the light at at least two emission angles so that the emission light of different angles may be projected for each position coordinate of the scanning target tooth.

The light output unit 140 directs light (in the embodiment of the present invention, 'laser light source' as an example) toward the optical system 110 according to an output position and an output angle set under the control of the light output control unit 150. Output

The light output controller 150 sets an output position and an output angle of light (hereinafter, referred to as “output light”) so as to correspond to the set emission angle.

In particular, the light output controller 150 according to an embodiment of the present invention is to output the output light of the same output angle and the output position of the same position more than twice so that at least two scanning is performed on the same position of the scanning target tooth The light output unit 140 is controlled to output.

In addition, based on the output position information and the output angle information on the output light of the light output unit 140 under the control of the light output control unit 150, the coordinates of the position where the light is projected onto the scanning target tooth (hereinafter, “second” Coordinates ”). In this case, the second coordinates represent coordinates of another axis perpendicular to the first coordinates (for example, the A axis in FIG. 2). That is, the first coordinate and the second coordinate matched with each other represent coordinates of one position of the scanning target tooth (ie, “position coordinates”).

On the other hand, the output light output from the light output unit 140 is reflected at the exit angle set through the optical system 110, the exit light reflected through the optical system 110 is reflected to the scanning target tooth. In this case, the reflected light reflected from the scanning target tooth is incident to the optical system 110 and then reflected back to the light sensing unit 160.

The light sensing unit 160 may include a light sensing device, and may use a PSD device that generates an electrical signal according to a position at which the reflected light is incident.

Specifically, the PSD sensor included in the light sensing unit 160 according to the embodiment of the present invention is an optoelectronic sensor, a structure in which a light current proportional to light energy is generated at an incident point and flows to electrodes at both ends when a light point forms on a surface thereof. Has

As such, the height value for each position coordinate of the scanning target tooth may be calculated based on a result of displacement measurement of the reflected light incident on the light sensing unit 160 using an optical triangulation method.

For reference, optical triangulation is a displacement measurement technique using two-dimensional triangulation based on geometric optics. In the optical triangulation method, the optical system exists in one plane and is configured around two optical axes crossing each other at an angle of θ.

의 각도를 갖는다.In this case, one of the two optical axes is a condensing optical axis for forming a spot on the surface of the workpiece, the other is an image optical axis for transmitting an image of the light spot to the light receiving element. Here, the light spot formed on the surface of the workpiece moves in a straight line on the condensing optical axis as the relative position of the workpiece changes, and the movement range at this time is called an object trajectory. Also, as the light point moves, the image point on the light receiving element moves, and the range in which the image point moves is called an image trajectory, and the image trajectory is in the vertical direction of the image optical axis.

Has an angle.

In this case, the light point moving distance p on the object trajectory and the moving distance q of the image point corresponding thereto may be obtained through Equation 1 below.

[Equation 1]

For reference, f is a focal length of the image lens for projecting the image according to the light point on the light receiving element, s is the distance of the image lens and the actual workpiece.

는 하기 수학식 2를 통해 구할 수 있다.Also, the angle

Can be obtained through Equation 2 below.

&Quot; (2) "

When the optical triangulation is applied to the embodiment of the present invention, the emitted light forms a light spot on the surface of the target tooth, and the light reflected on the target tooth (ie, the reflected light) is again formed on the PSD sensor. Then, the PSD sensor outputs an electrical signal according to an imaging position of the reflected light (ie, incident light to the sensor).

Therefore, in the exemplary embodiment of the present invention, the position where the reflected light is imaged on the PSD sensor is changed according to the change in the height of the scanning target tooth. Accordingly, the light sensing unit 160 calculates the height value of each region of the scanning target tooth. Can be.

In particular, the light sensing unit 160 according to the embodiment of the present invention has two positions with respect to the same position of the scanning target tooth according to the angle at which the optical system 110 emits light (that is, the output light) (that is, the exit angle). The reflected light can be sensed. For reference, the emission angle may be set according to the reflection angle of the optical system 110 when the output position and the output angle of the output light are the same.

In detail, the light sensing unit 160 senses the reflected light of the scanning target tooth according to the emitted light when the optical system 110 is set at one reflection angle with respect to the position of the scanning target tooth. In addition, the light sensing unit 160 senses the reflected light of the emitted light projected onto the scanning target tooth when the optical system 110 has another reflection angle different from the one reflection angle.

In this case, the light sensing unit 160 sequentially transmits a sensing value of sensing the light reflected by the scanning target tooth reflected through the optical system 110 to the sensing value merging unit 170.

On the other hand, in general, the surface of the tooth is curved, and in the deep region such as the curved portion and the tooth, the light reflected on the tooth (ie, the reflected light) is not sensed according to the angle at which light is incident. Part occurs.

That is, at one position of the scanning target tooth, a shaded portion that cannot sense the reflected light reflected from the surface of the tooth is generated according to an emission angle at which light (that is, the output light) is reflected through the optical system 110. Therefore, the light sensing unit 160 according to the embodiment of the present invention senses two or more output light for each position coordinate of the teeth except for the shaded portion generated according to the emission angle.

In the oral cavity scanner 100 according to an exemplary embodiment of the present invention, at least two reflection angles of the optical system 110 under the control of the optical system driving control unit 130 for sensing the reflected light on the shadowed portions according to the emission angle. The above reflection angle is set.

As such, since the reflection angle of the optical system 110 is set to at least two angles at the same reflection position, light sensing of the shaded portion of the tooth for each reflection angle is possible. That is, the shaded portion generated with respect to the exit angle when the optical system 110 is set to one reflection angle can be light sensed by the exit angle when the optical system 110 is set to another reflection angle.

As such, by sensing the sensing values sensed for each reflection angle, the entire sensing value of the scanning target tooth may be generated.

The sensing value merging unit 170 obtains a sensing value of the scanning target tooth from the light sensing unit 160 and merges the obtained sensing value for each position coordinate of the scanning target tooth. The sensing value merging unit 170 transmits the merged sensing values to the scanning data generating unit 180.

Specifically, the sensing value merging unit 170 receives the reflection position and the reflection angle information of the optical system 110 from the optical system driving controller 130. The output position and output angle information of the output light is received from the light output controller 150. In addition, the sensing value merging unit 170 receives a sensing value of the scanning target tooth from the light sensing unit 160.

In this case, the sensing value merging unit 170 calculates position coordinates for the currently received sensing value based on at least one of the reflection position and reflection angle information and the output position and output angle information, and calculates the calculated position coordinates. Match and store the sensing value.

In this case, the light sensing unit 160 according to the embodiment of the present invention senses at least one or more sensing values with respect to the same position coordinate of the scanning target tooth.

Accordingly, the sensing value merging unit 170 merges the stored position coordinates and the sensing value into one sensing value for each same position coordinate.

For reference, the sensing value merging unit 170 may merge the sensing values by calculating an average of two or more sensing values with respect to the same position coordinates or selecting one sensing value with respect to the same position coordinates.

On the other hand, for the shaded portion of the scanning target tooth, a sensing value that cannot be actually used is sensed or cannot be sensed. In this case, the light sensing unit 160 transmits a normal sensing value (ie, an effective value) or an invalid sensing value to the sensing value merging unit 170 with respect to the same position of the scanning target tooth. Therefore, the sensing value merging unit 170 may select a valid sensing value when selecting one sensing value for the same position coordinate. For reference, the sensing value merging unit 170 determines that a sensing value having a size smaller than or equal to a predetermined reference value among the received sensing values is an invalid sensing value.

The scanning data generating unit 180 matches the received position coordinate information and the merged sensing value and transmits the matching data to the data processing unit 190.

Specifically, the scanning data generation unit 180 receives the reflection angle and the reflection position information of the optical system 110 from the optical system driving controller 130, and output position and output angle information of the output light from the light output controller 150. Received, and receives the merged sensing value for each position coordinate from the sensing value merging unit 170.

The scanning data generator 180 determines the position coordinates of the scanning target tooth by using the received reflection angle and reflection position information and the output position and output angle information for the output light. The scanning data generator 180 generates the scanning data by matching the merged sensing values with respect to each position coordinate.

The data processor 190 generates a 3D scanning model of the scanning target tooth based on the input scanning data.

In detail, the data processor 190 generates a three-dimensional scanning model for the scanning target tooth by integrating the merged sensing values for each position coordinate included in the scanning data received from the scanning data generator 180. That is, the data processor 190 may generate the 3D scanning model by applying the height value of the tooth according to the merged sensing value for each position coordinate of the scanning target tooth.

In addition, the data processor 190 may store the generated 3D scanning model of the tooth in a storage space such as a database. For reference, the data processor 190 may sequentially store the 3D scanning model of the teeth in the order of generation.

On the other hand, the oral cavity scanner 100 according to an embodiment of the present invention is connected to a three-dimensional scanning model of the patient's teeth stored in the data processing unit 190 is connected to the screen (data not shown) or a data cable provided with itself It can output through a system (not shown).

Hereinafter, the structure and operation of an oral scanner according to an embodiment of the present invention will be described in detail with reference to FIGS. 2 to 5.

Figure 2 is a side view of the oral scanner according to an embodiment of the present invention, Figure 3 is a plan view of the oral scanner according to an embodiment of the present invention.

2 and 3 show the oral scanner 100 according to the embodiment of the present invention as an oral scanner 100 '. That is, FIG. 1 illustrates an oral scanner 100 including a data processor 190 for generating a 3D scanning model of a scanning target tooth using the generated scanning data. However, FIGS. 2 and 3 illustrate the oral scanner 100 ′ in which the data processing unit 190 is configured externally to limit the size of the oral scanner 100 according to the embodiment of the present invention. In this case, a data processing module having the same or similar concept as that of the data processing unit 190 may be configured inside the oral scanner 100 ′.

First, as shown in FIGS. 2 and 3, the oral cavity scanner 100 ′ according to the embodiment of the present invention includes an insert 210, a main body 220, a guide 230, an optical system 240, and an optical system drive. The member 250, the optical system stop member 260, the light output device 270, the light sensing device 280, the control module 290, and the data processing module 300 are configured to be included.

In this case, the optical system 240 and the optical system driving member 250 have the same concept as the optical system 110 and the optical system driving unit 120 described with reference to FIG. 1. The light output device 270 and the light sensing device 280 have the same concept as the light output unit 140 and the light sensing unit 160 described with reference to FIG. 1. Also, the control module 290 is a concept including the optical system driving controller 130 and the light output controller 150 described with reference to FIG. 1, and the data processing module 300 includes the sensing value merging unit 170 and the scanning data generating unit. The concept includes the 180 and the data processor 190.

Meanwhile, among the components included in the data processing module 300 illustrated in FIGS. 2 and 3, the data processing unit 190 described with reference to FIG. 1 may be included inside the oral cavity scanner 100 ′, or as a separate device. The communication module (not shown) may be connected to the oral scanner 100 'by wire / wireless.

Specifically, as shown in FIGS. 2 and 3, the oral scanner 100 ′ according to the embodiment of the present invention may be represented by an insert 210 part and a remaining main body 220 part.

The frame of the insert 210 is in the form of an insertion tube protruding from the main body 220 so that the user can be inserted into the oral cavity, and includes five upper surfaces including one upper surface, two side surfaces, one front surface, and one lower surface. It may be configured as.

At this time, the lower surface of the insert 210 is a structure including a light transmission window that allows the light source for scanning to be projected on the tooth. The upper surface of the insert 210 is a surface parallel to the direction in which the insert 210 is inserted into the oral cavity, and the lower surface has a predetermined angle with the upper surface. Accordingly, the two side surfaces may be formed to gradually widen as the body 220 approaches the main body 220. This is because of the light source (that is, the output light) output to the optical system 240 side through the inside of the insert 210, and the light source (that is, the reflected light) that is reflected from the tooth and is incident on the light sensing element 280. It is to protect the light source by securing a progress path.

The optical system 240 reflecting the output light output from the light output element 270 and projecting it to the tooth is connected to the guide 230 through the optical system driving member 250 inside the insert 210.

In this case, the guide 230 supports the optical system 240 to be connected to the inside of the insert 210, and the optical system driving member 250 moves along the guide 230 to allow the optical system 240 to move. And, one end of the guide 230 is connected to the optical system stop member 260 to stop the movement of the optical system 240.

Specifically, the optical system driving member 250 controls the moving member (not shown) connected to a motor (not shown) or the like according to the command of the control module 290 to insert the optical system 240 into the horizontal direction in which the insert 210 is inserted. Move back and forth with. In addition, the optical system driving member 250 may change the reflection angle of the optical system 240 by rotating the optical system 240 along the first reference axis according to a command of the control module 290. For reference, the first reference axis coincides with the A axis shown in FIG. 2.

Then, when the optical system 240 is moved to one end of the guide 230 by driving the optical system driving member 250, the reflection angle of the optical system 240 through the specific operation of the optical system 240 and the optical stop member 260 Is changed. Then, in a state where the reflection angle of the optical system 240 is changed, the optical system driving member 250 moves the optical system 240 to a set reflection position under the control of the control module 290.

Such a method of adjusting the reflection angle through the optical system 240 and the optical system stop member 260 will be described in detail with reference to FIGS. 6 to 12.

On the other hand, the inside of the body 220, the light output element 270 for outputting the light source to the optical system 240 side, the light for receiving the reflected light reflected from the light source (that is, output light) reflected from the optical system 240 to the teeth A control module 290 and a control module for controlling the driving of the sensing element 280, the optical system 240, and the light output element 270 and processing output data (ie, sensing values) of the light sensing element 280. The data processing module 300 is configured to generate three-dimensional data using the data processed through the 290.

In this case, the light output device 270 may change the output angle of the output light based on the second reference axis or the third reference axis. For reference, the first reference axis, the second reference axis and the third reference axis are perpendicular to each other, the second reference axis coincides with the C axis shown in FIG. 2, and the third reference axis coincides with the B axis shown in FIG. 2. In addition, the light output element 270 may move in a sliding manner to the left and right sides (ie, the A axis shown in FIG. 1) to change the emission position of the output light.

In the exemplary embodiment of the present invention, the light output device 270 is a laser diode. For example, a light output device as small as possible may be used for size limitation. In addition, the light sensing device 270 may be a light receiving device such as a Charge Coupled Device (CCD) or a Position Sensitive Device (PSD), and the like. It was.

Meanwhile, when teeth are scanned using the oral cavity scanner 100 ′ according to an embodiment of the present invention, the surface of the tooth according to the exit angle at which the output light output from the light output element 270 is reflected through the optical system 240 is reflected. The intensity of reflected light reflected for the same position is different.

That is, as shown in FIG. 4 and FIG. 5 below, in the portion where the bending is severe on the surface of the scanning target tooth, the light propagation path is blocked by the peripheral bending portion when the reflected light for the output light reflected through the optical system 240 is blocked. Alternatively, the light scattering element may be scattered at an angle other than the allowable angle of the light sensing element 280 to generate a shaded portion that does not reach the light sensing element 280.

Accordingly, the oral cavity scanner 100 ′ according to an embodiment of the present invention performs at least two scanning of the target tooth and scans the three-dimensional scanning of the tooth by using a result of merging the sensing values obtained at each scanning. Create a model.

In addition, the oral scanner 100 ′ according to an embodiment of the present invention may be mounted and fixed to a fixing frame (not shown). At this time, in the state in which the insert 210 of the oral scanner 100 'is inserted into the oral cavity of the patient, at least one of the insert 210 or the main body 220 is mounted on the fixing frame (not shown). After being fixed, scanning of the tooth can be performed.

Hereinafter, a light sensing method and a process of merging sensing values of the oral scanner 100 ′ according to an embodiment of the present invention will be described in detail with reference to FIGS. 4 and 5.

4 and 5 are diagrams for describing a method of sensing a shaded portion of a scanning target tooth according to an exemplary embodiment of the present invention.

In FIG. 4, in the state where the reflection angle of the optical system 240 is maintained at θ1, the reflection position of the optical system 240 is driven from the first reflection position P1 to the second reflection position P2 by driving the optical system driving member 250. In FIG. 2, the output light output from the light output element 270 is reflected on the surface of the tooth.

In FIG. 5, in the state where the reflection angle of the optical system 240 is maintained at θ2, the reflection position of the optical system 240 is driven from the third reflection position P3 to the fourth reflection position by driving the optical system driving member 250. It shows how the output light is reflected on the surface of the tooth when moving to (P4).

Specifically, the output light output from the light output element 270 is reflected by the optical system 240 is projected on the tooth at a predetermined exit angle.

First, in FIG. 4, the output light is reflected by the optical system 240 positioned at the first reflection position P1 and the second reflection position P2 to be projected onto the tooth, and the projected reflected light is normally reflected on the surface of the tooth. It was reflected and incident to the light sensing element 280. In this case, the reflection angles of the optical system 240 positioned at the first reflection position P1 and the second reflection position P2 have an angle of θ1, and a path image of the reflected light reflected by the output light to the optical system 240. Light spots are not formed on the tooth surface corresponding to the shaded areas shown in Fig. 4. As such, a shaded portion is generated at a portion where the light spot due to the reflected light is not formed on the surface of the tooth according to the emission angle set by the reflection angle of the optical system 240. In addition, the shaded portion may occur in a portion where the path of the light reflected by the reflected light on the surface of the tooth is out of the reflection range of the optical system 240.

In addition, in FIG. 5, the output light is reflected by the optical system 240 positioned at the third reflection position P3 and the fourth reflection position P4 to be projected onto the tooth, and the projected reflected light is normally reflected on the surface of the tooth. It was reflected and incident on the light sensing element 280.

In this case, the reflection angles of the optical system 240 positioned at the third reflection position P3 and the fourth reflection position P4 have an angle of θ2, and the path of the reflected light reflected by the output light is reflected on the optical system 240. It is impossible to form a light spot on the tooth surface corresponding to the shaded portion shown in 5. As such, a shaded portion is generated at a portion where the light spot due to the reflected light is not formed on the surface of the tooth according to the emission angle set by the reflection angle of the optical system 240.

That is, as shown in FIGS. 4 and 5, as the emission angle of the reflected light reflected by the optical system 240 is different according to the reflection angle of the optical system 240, the shaded portion is generated at a different position with respect to the curved portion of the tooth. do. Therefore, the sensing values for the shaded portions according to the emission angles of the output light reflected from the optical system 240 may be replaced with the sensing values at the different emission angles.

For example, two sensing values are generated at the same positions for the remaining portions of the scanning target tooth except for the shaded portion and at least one sensing value for the shaded portion. In addition, the generated sensing values of the scanning target tooth may be generated by merging the generated sensing values. That is, in FIGS. 4 and 5, the sensing values sensed by the light sensing element 280 when the reflection angle of the optical system 240 is set to θ1, and the light when the reflection angle of the optical system 240 is set to θ2. The sensing values sensed by the sensing element 280 may be merged. For reference, the process of merging each sensing value may apply the method described with reference to FIGS. 2 and 3.

Meanwhile, in FIGS. 4 and 5, the optical system 240 moves in one direction while being maintained at one reflection angle, and is changed to another reflection angle by the optical system stop member 260, and is changed to the other reflection angle. It was shown to scan the teeth by moving to the other direction again.

However, in the oral cavity scanner 100 ′ according to the embodiment of the present invention, the optical system 240 is changed to a different reflection angle at the same reflection position to reflect output light, respectively, and the reflected output lights are light-sensing elements 280. It is also possible to sense.

In detail, the optical stop member 260 may move along the guide 230 to the current position of the optical system 240 and change the reflection angle through a specific operation with the optical system 240. As such, the optical system driving member 250 may move the optical system 240 to the set reflective position after scanning (ie, light output and sensing) for the same position in a state where the reflection angle of the optical system 240 is changed. .

For reference, FIGS. 4 and 5 are angles at which the output light output from the light output element 270 proceeds to the optical system 240 during tooth scanning through the oral scanner 100 ′ according to an embodiment of the present invention. The light reflected from the scanning target tooth is reflected through the optical system 240 and is incident to the light sensing element 280. However, an angle at which the light reflected from the scanning target tooth is reflected through the optical system 240 to be incident to the light sensing element 280 may be different depending on an angle at which the light reflected from the scanning target tooth is incident to the optical system 240. Can be. That is, the angle at which the output light output from the light output element 270 proceeds to the optical system 240 and the angle at which the light reflected from the scanning target tooth is reflected through the optical system 240 to be incident on the light sensing element 280. May be parallel or have an angle.

Hereinafter, a configuration of an apparatus for adjusting the reflection angle of the optical system 240 in the oral cavity scanner 100 ′ according to an embodiment of the present invention with reference to FIGS. 6 to 11 (hereinafter, referred to as a “reflection angle adjustment device”) And the operation will be described in detail.

6 is a perspective view of an optical system and an optical system driving member according to an exemplary embodiment of the present invention, and FIG. 7 is a plan view of a state in which an optical system according to an exemplary embodiment of the present invention is coupled with an optical system driving member.

8 is a front view and a rear view of the optical system driving member according to the embodiment of the present invention.

In this case, (a) of FIG. 8 shows the rear view of the optical system driving member 150 in the direction of the main body 220. In FIG. 8 (b), the optical system driving member 250 is in the inserting direction. A front view is shown.

Scanner for oral cavity 100 'according to an embodiment of the present invention is configured to include a reflection angle adjusting device for adjusting the reflection angle of the optical system 240. In this case, the reflection angle adjusting device includes an optical system 240, an optical system driving member 250, and an optical system stopping member 260.

In this case, the optical system 240 is coupled to the optical system driving member 250, so that the optical system 240 moves to the set reflective position as the optical system driving member 250 moves along the guide 230.

When the optical system driving member 250 moves to one end of the guide 230 in the oral cavity scanner 100 ′ according to an embodiment of the present invention, the optical system stopping member 260 coupled to one end of the guide 230 is provided. Is inserted into one space (indicated by reference numeral '254' in FIG. 6) formed in the optical system driving member 250. Accordingly, the optical stop member 260 inserted into the optical drive member 250 is in contact with one end (hereinafter referred to as an 'angle control member') of the optical system 240 inserted and coupled to the optical drive member 250. Afterwards, a force is applied in one direction (horizontal direction) with respect to the one end. As described above, one end of the optical system 240 is pushed toward the vertical direction with respect to the force in one direction by the force acting in one direction. Accordingly, the reflection angle of the optical system 240 is changed. For reference, the one direction is opposite to the horizontal direction in which the optical system driving member 250 is moved to the one end of the guide 230.

 Specifically, as shown in FIG. 6, the optical system 240 includes a reflective member 241, an angle adjusting member 242, and a first fixing part 243. The optical system driving member 250 includes a first main body 251-1, a second main body 251-2, a second fixing part 253, a guide connection groove 255, and a first angle limiting member ( 256), the second angle limiting member 257 is configured. In this case, the reflective member 241 and the angle adjusting member 242 of the optical system 240 are connected to form a predetermined angle. For reference, the reflective member 241 reflects the light output from the light output element 270 toward the scanning target tooth.

First, before the optical system driving member 250 is mounted on the guide 230, the angle adjusting member 242 of the optical system 240 is formed by the first body 251-1 and the second body of the optical system driving member 250. It is coupled to the shape fitted between the body portion 251-2. That is, as shown in FIG. 6, the angle adjusting member 242 of the optical system 240 is fitted into the insertion space 252 formed on both side surfaces of the first body 251-1. At this time, the first rotating rod 801 is inserted through the connecting portion between the reflective member 241 and the angle adjusting member 242, and both ends of the first rotating rod 810 inserted through the second main body 251 are inserted into the connecting portion. -2) is fixed.

For reference, as shown in FIG. 6, the angle adjusting member 242 of the optical system 240 is inserted into both side surfaces of the first body part 251-1 of the optical system driving member 250, and the upper and lower portions of the optical system driving member 250 have a predetermined height. An angle adjusting space 252 which is a space that can be moved is formed. The optical stop member 260 is inserted into both side surfaces of the first angle limiting member 256 so that the optical stop member moving space 254 is formed to allow the optical drive member 250 to move in one direction. have. Specifically, as shown in FIG. 8A, the optical stop member moving space 254 is formed from the rear side of the optical drive member 250. As shown in FIG. 8B, an insertion space 252 into which the angle adjusting member 242 is inserted is formed from the front side of the optical system driving member 250. For reference, the height of the optical stop member moving space 254 is formed above the height of the stop projection 262 of the optical stop member 260 to be described below, it may be formed lower than the height of the insertion space 252. That is, as shown in FIG. 8, the height d1 of the connection portion which is formed at a position corresponding to the optical stop member moving space 254 and connects the second main body portion 251-2 and the first angle limiting member 256. Is formed at a position corresponding to the insertion space 252 is formed higher than the height (d2) of the connecting portion connecting the first body portion 251-1 and the second body portion 251-2.

In addition, as shown in FIG. 7, when the optical system 240 is inserted into the optical system driving member 250, the second fixing part 253 protrudes from one end surface of the first body part 251-1 and the angle thereof. The first fixing portion 243 formed between both sides between the adjusting member 242 is opposed. In this case, the second rotating rod 802 and the third rotating rod 803 are inserted through the second fixing portion 253 and the first fixing portion 243, respectively. As such, at least one elastic member 804 is interposed between the third rotating rod 803 inserted through the first fixing portion 243 and the second rotating rod 802 inserted through the second fixing portion 253. ) Is configured.

At this time, in the oral cavity scanner 100 ′ according to the embodiment of the present invention, the second angle restriction is between the first body part 251-1 and the second body part 251-2 of the optical system driving member 250. The member 257 is formed to restrict the angle adjusting member 242 from descending above a predetermined angle with respect to the C axis. In addition, the first angle limiting member 256 is formed at a position opposite to the first body part 251-1, so that both sides of the angle adjusting member 242 when the angle adjusting member 242 is upward with respect to the C-axis. The angle adjusting member 242 is in contact with the connecting portion for connecting the limiting upwards over a predetermined angle.

On the other hand, in the oral cavity scanner 100 ′ according to an embodiment of the present invention, the force in one direction by the optical system stop member 260 inserted into the optical system drive member 250 through the optical system stop member moving space 254. When this occurs, the reflection angle of the optical system 240 is changed and then fixed to the changed reflection angle by the elastic member 804.

Hereinafter, a method of changing and fixing a reflection angle of the optical system 240 will be described in detail with reference to FIGS. 9 through 12.

9 and 10 are views for explaining the operation of the reflection angle adjustment apparatus according to an embodiment of the present invention.

11 is a view showing the structure of the reflection angle adjustment member according to an embodiment of the present invention, Figure 12 is a view for explaining a method of adjusting the reflection angle using the elastic member according to an embodiment of the present invention. .

In FIG. 9, the optical system driving member 250 into which the optical system 240 is inserted and coupled to the guide 230 is moved to one end of the guide 230 in the oral cavity scanner 100 ′ according to the embodiment of the present invention. It is the top view shown. In this case, although the guide 230 is not illustrated for convenience of description, the guide connection groove 255 of the optical system driving member 250 may be connected to one surface of the guide 230 to be slidably moved. In addition, the optical stop member 260 connected to one end of the guide 230 is fixed to the connection portion 261 is connected to one side of the guide 230, the angle adjustment member 242 when inserted into the optical drive member 250 And a stop projection 262 in contact.

As shown in FIGS. 9 and 10, the optical system driving member 250 is moved in one direction along the B axis, and when the reflection angle of the optical system 240 is changed in the embodiment of the present invention, the one direction is the insert 210. Direction from the body to the body 220. In this case, while the optical system driving member 250 is moved to the position of the optical stop member 260 connected to one end of the guide 230, the optical system 240 scans the output light output from the light output element 270. Will be reflected. For reference, in the oral cavity scanner 100 ′ according to the embodiment of the present invention, the optical system driving member 250 moves so that the reflective member 241 of the optical system 240 may reflect the output light at each preset reflection position. Can be controlled.

Then, when the optical system driving member 250 arrives at the position of the optical system stopping member 260, the optical system driving member 250 further moves to a predetermined distance in the original traveling direction. Then, the stop projection 262 of the optical stop member 260 is inserted into the optical drive member 250 through the optical stop member moving space 254 to contact the angle adjusting member 242 of the optical system 240. Done. Then, when the optical system driving member 250 further moves a predetermined distance in the original traveling direction, the angle adjusting member 242 is opposite to the original traveling direction by the stop protrusion 262 fixed at one position. Is pushed to the side perpendicular to the direction of the force to move. That is, as shown in FIG. 11, the angle adjusting member 242 of the optical system 240 is pushed up or pushed down in the C-axis direction, so that the reflection angle of the reflective member 241 is changed.

Specifically, as shown in FIG. 11, when the angle adjusting member 242 is pushed up or down, the reflective member 241 moves the angle adjusting member 242 with the first rotating rod 801 as a reference axis. It will rotate in the opposite direction. For example, in the state where the reflection angle of the optical system 240 shown in FIG. 11 was θ1, when the angle adjusting member 242 is moved downward with respect to the C axis by the optical system stop member 260, the reflective member 241 is C. Upward with respect to the axis, the reflection angle is changed to θ2.

Meanwhile, in the oral cavity scanner 100 ′ according to the embodiment of the present invention, the changed reflection angle of the optical system 240 is maintained (or fixed) by using the elastic member 804.

Specifically, FIG. 12 illustrates a change in shape of the elastic member 804 when the reflection angle of the optical system 240 shown in FIG. 11 is changed. That is, when the portion A of FIG. 11 is enlarged, it may be represented as shown in FIG. 12.

12, the shape change of the elastic member 804 when the angle adjusting member 242 is moved downward with respect to the C axis will be described.

First, as shown in FIG. 12A, the elastic member 804 according to the exemplary embodiment of the present invention is formed by bending a plate member having a predetermined width, and each of the second rotating rods 802 on both sides thereof. ) And the third rotating rod 803 are in contact. For reference, first and second contact portions 804-1 and 804-2, which the second and third rotating rods 802 and 803 contact, may be formed on both side surfaces of the elastic member 804. At this time, as shown in (a) of FIG. 12, the first contact portion 804-1 and the second contact portion 804-2 may be fixed so that the second and third rotary rods 802 and 803 are not separated. It may be a groove shape that can be. In addition, the bent surface of the elastic member 804 may be further formed with a buffer groove 804-3 that serves as a buffer. As such, the elastic member 804 may be composed of a metal plate or the like having an elastic force.

On the other hand, as shown in FIG. 12B, the second rotating rod 802 and the third rotating rod 803 are in contact with both side surfaces of the elastic member 804. At this time, the second rotating rod 802 is inserted into the second fixing portion 253 and fixed to the first body portion 251-1, and the third rotating rod 803 is the first fixing portion 243. It is in a state of being inserted through and fixed to the angle adjusting member 242. In this case, in FIG. 12B, the reflection angle of the optical system 240 is shown as θ 2, and the distances (ie, widths) of both sides of the elastic member 804 are expressed as d 3.

Then, as shown in FIG. 12C, when the force acts on the angle adjusting member 242 in one direction by the optical system stop member 260, and the angle adjusting member 242 moves downward with respect to the C axis. The third rotating rod 803 fixed to the first fixing portion 243 also moves downward. For reference, the position of the second rotating rod 802 fixed to the second fixing part 253 is fixed. At this time, in (b) of FIG. 12, when the third rotating rod 803 is lowered to about a middle height among the preset limited moving heights (that is, the angles of the reflective members), both side distances of the elastic members 804 (ie, Width d4 becomes narrower, and the length of d4 has a length shorter than d3. That is, in FIG. 12C, the elastic member 804 receives the greatest force from both sides, and the elastic force to return to its original shape is the largest.

Next, as shown in FIG. 12D, when the force is continuously applied to the angle adjusting member 242 in one direction by the optical system stop member 260, the angle adjusting member 242 is based on the C axis. It goes further down. As such, when the vertical movement distance (that is, the height) of the angle adjusting member 242 increases, both side surfaces of the elastic member 804 as shown in FIG. 12 (d) according to the downward movement of the third rotating rod 803. The distance (i.e. width) d5 is again widened. That is, the length of d5 has a length longer than d4, where the lengths of d3 and d5 may be the same.

Specifically, when the angle adjusting member 242 is moved up or down by the optical system stop member 260, the third rotating rod 803 moving in the same position as the moving position of the angle adjusting member 242, and the position is The distance from the fixed second rotating rod 802 becomes narrower to a certain height and then widens again. Therefore, the force acting on the elastic member 804 becomes larger and smaller again, so that the angle adjusting member 242 of the angle adjusting member 242 is in the last state (ie, both ends of the limited moving height) of the elastic member 804 being the smallest. The position is fixed.

On the other hand, in the embodiment of the present invention, it is shown as an example that the optical system stop member 260 is fixed to one end of the guide 230. However, the optical stop member 260 may be fixed at each position after being moved along the guide 230. That is, after the optical system driving member 250 is positioned at the set reflection position and the optical system 240 reflects the output light at one reflection angle, the optical system stop member 260 moves to the reflection position to reflect the optical system 240. After changing the angle, the optical system 240 may reflect the output light at a reflection angle different from the one reflection angle. Thereafter, the optical system driving member 250 may change the reflection position.

Although the apparatus and method of the present invention have been described in connection with specific embodiments, some or all of their components or operations may be implemented using a computer system having a general hardware architecture.

The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is shown by the following claims rather than the above description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention. do.

210: insert 220: main body
230: guide 240: optical system
250: optical system driving member 260: optical system stopping member
270: light output device 280: light sensing device
290: control module 300: data processing module
241: reflection member 242: angle adjustment member
243: first fixing portion 251-1: first body portion
251-2: second main body 253: second fixing part
255: guide connecting groove 256: first angle limiting member
257: second angle limiting member 801: first rotating rod
802: second rotating rod 803: third rotating rod
804: elastic member

Claims (14)

In the oral scanner,
An optical system including a reflection member for reflecting the incident light toward a scanning target tooth and an angle adjustment member connected to form a predetermined angle with the reflection member, the reflection angle of the reflection member being set according to the position of the angle adjustment member;
An optical system driving member coupled to the angle adjusting member and moving the optical system to a predetermined reflection position along a guide;
It is connected to one end of the guide, is inserted into the optical system driving member to contact one end of the angle adjusting member, by applying a force in a predetermined direction with respect to the angle adjusting member to change the position of the angle adjusting member. An optical system stop member in which a stop protrusion is formed;
An optical output element for outputting light toward the optical system according to a preset output position and output angle;
An optical sensing element configured to generate a sensing value by sensing the reflected light reflected from the tooth after being reflected through the optical system;
A control module configured to control scanning of the tooth by setting at least one of the reflection position, the reflection angle, the output position, and the output angle; And
A data processing module for merging the sensing values for each location coordinate of the tooth and transmitting scanning data including the merged sensing values for each location coordinate to a data processing unit to generate a 3D scanning model for the scanning target tooth; Including,
Elasticity sandwiched between a first rotating rod connected to one end of the angle adjusting member and moving to the same position as the moving position of the angle adjusting member, and a second rotating rod connected to one surface of the optical system driving member facing the first rotating rod; An oral scanner for fixing the position of the angle adjusting member to one position by using an elastic force acting on the member. The method of claim 1,
The oral scanner,
It is formed to protrude from the main body so as to be inserted into the oral cavity, and has an insert for securing the path of the output light for teeth scanning and the reflected light reflected from the teeth,
Inside the insert,
A reflection angle adjusting device of an optical system including the optical system, an optical system driving member, an optical system stopping member, and a guide,
Inside the main body,
Oral scanner including the light output element, light sensing element, control module, and data processing module. The method of claim 1,
The optical system includes:
The oral cavity scanner of which the reflection angle of the said reflection member is set to at least 2 or more different angles. The method of claim 1,
The stopping protrusion is
An oral scanner which acts on a force in a direction opposite to the moving direction of the optical system drive member. The method of claim 1,
The elastic member
A plate-shaped member having a predetermined width is formed by bending,
A first contact portion in contact with the first rotating rod, a second contact portion in contact with the second rotating rod, and a buffer portion formed between the first contact portion and the second contact portion,
An oral scanner, the elastic force decreases as the distance between the first contact portion and the second contact portion increases. The method of claim 1,
The elastic member
An oral scanner in which the elastic force is the smallest at each end in the vertical direction within a predetermined movement limit height that the angle adjustment member can move in the vertical direction. The method of claim 1,
The optical system drive member,
After moving the reflection position of the optical system in the first moving direction while maintaining the optical system at the first reflection angle,
The oral cavity scanner which moves the reflection position of the said optical system to the 2nd movement direction opposite to the said 1st movement direction in the state which kept the said optical system at the 2nd reflection angle different from a 1st reflection angle. The method of claim 1,
The optical system drive member,
The oral scanner which moves the optical system to the second reflection position after the reflection angle of the optical system is adjusted to the first reflection angle and the second reflection angle at the first reflection position. The method of claim 1,
The data processing module,
And a position coordinate for the tooth based on at least one of the reflection position, the reflection angle, the output position, and the output angle, and merging at least one sensing value matched by the position coordinates. The method of claim 9,
The data processing module,
After receiving at least one sensing value for each position coordinate,
The oral scanner for performing the merging by calculating the average value of the at least one sensing value for each position coordinate. The method of claim 9,
The data processing module,
After receiving at least one sensing value for each position coordinate,
The oral cavity scanner for performing the merging by selecting any one of the at least one sensing value for each of the position coordinates. The method of claim 2,
The insert is
And a light transmitting window for allowing the light reflected by the optical system to travel to the tooth, and the light reflected from the tooth to the light sensing element. The method of claim 2,
Wherein the data processing unit comprises:
Is configured inside or outside of the oral scanner, when configured outside the oral scanner for receiving the scanning data through wired or wireless communication. The method of claim 1, wherein
The light sensing device,
The oral cavity scanner for generating the sensing value by sensing the reflected light reflected from the tooth to convert into an electrical signal.

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