KR101237526B1 - Device for synchronization of coordinates among various instruments which have their own coordinates systems respectively - Google Patents

Abstract

A coordinate synchronization mechanism for synchronizing spatial coordinates between heterogeneous devices having a unique coordinate system is disclosed. The coordinate synchronization mechanism according to an embodiment of the present invention has a structure corresponding to a fixed part that knows coordinates on the device as a part provided on a device to receive the coordinate data of the coordinate synchronization object so that the coordinate synchronization object is reproducibly fixed. A reference plate having a fixing means having a; and at least three reference marker portions for limiting their relative positions such that the coordinate synchronization object is spaced apart from the reference plate; and the reference marker portion is connected to the reference marker. A connection member for limiting the marker portion to be movable only in a predetermined direction on the reference plate; And an interlock mechanism for moving the at least two reference marker parts in association with each other.

Description

Device for synchronization of coordinates among various instruments which have their own coordinates systems respectively

The present invention relates to a mechanism for coordinate synchronization, and more particularly, a topological relationship between a reference origin along an instrument coordinate system and an object origin extracted from coordinate data of a coordinate synchronization object to be reproduced in a coordinate synchronization object combined with a medium. The present invention relates to a coordinate synchronization mechanism that can easily insert coordinate data of a coordinate synchronization object into a coordinate system of a device.

Advances in CAD / CAM technology have led to significant innovations throughout the industry, and CAD / CAM technology is not only limited to industries that are intended for production, but also to the medical field of manufacturing prosthetics optimized for individual patients. have.

In the dental field, as CAD / CAM technology is developed, its use is emerging as a major concern. For this purpose, 3D scanning of an intraoral impression model is indispensable. As described above, the design and processing through the image are not only advantageous in terms of precision and efficiency, but also because the convenience is greatly improved compared to the conventional method, such as reducing the number of visits by the subject.

However, in order to apply the processed data (processing vector) designed on a computer based on the image obtained by 3D scanning of the intraoral tissue or the intraoral impression model, the coordinate data of the image must be synchronized with the coordinate system of the processing apparatus. The process must be involved.

In the related art, in order to achieve the object of coordinate synchronization, a scanning system and a processing device are integrated to make one coordinate system share. However, since these methods have value only as dedicated equipment, they cannot be expected to be universal and compatible at all, and since equipment is expensive, there are limitations inherent in widespread use.

On the other hand, on the other hand, on the premise that the relationship between the processing device coordinate system and the scanning device coordinate system is known in advance, the coordinate data of the processing object for the scanning device may be implanted into the coordinate system of the processing device by scanning the workpiece at a specific position. . However, this method is limited in that the relationship between the processing machine coordinate system and the scanning device coordinate system must be known in advance, and if any one of the processing device and the scanning device is changed, the coordinate system transformation must be set again from the beginning. In other words, these methods also have limitations in versatility and compatibility.

On the other hand, the transplantation of the above coordinate data into an independent coordinate system that has no relation to the coordinate system defining the coordinate data of the object is not limited to only machining. For example, when the object obtained from the coordinate data is transferred to another device, it is necessary to transplant the coordinate data of the transferred object into the coordinate system of the device.

Therefore, there is a wide variety of cases where it is necessary to synchronize the spatial coordinates between heterogeneous devices having a unique coordinate system as well as the dental field illustrated as an application of the present invention to be described later. However, since the coordinate synchronization method and the device for implementing the same have not been introduced yet, which are both versatility and compatibility, it is urgent to develop them.

Accordingly, the present invention is a coordinate synchronization mechanism that can efficiently synchronize spatial coordinates between dissimilar devices having a unique coordinate system, and provides a novel coordinate synchronization mechanism that can be applied to various fields with universality and compatibility. There is a purpose.

The coordinate synchronization mechanism according to the present invention has a structure corresponding to a fixed part that knows coordinates on the device as a part provided on a device to which the coordinate synchronization object is to be implanted so that the coordinate synchronization object is reproducibly fixed. A reference plate having a fixing means; and at least three reference marker parts for limiting their relative positions such that the coordinate synchronization object is spatially spaced from the reference plate; and the reference marker part is connected to the reference marker part. A connection member restricting the movable member to move only in a predetermined direction on the reference plate; And an interlock mechanism for moving the at least two reference marker parts in association with each other.

Here, the reference marker portion may be three, and furthermore, it may be preferable that the three reference marker portions only move on a plane parallel to the reference plane set on the reference plate.

And the reference point present on the three reference marker portion may be configured to form an isosceles triangle.

In this case, the connecting member restricts the first / second reference markers located at both ends of the isosceles triangle base to move only toward one point on the waterline which bisects the base of the isosceles triangle and the other third reference. The marker part may be restricted to move only along the waterline, and the connecting member may include restricting the first / second reference marker parts to move only along the base of the isosceles triangle.

Accordingly, the linkage mechanism may be configured such that the first and second reference markers positioned at both ends of the isosceles triangle base move symmetrically with respect to the waterline dividing the isosceles triangle base. Link wealth.

Here, one point on the water line may be any one of the depth, center of gravity, outer core and inner core of the isosceles triangle.

On the other hand, in the first embodiment of the present invention, the connecting member is three columns connected to the reference plate to translate only toward one point on the waterline which bisects the base of the imaginary isosceles triangle on the reference plane. Three reference marker portions are fixed to the column to have the same height with respect to the reference plane, and the trajectory drawn by the three reference marker portions converges to one point on the water line according to the translational movement of the column. A slit formed disc cam, wherein the slit is a 120 ° equiangular slit that is shifted in the same angle and direction with respect to the center of the disc cam, and the slit is inserted into a cam follower formed to protrude from the top of the column. Is bound to the column.

And the three columns can be connected to the reference plate to translate only toward the depth of the equilateral triangle.

In addition, the reference marker portion corresponding to the third reference marker portion of the three reference marker portion may be mounted on the column to be retractable.

In a second embodiment of the present invention, the connecting member comprises two columns connected to the reference plate so as to translate only along the base of the imaginary isosceles triangle on the reference plane, and to repair the bisecting of the imaginary isosceles triangle base. Therefore, only one column connected to the reference plate to translate, the three reference markers are fixed to the column to have the same height with respect to the reference plane, the three reference markers are drawn in accordance with the translation of the column The trajectory converges to a single point and the linkage interlocks the two columns translating along the base of the imaginary isosceles triangle to move symmetrically with respect to the waterline.

The linkage mechanism includes a rod comprising a rod configured to slidably connect the two columns translating along the base of the virtual isosceles triangle to the reference plate, the gears formed at the ends of the rod, respectively, The rack may be held upside down and engaged with pinions engaged therebetween.

In addition, the second embodiment is a guide plate for inducing the translation of the three columns, a slit corresponding to the translational trajectory of the columns is formed, a projection protruding on the top of the columns is inserted into the slit guide The guide plate may further include a guide plate fixed to and connected to a bar.

On the other hand, according to the third embodiment of the present invention, the connecting member is formed on the rotating frame and the rotating frame connected to the reference plate to be rotatable about the rotation axis on the reference plane while surrounding the fixing means It consists of a reference marker portion supporter for guiding the movement of the 1 / second / third reference marker portion, the first / second reference marker portion can be only linear movement to the wheel freely fixed on the reference marker portion supporter And the screw thread formed on the inner surface of the reference marker part supporter and the retracted on the reference marker part supporter according to the rotation of the wheel, and the screw directions with respect to the first / second reference marker part are opposite to each other. The interlock mechanism is a bar-shaped handle having a groove portion at both ends thereof fitted to a tooth formed on an outer surface of the wheel, and the handle is the tooth. When rotated in combination with the two wheels at the same time is characterized in that the first and second reference marker parts are advancing by the same distance in the opposite direction to each other.

In addition, the upper surface of the reference marker portion supporter for at least the first / second reference marker portion of the reference marker portion supporter is formed as an arc surface, the circular surface complementary to the upper surface of the reference marker portion supporter around the groove portion of the handle It may be formed, the rotation of the handle may be guided by the contact between the circular arc surface.

And according to the fourth embodiment of the present invention, the connecting member is formed on the rotating frame and the rotating frame connected to the reference plate to be rotatable about the axis of rotation on the reference plane while wrapping the fixing means; And a reference marker part supporter for guiding movement of the first and second reference marker parts, wherein the linkage mechanism is rotatable on a plane perpendicular to the moving direction of the first and second reference marker parts. A sliding body slidably mounted along a vertical supporter provided vertically in a vertical direction with respect to a rotation knob mounted on a horizontal supporter provided in the horizontal supporter or a moving direction of the first / second reference marker unit, and a rotation center of the rotary knob. Links or slabs, each coupled to be rotatable on two eccentric pivots symmetrically on a passing line It comprise a combined link respectively for the dingche movement axis yirumyeonseo symmetry so as to rotate the two rotation shafts spaced apart, said first / second reference terminal portion markers are rotatably coupled to the free end of the link.

The rotation center of the rotary knob may be positioned at the same height as the center line connecting the first and second reference markers.

A cutting groove is formed in the horizontal supporter or the sliding member, and a screw hole crossing the cutting groove is formed in the horizontal supporter or the sliding member, and a screw pin having a head is coupled to the screw hole to the cutting hole. The gap between the grooves can also be adjusted.

On the other hand, in the embodiment of the present invention, the end of the reference marker portion is formed as a tip that can be fixed by puncturing the coordinate synchronization object, the tip portion may be defined as a reference point of the tip of the horn as a cone or polygonal shape.

Alternatively, a reference marker holder may be provided at the end of the reference marker portion to fix the reference marker coupled to the coordinate synchronization object.

In this case, the reference marker and the reference marker holder may be fixed by screwing, and an incision surface for preventing rotation may be formed at an end of the reference marker coupled to the coordinate synchronization object.

Here, the upper or lower surface of the reference marker for determining the reference point has a shape of a figure from which a circle can be extracted, and the reference point on the reference marker may be defined as the center of the circle.

Alternatively, the reference marker may be a three-dimensional object of a negative or positive shape having a shape including a portion of the upper or lower surface of the circle, a polygon inscribed or circumscribed to the circle or a circumference.

The center of the circle is preferably extracted from a circle defined by three points on the circumference of the circle or three points selected from the vertices of the polygon.

Alternatively, the reference marker may be a negative or positive solid having a conical or polygonal shape, and the reference point on the reference marker may be defined as a cub of the horn.

In addition, the reference marker is a negative or positive three-dimensional object including the shape of the sphere or sphere, the reference point on the reference marker may be defined as the center of the sphere or sphere.

In the coordinate synchronization mechanism according to the present invention, the relative position may be limited such that the coordinate synchronization medium reproducibly coupled to the coordinate synchronization object is spaced apart from the reference plate by the reference marker unit.

And the embodiment of the present invention is an impression model that the coordinate synchronization object is modeled after the shape of the oral tooth and / or gingiva, the coordinate synchronization medium may be configured to be particularly suitable when the oral attachment.

According to the coordinate synchronization mechanism according to an embodiment of the present invention, the coordinate synchronization object or coordinate synchronization medium can include relative coordinate information about the reference origin and the target origin very efficiently, and thus image coordinate data of the coordinate synchronization object Has the advantage that can be very easily ported to the coordinate system of the device.

In addition, according to an embodiment of the present invention, if the image coordinate data of the coordinate synchronization object including the coordinate information relative to the reference origin and the target origin only once, all the information necessary for coordinate synchronization is obtained, so that the entire process of coordinate synchronization This has the advantage of being very simple.

1 is a diagram schematically showing a relationship between a reference origin coordinate system and a target origin coordinate system.
FIG. 2 is a geometrical view of a case where three anchor points move along a vector toward one point on the depth of an isosceles triangle; FIG.
3 shows a coordinate synchronization mechanism according to a first embodiment of the present invention.
4 shows a series of processes using the coordinate synchronization mechanism of FIG.
5 shows a coordinate synchronization mechanism according to a second embodiment of the present invention.
6 shows a coordinate synchronization mechanism according to a third embodiment of the present invention.
7 is a view showing a series of processes using the coordinate synchronization mechanism of FIG.
8 is a view showing an embodiment provided with a rotary link interlock mechanism of the coordinate synchronization mechanism according to a fourth embodiment of the present invention.
9 is a view illustrating the principle of operation of the rotary link interlock mechanism of FIG.
10 is a view showing another example of the rotary link linkage of FIG.
11 is a view showing an embodiment provided with a lift link interlock mechanism among coordinate synchronization mechanism according to a fourth embodiment of the present invention.
12 is a view showing the actual topological relationship between the reference origin coordinate system (R) and the target origin coordinate system (O) in the embodiment of the present invention.
13 is a perspective view showing an example of various reference markers that can be applied to an embodiment of the present invention.
FIG. 14 is a plan view illustrating an example of a process of coupling the reference marker of FIG. 13 onto a coordinate synchronization medium. FIG.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In the description of one embodiment of the present invention, descriptions of well-known configurations that will be apparent to those skilled in the art will be omitted so as not to obscure the subject matter of the present invention. In addition, when referring to the drawings it should be considered that the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of description.

First, prior to describing the coordinate synchronization mechanism according to the present invention, the topological relationship between the reference origin along the device coordinate system and the target origin extracted from the coordinate data of the coordinate synchronization object is reproducibly included in the coordinate synchronization object combined with the medium. It will be described as to the meaning of "to make it possible" and how the coordinate data of the coordinate synchronization object can be easily transferred to the coordinate system of the device as a result of this process.

With an understanding of these basic concepts, it is intuitive to understand the various embodiments of the present invention that realistically implement the process of reproducibly including the topological relationship between the reference point and the target point in the coordinate synchronization object associated with the medium. It will be possible.

Coordinate Synchronization Methodology

The process of reproducibly including the topological relationship between the reference point and the target point in the coordinate synchronization object combined with the media is as follows.

Among the terms used in the description, the coordinate synchronization object refers to an object on which coordinate data defining numerical information or image information is to be extracted, and the device means a device to which the coordinate data of the coordinate synchronization object is to be implanted.

The coordinate data of the coordinate synchronization object is data defining numerical information or image information in the coordinate synchronization object, and the data defining the image information refers to data defining the shape of the coordinate synchronization object, and the data defining the coordinate information. Another coordinate information expressed on the synchronization object, for example, a process vector (vector information defining the processing direction and depth, position, shape, etc.) expressed on the image information data through computer simulation.

Here, the coordinate synchronization object is a concept that includes not only a prototype that is directly processed according to the above processing vector but also a replica used only in the coordinate synchronization process. That is, when it is difficult to be mounted on the coordinate synchronization mechanism of the present invention due to the characteristics of the circle, it is necessary to perform coordinate synchronization using a replica of the original form as it is.

For example, although it will be mentioned in more detail in the specific embodiment of the coordinate synchronization device according to the present invention, the specification will be described in detail with reference to the case that the coordinate synchronization target object is a human body, especially the intraoral tissue. When the coordinate synchronization object itself is not easy to be fixed on the mechanism, it is inevitable to use a replica containing the shape information of the entire circle or the important part as it is, and thus the coordinate synchronization object includes not only the prototype but also the duplicate object. It needs to be defined as a concept.

Of course, after the coordinate synchronization using the duplicated object, the coordinate data of the duplicated object can be acquired and simulated, or the circular coordinate data can be simulated. The object of acquiring such coordinate data may be optional. However, when the configuration of the circular interior that can acquire circular coordinate data and cannot be copied with a replica is an important element of the simulation, acquiring the circular coordinate data is required. . For example, in the case of an implant procedure, the prototype is an intraoral tissue containing teeth. In the implant procedure, the coordinates of the oral tissues of the human body, which are circular, are important because not only the occlusal surfaces of the gingiva and teeth but also the tissues of the root and alveolar bone are important. It must be acquired.

Basic concept of coordinate synchronization method

First step

The first step is to prepare a reference plate having a structure corresponding to the fixing part provided at a position where the coordinates on the device are known. The fixed part of the device is provided to reproducibly fix the coordinate synchronization object, where "reproducibly fixed" means that the coordinate synchronization object can always be fixed consistently in a predetermined direction at a predetermined position on the device.

However, because the fixed part means that the part of the coordinate synchronization object is fixed, it should not be interpreted as a non-moving part. The physical location information of the fixed part is already determined in the coordinate system of the device, and even if the moving fixed part, the coordinate of the fixed part for the new position moved is always recognized by the device.

Any one point defined on the fixed part that can know the coordinate information on the device is set as a reference origin to be described later. This reference origin is used as a reference when transplanting coordinate data of a coordinate synchronization object, and is not necessarily the origin of the device coordinate system.

What is important here is that the concept of the reference origin does not only have the concept of a one-dimensional point but also includes the concept of the origin of a three-dimensional coordinate axis. That is, the reference origin is defined as the origin of a three-dimensional coordinate axis consisting of two axes orthogonal to the plane of the fixed portion or the reference plate and a normal axis to the plane.

The reference plate is a frame having a shape corresponding to the fixed part of the device, so that the reference origin on the reference plate and the reference origin on the device fixation part are regarded as the same in terms of the coordinate synchronization object.

Of course, the reference origin on the reference plate and the reference origin on the fixture may be separated by a known topological relationship. For example, the reference origins of the reference plate and the device fixing part are not the same, and there may be a topological separation relationship between the height difference, the horizontal distance, the angle, and the like. The core is reproducibly placed in the topological relationship that the coordinate synchronization object already knows about the reference origin on the reference plate and the reference origin on the instrument fixture. Therefore, in the present invention, it is to be noted that the reference origin on the device fixing part and the reference origin on the reference plate are "identical" inclusive.

Step 2

The second step is to spatially space the reference reference point and the coordinate synchronization object on the reference plate and limit the relative position of the coordinate synchronization object spaced through at least three fixed points.

At this time, the topological relationship in which the fixed points are arranged in space is very important.The topological relationship between the fixed points, that is, the point of origin, which is a point defined from a figure made by imaginary lines connecting the fixed points, is the reference origin. It should be set so that it can be recognized numerically (that is, mathematically) with which topological relationship.

However, as mentioned above, since the reference origin includes the concept of the origin of the three-dimensional coordinate axis, it should be understood that it strictly means the topological relationship between the reference coordinate system and the target coordinate system expressed through the reference origin and the target origin. . Therefore, for convenience, it should not be overlooked that the concept of the origin of the three-dimensional coordinate axis is included in each of these origins even if they are briefly described as the reference origin and the objective origin.

It is important to know the topological relationships of the fixed points, so that the target origin extracted from the topological relationship between the fixed points, which limits the relative position of the coordinate synchronization object, is fixed so as to know at what point in space relative to the reference origin. When the coordinate data of the coordinate synchronization object (including a circle and a replica) is acquired after the point is placed, and the fixed points are included in the coordinate data as it is, between the target origin extracted from the coordinate data and the reference origin This is because all coordinate data can be converted into coordinate data with respect to the reference origin based on the topological relationship.

Here, the coordinate synchronization medium having a shape complementary to all or part of the coordinate synchronization object may be included in the coordinate synchronization object reproducibly, and in this case, the fixed points for determining the target origin are set in the coordinate synchronization medium. For example, if the prototype of the coordinate synchronization object is an intraoral tissue, the replica is an intraoral impression model, and the intraoral impression model may be reproducibly coupled to the intraoral fixture, which is a coordinate synchronization medium. Contains topological information about the origin.

1 is a diagram schematically showing the relationship between the target origin O and the reference origin R. FIG. In order to facilitate understanding, the fixed point F is set to the minimum number of three, and the triangular plane formed by the fixed points F is simplified to be parallel to the reference plate having the reference point R.

When one objective origin determined by the topological relationship between the fixed points is the center of gravity of the triangle (of course, various examples such as the depth and inwardness of the triangle are possible), the position information of the objective origin is It is determined mathematically from the position information. When the coordinate data of the coordinate synchronization object have coordinate values for the three-dimensional coordinate axis assigned to the target origin, if the target origin moves (converts) to match the reference origin, these coordinate data also move to the coordinate values for the reference origin. (Converted) In other words, the coordinate data of the coordinate synchronization object are all implanted in the coordinate system of the device (as described above, the reference origin on the reference plate and the reference origin on the device fixing part are treated as the same in the position of the coordinate synchronization object).

However, in order to actually implement the second step, it is important to arrange the fixed point so that the target origin extracted from the topological relationship between the fixed points is located at a spatial point relative to the reference origin. An embodiment of the present invention is directed to a mechanism for implementing a fixed point arrangement in a second stage, and an understanding of the second stage is that an embodiment of the present invention, which will be described later, is used to kinematically limit or interlock the movement between the fixed points. An understanding of the method will make it clearer.

Step 3

The third step freezes the spatial relationship between the coordinate synchronization object and the reference plate by intervening the medium in the space between the coordinate synchronization object and the reference plate whose relative position is limited by the fixed points. Complementary shape is formed step. Hereinafter, in order to distinguish it from the coordinate synchronization medium, the above medium having a complementary shape that can freeze the spatial relationship between the coordinate synchronization object and the reference plate and can be reproducibly coupled to the fixed part will be referred to as a "freezing medium".

In the second step, the fixed points are arranged such that the arrangement of the target origin with respect to the reference origin is numerically recognizable, and the coordinate synchronization object is limited only to the relative position with respect to the reference plate by the fixed points. In other words, when the constraint state of the fixed points is released, the constraint of the coordinate synchronization object is released.

Therefore, the third step is to permanently maintain the coordinate synchronization object whose relative position is limited temporarily. In other words, it can be said that the spatial relationship between the coordinate synchronization object and the reference plate is solidified as it is in the second step.

To this end, a freezing medium, which is a curable material such as gypsum, is introduced into the space between the coordinate synchronization object and the reference plate, and thus, the freezing medium having a shape complementary to the fixed part is attached to the coordinate synchronization object. Accordingly, the coordinate synchronization object integrated with the freezing medium may be reproducibly fixed to the fixed part of the device later.

4th step

The fourth step is to assign a reference marker to the coordinate synchronization object so as to reproduce the topological relationship between the coordinate synchronization object and the reference plate.

After the third stage, the positions of the fixed points are permanently determined so that the topological and the spatial relationship between the reference point and the fixed point can be recognized numerically and mathematically.

However, when acquiring the coordinate data of the coordinate synchronization object or coordinate synchronization medium (hereinafter, the object of obtaining coordinate data simply referred to as coordinate synchronization object), the position information of these fixed points must be included in the coordinate data together. Can be restored.

Therefore, the fourth step is to assign a reference marker on the coordinate synchronization object in which the coordinate information of the fixed point can be expressed in the coordinate data of the coordinate synchronization object, and thus the coordinate data includes image information of the reference marker.

If one reference point is extracted from the image information of the reference marker and treated as the fixed point, the target origin can be restored on the coordinate data.

The reference marker may be given by engraving some shape on the coordinate synchronization object. For example, a negative reference marker is engraved on the coordinate sync image so that the point of the cone reference marker coincides with the fixed point. Alternatively, it is possible to attach or fix a separately prepared reference marker at a fixed point position.

This reference marker will be described in more detail later. One thing to note is that the position of the reference point and the fixed point extracted from the reference marker does not necessarily have to match. If the reference point can be reproduced, the reference point can be located at a point that does not coincide with the fixed point. For example, if the reference point is located at any point on the line connecting the target point and the fixed point, the target point can be restored.

Furthermore, since the final destination point is restored by the reference point obtained from the reference marker, the fixed point in the second stage is preliminarily given to a location easily accessible to the coordinate synchronization object, and is also a temporary location spaced apart. Can be understood. In particular, in the embodiment of the present invention, when the freezing process after the second step is made of gypsum, since the fixed point position on the second step may change with respect to the reference plate, a reference point defined from the reference marker is defined in the fourth step. It may be advantageous to reset to a fixed point for the restoration of the target origin.

5th step

Through the first to fourth steps as described above, the coordinate synchronization object that can be fixed to the fixed part of the device while completing the topological information of the target origin for the reference origin is completed. Thereafter, the following subsequent steps are performed.

In the fifth step, the coordinate data of the coordinate synchronization object including the reference marker is acquired through a scanning device, the reference point is extracted from the image information of the reference marker included in the acquired coordinate data, and the known reference point (= fixed point) is obtained. Restoring the origin of origin from the topological relationship between the elements. The task of restoring the target origin can be easily performed on a computer program that processes most image information.

The next step is to fix the coordinate synchronization object to the fixed part of the device, and to implant the coordinate data of the coordinate synchronization object into the coordinate system of the device based on the topological relationship between the reference point and the reference point restored from the reference point on the reference marker. Step. Since the freezing medium coupled to the coordinate synchronization object is provided with a shape complementary to the fixed part of the device, it is fixed to the fixed part of the device in the same position as that of the reference plate. Therefore, since the topological arrangement between the target origin and the reference origin is also restored as it is, it becomes possible to transplant the coordinate data described in the second step into the device coordinate system.

If the coordinate synchronization object is a duplicate and the target point is determined by acquiring the reference point from the reference marker included in the coordinate synchronization medium, and the coordinate data of the actual coordinate synchronization object must be obtained from the prototype, There is no problem. This is because the coordinate synchronization parameters are always identical and reproducibly combined for both the prototype and the replica of the coordinate synchronization object.

Here, the coordinate transformation for transplanting the coordinate data of the coordinate synchronization object into the device coordinate system may be performed at any time before and after fixing the coordinate synchronization object to a fixed part on the device.

After the first to fifth steps as described above, the coordinate data of the coordinate synchronization object is completely transferred to the coordinate system of the device. In particular, the feature of this coordinate synchronization method is that the coordinate synchronization object, which is combined with the freezing medium and assigned by the reference marker directly or through the coordinate synchronization medium, contains all the information about the reference origin, the target origin, and the coordinate data.

Therefore, the coordinate data of the coordinate synchronization object through the scanning device need only be acquired once, and after that, even if an operation such as adding a processing vector to the coordinate data is performed, the information about the reference origin and the target origin remain valid. Can be used.

In addition, since the fixed part can be applied to any device, the coordinate data of the coordinate synchronization object can be implanted at any time if only the fixed part corresponds to the new device.

One thing to note is that although the reference marker is described in the fourth step in the foregoing description, it may be made in the fixed point arrangement process of the second step. That is, the second step and the fourth step may be performed simultaneously without time difference. In addition, the second and fourth steps may be performed after the third step.

In short, each of the steps described sequentially above is not much tied up in time. Each step described above is designed in the order in which the coordinate synchronization method is most easily understood, and it is obvious that various modifications having the same technical idea can be derived once the coordinate synchronization method is understood.

Development concept of coordinate synchronization method

Practical development of the second phase

On the other hand, in order to implement the coordinate synchronization method according to the present invention with a specific device, it is particularly necessary to simplify the second step to a practically applicable level.

In practice, in order to conveniently work with the second stage, it is necessary to mechanically limit the fixed points to move only along a predetermined space vector. Since the movement of the fixed points is mechanically limited, it means that the degree of freedom is reduced, which means that the number of fixed point movements to be measured is reduced as well as the reproducibility is improved.

In particular, when mechanically restricting the movement of the anchor points, if the movement of two or more anchor points are interlocked with each other, workability and reproducibility are further improved. If several fixed points are always moved together and only along a mechanically defined spatial vector, the number of measurements of the fixed point movement is further simplified and even eliminates the need for measurement.

In addition, it is important to determine the number of fixed points, and it is preferable to select the number of fixed points as three, which is the minimum number that can form a topological figure having a fixed point as a vertex in a plane. This means that if four or more fixed points are selected, the fixed points cannot be necessarily located on one plane, and polygons larger than a rectangle may eventually be decomposed into a plurality of triangles. This is because the limitation is sufficiently possible with three-point support.

Therefore, in the present invention, three fixed points are selected and arranged to form a triangle. In particular, as shown in FIG. 2, each fixed point (F, F ') is arranged as three points forming an isosceles triangle, and each fixed point (F, F ') is constrained so that it can only move along an imaginary extension to the target origin O in the plane of the isosceles triangle.

When the movement of the fixed point (F, F ') is limited, as shown in Figure 2, there is an advantage that the target origin (O) is always located at a constant point irrespective of the shape of the isosceles triangle. In other words, when the relative position of the coordinate synchronization object is limited to the fixed point, the target origin is included in the coordinate synchronization object, and the requirement to measure the position of the fixed point disappears.

An example for implementing the movement of the fixed point is a case where the target origin is located on a perpendicular line or a vertical line bisecting the base of the isosceles triangle. If it is mechanically constructed, one anchor point moves along a perpendicular or vertical line that bisects the base of the isosceles triangle, and only the other two anchor points located at both ends of the base of the isosceles triangle are symmetrical with respect to the waterline. It is linked to move. If this condition is satisfied, the target origin is always located at any point on the perpendicular or vertical line that bisects the base of the isosceles triangle.

In particular, the spatial vector may be a vector coinciding with the base of the isosceles triangle, and in this case, the target origin is always fixed to the midpoint of the base of the isosceles triangle.

The object origin is defined as the origin of three axes which are orthogonal on the plane of the isosceles triangle and have three axes of the object origin as the intersections, and axes that are normal to the intersections, which are the same as described above in the second step.

On the other hand, the three fixed points may be arranged to form an equilateral triangle, which is a kind of isosceles triangle, in which case the objective origin is the depth of the equilateral triangle (in the equilateral triangle, the depth corresponds to the center of gravity, the outer and the inner, It can be defined as It is mechanically implemented by interlocking three anchor points so that the anchor points, which are the vertices of the equilateral triangles inscribed in the circle, move only along the extension line with the center of gravity.

In addition, the spatial vector of the fixed points may be set such that the target origin and the reference origin are located on two parallel planes, respectively, and the coordinates have only coordinate values for one axis defining a vertical relationship between the two planes. In other words, there is only a height difference between the target origin and the reference origin, and when viewed from one axis (for example, Z axis) defining the vertical relationship between the two planes, the target origin and the reference origin overlap. This arrangement has the advantage that it is easy to intuitively verify if there is an error in the work, and that the coordinate transformation can be made so simple that it can be done manually.

Coordinate Synchronization Mechanism

Above, the concept of the concept of coordinate synchronization method that was conceptualized and the simplification process to realize it were examined. As described above, the most important part of the coordinate synchronization method for mathematically reproducibly including the topological relationship between the reference point and the target point in the coordinate synchronization object combined with the medium is the second step, and coordinates of the present invention. It will be very helpful to understand the present invention to recall that the mechanism for synchronization is just for implementing the second step.

Hereinafter, the basic configuration and various embodiments of the coordinate synchronization mechanism 10 will be described in sequence. In this process, the terminology used in the above-described coordinate synchronization methodology will be kept as it is, and overlapping conceptual descriptions will be briefly described or omitted as necessary.

Basic composition of coordinate synchronization mechanism

Dividing the structure of the coordinate synchronization mechanism according to the present invention, it consists of a reference plate, a reference marker portion, and a connecting member and an interlock mechanism. This may be roughly classified in this way, although there are differences in the detailed configuration of each embodiment, since there is homogeneity in the essential part of the function or role of each configuration. Before describing each embodiment, the core functions and roles of each component common to all embodiments will be described first.

The reference plate is a component having a structure corresponding to a fixing part, which is a portion provided so that the coordinate synchronization object is reproducibly fixed on the device to which the coordinate data of the coordinate synchronization object is to be transplanted. Since the fixing structure provided in the reference plate corresponds to the fixing part of the device, hereinafter referred to as "fixing part or simply fixing part of the reference plate".

At least three reference markers are provided and serve to limit the relative positions of the coordinate synchronization objects so as to be spaced apart from the reference plate. In an embodiment of the present invention, the reference marker portion is composed of a pin member having one end attached thereto, and the attachment supports the coordinate synchronization object to be spaced apart from the reference plate.

The connecting member is a component to which the reference marker portion is connected, and in particular, restricts the reference marker portion to be movable only in a predetermined direction on the reference plate. For example, if the reference marker part slides only in a predetermined direction on the connecting member, or the connecting member itself slides only in a predetermined direction with respect to the reference plate, or if the above two sliding motions are configured, the reference marker part is limited. Will only move along the direction.

And the interlock mechanism is a mechanism device for moving at least two reference markers in conjunction with each other. The interlock mechanism can be implemented by a cam mechanism or a screw mechanism, and the detailed configuration thereof will be described in detail in each embodiment. As described above in the coordinate synchronization methodology, when the movement of two or more fixed points is interlocked with each other when mechanically restricting the movement of the fixed points defined from the reference marker unit, workability and reproducibility may be further improved. This is useful when the coordinate synchronization object has a symmetrical shape with respect to the reference marker to which the coordinate synchronization object is linked.

Here, it is advantageous to have three reference marker parts, as described above, because the three reference marker parts minimize the complexity of extracting the target origin coordinate system in space.

Furthermore, if the three reference markers are mechanically fixed to move only in a plane parallel to the reference plane set on the reference plate, the topological relationship between the reference point and the target point is parallel because each coordinate system of the reference point and the target point is parallel. Can be further simplified in the relation of parallel movement without rotation.

In this case, the reference points present on the three reference marker parts may be configured to form an isosceles triangle. In this case, the connecting member restricts the first and second reference markers located at both ends of the isosceles triangle to move only toward one point on the waterline which bisects the base of the isosceles triangle, and the other third reference marker portion is repaired. You can restrict it to move along. Here, one point on the waterline for the isosceles triangle base may be any one of the center of gravity, the center of gravity, and the center of gravity of the isosceles triangle.

For example, if the attachment of the reference marker portion forms an isosceles triangle and the sliding direction of each reference marker portion faces one point on the waterline, and the connecting member is configured to slide only in the same direction as the sliding direction of the reference marker portion, The movement of the marker portion is implemented. Here, one point on the waterline that bisects the base of the isosceles triangle includes the midpoint of the base, and in this case, the first / second reference marker portion moves only along the base of the isosceles triangle.

Accordingly, the linkage mechanism interlocks the connecting member or the first and second reference markers so that the first and second reference markers positioned at both ends of the isosceles triangle bottom are moved symmetrically with respect to the waterline dividing the isosceles triangle. Since the third reference marker portion moves only along the waterline and always faces one point on the waterline, there is no need to actually interlock the third reference marker portion.

Hereinafter, various embodiments of the coordinate synchronization mechanism according to the present invention will be described in detail. However, since the configuration of the reference plate and the reference marker portion is not different in all embodiments and overlaps with the foregoing, each embodiment will be described based on the configuration of the connection member and the interlock mechanism.

First Embodiment

A first embodiment 100 of the coordinate synchronization mechanism of the present invention is shown in FIG.

The connecting member 140 in the first embodiment 100 has three columns connected to the reference plate 20 to translate only toward one point on the waterline which bisects the base of the imaginary isosceles triangle on the reference plane. 141). At this time, the three reference marker portion 30 is fixed to the column 141 which is the connecting member 140 to have the same height with respect to the reference plane, three reference marker portion 30 in accordance with the translational movement of the column 141 Draws a trajectory that converges to a point on the line. The point of convergence is the target origin, and since the reference marker unit 30 has the same height with respect to the reference plane, the target origin coordinate system and the reference origin coordinate system are parallel to the plane formed by the two coordinate axes.

The reference plate 20 in the first embodiment 100 has a substantially triangular shape, and the fixing portion 21 of the reference plate is formed therein (see FIG. 6 for the structure of the fixing part). The shape of the reference plate 20 as an equilateral triangle is only an example for visually and easily grasping the translation of three columns 141, which are connecting members 140, toward one point on the repair line. It is not an essential part of), and the shape of the reference plate 20 may be different for each embodiment.

In addition, the interlock mechanism 150 is a disc cam 151 having three slits 152 formed therein, and the slits 152 are 120 ° isometric slit 152 deviated in the same angle and direction with respect to the center of the disc cam 151. )to be. The slit 152 of the disc cam 151 is inserted into the cam follower 142 protruding from the top of the column 141, so that the column 141 and the disc cam 151 are coupled to allow relative movement. do.

Here, the structure in which the 120 ° isometric slit 152 is slightly shifted in the same angle and direction with respect to the center of the disc cam 151 is important. According to this configuration, the disc cam 151 is the cam follower 142 at the top of the column 141. Since the disc cam 151 is rotated because it is slidably coupled to the three columns 141 are always interlocked by the same distance and moved together. That is, the three reference marker units 30 are interlocked, and the three reference marker units 30 can be translated only at one point on the waterline which bisects the base of the isosceles triangle.

If the distance between the three reference marker unit 30 is the same, one point on the waterline will be the depth. That is, the three columns 141 are connected to the reference plate 20 to translate only toward the depth of the equilateral triangle.

However, the first embodiment 100 further includes a column 141 for the third reference marker part 33 among the three reference marker parts 30, that is, the reference marker part 33 that moves only along the waterline. Mounted in a retractable manner. This does not guarantee that the relative position of the coordinate synchronization object 10 can always be limited to fixed points constituting an equilateral triangle because the shape of the coordinate synchronization object 10 varies, and thus, the third reference marker portion 33 As much as possible is configured to be retractable on the column 141. After all, the attachment of the three reference marker portion 30 may form an equilateral triangle in a special case, but it is usually correct to form an isosceles triangle.

4 shows a specific process of including both the reference origin coordinate system and the information about the target origin coordinate system in the coordinate synchronization object 10 using the coordinate synchronization mechanism 100 according to the first embodiment of the present invention. In FIG. 4, reference numerals are omitted for clarity of configuration, and each component is designated by following the reference numerals of FIG. 3.

4 is an impression model in which the coordinate synchronization object 10 mimics the shape of the intraoral tissue, and the coordinate synchronization medium 12 is inscribed with a shape complementary to the shape of the intraoral tissue implemented in the impression model. In the case of a fixture. For reference, the fixtures are made of resin on top of the impression model.

FIG. 4A shows a state in which the relative position of the premises fixture (coordinate synchronization medium) 12 is limited by using the coordinate synchronization mechanism 100 shown in FIG. 3. As described above, in this state, the target origin coordinate system determined from the reference origin coordinate system and the fixed point on the reference plate 20 has two parallel planes having a height difference corresponding to the mounting height degree of the reference marker unit 30. Contains two axes.

(b) is combined with the impression model (coordinate synchronization object) 10 to the premises fixture 12, the plaster between the freezing medium (14) in the space between the reference plate 20 and hardened by the internal attachment ( The space relationship between 12) and the reference plate 20 is in a frozen state, and the gypsum, which is the freezing medium 14, hardens, and a shape complementary to the fixing portion 21 of the reference plate is formed on the lower surface thereof.

(c) retreats the reference marker unit 30 after the gypsum 14 is completely cured, and the reference marker 60 is mounted at the end thereof, and (d) enters the reference marker unit 30 again. Shows the process of coupling the reference marker 60 to the premises 12 (reference marker will be described later). The reference marker portion 30 is always limited to the space vector of the movement trajectory so as to move in the locus converging to one point, and the space between the premises 12 and the reference plate 20 by completely curing the gypsum 14. Since the relationship is frozen, the reference point of the reference marker 60 corresponds to the original fixed point. Accordingly, the premises fixture (= impression model coupled to the premises attachment) is completed in a state containing both coordinate information about the target origin and the reference origin.

After the above process, acquisition of coordinate data of the coordinate synchronization object (oral tissue or impression model) 10 including the reference marker 60 and implantation into the device coordinate system are followed. See that section.

Second Embodiment

The second embodiment 200 of the present invention is similar to the first embodiment 100, except for the difference that the first / second reference marker portions 31 and 32 define the base of the imaginary isosceles triangle on the reference plane. Therefore, only translation. That is, in the second embodiment 200, one point at which the trajectories drawn by the three reference marker units 30 converge is set as the midpoint of the isosceles triangle base, and the second embodiment 200 having this feature is illustrated in FIG. 5. Is shown.

As shown in FIG. 5, the connecting member 240 in the second embodiment 200 has two columns 241 connected to the reference plate 20 to translate only along the base of the imaginary isosceles triangle on the reference plane. ) And the other column 241 ′ connected to the reference plate 20 to translate only along the repair of bisecting the imaginary isosceles triangle base.

The three reference marker parts 30 are fixed to the columns 241 and 241 'so as to have the same height with respect to the reference plane, and the trajectories drawn by the three reference marker parts 30 according to the translational movement of the columns 241 and 241' are Converge to one point. Therefore, the configuration of the reference marker unit 30 itself is the same as that of the first embodiment 100, but since the translational movements of the columns 241 and 241 'are different, one point of convergence is set to the midpoint of the isosceles triangle base.

The interlock mechanism 250 interlocks the two columns 241 translating along the base of the virtual isosceles triangle to move symmetrically with respect to the waterline.

The interlock mechanism 250 is also different from the interlock mechanism 150 of the first embodiment 100, since the two columns 241 must translate `` along the base of the isosceles triangle '' while being symmetrical about the waterline, This is because the disc cam 151 of the first embodiment 100 that moves by interlocking the column 141 toward one point (for example, the water depth) inside the isosceles triangle is difficult to implement.

Accordingly, the interlock mechanism 250 in the second embodiment 200 includes two columns 241 translating along the base of the virtual isosceles triangle as shown in the partial enlarged view of FIG. 5. Rod 251 slidably connected to each other), a rack 252 made up of gears formed at ends of the rod 251, and pinions 253 engaged between the two racks 252 up and down. ) Therefore, since the two rods 251 sharing one pinion 253 are always symmetrical and move in the opposite direction, the linkage between the two columns 241 and the reference marker unit 30 connected to the rod 251 is realized. do.

Meanwhile, in the second embodiment 200, since both the sliding structure and the interlocking structure of the columns 241 and 241 'are in the reference plate 20, the support of the upper ends of the columns 241 and 241' may be insufficient, which is the whole of the columns 241 and 241 '. It can weaken the structural robustness of and can adversely affect the restoration of the target origin coordinate system. Accordingly, the second embodiment 200 further includes a guide plate 243 for inducing translation of the three columns 241 and 241 ', and the guide plate 243 corresponds to the translation trajectory of the columns 241 and 241'. The slits 244 are formed so that the protrusions 242 protruding from the top of the columns 241 are inserted into the slits 244 to be guided. The guide plate 243 is connected to and fixed by a bar 245 to the reference plate 20.

Since other contents are substantially the same as those of the first embodiment 100, overlapping descriptions, for example, descriptions of a synchronization process using the second embodiment 200, will be omitted.

Third Embodiment

The third embodiment 300 is the first / second embodiment in that the connecting member 340 itself does not move, and the reference marker portion 30 is coupled to advance and retreat only in a predetermined direction on the connecting member 340. This is different from the examples 100 and 200. Retreat of the reference marker portion 30 may be a sliding movement or a linear movement by screw rotation, which mainly depends on whether the linkage mechanism 350 is a parallel movement or a rotary movement.

When describing the third embodiment 300, the first and second reference markers 31 and 32 located at both ends of the isosceles triangle bottom side of the above-described contents are bisected by the isosceles triangle base. It should be noted that the first and second reference marker portions 31 and 32 are interlocked to move symmetrically with respect to the waterline, and the third reference marker portion 33 is only movable along the waterline. .

The third embodiment 300 of the present invention is shown in FIG. 6, in which the connecting member 340 in the third embodiment 300 surrounds the reference plate 20 (particularly the fixing part of the reference plate) while A rotation frame 341 connected to the reference plate 20 so as to be rotatable about a rotation axis on a plane, and formed on the rotation frame 341 and having first, second and third reference marker portions 31, 32, and 33 It consists of a reference marker unit supporter 342 for guiding the movement.

At this time, the first and second reference marker parts 31 and 32 are inserted to allow only linear movement to the wheel 343 on which the rotation is freely fixed on the reference marker part supporter 342, and the reference marker part supporter 342. ) It is screwed with the thread formed on the inner surface. Therefore, when the wheel 343 is rotated, the first / second reference marker parts 31 and 32 rotate together with the wheel 343, and thus the first / second reference screws respectively screwed with the inner surface of the reference marker part supporter 342. The second reference marker parts 31 and 32 move forward and backward according to the rotational direction of the wheel 343. In the third embodiment 300 of the present invention, since the cross section of the portion where the wheel 343 and the first / second reference marker portions 31 and 32 are inserted and coupled is a polygon, the wheel 343 and the first / The second reference marker parts 31 and 32 rotate together with the wheels 343, and the first and second reference marker parts 31 and 32 are screwed into the wheels 343 so as to be slidable. It is possible to move forward.

What is important here is that the screw directions to the first and second reference marker portions 31 and 32 are opposite to each other. As shown in the partially enlarged view of FIG. 6, when the two wheels 343 in which the first / second reference marker portions 31 and 32 are inserted by the interlocking mechanism 350 rotate in the same direction, The first and second reference marker portions 31 and 32 move in symmetry with respect to the perpendicular dividing base of the isosceles triangle. In particular, in the third embodiment 300, the first and second reference marker parts 31 and 32 face each other and retreat to each other, so that the locus of the three reference marker parts 30 converges is the central point of the isosceles triangle base. It was set to be.

In addition, the interlocking mechanism 350 for interlocking the first and second reference marker portions 31 and 32 has a groove portion 352 fitted to the teeth 344 formed on the outer surface of the wheel 343 at both ends thereof ( bar) handle 351. When the handle 351 having such a structure is rotated by being coupled to the teeth 344 on the outer surface of the wheel 343, the two wheels 343 rotate simultaneously in the same direction so that the first and second reference marker portions 31 and 32 are rotated. ) Advances the same distance in opposite directions. As a result, the first and second reference marker portions 31 and 32 can move while being symmetrical with respect to the waterline dividing the base of the isosceles triangle. When the handle 351 is inserted and rotated, if there is interference with the connecting member 340, the reference plate 20, or the fixed coordinate synchronization object 10, and cannot be rotated anymore, the wheel 343 is temporarily removed and then again. Just repeat the action.

However, in order to rotate the two wheels 343 facing each other by the same angle, the movement of the handle 351 is preferably guided by contacting the other member. can do.

Accordingly, the third embodiment 300 forms an upper surface of the reference marker unit supporter 342 with respect to the first / second reference marker units 31 and 32 of the reference marker unit supporter 342 as an arcuate surface, and the handle ( A circular arc surface complementary to the upper surface of the reference marker unit supporter 342 is formed around the groove portion 352 of the 351 to guide the rotation of the handle 351 by contact between the two arc surfaces.

Advantages of the third embodiment 300 may be various. First of all, unlike the first and second embodiments 100 and 200, since there is no column 141 or 241 structure, the size of the entire apparatus becomes slim and compact. In addition, the connection member 340 can be rotated about the axis of rotation on the reference plate 20, it becomes convenient to detach the coordinate synchronization object (10). In addition, even if the reference marker portion 30 is worn or damaged due to prolonged use or impact, it is also advantageous that the replacement is easy.

FIG. 7 is a view showing a specific process of including both the reference origin coordinate system and the information about the target origin coordinate system in the coordinate synchronization object 10 using the coordinate synchronization mechanism 300 according to the third embodiment of the present invention. Similarly to the case of the first embodiment 100 shown in FIG.

The process shown in FIG. 7 is basically similar to that of the first embodiment 100 shown in FIG. 4. However, by using the handle 351 to interlock the first and second reference marker parts 31 and 32 and the connecting member 340 to secure sufficient accessibility, the freezing medium to the coordinate synchronization object 10. There is a difference in that gypsum (14) can be combined or the coordinate synchronization object 10 can be easily removed from the reference plate 20.

Fourth Embodiment

The fourth embodiment 400 is similar to the overall structure of the third embodiment 300 described above, but there is a difference in the interlock mechanism 450. That is, if the third embodiment 300 is called a threaded linkage, the fourth embodiment 400 may be referred to as a linkage linkage.

8 to 11, the connecting member 440 of the fourth embodiment 400 surrounds the reference plate 20 (particularly, the fixing portion of the reference plate). And a rotation frame 441 connected to the reference plate 20 so as to be rotatable about a rotation axis on the reference plane, and formed on the rotation frame 441 to form the first, second, and third reference marker portions 31, 32, The configuration of the reference marker supporter 442 for guiding the movement of 33 is substantially the same as in the third embodiment 300.

By the way, the linkage mechanism 450 of the fourth embodiment 400 is configured in a link type, and can be classified into two types in a specific configuration thereof.

The first linkage mechanism 450 is a way that the link 456 is moved by the rotational movement, which is shown in Figures 8 to 10.

The interlock mechanism 450 includes a rotary knob 452 rotatable in a plane perpendicular to the moving direction of the first and second reference marker units 31 and 32 and a line passing through the center of rotation of the rotary knob 452. It consists of a link 456 each rotatably coupled to two eccentric pivots 453 symmetrically to the ends of the first and second reference marker portions 31 and 32. It is rotatably coupled to the free end. The rotary knob 452 is mounted on the horizontal supporter 451 provided in the rotation frame 441, and the horizontal supporter 451 is located approximately in the middle of the first and second reference marker parts 31 and 32. .

As shown in FIG. 9, when the rotary knob 452 rotates in any one direction in a neutral state where the line passing through the center of rotation of the rotary knob 452 and the longitudinal center line of the two left and right links 456 coincide, the left and right links Rotating ends of 456 are rotated by the same angle in the vertical direction opposite. At this time, the free end of each link 456 is rotatably coupled to the ends of the first and second reference marker portions 31 and 32, and the first and second reference marker portions 31 and 32 connect them. Since it can only move along the extension line, the first and second reference marker portions 31 and 32 also move in a direction closer to each other by a horizontal distance between the links 456 closer than they are in the neutral state by rotation. . In particular, since the rotational end of each link 456 is eccentric while being symmetrical on the line passing through the rotational center of the rotary knob 452, the moving distances of the first and second reference marker parts 31 and 32 are the same. The first and second reference marker parts 31 and 32 are interlocked with each other.

As shown in FIG. 8, the rotation center of the rotary knob 452 may be positioned at the same height as the center line connecting the first and second reference marker parts 31 and 32. However, as shown in FIG. 10, the center of rotation of the rotary knob 452 may be located at a point higher than the center line connecting the first and second reference marker parts 31 and 32 (FIG. 10 illustrates the configuration of the interlock mechanism). The illustration of the rotating frame is omitted for clarity). If the center of rotation of the rotary knob 452 is located at the same height as the center line connecting the first and second reference marker portions 31 and 32, the height of the entire mechanism 400 is lowered to have a compact structure. In the neutral state, since the two links 456 are fully extended, it may be difficult to move the link 456 during the initial rotation. Of course, the advantages and disadvantages of the high rotation center of the rotary knob 452 are the opposite.

The second linkage mechanism 450 is a way in which the link 456 is moved by the linear movement in the vertical direction, which is shown in FIG. 11 (also shown in FIG. 11 to illustrate the configuration of the linkage mechanism, the illustration of the rotation frame is omitted). ).

The interlock mechanism 450 includes a sliding body 455 slidably mounted along a vertical supporter 454 provided vertically in a vertical direction with respect to the moving direction of the first / second reference marker portions 31 and 32, A link 456 is rotatably coupled to two pivoting shafts 453 spaced apart from each other while being symmetrical with respect to the moving shaft (= vertical supporter) of the sliding body 455. It is the same that the ends of the first / second reference marker portions 31 and 32 are rotatably coupled to the free end of the link 456.

The linkage mechanism 450 shown in FIG. 11 differs only in that the link 456 moves according to the sliding movement of the sliding body 455. The basic principle is almost similar to that of the first case. Since the free end of each link 456 is symmetrically moved by the same distance from side to side by the movement of the sliding body 455, the first and second reference marker parts 31 and 32 are interlocked with each other.

On the other hand, if the incision groove 457 is formed in the horizontal supporter 451 or the sliding body 455, and the screw hole formed to cross the incision groove 457 is formed in the horizontal supporter 451 or the sliding body 455, The gap between the incision grooves 457 may be adjusted by coupling the screw pin 458 with the head to the screw hole. The movement of the link 456 is fixed by adjusting the gap between the incision grooves 457, and the fixing of the link 456 limits the relative position of the coordinate synchronization object 10 or supports it so as not to move during the freezing process. useful.

The advantage of the fourth embodiment 400 as described above is that since most of the wearable parts (for example, the reference marker part or the link) have the same shape, the parts are made common and are advantageous for maintenance and repair. In addition, since there is no complicated screw mechanism in the interlock mechanism, the structure is simplified, and accordingly, disassembly and assembly can be advantageous.

FIG. 12 is a drawing valid for all of the first to fourth embodiments, showing the actual topological relationship between the reference origin coordinate system R and the target origin coordinate system O. FIG. As clearly shown in the drawings, it is advantageous in terms of accuracy or reproducibility that the topological relationship between the reference origin coordinate system R and the target origin coordinate system O is as simple as possible, in this embodiment of the present invention. The coordinate system R and the target origin coordinate system O are set to have a topological relationship defined only by the height difference or the height difference and the distance difference.

Standard Marker

As described above in detail with respect to each embodiment of the present invention, the fixed point that each reference marker unit 30 is assigned to the coordinate synchronization object 10 to restore the target origin coordinate system is for explaining the extraction of the target origin coordinate system As a conceptual point, in practice, it is necessary to find a point extracted according to a predetermined rule in a three-dimensional shape and treat it as a fixed point. The three-dimensional shape described above is included in the coordinate data of the coordinate synchronization object 10 for extracting the fixed point, and the point corresponding to the fixed point extracted from the three-dimensional shape is referred to as a reference point as described above.

Extraction of such a reference point is possible through various methods, for example, to form a tip of a cone or polygonal shape that can be fixed by drilling the coordinate synchronization object 10 at the end of the reference marker portion 30, the shape of the tip portion It is possible to set the peak of the horn of the sound type in the coordinate synchronization object 10 made as it is as a reference point.

However, it may not always be possible to engrave the shape of the tip for extracting the reference point using the end of the reference marker portion 30 in the coordinate synchronization object 10, and it is also difficult to guarantee that the shape of the formed tip is always constant. Therefore, alternatives need to be prepared in advance.

Alternatively, it is possible to prepare the reference marker 60 having the same size and shape in advance, and combine it with the coordinate synchronization object 10 or the coordinate synchronization medium 12.

A characteristic that the reference marker 60 must have is that one point can be extracted consistently from its three-dimensional shape. Some examples of such reference marker 60 will be described in detail with reference to FIG. 13 as follows.

The reference marker 60 is made so that the upper or lower surface thereof has a shape of a figure from which a circle can be extracted. In this case, the reference point on the reference marker 60 may be defined as the center of the circle.

Examples of the reference marker 60, the reference marker 60 may be a three-dimensional object of the negative or positive shape having a shape including a portion of the polygon or the circumference inscribed or circumscribed to the circle or the upper or lower surface. The center of the circle is extracted from a circle defined by three points on the circumference of the circle or three points selected at the vertices of the polygon.

This is because the minimum number of points needed to define the radius of curvature of a circle is three, and if more than three points are selected, these coordinates do not form a single plane due to the resolution limitations of the scanning device, etc. This is because the non-formality is inefficient because the number of _n C ₃ (where n is the number of selected points, which is a natural number of n> 4) must be matched with each other.

In addition, the reference marker 60 may be a negative or positive solid having a conical or polygonal shape, and the reference point on the reference marker 60 may be defined as the point of the horn.

In addition, the reference marker 60 may be formed in a three-dimensional object of a negative or positive shape including the shape of a sphere or sphere, in this case, it is also possible to define a reference point on the reference marker 60 as the center of the sphere or sphere.

An approximate process for assigning a fixed point, that is, a reference point, to the coordinate synchronization object 10 or the coordinate synchronization medium 12 using the reference marker 60 is shown in FIG. 14. As shown, the reference marker holder 34 for fixing the reference marker 60 to the attachment end of the reference marker unit 30, and after coupling the reference marker 60 to the coordinate synchronization object (10) Or (attach or insert, etc.) to the exact position of the coordinate synchronization medium 12.

In this case, the reference marker 60 and the reference marker holder 34 may be fixed by screw coupling, and the ends of the reference marker 60 coupled to the coordinate synchronization object 10 or the coordinate synchronization medium 12 are rotated at the ends thereof. An incision surface (not shown) for preventing may be formed. This incision surface is for preventing the reference marker 60 from rotating or deviating, especially when the fixing is inserted into the coordinate synchronization object 10 or the coordinate synchronization medium 12.

While the preferred embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that the present embodiments may be modified without departing from the spirit or spirit of the present invention. . Therefore, the scope of the present invention will be defined by the appended claims and equivalents thereof.

Description of the Related Art
R: Reference origin F, F ': Fixed point
O: origin point
10: coordinate synchronization object (impression model)
12: coordinate synchronization medium (premises attachment)
14: freezing media
100, 200, 300, 400: mechanism for coordinate synchronization
20: reference plate 21: fixed part
30: reference marker portion 31: first reference marker portion
32: second reference marker portion 33: third reference marker portion
34: reference marker holder
140, 240, 340, 440: connecting member
141,141 ': Column 142: Cam Followers
241: column 242: protrusion
243: guide plate 244: slit
245 bar 341 rotation frame
342: reference marker portion supporter 343: wheel
344: tooth 441: rotation frame
442: standard marker support
150, 250, 350, 450: interlock
151: disc cam 152: slit
251: Rod 252: rack
253: pinion 351: handle
352: groove 451: horizontal supporter
452: rotary knob 453: rotating shaft
454: vertical supporter 455: sliding body
456: link 457: incision groove
458: screw pin 60: reference marker

Claims (29)

A reference plate having a structure corresponding to a fixing portion that is provided on a device to receive the coordinate data of the coordinate synchronization object to be implanted so that the coordinate synchronization object is reproducibly reproduced thereon and knows the coordinates on the device;
At least three reference markers limiting their relative positions such that the coordinate synchronization object is spaced apart from the reference plate;
A connection member connected to the reference marker portion and restricting the reference marker portion to move only in a predetermined direction on the reference plate; And
An interlock mechanism for moving at least two or more of the reference marker units in cooperation with each other;
Coordinate synchronization device comprising a. The method of claim 1,
Coordinate synchronization mechanism, characterized in that the three reference markers. The method of claim 2,
And said three reference marker portions move only on a plane parallel to the reference plane set on said reference plate. The method of claim 3,
Coordinate synchronization mechanism, characterized in that the reference point existing on the three reference markers form an isosceles triangle. 5. The method of claim 4,
The connecting member restricts the first and second reference markers positioned at both ends of the isosceles triangle base to move toward one point on the waterline which bisects the base of the isosceles triangle, and the other one of the third reference markers Coordinate synchronization mechanism characterized in that it is limited to move only along the waterline. The method of claim 5,
And said connecting member restricts said first / second reference marker portion to move only along the base of said isosceles triangle. The method of claim 5,
The linkage mechanism interlocks the connecting member or the first and second reference markers such that the first and second reference markers positioned at both ends of the isosceles triangle bottom are moved symmetrically with respect to the perpendicular line dividing the isosceles triangle. Coordinate synchronization device characterized in that. The method of claim 5,
One point on the waterline is any one of the depth, center of gravity, outer and inner core of the isosceles triangle. The method of claim 7, wherein
The connecting member is three columns connected to the reference plate to translate only toward one point on the waterline which bisects the base of the imaginary isosceles triangle on the reference plane,
The three reference marker parts are fixed to the column to have the same height with respect to the reference plane, and the trajectory drawn by the three reference marker parts converges to one point on the water line according to the translational movement of the column.
The interlock mechanism is a disc cam having three slits formed therein, the slits being 120 ° equiangular slits that are shifted in the same angle and direction with respect to the center of the disc cam, and the slits are respectively formed on a cam follower protruding from the top of the column. And the disc cam is inserted into and coupled to the column. 10. The method of claim 9,
And said three columns are connected to said reference plate to translate only toward the depth of the equilateral triangle. 10. The method of claim 9,
And a reference marker portion corresponding to a third reference marker portion among the three reference marker portions is removably mounted on the column. The method of claim 7, wherein
The connecting member includes two columns connected to the reference plate to translate only along the base of the virtual isosceles triangle on the reference plane, and to the reference plate to translate only along the waterline which bisects the base of the hypothesis isosceles triangle. One column connected,
The three reference marker parts are fixed to the column to have the same height with respect to the reference plane, and the trajectories drawn by the three reference marker parts converge as one point according to the translational movement of the column.
And the linkage mechanism interlocks the two columns to be translated along the base of the imaginary isosceles triangle to move symmetrically with respect to the waterline. The method of claim 12,
The linkage mechanism includes a rod comprising a rod configured to slidably connect the two columns translating along the base of the virtual isosceles triangle to the reference plate, the gears formed at the ends of the rod, respectively, A coordinate synchronization mechanism, characterized in that the rack is made upside down with pinions engaged therebetween. The method of claim 12,
A guide plate for inducing translation of the three columns,
A slit corresponding to the translational trajectory of the columns is formed, and projections protruding from the top of the columns are inserted into the slit and guided, and further comprising a guide plate connected to and fixed by a bar to the reference plate. Coordinate synchronization mechanism, characterized in that. The method of claim 7, wherein
The connecting member includes a rotation frame connected to the reference plate to be rotatable about a rotation axis on the reference plane while surrounding the fixing means, and formed on the rotation frame to move the first, second, and third reference marker parts. It consists of the standard marker supporters to guide the
The first and second reference marker parts are inserted to allow linear movement only on a wheel freely fixed on the reference marker part supporter, and the threads and screws formed on the inner surface of the reference marker part supporter and the Retreat on the reference marker portion supporter according to the rotation, but the screw direction to the first / second reference marker portion is opposite to each other,
The linkage mechanism is a bar-shaped handle having grooves fitted to teeth formed on an outer surface of the wheel at both ends thereof, and when the handle is coupled to the teeth and rotated, the two wheels simultaneously rotate so that the first / second 2. The coordinate synchronization mechanism of claim 2, wherein the reference marker portions are advanced by the same distance in opposite directions. 16. The method of claim 15,
An upper surface of the reference marker portion supporter for at least a first / second reference marker portion among the reference marker portion supporters is formed as an arc surface, and an arc surface complementary to the upper surface of the reference marker portion supporter is formed around the groove portion of the handle. And the rotation of the handle is guided by the contact between the circular arc surfaces. The method of claim 7, wherein
The connecting member includes a rotation frame connected to the reference plate to be rotatable about a rotation axis on the reference plane while surrounding the fixing means, and formed on the rotation frame to move the first, second, and third reference marker parts. It consists of the standard marker supporters to guide the
The linkage mechanism may be a rotary knob mounted on a horizontal supporter provided in the pivot frame to be rotatable on a plane perpendicular to the direction of movement of the first / second reference marker portion, or the direction of movement of the first / second reference marker portion. A sliding body slidably mounted along a vertical supporter vertically provided in a vertical direction with respect to the link, and links or rotatably coupled to two eccentric pivots symmetrically on a line passing through the center of rotation of the rotary knob; A link coupled to each other so as to be rotatable to two spaced apart pivots symmetrically with respect to the moving axis of the sliding body,
And a distal end of the first / second reference marker portion is rotatably coupled to the free end of the link. 18. The method of claim 17,
The center of rotation of the rotary knob is located at the same height as the center line connecting the first / second reference markers coordinate synchronization mechanism. 18. The method of claim 17,
An incision groove is formed in the horizontal supporter or the sliding body, and a screw hole is formed in the horizontal supporter or the sliding body that crosses the incision groove, and a screw pin having a head is coupled to the screw hole to the incision groove. A coordinate synchronization mechanism, characterized in that to adjust the gap between. The method of claim 1,
The end of the reference marker portion is formed of a tip that can be fixed by drilling the coordinate synchronization object, the tip portion is a cone or polygonal shape of the coordinate synchronization mechanism characterized in that the point of the horn is defined as a reference point. The method of claim 1,
And a reference marker holder for fixing a reference marker coupled to the coordinate synchronization object at the end of the reference marker portion. The method of claim 21,
The reference marker and the reference marker holder is fixed to the screw coupling, the coordinate synchronization mechanism characterized in that the incision surface is formed on the end coupled to the coordinate synchronization object of the reference marker to prevent rotation. The method of claim 21,
An upper surface or a lower surface of the reference marker has a shape of a figure from which a circle can be extracted, and the reference point on the reference marker is defined as the center of the circle. 24. The method of claim 23,
The reference marker is a coordinate synchronization mechanism, characterized in that the upper surface or the lower surface is a three-dimensional object of the negative or positive shape having a shape including a circle, a polygon inscribed or circumscribed to the circle or a portion of the column. 25. The method of claim 24,
And the center of the circle is extracted from a circle defined by three points on the circumference of the circle or three points selected from vertices of the polygon. The method of claim 21,
The reference marker is a negative or positive solid having a conical or polygonal shape, and the reference point on the reference marker is a coordinate synchronization mechanism, characterized in that defined by the peak of the horn. The method of claim 21,
The reference marker is a negative or positive solid including a spherical or spherical shape, the reference point on the reference marker is a coordinate synchronization mechanism, characterized in that defined by the center of the sphere or sphere. 28. The method according to any one of claims 1 to 27,
And a relative position of the coordinate synchronization medium reproducibly coupled to the coordinate synchronization object is limited so that its relative position is spaced apart from the reference plate by the reference marker unit. 29. The method of claim 28,
The coordinate synchronization object is an impression model that mimics the shape of at least one of oral teeth and gingiva, and the coordinate synchronization medium is an intraoral fixture.

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