KR20120050853A - Apparatus and method for scanning oral cavity - Google Patents

Abstract

PURPOSE: Scanning apparatus and method for the oral cavity capable of accurately sensing the shaded area of a scanning object tooth are provided to produce a three-dimensional tooth model without scanning the teeth by contacting. CONSTITUTION: A scanning apparatus for the oral cavity includes an optical system(110), an optical system driver(120), an optical system driving controller(130), an optical output unit(140), an optical output controller(150), a light sensing unit(160), a sensing value merging unit(170), a scanning data generating unit(180), and a data processing unit(190). The optical output unit outputs light by the predetermined output position and angle. The optical system reflects the light outputted from the optical output unit to a scanning object tooth. The optical system driving controller performs at least two scanning processes for the same portion on the scanning object tooth. The light sensing unit senses the reflected light from the scanning object tooth. The sensing value merging unit merges the sensing value. The scanning data generating unit calculates the location coordinates for the scanning object tooth. The data processing unit generates a three-dimensional tooth model based on the data obtained from the scanning data generating unit.

Description

Oral scanning device and its scanning method {APPARATUS AND METHOD FOR SCANNING ORAL CAVITY}

The present invention relates to an oral scanning device and a scanning method, and more particularly, to an oral scanning device and a scanning method that can be inserted into the oral cavity to scan the teeth in three dimensions.

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

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

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

Therefore, there is a need for an oral scanning device capable of accurately three-dimensional modeling of teeth while having a low possibility of causing a problem on the health of a patient.

An embodiment of the present invention is to provide a oral scanning device and a scanning method for inserting into the oral cavity of the user to generate a three-dimensional scanning model by scanning the teeth in a non-contact manner.

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

As a technical means for achieving the above technical problem, an oral scanning device according to an aspect of the present invention, the light output unit for outputting light in accordance with a predetermined output position and output angle; An optical system for reflecting the light output from the light output unit to the scanning target tooth; An optical system driving controller configured to set a reflection position and a reflection angle of the optical system, and set the reflection angle to two or more different angles so as to perform at least two scans of the same position of the scanning target tooth; A light sensing unit configured to generate a sensing value by sensing the reflected light reflected by the scanning target tooth from the emitted light reflected from the optical system; A sensing value merging unit for merging the sensing values sensed through at least two scannings of the same position; Scanning position coordinates of the scanning target tooth is calculated based on at least one of the output position, the output angle, the reflection position, and the reflection angle, and generating scanning data matching the merged sensing values for each position coordinate. A data generator; And a data processor configured to generate a 3D scanning model of the scanning target tooth based on a height value for each position coordinate of the scanning target tooth calculated according to the scanning data.

And, the scanner for oral cavity according to another aspect of the present invention is provided so as to protrude from the main body to be inserted into the oral cavity, provided with an insert to secure the path of the output light for teeth scanning and the reflected light reflected from the tooth, The insert may include an optical system that reflects the incident light toward the scanning target tooth at an exit angle set based on a preset reflection position and reflection angle; And an optical system driving member configured to move the optical system to a predetermined reflection position along a guide provided therein, and to adjust the reflection angle of the optical system to two or more predetermined reflection angles, wherein the main body includes a predetermined output position. And an optical output element configured to output light toward the optical system according to the output angle. An optical sensing element configured to generate a sensing value by sensing the reflected light from which the output light is reflected through the optical system and reflected from the scanning target tooth; A control module configured to control scanning of the scanning target tooth by setting at least one of the reflection position, the reflection angle, the output position, and the output angle; And merging the sensing values by the position coordinates of the scanning target tooth, and transmitting scanning data including the sensing values merged by the position coordinates to a data processor to generate a 3D scanning model for the scanning target tooth. It includes a processing module.

In addition, the tooth scanning method of the oral scanning device according to another aspect of the present invention, by moving the reflection position of the optical system in the first direction while maintaining the reflection angle of the optical system to the first reflection angle to the scanning target tooth Performing a first scanning of the data; The reflection position of the optical system is moved in a second direction opposite to the first direction while maintaining and changing the reflection angle of the optical system to a second reflection angle different from the first reflection angle. Performing a second scanning; And merging sensing values generated according to the results of the first and second scanning for respective position coordinates of the scanning target tooth.

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

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

1 is a block diagram showing the configuration of a scanning device for oral cavity according to an embodiment of the present invention.
2 is a side view of a scanning device for a mouth according to an embodiment of the present invention.
3 is a plan view of a scanning device for oral cavity in accordance with an embodiment of the present invention.
4 and 5 are diagrams for describing a method of sensing a shaded portion of a scanning target tooth according to an exemplary embodiment of the present invention.
6 is a flowchart illustrating a scanning method of an oral scanning device according to an embodiment of the present invention.

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

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . In addition, when a part is said to "include" a certain component, which means that it may further include other components, except to exclude other components unless otherwise stated.

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

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

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

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

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

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

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

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

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

The optical system driving controller 130 sets a reflection position and a reflection angle at which the optical system 110 can reflect incident light at a set emission angle, and controls the operation of the optical system driver 120 according to the set reflection position and reflection angle. do.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Has an angle.

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

 [Equation 1]

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

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

Can be obtained through Equation 2 below.

[Equation 2]

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

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

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

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

In addition, the light sensing unit 160 sequentially transmits the sensing value sensing the reflected light reflected from the scanning target tooth to the sensing value merging unit 170.

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

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

In the oral cavity scanning apparatus 100 according to the embodiment of the present invention, the reflection angle of the optical system 110 is controlled by the control of the optical system driving controller 130 to at least reflect the light reflected on the shadowed portions according to the emission angle. Set to more than one reflection angle.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

First, as shown in FIGS. 2 and 3, the oral cavity scanner 100 ′ according to the embodiment of the present invention drives the insert 10, the main body 20, the guide 30, the optical system 40, and the optical system. The member 50, the light output element 60, the light sensing element 70, the control module 80, the data processing module 90, and the like are configured to be included.

In this case, the optical system 40 and the optical system driving member 50 have the same concept as the optical system 110 and the optical system driving unit 120 described with reference to FIG. 1. In addition, the light output device 60 and the light sensing device 70 have the same concept as the light output unit 140 and the light sensing unit 160 described with reference to FIG. 1, respectively. In addition, the control module 80 is a concept including the optical system driving control unit 130 and the light output control unit 150 described with reference to FIG. 1, and the data processing module 90 includes the sensing value merging unit 170 and the scanning data generating unit. The concept includes the 180 and the data processor 190.

Meanwhile, among the components included in the data processing module 90 illustrated in FIGS. 2 and 3, the data processing unit 190 described with reference to FIG. 1 may be included inside the oral cavity scanner 100 ′, or as a separate device. The communication module (not shown) may be connected to the oral scanner 100 'by wire / wireless.

Specifically, as shown in FIGS. 2 and 3, the oral scanner 100 ′ according to the embodiment of the present invention may be represented by the insert 10 portion and the remaining body 20 portion.

The frame of the insert 10 is in the form of an insertion tube protruding from the main body 20 so that the user can be inserted into the oral cavity, and includes five surfaces including one upper surface, two side surfaces, one front surface, and one lower surface. It may be configured as.

At this time, the lower surface of the insert 10 is a structure including a light transmission window that allows the light source for scanning to be projected on the teeth. The upper surface of the insert 10 is a surface parallel to the direction in which the insert 10 is inserted into the oral cavity, and the lower surface has a predetermined angle with the upper surface. Accordingly, the two side surfaces may be formed to gradually widen as they get closer to the main body 20. This is because of the light source (i.e., the output light) output to the optical system 40 side through the inside of the insert 10, and the light source (i.e., the reflected light) reflected from the teeth and incident on the light sensing element 70. It is to protect the light source by securing a progress path.

The optical system 40 reflecting the output light output from the light output element 60 and projecting it to the tooth is connected to the guide 30 through the optical system driving member 50 inside the insert 10.

At this time, the guide 30 supports the optical system 40 to be connected to the inside of the insert 10, and the optical system driving member 50 moves along the guide 30 to allow the optical system 40 to move. At this time, the optical system driving member 50 controls the moving member (not shown) connected to the motor (not shown) or the like according to the command of the control module 80 to move the optical system 40 in the horizontal direction in which the insert 10 is inserted. Move back and forth. In addition, the optical system driving member 50 may change the reflection angle of the optical system 40 by rotating the optical system 40 along the first reference axis according to the command of the control module 80. For reference, the first reference axis coincides with the A axis shown in FIG. 2.

On the other hand, inside the main body 20, the light output element 60 for outputting the light source to the optical system 40 side, the light for receiving the reflected light reflected from the light source (that is, output light) reflected from the optical system 40 to the teeth A control module 80 and a control module for controlling each driving of the sensing element 70, the optical system 40, and the light output element 60 and processing output data (ie, sensing values) of the light sensing element 70 ( A data processing module 90 is configured to generate three-dimensional data using the data processed through 80.

In this case, the light output device 60 may change the output angle of the output light based on the second reference axis or the third reference axis. For reference, the first reference axis, the second reference axis and the third reference axis are perpendicular to each other, the second reference axis coincides with the C axis shown in FIG. 2, and the third reference axis coincides with the B axis shown in FIG. 2. In addition, the light output device 60 may move to the left and right sides (ie, the A axis shown in FIG. 1) in a sliding manner to change the output position of the output light.

In the embodiment of the present invention, the light output device 60 is shown as a laser diode (laser diode) as an example, it is possible to use a light output device as small as possible in order to limit the size. In addition, the light sensing device 60 may be a light receiving device such as a Charge Coupled Device (CCD) or a Position Sensitive Device (PSD). In the embodiment of the present invention, the light sensing device 60 may be a PSD device. It was.

Meanwhile, when teeth are scanned using the oral cavity scanner 100 ′ according to an embodiment of the present invention, the surface of the tooth according to the exit angle at which the output light output from the light output device 60 is reflected through the optical system 40 is reflected. The intensity of reflected light reflected for the same position is different.

That is, as shown in FIG. 4 and FIG. 5 below, in the portion where the bending is severe on the surface of the scanning target tooth, the light propagation path is blocked by the peripheral bending portion when the reflected light with respect to the output light reflected through the optical system 40 is blocked. In addition, the light scattering element may be scattered at an angle other than the allowable angle of the light sensing element 70 so that a shadow portion which does not reach the light sensing element 70 may occur.

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

In addition, the oral scanner 100 ′ according to an embodiment of the present invention may be mounted and fixed to a fixing frame (not shown). At this time, in the state in which the insert 10 of the oral scanner 100 'is inserted into the oral cavity of the patient, at least one of the insert 10 or the main body 20 is mounted on the fixing frame (not shown). After being fixed, scanning of the tooth can be performed.

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

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

In FIG. 4, the reflection position of the optical system 40 is driven from the first reflection position P1 to the second reflection position P2 by driving the optical system driving member 50 while the reflection angle of the optical system 40 is maintained at θ1. In FIG. 2, the output light output from the light output element 60 is reflected on the surface of the tooth.

In FIG. 5, in the state where the reflection angle of the optical system 40 is maintained at θ2, the reflection position of the optical system 40 is driven from the third reflection position P3 to the fourth reflection position by driving the optical system driving member 50. It shows how the output light is reflected on the surface of the tooth when moving to (P4).

Specifically, the output light output from the light output element 60 is reflected by the optical system 40 and projected onto the tooth at a predetermined exit angle.

First, in FIG. 4, the output light is reflected by the optical system 40 located at the first reflection position P1 and the second reflection position P2 to be projected onto the tooth, and the projected reflected light is normally on the surface of the tooth. It was reflected and incident to the light sensing element 70. In this case, the reflection angles of the optical system 40 positioned at the first reflection position P1 and the second reflection position P2 have an angle of θ1, and a path image of the reflected light reflected by the output light to the optical system 240. Light spots are not formed on the tooth surface corresponding to the shaded areas shown in Fig. 4. As such, a shaded portion is generated at a portion where the light spot due to the reflected light is not formed on the surface of the tooth according to the emission angle set by the reflection angle of the optical system 40. In addition, the shaded portion may occur at a portion where the path of the light reflected by the reflected light on the surface of the tooth is out of the reflection range of the optical system 40.

In addition, in FIG. 5, the output light is reflected by the optical system 40 located at the third reflection position P3 and the fourth reflection position P4 to be projected onto the tooth, and the projected reflected light is normally reflected on the surface of the tooth. It was reflected and incident on the light sensing element 70.

At this time, the reflection angle of the optical system 40 located at the third reflection position P3 and the fourth reflection position P4 has an angle of θ2, and the path of the reflected light reflected by the output light is reflected on the optical system 40. It is impossible to form a light spot on the tooth surface corresponding to the shaded portion shown in 5. As such, a shaded portion is generated at a portion where the light spot due to the reflected light is not formed on the surface of the tooth according to the emission angle set by the reflection angle of the optical system 40.

That is, as shown in FIG. 4 and FIG. 5, as the emission angle of the reflected light reflected by the optical system 40 is different according to the reflection angle of the optical system 40, the shaded portion is generated at a different position with respect to the curved portion of the tooth. do. Therefore, the sensing values for the shaded portions according to the emission angles of the output light reflected from the optical system 40 may be replaced with the sensing values at the different emission angles.

For example, two sensing values are generated at the same positions for the remaining portions of the scanning target tooth except for the shaded portion and at least one sensing value for the shaded portion. In addition, the generated sensing values of the scanning target tooth may be generated by merging the generated sensing values. That is, in FIGS. 4 and 5, the sensing values sensed by the light sensing element 70 when the reflection angle of the optical system 40 is set to θ1, and the light when the reflection angle of the optical system 40 is set to θ2. The sensing values sensed by the sensing device 70 may be merged. For reference, the process of merging each sensing value may apply the method described with reference to FIGS. 2 and 3.

4 and 5 show that the optical system 40 moves in one direction while being maintained at one reflection angle, and then changes to another reflection angle and moves in the other direction to scan the teeth. However, in the oral cavity scanner 100 ′ according to the embodiment of the present invention, the optical system 40 is changed at different reflection angles at the same reflection position to reflect output light, respectively, and the reflected output lights are light-sensing elements 70. It is also possible to sense.

For reference, in FIGS. 4 and 5, the angle at which the output light output from the light output element 60 travels to the optical system 40 during tooth scanning through the oral cavity scanner 100 ′ according to an embodiment of the present invention; The light reflected from the scanning target tooth is reflected through the optical system 40 and is incident to the light sensing element 70. However, an angle at which light reflected from the scanning target tooth is reflected through the optical system 40 to be incident to the light sensing element 70 may be different depending on an angle at which light reflected from the scanning target tooth is incident to the optical system 40. Can be. That is, an angle at which the output light output from the light output element 60 is advanced to the optical system 40, and an angle at which light reflected from the scanning target tooth is reflected through the optical system 40 to be incident to the light sensing element 70. May be parallel or have an angle.

Hereinafter, a method for scanning a tooth by the oral scanner 100 ′ according to an embodiment of the present invention will be described in detail with reference to FIG. 6.

6 is a flowchart illustrating a scanning method of an oral scanning device according to an embodiment of the present invention.

In FIG. 6, in the scanning device for oral cavity according to the embodiment of the present invention, the optical system driving member 50 is coupled to the guide 30 formed in the insert 10, and the optical system driving member 50 is an optical system ( 40) is in a coupled state.

First, the reflection angle of the optical system 40 is set to the first reflection angle by adjusting the optical system driving member 50 coupled to the guide 30 installed in the insert 10 (S610).

Next, the optical system 40 is moved in the first direction while the reflection angle of the optical system 40 is maintained at the first reflection angle, and the first scanning is performed on the scanning target tooth (S620).

Specifically, while the optical system driving member 50 moves in the first direction, the optical system 40 is positioned at each set reflection position so that the output light output from the optical output element 60 is reflected from the optical system 40.

At this time, the emitted light reflected from the optical system 40 is reflected on the teeth and is incident on the light sensing element 70, and the light sensing element 70 generates a sensing value with respect to the incident light so that the result of the first scanning is increased. Is generated. For reference, a shaded portion is generated by deep bending of the tooth surface, and when light according to the exit angle of the optical system 40 set to the first reflection angle is reflected on the shaded portion, scattered light having a reference size or less is lighted. Light incident on the sensing element 70 or reflected on the tooth does not enter the light sensing element 70. In addition, in the oral scanning apparatus according to the embodiment of the present invention, the data processing module 90 may store the sensing values sequentially received from the light sensing element 70 by matching the position coordinates of the teeth.

Then, at one end of the first direction, the reflection angle of the optical system 40 is changed and set to a second reflection angle different from the first reflection angle (S630).

Next, in the state in which the reflection angle of the optical system 40 is maintained at the second reflection angle, the optical system 40 is moved in a second direction opposite to the first direction and second scanning is performed on the teeth (S640). ).

Specifically, while the optical system driving member 50 moves in the second direction, the optical system 40 is positioned at each set reflection position so that the output light output from the optical output element 60 is reflected from the optical system 40.

In this case, the second scanning is performed by generating the sensing value with respect to the light emitted from the light emitted from the optical system 40 is reflected to the teeth and incident to the light sensing element 70, the light sensing element 70 is incident. For reference, a shaded portion is generated by deep bending of the tooth surface, and when light according to the exit angle of the optical system 40 set to the second reflection angle is reflected on the shaded portion, scattered light having a reference size or less is lighted. Light incident on the sensing element 70 or reflected on the tooth does not enter the light sensing element 70. Accordingly, the light sensing element 70 sequentially transmits the sensing value for each position coordinate of the tooth, which is a result of the second scanning, to the data processing module 90.

That is, the oral scanning apparatus according to the embodiment of the present invention performs at least two scanning of the scanning target tooth, thereby generating at least one sensing value for the same position of the tooth.

Next, merging the respective result values of the first scanning and the second scanning by the position coordinates of the tooth (S650).

In this case, the method of merging at least one sensing value matched for each location coordinate of the tooth may use the same or similar method as the description of the sensing value merging unit 170 of FIG. 1.

Thereafter, a three-dimensional scanning model of the scanning target tooth is generated based on the sensing values merged for each position coordinate (S660).

At this time, the height value according to the merged sensing value is applied to the position coordinates of the tooth determined by at least one of the output angle and the output position of the output light, the reflection angle and the reflection position, and thus three-dimensionally the scanning target tooth. Create a scanning model.

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

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

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

10: insert 20: main body
30: guide 40: optical system
50: optical system drive member 60: light output element
70: light sensing element 80: control module
90: data processing module

Claims (19)

In the oral scanning device,
An optical output unit configured to output light according to a preset output position and output angle;
An optical system for reflecting the light output from the light output unit to the scanning target tooth;
An optical system driving controller configured to set a reflection position and a reflection angle of the optical system, and set the reflection angle to two or more different angles so as to perform at least two scans of the same position of the scanning target tooth;
A light sensing unit configured to generate a sensing value by sensing the reflected light reflected by the scanning target tooth from the emitted light reflected from the optical system;
A sensing value merging unit for merging the sensing values sensed through at least two scannings of the same position;
Scanning position coordinates of the scanning target tooth is calculated based on at least one of the output position, the output angle, the reflection position, and the reflection angle, and generating scanning data matching the merged sensing values for each position coordinate. A data generator; And
And a data processing unit configured to generate a 3D scanning model of the scanning target tooth based on a height value of each position coordinate of the scanning target tooth calculated based on the scanning data. The method of claim 1,
An optical output control unit configured to set the output position and the output angle, and to control the optical output unit to output the light at least twice at the same output position and output angle with respect to the same position of the scanning target tooth; And
And an optical system driver for moving the optical system to the set reflection position under the control of the optical system driving control unit and adjusting the angle of the optical system to the set reflection angle. The method of claim 1,
The sensing value merging unit,
Obtaining at least one sensing value for the same position,
And the merging by calculating an average value of the at least one sensing value for each of the position coordinates. The method of claim 1,
The sensing value merging unit,
Obtaining at least one sensing value for the same position,
And the merging by selecting one of the at least one sensing value for each of the position coordinates. The method of claim 4, wherein
The sensing value merging unit,
The oral cavity scanning apparatus which selects an effective value of the said at least one sensing value, and performs said merging. The method of claim 1,
The optical system drive control unit,
And the reflection angle of the optical system is adjusted according to the two or more different angles for each of the position coordinates, and then the optical system is controlled to change the reflection position to move the optical system. The method of claim 1,
The optical system drive control unit,
The reflection position of the optical system is moved in the first direction while the reflection angle of the optical system is maintained at the first reflection angle,
And a reflection position of the optical system to be moved in a second direction opposite to the first direction while maintaining the reflection angle of the optical system at a second reflection angle different from the first reflection angle. The method of claim 1,
The light sensing unit,
And a scanning device for generating the sensing value by sensing the reflected light reflected from the scanning target tooth and converting the reflected light into an electrical signal. The method of claim 1,
Wherein the data processing unit comprises:
A position coordinate of the scanning target tooth is determined based on at least one of the output position, the output angle, the reflection position, and the reflection angle among the scanning data, and the height of the scanning target tooth using the merged sensing value. Oral scanning device to determine the value. In the oral scanner,
It is formed to protrude from the main body so as to be inserted into the oral cavity, and having an insert to secure the path of the output light for teeth scanning and the reflected light reflected from the teeth,
The insert is
An optical system for reflecting the incident light toward the scanning target tooth at an exit angle set based on a preset reflection position and reflection angle; And
An optical system driving member for moving the optical system to a predetermined reflection position along a guide provided therein, and adjusting the reflection angle of the optical system to two or more predetermined reflection angles;
The main body,
An optical output element for outputting light toward the optical system according to a preset output position and output angle;
An optical sensing element configured to generate a sensing value by sensing the reflected light from which the output light is reflected through the optical system and reflected from the scanning target tooth;
A control module configured to control scanning of the scanning target tooth by setting at least one of the reflection position, the reflection angle, the output position, and the output angle; And
Data processing for merging the sensing value by the position coordinates of the scanning target tooth and transmitting scanning data including the sensing values merged by the position coordinates to a data processor to generate a 3D scanning model for the scanning target tooth. Oral scanner comprising a module. 11. The method of claim 10,
Wherein the data processing unit comprises:
The oral cavity scanner which is configured inside the main body or configured outside the main body to receive the scanning data through wired or wireless communication. 11. The method of claim 10,
The optical system driver,
After moving the reflection position of the optical system in the first moving direction while maintaining the optical system at the first reflection angle,
The oral cavity scanner which moves the reflection position of the said optical system to the 2nd movement direction opposite to the said 1st movement direction in the state which kept the said optical system at the 2nd reflection angle different from a 1st reflection angle. 11. The method of claim 10,
The data processing module,
And a position coordinate of the scanning target tooth based on at least one of the reflection position, the reflection angle, the output position, and the output angle, and merges at least one sensing value matched by the position coordinates. The method of claim 13,
The data processing module,
After receiving at least one sensing value for each position coordinate,
The oral scanner for calculating the average value of the at least one sensing value for each position coordinate to perform the merging, or by selecting any one of the at least one sensing value to perform the merging. 11. The method of claim 10,
The insert is
And a light transmission window for allowing the light reflected by the optical system to travel to the scanning target tooth and the light reflected from the scanning target tooth to the light sensing element. In the tooth scanning method of the oral scanning device,
Performing a first scanning of the scanning target tooth by moving the reflection position of the optical system in a first direction while maintaining the reflection angle of the optical system at the first reflection angle;
The reflection position of the optical system is moved in a second direction opposite to the first direction while maintaining and changing the reflection angle of the optical system to a second reflection angle different from the first reflection angle. Performing a second scanning; And
And merging sensing values generated according to the results of the first and second scanning for respective position coordinates of the target tooth to be scanned. 17. The method of claim 16,
After the merging step,
And generating a 3D scanning model of the scanning target tooth by applying the merged sensing value to each position coordinate. 17. The method of claim 16,
The step of performing the first scanning and the step of performing the second scanning,
Outputting scanning output light toward the optical system; And
And sensing the light reflected by the scanning target tooth reflected by the optical system to generate a sensing value. The method of claim 17,
After generating the sensing value,
And sequentially storing the sensing values for each of the position coordinates.

Images