US20150002649A1 - Device for detecting the three-dimensional geometry of objects and method for the operation thereof - Google Patents

Device for detecting the three-dimensional geometry of objects and method for the operation thereof Download PDF

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Publication number
US20150002649A1
US20150002649A1 US14/376,187 US201314376187A US2015002649A1 US 20150002649 A1 US20150002649 A1 US 20150002649A1 US 201314376187 A US201314376187 A US 201314376187A US 2015002649 A1 US2015002649 A1 US 2015002649A1
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Prior art keywords
pattern
images
projector
camera
handpiece
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Abandoned
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US14/376,187
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English (en)
Inventor
Christoph Nowak
Horst Koinig
Jurgen JESENKO
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A Tron3d GmbH
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A Tron3d GmbH
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Assigned to A.TRON3D GMBH reassignment A.TRON3D GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: JESENKO, JURGEN, KOINIG, HORST, NOWAK, CHRISTOPH
Publication of US20150002649A1 publication Critical patent/US20150002649A1/en
Abandoned legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C9/00—Impression cups, i.e. impression trays; Impression methods
    • A61C9/004—Means or methods for taking digitized impressions
    • A61C9/0046—Data acquisition means or methods
    • A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
    • A61C9/006—Optical means or methods, e.g. scanning the teeth by a laser or light beam projecting one or more stripes or patterns on the teeth
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1076—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions inside body cavities, e.g. using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1077—Measuring of profiles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1079—Measuring physical dimensions, e.g. size of the entire body or parts thereof using optical or photographic means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A61B5/4542—Evaluating the mouth, e.g. the jaw
    • A61B5/4547—Evaluating teeth
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/042—Calibration or calibration artifacts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/189—Recording image signals; Reproducing recorded image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/194—Transmission of image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
    • H04N13/221—Image signal generators using stereoscopic image cameras using a single 2D image sensor using the relative movement between cameras and objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/254—Image signal generators using stereoscopic image cameras in combination with electromagnetic radiation sources for illuminating objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0204—Operational features of power management
    • A61B2560/0209—Operational features of power management adapted for power saving
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N2213/00—Details of stereoscopic systems
    • H04N2213/001—Constructional or mechanical details

Definitions

  • the invention relates to a device for detecting the three-dimensional geometry of objects, in particular teeth, comprising a handpiece that has an optical device with at least one camera and at least one light source.
  • the invention relates to a method for the operation of a device for detecting the three-dimensional geometry of objects, in particular teeth, comprising a handpiece that has at least one position sensor for detecting the change in the spatial position of the handpiece and an optical device with at least one camera for capturing images and at least one light source for a projector.
  • a device of the type mentioned at the outset is, for example, known from AT 508 563 B.
  • the scope of the invention extends in this case to recording digital tooth and jaw impressions, assistance during diagnosis, supervision of dental treatment, and reliable monitoring of deployed implants.
  • objects that are difficult to access can also be stereometrically measured.
  • the object of the invention is to improve such devices so that they are operated with the smallest possible power supply.
  • a value of, for example, 500 mA or 900 mA is sought in this case.
  • this object is accomplished in that the optical device has exclusively rigidly fixed components and that a means for generating light from the light source is provided in the handpiece.
  • this object is accomplished in that the position sensor in the handpiece determines the size of the change in the spatial position of the device and that it is determined therefrom how many images the camera can take in a defined time unit.
  • the means of generating light By arranging the means of generating light directly in the handpiece, long optical paths (via fiber optic cable or multiple deflection mirrors, for example) are avoided.
  • the light source meaning anything that can emit light (the end of a fiber optic cable, for example) and the means of generating light (a laser or the semiconductor of an LED, for example).
  • the rigid assembly of all elements of the optical device means that it is impossible to focus the optics of the camera. All calibrations of the optical device therefore take place beforehand. It is particularly important here to achieve an optimal adjustment of the aperture. A smaller aperture is good in this case for a greater depth of field, while a larger aperture requires a smaller illumination for a sufficiently good image.
  • blurry areas in the 2D images provide information about distance. In this way depth information can be gained from the degree of the blurriness based on previously ascertained information about the surface curvature.
  • the blurry areas can therefore be utilized as further sources of information.
  • blurry points, surfaces, lines, or the like can be drawn sharp and thus become part of the regular (stereometric, for example) process of extracting three-dimensional data.
  • the scanner in the course of calibration, is arranged, for example, at various known distances over a flat plane. Distances that change in steps of 50 ⁇ m each have proven to be particularly suitable for this purpose. Other distances may also be used for calibration. In general, one skilled in the art can be guided in choosing the distances or their changes by the resolution of the means used to capture the two-dimensional images. The better changes in the captured two-dimensional image can be recognized, the less minor changes in the distances between the scanner and the plane are meaningful during calibration.
  • detecting the three-dimensional geometry of objects is therefore preferably prefaced by taking calibration images of a preferably flat surface at various known distances from the scanner.
  • the distances vary thereby in steps of preferably 50 ⁇ m.
  • the central axes of the field angle of the camera while taking the calibration images are preferably aligned essentially normal to the flat surface.
  • a mean brightness profile is saved of the lightest to darkest areas of the points, surfaces, lines, and the like.
  • a mean brightness profile is saved of the lightest to darkest areas of the points, surfaces, lines, and the like.
  • the edges selected during sharpening therefore have a much higher accuracy than edges chosen by conventional processes.
  • a brightness profile in a two-dimensional image a brightness profile as similar as possible is chosen in the table; thanks to this, it is possible, prior to the actual analysis of the two-dimensional images, to estimate how far the area in question is from the camera since different distances were recorded in the table for different brightness profiles during calibration.
  • the device has a facility for synchronizing the power supply of the light source and the camera.
  • the camera and light source are operated synchronously commensurate to a preferred implementation of the method.
  • the energy supply is also interrupted on the imaging end. In this way, unlit images are avoided, and additional energy is saved.
  • the handpiece has at least one position sensor (especially an acceleration sensor), magnetic field sensor, and/or inclination sensor.
  • the size of the change in the spatial position of the device is determined according to the method; from this, it is determined how many images should be made by the camera in a defined time unit. In this way it is possible to avoid taking more images, upon slight movement, of the same place than is necessary for optimal capturing of the geometry.
  • the frame rate of the captured images in a preferred implementation can be changed; preferably, the frame rate is between 1 and 30 images per second. Additionally, or alternatively, the frame rate can, according to a preferred implementation of the method, also be adjusted depending on whether a larger or smaller power supply is available. In the case of a larger power supply, more light pulses can thus be emitted and received than in the case of a smaller power supply.
  • a quality can be assigned to a captured area of the object. This quality can optionally be reproduced in the 3D representation of the geometry of the object, so that the user can react to it. Areas from which only a small amount of data was captured—and which thus have a greater potential for deviations from the geometry of the object can, for example, be displayed in red. Areas in which the number of images is already sufficient for the desired quality can, for example, be displayed in green. Additional colors for intermediate stages are likewise conceivable for areas in which an optimal value has already been reached—meaning further images would not improve the recorded data in any substantial way. Naturally, it is also possible to color only the areas that have a lower quality.
  • this measure is suitable for optimizing the necessary processing steps in a processing unit that processes the recorded data, and for conserving computing power.
  • the optical device has at least one projector for projecting patterns. Projecting patterns improves the possibilities of detecting the three-dimensional geometry.
  • the field angle of the camera and the field angle of the project overlap by at least 50%, preferably at least 80%, and especially preferably at least 90%.
  • the field angle is the conical area in which the projection or recording takes place.
  • the device optionally has a rechargeable electrical energy storage system.
  • This energy storage system can, according to the invention, fulfill multiple functions.
  • the storage system can, in a preferred embodiment, serve as the sole energy source of the device. In this case it is sensible for the device to additionally have a data storage system or a way of providing for wireless data transfer. The device can thus, without cables, be moved completely freely. In an embodiment in which the data is saved, it is appropriate to combine the subsequent transfer of data (via a USB connection, for example) with the charging of the energy storage system.
  • the energy storage system can, according to the invention, be an auxiliary power source of the device.
  • This auxiliary power source can be activated when necessary.
  • it is initially determined, according to a preferred method, how much electricity is available to the device.
  • it be determined whether 500 mA or 900 mA is available to the device—that is, whether the device is connected to a USB 2.0 port or a USB 3.0 port.
  • the energy storage system is, according to the method, provided as an additional energy source.
  • a power supply of, for example, 500 mA or 900 mA can analogously be implemented when connected to a low-power USB port, which is typically powered by 100 mA.
  • the device should optionally be operated with two or three or more cameras.
  • different modes of operation are created for different outputs of the power supply.
  • two cameras are operated in a mode of operation for 500 mA and three or more cameras in a mode of operation for 900 mA.
  • the data gathered by the camera is forwarded without further processing or conditioning to a processing unit or a storage medium.
  • a processing unit or a storage medium In this way, it is possible to eliminate completely the energy input that would otherwise be required for a processor or chip that normally performs this processing or conditioning.
  • Further processing in the processing unit can take place at least partially in the CPU; however, it has been found that it is useful (especially with regard to data processing speed) to process a part of the data gathered for detecting or calculating the three-dimensional geometry in the GPU.
  • the device can, according to a preferred embodiment, have a thermovoltaic element. Using this element, electric energy can, according to a preferred implementation of the method, be obtained from the heat that is produced during operation. On the one hand, this energy can then be directly used for operating the device; on the other hand, an energy storage system can be supplied with the energy obtained, especially during device cool-down.
  • FIG. 1 shows a schematized representation of an embodiment of the invention
  • FIG. 2 shows a schematic view of the underside of an embodiment of the invention.
  • FIG. 1 shows an example embodiment of the device comprising a handpiece 1 , in which there is an optical device 2 , which comprises a light source 3 , a projector 4 , a first camera 5 , a second camera 6 , and a mirror 7 .
  • an optical device 2 which comprises a light source 3 , a projector 4 , a first camera 5 , a second camera 6 , and a mirror 7 .
  • a recess in the housing 15 of the handpiece 1 In front of the mirror, there is a recess in the housing 15 of the handpiece 1 .
  • This recess is provided with a transparent cover 13 for hygienic reasons and to protect the sensitive components in the handpiece 1 .
  • the light source 3 is an LED.
  • a means for generating the light (not shown in the drawing) is located, in this embodiment example, right in the light source 3 in the form of a semiconductor.
  • the subsequent pathway of the light inside and outside of the device is depicted by an example light beam 8 .
  • This beam initially passes through the projector 4 .
  • the projector 4 serves thereby to project patterns onto the object. These may be, depending on the type of capture of the geometry of the object, both regular patterns, such as stripes, and irregular patterns, such as irregular dot patterns.
  • the light beam 8 encounters the mirror 7 and is deflected by it onto the object 9 whose geometry is to be captured.
  • the object 9 is a tooth.
  • the mirror 7 is unnecessary.
  • the cameras 5 , 6 record the pattern that is projected onto the tooth 9 , from which pattern the geometry of the tooth 9 will later be calculated. According to a preferred implementation all corresponding calculations take place in a processing unit outside of the handpiece 1 , whereby the power consumption of internal chipsets or processors is minimized.
  • the device may be connected to this processing unit both physically by a cable 14 and wirelessly.
  • a wireless connection Bluetooth or WLAN, for example
  • an energy storage system 11 (optionally rechargeable) is provided in the handpiece 1 .
  • this serves as an auxiliary power supply of the device.
  • the cable connected to the handpiece 1 may, however, also be completely eliminated; this offers optimal freedom of movement.
  • the drawing shows a position sensor 12 .
  • the position sensor 12 can, for example, be an acceleration sensor, a terrestrial magnetic field sensor, or an inclination sensor. Combinations of different sensor types increase the precision with which the change of the spatial position or the movement of the handpiece 1 is determined.
  • FIG. 2 shows a schematic view of the underside of an embodiment of the invention. Two areas 16 , 17 in which a thermovoltaic element could be placed are shown.
  • thermovoltaic element is arranged directly on the underside (meaning the side on which the cover 13 is located) in proximity to the optical device 2 . This is advantageous because the optical device 2 , especially the projector 4 , produces the most heat during operation. In this way, this heat can be utilized with as little loss as possible.
  • thermovoltaic element in the second area 17 is advantageous because the element can be sized larger; in this case, however, a heat conductor that directs the heat from the optical device 2 to the thermovoltaic element is necessary. Even when the thermovoltaic element is positioned in the second area 17 , attachment to the underside of the handpiece 1 makes sense; by so doing, a side of the thermovoltaic element that faces outward (according to a preferred embodiment of the invention) and gives off heat is not covered by the hand of the user.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Dentistry (AREA)
  • Medical Informatics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Optics & Photonics (AREA)
  • Epidemiology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rheumatology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Radiology & Medical Imaging (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
US14/376,187 2012-02-06 2013-02-02 Device for detecting the three-dimensional geometry of objects and method for the operation thereof Abandoned US20150002649A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102012100953.8 2012-02-06
DE102012100953.8A DE102012100953B4 (de) 2012-02-06 2012-02-06 Vorrichtung zum Erfassen der dreidimensionalen Geometrie von Objekten und Verfahren zum Betreiben derselben
PCT/AT2013/000017 WO2013116880A1 (de) 2012-02-06 2013-02-04 Vorrichtung zum erfassen der dreidimensionalen geometrie von objekten und verfahren zum betreiben derselben

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US20150002649A1 true US20150002649A1 (en) 2015-01-01

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US14/376,187 Abandoned US20150002649A1 (en) 2012-02-06 2013-02-02 Device for detecting the three-dimensional geometry of objects and method for the operation thereof
US14/377,030 Active 2033-09-22 US9861456B2 (en) 2012-02-06 2013-02-04 Device for detecting the three-dimensional geometry of objects and method for the operation thereof
US15/176,206 Active 2033-07-09 US10166090B2 (en) 2012-02-06 2016-06-08 Device for detecting the three-dimensional geometry of objects and method for the operation thereof

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US15/176,206 Active 2033-07-09 US10166090B2 (en) 2012-02-06 2016-06-08 Device for detecting the three-dimensional geometry of objects and method for the operation thereof

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US (3) US20150002649A1 (pt)
EP (3) EP2812649A1 (pt)
KR (1) KR20140128336A (pt)
BR (1) BR112014018895A8 (pt)
CA (1) CA2863798A1 (pt)
DE (1) DE102012100953B4 (pt)
WO (2) WO2013116881A1 (pt)

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US10517482B2 (en) 2017-07-27 2019-12-31 Align Technology, Inc. Optical coherence tomography for orthodontic aligners
US10537405B2 (en) 2014-11-13 2020-01-21 Align Technology, Inc. Dental appliance with cavity for an unerupted or erupting tooth
US10548700B2 (en) 2016-12-16 2020-02-04 Align Technology, Inc. Dental appliance etch template
US10595966B2 (en) 2016-11-04 2020-03-24 Align Technology, Inc. Methods and apparatuses for dental images
US10613515B2 (en) 2017-03-31 2020-04-07 Align Technology, Inc. Orthodontic appliances including at least partially un-erupted teeth and method of forming them
US10610332B2 (en) 2012-05-22 2020-04-07 Align Technology, Inc. Adjustment of tooth position in a virtual dental model
US10639134B2 (en) 2017-06-26 2020-05-05 Align Technology, Inc. Biosensor performance indicator for intraoral appliances
US10772506B2 (en) 2014-07-07 2020-09-15 Align Technology, Inc. Apparatus for dental confocal imaging
US10779718B2 (en) 2017-02-13 2020-09-22 Align Technology, Inc. Cheek retractor and mobile device holder
US10813720B2 (en) 2017-10-05 2020-10-27 Align Technology, Inc. Interproximal reduction templates
US10885521B2 (en) 2017-07-17 2021-01-05 Align Technology, Inc. Method and apparatuses for interactive ordering of dental aligners
US10893918B2 (en) 2012-03-01 2021-01-19 Align Technology, Inc. Determining a dental treatment difficulty
US10980613B2 (en) 2017-12-29 2021-04-20 Align Technology, Inc. Augmented reality enhancements for dental practitioners
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BR112014018895A8 (pt) 2017-07-11
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US9861456B2 (en) 2018-01-09
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US20150282902A1 (en) 2015-10-08

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