WO2013116881A1 - Vorrichtung zum erfassen der dreidimensionalen geometrie von objekten und verfahren zum betreiben derselben - Google Patents

Vorrichtung zum erfassen der dreidimensionalen geometrie von objekten und verfahren zum betreiben derselben Download PDF

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Publication number
WO2013116881A1
WO2013116881A1 PCT/AT2013/000018 AT2013000018W WO2013116881A1 WO 2013116881 A1 WO2013116881 A1 WO 2013116881A1 AT 2013000018 W AT2013000018 W AT 2013000018W WO 2013116881 A1 WO2013116881 A1 WO 2013116881A1
Authority
WO
WIPO (PCT)
Prior art keywords
handpiece
camera
thermovoltaic
light source
projector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/AT2013/000018
Other languages
German (de)
English (en)
French (fr)
Inventor
Christoph Nowak
Horst Koinig
Jürgen Jesenko
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
A Tron3d GmbH
Original Assignee
A Tron3d GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by A Tron3d GmbH filed Critical A Tron3d GmbH
Priority to EP13708647.6A priority Critical patent/EP2812650B1/de
Priority to US14/377,030 priority patent/US9861456B2/en
Priority to CA2863798A priority patent/CA2863798A1/en
Priority to KR1020147022907A priority patent/KR20140128336A/ko
Priority to BR112014018895A priority patent/BR112014018895A8/pt
Publication of WO2013116881A1 publication Critical patent/WO2013116881A1/de
Anticipated expiration legal-status Critical
Priority to US15/176,206 priority patent/US10166090B2/en
Ceased legal-status Critical Current

Links

Classifications

    • 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—Measuring 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—Measuring 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—Measuring 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 OR CALCULATING; 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 two-dimensional [2D] image sensor
    • H04N13/221—Image signal generators using stereoscopic image cameras using a single two-dimensional [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
  • a handpiece having an optical device with at least one camera and at least one light source.
  • the invention further relates to a method for operating a device for detecting the three-dimensional geometry of objects, in particular teeth, with a handpiece, the 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 recording Images and having at least one light source for a projector.
  • a device of the type mentioned is known for example from AT 508 563 B.
  • the scope of the invention extends to the inclusion of digital dental and Kieferabrange, the help in the diagnosis, the
  • a position sensor is for example from the
  • the object of the invention is to improve such devices so that they are to operate with the lowest possible power supply. This is an operation by means of a handpiece itself accommodated and therefore small energy storage
  • the optical device comprising only rigidly fixed parts and that a means for generating light of the light source is arranged in the handpiece.
  • This object is achieved in a method of the type mentioned in that is determined by the position sensor in the handpiece, how large a change in the spatial position of the device, and it is determined from how many shots are made by the camera in a defined time unit.
  • Fiber optic cable or many deflecting mirrors avoided. It will be between the light source, so anything that can emit light, for example, the end of a fiber optic cable, and the means for generating the light, such as a laser or the
  • a means for generating the light with a lower power can be used to illuminate the object sufficiently, which is a
  • the rigid mounting of all elements of the optical device means that it is not possible to focus the optics of the camera. All calibrations of the optical device thus take place in advance. It is particularly important to achieve an optimal adjustment of the aperture. A smaller one
  • Aperture is good for a greater depth of field, with larger aperture lower illumination is required for a sufficiently good recording.
  • the handpiece has at least one position sensor, in particular one
  • Acceleration sensor a magnetic field sensor and / or a.
  • Tilt sensor on. In accordance with the method, this determines how large the change in the spatial position of the device is, and determines from this how many pictures are to be taken by the camera in a defined time unit. This avoids the need for more images to be taken from one and the same place with less movement than is necessary for optimal detection of the geometry.
  • the frame rate of the captured images may be changed, preferably, the frame rate is between 1 and 30 frames per second.
  • the frame rate also be adjusted depending on whether a greater or lesser charge level of an energy storage or a larger or smaller
  • optically adiol In a preferred embodiment, the optically adiol
  • Setup at least one projector for the projection of patterns.
  • the projection of patterns enhances the possibilities for capturing the three-dimensional geometry.
  • Field angle of the camera and the field angle of the projector to each other at least 50%, preferably at least 80%, especially
  • the field angle is the cone-shaped area in which the projection or the recording takes place.
  • the device has an optionally rechargeable electrical energy store. This can serve as the sole source of energy of the device. In this case, it makes sense if the device further a data storage or a possibility of wireless
  • Data transmission has. So the device can be moved completely freely without cables.
  • it is expedient to connect the subsequent transmission of the data for example via a USB connection, with a charging of the energy store.
  • a hygienically or tightly closable opening in the housing is provided for exchanging the energy store.
  • an operator can swap the at least partially emptied energy store for a full one after using the scanner.
  • the scanner can swap the at least partially emptied energy store for a full one after using the scanner.
  • the device can be determined from the determined value of the available battery charge whether the device should optionally be operated with two or three or more cameras.
  • the data captured by the camera become without further
  • Processing or processing forwarded to a processing unit or a storage medium.
  • a processing unit or a storage medium For a processor or chip that usually performs this processing or processing.
  • the further processing in the arithmetic unit can be carried out at least partially in the CPU, but it has been shown that it is particularly with regard to the speed of the
  • Data processing makes sense, a part of the collection or calculating the three-dimensional geometry collected data in the GPU to process. So it is possible the data,
  • Three-dimensional representation on a display or a file available on a storage medium for example, a 3D file in STL format
  • the device may comprise a thermovoltaic element according to a preferred embodiment. With this can be obtained in accordance with a preferred embodiment of the method from the heat which arises during operation, electrical energy. This can then directly to the operation of the
  • Fig. 1 shows a schematic representation of a
  • Fig. 2 shows a schematic view of the underside of a
  • Fig. 1 shows an exemplary embodiment of the
  • a handpiece 1 in which an optical device 2 is located, which contains a light source 3, a projector 4, a first camera 5, a second camera 6 and a mirror 7.
  • a light source 3 In front of the mirror is located in the housing 15 of the handpiece 1, a recess. This is for hygienic reasons and to protect the handpiece in the first
  • the light source 3 is an LED.
  • a means of producing light (not in the drawing
  • the projector 4 is used to project patterns onto the object. Depending on how the geometry is detected, it can be either regular patterns, such as stripes, or irregular patterns, such as irregular shapes
  • the light beam 8 strikes the mirror 7 and is deflected via this onto the object 9 whose geometry is to be detected.
  • the object 9 is a tooth.
  • Object are aligned can also be on the mirror 7
  • the cameras 5, 6 pick up the pattern projected onto the tooth 9, from which the geometry of the tooth 9 is later calculated.
  • the device may be physically connected both to a cable 14 and wirelessly.
  • a wireless connection for example, Bluetooth or WLAN
  • the wireless data transmission 10 there is in the handpiece a means for the wireless data transmission 10, in particular a transmitter and optionally a receiver.
  • the illustrated cable 14 is therefore not connected in actual operation. But can at low charge level of the energy storage, for example as Auxiliary power can be connected.
  • an optionally rechargeable energy store 11 is provided in the handpiece 1. It can therefore be completely dispensed with a cable on the handpiece 1, whereby optimal freedom of movement is given.
  • the drawing also shows a position sensor 12. With this can be determined, how large the spatial movement of the handpiece 1 is.
  • the position sensor 12 for example, an acceleration sensor, a geomagnetic sensor or a
  • Be tilt sensor Combinations of different sensor types increase the accuracy with which the change of the spatial position or the movement of the handpiece 1 is determined.
  • Fig. 2 shows a schematic bottom view of an embodiment of the invention. In this case, two areas 16, 17 are shown in which a thermovoltaic element could be placed.
  • thermovoltaic element is arranged directly on the underside, ie the side on which the cover 13 is located, in the vicinity of the optical device 2. This is advantageous because the optical device 2, in particular the projector 4, produces the most heat during operation and this can be used with the least possible losses.
  • this has the advantage that it can be sized larger, but then a heat conductor, which conducts the heat from the optical device 2 to the thermovoltaic element, necessary. Even with a positioning of the
  • thermovoltaic element in the second region 17 is a thermovoltaic element
  • thermovoltaic Elementes Mounting on the underside of the handpiece 1 makes sense, so that according to a preferred embodiment of the invention facing outward, heat-emitting side of the thermovoltaic Elementes is not covered by the user's hand.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Dentistry (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Medical Informatics (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Optics & Photonics (AREA)
  • Epidemiology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Electromagnetism (AREA)
  • Quality & Reliability (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
PCT/AT2013/000018 2012-02-06 2013-02-04 Vorrichtung zum erfassen der dreidimensionalen geometrie von objekten und verfahren zum betreiben derselben Ceased WO2013116881A1 (de)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP13708647.6A EP2812650B1 (de) 2012-02-06 2013-02-04 Verfahren zum betreiben einer vorrichtung zum erfassen der dreidimensionalen geometrie von objekten
US14/377,030 US9861456B2 (en) 2012-02-06 2013-02-04 Device for detecting the three-dimensional geometry of objects and method for the operation thereof
CA2863798A CA2863798A1 (en) 2012-02-06 2013-02-04 Device for detecting the three-dimensional geometry of objects and method for the operation thereof
KR1020147022907A KR20140128336A (ko) 2012-02-06 2013-02-04 물체들의 3차원 형상을 검출하는 디바이스 및 조작 방법
BR112014018895A BR112014018895A8 (pt) 2012-02-06 2013-02-04 Dispositivo para detecção da geometria tridimensional de objetos e processo para operação do mesmo
US15/176,206 US10166090B2 (en) 2012-02-06 2016-06-08 Device for detecting the three-dimensional geometry of objects and method for the operation thereof

Applications Claiming Priority (2)

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

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US14/377,030 A-371-Of-International 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 Division US10166090B2 (en) 2012-02-06 2016-06-08 Device for detecting the three-dimensional geometry of objects and method for the operation thereof

Publications (1)

Publication Number Publication Date
WO2013116881A1 true WO2013116881A1 (de) 2013-08-15

Family

ID=47845657

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/AT2013/000018 Ceased WO2013116881A1 (de) 2012-02-06 2013-02-04 Vorrichtung zum erfassen der dreidimensionalen geometrie von objekten und verfahren zum betreiben derselben
PCT/AT2013/000017 Ceased WO2013116880A1 (de) 2012-02-06 2013-02-04 Vorrichtung zum erfassen der dreidimensionalen geometrie von objekten und verfahren zum betreiben derselben

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/AT2013/000017 Ceased WO2013116880A1 (de) 2012-02-06 2013-02-04 Vorrichtung zum erfassen der dreidimensionalen geometrie von objekten und verfahren zum betreiben derselben

Country Status (7)

Country Link
US (3) US20150002649A1 (https=)
EP (3) EP3467432B1 (https=)
KR (1) KR20140128336A (https=)
BR (1) BR112014018895A8 (https=)
CA (1) CA2863798A1 (https=)
DE (1) DE102012100953B4 (https=)
WO (2) WO2013116881A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
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DE102014101070A1 (de) 2014-01-29 2015-07-30 A.Tron3D Gmbh Verfahren zum Kalibrieren und Betreiben einer Vorrichtung zum Erfassen der dreidimensionalen Geometrie von Objekten
KR101611415B1 (ko) * 2014-03-25 2016-04-12 (주) 스틱옵틱스 3차원 스캐너

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US9220580B2 (en) 2012-03-01 2015-12-29 Align Technology, Inc. Determining a dental treatment difficulty
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DE102016221040A1 (de) * 2016-10-26 2018-04-26 Robert Bosch Gmbh Verfahren zur Lokalisierung einer Vorrichtung in einem System
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CN114224534B (zh) 2016-12-02 2025-02-18 阿莱恩技术有限公司 腭扩张器和扩张腭的方法
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