WO2017029670A1 - Cartographie intrabuccale de cavités buccales édentées ou partiellement édentées - Google Patents

Cartographie intrabuccale de cavités buccales édentées ou partiellement édentées Download PDF

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Publication number
WO2017029670A1
WO2017029670A1 PCT/IL2016/050902 IL2016050902W WO2017029670A1 WO 2017029670 A1 WO2017029670 A1 WO 2017029670A1 IL 2016050902 W IL2016050902 W IL 2016050902W WO 2017029670 A1 WO2017029670 A1 WO 2017029670A1
Authority
WO
WIPO (PCT)
Prior art keywords
scan body
scan
edentulous
previous
oral cavity
Prior art date
Application number
PCT/IL2016/050902
Other languages
English (en)
Inventor
Alexander ENTELIS
Moshe Goldstein
Assaf Halevy
Roei YIFTAH
Original Assignee
Optical Metrology Ltd.
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 Optical Metrology Ltd. filed Critical Optical Metrology Ltd.
Publication of WO2017029670A1 publication Critical patent/WO2017029670A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
    • A61B5/0088—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for oral or dental tissue
    • 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
    • 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
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0233—Special features of optical sensors or probes classified in A61B5/00

Definitions

  • the present invention relates to the field of optical intra-oral mapping, especially of an edentulous or partially edentulous mouth cavity.
  • Intraoral scanners are commercially available today from a number of vendors; these scanners use various different optical designs and techniques, such as structured light projection, confocal scanning, active wavefront sampling, and stereoscopy. All use handheld devices with limited fields of view.
  • the dentist moves the scanner inside the patient's mouth and the data from different regions is stitched together to get three-dimensional data of the oral cavity.
  • the stitching process is inaccurate because of lack of data features on soft tissue for the stitching process.
  • the projection devices mentioned in the prior art usually constitute a light source, a pattern generator, and a projection lens or interference filter that projects stripes of different colors toward an object undergoing three-dimensional mapping, such as suggested in the technique described in in US patent application 2007/0299338 to G.R. Stevick, for "Method and Apparatus for Dynamic Space-time Imaging System".
  • These projector devices are usually placed inside the mouth, where space is naturally limited.
  • the use of such projecting devices is mandatory. This follows, since by analyzing how projected patterns are bent and modified after their reflection off a measured object, it is possible to extract the object's geometrical shape and its dimensions.
  • the proposed scan-body designs by Thomsen and Jahn can be scanned using intra-oral scanners, but they are passive elements that only reflect radiation that impinges on them, causing the intra oral scanner that measures them to rely on sophisticated illumination and/or acquisition techniques to retrieve three-dimensional information. As stated above, these techniques are difficult to implement in the restricted intraoral volume. Therefore, such methods do not provide accurate enough results for multi-unit implant-based restoration.
  • the dentist moves the scanner in the mouth where the three-dimensional information is captured during the scan and stitched together to create the full three- dimensional image.
  • the stitching operation is typically based on image features that allow adding images together one by one to create an entire map of the desired area.
  • the present disclosure describes new exemplary systems and methods for generating three-dimensional mapping of an edentulous or partially edentulous mouth, using an intraoral apparatus comprising specially-designed scan bodies, a plurality of cameras and optionally, one or more light sources.
  • the scan bodies used for this purpose differ from those described in the prior art in that they not only reflect radiation that impinges on them, but that they are either self-illuminated, such as by use of an internal light source, or that they emit radiation in response to externally applied radiation that impinges on them, or a combination of more than one of these effects.
  • the scan bodies have a predetermined geometry, both shape and dimensions, and a surface design which may be generated by engraving, by marking, or by color, or by any other pattern method or geometry that can enable the spatial and orientational position of the scan body to be determined, such that it allows precise extraction of their position and orientation within the intraoral cavity, and therefore the position and orientation of the dental implant.
  • each scan body model may contain unique coding that links it to a specific dental implant type and model. This can be done by writing various symbols and signs on the scan body such as letters and/or numbers, or in QR code, or by using different colors, or material composition, or engraving on each scan body type, or altering the scan bodies dimensions, sizes, and geometry, all for the purpose of allowing visual identification of the dental implant type.
  • the scan bodies are positioned within the dental implants and then a plurality of synchronized image-capturing devices in the scanning apparatus, such as individual cameras or camera arrays, image the scan bodies, the images covering the intraoral cavity under investigation.
  • the image-capturing devices can be either static or be moved in order to register images from various positions and locations within the mouth.
  • Image- processing algorithms allow reconstruction of a three-dimensional map of the intraoral cavity from a plurality of two-dimensional images taken using the image-capturing devices.
  • the output of the apparatus consists of digital data files that include the exact location, orientation, and type of the dental implants positioned in the mouth, combined with digital files containing three-dimensional information of the gum, neighboring teeth, and any other features in the mouth, built from a plurality of captured images of the system.
  • the scan bodies emit or reflect a predetermined pattern of light, with known dimensional parameters and with known characteristics, such that the pose of the scan body and hence of the implant can be determined from the light emitted from the scan body.
  • additional projection devices providing the complex illumination methods discussed in the prior art, such as projected light patterns, formed using different electro-optical methods and devices.
  • the present system greatly simplifies the method of generating images containing sufficient information to allow three-dimensional data retrieval.
  • marking the scan bodies with high quality active patterns enables simplification of the intraoral system by reducing the illumination element complexity and hence obtaining more accurate results, and in a simpler illumination system.
  • this technique enables reduction of the size of the system and its integration into a tray shaped unit that can easily fit in to the patient mouth.
  • the scan bodies of the present disclosure have their optimal usefulness in that they reduce the complexity of the illumination system, it is to be understood that the proposed scan bodies can also be used with intraoral scanners that use patterned illumination.
  • the pattern scan body will allow increased precision of the patterned illumination intraoral scanner for extraction of the scan body position and orientation within the intraoral cavity. Since the positional relationship between the illumination pattern and the reflection pattern is unknown and arbitrary, since the illumination system can be moved relative to the oral cavity, the co-ordinate system of the patterned illumination must be associated with that of the patterned reflected light.
  • the system described in this disclosure is not limited to intraoral mapping of the mouth cavity, and can also be used to scan models of the intraoral cavity, such as gypsum models.
  • the term pose is intended to mean the spatial position and the angular orientation of the scan body or implant.
  • a system for determining the pose of a dental implant in a subject's oral cavity or on a model of a subject's oral cavity comprising:
  • an imaging system comprising a camera system for three dimensional scanning of the oral cavity
  • the scan body has a surface having a predetermined pattern, such that the image processing system can use images generated by the camera system of the predetermined pattern to extract the pose of the scan body.
  • the predetermined pattern may include the dimensions of the pattern or of its features.
  • the predetermined pattern may be formed by features on the surface of the scan body, or it may comprise regions of different reflectivity on the surface of the scan body, and the camera system may then utilize non-patterned illumination of the oral cavity.
  • the scan body may be internally illuminated, and the features may be transparent regions formed in a known pattern on the surface of the scan body.
  • the scan body may have a surface pattern formed by at least one of engraving, marking or color.
  • the scan body may be coated with or may comprise a luminescent material.
  • a luminescent material may be a photo-luminescent, fluorescent, or phosphorescent material.
  • the scan body may further comprise a coded inscription that defines the dental implant to which it is attached.
  • the imaging system and the at least one light source may be incorporated within a tray housing adapted to cover a dental arch of the subject.
  • the imaging system may alternatively comprise at least one light source emitting non-patterned illumination.
  • the predetermined patterns may be regions of different reflectivity on the surface of the scan body, and the camera system may utilize patterned illumination of the oral cavity.
  • FIG. 1 shows examples of scan bodies as described in the present disclosure
  • FIG. 2 shows a partially edentulous dental arch without (left) and with ⁇ right ⁇ scan bodies mounted into dental implants;
  • FIG. 3 shows the apparatus fully covering the dental arch (left) and with a cross section of the apparatus and dental arch ⁇ right ⁇ ;
  • FIG. 4 shows the detailed cross section depicted in Fig. 3, containing the apparatus main parts, the dental arch, and scan bodies.
  • This detailed description shows an exemplary intraoral scanning system for capturing three-dimensional information of mouth cavities, especially of an edentulous or partially edentulous mouth cavity for implant based restorations.
  • the system contains an intraoral optical tray with one or more cameras and light sources, a processing unit, and some examples of novel scan bodies, as described hereinbelow in this detailed description section.
  • novel scan bodies are mounted inside the intraoral cavity for the purpose of three- dimensional mapping of the position, orientation, and type of the dental implants.
  • the scan bodies emit internally generated electro-magnetic radiation or transmit such illumination, or reflect incident illumination coded by reflection off the predetermined patterned surface of the scan bodies.
  • the system uses a light source, such as a laser or a LED, mounted within a specially-designed scan body that has easily-identified visual features, such as engraving on the scan body.
  • the engraving can use alternating opaque and transparent material, or a grid-like structure design, or any similar coded surface.
  • the scan body is made of, or is coated with, luminescent material, such as photoluminescent, fluorescent, or phosphorescent material.
  • This feature can be used together with special features such as specific dimensions, unique engraving, or the like.
  • light can be guided into the scan body, such as from its upper surface, and transmitted through its side walls for imaging using image-capturing devices.
  • the scan body can be an optically passive element, composed of, or coated with, a material that reflects electro-magnetic radiation. In this case, in contrast to what is known in the art, imaging of any special markings, engravings, color pattern or visual structure is used to identify the scan body position, orientation, and type.
  • Fig. 1 illustrates schematically various exemplary scan bodies of the type described in this disclosure.
  • Each scan body 100 has a screw thread 101 on its base, for mounting on the dental implant and an example optical feature 102.
  • the samples in Fig. 1 show a cylindrical construction, but it is to be understood that any predetermined shape can be used, provided that that geometry can be handled by the image-processing software of the system.
  • the exact shape of the scan body and the shape and nature of the optical features 102 can assist in extracting the seat position, orientation vector and rotation angle, all of which are crucial for engaging scan bodies, which provide information about rotation of the scan body around the implant center axis.
  • Engaging scan bodies are used usually when the location of a single dental implant located next to one or more teeth is to be determined.
  • Fig. 2 shows on the left side drawing, a schematic representation of a partially edentulous mandible 200 with dental implants, 201, while the right side drawing of Fig. 2 shows the same mandible with scan bodies 202 screwed into the dental implants.
  • Fig. 3 shows schematic illustrations of an intraoral system scanning apparatus, positioned inside the patient's mouth after the scan bodies have been mounted in the dental implants, such that images of the mouth cavity can be captured.
  • the left image of Fig. 3 shows the apparatus 300 covering the entire dental arch 301, of which only its end is shown, and the right image of Fig. 3 also includes a cross sectional view 302 of the apparatus, which is shown in more detail in Fig. 4.
  • the apparatus maps only the upper or lower dental arches in a single acquisition process that includes registering a plurality of images, but it is possible to capture both dental arches simultaneously during a single acquisition process, by using a double facing scanning apparatus.
  • Figure 4 presents, as described above, a cross section of the apparatus 400 and dental arch, with scan bodies 401 constructed according to the present application, mounted on it.
  • the apparatus includes a plurality of image-capturing devices 402, and a plurality of illuminating sources 403.
  • the illuminating sources can be such as to generate non- patterned illumination, use of which is enabled by the scan bodies of the present disclosure.
  • the intraoral system contains an array of image-capturing devices 402 that are pre- calibrated in respect to each other in orientation and position, such that the imaged information which they receive can be used by the processing unit in constructing a composite three dimensional image of the position and orientation of all of the relevant imaged features in the field of view of the array.
  • the system may capture information synchronously by multiple cameras to prevent any impact on the result by system, patient or doctor movement.
  • the processing unit (not shown in Fig. 4) which can incorporated in a computer or a dedicated hardware unit, processes the data and creates data output, digital files of implants position, intraoral situation of the gum, neighboring teeth, and any other features of interest.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Dentistry (AREA)
  • Physics & Mathematics (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Optics & Photonics (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
  • Endoscopes (AREA)

Abstract

La présente invention concerne un système pour générer une cartographie tridimensionnelle d'une bouche édentée ou partiellement édentée, au moyen d'un appareil intrabuccal comprenant des corps de balayage spécialement conçus, une pluralité de caméras et, facultativement, une ou plusieurs sources de lumière. Les corps de balayage utilisés à cet effet diffèrent de ceux décrits dans l'art antérieur en ce que, non seulement, ils réfléchissent le rayonnement qui est incident sur ceux-ci, mais en ce que soit ils sont auto-éclairés, par exemple au moyen d'une source de lumière interne, ou ils émettent un rayonnement en réponse à un rayonnement appliqué de façon externe qui est incident sur ceux-ci, ou une combinaison de plus d'un de ces effets. Les corps de balayage ont une géométrie prédéterminée, à la fois en termes de forme et de dimensions, et une conception de surface qui peut être générée par gravure, par marquage ou par couleur, qui permet une identification aisée de leurs position et orientation précises à l'intérieur de la cavité intrabuccale. La source de lumière n'a pas nécessairement une émission modelée.
PCT/IL2016/050902 2015-08-17 2016-08-17 Cartographie intrabuccale de cavités buccales édentées ou partiellement édentées WO2017029670A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201562205814P 2015-08-17 2015-08-17
US62/205,814 2015-08-17

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3409183A1 (fr) * 2017-05-31 2018-12-05 Xyzprinting Inc. Scanner intra-oral autopropulse
GR20180100395A (el) * 2018-08-31 2020-04-15 Vp Innovato Holdings Ltd Αξονες ψηφιακης αποτυπωσης με σαρωση και μεθοδολογια
CN113483695A (zh) * 2021-07-01 2021-10-08 先临三维科技股份有限公司 三维扫描系统、辅助件、处理方法、装置、设备及介质
US11446122B2 (en) 2017-08-21 2022-09-20 Vp Innovato Holdings Ltd. Dental abutment core and method for manufacturing a dental abutment
KR20220145086A (ko) * 2021-04-21 2022-10-28 김병식 임플란트용 픽스쳐 위치 측정도구
RU219623U1 (ru) * 2023-03-09 2023-07-28 Акционерное Общество "Специальное Конструкторское Бюро Стоматологического Оборудования И Электродвигателей" Промышленный 3d-сканер

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US20060019219A1 (en) * 2004-07-20 2006-01-26 Gunter Saliger Method to determine position and orientation of the axis of a dental implant disposed directly in the mouth of the patient as well as a mounting piece
WO2008041943A1 (fr) * 2006-10-06 2008-04-10 Biomain Ab Dispositif de mesure et procédé de mesure utilisant ledit dispositif de mesure
US20080176188A1 (en) * 2006-11-07 2008-07-24 Etkon Centrum Fur Dentale Cad/Cam-Technologie Ag Method of detecting implants
US20100296710A1 (en) * 2007-11-23 2010-11-25 Sirona Dental Systems Gmbh Measuring body for an implant and method for providing a 3d measurement drawing
WO2011034780A1 (fr) * 2009-09-15 2011-03-24 3M Innovative Properties Company Points d'appui d'implant dentaire et procédés d'utilisation
US20120035889A1 (en) * 2009-02-12 2012-02-09 Straumann Holding Ag Determining position and orientation of a dental implant
US20150079534A1 (en) * 2012-02-15 2015-03-19 Media Co., Ltd. Apparatus for imaging dental arch in oral cavity

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060019219A1 (en) * 2004-07-20 2006-01-26 Gunter Saliger Method to determine position and orientation of the axis of a dental implant disposed directly in the mouth of the patient as well as a mounting piece
WO2008041943A1 (fr) * 2006-10-06 2008-04-10 Biomain Ab Dispositif de mesure et procédé de mesure utilisant ledit dispositif de mesure
US20080176188A1 (en) * 2006-11-07 2008-07-24 Etkon Centrum Fur Dentale Cad/Cam-Technologie Ag Method of detecting implants
US20100296710A1 (en) * 2007-11-23 2010-11-25 Sirona Dental Systems Gmbh Measuring body for an implant and method for providing a 3d measurement drawing
US20120035889A1 (en) * 2009-02-12 2012-02-09 Straumann Holding Ag Determining position and orientation of a dental implant
WO2011034780A1 (fr) * 2009-09-15 2011-03-24 3M Innovative Properties Company Points d'appui d'implant dentaire et procédés d'utilisation
US20150079534A1 (en) * 2012-02-15 2015-03-19 Media Co., Ltd. Apparatus for imaging dental arch in oral cavity

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3409183A1 (fr) * 2017-05-31 2018-12-05 Xyzprinting Inc. Scanner intra-oral autopropulse
CN108968911A (zh) * 2017-05-31 2018-12-11 三纬国际立体列印科技股份有限公司 自动口腔扫描机
JP2018202120A (ja) * 2017-05-31 2018-12-27 三緯國際立體列印科技股▲ふん▼有限公司ＸＹＺｐｒｉｎｔｉｎｇ， Ｉｎｃ． 口腔内自動スキャナ
US10258438B2 (en) 2017-05-31 2019-04-16 Xyzprinting, Inc. Oral automatic scanner
US11446122B2 (en) 2017-08-21 2022-09-20 Vp Innovato Holdings Ltd. Dental abutment core and method for manufacturing a dental abutment
GR20180100395A (el) * 2018-08-31 2020-04-15 Vp Innovato Holdings Ltd Αξονες ψηφιακης αποτυπωσης με σαρωση και μεθοδολογια
GR1009730B (el) * 2018-08-31 2020-05-15 Vp Innovato Holdings Ltd Αξονες ψηφιακης αποτυπωσης με σαρωση και μεθοδολογια
KR20220145086A (ko) * 2021-04-21 2022-10-28 김병식 임플란트용 픽스쳐 위치 측정도구
KR102573927B1 (ko) 2021-04-21 2023-09-01 김태용 임플란트용 픽스쳐 위치 측정도구
CN113483695A (zh) * 2021-07-01 2021-10-08 先临三维科技股份有限公司 三维扫描系统、辅助件、处理方法、装置、设备及介质
CN113483695B (zh) * 2021-07-01 2024-01-26 先临三维科技股份有限公司 三维扫描系统、辅助件、处理方法、装置、设备及介质
RU219623U1 (ru) * 2023-03-09 2023-07-28 Акционерное Общество "Специальное Конструкторское Бюро Стоматологического Оборудования И Электродвигателей" Промышленный 3d-сканер

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