WO2020032572A1

WO2020032572A1 - Three-dimensional intraoral scanner

Info

Publication number: WO2020032572A1
Application number: PCT/KR2019/009871
Authority: WO
Inventors: 장민호; 이수복; 장지웅
Original assignee: 주식회사 메디트
Priority date: 2018-08-07
Filing date: 2019-08-07
Publication date: 2020-02-13

Abstract

The present invention relates to a three-dimensional intraoral scanner which, in particular, comprises: a case which can be drawn in and out of the oral cavity, and has an opening for introducing, into the case, via an end part thereof, the appearance of the oral cavity (hereinafter, image) in the form of light; at least one camera arranged inside the case, and allowing the light introduced via the opening of the case to pass; a light projector which is arranged on one side of the at least one camera and which radiates light into the oral cavity via the opening; an optical element provided to be rotatable while tilting so as to reflect or bend the path of the light from the at least one camera and the light projector from inside the case; and a light path change unit for moving the optical element so as to be adjustable. Therefore, the three-dimensional intraoral scanner can easily obtain image data for the entire oral cavity of a patient.

Description

3D Oral Scanner

The present invention relates to a three-dimensional oral scanner (3-DIMENSIONAL INTRAORAL SCANNER), more specifically, to be manufactured slim to be easily inserted into the oral cavity of the patient, and more accurately secure the three-dimensional data in the oral cavity through at least one camera It relates to a three-dimensional oral scanner that allows.

In general, a dental clinic or the like performs treatment and care for a patient's damaged tooth through an impression taking process of manufacturing a plaster model of the patient's teeth.

In the impression acquisition process of manufacturing a plaster model as described above, problems such as material consumption and cross infection, and possibility of breakage and preservation of the manufactured model may occur.

In particular, by using the impression material to manually obtain the impression of the patient's damaged teeth, there is a problem that can not provide accurate manufacturing values when producing the prosthesis.

That is, the degree of error of the three-dimensional information of the produced prosthesis can not be confirmed, and for this reason, there is a problem that the actual produced prosthesis does not match in the oral cavity of the patient.

Therefore, in recent years, while obtaining an accurate three-dimensional information about the damaged teeth without using the impression material, through this it is required to develop a technology that can produce a prosthesis of the correct dimensions.

Republic of Korea Patent Publication No. 10-2014-0077380 (released on June 24, 2014) (hereinafter referred to as 'prior art') is to insert a part into the patient's oral cavity to analyze the patterns irradiated into the oral cavity through the pattern provider 3 A three-dimensional scanner for securing dimensional oral data is disclosed.

However, the prior art can only secure three-dimensional data in the oral cavity by pattern analysis, and there is a problem in that the oral condition (cavities or tooth cracks, cracks, etc.) of the patient cannot be accurately understood, and the oral cavity of the patient Since the thickness of the insertion site is large, there is a discomfort that the patient should have a wide open mouth during oral scanning.

In addition, the prior art is subject to spatial constraints in the measurement of the back side (i.e., the throat side) and the side (i.e., between the teeth and the inside of the lips) of the patient's oral cavity.

It is an object of the present invention to provide a three-dimensional oral scanner capable of securing three-dimensional data of a specific area without moving the whole case by adjusting the angle by actively rotating the optical element in the part that is subject to spatial constraints when measuring the oral cavity of the patient. Is in.

Another object of the present invention is to prepare a portion to be inserted into the oral cavity of the patient having a minimum volume and minimum thickness to overcome the spatial constraints in securing three-dimensional oral data from the patient 3 can minimize the inconvenience of the patient To provide a three-dimensional oral scanner.

It is still another object of the present invention to provide a three-dimensional oral scanner which is easy to secure three-dimensional oral data including image state information inside the oral cavity of a patient through two cameras spaced apart from each other.

The technical problems of the present invention are not limited to the above-mentioned technical problems, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following descriptions.

In the three-dimensional oral scanner according to an embodiment of the present invention for achieving the above object, the insertion and withdrawal is possible in the oral cavity, the appearance of the inside of the oral cavity (hereinafter, abbreviated as 'image') through one end of the broad A case having an opening having an opening formed therein to be introduced into the shape, at least one camera disposed inside the case and arranged to pass light incident through the opening of the case, and disposed at one side of the at least one camera; An optical projector for irradiating light through the opening, an optical element provided in a tiltable rotation while reflecting or refracting a path of light of the at least one camera and the optical projector inside the case, and the optical element to be adjustable It includes a moving light path changer.

The optical path changing unit may include a driving unit that is electrically driven and a driving force transmission unit that transfers the driving force generated from the driving unit to the optical element.

In addition, the driving unit may include any one of a motor, a piezo, a MEMS, and a solenoid.

In addition, the piezo may include a banding part connected to the optical element and provided to be bent by providing a voltage.

The optical path changing unit may include a driving unit generating a linear driving force for tilting the optical element, and a driving force transmitting unit transmitting a linear driving force generated from the driving unit to the optical element, wherein the driving force transmitting unit is configured to include the driving unit. It may be provided in the form of a connecting bar for connecting the optical element.

The optical path changing unit may include a driving unit for generating a linear driving force for tilting the optical element and a driving force transmitting unit for transmitting a linear driving force generated from the driving unit to the optical element, wherein the driving force transmitting unit is provided with the driving unit. It may be provided in the form of a hinge connection link connecting the optical element.

The case may include a main body case provided with the image acquisition unit and a tip case provided with the optical element, and the driving unit may be provided inside the main body case.

In addition, the driving unit and the driving force transmission unit may be connected in a removable coupling method.

In addition, the driving unit and the driving force transmission unit may be connected in a magnetic coupling method.

In addition, the driving unit and the driving force transmission unit may be connected in a fixed coupling manner.

The light path changing unit may rotate the optical element to adjust the incoming path of the light.

In addition, the optical path changing unit may be characterized in that for adjusting the incoming path of the light by linearly moving the optical element.

In addition, it may further include an angle adjusting unit for controlling the adjustment angle during the rotational movement of the optical element.

The apparatus may further include a feed amount controller for controlling a feed amount during linear movement of the optical element.

The apparatus may further include an adjustment amount range controller configured to determine and control the adjustment angle or the range of the transport amount for each device.

In addition, the light path changing unit and the at least one camera may further include an interlocking adjustment unit for adjusting.

The linkage adjusting unit may continuously adjust the light path changing unit by a plurality of preset light path changing amounts.

According to the three-dimensional oral scanner according to an embodiment of the present invention can achieve various effects as follows.

First, a part of the patient's oral cavity that is difficult to measure due to spatial constraints can be measured by adjusting the angle of the optical element or the position of the optical element, thereby making it easy to measure.

Second, since the part inserted into the patient's mouth can be made slim, it has the effect of eliminating the discomfort of the patient during the process of securing the three-dimensional oral data.

Third, it is possible to secure more accurate and reliable three-dimensional oral data by integrating the image (image) in the oral cavity obtained through at least one camera.

Fourth, since the main body case is provided so that the upper case provided in a simple detachable with respect to the lower case is provided, it is very easy to replace the internal parts of the case.

Fifth, since the insufficient three-dimensional image data can be easily obtained through the operation of the light path changing unit, the scanning time of the operator can be saved.

1 is a conceptual diagram showing an oral scan using a three-dimensional oral scanner according to the present invention,

2 is a perspective view showing an embodiment of a three-dimensional oral scanner according to the present invention,

3 is an exploded perspective view of FIG. 2;

4 is a perspective view taken along the line A-A of FIG.

5 is a perspective view showing an optical path using a pair of cameras in the configuration of FIG.

FIG. 6 is a plan view of FIG. 5;

7 is a cross-sectional view taken along the line B-B of FIG.

FIG. 8 is a conceptual diagram illustrating various incident states of incident light according to a rotating state of an optical element of FIG. 2;

9 is a partial cross-sectional view showing the operation of the first optical element rotating means of the configuration of the three-dimensional oral cavity scanner according to an embodiment of the present invention,

10A and 10B are cross-sectional views illustrating various forms of the second light path changing unit in the configuration of the 3D oral cavity scanner according to the exemplary embodiment of the present invention.

FIG. 11 is a partial perspective view of the driving unit in the second light path changing unit of FIGS. 10A and 10B;

12 is a partially cutaway perspective view illustrating a connection relationship between a driving force transmitting unit connected to a driving unit of FIG. 11;

FIG. 13 is an internal perspective view illustrating a connection state of an optical element of a driving force transmission unit connected to the driving unit of FIG. 11;

14 is a partial cross-sectional view showing the operation of the third light path changing unit;

15 is a control graph illustrating a three-dimensional data acquisition process according to the position of the optical element in the configuration of the three-dimensional oral cavity scanner according to an embodiment of the present invention.

16 is a control graph according to a first control embodiment of an embodiment of a 3D oral cavity scanner according to the present invention;

17 is a control graph according to a second control embodiment of an embodiment of a three-dimensional oral cavity scanner according to the present invention;

18 is a control graph according to a third control embodiment of an embodiment of a three-dimensional oral cavity scanner according to the present invention;

19 is a graph showing a three-dimensional automatic three-dimensional data acquisition process using another embodiment of the three-dimensional oral cavity scanner according to the present invention.

1: 3D Oral Scanner 10: Case

11: body case 12: lower case

13: upper case 14: tip case

16: opening 17: light exit path portion

20: image acquisition unit 31: imaging board

32: imaging sensor 50: camera mounting portion

53: outgoing light path portion 60: optical element

70: optical projector 80: first optical path changing unit

90: drive part 93: tip of drive part

95: electric wire 97: drive force transmission portion

99: fixed hook 99h: hinge

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used to refer to the same components as much as possible, even if displayed on different drawings. In addition, in describing the embodiments of the present invention, if it is determined that the detailed description of the related well-known configuration or function interferes with the understanding of the embodiments of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

1 is a conceptual diagram showing an oral scan using a three-dimensional oral scanner according to the present invention, Figure 2 is a perspective view showing an embodiment of a three-dimensional oral scanner according to the present invention, Figure 3 is an exploded perspective view of FIG. 4 is a perspective view taken along the line AA of FIG. 2.

One embodiment of the three-dimensional oral scanner 1 according to the present invention is one of the scanning devices for securing the inside of the patient's oral cavity, in particular, the tooth structure, as 3-Dimension data, as shown in FIG. 1.

In one embodiment of the three-dimensional oral scanner 1 according to the present invention referred to in Figure 1, even after scanning only the portion of the tip case 14 to be described later into the oral cavity of the patient after scanning the three-dimensional data of the whole oral cavity Can be easily obtained.

In particular, one embodiment of a three-dimensional oral scanner 1 according to the present invention is directed to a portion of the interior of a patient's mouth, such as that referred to in FIG. It is proposed a structure in which dimensional data and three-dimensional data on a tooth portion close to the throat side of the inside of the patient's mouth as referred to in FIG. 1B are very easy to secure. This will be described in detail later. First, the internal structure of the components for scanning of an embodiment of the three-dimensional oral scanner 1 according to the present invention will be described in detail.

One embodiment of the three-dimensional oral scanner 1 according to the present invention, as shown in Figures 2 to 4, includes a case 10 capable of drawing in and out of the oral cavity.

Inside the case 10, an image acquisition unit 20 including at least one camera may be disposed. The image acquisition unit 20 is disposed inside the case 10 and serves to secure image data inside the oral cavity introduced into the form in the form of light.

Here, the at least one camera may be disposed inside the case 10 to pass light incident from one end of the case 10 in a predetermined path. The light transmitted through the image acquisition unit 20 provided by at least one camera refers to a visible light region that can be seen by the human eye, and the inside of the oral cavity of the patient to be measured ( Hereinafter, abbreviated as "image").

Meanwhile, the at least one camera may be provided as a single single camera in the case 10, as well as two stereo cameras disposed in the case 10 so as to be spaced apart from each other in the width direction.

As shown in FIG. 4, the case 10 may be provided with an opening 16 opened to allow an image to flow into the case 10 in the form of light through one end thereof. The opening 16 may be an inlet through which light outside the case 10 flows into the case 10. Since outgoing light and incident light need to pass through the opening 16, a transparent plate (not shown) made of a transparent material may be provided in the opening 16 to prevent foreign substances from flowing in from the outside. Light incident through the opening 16 passes through each of the single camera or the stereo camera in a different light path. The light transmitted through the camera is received through the imaging sensors 31b and 32b provided in the imaging boards 31a and 32a to be described later, and may generate respective image information in the imaging sensors 31a and 31b.

Here, the image is image data secured using at least one camera, and may be analyzed by a calculation unit to be changed into three-dimensional image data as three-dimensional geometric information inside the oral cavity. In addition, when the camera is equipped with a stereo camera and secured with two image data at the same time, the distance between the stereo cameras provided by a pair of cameras and the focusing distance of the target point photographed through each camera through the operation unit to be described later similarly Knowing that, it can be changed into three-dimensional image data of the image.

Here, each of the at least one camera may include at least two transmission lenses capable of adjusting the focus on the image in the oral cavity.

In order to secure such three-dimensional image data, an embodiment of the three-dimensional oral scanner 1 according to the present invention includes an imaging board having the imaging sensors 31b and 32b for imaging the light transmitted through the camera, respectively. It may further include (31a, 32a).

When the camera is provided with a single single camera, the imaging board may also be provided with a single board, and when the camera is provided with two stereo cameras, the imaging board may also be provided with a corresponding number.

On the other hand, one embodiment of the three-dimensional oral scanner according to the present invention may further include a calculation unit for generating three-dimensional geometric information of the internal shape of the oral cavity by analyzing the image data obtained through the camera.

As described above, the operation unit may analyze the image data secured by the image acquisition unit 20 provided with at least one camera, and perform the role of data-forming the inside of the oral cavity as 3D geometric information.

As shown in FIGS. 1 to 3, the case 10 serves to provide a predetermined space for embedding the image acquisition unit 20 and the imaging board 31 provided with at least one camera.

In more detail, as shown in FIG. 2, the case 10 includes a lower case 12 having a predetermined space in which the components are built, and an upper case 12 of the lower case 12. It includes a main body case 11 consisting of an upper case 13 detachably coupled to the cover).

When the lower case 12 and the upper case 13 are in close contact with each other in the up and down direction, as shown in FIG. 3, the lower case 12 and the upper case 13 are not formed in the upper case 13 at the hook engaging portions 18 formed in the lower case 12. The hook portions of the can be coupled to each other in the operation of being caught.

In addition, the case 10 is coupled to the main body case 11 so as to be attached and detached, the opening 16 described above is formed and the light and the opening 16 incident into the main body case 11 through the opening 16. It may further include a tip case 14 formed with an incoming and outgoing light path portion 17 for guiding light emitted from the inside of the main body case 11 through.

Here, light incident to the inside of the main body case 11 through the opening 16 (hereinafter, referred to as “incident light”) means an image which is a state inside the mouth of the patient, and the main body case through the opening 16. (11) Light emitted from the inside (hereinafter, referred to as 'output light') means irradiation light emitted from the optical projector 70 described later.

The internal structure of the tip case 14 may be formed as a light guide structure in which the incident light and the outgoing light are easily irradiated into and out of the case 10. In addition, the opening part 16 is formed so that it may open in one direction orthogonal to the longitudinal direction of the tip case 14, and the opening part 16 is controlled by the optical path change part 80 mentioned later ( 60) can be arranged.

As described above, one end of the camera may be arranged to converge on the tip case 14 side when the stereo camera is provided, and may be disposed to overlap a predetermined distance toward the tip case 14 side. In addition, the other end of the camera may be provided to be connected to the camera mounting unit 50 fixed inside the main body case 11.

On the other hand, one embodiment of the three-dimensional oral scanner 1 according to the present invention, as shown in Figures 2 to 4, is disposed inside the case 10, a predetermined exit through a pair of cameras The light projector may further include a light projector 70 which emits light and irradiates the emitted light through the opening 16 formed at one end of the case 10.

One embodiment of the three-dimensional oral scanner 1 according to the present invention, while the above-described configuration is arranged inside the case 10, the tip case 14 as possible to facilitate the insertion and withdrawal into the mouth of the patient as possible While forming long and slim, the body case 11 may also have an optimal arrangement structure formed with a minimum thickness. Thus, it can be easily inserted into the rear (i.e., throat) and side (i.e., between the teeth and the inside of the lip) with severe spatial constraints inside the patient's mouth.

In more detail, as shown in FIG. 3, one end of the camera is provided to protrude toward the tip case 14, and the other end of the camera is inserted into the case 10, and the camera is inserted into the case 10. A camera mounting unit 50 may be disposed to form an optical waveguide that is a path of transmitted incident light or emitted light emitted from the optical projector 70.

The optical waveguide formed in the camera mounting unit 50 may be provided in a dark room so that the incident light incident from the opening 16 and the exiting light irradiated from the optical projector 70 are not separated from each other to affect each other.

5 is a perspective view illustrating an optical path using a pair of cameras in the configuration of FIG. 2, FIG. 6 is a plan view of FIG. 5, and FIG. 7 is a cross-sectional view taken along line B-B of FIG. 5. FIG. 8 is a conceptual diagram illustrating various incident states of incident light according to a rotating state of an optical element in the configuration of FIG. 2.

According to an embodiment of the 3D oral cavity scanner according to the present invention, as shown in FIGS. 5 to 8, a scene that is disposed inside the case 10 and that is adjustable while driving a path of light incident into the case 10 is provided. The furnace may further include a change unit 80.

Specifically, the light path changing unit 80 may change a path of light incident through the opening 16 formed in the tip case 14 of the case 10.

In addition, the optical path changing unit 80 may include an optical element 60 including a mirror capable of reflecting the path of light or a prism capable of refracting the path of light.

In the following description, the optical element 60 is collectively used to prevent confusion, and the concept includes not only a mirror reflecting a path of light but also a refracting prism.

The optical element 60 reflects or refracts incident light incident into the main body case 11 and exiting light emitted from the inside of the main body case 11 in a predetermined path using the optical path changing unit 80. do.

More specifically, the optical element 60 may be provided to be rotatable about a predetermined axis inside the opening 16 formed in the tip case 14. Here, the predetermined axis is, for example, when the opening 16 is formed in communication with the outside downwardly orthogonal to the longitudinal direction of the tip case 14 at the tip of the tip case 14 in FIG. 14) may be defined as a horizontal axis formed horizontally in the horizontal direction.

The installation of the optical element 60 and the tip case 14 inside the optical path changing unit 80 for driving the optical element 60 will be described in detail later.

The optical element 60 formed as described above is photographed by substantially at least one camera by changing an angle of incident light incident through the opening 16 in an operation of rotating one of the upper and lower ends about a predetermined axis. The scan area of the image can be changed.

Here, the center of the emitted light irradiated from the optical projector 70 via the optical element 60 when the scan area is changed to any one of "a", "me" and "many" as referred to in FIG. The axis and the central axis of incident light incident through the optical element 60 are also changed in accordance with the tilting rotation of the optical element 60, which is not shown in the figure, but the tilting rotation of the reflecting surface of the optical element 60. It can be moved while forming a virtual arc formed according to.

Accordingly, one embodiment of the three-dimensional oral scanner 1 according to the present invention is a rear (ie, throat) and side (ie, between the teeth and the inside of the lips) of the conventional patient in the oral cavity of the patient with severe spatial constraints in terms of measurement space. The three-dimensional image data corresponding to can be secured with more accurate reliability.

9 is a partial cross-sectional view showing the operation of the light path changing unit of the configuration of the three-dimensional oral cavity scanner according to an embodiment of the present invention.

The light path changing unit 80 may be implemented with the first light path changing unit 80 to be described later. That is, the first optical path changing unit 80 may include a driving unit 90 that is electrically driven and a driving force transmission unit 97 that transfers the driving force generated from the driving unit 90 to the optical element 60. have.

Here, the drive unit 90 can adopt any configuration as long as it is electrically driven. In addition, the driving force transmission unit 97 may be provided in the form of a rotation frame for fixing and supporting the optical element 60 rotatably.

9A and 9B, the driving unit 90 may be a piezoelectric band capable of being piezoelectrically coated to be bent by asymmetrical contraction and asymmetrical expansion according to voltage supply.

More specifically, the drive unit 90 provided with the piezo, as shown in (a) and (b) of Figure 9, the electrical wire 95, which serves as a power connection, and the electrical wire 95 and It is provided to be connected to receive power and may be piezoelectrically coated as described above.

The front end 93 of the drive unit 90 provided as a piezo is provided on the rear surface of the driving force transmission unit 97 provided in the form of a rotation frame in which the optical element 60 is rotatably fixed as shown in FIG. 9A. Can be fixed.

More specifically, the driving force transmission part 97 provided in the form of a rotation frame has one end coupled to a hinge 99h above the opening 16 in the tip case 14, and the other end thereof is lower than the opening 16. It may be provided to rotate in the front portion. Here, a fixing hook 99 may be formed on the rear surface of the driving force transmission part 97 so that the front end of the driving part 90 is inserted and locked.

Here, the driving unit 90, once the voltage is supplied through the electric wire 95, while the piezoelectric coated portion is contracted or expanded, as shown in Figure 9b, once the hinge (99h) described above toward the rear side While rotating about the part, the incident angle of the incident light through the opening 16 can be changed.

However, the driving unit 90 is not necessarily limited to the scope of the present invention to be provided as a single piezo. That is, in the three-dimensional oral scanner according to an embodiment of the present invention, the driving unit 90 provided as a piezo is provided to be bent at a single site, but can be bent at two places symmetrically to the rear surface of the rotation frame 97. It is possible to change the rotation angle of the optical element 60 by being provided, and the two bending parts are operated alternately.

On the other hand, although not shown in the drawings, the driving unit may be employed as any one of the MEMS (Micro-Electro Mechanical Systems) and the solenoid in addition to the above-described piezo.

In the 3D oral cavity scanner according to the exemplary embodiment of the present invention, the second optical path changing unit 100 includes a moving shaft 112 in which the driving unit 110 moves in a linear direction, as shown in FIGS. 10A and 10B. ) Is provided with a linear motor 111 provided.

In this case, when the driving unit 110 is provided with the linear motor 111, the volume is relatively large, but the tip case 14 is manufactured to be slim for the reasons described above, and the space inside the bar is very narrow. ) Is preferably located between the lower case 12 and the upper case 13, that is, inside the body case 11. In this case, since the distance between the driving unit 110 and the optical element 60 is somewhat spaced apart, the driving unit 110 may be adopted in the form of a connection bar as the driving force transmitting unit 120 for transmitting the driving force of the driving unit 110.

As shown in FIG. 10A, the driving force transmission unit 120 receives the linear driving force of the driving unit 110 from the first connection portion (see reference numeral “A”) and refers to the second connection portion (see “I”). It is also possible for the optical element 60 to be provided to receive a linear driving force in a linear direction.

In the first connection portion (a), the rear end of the driving force transmitting unit 120 may be connected to the moving shaft 112 of the linear motor 111 in any one of a fixed coupling method and a removable coupling method.

Similarly, the front end of the driving force transmission unit 120 in the second connecting portion (b) may be interconnected with the optical element 60 in any one of a fixed coupling method and a removable coupling method.

Representative examples of the fixed coupling method include coaxial coupling, welding coupling or hinge coupling. Examples of the removable coupling method include hook coupling, interference coupling, magnetic coupling, and the like. When the driving force transmission unit 120 and the driving unit 110 and the driving force transmission unit 120 and the optical element 60 are coupled to each other in the first connection portion (a) and the second connection portion (b) in a detachable coupling manner, respectively. The relationship between mutual repulsive force and attraction between the magnetic coupling element magnet and the magnetic body should be preceded.

As such, when the first connection portion (a) and the second connection portion (b) are combined in a detachable coupling manner, separate assembly and separation are required when replacing or repairing the tip case 14 or the optical element 60. It is possible and has the advantage that it is possible in a simple detachable manner.

In the three-dimensional oral scanner according to an embodiment of the present invention, the driving force transmission unit 120, as shown in Figure 10a, the first connection portion (a) adopts a removable coupling method, the second connection portion ( B) may adopt a fixed coupling method, as shown in FIG. 10B, and both the first connecting portion (a) and the second connecting portion (b) may adopt a detachable coupling method.

Referring to FIG. 10A, when the first connecting portion (a) and the second connecting portion (b) are adopted in a fixed coupling manner (hereinafter, referred to as a “first transfer structure”), the linear motor of the driving unit 110 may be used. When the moving shaft 112 is moved a predetermined length forward by the operation of driving the 111, the second connecting portion (b) while moving the connecting bar, which is the direct driving force transmitting unit 120, through the first connecting portion a is forward. The upper end of the hinge 60h coupled optical element 60 is rotated forward by a predetermined angle about the predetermined axis 60c through the), and the linear motor 111 of the driving unit 110 moves in the opposite direction. When the shaft 112 is moved a predetermined length to the rear, the hinge 60h is coupled through the second connecting portion (b) while moving the connecting bar, which is the direct drive force transmitting unit 120, to the rear through the first connecting portion (a). The upper end of the optical element 60 is rotated back a predetermined angle about the predetermined axis 60c.

On the other hand, referring to Figure 10a, it can be assumed that the first connection portion (a) is adopted in a removable coupling method, the second connection portion (b) is adopted in a fixed coupling method (hereinafter, 'second delivery Structure '). In order to implement such a detachable coupling method, any one of a magnet that generates a predetermined magnetic force on the moving shaft 112 of the driving unit 110 or a magnetic body that responds to the magnetic force of the magnet is provided, or the driving force transmission unit 120 of the One of the above-described magnet or magnetic material may be provided at the end corresponding to the first connection portion (a).

Here, the rotational operation of the optical element 60 of the second connecting portion (b) adopting the fixed coupling method is based on the first transfer structure described above, and a detailed description thereof will be omitted.

However, when the first connection part (a) is adopted as a detachable coupling method, the driving force transmission method may be divided into a case of using 'human force' generated by mutual magnetism and a case of using 'repulsive force'.

When the attraction force is used, the linear driving force of the driving unit 110 may be transmitted in the front-rear direction by the mutual attraction of the moving shaft 112 and the driving force transmission unit 120 in the first connection portion (a).

In the case of using the repulsive force, although not shown in the drawing, the driving force transmission unit 120 moved forward by the mutual repulsive force through the first connection portion (a) is restored so as to be restored to its original position when the repulsive force is released. Restoration means for adding a restoring force may be further provided.

On the other hand, referring to Figure 10b, when both the first connecting portion (a) and the second connecting portion (b) is adopted in a removable coupling method (hereinafter referred to as the 'third transfer structure'), the first connection site Since the transmission method of the linear driving force of the driving unit 110 in (a) follows the second transmission structure, the detailed description thereof will be omitted.

However, when the second connection part (b) is adopted as a detachable coupling method, the tilting rotation method of the optical element 60 is generated by the mutual magnetism of the driving force transmission unit 120 and the optical element 60. It can be divided into 'use of' and 'use of repulsion'.

When the attraction force is used, when the driving force transmission unit 120 is linearly moved forward by the mutual attraction of the driving force transmission unit 120 and the optical element 60 at the second connecting portion (b), The upper end of the optical element 60 has a predetermined axis 60c when the upper end portion is moved forward with respect to the predetermined axis 60c and the front tilting angle rotates a predetermined angle and the driving force transmitting part 120 is linearly moved backward. The rear tilting can be rotated by a predetermined angle while being moved rearwardly with respect to.

In the case of using the repulsive force, although not shown in the drawing, the tilted tilting angle of the optical element 60 forward by the mutual repulsive force through the second connecting portion (b) is tilted backward in its original position when the repulsive force is released. Restoration means for adding a restoring force to be rotated and restored may be further provided.

Here, as shown in FIG. 10A, the driving force transmission unit 120a is coupled to the upper end of the optical element 60 via the hinge 60h, and the driving force in the linear direction of the driving unit 110 is the first connection portion. When transmitted to the optical element 60 through (a), the optical element 60 in the second connecting portion (b) can be tilted by a predetermined angle around the predetermined axis (60c).

FIG. 11 is a partially perspective view illustrating a driving unit among the configurations of the second light path changing unit of FIGS. 10A to 10C, FIG. 12 is a partially cutaway perspective view illustrating a connection relationship between a driving force transmitting unit connected to the driving unit of FIG. 11, and FIG. 11 is an internal perspective view illustrating a connection of an optical element of a driving force transmission unit connected to the driving unit of FIG.

A detailed description of the second light path changing unit 100 in the configuration of the 3D oral cavity scanner according to an embodiment of the present invention will be described with reference to FIGS. 11 to 13. Hereinafter, the second optical path changing unit implemented with FIGS. 11 to 13 is indicated by using reference numeral 400.

In the 3D oral cavity scanner in accordance with an embodiment of the present invention, the second optical path changing unit 400 is provided inside the main body case 11 to generate a linear driving force as shown in FIGS. 11 to 13. And a driving force transmission unit 420 extending to the tip case 14 to receive the linear driving force generated from the driving unit 410 and to tilt the optical element 60. can do.

A connection block 19 for connecting the tip case 14 to the front end of the main body case 11 may be provided to protrude to the outside, and the tip case 14 may be fixedly installed through the connection block 19.

The driving unit 410 is electrically driven, but is provided with a driving motor 411 provided to be movable in the front-rear direction at the connection block 19 side, and a transmission shaft which moves a predetermined distance in the front-rear direction in cooperation with the driving motor 411 ( 412).

The transmission shaft 412 may be disposed to penetrate the shaft hole 19a formed to be penetrated in the longitudinal direction in the connecting block 19. The shaft hole 19a of the connecting block 19 serves to guide the reciprocating linear motion of the transmission shaft 412. In one embodiment of the present invention, the tip 415 of the transmission shaft 412 is inserted so that it is located more inside than the tip of the shaft hole 19a so as not to be exposed to the outside of the shaft hole 19a, The front end 415 of the 412 may be disposed to be exposed close to the front end of the shaft hole 19a to be connectable with the driving force transmission unit 420.

Here, the transmission shaft 412 may be provided as a permanent magnet having a predetermined magnetism. However, the entire transmission shaft 412 does not necessarily have to be magnetic, and only the front end of the transmission shaft 412, which is a connection portion with the connection bar, which is one of the configurations of the driving force transmission unit 420 to be described later, is provided with magnetic. It may be. In addition, the transmission shaft 412 need not be provided as a permanent magnet having a predetermined magnetism, and may be provided in a connection bar to be described later connected to the transmission shaft 412. At this time, the transmission shaft 412 may be provided with a magnetic material so that the attraction force to the connection bar. As the magnetic material, ferromagnetic substance metals such as iron, cobalt, and nickel are preferably used, but other types may be used as long as the magnetic material is not limited thereto.

At least the transmission axis 412 of the configuration of the driver 410 is, as shown in Figs. 11 and 12, the exiting light path portion 17a and the exiting light path through which the exiting light irradiated from the optical projector 700 passes. Located on both the left and right sides of the unit 17a and positioned above the incident light path units 17b and 17c where the oral cavity image of the patient is reflected toward the at least one camera so as to not interfere with the measurement object. Can be. The left and right sides of the exit light path unit 17a may be provided with incident light path units 17b and 17c to reflect the oral cavity image of the patient toward the at least one camera.

12 and 13, the driving force transmission unit 420 is provided in the form of a connection bar, and is connected to the distal end of the transmission shaft 412 of the driving unit 410 to optically drive the linear driving force of the driving unit 410. It serves to convey to the element 60.

The rear end portion 421 of the connection bar, which is the driving force transmission unit 420, and the transmission shaft 412 may be magnetically coupled as described above. More specifically, the rear end portion 421 of the connecting bar may be formed with an insertion groove 421a into which the tip portion 415 of the transmission shaft 412 is partially inserted, and the tip portion 415 of the transmission shaft 412 or The rear end 421 of the connecting bar is provided with a magnet so as to be magnetically coupled to each other, so that the front end 415 of the transmission shaft 412 is inserted into the insertion groove 421a formed in the rear end 421 of the connecting bar. Can be combined.

In addition, the insertion groove 421a formed at the front end portion 415 of the transmission shaft 412 and the rear end portion 421 of the connection bar is formed so as to be combined so that an interference fit coupling or a hook coupling may be used, and the transmission shaft 412 may be used. An insertion groove may be formed in the tip portion 415 of the.

When the transmission shaft 412 is longitudinally moved forward by the linear driving force forward from the driving unit 410 in the longitudinal direction, the driving force transmission unit 420, which is the connecting bar, is moved forward by the front linear driving force according to the shaft movement. The predetermined distance is linearly moved. In addition, when the transmission shaft 412 is axially moved a predetermined length in the longitudinal direction by the linear driving force to the rear transmitted from the driving unit 410, the portion that is magnetically coupled by the rear linear driving force according to the axial movement as a kind of attraction force. A force for pulling the connecting bar, which is the driving force transmission unit 420 in the longitudinal direction, is generated, and thus, the connecting bar, which is the driving force transmission unit 420, is linearly moved a predetermined distance forward.

The tip 422 of the connecting bar as drive force transmission 420 may be hinged to the top of the optical element 60, as referenced in FIG. 13. When the linear driving force of the driving unit 410 is transmitted to the optical element 60 through the driving force transmission unit 420 through the above-described driving mechanism, the optical element 60 is tilted in the front-rear direction with respect to the predetermined axis. The angles of the outgoing light and the incident light emitted through the incoming and outgoing light path unit 17 may be changed.

14 is a partial cross-sectional view showing the operation of the third light path changing unit.

In the three-dimensional oral cavity scanner according to an embodiment of the present invention, the third light path changing unit 500 is provided on the inside of the tip case 14 to generate a linear driving force as shown in FIG. 14. The rear end is hinged to the driving unit 530 and the front end is hinged to the optical element 60 so as to tilt and rotate the optical element 60 by receiving the driving unit 530 and the linear driving force generated from the driving unit 530. It may include a link 550.

Unlike the second optical path changing units 100 and 400 described above, the third optical path changing unit 500 includes a driving unit 530 provided inside the front end side of the tip case 14 and spaced apart from each other in close proximity to each other. 530 and the optical element 60 are configured to be hinged via hinged link 550.

Although not shown in the drawing, the third light path changing unit 500 may be installed through an installation bracket provided in the tip case 14.

The mounting bracket is formed to have a vertical cross section of a 'c' shape having an approximately upper portion opening, and the exit light and the incident light are formed while forming the above-described light exit path portion 17 in the front-rear direction between one side wall and the other side wall. This can be transmitted.

Meanwhile, as illustrated in FIG. 14, the third light path changing unit 500 is provided to extend from the main body case 11 into the tip case 14 and is provided on the main body case 11 side. A wiring enclosure 525 for protecting a power wire (not shown) for supplying power from the driver 530 to the driving unit 530 may be disposed in the front-rear direction. In this case, the arrangement length of the wiring enclosure 525 instead of the connection link 550 may be changed according to the position of the driving unit 530 provided inside the tip case 14. Here, the disposition position of the driving unit 530 may be set between the optical elements 60 at one end of the tip case 14 connected to the body case 11.

The wiring enclosure 525 is fixed horizontally above the rear end of the installation bracket, and serves to prevent the input and output light path part 17 from interfering with the internal power supply wire and to couple the driving unit 530. It plays a role of mediating.

As shown in FIG. 14, the driving unit 530 may be provided as a solenoid motor that is linearly reciprocated at the front end of the wiring enclosure 525. The driving unit 530 provided as the solenoid motor may linearly reciprocate in the front and rear directions along the fixed shaft 540.

The third optical path changing unit configured as described above is electrically driven so that the hinge connection link 550 is moved forward when the driving unit 530 moves forward from the front end of the wiring housing 525 by a predetermined distance. The upper end of the optical element 60 is tilted forward about the hinge axis 60b (see FIG. 18A), and the hinge connection link 550 when the driving part 530 is moved to the rear by a predetermined distance. ) Rotates backward and tilts the top end of the optical element 60 about the hinge axis 60b (see FIG. 18B). That is, the driver 530 rotates the optical element 60 several times while reciprocating several times in the section between "I" and "II" at the front end of the wiring enclosure 525.

In one embodiment of the three-dimensional oral scanner 1 according to the present invention, the optical path changing unit optical path changing unit (80,100 ~ 400) to rotate the optical element 60 to adjust the incoming path (incident path) of the light Of course, it is also possible to adjust the incoming path (incident path) of light by linearly moving the optical element 60 itself.

In addition, an embodiment of the 3D oral cavity scanner 1 according to the present invention further includes a controller (not shown) for adjusting the optical

path changing unit

80, 100 to 400 and the image acquisition unit 20 described above. can do.

The controller may include any one of an interlocking controller 15, an angle controller, and a feed amount controller. Herein, the controller may control the driving

units

90, 110, and 410 based on control signals transmitted from the interlocking controller 15, the angle controller, and the feed amount controller. The driving

units

90, 110, and 410 operated by the control unit transmit a predetermined driving force to the driving

force transmission units

97, 120, and 420, thereby causing the optical element 60 to rotate or linearly move.

Further, the control unit may further include an adjustment amount range control unit (not shown) for determining and controlling the adjustment angle and the transfer amount of the angle adjustment unit for each device (or for each product to which an embodiment of the present invention is specifically applied).

When the control signal is transmitted from the interlocking adjuster 15 or the angle adjusting unit, the control unit changes the optical element 60 by a plurality of preset optical path changing amounts by the optical

path changing unit

80, 100 to 400 by the adjustment amount range control unit. Can be adjusted continuously to make it possible.

In addition, the control unit may adjust the light path change

unit

80, 100 to 400 to move the optical element 60 linearly by a preset position when the control signal is transmitted from the feed amount control unit.

Here, the control unit is not necessarily provided inside the main body case 11 or the tip case 14 of the three-dimensional oral cavity scanner according to the present invention, although not shown in the drawing, mutual data communication with the three-dimensional oral scanner is possible. It is also possible to be provided in the control PC connected so that, in this case, the input means of the control PC which is provided such that the control PC takes over the function of the above-described control unit and takes on the role of the interlocking adjusting unit 15, the angle adjusting unit or the feed amount control unit (eg For example, a keyboard may be provided to input a value for changing a light path.

Meanwhile, interlocking control of the image acquisition unit 20 may also be performed to secure desired 3D image data in the oral cavity immediately after the control of the light

path changing units

80, 100 to 400 by the controller is completed or during the control process. .

More specifically, when a target angle (or set angle) of the optical element 60 is input by the control unit in a predetermined control signal is applied to the driving

units

80, 100 to 400, the predetermined value of the optical element 60 is determined. An angle may be adjusted by an operation of controlling the operating time of the light

path changing units

80, 100 to 400 based on the linear momentum of the point.

The predetermined point refers to an arbitrary position (point) of the surface of the optical element 60 that is somewhat spaced apart from the predetermined axis, and the linear momentum may be defined as the length of the arc centered on the predetermined axis. .

Here, since the driving speed of the driving unit 90 of the optical

path changing units

80, 100 to 400 for driving the optical element 60 is already known, a predetermined control signal by the control unit is applied to the target angle of the optical element 60. When (set angle) is input, the final angle of the optical element 60 can be adjusted by controlling the operating time of the drive unit 90.

In addition, when the driving unit 90 is provided as a piezo, the angle may be adjusted by a predetermined angle determined by the bending angle of the piezo for rotating the optical element 60 by application of a predetermined control signal by the control unit.

FIG. 15 is a control graph illustrating a process of acquiring 3D data according to the position of an optical element in the configuration of a 3D oral cavity scanner according to an embodiment of the present invention.

A three-dimensional data acquisition process using a three-dimensional oral scanner according to an embodiment of the present invention will be briefly described with reference to FIG. 15 as follows. Hereinafter, for convenience of understanding, the reference tilting point of the optical element 60 is defined as position. 0, and the maximum tilting point is denoted as position.

That is, referring to FIG. 15, the image acquisition in the standby state after the adjustment of the angle of the optical element 60 by the linkage adjusting unit 15 is completed for the one-cycle oral scanning defined from position.0 to position.1. The unit 20 can be operated to secure three-dimensional data. Of course, three-dimensional data can be obtained after adjusting the angle of the optical element 60 from position.1 to position.0. That is, three-dimensional data can be secured at the position (position. 0) of the first optical element 60, and three-dimensional data can be secured again at the position (position. 1) where the angle adjustment is completed. It may be possible to secure three-dimensional data while restoring to the original position.

16 is a control graph according to a first control embodiment of an embodiment of a three-dimensional oral scanner according to the present invention, and FIG. 17 is a control graph according to a second control embodiment of an embodiment of a three-dimensional oral scanner according to the present invention. 18 is a control graph according to a third control embodiment of an embodiment of a three-dimensional mouth scanner according to the present invention.

Referring to FIG. 16, the practitioner confirms in real time whether the image is acquired through a display unit (not shown) that visually shows the completion state of the 3D data secured in connection with the 3D oral cavity scanner of the present invention, and the patient's throat side. Alternatively, when it is determined that sufficient image data is not obtained in some measurement areas such as a narrow space between the teeth and the lips, the interlock adjusting unit 15 is operated to tilt control the optical element 60.

As such, when the control signal is turned ON by the interlocking adjustment unit 15, the first optical path changing unit to the third optical

path changing unit

80, 100 to 500 automatically operate the optical element 60 based on the control signal. Sufficient three-dimensional image data can be obtained by tilting several times between Position.0 and Position.1.

Referring to FIG. 17, in the same manner, when the operator determines whether the image data is not obtained after checking in real time whether the image is acquired through the display unit, additionally securing the image data of the portion where the 3D image data is not secured using the angle adjuster. Tilt the optical element 60 to the desired angle.

As such, when the control signal linked to the adjustment of the angle adjuster is ON, the first optical path changing unit to the third optical

path changing unit

80, 100 to 500 position the optical element 60 based on the control signal. By tilting between 0 and position. 1, additional image data can be obtained.

On the other hand, the interlocking adjustment unit and the angle adjustment unit is provided without automatically providing the three-dimensional data according to the position or the tilt of the body case 11, referring to Figure 18, the operator likewise, whether the image acquisition through the display unit in real time If it is determined that sufficient image data is not obtained, the body case 11 is moved up and down, but moved to exceed the threshold 1 in the upper direction and the threshold 2 in the lower direction, which are set to move the optical element ( 60) can be operated to automatically tilt several times. Further, the position when the movement of the main body case 11 reaches the threshold 1. The position when the movement of the main body case 11 reaches the threshold 2, or vice versa. By tilting the optical element 60 in the direction, it is possible to sufficiently secure the image data between the threshold 1 and the threshold 2. The tilting rotation of the optical element 60 is a case where the body case 11 detects a movement within each threshold, and can be stopped by recognizing it as an off signal.

Here, the movement, such as the position or tilt of the main body case 11 may be provided to be detected by an acceleration sensor or a gyro sensor (not shown) provided therein.

Although another embodiment of the three-dimensional oral cavity scanner according to the present invention is not shown in the drawings, when the operator operates ON by using the interlocking adjusting unit 15, image information incident through the opening 16 (for example, the amount of light) , Focus and hole information, etc.) may be automatically calculated.

Another embodiment of the three-dimensional oral cavity scanner according to the present invention provided as described above, as shown in Figure 19, stores the image information of the image incident through the opening 16, the above image information by the operation unit described above If at least one of the information is calculated and does not satisfy the set value, it is determined that the corresponding image information is insufficient, and the first light path changing unit to the third light path changing unit (80,100 ~ 300) is turned on (ON). The optical element 60 then automatically rotates several times between Position.0 to Position.1 or tilts pivot either at Position.0 or Position.1 to further secure insufficient image data and further secured image data. When the above image information satisfies the set value, the first optical path changing unit to the third optical

path changing unit

80, 100 to 500 are turned off.

As described above, one embodiment and another embodiment of the three-dimensional oral scanner 1 according to the present invention, in particular, using the first optical path changing unit to the third optical path changing unit (80,100 ~ 500) 60 is rotatably provided so that the angle of incidence of the incident light incident through the opening 16 can be changed, so that the teeth or teeth between the lips close to the throat side where it is difficult to secure three-dimensional data in the oral cavity of the actual patient. It is very easy to secure three-dimensional data on a tooth located in a narrow space.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may various modifications and changes without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

The present invention provides a three-dimensional oral scanner capable of securing three-dimensional data of a specific area without moving the whole case by adjusting the angle by actively rotating the optical element in the part where the spatial constraints when measuring the oral cavity of the patient.

Claims

A case in which openings are formed in the oral cavity, and openings are formed such that the inside of the oral cavity (hereinafter, abbreviated as 'image') is introduced into the form in the form of light through one end thereof;

At least one camera disposed inside the case and disposed to pass light incident through the opening of the case;

An optical projector disposed at one side of the at least one camera to irradiate light through the opening;

An optical element provided to be tiltable in a rotating direction while reflecting or refracting a path of light of the at least one camera and the optical projector inside the case; And an optical path changing unit for movably moving the optical element. Including, three-dimensional oral scanner.
The method according to claim 1,

The light path changing unit,

An electrically driven driver; And

A driving force transmission unit for transmitting the driving force generated from the driving unit to the optical element; Including, three-dimensional oral scanner.
The method according to claim 2,

The driving unit, any one of a motor, piezo, MEMS and a solenoid, three-dimensional oral scanner.
The method according to claim 3,

The piezo includes a bending part connected to the optical element and provided to be bent by voltage provision.
The method according to claim 1,

The light path changing unit,

A driving unit for generating a linear driving force for tilting the optical element; And

A driving force transmission unit for transmitting the linear driving force generated from the driving unit to the optical element; Including,

The driving force transmission unit is provided in the form of a connection bar connecting the drive unit and the optical element, three-dimensional oral scanner.
The method according to claim 1,

The light path changing unit,

A driving unit for generating a linear driving force for tilting the optical element; And

A driving force transmission unit for transmitting the linear driving force generated from the driving unit to the optical element; Including,

The driving force transmission unit is provided in the form of a hinge connection link connecting the drive unit and the optical element, three-dimensional oral scanner.
The method according to any one of claims 2, 5 and 6,

The case includes a main body case provided with the image acquisition unit and a tip case provided with the optical element,

The driving unit is provided in the main body case, three-dimensional oral scanner.
The method according to any one of claims 2, 5 and 6,

The driving unit and the driving force transmission unit is connected to the removable coupling method, three-dimensional oral scanner.
The method according to any one of claims 2, 5 and 6,

The driving unit and the driving force transmission unit is connected in a magnetic coupling manner, three-dimensional oral scanner.
The method according to any one of claims 2, 5 and 6,

3D oral cavity scanner, wherein the driving unit and the driving force transmission unit are connected in a fixed coupling manner.
The method according to claim 1,

The optical path changing unit, by rotating the optical element to adjust the incoming path of the light, 3D oral cavity scanner.
The method according to claim 1,

The optical path changing unit, the three-dimensional oral scanner, characterized in that for adjusting the incoming path of the light by linearly moving the optical element.
The method according to claim 1,

An angle adjusting unit controlling an adjusting angle during the rotational movement of the optical element; Further comprising, a three-dimensional oral scanner.
The method according to claim 12,

A feed amount control unit controlling a feed amount during linear movement of the optical element; Further comprising, a three-dimensional oral scanner.
The method according to claim 13 or 14,

An adjustment amount range control unit for determining and controlling the adjustment angle or the range of the transfer amount for each device; Further comprising, a three-dimensional oral scanner.
The method according to claim 1,

An interlock adjustment unit for interlocking and adjusting the light path changing unit and the at least one camera; Further comprising, a three-dimensional oral scanner.
The method according to claim 16,

And the linkage adjusting unit continuously adjusts the light path changing unit by a plurality of preset light path changing amounts.