WO2001084479A1 - Procede et systeme destines a balayer une surface et a produire un objet tridimensionnel - Google Patents

Procede et systeme destines a balayer une surface et a produire un objet tridimensionnel Download PDF

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Publication number
WO2001084479A1
WO2001084479A1 PCT/US2001/012107 US0112107W WO0184479A1 WO 2001084479 A1 WO2001084479 A1 WO 2001084479A1 US 0112107 W US0112107 W US 0112107W WO 0184479 A1 WO0184479 A1 WO 0184479A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
feature
data
model
point
Prior art date
Application number
PCT/US2001/012107
Other languages
English (en)
Inventor
Rüdger Rubbert
Peer Sporbert
Thomas Weise
Rohit Sachdeva
Original Assignee
Orametirix, Inc.
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
Priority claimed from US09/560,132 external-priority patent/US6771809B1/en
Priority claimed from US09/560,584 external-priority patent/US7068836B1/en
Priority claimed from US09/560,645 external-priority patent/US6728423B1/en
Priority claimed from US09/560,131 external-priority patent/US6744914B1/en
Priority claimed from US09/560,644 external-priority patent/US6413084B1/en
Priority claimed from US09/560,133 external-priority patent/US6744932B1/en
Priority claimed from US09/560,583 external-priority patent/US6738508B1/en
Priority claimed from US09/616,093 external-priority patent/US6532299B1/en
Priority to AU2001251606A priority Critical patent/AU2001251606A1/en
Priority to JP2001581218A priority patent/JP4206213B2/ja
Priority to EP01925005A priority patent/EP1287482A4/fr
Application filed by Orametirix, Inc. filed Critical Orametirix, Inc.
Publication of WO2001084479A1 publication Critical patent/WO2001084479A1/fr

Links

Classifications

    • 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
    • G01B11/2509—Color coding
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
    • A61C7/12—Brackets; Arch wires; Combinations thereof; Accessories therefor
    • A61C7/14—Brackets; Fixing brackets to teeth
    • A61C7/146—Positioning or placement of brackets; Tools therefor
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
    • A61C7/002—Orthodontic computer assisted systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/3094—Designing or manufacturing processes
    • A61F2/30942—Designing or manufacturing processes for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques
    • A61F2002/30953—Designing or manufacturing processes for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques using a remote computer network, e.g. Internet
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30036—Dental; Teeth

Definitions

  • the present invention relates generally to the mapping of objects, and more specifically to creating three-dimensional models of objects, to registering object portions to generate a model of the object, to registering scanned portions of the object to provide a three-dimensional object, to scanning anatomical structures to treat and diagnose, as well as develop and manufacture medical and dental devices and appliances and to providing specific images to aid the mapping of objects.
  • anatomical devices such as prosthetics, orthotics, and appliances such as orthodontics
  • Current methods of generating anatomical devices is subjective, whereby a practitioner specifies, or designs, the anatomical device based upon subjective criteria such as the practitioner's view of the anatomical structure, the location where a device is to be used, and the practitioner's experience and recall of similar situations.
  • subjective criteria results in the development of an anatomical device that can vary significantly from practitioner to practitioner, and prevents the acquisition of a knowledge database that can be used by others.
  • impressions are subject to distortion, wear, damage, have a limited shelf life, are imprecise, require additional cost to generate multiply copies, and have an accuracy that is not readily verifiable. Therefore, whether an impression or a model of a structure is a true representation of the anatomical structure is not readily verifiable.
  • impression processes are generally uncomfortable and inconvenient for patients, require a visit to a practitioner's office, and are time consuming.
  • Another attempt to make development less subjective includes using two-dimensional images.
  • the use of 2-dimensional images as known can not provide precise structure information, and still must be objectively interpreted by the practitioner.
  • the manufacturing of the device is still based upon an objective interpretation.
  • Prior art Figure 1 illustrates an object 100 having visible surfaces 101- 104.
  • the visible surfaces 101-103 form a rectangular shape residing on top of a generally planer surface 104.
  • an image Projected onto the object 100 is an image, which includes the line 110.
  • the image of line 110 is received by a viewing device, such as a camera, (not shown) and processed in order to determine the shape of that portion of object 100 where the line 110 resides.
  • a viewing device such as a camera
  • By moving the line 110 across the object 100 it is possible to map the entire object 100.
  • Limitations associated with using an image comprising a single line 110 is that a significant amount of time is needed to scan the object 100 to provide an accurate map, and a fixed reference point is needed at either the scanner or the obj ect.
  • Figure 2 illustrates a prior art solution to reduce the amount of time taken to scan an object. Specifically, Figure 2 illustrates an image including lines 121 through 125. By providing multiple lines, it is possible to scan a greater surface area at once, thus allowing for more efficient processing of data associated with the object 100. Limitations of using patterns such as are illustrated in Figure 2 include the need for a fixed reference point, and that the surface resolution capable of being mapped can be reduced because of the potential for improper processing of data due to overlapping of the discrete portions of the image.
  • Prior art Figure 3 illustrates the shapes of Figures 1 and 2 from a side view such that only surface 102 is visible.
  • the projection device projects a pattern in a direction perpendicular to the surface 101 which forms the top edge of surface 102 in Figure 3.
  • the point from the center of the projection lens to the surface is referred to as the projection axis, the rotational axis of the projection lens, or the centerline of the projection lens.
  • an imaginary line from a center point of the viewing device (not shown) is referred to as the view axis, the rotational axis of the view device, or the centerline of the view device, extends in the direction which the viewing device is oriented.
  • the physical relationship of the projection axis and the view axis with respect to each other is generally known.
  • the projection axis and the view axis reside in a common plane.
  • the relationship between the projection system and the view system is physically calibrated, such that the relationship between the projector, and the view device is known.
  • point of reference is to describe the reference from which a third person, such as the reader, is viewing an image. For example, for Figure 2, the point of reference is above and to the side of the point that is formed by surfaces 101, 102, and 103.
  • Figure 4 illustrates the object 100 with the image of Figure 2 projected upon it where the point of reference is equal to the projection angle.
  • the point of reference is equal to the projection angle
  • no discontinuities appear in the projected image.
  • the lines 121-125 appear to be straight lines upon the object 100.
  • the point of reference is equal to the projection axis
  • no useful data for mapping objects is obtained, because the lines appear to be undistorted.
  • Figure 5 illustrates the object 100 from a point of reference equal to the view angle fleet of Figure 2.
  • the surfaces 104, 103 and 101 are visible because the view axis is substantially perpendicular to the line formed by surfaces 101 and 103, and is to the right of the plane formed by surface 102, see Figure 2, which is therefore not illustrated in Figure 5. Because of the angle at which the image is being viewed, or received by the viewing device, the lines
  • line 122 and 123, and 123 and 124 coincide to give the impression that they are single continuous lines. Because line 125 is projected upon a single level surface elevation, surface 104, line 125 is a continuous single line.
  • the line pairs 121 and 122, 122 and 123, and 123 and 124 will be improperly interpreted as single lines.
  • the two- tiered object illustrated in Figure 2 may actually be mapped as a single level surface, or otherwise inaccurately displayed because the processing steps can not distinguish between the line pairs.
  • Figure 6 illustrates a prior art solution for overcoming the problem described in Figure 5. Specifically, Figure 6 illustrates the shape 100 having an image projected upon it whereby a plurality of lines having different line widths, or thickness, are used. Figure 7 illustrates the pattern of Figure 6 from the same point of reference as that of Figure 5.
  • Figure 8 illustrates from a side point of reference a structure having a surface 710 with sharply varying features.
  • the surface 710 is illustrated to be substantially perpendicular to the point of reference of Figure 8.
  • the object 700 has side surfaces 713 and 715, and top surfaces 711 and 712. From the point of reference of Figure 8, the actual surfaces 711, 712, 713 and 715 are not viewed, only their edges are represented.
  • the surface 711 is a relatively steep sloped surface, while the surface 712 is a relatively gentle sloped surface.
  • a first line 721 has a width of four.
  • a second projected line 722 has a width of one.
  • a third projected line 723 has a width of eight.
  • the line 721, having a width of four, is projected onto a relatively flat surface 714. Because of the angle between the projection axis and the view axis, the actual line 721 width viewed at the flat surface 714 is approximately two. If the lines 722 and 723 where also projected upon the relatively flat surface 714 their respected widths would vary by approximately the same proportion amount as that of 721, such that the thickness can be detected during the analysis steps of mapping the surface. However, because line 722 is projected onto the angled surface 711, the perspective from the viewing device along the viewing axis is such that the line 722 has a viewed width of two.
  • Line 722 appears to have a width of two because the steep angle of the surface 710 allows for a greater portion of the projected line 722 to be projected onto a greater area of the surface 711. It is this greater area of the surface 722 that is viewed to give the perception that the projected line 722 has a thickness of two.
  • line 723 is affected by surface 712 to give the perception that the projected line 723 having an actual width of eight, has a width of two. This occurs because the angle of the surface 712, relative to the viewing device allows the surface area with the projected line 723 to appear to have a width of two. The results of this phenomenon are further illustrated in Figure 9.
  • Figure 9 illustrates the shape 700 of Figure 8 from the point of reference of the view axis.
  • the lines 721-723 are projected onto the surface 714 in such a manner that the difference between the line thickness can be readily determined. Therefore, when an analysis of the surface area 714 occurs, the lines are readily discernable based upon the viewed image.
  • the line 722 can be erroneously identified as being line 721 because not only are the widths the same, but line 722 on surface 711 lines up with line 721 on surface 714.
  • the line 723, having a projected width of eight has a viewed width of two. Therefore, during the analysis of the received images, it may not be possible to distinguish between lines 721, 722, and 723 on surfaces 711 and 712. The inability to distinguish between such lines can result in an erroneous analysis of the surfaces.
  • One proposed method of scanning disclosed in foreign patent DE 198 21 611.4, used a pattern that had rows of black and white triangles and squares running parallel to a plane of triangulation.
  • the rows used measuring features that include a digital encrypted pattern.
  • a break in the sequence can result due to a portion of the pattern be hidden.
  • the disclosed encrypted pattern is such that breaks in the sequence can result in the inability to decode the pattern, since it may not be possible to know which portion of the pattern is missing.
  • a further limitation of the type of encoding described is that distortion can cause one encoding feature to look like another. For example, a triangle can be made to look like a square.
  • Figure 1 illustrates an object being scanned by a single line in accordance with the prior art
  • Figure 2 illustrates an object being scanned by a plurality of lines in accordance with the prior art
  • Figure 3 illustrates a projection axis and a view axis associated with the lines of Figure 2 in accordance with the prior art
  • Figure 4 illustrates the object of Figure 1 from a point of reference equal to the proj ection axis of Figure 3 ;
  • Figure 5 illustrates the object of Figure 3 from the view axis of Figure 3;
  • Figure 6 illustrates an object having a plurality of lines of varying thickness projected upon it in accordance with the prior art
  • Figure 7 illustrates the object of Figure 6 from a point of reference equal to the view axis as shown in Figure 3 ;
  • Figure 8 illustrates an object from a side view having varying projected line thickness in accordance with the prior art
  • Figure 9 illustrates the object of Figure 8 from point of reference equal to the view axis of Figure 8;
  • Figure 10 illustrates a system in accordance with the present invention
  • Figure 11 illustrates a portion of the system of Figure 10 in accordance with the present invention
  • Figure 12 illustrates, in flow diagram form, a method in accordance with the present invention
  • Figure 13 illustrates, the object of Figure 3 from a point of reference equal to the view axis of Figure 3 in accordance with the present invention
  • Figure 14 illustrates, the object of Figure 3 from a point of reference equal to the view axis of Figure 3 in accordance with the present invention
  • Figure 15 illustrates an object having a pattern projected upon it in accordance with the present invention
  • Figure 16 illustrates a table identifying various types of pattern components in accordance with the present invention
  • Figure 17 illustrates a set of unique identifiers in accordance with the present invention
  • Figure 18 illustrates a set of repeating identifiers in accordance with the present invention
  • Figures 19-22 illustrate, in flow diagram form, a method in accordance with the present invention
  • Figure 23 illustrates a sequence of images to be projected upon an object in accordance with an embodiment of the present invention
  • Figure 24 illustrates an image having varying features in accordance with an embodiment of the present invention
  • Figure 25 illustrates a projected image feature being reflected off surfaces at different depths in accordance with a preferred embodiment of the present invention
  • Figure 26 illustrates the projected image of Figure 25 as viewed at the different depths
  • FIGS. 27-30 illustrate a dentition object from various perspectives in accordance with preferred embodiments of the present invention.
  • Figure 31 illustrates a method in accordance with a specific embodiment of the present invention
  • Figures 32 and 33 illustrate a dentition object being scanned from various perspectives in accordance with preferred embodiments of the present invention
  • Figure 34 illustrates primitive shapes for modeling a dentition object
  • Figures 35 and 36 illustrate methods in accordance with a specific embodiment of the present invention
  • Figure 37 illusfrates a graphical representation of a method for selecting various entry points for registration in accordance with a preferred embodiment of the present invention
  • Figures 38-43 illustrate methods in accordance with a specific embodiment of the present invention.
  • FIGS 44-52 illustrate specific flows in accordance with specific embodiments of the present invention.
  • an image is projected upon a surface.
  • the image can include a pattern having a plurality of individual shapes used to measure and map the surface.
  • the plurality of individual shapes include features that are detectable in a direction parallel to the plane formed by a projection axis of the projected shapes and a point associated with a view axis.
  • the image further comprises a feature containing encoding information for identifying the plurality of shapes individually.
  • the encoding feature varies in a direction substantially orthogonal to a plane formed by the projection axis and a point of a view axis, and can be a separate feature from each of the plurality of individual shapes, can be a feature integral to the plurality of individual shapes, and/or be displayed at different time intervals from the plurality of individual shapes.
  • the feature containing encoding information is oriented such that the encoding information is retrieved along a line substantially perpendicular to a plane formed by the projection axis and the point along the view axis.
  • the use of the feature is used to perform multiframe reference independent scanning. In a specific embodiment, scanned frames are registered to one another.
  • Figures 10 and 11 represent a system for implementing a specific embodiment of the present invention
  • Figures 12, and 19-22 illustrate specific methods in accordance with the present invention
  • Figures 13-18, 23, 24 illustrates specific implementations of the method in combination with the system.
  • Figures 44-52 illustrate a specific method and apparatus of another inventive embodiment that uses three-dimensional scan data of an anatomical structure, which may be obtained in the specific manner described herein.
  • the three-dimensional scan data is transmitted to a remote facility for further use.
  • the three-dimensional scan data can represent the anatomy of an anatomical structure which is used to design an anatomical device, manufacture an anatomical device, monitor structural changes of the anatomy, archive data pertaining to the anatomical structure, perform a closed-loop iterative analysis of the anatomical structure, perform an interactive consultation of the structure, perform simulations based upon the structure, make a diagnosis related to the anatomical structure, or determine a treatment plan based on the anatomical structure.
  • Figure 10 illustrates a system controller 951 that provides control signals to the scanning device 980.
  • the scanning device 980 projects an image bound by lines 962 and 963, and retrieves, or views, the images within the reflected lines 972 and 973.
  • the system controller 951 provides specific information to the scanner 980 specifying a specific image to be projected upon the surface 991 of the object 990.
  • the reflected image is captured by the scanning device 980, which in turn provides the captured information back to the system controller 951.
  • the captured information can be provided back to system controller 951 automatically, or can be stored within the scanning device 980 and retrieved by the system 951.
  • the image data once received by the system controller 951 is analyzed in order to determine the shape of the surface 991. Note that the analysis of the received data can be performed either by the system controller 951 , or by an external-processing device that is not shown.
  • the scanning device 980 which includes a projecting device (projector) 960 and a viewing device (viewer) 970.
  • the projector 960 is oriented such that the image is projected on the object 990.
  • the projector 960 has a projection axis 961.
  • the projection axis 961 begins at the center of the lens projecting the image and is representative of the direction of projection.
  • the viewer 970 has a view axis 971 that extends from the center of the lens associated with the viewer 970 and represents the direction from which images are being received.
  • FIG 11 illusfrates in greater detail the system controller 951 of Figure 10.
  • the system controller 951 further includes data processor 952, a projection image representation 953, the projector controller 954, and a viewer controller 955.
  • the viewer controller 955 provides the interface needed to receive data from the viewer 970 representing the reflected image data.
  • the reflected image data is received from the viewer 970 at the viewer controller 955, and subsequently provided to the data processor 952.
  • the projector controller 954 provides the interface necessary to control the projector 960.
  • the projector controller 954 provides the projector 960 with the image to be projected in a format supported by the projector.
  • the projector 960 projects the image onto the surface of the object.
  • the projector controller 954 receives or accesses the projection image representation 953 in order to provide the proj ector with the image.
  • the projection image representation 953 is an electronic representation of the image stored in a memory location.
  • the stored image can represent a bit mapped image, or other standard or custom protocol used to define the image to be projected by the projector 960.
  • the projection image is a digital image (electrically generated)
  • the representation can be stored in memory by data processor 952, thereby allowing the data processor 952 to modify the projection image representation, it is possible to vary the image as necessary in accordance with the present invention.
  • the projection image representation 953 need not be present. Instead, the projection controller 954 may select one or more transparencies (not illustrated) associated with the projector 960. Such transparencies can include any combination of films, plates, or other types of retical devices that project images.
  • the data processor 952 controls the projection and reception of data through the controller 954 and 955 respectively.
  • Figure 12 illustrates a method in accordance with the present invention that will be discussed with reference to the system of Figure 10 and the accompanying Figures.
  • projection/view plane refers to a plane formed by the projection axis and at least one point of the view axis.
  • the term projection/view plane is best understood with reference to Figure 3. Assuming that Figure 3 represents a cross section of the object 100.
  • the projection axis illustrated is directed such that it lies entirely within the plane formed by the sheet of paper including Figure 3.
  • the view axis of Figure 3 is also lying entirely within the plane represented by the sheet of paper of Figure 3.
  • the projection/view plane formed by the projection axis of Figure 3 and at least one point of the view axis of Figure 3 includes the sheet of paper on which the Figure is drawn.
  • the projection/view plane can be described to contain substantially all of the projection axis and at least one point of the view axis, or all of the view axis and at least one point of the projection axis. For purposes of discussion herein, it will be assumed that the point of the view axis nearest the view device is the point to be included within that projection/view plane.
  • the projection/view plane described with reference to Figure 3 would be substantially orthogonal to the surface 104, and orthogonal to each of the lines 121-125.
  • the projection/view plane is represented by line 99, which represents the plane from an edge view intersecting the lines 121-125.
  • an image is projected having an encoding
  • each of the shapes or patterns 931-935 represent an encoding feature.
  • Each of the individual features 931-935 has a component(s) that varies in a direction orthogonal to the projection view plane.
  • feature 933 varies orthogonal to the projection plane such that three individual lines can be identified.
  • the thicknesses of the three individual lines By varying the thicknesses of the three individual lines a unique pattern is associated with each of the features 931-935.
  • the bar code feature 933 varies orthogonal between no line, thin line, no line, thick line, no line, thin line, and no line.
  • the individual lines of the feature 933 are projected parallel to the projection/view plane. Projecting lines parallel to the projection/view plane reduces, or eliminates, the viewed distortion affects of surface topology on the width of the lines.
  • the thickness, or relative thickness, of each individual line of the feature 933 can be readily identified independent of surface topology. As a result, the feature 933 can be identified substantially independent of surface topology.
  • Figure 13 displays a specific embodiment of an image having five separate lines (measuring features) 431-435.
  • the lines 431-435 illustrated have lengths that run substantially orthogonal to the projection view plane, and are uniformly spaced from each other in a direction parallel to the projection/view plane. By providing a plurality of lines which are detectable in the direction parallel to the projection/view plane, multiple measuring lines can be viewed and analyzed simultaneously.
  • the lines 431-435 In addition to the lines 431-435, five unique bar codes 931-935 are also illustrated. Each of the unique bar codes (variable features) 931-935 are associated with, and repeated along a respective measuring feature 431-435. In other implementations, each bar code can be repeated along a measuring feature more than the two times illustrated. Note that the bar codes illustrated are illustrated as repeating sets. In other implementations, the bar codes would not need to be grouped in sets.
  • the lines 431-435 and bar codes 931-935 are generated using visible light that is low-intensity, such that the pattern is eye- tolerant and skin tolerant.
  • the lines 431-435 can be viewed as white lines, and the bar codes 931-935 can be viewed as specific colors or combinations of colors.
  • high-intensity or laser light can also be used depending upon the application.
  • the lines 432 and 433 appear to be a continuous line at the edge of object 101.
  • the lines 432 and 433 can be distinguished from each other by analyzing the (encoding feature) barcodes associated with each line. In other words, where line 432 and line 433 appear to the viewer to be a common line, it can now be readily determined that they are two different lines because the bar code associated with line 432 on the left would not be the same as the bar code associated with line 433 on the right.
  • the analysis of the retrieved images would determine that there is a discontinuity somewhere between the left most bar code 932 and the right most bar code 933 causing the line segments 432 and 433 to appear as a common line.
  • the location of such an edge can be determined with greater precision by providing repeating bar code patterns in relatively close proximity to one another. For example, the edge where surface 102 meets surface 101 can be determined only to an accuracy equal to the spacing between adjacent bar codes. This is because when the analysis encounters what appears to be a single line having two different bar codes it is unknown where between the two bar codes the discontinuity has occurred. Therefore, by repeating the bar code more frequently along the measuring lines of Figure 13 the location of discontinuities can be more accurately identified.
  • the encoding features 931-935 of Figure 13 are non-repeating in that no two bar codes are the same. However, an encoding value, or sequence, can be repeated within a projected image as long as ambiguity is avoided. For example, if the image includes 60 lines (measuring features) using a binary encoding, 6 bits of data are needed to identify each line uniquely. However, due to the fact that the range of focus of the scanner is limited by the depth of field, each individual line of the 60 lines can show up as a recognizable image only within a certain range.
  • Figures 25 and 26 better illustrate how the depth of field affects the repeating of features.
  • Figure 25 illustrates a projector projecting a SHAPE along a path 2540.
  • the SHAPE When the SHAPE is projected onto a surface its image is reflected along a reflection path to a viewing device 2506.
  • reflection path 2544 results when the SHAPE is reflected off a surface at the location 2531
  • a reflection path 2541 results when the SHAPE is reflected off a surface at the location 2532
  • a reflection path 2542 results when the SHAPE is reflected off a surface at the location 2533
  • a reflection path 2543 results when the SHAPE is reflected off a surface at the location 2534.
  • Figure 26 represents the SHAPE as the viewer 2506 would view it.
  • the image reflected off of the surface 2531 which is the surface closest to the projector, is viewed as the right most image in Figure 26, while the image reflected off of the surface 2534, which is the surface furthest from the projector, is viewed as the left most image in Figure 26.
  • the left and right most images which are furthest and closest to the projector 2505 respectively, are out of focus. Because they are out of focus they can not be accurately detected based upon the image received by the viewing device 2506.
  • any surface closer to the projection device 2505 than plane 2525, or further from the projection device 2505 than the plane 2526 is not capable of reflecting a usable SHAPE because it is outside the viewable range 2610, or field of view. Therefore, the SHAPE can be repeated and still be uniquely identified, so long as the repeated SHAPE can not be viewed within the range 2610 of Figure 6.
  • a projector projects approximately 80 lines.
  • Each of the 80 lines have a color-coded encoding sequence. For example, if three colors are used (red, blue, Green), an encoding feature having three color locations could uniquely identify 27 different lines.
  • This coding sequence of 27 lines can be repeated three times to cover all 80 lines, provided the field of view is such that lines having the same encoding can not be viewed at the same location.
  • five color locations can be added with or without increasing the number of lines in a sequence to provide recognition capability where a specific color location may be lost.
  • coding features may be repeated, as long as the fields of view in which each of the repeating features may be viewed do not overlap.
  • a sequence of 12 unique encoding features requiring only four bits of binary data, can be repeated five times to encode all 60 lines, provided there is no chance for features to be viewed at the same location.
  • reference independent scanning By providing a pattern having a large number of measuring features with associated coding features reference independent scanning is achieved. Specifically, neither the object nor the scanner needs to be fixed in space, nor with reference to each other. Instead, on a frame by frame basis, the reference independent scanner retrieves enough measuring information (a 3D cloud), which is accurate due to the encoding feature, to permit registration to its adjacent frame. Registration is the process which determines the overlapping features on adjacent frames to form an integrated map of the object.
  • Figure 14 illustrates the object of Figure 13 whereby the measuring lines
  • Figure 15 represents the object 700 of Figures 8 and 9 having a pattern in accordance with the present invention projected upon its surface.
  • Figure 15 illustrates the projection of lines 721-723 having varying widths.
  • the lines 722 and 723, when projected onto the surfaces 711 and 712 respectively appear to have the same line thickness as line 721. Therefore, merely having measuring lines of varying thickness will not allow an analysis of the images to determine which line is which.
  • identification of the lines 721-723, and the subsequent mapping analysis is improved over the prior art.
  • a table is illustrated where a specific set of shapes used in a direction orthogonal to the projection/view plane are illustrated.
  • Column 1 of table 16 represents unique feature identifiers.
  • the columns 2-4 of table 16 illustrate specific manners in which each feature identifier can be represented.
  • Column 2 indicates bar codes.
  • Column 3 indicates colors capable of being used either alone or with other encoding features. Note that some types of encoding features, including color features, can be implemented as an integral part of a measuring feature as well as an encoding feature separate from the measuring feature. Likewise, other types of encoding can be based upon the intensity at which a measuring and/or feature and its encoding feature is projected.
  • Column 4 represents patterns that can be utilized either independently from the shape to identify the shape, or in combination as part of a shape.
  • a line comprising a repeating pattern sequence of the type illustrated in Column 4 can be provided.
  • the change of pattern in a direction orthogonal to the projection/view plane can be relative to the actual shape itself.
  • one of ordinary skill in the art will recognize that many variations as to variable components would be anticipated by the present invention.
  • Figure 17 illustrates in tabular form, the use of unique non-repeating identifiers for each line.
  • sequence 0-F sequentially is presented.
  • each of the values from 0 through F will represent a unique code associated with a specific line.
  • spacer may need to exist between each individual code. For example, a long space, or a unique code can be used.
  • Figure 18 illustrates four unique repeating code sequences.
  • the letter S in table 18 is utilized to represent a spacer used between repeating sequences.
  • a spacer can be some unique identifier specifying where each of the repeating codes of the encoding sequence begins and/or ends.
  • a representation of the surface image is received at a viewer. This is analogous to the discussion of Figure 10 whereby the viewer 970 receives the reflected image.
  • the location of a point associated with an object is determined based upon the orthogonally varying feature.
  • the point is based upon the variable component because each one of the shapes, e.g. lines is qualified to a unique code pattern prior to being used for object analysis.
  • Figure 19 illustrates sub steps to be associated with step 611 of Figure 12.
  • a first image is projected, while at step 622 a second feature is projected.
  • the first image can be analogous to the combination of the measuring line 431 and its associated encoding features 931.
  • the second feature could be represented by the combination of the measuring line 432 and its encoding features 932.
  • a specific line in a group of lines such as illustrated in Figure 14, can be identified based on more than one of the various encoding features.
  • steps 621 and 622 can occur at different times as discussed with reference to Figure 23.
  • Figure 21 illusfrates another method in accordance with the present invention.
  • a plurality of first features, and a plurality of second features are projected. These features may be projected simultaneously, or at separate locations.
  • one of the plurality of first features is determined, or identified, based upon the second features.
  • the plurality of first features would include the lines measuring 431-435.
  • the bar code 931-935 By utilizing the second features, the bar code 931-935, a specific one of the lines 431-435 can be identified.
  • the location of a point at the surface is determined based upon the specific one of the plurality of parallel first features.
  • This specific embodiment is an advantage over the prior art, in that a line identified by the analysis of the received shape is not utilized until its identity is verified based upon the encoding information.
  • FIG. 22 illustrates another method in accordance with the present invention.
  • step 641 parallel first and second discrete shapes are projected. Examples of such discrete shapes would include the lines 431 and 432 of Figure
  • an encoding feature relative to the first discrete shape is projected.
  • the encoding feature relative to the line 432 could include the encoding feature 932 or even an encoding feature 933.
  • an encoding feature relative to the second discrete shape is projected.
  • the first discrete shape is identified based upon the first encoding feature. This is accomplished in a manner similar to as discussed previously.
  • a location of a specific point of an object is determined based upon the first discrete shape.
  • Figure 23 illustrates another embodiment of the present invention. Specifically, Figure 23 illustrates a series of images projected at times Tl, T2, T3 and T4. At time Tl, the image projected includes measuring features 1011 through 1013. During time Tl, no encoding feature is projected. During time T2, an image containing encoding features 1021-1023 is projected. The patterns of times Tl and T2 are repeated during times T3 and T4 respectively. The result of alternating the projection of encoding and measuring features is that denser patterns can be used, allowing for more information to be obtained. Note that the image of time T4 shows the encoding features 1021-1023 overlying the measuring features 1011-1013. However, in one embodiment, the measuring features have been included for illustration purposes only, and would not generally be present at the same time as the encoding features.
  • Figure 24 illustrates an image having features with different characteristics. Specifically, Figure 24 illustrates an image 1100 having lines 1131 through 1134 with a distance X between the individual lines, while the distance between lines 1134, 1135, and 1136 have a substantially greater distance Y separating the lines.
  • the line 1135 can be used to map surface features that otherwise may not be mappable. Note that the pattern 1100 could be used with or without the coding techniques described herein.
  • each 2D point of the 2D image frame can be converted into a 3D point using conventional 3D imaging techniques, provided each 2D point of the 2D image frame can be correlated to a projected point.
  • the use of a projected frame pattern that has encoding features enables correlation of the points of the 2D image to a respective projected point.
  • Multi-frame reference independent scanning is described herein in accordance with another aspect of the present disclosure.
  • multiple 3D image frames are received by using a hand-held scanner to scan an object one frame at a time to obtain a plurality of frames, where each frame captures only a portion of the object.
  • reference independent scanning has a spatial position that is frame-by-frame variable relative to the object being scanned, and whose spatial position is not fixed, or tracked, relative to a reference point. For example, there is no fixed reference point relative to the object being scanned.
  • One type of reference independent scanner disclosed herein includes a hand-held scanner that projects a pattern in successive frames having measuring features and encoding features. This allows each viewed point of a frame to have a known corresponding projected point, thereby enabling the 2D frame data to be converted into 3D frame data.
  • Figures 27-28 are used to discuss multiple frame reference independent scanning.
  • Figures 27, 28, and 30 illustrate an object 2700 from different points of view.
  • the object 2700 includes three teeth 2710, 2720, and 2730, and a gum portion 2740 that is adjacent to the three teeth.
  • the Figure 27 point-of-view is such that a plurality of non continuous surface portions are viewed.
  • three noncontiguous surface portions 2711-2713 are viewed.
  • the surface portion 2713 represents a side portion of the tooth 2710.
  • the surface portion 2711 represents a portion of the tooth 2710 biting surface that is not continuous with surface portion 2713.
  • the surface portion 2712 represents another portion of the tooth 2710 biting surface that is not continuous with either portion 2711 or 2713.
  • tooth 2720 has four surface portions 2721-2724
  • tooth 2730 has four surface portions 2731-2734.
  • Figure 28 illustrates the object 2700 from a slightly different point-of- view (Figure 28 point-of-view).
  • the point-of-view change from Figure 27 to Figure 28 is the result of the viewer, i.e. scanner, moving in a direction that allows a greater portion of the upper teeth surfaces to be viewed.
  • the change in point-of-view has resulted in variations to a plurality of viewed surface portions.
  • tooth 2710 tooth portion 2813 now represents a smaller 2D surface than did its corresponding tooth portion 2713; while tooth portions 2811 and 2812 now are viewed as larger 2D surfaces than their corresponding portions 2711 and 2712 of Figure 27.
  • tooth 2720 surface 2824 now is viewed as a smaller 2D surface than its corresponding tooth surface 2724 of Figure 27.
  • tooth surface 2821 represents a continuously viewed tooth surface that includes both of the surfaces 2721 and 2723 from the Figure 27 point-of- view.
  • the viewed 2D surfaces 2832 and 2835 each include portions of surface 2732 and previously unviewed surface area. This is the result of a topographical feature of the tooth 2730, which resulted in the inability of the surface 2732 to be viewed continuously from the second frame point-of-view.
  • Figure 29 is from the same point-of-view as Figure 28 with the viewed surface portions of Figure 27 indicated as shaded areas.
  • surface portion 2711 of Figure 27 is represented as a shaded portion within the surface portion 2811.
  • the change in the point-of-view between Figure 27 and Figure 28 results in a viewed surface portion 2811 that encompasses the smaller viewed surface portion 2711.
  • the change in perspective has resulted in different surface portions being viewed.
  • Figure 30 illustrates the object 2700 from another point-of-view.
  • Figure 30 point-of-view is from directly over the teeth 2710- 2730.
  • Figure 30 superimposed onto Figure 30 are the viewed surface portions of Figure
  • Figure 31 illustrates a method 3100 in accordance with a specific embodiment of reference independent scanning.
  • the object is scanned to obtain a 2D cloud of data.
  • the 2D cloud of data includes a plurality of frames. Each of the frames has a plurality of 2D points, which, if viewed, would represent a 2D image.
  • a first frame of the 2D cloud of data is converted to 3D frame model.
  • a 3D frame model is a 3D point model, which includes a plurality of points in three-dimensional space.
  • the actual conversion to a 3D frame point model is performed on some or all of the frame's 2D cloud of data using conventional techniques for converting a scanned 2D cloud of data into a 3D point model.
  • surfaces with non continuous viewed surfaces such as the teeth 2710-2730 of Figure 27, can be successfully scanned frame-by-frame.
  • Figures 32 and 33 further illustrate the object 2700 being scanned from the Figure 27 and Figure 28 points-of-view respectively.
  • the scan pattern includes scan lines 3221-3223. Any scan line portion outside the frame boundary 3210 is not capable of being properly scanned. Within the boundary 3210 each scan line, when sensed at the CCD (charge coupled diode) chip of the scanner, is converted to plurality of 2D points (cloud of data). Some or all points of a scan line can be used in accordance with the present invention. For example, every other, or every third point of a scan line can be used depending upon the desired resolution of a final 3D model.
  • Figure 32 illustrates four points (A-D) of each line being identified. A 2D coordinate value, such as an X-Y coordinate, is determined for each of these points.
  • a scan rate of 1 to 20 frames per second is used. Greater scan rates can be used. In a specific embodiment, the scan rate is chosen to allow for real-time viewing of a three-dimensional image.
  • the pulse time during which each frame is captured is a function of the speed at which the scanner is expected to be moving. For dentition structures, a maximum pulse width has been determined to be approximately 140 microsecond, although much faster pulse widths, i.e. 3 micro-seconds, are likely to be used.
  • the teeth 2710-2730 are coated with a substance that results in a surface that is more opaque than the teeth themselves.
  • each point of the cloud of data is analyzed during the various steps and functions described herein.
  • only a portion of the cloud of data may be analyzed. For example, it may be determined only every 3 rd or 4 th point needs to be analyzed for a desired resolution to be met.
  • a portion of the frame data can be a bounding box that is smaller than the entire frame of data such that only a specific spatial portion of the cloud of data is used for example, only a center portion of the cloud of data is included within the bounding box.
  • Figure 33 illustrates the object 2700 being scanned from the Figure 28 point of view.
  • the viewed pattern including lines 3321-3323 are positioned differently on the teeth 2710-2730.
  • the frame boundary 3310 has moved to include most of the tooth 2720.
  • Figure 34 illustrates another embodiment of a 3D frame model referred to herein as a 3D primitive model.
  • a 3D primitive model includes a plurality of primitive shapes based upon the frame's 3D points.
  • adjacent points from the 3D point model are selected to form triangles, including triangle PS1-PS3 as primitive shapes.
  • Other implementations can use different or varied primitive shapes.
  • a second 3D frame model is generated from the second frame of the cloud data.
  • the second 3D frame model may be a point model or a primitive model.
  • a regisfration is performed between the first frame model and the second frame model to generate a cumulative model.
  • "Regisfration" refers to the process of aligning the first model to the second model to determine a best fit by using those portions of the second model which overlap the first model. Those portions of the second model that do not overlap the first model are portions of the scanned object not yet mapped, and are added to the first model to create a cumulative model. Registration is better understood with reference to the method of Figure 35.
  • Figure 35 includes a registration method 3500 that, in a specific embodiment, would be called by one of the registration steps of Figure 31.
  • an entry point into registration is determined.
  • the entry point into regisfration defines an initial guess of the alignment of the overlapping portions of the two models. The specific embodiment of choosing an entry point will be discussed in greater detail with reference to Figure 36.
  • a registration of the two shapes is attempted. If an overlap is detected meeting a defined closeness of fit, or quality, the regisfration is successful. When the registration is successful the flow returns to the calling step of Figure 31. When a registration is not successful the flow proceeds to the step 3598 were a decision whether to continue is made.
  • a decision to continue can be made based on a number of factors. In one embodiment, the decision to continue is made based upon the number of registration entry points that have been tried. If the decision at step 3598 is quit registration attempts, the flow proceeds to step 3503 where registration error handling occurs. Otherwise the flow continues at step 3501.
  • Figure 36 illustrates a specific method for choosing a registration entry point.
  • a determination is made whether this is the first entry point for a specific regisfration attempt of a new frame. If so the flow proceeds to step 3601, otherwise the flow proceeds to step 3698.
  • the X and Y components of the entry point are determined based upon two-dimensional analysis of the 2D cloud of data for each of the two frames.
  • the two-dimensional analysis performs a cross-correlation of the 2D images. These 2D images do not have to be from the 2D cloud of data, instead, data associated with a plain video image of the object, with no pattern, can be used for cross correlation. In this way, a probable movement of the scanner can be determined.
  • the cross- correlation is used to determine how the pixels have moved to determine how the scanner has probably been moved.
  • a rotational analysis is possible, however, for a specific embodiment this is not done because it tends to be time consuming, and having the correct entry point in the X and Y-coordinate direction allows the registration algorithm described herein to handle rotations.
  • a probable movement in the Z direction is determined.
  • the previous frame's Z-coordinate is used, and any change in the Z-direction is calculated as part of the registration.
  • a probable Z coordinate is calculated as part of the entry point.
  • the optical parameters of the system can "zoom" the second frame in relationship to the first one until the best fit is received. The zoom factor that is used for that could tell us how far the two surfaces are away from each other in Z.
  • the X, Y and Z coordinates can be aligned so that the Z-coordinate is roughly parallel to the view axis.
  • step 3606 the entry point value is returned.
  • step 3698 a determination is made whether all entry point variations have been tried for the registration steps 3601 and 3602. If not the flow proceeds to step 3603, otherwise the flow proceeds to step 3697.
  • Figure 37 illustrates a specific method for selecting the regisfration entry point variations. Specifically, Figure 37 illustrates the initial entry point El and subsequent entry points E2-E9. The entry points E2-E9 are selected sequentially in any predetermined order.
  • the specific embodiment of Figure 37 illustrates the registration entry points E2-E9 as various points of a circle 3720 having a radius 3710.
  • the dimensions of the entry point variations are two-dimensional, for example the X and Y dimension. In other embodiments, the entry points can vary in three dimensions. Note that varying number of entry points, i.e. subsets of entry points, can be used to speed up the registration process. For example, single frame registration as used herein could use fewer than the nine entry points indicated. Likewise, cumulative registration, described herein, could benefit by using more than the nine points illustrated.
  • step 3697 the flow proceeds to step 3697 once all variations of the first identified entry point have been tried.
  • step 3697 all entry points associated with the first identified entry point have been tried, and it is determined whether a second identified entry point has been identified by step 3604. If not, flow proceeds to step 3604 where the second entry point is defined. Specifically, at step 3604 the scanner movement between two previous frame models is determined. Next, an assumption is made that the scanner movement is constant for at least one additional frame. Using these assumptions, the entry point at step 3604 is defined to be the location of the previous frame plus the calculated scanner movement. The flow proceeds to step 3606, which returns the entry point to the calling step of Figure 31.
  • step 3604 an assumption can be made that the direction of the scanner movement remained the same but that it accelerated at a difference rate. If the second identified entry point of step 3604 has been previously determined, the flow from step 3697 will proceed to step 3696. At step 3696, a determination is made whether an additional regisfration entry point variation for the second identified entry point exists. If so, the flow proceeds to step 3605, otherwise the flow returns to the calling step of Figure 31 at step 3607 and indicates that selection of a new entry point was unsuccessful. At step 3605 the next entry point variation of the second identified entry point is identified and the flow returns to the calling step of Figure 31.
  • Different entry point routines can be used depending upon the type of registration being performed. For example, for a registration process that is not tolerant of breaks in frame data, it will be necessary to try more entry points before discarding a specific frame. For a registration process that is tolerant of breaks in frame data, simpler or fewer entry points can be attempted, thereby speeding up the registration process.
  • next 3D model portion is generated from the next frame's of cloud data.
  • step 3106 registration is performed between the next 3D model portion and the cumulative model to update the cumulative model.
  • the cumulative model is updated by adding all the new points from frame to the existing cumulative model to arrive at a new cumulative model.
  • a new surface can be stored that is based on the 3D points acquired so far, thereby reducing the amount of data stored. If all frames have been registered, the method 3100 is completed, otherwise the flow proceeds to steps 3105 through step 3199, until each frame's cloud of points has been registered. As result of the registration process described in method 3100, it is possible to develop a model for the object 2700 from a plurality of smaller frames, such as frames 3210 and 3310.
  • a model of a patients entire dentition structure including gums, teeth, and orthodontic and prosthetic structures can be obtained.
  • a model of the patients face can be obtained.
  • Figure 38 illustrates a method 3800, which is an alternate method of registering an object using a plurality of frames from a reference independent scanner. Specifically, at step 3801 the object is scanned to receive a cloud data for the object. As previously described, the cloud of data includes data from a plurality of frames, with each frame including a plurality of points.
  • a single frame registration is performed.
  • a single frame registration performs a registration between adjacent frames of the scanned image without generating a cumulative model.
  • a cumulative image of the single frame regisfration process is displayed.
  • the image formed by the single frame registration process can be used to assist in the scanning process.
  • the image displayed as a result of the single frame registration while not as accurate as a cumulative model, can be used by the scanner's operator to determine areas where additional scanning is needed.
  • the single frame registration process is such that any error introduced between any two frames is "extended" to all subsequent frames of a 3D model generated using single frame regisfration.
  • the level of accuracy is adequate to assist an operator during the scanning process.
  • the registration results which describes the movement from one frame to another, can be used as an entry point for the cumulative regisfration process.
  • Single frame registration is discussed in greater detail with reference to Figure 39.
  • a cumulative regisfration is performed.
  • the cumulative registration creates a cumulative 3D model by registering each new frame into the cumulative model. For example, if 1000 individual frames were captured at step 3801 representing 1000 reference independent 3D model portions (frames), the cumulative regisfration step 3803 would combine the 1000 reference independent 3D model portions into a single cumulative 3D model representing the object. For example, where each of the 1000 reference independent 3D model portions represent a portion of one or more teeth, including frames 3210 and 3310 of Figures 32 and 33, the single cumulative 3D model will represent an entire set of teeth including teeth 2710-2730.
  • step 3804 the results of the regisfration are reported. This will be discussed in further detail below.
  • Figure 39 describes a method 3900 that is specific to a single frame rendering implementation for step 3802 of Figure 38.
  • a variable x is set equal to 2.
  • a registration between the current frame (3DFx) and the immediately, or first, previous adjacent frame (3DFx-l) is performed.
  • step 3999 it is determined whether or not the single frame registration of step 3904 was successful.
  • a registration method such as the method of Figure 40, provides a success indicator which is evaluated at step 3999. The flow proceeds to step 3905 when registration is successful, otherwise the flow proceeds to step 3907.
  • step 3905 the current 3D frame (3DFx) is added to the current frame set of 3D frames.
  • this set will generally be a set of transformation matrices.
  • the current frame set of 3D frames is a sequential set of frames, where each frame in the sequence has a high degree of likelihood being successfully registered with [both] of its two adjacent frames.
  • the newly registered frame can be displayed relative to the previous frame that is already being displayed.
  • step 3998 a determination is made whether the variable x has a value equal to n, where n is the total number of frames to be evaluated. If x is equal to n, single frame regisfration is complete and the flow can return to Figure 38 at step 3910. If x is less than n, single frame regisfration continues at step 3906, where x is incremented before proceeding to step 3904. Returning to step 3999, the flow proceeds to step 3907 if the regisfration of step 3904 was not successful. At step 3907 a registration is attempted between current frame (3DFx) and the second previously adjacent frame (3DFx- 2). Step 3997 directs the flow to step 3905 if the registration of step 3907 was successful. Otherwise, step 3997 directs the flow to step 3908, thereby indicating an unsuccessful registration of the current frame (3DFx).
  • step 3908 saves the current frame set, i.e. set of matrices, and a new current frame set is begun. Flow from step 3908 proceeds to step 3905 where the current frame is added to the current frame set, which was newly created at step 3908. Therefore, it is possible for the single frame regisfration step 3802 to identify multiple frames sets.
  • breaks in single frame registration are generally acceptable because the purpose of single frame regisfration is to assist the operator and define entry points to cumulative regisfration.
  • One method of dealing with breaks during single frame regisfration is to merely display the first frame after the break at the same location as the last frame before the break, thereby allowing the operator to continue to view an image.
  • a first model is a 3D primitive shape model
  • the second model is a 3D point model.
  • the primitive shapes in the first 3D model are referenced as S .Sn, where n is the total number shapes in the first model; and, the points in the second 3D model are references as PL.Pz, where z is the total number of points in the second model.
  • each individual point of the second model PL.Pz is analyzed to determine a shape closest to its location.
  • the shape Sl-Sn that is the closest to PI is the shape having the surface location that is the closest to PI than any other surface location of any other shapes.
  • the shape closest to point PI is referred to as Sci, while the shape closest to point Pz is referred to as Scz.
  • points that are located directly above or below a triangle are associated to a triangle, and points that are not located directly above or below a triangle surface are associated to a line formed between two triangles, or a point formed by multiple triangles. Note that in the broad sense that the lines that form the triangles and the points forming the corner points of the triangles can be regarded as shapes.
  • each vector for example Dl
  • PI the closest point of its closest shape
  • Sci the closest point of its closest shape
  • the non-overlapping points which are not needed for registration, have an associated vector having a comparatively large magnitude than an overlapping point, or may not reside directly above or below a specific triangle. Therefore, in a specific embodiment, only those vectors having a magnitude less than a predefined value (an epsilon value) are used for further regisfration.
  • epsilon values can also be used to further reduce risks of decoding errors. For example, if one of the measuring lines of the pattem is misinterpreted to be a different line, the misinterpretation can result in a large error in the Z-direction. For a typical distance between adjacent pattem lines of approximately 0.3 mm and an angle of triangulation of approximately 13°; an error in the X-direction of 0.3 mm results in a three-dimensional transformation error of approximately 1.3 mm (0.3 mm / tan 13°) in the Z-direction.
  • the epsilon value is first selected to be a value greater than 0.5mm, such as 2.0mm, and after reaching a certain quality the value is reduced.
  • the vectors DL.Dz are treated as spring forces to determine movement of the second 3D model frame.
  • the second 3D model is moved in a linear direction defined by the sum of all force vectors DL.Dz divided by the number of vectors.
  • the vectors DL.Dz are recalculated for each point of the second 3D model.
  • the vectors DL.Dz are treated as spring forces to determine movement of the second 3D model.
  • the second 3D model frame is rotated about its center of mass based upon the vectors DL.Dz.
  • the second 3D model is rotated about its center of mass until the spring forces are minimized.
  • the quality of the regisfration is determined with respect to the current orientation of the second 3D model.
  • various methods can be used to define the quality of the registration. For example, a standard deviation of the vectors DL.Dz having a magnitude less than epsilon can be used.
  • quality is calculated using the following steps: square the distance of the vectors, sum the squared distances of all vectors within the epsilon distance, divide this sum by the number of vectors, and take the square root. Note, one of ordinary skill in the art will recognize that the vector values DL.Dz need to be recalculated after the rotation step 4006. In addition, one of ordinary skill in the art will recognize that there are other statistical calculations that can be used to provide quantitative values indicative of quality.
  • step 4098 It is determined at step 4098 whether the current quality of regisfration is improving. In a specific embodiment, this is determined by comparing the quality of the previous pass through the loop including step 4003 with the current quality. If the quality is not improving the flow returns to the calling step with an indication that the regisfration was not successful. Otherwise, the flow proceeds to step 4003.
  • step 4003 Upon returning to step 4003, another regisfration iteration occurs, using the new frame location. Note that once the frame data has been scanned and stored there is no need to do the regisfration exactly in the order of scanning. Regisfration could start other way round, or use any other order that could make sense. Especially when scanning results in multiple passes there is already a knowledge of where a frame roughly belongs. Therefore, the regisfration of adjacent frames can be done independently of the order of imaging.
  • Figure 41 illusfrates a specific embodiment of a method 4100 for Figure 38.
  • the method 4100 discloses a cumulative registration which attempts to combine all of the individual 3D frame models into a single cumulative 3D model.
  • Steps 4101-4103 are setup steps.
  • a variable x is to set equal to 1
  • a variable x_last defines the total number of 3D model sets. Note, the number of 3D model sets is based upon the step 3908 of Figure 39.
  • a 3D cumulative model (3Dc) is initially defined to equal the first 3D frame of the current set of frames.
  • the 3D cumulative model is modified to include that information from subsequent frame models that is not already represented by the 3D cumulative model.
  • Y is set equal to 2
  • a variable Y_last is defined to indicate the total number of frames (3DF), or frame models, in the set Sx, where Sx represents the current set of frame models being registered.
  • the 3D cumulative model (3Dc) is modified to include additional information based upon the registration between the current 3D frame model being registered (Sx(3DFy)) and the 3D cumulative model (3DC).
  • the current 3D frame model is reference as Sx(3Dy), where 3Dy indicates the frame model and Sx indicates the frame set.
  • a specific embodiment for performing the registration of step 4104 is further described by the method illustrated in Figures 42-43.
  • step 4199 it is determined whether the current 3D frame model is the last 3D frame model of the current step. In accordance with a specific implementation of Figure 41, this can be accomplished by determining if the variable Y is equal to the value Y_last. When Y is equal to Y_last the flow proceeds to step 4198. Otherwise, the flow proceeds to step 4106, where Y is incremented, prior to returning to step 4104 for further registration of 3D frame models associated with current set Sy.
  • step 4198 it is determined whether the current set of frames is the last set of frames. In accordance with the specific implementation of Figure 41, this can be accomplished by determining if the variable x is equal to the value x_last. The flow proceeds to step 4105 when x is equal to a x_last. Otherwise, the flow proceeds to step 4107, where x is incremented, prior to returning to step 4103 for further registration using the next set.
  • Step 4105 reports results of the regisfration of the method 4100, as well as any other cleanup operations. For example, while ideally the method 4100 results in a single 3D cumulative model in reality multiple 3D cumulative models can be generated (see discussion at step 4207 of Figure 43). When this occurs step 4105 can report the resulting number of 3D cumulative models to the user, or to a subsequent routine for handling. As a part of step 4105, the user can have an option to assist in registering the multiple 3D models to each other. For example, if two 3D cumulative models are generated, the user can manipulate the 3D cumulative models graphically to assist identification of entry point, which can be used for performing a regisfration between the two 3D cumulative models.
  • a second cumulative registration process can be performed using the resulting matrices from the first cumulative regisfration as entry points for the new calculations.
  • an enlarged number of entry points can be used, or a higher percentage of points can be used.
  • Figures 42-42 illustrate a specific embodiment of regisfration associated with step 4104 of Figure 41.
  • Step 4201 is similar to step 4002 of Figure 40, where each point (PL.Pm) of the current frame Sx(3Dy) is analyzed to determine the shape of the cumulative model that is the closest shape.
  • Step 4202 defines vectors for each point of the current frame in a manner similar to that previously described with reference to step 4003 of Figure 40.
  • Steps 4203 through 4206 move the current 3D frame model in the manner described at steps 4004-4006 of Figure 40, where the first model of method 4000 is the cumulative model and a second model of method 4000 is the current frame.
  • One method of determining quality improvement is to compare a quality value based on the current position of the model register to the quality value based on the previous position of the model. As previously discussed with reference to Figure 40, the quality value can be determined using the standard deviation, or other quality calculation based on the D vectors. Note, by default, a first pass through steps 4202-4206 for each model 3Dy results in an improved alignment. If an improved alignment has occurred, the flow returns to step 4202, otherwise, the flow proceeds to step 4298 of Figure 43.
  • the flow control for the cumulative regisfration method of Figure 42 is different than the flow control for the single frame regisfration method of Figure 40. Specifically, the cumulative flow continues until no improvement in quality is realized, while the single frame flow stops once a specified quality is reached. Other embodiments of controlling the flow within the registration routines are anticipated.
  • the regisfration iteration process continues as long as a convergence criteria is met.
  • the convergence criteria is considered met as long as an improvement in quality of greater than a fixed percentage is realized.
  • Such a percentage can be in the range of 0.5-10%.
  • a stationary iteration is a pass through the registration routine, once the quality level has stopped improving, or has met a predefined criteria.
  • a number of stationary iterations can be fixed. For example, 3 to 10 additional iterations can be specified.
  • step 4207 it has been determined that current frame model cannot be successfully registered into the cumulative 3D model. Therefore, the current cumulative 3D model is saved, and a new cumulative 3D model is started having the current frame. As previously described, because a new 3D cumulative model has been started, the current 3D frame model, which is a point model, is converted to a primitive model before returning to call step.
  • the movement of the frame during steps 4004, 4006, 4203, and 4205 may include an acceleration, or over movement, component.
  • an analysis may indicate that a movement in a specific direction needs to be 1mm.
  • the frame can be moved by 1.5mm, or some other scaled factor.
  • Subsequent movements of the frame can use a similar or different acceleration factor.
  • a smaller acceleration value can be used as registration progresses.
  • the use of an acceleration factor helps compensate for local minima which result when no overlapping features happen to align. When this happens, a small movement value can result in a lower quality level.
  • acceleration it is more likely that the misalignment can be overcome.
  • acceleration can be beneficial to overcome "bumpiness" in a feature.
  • systems for scanning and/or registering of scanned data will include generic or specific processing modules and memory.
  • the processing modules can be based on a single processing device or a plurality of processing devices.
  • Such a processing device may be a microprocessor, microcontroller, digital processor, microcomputer, a portion of a central processing unit, a state machine, logic circuitry, and/or any device that manipulates the signal.
  • the manipulation of these signals is generally based upon operational instructions represented in a memory.
  • the memory may be a single memory device or a plurality of memory devices.
  • Such a memory device (machine readable media) may be a read only memory, a random access memory, a floppy disk memory, magnetic tape memory, erasable memory, a portion of a system memory, any other device that stores operational instructions in a digital format.
  • the processing module implements one or more of its functions, it may do so where the memory storing the corresponding operational instructions is embedded within the circuitry comprising a state machine and/or other logic circuitry.
  • the present invention has been described with reference to specific embodiments. In other embodiments, more than two registration processes can be used. For example, if the cumulative registration process has breaks resulting in multiple cumulative models, a subsequent registration routine can be used to attempt regisfration between the multiple cumulative models.
  • Figures 44-52 illustrate a specific method and apparatus using three- dimensional scan data of an anatomical structure, which may be obtained in the specific manner described herein.
  • the three-dimensional scan data is fransmitted to a remote facility for further use.
  • the three- dimensional scan data can represent the anatomy of an anatomical structure which is used to design an anatomical device, manufacture an anatomical device, monitor structural changes of the anatomy, archive data pertaining to the anatomical structure, perform a closed-loop iterative analysis of the anatomical structure, perform an interactive consultation of the structure, perform simulations based upon the structure, make a diagnosis related to the anatomical structure, or determine a treatment plan based on the anatomical structure.
  • an anatomical device is defined to include devices that actively or passively supplement or modify an anatomical structure.
  • anatomical devices include orthotic and prosthetic devices, and anatomical appliances.
  • Anatomical appliances include orthodontic appliances which may be active or passive, and can include, but is not limited to, such items as braces, retainers, brackets, wires and positioners.
  • Examples of other anatomical appliances include splints, and stents.
  • Examples of orthotic and prosthetic anatomical devices include removable prosthetic devices, fixed prosthetic devices, and implantable devices.
  • Removable prosthetic devices include dental structures such as dentures, partial dentures, and prosthetic structures for other body parts, such as prosthetic devices that serve as artificial body parts including limbs, eyes, implants, included cosmetic implants, hearing aids, and the like, such as spectacle frames.
  • Fixed prosthetic anatomical devices include caps, crowns and other non-dental anatomical replacement structures.
  • Implantable prosthetic devices include endosseous implants and orthodontic implants and fixture devices such as plates used for holding and reducing fractures.
  • Figure 44 illustrates a flow in accordance with the present invention. Specifically, Figure 44 illustrates the scanning of an anatomical structure 4400 by a scanning device 4401 at a facility 4441.
  • any scanner type or method capable of generating digital data for the purposes put forth herein can be used.
  • Direct three-dimensions surface scanning indicates that some or all of the anatomical structure can be scanned directly.
  • the scan is a surface scan, whereby the scanning device 4401 detects signals and/or patterns reflected from at or near the surface of the structure 4400.
  • a specific surface scanning method and device has been described previously herein. Other scanning methods can be used as well.
  • the surface scan of the anatomical structure will be a direct scan of the anatomical structure.
  • a direct scan refers to a scan of the actual anatomical structure (in-vivo).
  • an indirect scan of the anatomical structure can also be made and integrated with the direct scan.
  • An indirect scan refers to scanning a representation of the actual original anatomical structure (in- vitro).
  • Digital data 4405 is generated at the facility (location) 4441 based on the direct scan of anatomical structure 4400.
  • the digital data 4405 represents raw scan data, which is generally a two-dimensional cloud of points, generated by the scanning device 4401.
  • the digital data 4405 represents a three-dimensional point model, which is generally generated based upon a two-dimensional cloud of points.
  • the digital data 4405 represents a three-dimensional primitive model. Note that the digital data 4405 can be a composite of multiple independent scans, which may be performed at approximately the same or different points in times, as well as at the same or different locations.
  • the actual data type of digital data 4405 is determined by the amount of processing done to the raw scan data at the location 4441.
  • the data received directly from the scanner 4401 is a two-dimensional cloud of points. Therefore, when no processing is performed at the facility 4441, the digital data 4405 is a two-dimensional cloud of points. Three-dimensional point models and three-dimensional primitive models are typically generated by further processing of the two-dimensional point cloud.
  • Facility 4441 represents a location where the physical scanning of the anatomical structure occurs. In one embodiment, facility 4441 is a location that is dedicated to, or primarily dedicated to, scanning anatomical structures. In this embodiment, the facility would be located where it is easily accessible by large numbers of clients (patients) needing scans.
  • a kiosk in a mall, or a location in a strip mall can be dedicated to performing scans.
  • a facility may perform a broad variety of scans, or may specialize in specific types of scans, such as scans of facial structures or dental structures.
  • scans can be performed at home by a user.
  • a user can be provided with a portable scanner for remote use to scan the anatomical structure to generate scan data that can be used to monitor the progress of a treatment plan, for diagnostic purposes, or for surveillance or monitoring purposes.
  • the facility 4441 is a location that scans anatomical structures and performs other value-added services related to generating the digital data 4405.
  • Other value-added services include designing, or partially designing anatomical devices based upon the scan data to generate the digital data 4405, or installation of such anatomical devices, hi one implementation, no value added services beyond the generation of the digital data 4405 are performed at the facility 4441.
  • the digital data 4405 can be provided to the client.
  • the connection 4406 represents the digital data being provided to a third party. This step of providing can be done by the client, the facility 4441, or any other intermediate source. Generally, the client will specify the third party where the data is to be sent.
  • the digital data 4405 can be provided to the facility 4442 either physically, i.e. by mail or courier, or remotely, i.e. by transmission.
  • the digital data 4405 can be physically provided on a non-volatile storage device, such as a portable magnetic media, a read-only fuse device, or a programmable non-violate device.
  • the digital data can be fransmitted to the client or a third party by a direct connection, the internet, a local area network, a wide area network, a wireless connection, and/or any device that enables the transfer of digital information from one computing system to another.
  • either all or some of the digital data need be transmitted. For example, where the scan is of a patient's teeth and associated structures, such as the gums, a portion of the teeth may be transmitted.
  • the digital data 4405 received at the facility 4442 is used to design an anatomical device at step 4415.
  • Figure 45 illusfrates a method having two alternate embodiments of step 4415.
  • a first embodiment, which begins at step 4501 designs an anatomical structure using a physical model
  • a second embodiment, which begins at step 4511 designs the structure using a virtual model of the anatomical device.
  • a virtual model of the anatomical device will generally be a computer generated virtual model.
  • step 4501 generation of a physical three-dimensional physical model of the anatomical structure occurs using the digital data 4405.
  • the physical model of the scanned object is generated using numerically controlled processing techniques, such as three-dimensional printing, automated milling, laser sintering, stereo lithography, injection molding, and extmsion.
  • the three-dimensional physical model is used to design the anatomical device. For example, by using the physical model, practitioners will generate anatomical devices for use by the client.
  • anatomical devices are custom designed based upon the physical model.
  • standard orthodontic devices are selected based upon the physical model of the anatomical structure. These standard devices may be modified as required to form semi-custom devices.
  • the manufacture of the anatomical device can be based upon the physical model. Where physical models are used, the step 4502 of designing and the step 4503 of manufacturing are often steps, whereby the design and manufacturing process are occurring simultaneously. In other embodiments, moldings or specifications of the desired anatomical device are made and sent to processing centers for custom design and/or manufacturing.
  • a virtual three- dimensional model of the anatomical structure is used to design an anatomical device.
  • a virtual tliree-dimensional model refers to a model generated by a numerically controlled device, such as a computer, and either includes the digital data 4405, or is generated based upon the digital data 4405.
  • the virtual three-dimensional model is included as part of the digital data 4405 provided to a design center.
  • the three- dimensional model is generated using the digital data 4405 is received at step 4511.
  • an alternate-three-dimensional model is generated at step 4511 based on a three-dimensional model included as part of the digital data 4405.
  • multiple three-dimensional models can be stitched together from a plurality of scans. For example, data from multiple scan sessions can be used.
  • a virtual anatomical device is designed (modeled) using the virtual three-dimensional model.
  • the virtual device can be designed using standard or custom design software for specifying virtual devices. Examples of such design software include commercially available products such as AutoCAD, Alias, Inc and ProEngineer.
  • the design software can be used to design a virtual crown using the three- dimensional virtual model of the anatomical structure, or to select a near- custom, standard or virtual devices from a library of devices that represents actual devices. Subsequent to selecting a standard device, customizations can be made.
  • the anatomical device can be manufactured directly based upon a virtual specification of the device.
  • the anatomical device can be generated using numerically controlled processing techniques, such as three-dimensional printing, automated milling, or laser sintering, stereo lithography, and injection molding, extrusion and casting techniques. It will be appreciated that the manufacture of the anatomical device includes partially manufacturing the device, as well as manufacturing the device at multiple locations.
  • the manufactured anatomical device is scanned.
  • a simulation can be performed to verify the relationship between the anatomical device as manufactured and the anatomical structure, thereby, providing closed loop feedback to assure proper manufacture of the device.
  • the completed anatomical device is sent to a specified location for installation.
  • the anatomical device is sent to facility 4444, where installation occurs at step 4435.
  • the anatomical device is installed at step 4435 by a practitioner, such as a dentist, orthodontist, physician, or therapist.
  • the patient can install the anatomical device.
  • a patient can install some orthodontic devices, such as retainers or similar positioning devices.
  • the anatomical device is designed or manufactured at a remote location relative to where the digital data 4405 is received or generated.
  • the digital data is received at the location 4441.
  • the digital data is received by the scanning the anatomical structure 4400.
  • the digital data is transmitted to location 4442, which is a remote location relative to the location 4441, where an anatomical device is at least partially designed.
  • a remote location is one that is disassociated in some manner from another location.
  • the remote location can be a location that is physically separate from the other location.
  • the scanning facility can be in a different room, building, city, state, country, or other location.
  • the remote location can be a functionally independent location.
  • one location can be used to perform one specific function, or set of functions, while another location can be used to perform a different function. Examples of different functions include scanning, designing, and manufacturing.
  • Remote locations will generally be supported by separate infrasfructures, such as personnel and equipment.
  • the digital data 4405 at facility 4441 includes a partially designed anatomical device.
  • the anatomical device is further designed at the remote facility 4442.
  • facility 4442 can represent one or more remote facilities that can be used in parallel or serial to determine a final anatomical device, make a diagnosis, form freatment plan, monitor progress, or design a device based upon cost, expertise, ease of transmission, and turn around time required.
  • An example of parallel facilities is further illustrated in Figure 48.
  • Figure 46 illustrates another embodiment of the present invention.
  • the flow of Figure 46 is similar to the flow of Figure 44, with an additional intermediate step 4615.
  • the intermediate step 4615 indicates that the digital data 4405 does not need to be received directly from the facility 4441 where the data was scanned.
  • the digital data 4405 can be generated at the first facility (sending facility) by scanning and provide the digital data to a second facility 4641 (receiving facility) where the intermediate step 4615 occurs.
  • the digital data 4405, or a modified digital data that is a representation of the digital data can be fransmitted to a third facility (remote facility) that is remote relative to at least one of the first and second facilities.
  • the scan data can be processed to provide a three-dimensional virtual model of the anatomical structure; data can be added to the digital data, including image data of the scanned anatomical structure 4400, video and/or photo data containing color information, diagnosis information, treatment information, audio data, text data, X-ray data, anatomical device design information, and any other data which may be pertinent to the design or manufacture of the anatomical device.
  • the intermediary step 4615 need not alter the digital data 4405.
  • Figure 47 illustrates an alternate embodiment of the present invention where the digital data 4405 is received at facility 4742 for forensic evaluations at step 4741.
  • An example of a forensic evaluation includes identification of victims based on the anatomical structure scanned. Such identifications will generally be made based upon matching a specific anatomical structure to an anatomical structure contained within a target data base, where the target data base can contain a single structure, a plurality of structures.
  • the target database could be a centrally located database containing archived data.
  • Figure 48 illusfrates an embodiment of the present invention where digital data 4405, or its representation, is fransmitted to one or more remote facilities 4843 for diagnostic purposes or treatment planning at steps 4844 and 4845.
  • the ability to transmit the data for diagnostic purposes allows three- dimensional information of an anatomical structure to be provided to other practitioners, such as specialists, without the patient having to physically be present. This ability improves the overall speed and convenience of freatment, as well as accuracy when multiple diagnoses can be made in parallel.
  • the ability to send the digital data 4405, or its representation, to multiple facilities for treatment planning and diagnosis allows multiple opinions to be obtained. Once a specific freatment plan is selected, any one of the devices specified as part of the treatment plan can be selected for manufacturing.
  • price quotes are obtained from each of the facilities.
  • the price quotes can be based upon a specific freatment specified by a requesting party, where the freatment relates to the anatomical structure.
  • the price quotes can be based upon a desired result specified by the requesting party, where the treatment definition and its associated implementation costs are determined by the facility providing the quotes. In this manner, a patient or a patient's representative can obtain competitive bids in an efficient manner.
  • Figure 49 illusfrates an alternate embodiment of the present invention where the digital data 4405, or its representation, is received at facility 4942 so that the data can be used at the step 4941 for educational purposes.
  • educational techniques can be performed in a standardized manner not possible using previous methods. Examples of educational purposes include self learning purposes, education monitoring purposes, and the ability to provide standardized applied exams which were not possible before.
  • case facts for a specific patient can be matched to previous, or present, case histories of other patients, where the case histories are stored or archived.
  • Figure 50 illusfrates an embodiment where scan data can be archived at step 5001, which occurs at location 5002 for easy retrieval by authorized individuals.
  • such archives would be provided as a service, whereby that data would be commonly maintained, thereby allowing for a common site-independent "gold standard" copy of digital data to be obtained.
  • Figure 51 illusfrates a specific embodiment of the present invention where the digital data obtained by scanning the anatomical structure is used in a closed-loop iterative system.
  • the flow of Figure 51 may also be interactive. Specifically, changes in the anatomical structure, whether intentional or unintentional, can be monitored and controlled as part of the closed-loop system.
  • the closed-loop system in accordance with the present invention is deterministic because the scan data is measurable in three-dimensional space, thereby allowing a standard reference, in the form of a three-dimensional model, to be used for analysis.
  • the three-dimensional scan data of the anatomical device is obtained.
  • step 5102 the data from the scan of step 5001, or a representation of the data, is fransmitted to a remote facility.
  • step 5003 a design/evaluation of the fransmitted data is performed.
  • a freatment plan, diagnosis, and a design for anatomical device are determined during a first pass through the loop including step 5103.
  • the status or progress of the freatment or device is monitored and changes are made as necessary.
  • the monitoring is performed by comparing the current scan data to an expected result, wliich has been simulated, or to the previous history, or against matched case histories.
  • step 5104 the device or freatment plan is implemented or installed as appropriate. Any manufacturing of a device is also performed as part of step 5104.
  • step 5105 It is determined whether an additional pass through the closed-loop system of Figure 50 is needed at step 5105. If so, the flow proceeds to step 5105.
  • a closed-loop feedback loop can exist between any of the steps illustrated in Figure 50
  • one method of obtaining fixed reference points for an orthodontic structure includes selecting orientation reference points based on physical attributes of the orthodontic structure.
  • the orientation reference points can subsequently be used to map the digital image of the orthodontic structure into a three- dimensional coordinate system.
  • the frenum can be selected to be one of the orientation reference points and the rugae can be selected as the other reference point.
  • the frenum is a fixed point in the orthodontic patient that will not change, or change minimally, during the course of treatment.
  • the frenum is a triangular shaped tissue in the upper-portion of the gum of the upper-arch.
  • the rugae is a cavity in the roof of the mouth 68 in the upper-arch. The rugae will also not change its physical position through freattnent.
  • the frenum and the rugae are fixed physical points in the orthodontic patient that will not change during treatment. As such, by utilizing these as the orientation reference points, a three-dimensional coordinate system may be mapped thereto.
  • Figure 52 illusfrates that iterative feedback steps can take place within and between any combination of the steps illustrated herein.
  • an interactive and/or interactive loop can reside between the manufacturing step
  • fees for the use of such scan data 4405 may be fixed or variable fees based upon the use the data, the cost of a service provided, the anatomical device being generated, or the value added to a device or service based upon the data.
  • fees for the use of such scan data 4405 may be fixed or variable fees based upon the use the data, the cost of a service provided, the anatomical device being generated, or the value added to a device or service based upon the data.
  • the steps and methods described herein may be executed on a processing module (not shown).
  • the processing module may be a single processing device or a plurality of processing devices.
  • Such a processing device may be a microprocessor, microcomputer, digital signal processor, central processing unit of a computer or work station, digital circuitry, state machine, and/or any device that manipulates signals (e.g., analog and/or digital) based on operational instructions.
  • the processing module's operation is generally controlled by data stored in memory. For example, where a microprocessor is used, a bus of the microprocessor is connected to a bus of a memory to access instructions.
  • Examples of memory include single or multiple memory devices, such as random access memory, read-only memory, floppy disk memory, hard drive memory, extended memory, magnetic tape memory, zip drive memory, and/or any device that stores digital information. Such memory devices can be local (i.e. connected directly to the processing device), or at physically different locations (i.e. at a site connected to the Internet.) Note that when the processing module implements one or more of its functions, via a state machine or logic circuitry, the memory storing the corresponding operational instructions is embedded within the circuitry comprising the state machine or logic circuitry.
  • the anatomical structure being scanned may have one or more associated anatomical devices or appliances.
  • the present invention provides a deterministic method for diagnosing, treating, monitoring, designing and manufacturing anatomical devices.
  • the present embodiments can be used to provide an interactive method for communication between various parties designing and manufacturing the prosthetic device. Such an interactive method can be implemented in real-time.
  • the methods describe herein permit data to be archived in such a manner that others can obtain the actual information and knowledge obtained from the experience of others.
  • the present embodiments allow for the circumvention of traditional labs used to generate anatomical devices. Specifically, support facilities used for the generation of anatomical devices may now be numerous and remote relative to the patient. This can reduce the overall cost to the practitioner and patient. The patient does not have to visit the practitioner to have the status or progress of a device monitored, since the scanning location can be remote from other support locations. Overall, the fixed, archivable nature of the digital data of the present embodiments allows for a low cost of generating identical duplicate models from a gold standard model, thereby reducing the likelihood of lost and inaccurate data.
  • freatment costs are reduced.
  • the accessibility of multiple opinions (quotes, freatment plans, diagnoses, etc.) increases without the additional inconvenience to the patient associated with the prior art methods.
  • Competitive quoting is also readily obtainable using the specific embodiments indicated.
  • the digital data may be a composite of a direct scan of the anatomical structure and an indirect scan of the structure. This may occur when a portion of the anatomical structure is not viewable by the scanner 4401, so an impression of at least that portion of the anatomical structure that is not viewable. The impression, or a model made from the impression, is then scanned and "stitched" into the direct scan data to form a complete scan.
  • the digital data 4405 can be used in combination with other traditional methods.
  • the digital data described herein can be compressed, or secured using an encryption method.
  • an encryption method When encrypted, one or more of the patient, the scanning facility, and archival facility or a representative of the patient can have encryption keys for the digital data.

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Abstract

L'invention concerne une image projetée sur une surface d'un objet tridimensionnel (611), cette image pouvant comprendre un motif doté d'une pluralité de formes individuelles utilisées pour mesurer et cartographier ladite surface. Cette dernière comprend également une caractéristique contenant des informations de codage destinées à identifier cette pluralité de formes de manière individuelle. Ladite caractéristique contenant des informations de codage est orientée de façon que les informations de codage soient récupérées le long d'une ligne perpendiculaire à un plan formé par l'axe de projection et le point associé à l'axe de visualisation (613). L'utilisation de cette caractéristique permet d'opérer un balayage indépendant de référence à trames multiples (612).
PCT/US2001/012107 2000-04-28 2001-04-13 Procede et systeme destines a balayer une surface et a produire un objet tridimensionnel WO2001084479A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2001251606A AU2001251606A1 (en) 2000-04-28 2001-04-13 Method and system for scanning a surface and generating a three-dimensional object
JP2001581218A JP4206213B2 (ja) 2000-04-28 2001-04-13 表面を走査し三次元物体を作製するための方法及びシステム
EP01925005A EP1287482A4 (fr) 2000-04-28 2001-04-13 Procede et systeme destines a balayer une surface et a produire un objet tridimensionnel

Applications Claiming Priority (16)

Application Number Priority Date Filing Date Title
US09/560,584 US7068836B1 (en) 2000-04-28 2000-04-28 System and method for mapping a surface
US09/560,131 2000-04-28
US09/560,645 US6728423B1 (en) 2000-04-28 2000-04-28 System and method for mapping a surface
US09/560,133 2000-04-28
US09/560,584 2000-04-28
US09/560,131 US6744914B1 (en) 2000-04-28 2000-04-28 Method and system for generating a three-dimensional object
US09/560,644 US6413084B1 (en) 2000-04-28 2000-04-28 Method and system of scanning
US09/560,644 2000-04-28
US09/560,645 2000-04-28
US09/560,132 2000-04-28
US09/560,132 US6771809B1 (en) 2000-04-28 2000-04-28 Method and system for registering data
US09/560,583 2000-04-28
US09/560,133 US6744932B1 (en) 2000-04-28 2000-04-28 System and method for mapping a surface
US09/560,583 US6738508B1 (en) 2000-04-28 2000-04-28 Method and system for registering data
US09/616,093 US6532299B1 (en) 2000-04-28 2000-07-13 System and method for mapping a surface
US09/616,093 2000-07-13

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US6854973B2 (en) 2002-03-14 2005-02-15 Orametrix, Inc. Method of wet-field scanning
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