CN104299266B - Scanning device of false tooth cavity preparation body with inverted recess - Google Patents
Scanning device of false tooth cavity preparation body with inverted recess Download PDFInfo
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- CN104299266B CN104299266B CN201410571140.4A CN201410571140A CN104299266B CN 104299266 B CN104299266 B CN 104299266B CN 201410571140 A CN201410571140 A CN 201410571140A CN 104299266 B CN104299266 B CN 104299266B
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- tooth cavity
- cavity preparation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
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- Geometry (AREA)
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- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Processing Or Creating Images (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
The invention discloses a scanning device of a false tooth cavity preparation body with an inverted recess. The scanning device comprises a box body, a laser scanning mechanism, a power-driven translation platform, a power-driven goniometer stage, a dental crown clamp base platform and a dental crown clamp. The power-driven translation platform is arranged on the bottom surface in the box body, the power-driven goniometer stage is arranged on the power-driven goniometer stage, an arc recess is formed in the upper surface of the power-driven goniometer stage, a rotary platform support is arranged on the arc recess, the dental crown clamp base platform is connected with the upper surface of the rotary platform support through a power-driven rotary platform, and the dental crown clamp is arranged on the dental crown clamp platform. An inverted L-shaped support is arranged at the rear portion of the power-driven translation platform, a fixing surface plate is arranged at the upper end portion of the inverted L-shaped support, and the laser scanning mechanism is arranged on the fixing surface plate. The invention further discloses a three-dimensional reconstruction method of the false tooth cavity preparation body with the inverted recess. By means of the scanning device and three-dimensional reconstruction method of the false tooth cavity preparation body with the inverted recess, the inverted recess in the false tooth cavity preparation body can be scanned, and scanning precision is high and smaller than 0.1mm.
Description
Technical field
The invention belongs to the scanning technique field of artificial tooth is and in particular to the sweeping of a kind of artificial tooth cavity preparation body with undercut
Imaging apparatus.
Background technology
Undercut is by the appearance profile of tooth body or other tissue, and relative position relationship embodies；Form undercut should possess
Two conditions, one is the end area of object and floor space is unequal, and two is object major axis and datum plane out of plumb, that is, there is axle
The difference of scope upwards, or be in heeling condition, is the two from trapezoidal top with the saying of mathematics, do one perpendicular under
The straight line on side, result in formation of two trianglees in left and right, and a middle rectangle, then the triangle on both sides is just called undercut
Area.
KaVo PREPassistant system of the prior art is rebuild and parameter measurement in artificial tooth cavity preparation swept-volume
Aspect is time-consuming longer, and the limitation due to device structure, and projection line cannot be introduced into the undercut of the artificial tooth cavity preparation body of inclination,
Make reconstruction image disappearance undercut part, in practical application, have obvious limitation.
Scanning for artificial tooth cavity preparation body adopts contactless raster scanning at present, due to artificial tooth cavity preparation body
Interior undercut is located at portion in tooth body and is blocked by the tooth body of outside, uses grating horizontal sweep, laser rays cannot reach inside.
Content of the invention
For solving existing technical problem, the embodiment of the present invention provides a kind of artificial tooth cavity preparation body with undercut
Scanning means.
For reaching above-mentioned purpose, the technical scheme of the embodiment of the present invention is realized in：
The embodiment of the present invention provides a kind of scanning means of the artificial tooth cavity preparation body with undercut, including casing, laser
Sweep mechanism, motorized precision translation stage, electronic corner platform, corona fixture base station, corona fixture, described motorized precision translation stage is arranged on casing
On internal bottom surface, described electronic corner platform is arranged on motorized precision translation stage, and described electronic corner platform upper surface is provided with arc
Depression, described arc-shaped recess is provided with turntable support, passes through electric rotary table and press from both sides with corona above described turntable support
Tool base station connects, and described corona fixture is arranged on above corona fixture base station；The rear portion of described motorized precision translation stage is provided with inverted L shape
Support, described inverted L shape support upper end is provided with fixed panel, and described laser scanning mechanism is arranged on fixed panel, institute
State laser scanning mechanism to include angled symmetrically arranged a pair of CCD camera, be arranged on the laser instrument at fixed panel center.
In such scheme, the pair of CCD camera is connected with computer by USB interface, and described laser instrument passes through
RS232 interface is connected with computer.
Compared with prior art, beneficial effects of the present invention：
The frame for movement of the present invention employs electronic corner table apparatus, and it is in 45 degree that this device can make motorized precision translation stage positive and negative
Rotate 360 degrees with electric rotary table, motorized precision translation stage is positive and negative to be in 45 degree, the undercut in artificial tooth cavity preparation body can be swept
Retouch.
The present invention is higher to the scanning accuracy of artificial tooth cavity preparation body, and scanning accuracy is less than 0.1mm.
Brief description
Fig. 1 is a kind of structural representation of artificial tooth cavity preparation swept-volume device with undercut provided in an embodiment of the present invention
Figure；
Fig. 2 is the side view of Fig. 1；
Fig. 3 is the schematic diagram from multiple position detection artificial tooth cavity preparation bodies；
Fig. 4 is space vector and its expression graph of a relation under different coordinates.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
The embodiment of the present invention provides a kind of artificial tooth cavity preparation swept-volume device with undercut, as shown in Figure 1, 2, this justice
Socket hole Tooth preparation scanning means includes casing 11, laser scanning mechanism 10, motorized precision translation stage 1, electronic corner platform 2, corona folder
Tool base station 5, corona fixture 6, described motorized precision translation stage 1 is arranged on the bottom surface within casing 11, and described electronic corner platform 2 is arranged
On motorized precision translation stage 1, described electronic corner platform 2 upper surface is provided with arc-shaped recess, and described arc-shaped recess is provided with rotation
Platform support 3, described turntable support 3 top is connected with corona fixture base station 5 by electric rotary table 4, and described corona fixture 6 sets
Put above corona fixture base station 5；The rear portion of described motorized precision translation stage 1 is provided with inverted L shape support 9, on described inverted L shape support 9
Square end portion is provided with fixed panel, and described laser scanning mechanism 10 is arranged on fixed panel, and described laser scanning mechanism 10 wraps
The laser instrument 8 include in 30 degree of angle symmetrical, a pair of the CCD camera 7 arranging, being arranged on fixed panel center.
The pair of CCD camera 7 is connected with computer by USB interface, described laser instrument 8 pass through RS232 interface with
Computer connects.
The embodiment of the present invention also provides a kind of artificial tooth cavity preparation body three-dimensional rebuilding method with undercut, the method bag
Include：Artificial tooth cavity preparation swept-volume device scans the horizontal direction of artificial tooth cavity preparation body and positive and negative 45 degree of directions, and scanning is obtained
In the view data of artificial tooth cavity preparation body horizontal direction obtaining and artificial tooth cavity preparation body, the view data split of undercut obtains
The three-dimensional point data of artificial tooth.
Fall in the view data of the described artificial tooth cavity preparation body horizontal direction that scanning is obtained and artificial tooth cavity preparation body
The three-dimensional point data that recessed view data split obtains the artificial tooth cavity preparation body with undercut is：Carry out Image semantic classification, figure
As registration, image co-registration.
The method is realized especially by following steps：
Step 101：Artificial tooth cavity preparation swept-volume device with undercut scans the horizontal direction of artificial tooth cavity preparation body
With positive and negative 45 degree of directions.
Specifically, a pair of CCD camera 7 of the artificial tooth cavity preparation swept-volume device with undercut and laser instrument 8 gather
It is placed on the artificial tooth cavity preparation body on corona fixture 6, then pass through the electronic corner platform 2 of adjustment again and turntable support 3 is existed
Horizontal direction moves left and right and becomes positive and negative 45 degree of angles respectively, and at this moment, the pair of CCD camera 7 and laser instrument 8 gather artificial tooth cavities
Prepare the data of internal undercut.
Step 102：Artificial tooth cavity preparation swept-volume device with undercut will scan the artificial tooth cavity preparation body water obtaining
Square to view data and artificial tooth cavity preparation body in undercut view data split obtain with undercut artificial tooth cavities pre-
The three-dimensional point data of standby body.
Specifically, the computer of the artificial tooth cavity preparation swept-volume device with undercut is respectively from a pair of CCD camera 7 He
The picture number of undercut in the view data of horizontal direction of laser instrument 8 acquisition artificial tooth cavity preparation body and artificial tooth cavity preparation body
According to, more three-dimensional point data view data split being obtained the artificial tooth cavity preparation body with undercut.
The view data of undercut in the view data of described artificial tooth cavity preparation body horizontal direction and artificial tooth cavity preparation body
Split realized by following steps：
Step 201:Image semantic classification.
Specifically, using median filtering algorithm, random in the cloud data of undercut in the artificial tooth cavity preparation body obtaining
Noise and impulse disturbances reduce or remove, and can preferably retain the information of image border simultaneously.
Step 202：Image registration.
Specifically, because Tooth preparation can tilt mobile 45 °, therefore, be equivalent to laser scanning device 10 from difference
Angle carry out prepare swept-volume.
Tooth preparation is completely spliced, is needed the preparation volume data unification of different angles under the same coordinate system.
If position 1 (as Fig. 3) W0It is with reference to unified coordinate system, Mi,i-1For coordinate system W at the i of positioniThe coordinate at the i-1 of position
It is Wi-1Transformation matrix of coordinates, i=1 ..., n.
The coordinate system of other positions passes through transformation matrix of coordinates Mi,i-1Unification is to reference to unified coordinate system W0Under, that is,：X0=
M1,0·X1
Theoretical by Screw, space vector substep solves transformation matrix, transformation matrix of coordinates can be analyzed to spin matrix and
Translation vector：X0For uniform coordinate, R1,0For spin matrix, X1For the coordinate under another location, T1,0For translation vector
X0=R1,0·X1+T1,0
The solution procedure of spin matrix R is as follows：
Assume P1And P2For given two spaces characteristic point, its line constitutes an amount of space
According to the property that space vector is unrelated with its position,Can be expressed as under two coordinate systems W and W' X and
X', as shown in Figure 4.When not considering the impact of displacement, have：
X=R X'
By the rotation transformation relational equation that Screw is theoretical, there is a rotary shaft u=(ux,uy,uz) be made up of rotary shaft
Spin matrix be U so that X=R X' meet
X-X'=U (X+X')
The relation that wherein U and u is constituted is
By Cayley theorem, the relation of U and R is
R=[1+U] [1-U]-1
Because U has the property of singular matrix, X=R X' formula cannot directly solve.From mathematical analyses, when known
Another space vector, is set toIt is expressed as Y and Y' under W and W ', X-X'=U (X+X') formula is rewritable to be
May certify that, as long as vectorial (X+X') and (Y+Y') be not conllinear, then
∑ u=Δ certainly exists, wherein：
Can be in the hope of spin matrix R by above formula.
The solution of translation vector T：
X0=R1,0·X1+T1,0T in formula1,0, substantially two coordinate systems W0And W1Displacement between initial point.When by standing
Body vision determines point P in W0And W1Under expression X0And X1When, displacement T1,0Can be directly by the difference calculating of the two
T1,0=X0-R1,0·X1
Step 203：Image co-registration.
Specifically, undercut data is made up of two aspects, the data in unenhanced and undercut.Of both image registration achieves
Image transforms to a coordinate system.Two width images are made to be merged by weighted mean method.Weighted mean method is implemented as follows：
Two width images are made to be merged according to weighted mean method, described two width images refer to unenhanced figure (figure in addition to undercut)
With the figure in the undercut of electronic corner platform motion scan, registration image is transformed to the same coordinate system, image co-registration is completed one
Width image.
First weight assignment is carried out to the image in the unenhanced image and undercut of overlapping region；
Then it is overlapped averagely obtaining pixel value according to the weighted value assigned；
Assume to be taken as with unenhanced weighted value in undercut1With2,1With2All meet condition ∈ (0,1), and1+ɑ2=1；
Assume f1And f2It is in undercut respectively and unenhanced image to be spliced, f is the pixel after merging, then, overlapping region
The expression formula of grey scale pixel value at place is：
Claims (2)
1. a kind of scanning means of the artificial tooth cavity preparation body with undercut it is characterised in that：Including casing（11）, laser scanning
Mechanism（10）, motorized precision translation stage（1）, electronic corner platform（2）, corona fixture base station（5）, corona fixture（6）, described electric translation
Platform（1）It is arranged on casing（11）On internal bottom surface, described electronic corner platform（2）It is arranged on motorized precision translation stage（1）On, described electricity
Dynamic corner platform（2）Upper surface is provided with arc-shaped recess, and described arc-shaped recess is provided with turntable support（3）, described turntable
Support（3）Electric rotary table is passed through in top（4）With corona fixture base station（5）Connect, described corona fixture（6）It is arranged on corona folder
Tool base station（5）Top；Described motorized precision translation stage（1）Rear portion be provided with inverted L shape support（9）, described inverted L shape support（9）Top
End is provided with fixed panel, described laser scanning mechanism（10）It is arranged on fixed panel, described laser scanning mechanism（10）
Including angled symmetrically arranged a pair of CCD camera（7）, be arranged on the laser instrument at fixed panel center（8）.
2. the artificial tooth cavity preparation body with undercut according to claim 1 scanning means it is characterised in that：Described one
To CCD camera（7）It is connected with computer by USB interface, described laser instrument（8）It is connected with computer by RS232 interface.
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| CN201410571140.4A CN104299266B (en) | 2014-10-23 | 2014-10-23 | Scanning device of false tooth cavity preparation body with inverted recess |
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|---|---|---|---|
| CN201410571140.4A CN104299266B (en) | 2014-10-23 | 2014-10-23 | Scanning device of false tooth cavity preparation body with inverted recess |
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| CN104299266A CN104299266A (en) | 2015-01-21 |
| CN104299266B true CN104299266B (en) | 2017-02-15 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106273442B (en) * | 2015-06-01 | 2018-06-08 | 三纬国际立体列印科技股份有限公司 | The positioning mechanism of 3D printer scanning means |
| CN106683551A (en) * | 2017-01-23 | 2017-05-17 | 西安工业大学 | Clinical operation skill training device for tooth body preparation and training method |
| CN110279389A (en) * | 2019-07-23 | 2019-09-27 | 西安工业大学 | Hand-held oral cavity scanning system based on binocular vision and structure light |
| CN111202603B (en) * | 2020-01-07 | 2021-10-26 | 合肥华特义齿加工有限公司 | Inverted concave observation platform |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US4663720A (en) * | 1984-02-21 | 1987-05-05 | Francois Duret | Method of and apparatus for making a prosthesis, especially a dental prosthesis |
| EP1757902B1 (en) * | 2005-08-24 | 2007-11-28 | DeguDent GmbH | Method and apparatus for measuring the shape of a dental object |
| CN100581461C (en) * | 2008-05-23 | 2010-01-20 | 宁波思达利光电科技有限公司 | Device for detecting tooth geometrical shape |
| CN102062588B (en) * | 2009-11-11 | 2012-07-04 | 中国科学院沈阳自动化研究所 | Computer binocular vision denture scanning device and three-dimensional reconstruction method thereof |
| CN104062098B (en) * | 2014-07-10 | 2016-08-24 | 华中农业大学 | A kind of device and method of twin-line array CCD scanning imagery measuring beam quality |
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Effective date of registration: 20181213 Address after: 710032 No. 2 Xuefu Middle Road, Weiyang District, Xi'an City, Shaanxi Province Co-patentee after: Masino Medical Equipment Group Co Ltd Patentee after: Xi'an Technological University Address before: 710032 No. 2 Xuefu Middle Road, Weiyang District, Xi'an City, Shaanxi Province Patentee before: Xi'an Technological University |
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