Method and apparatus for colour imaging a three-dimensional structure
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A61C-001/00
A61C-003/00
G06K-009/00
H04N-013/15
G01B-011/25
H04N-013/207
H04N-013/257
H04N-013/271
H04N-013/296
A61B-001/00
A61B-001/06
A61B-001/24
A61B-001/247
A61B-005/00
A61B-005/107
G01B-011/24
G01J-003/02
G01J-003/10
G01J-003/50
A61C-009/00
G06T-007/00
G01N-021/25
H01L-027/148
A61C-019/04
G06T-007/12
G06T-007/90
G06F-019/00
G01J-003/46
G01J-003/51
출원번호
US-0175267
(2016-06-07)
등록번호
US-10230936
(2019-03-12)
발명자
/ 주소
Babayoff, Noam
출원인 / 주소
Align Technology, Inc.
대리인 / 주소
Wilson Sonsini Goodrich & Rosati
인용정보
피인용 횟수 :
0인용 특허 :
178
초록▼
A device for determining the surface topology and associated color of a structure, such as a teeth segment, includes a scanner for providing depth data for points along a two-dimensional array substantially orthogonal to the depth direction, and an image acquisition means for providing color data fo
A device for determining the surface topology and associated color of a structure, such as a teeth segment, includes a scanner for providing depth data for points along a two-dimensional array substantially orthogonal to the depth direction, and an image acquisition means for providing color data for each of the points of the array, while the spatial disposition of the device with respect to the structure is maintained substantially unchanged. A processor combines the color data and depth data for each point in the array, thereby providing a three-dimensional color virtual model of the surface of the structure. A corresponding method for determining the surface topology and associate color of a structure is also provided.
대표청구항▼
1. A system for determining surface topology and associated color of an intraoral structure, the system comprising: a confocal imaging device comprising an image sensor configured to capture confocal depth image data and color image data of the intraoral structure, wherein a time interval between ca
1. A system for determining surface topology and associated color of an intraoral structure, the system comprising: a confocal imaging device comprising an image sensor configured to capture confocal depth image data and color image data of the intraoral structure, wherein a time interval between capture of the confocal depth image data and the color image data is within an interval between about 0 to about 100 milliseconds; andone or more processors operably coupled to the imaging device, the one or more processors configured to cause the system to: generate depth data of the intraoral structure portion using the confocal depth image data from the imaging device corresponding to a first spatial disposition relative to the intraoral structure,generate color data of the intraoral structure using the color image data from the imaging device corresponding to a second spatial disposition relative to the intraoral structure, andmap the color data to the depth data. 2. The system of claim 1, wherein the second spatial disposition differs from the first spatial disposition by one or more of a translation along a depth direction or a rotation about the depth direction. 3. The system of claim 1, wherein the one or more processors are further configured to cause the system to determine a spatial transformation between the confocal depth data and the color data, the spatial transformation is determined by performing an alignment procedure. 4. The system of claim 3, wherein the alignment procedure comprises an optical character recognition technique. 5. The system of claim 3, wherein the alignment procedure comprises: determining a first shape profile based on the confocal depth data;determining a second shape profile based on the color data; andaligning the first shape profile to the second shape profile. 6. The system of claim 5, wherein aligning the first shape profile to the second shape profile comprises performing one or more of a coplanar translation or a coplanar rotation. 7. The system of claim 5, wherein aligning the first shape profile to the second shape profile comprises determining a best fit between the first shape profile and the second shape profile. 8. The system of claim 1, wherein the image sensor is a monochromatic image sensor. 9. The system of claim 1, wherein the image sensor is a color image sensor. 10. A method for determining surface topology and associated color of an intraoral structure, the method comprising: illuminating the intraoral structure with white light;capturing confocal depth image data and color image data of the structure portion using an image sensor of an imaging device, wherein the capturing occurs within a time interval between about 0 seconds and bout 100 milliseconds; generating, using the imaging device the confocal depth image data, confocal depth data of the intraoral structure corresponding to a first spatial disposition of the imaging device relative to the intraoral structure;generating, using the imaging device and the color image data, color data of the intraoral structure corresponding to a second spatial disposition of the imaging device relative to the intraoral structure; andmapping, using the one or more processors, the color data to the depth data. 11. The method of claim 10, wherein the second spatial disposition differs from the first spatial disposition by one or more of a translation along a depth direction or a rotation about the depth direction. 12. The method of claim 10, further comprising determining, using one or more processors, a spatial transformation between the depth data and the color data, wherein determining the spatial transformation comprises performing an alignment procedure. 13. The method of claim 12, wherein the alignment procedure comprises an optical character recognition technique. 14. The method of claim 12, wherein performing the alignment procedure comprises: determining a first shape profile based on the confocal depth data;determining a second shape profile based on the color data; andaligning the first shape profile to the second shape profile. 15. The method of claim 14, wherein aligning the first shape profile to the second shape profile comprises performing one or more of a coplanar translation or a coplanar rotation. 16. The method of claim 14, wherein aligning the first shape profile to the second shape profile comprises determining a best fit between the first shape profile and the second shape profile. 17. The method of claim 10, wherein the image sensor is a monochromatic image sensor. 18. The method of claim 10, wherein the image sensor is a color image sensor. 19. The system of claim 10, wherein the first and second spatial disposition are the same. 20. The method of claim 10, wherein the first and second spatial disposition are the same. 21. A method for determining surface topology and associated color of an intraoral structure, the method comprising: illuminating the intraoral structure with white light, the white light passing through confocal optics and though a probing face of a handheld scanner, the confocal optics configured to focus the light at a plurality of focal planes forward of the probing face;capturing color image data and confocal depth image data at a first of the plurality of focal planes and at the same angle and orientation with respect to the intraoral structure and within an interval of about 0 to about 100 milliseconds;repeating, a plurality of times, the capturing of color image data and confocal image data at a second or more of the plurality of focal planes;generating depth data of the intraoral structure from the captured confocal image data at the plurality of focal planes;generating color data of the intraoral structure form the captured color image data at the plurality of focal planes; andmapping, using the one or more processors, the color data to the depth data. 22. The method of claim 21, wherein the confocal image data and the color image data is captured with a monochromatic image sensor. 23. The method of claim 21, wherein the confocal image data and the color image data is captured with a color image sensor. 24. The method of claim 21, wherein the interview is between about 0 and about 50 milliseconds. 25. The method of claim 21, wherein the interview is between about 0 and about 20 milliseconds. 26. A system for determining surface topology and associated color of an intraoral structure, the system comprising: a handheld scanner having a probing face and including: a light source;an image sensor; andconfocal optics, wherein the light source is configured to direct light through the confocal optics to illuminate the intraoral structure, the confocal optics are configured to focus the light to a plurality of focal planes forward of the probing face, and the image sensor is configured to capture the confocal depth image data and the color image data at each of the plurality of focal planes, the confocal depth image data and color image data being captured within an interval of about 0 to about 100 milliseconds and at the same angle and orientation with respect to the intraoral structure for each focal plane; andone or more processors operably coupled to the handheld scanner and being configured to cause the system to: generate depth data of the intraoral structure from the captured confocal image data at the plurality of focal planes;generate color data of the intraoral structure form the captured color image data at the plurality of focal planes; andmap the color data to the depth data. 27. The system of claim 26, wherein the image sensor is a monochromatic image sensor. 28. The system of claim 26, wherein the image sensor is a color image sensor. 29. The system of claim 26, wherein the interval is between about 0 and about 50 milliseconds. 30. The system of claim 26, wherein the interval is between about 0 and about 20 milliseconds.
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