Reliability data acquisition system and reliability data acquisition method

Abstract

The present invention relates to a reliability data acquisition system and a reliability data acquisition method. In the reliability data acquisition system and method of the present invention using multi-angle scanning, the reliability data acquisition system includes a scanning section that can scan an object in multi-angle, and a control section that generates and aligns a real-time three-dimensional surface based on a plurality of data obtained from the scanning section, and assigns characteristic information to a cell constituting the real-time three-dimensional surface acquired by multi-angle scanning. The characteristic information can include data density, curvature of the object, color of the object, reliability color, position information, etc. On the other hand, the present invention limits the accumulation degree of data density according to the position information, so that each cell accumulates data having a plurality of angle ranges, and has the advantage of being able to minimize data distortion and acquire a high-reliability oral model.

Description

TECHNICAL FIELD

[0001] The present invention relates to an Obtaining System of Reliability Data Using Multi-Angle Scanning And Method Using Thereof. BACKGROUND

[0002] As a method of obtaining oral information of a patient, a three-dimensional intraoral scanner which enters the inside of the patient's mouth to generate a three-dimensional virtual model is frequently used. In addition, a three-dimensional desktop scanner which generates a three-dimensional virtual model for a plaster model obtained by performing alginate impression taking on the teeth of a patient is still continuously used. As described above, the three-dimensional virtual model obtained by the three-dimensional scanner including the intraoral scanner and the desktop scanner includes upper jaw scan data, lower jaw scan data, and occlusion scan data of a patient, and for a tooth requiring treatment or the like, a tooth restoration such as a crown can be modeled using a CAD program.

[0003] The three-dimensional scanner can generally generate and display a three-dimensional oral model by finally obtaining a two-dimensional image of an object body inside the scanner after a light projector for irradiating a specific light to an object body (including the inside of the patient's mouth including teeth, gums, or a plaster model) to be scanned and a camera unit for receiving light irradiated from the light projector and reflected on the surface of the object body. However, in the process of generating a three-dimensional oral model, when data obtained by the received light is accumulated without limitation, it can eventually cause inconvenience in that too many system resources are unnecessarily used in the alignment and merging of data. Such inefficient use of system resources can hinder the rapid completion of a three-dimensional oral model, and on the other hand, if error data such as soft tissue is obtained, the reliability of the three-dimensional oral model cannot be guaranteed. SUMMARY

[0004] Problems to be Solved by the Invention

[0005] An object of the present invention is to provide a reliability data obtaining system which obtains digital data with high reliability by using multi-angle scanning.

[0006] In addition, another object of the present invention is to provide a reliability data obtaining method which obtains digital data with high reliability by scanning an object body at various angles using the above-described reliability data obtaining system.

[0007] The technical problems of the present application are not limited to the above-mentioned technical problems, and other technical problems not mentioned can be clearly understood by those skilled in the art from the following description.

[0008] Means for solving the problem

[0009] To achieve the above-mentioned object, the reliability data acquisition system of the present application can include a scanning section that irradiates light toward an object to be scanned at two or more angle ranges and receives light reflected from the object, and a control section that processes to display a plurality of data obtained based on the light received from the scanning section on a user interface as a real-time three-dimensional surface, and changes a characteristic of the real-time three-dimensional surface according to a scanning angle of the real-time three-dimensional surface.

[0010] In addition, the control section can generate a three-dimensional oral cavity model by merging the real-time three-dimensional surfaces.

[0011] In addition, the control section can include a three-dimensional data generation section that transforms the data acquired from the scanning section into a form of the real-time three-dimensional surface, an alignment section that aligns positions between the real-time three-dimensional surfaces, a characteristic assignment section that assigns characteristic information to the real-time three-dimensional surfaces, and a scanning angle calculation section that calculates a scanning angle at which the scanning section scans the object.

[0012] In addition, the data obtained from the scanning section can include at least one cell.

[0013] In addition, the cell is a voxel having a volume, and the cell can include at least one of the characteristic information including a material density, a curvature, an object color, a reliability color, and position information.

[0014] In addition, the scanning angle calculation section can calculate a movement distance and a movement angle based on a coordinate deviation of the scanning section.

[0015] In addition, the scanning angle can include at least two angle elements including a first rotation direction and a second rotation direction.

[0016] In addition, the movement distance can be expressed in the form of an orthogonal coordinate system.

[0017] In addition, the control section can further include a corresponding point judgment section that selectively updates the characteristic information of the cell of the aligned real-time three-dimensional surface by judging whether the characteristic information is lower than a threshold value.

[0018] In addition, the corresponding point judgment section can confirm the characteristic information of the cell corresponding to an overlapping alignment portion of the real-time three-dimensional surface.

[0019] In addition, the characteristic information confirmed in the corresponding point determination unit may be at least one of the material density and the scanning angle.

[0020] In addition, when the scanning angle assigned to the cell corresponds to a preset angle range and the data density corresponds to a preset data density value, the data obtained from the scanning unit may not be stored in the corresponding cell.

[0021] In addition, when the data density is equal to a threshold value, the data obtained from the scanning unit may not be stored in the corresponding cell.

[0022] In addition, the characteristic assigning unit may assign at least one update restriction information to the cell according to the assigned scanning angle and the material density.

[0023] In addition, when the cell is assigned with the update restriction information, the corresponding point determination section may not store the data obtained from the scanning section in the corresponding cell.

[0024] On the other hand, the reliability data acquisition method of the present invention may include: a scanning step, obtaining at least one image data from the object to be scanned at different angles through a scanner; a real-time three-dimensional surface generation step, converting the image data obtained from the scanning step into the form of a real-time three-dimensional surface; an alignment step, aligning the real-time three-dimensional surface; a characteristic information updating step, confirming the characteristic information assigned to the real-time three-dimensional surface, and selectively updating the characteristic information of the real-time three-dimensional surface based on whether the characteristic information is equivalent to a critical condition.

[0025] Additionally, the real-time three-dimensional surface may include at least one cell.

[0026] In addition, the cell may be assigned characteristic information including at least one of position information, scanning angle, material density, object body color, curvature, and reliability color.

[0027] In addition, the characteristic information updating step may include: an angle range confirmation step, for the cell, confirming the angle range corresponding to the scanning angle; a material density confirmation step, confirming the material density accumulated in the angle range; and a characteristic information appending step, when the material density is lower than a threshold, updating the material density to the corresponding cell.

[0028] Furthermore, the scanning angle may be a moving angle based on the point where the scanning step starts, and the moving angle includes at least two angular elements including a first rotation direction and a second rotation direction.

[0029] In addition, the threshold of the data density can be preset to correspond to the angle range, and the data density accumulated according to the angle range represents the reliability of the cell.

[0030] In addition, the reliability color can be assigned to at least two colors according to the magnitude of the data density.

[0031] To achieve the above-mentioned object, the reliability data acquisition system of the present application includes a scanning section that irradiates light toward an object to be scanned at two or more angle ranges and receives light reflected from the object, and a control section that processes to display a plurality of data obtained based on the light received from the scanning section on a user interface as a real-time three-dimensional surface, and changes a characteristic of the real-time three-dimensional surface according to a scanning angle of the real-time three-dimensional surface; the real-time three-dimensional surface includes at least one cell, and the characteristic of the real-time three-dimensional surface includes a data density of each of a plurality of angle ranges of each cell, the data density representing a data accumulation degree, and when a scanning angle at which the scanning section scans the object corresponds to a preset angle range and the data density of the preset angle range of a corresponding cell corresponds to a threshold value determined for the angle range, the data obtained from the scanning section is not stored in the corresponding cell.

[0032] On the other hand, the reliability data acquisition method of the present application includes a scanning step of obtaining at least one image data from an object to be scanned at different angles by a scanner; a real-time three-dimensional surface generation step of converting the image data obtained in the scanning step into a form of a real-time three-dimensional surface; an alignment step of aligning the real-time three-dimensional surface; and a characteristic information update step of confirming characteristic information assigned to the real-time three-dimensional surface, and selectively updating the characteristic information of the real-time three-dimensional surface according to whether the characteristic information corresponds to a critical condition, the real-time three-dimensional surface including at least one cell, and the characteristic of the real-time three-dimensional surface including a data density of each of a plurality of angle ranges of each cell, the data density representing a data accumulation degree, and when a scanning angle at which the scanning section scans the object corresponds to a preset angle range and the data density of the preset angle range of a corresponding cell corresponds to a threshold value determined for the angle range, the data obtained from the scanning section is not stored in the corresponding cell.

[0033] Effects of the Invention

[0034] By using the reliability data acquisition system and method of the present application, data is input at a plurality of angle ranges to accumulate a preset amount of data density, whereby data obtained by scanning the same site at a plurality of angles is accumulated, and it is possible to minimize data distortion and improve data reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the configuration of the reliability data acquisition system of the present invention.

[0036] Figure 2 A reference diagram for explaining the reliability data acquisition system of the present invention, used to illustrate the degree of data accumulation based on multiple scanning ranges.

[0037] Figure 3 This is a reference diagram for explaining the rotation direction of the scanning unit in the reliability data acquisition system of the present invention.

[0038] Figure 4 It is a reference diagram for explaining a scanning plane according to movement of a scanning unit in the reliability data acquisition system of the present invention.

[0039] Figure 5 This is a reference diagram for explaining the scanning angle of the object by the scanning unit in the reliability data acquisition system of the present invention.

[0040] Figures 6 to 8 This is a diagram for explaining the reliability data acquisition system of the present invention, and is used to explain the process of updating characteristic information when data is input into a corresponding cell.

[0041] Figure 9 and Figure 10 This is a reference diagram for explaining the reliability data acquisition system of the present invention. On a user interface on a display unit, a real-time three-dimensional surface is generated and displayed according to scanning performed by a scanning unit.

[0042] Figure 11 It is a flow chart of the reliability data acquisition method of the present invention.

[0043] Figure 12 1 is a flowchart showing the steps of determining the critical conditions of corresponding points in the reliability data acquisition method of the present invention.

[0044] Description of Reference Numerals

[0045] 1: Reliability data acquisition system 10: Scanning unit

[0046] 20: Control unit 21: Three-dimensional data generation unit

[0047] 22: Alignment unit 23: Characteristics assignment unit

[0048] 24: Scanning angle calculation unit 25: Corresponding point determination unit

[0049] 26: Merging unit 30: Display unit

[0050] 40: Storage

[0051] M: object body sc1: first scanning region

[0052] sc2: second scanning region sc3: third scanning region

[0053] L: first rotation direction F: second rotation direction

[0054] C1: first scanning point C2: second scanning point

[0055] C3: third scanning point T1: first scanning plane

[0056] T2: second scanning plane T3: third scanning plane

[0057] θ1: first angle range θ2: second angle range

[0058] θ3: third angle range

[0059] M': real-time three-dimensional surface 140a: model display region

[0060] 140b: real-time display region 160: scanning region

[0061] RD1: first reliability color RD2: second reliability color

[0062] RD3: third reliability color (critical color)

[0063] S1: scanning step S2: real-time three-dimensional surface generation step

[0064] S3: alignment step S4: characteristic information update step

[0065] S41: angle range confirmation step S42: data density confirmation step

[0066] S43: characteristic information addition step S5: merging step DETAILED DESCRIPTION

[0067] Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. Note that, when reference signs are assigned to the constituent elements in the drawings, identical constituent elements are designated by the same reference signs throughout the different drawings for the sake of convenience. Also, in describing the embodiments of the present application, detailed description of related known structures or functions will be omitted when the same would obscure the understanding of the embodiments of the present application.

[0068] In describing the components of the embodiments of the present application, the terms first, second, A, B, (a), (b), etc. can be used. Such terms are used only to distinguish one component from another component, and the terms do not limit the nature or order of the components. Also, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as those understood by one of ordinary skill in the art to which the present application pertains. Terms that are defined in a dictionary and commonly used, are to be interpreted as having a meaning that is consistent with the context in which the terms are used and not an idealized or overly formal meaning.

[0069] Figure 1 is a configuration diagram of a reliability data acquisition system 1 of the present application, Figure 2 is a reference diagram for explaining the reliability data acquisition system of the present application, for explaining a data accumulation degree according to a plurality of scanning ranges.

[0070] Referring to Figure 1 and Figure 2 The reliability data acquisition system of the present application can include a scanning section that irradiates light toward an object to be scanned at two or more angle ranges and receives light reflected from the object, and a control section that processes to display a plurality of data obtained based on the light received from the scanning section in a form of a real-time three-dimensional surface on a user interface, and changes a characteristic of the real-time three-dimensional surface according to a scanning angle of the real-time three-dimensional surface.

[0071] The scanning section 10 can be an intraoral scanner that a practitioner holds to scan the inside of a patient's mouth or a plaster model obtained by taking a mold, or can be a desktop scanner that scans a plaster model placed on a tray. The scanning section 10 can include at least one camera that generates a two-dimensional image by analyzing light received by the camera. The two-dimensional image can be generated by an imaging sensor, such as a CMOS image sensor, which can be electrically connected to the camera.

[0072] On the other hand, the scanning section 10 can include a light projector to acquire stereoscopic information for converting the two-dimensional image into a real-time three-dimensional surface. The light projector irradiates light toward the object and causes light reflected from the object to be received by a camera located in the scanning section 10. The light irradiated from the light projector toward the object can be structured light having a predetermined pattern, and the pattern of the structured light can be fixed or can be variable in a cyclic manner according to a predetermined rule.

[0073] Referring to Figure 2, a case where scanning is performed from one end to the other end of the object body is shown. When two-dimensional image data is acquired from the scanning section 10, this data can be converted into a real-time three-dimensional surface including at least one cell in the three-dimensional data generation section 21 in the control section 20. At this time, the real-time three-dimensional surface can be a stereoscopic surface form shown on the user interface, and the cells constituting the real-time three-dimensional surface can represent the surface of the object body. More specifically, the cells constituting the real-time three-dimensional surface can be voxels having a volume like three-dimensional pixels, and the cells can include at least one of a plurality of characteristic information. At this time, the characteristic information can include data density, curvature, object body color, reliability color, update limitation information, and position information, and the like.

[0074] According to the foregoing, the scanning process of the scanning section 10 is described in a case where scanning is performed from one end to the other end of the object body, however, the scanning process is not necessarily from one end to the other end, but can also be scanning from the center to both sides. In the case of a desktop scanner, the real-time three-dimensional surface can be generated by rotating or tilting the object body M within a range in which a scanning overlap region is formed.

[0075] On the other hand, in Figure 2 , when the scanned regions overlap when scanning the object body M, more data is accumulated. For example, as shown in the drawing, when six regions are scanned, data of the object body M is acquired through one scanning region, which corresponds to a first scanning region scl, data of the object body M is acquired through two scanning regions, which corresponds to a second scanning region sc2. In addition, data is acquired through three scanning regions, which corresponds to a third scanning region sc3. The degree of data accumulation (which will be referred to as data density in the present specification) increases in the order of the first scanning region scl, the second scanning region sc2, and the third scanning region sc3.

[0076] In more detail, the data density among the above-mentioned characteristic information refers to the degree of accumulation of data corresponding to the corresponding cell, and the higher the data density, the more data is accumulated according to the scanning process, and the higher the reliability. As for the characteristic information other than this, the curvature and the object body color correspond to surface information of the object body, and include information that can faithfully represent the real-time three-dimensional surface on the user interface. The reliability color is an index for indicating the accuracy (or reliability) of the data included in the cell, and the reliability color information can be assigned in correspondence with the size of the data density. At this time, the reliability color information can be assigned in a manner divided into at least two colors in correspondence with the size of the data density. At this time, the assignment of the characteristic information can be performed by the characteristic assignment section 23 in the control section 20, and the characteristic information assignment of the characteristic assignment section 23 can be performed after confirming the characteristic information of the cell by the corresponding point determination section 25. The characteristic information determination of the corresponding point determination section 25 will be described later.

[0077] Figure 3 is a reference diagram for explaining the rotation direction of a scanning section in the reliability data acquisition system of the present application, Figure 4 is a reference diagram for explaining the scanning plane according to the movement of the scanning section in the reliability data acquisition system of the present application, Figure 5 is a reference diagram for explaining the scanning angle of the scanning section to the object body in the reliability data acquisition system of the present application.

[0078] Referring to Figure 3 and Figure 4 , an example of a hand-held oral scanner that can be used as the scanning section 10 is shown. When the oral scanner is used as the scanning section 10, the physician can hold the scanning section 10 to scan the object body to be scanned from the desired angle and distance according to the physician's will. On the other hand, with respect to the parallel movement of the scanning section 10, it can be moved in a direction corresponding to a combination of (x, y, z) directions, and with respect to the rotation of the scanning section 10, it can be rotated in a direction corresponding to a combination of three directions, i.e., a first rotation direction (L rotation direction) with the long axis direction (x direction) of the scanning section 10 as an axis, a second rotation direction (F rotation direction) with the width direction (y direction) as an axis, and a third rotation direction (not shown) with the height direction (z direction) as an axis.

[0079] As shown in Figure 3 , the scanning section 10 can be rotated in the first rotation direction L and the second rotation direction F to scan the object body at a plurality of angles. On the other hand, according to the change in the angle of the scanned object body, a plurality of information can be input to the same place of the object body.

[0080] In addition, as shown in Figure 4 , by the camera built in the scanning section 10, when scanning the object body, according to the first scanning point C1, the second scanning point C2, and the third scanning point C3, a virtual first scanning plane T1, a virtual second scanning plane T2, and a virtual third scanning plane T3 can be formed on the surface of the object body, respectively, and the plurality of scanning planes (the first scanning plane T1, the second scanning plane T2, the third scanning plane T3) overlap each other, and after forming the real-time three-dimensional surface, at least one unit cell that the real-time three-dimensional surface has can also be overlapped.

[0081] On the other hand, in order to generate the real-time three-dimensional surface as described above and finally make into the oral model data, the alignment section 22 can align each unit cell on the plurality of real-time three-dimensional surfaces at positions overlapping each other. At this time, the way of aligning the real-time three-dimensional surfaces can use any one of a plurality of ways that can align digital data, but preferably, the alignment between the real-time three-dimensional surfaces can be performed using the Iterative Closest Point (ICP) method.

[0082] By using the ICP method to perform the alignment between the real-time three-dimensional surfaces, the positional information and the scanning angle can be automatically acquired. For example, the position of the scanning section 10 corresponds to the relative position, and the coordinates of the initial position at which the scanning is started are set as the origin (0, 0, 0), and the movement of the scanning section 10 is expressed with reference to the origin. The positional information of the scanning section 10 is measured as the movement distance by the coordinate deviation, and can be used for the positional alignment of the real-time three-dimensional surfaces. As the orthogonal coordinate system of (x, y, z) can be used to express the positional information, the present application is not limited thereto, and various coordinate expressions for expressing the position, such as the cylindrical coordinate system of (r, θ, z) can also be used. Likewise, as the positional information of the scanning section 10 is acquired by the movement distance of the coordinate deviation, the scanning angle of the scanning section 10 can also be acquired by the calculation of the movement angle deviation. This operation of acquiring the scanning angle can be performed by the scanning angle calculation section 24 included in the control section 20.

[0083] The scanning section 10 can continuously collect the real-time three-dimensional surface data. At this time, when two or more real-time three-dimensional surface data are collected, the relationship between the real-time three-dimensional surface data can be derived. To derive the relationship between the real-time three-dimensional surface data, a plurality of vertices are extracted from one real-time three-dimensional surface data, and a plurality of corresponding points corresponding to the plurality of vertices are calculated in the other real-time three-dimensional surface data, and a movement function with respect to the other real-time three-dimensional surface data is calculated with reference to one real-time three-dimensional surface data, and the angle is changed and moved to perform the data alignment. At this time, the relative position (positional information) and the scanning angle (angle information) of the other real-time three-dimensional surface data can be acquired with reference to one real-time three-dimensional surface data. On the other hand, when the scanning section 10 uses two or more cameras, even if the scanning is performed for the same three-dimensional position, it can have different scanning angles, and the positional information and the scanning angle can be acquired by the angle deviation of the other camera with respect to the reference camera.

[0084] On the other hand, the movement distance and the movement angle as described above can also be acquired by the gyro sensor built in the scanning section 10. The gyro sensor can use a six-axis gyro sensor capable of detecting movement and rotation, or various means for acquiring the positional information and the scanning angle can be used. At this time, the scanning angle can be expressed in the form of (α, β, γ), and according to the situation, it can also be expressed in the form of (x, y, z, α, β, γ) together with the positional information.

[0085] As described above, the movement angle required to acquire the scan angle can include at least two angle elements. Preferably, the movement angle can include angle elements of a first rotation direction L with the x-axis as a center axis, a second rotation direction F with the y-axis as a center axis, and a third rotation direction (not shown) with the z-axis as a center axis. However, in order to multi-angle scan the object body to obtain a high-reliability oral cavity model, it is preferable to acquire at least two angle elements, in which an angle element of the first rotation direction L and an angle element of the second rotation direction F can be obtained.

[0086] Referring to Figure 5 , the position and angle at which the scanning of the object body is started by the scanning section 10 are set as a reference position and a reference angle. For example, the place at which the scanning is first started by the scanning section 10 has a (0, 0, 0) place and a (0, 0, 0) angle. On the other hand, when the object body is scanned, the relative position based on the reference position and the relative angle based on the reference angle can be acquired according to the sensing of the movement distance and the movement angle of the gyro sensor built in the scanning section 10. At this time, a first angle range θ1 can be set with the reference angle as a center. When the acquired real-time three-dimensional surface has a scan angle within the first angle range at the time of first performing the scanning, the characteristic information can be accumulated to the first reference. Even if a slight angle change occurs within the first angle range, a sharp change in the characteristic information does not occur, and thus the characteristic information of the unit cell which the real-time three-dimensional surface has at the time of obtaining within the first angle range can be equally processed. When the characteristic information is accumulated to the first reference, the characteristic information update of the unit cell can be limited to prevent the input of new characteristic information to the unit cell.

[0087] On the other hand, when the scan angle exceeds the first angle range θ1 and has a scan angle within a second angle range (for example, θ2), the characteristic information can be accumulated to the second reference. With respect to the unit cell of the same place, the characteristic information is accumulated to the first reference within the first angle range θ1, and when the data of the real-time three-dimensional surface having the second angle range θ2 is input, the characteristic information can be updated so that the characteristic information is accumulated to the corresponding unit cell.

[0088] As Figure 5As shown, a straight angle of 180° is formed with the object body M as the reference, and there are any first angle range to third angle range (first angle range θ1, second angle range θ2, third angle range θ3), but it is not limited to this. The maximum angle range and the number and range angles of the measurement angle ranges may change according to the needs of the user. For example, the range from the reference angle to -15° to +15° can be set as the maximum angle range of the object to be measured, -5° to +5° can be set as the first angle range, -15° to -5° can be set as the second angle range, and +5° to +15° can be set as the third angle range. This can be changed according to the needs of the user. For example, when the reference angle is 0°, at least one or more angle ranges can be set symmetrically.

[0089] Figures 6 to 8 This diagram illustrates the reliability data acquisition system of the present invention, illustrating the process of updating characteristic information when data is entered into corresponding cells. For illustrative purposes, the maximum data density that can be stored within a single angle range is set to 100. This can be adjusted based on high-reliability data acquisition and user needs.

[0090] Reference Figure 6 To illustrate the reliability data acquisition system of the present invention, an arbitrary real-time three-dimensional surface is shown on the left. The real-time three-dimensional surface may include at least one cell. For example, a real-time three-dimensional surface having 5×5 cells, totaling 25 cells, is shown. In addition, Figure 6 The real-time 3D surface shown here assumes that characteristic information data is accumulated and stored within the same angular range for each cell. As the scanning process of the scanning unit 10 executes, a new real-time 3D surface is generated and aligned so that corresponding cells overlap. The corresponding point determination unit 2 of the control unit 20 then determines whether the characteristic information contained in the cells of the aligned real-time 3D surface is below a threshold, thereby selectively updating the characteristic information.

[0091] In the newly input real-time 3D surface, the portion indicated by "X" corresponds to the portion that does not overlap with the existing real-time 3D surface. Therefore, it is necessary to confirm the characteristic information of the 4×4 cells corresponding to the upper right end of the newly input real-time 3D surface. The characteristic information confirmed at this time may preferably include at least one of the data density and the scanning angle. Figure 6 In the value of data density, check whether the data density of the cell of the existing real-time 3D surface corresponds to the threshold value. If it is lower than the threshold value, update the data density of the cell. Figure 6 The shaded area indicates that the data density is updated after addition.

[0092] Reference Figure 7, the real-time three-dimensional surface has a part of the cells in the first angle range accumulating the data density of 100, which is the data density value of the first criterion. At this time, by the scanning execution of the scanning section 10, a new real-time three-dimensional surface is generated, and after being aligned with the cells corresponding thereto, it is determined whether to update the characteristic information of each cell. As shown in the figure, the cells whose data density reaches 100 in the first angle range do not store the characteristic information (data) of the cells corresponding thereto in the same angle range obtained from the scanning section 10. In Figure 7 the hatched part, the data density corresponds to the data density value of the first criterion set in advance, and thus the characteristic information of the corresponding cell is not updated, while the characteristic information of the other cells is updated. As described above, by specifying the upper limit value of the accumulation of the data density in the same angle range, further accumulation of data exceeding the upper limit value is limited, which has the advantage of minimizing unnecessary storage space occupation or system resource usage.

[0093] Referring to Figure 8 , it is shown that the update of the characteristic information to the cells is performed by the real-time three-dimensional surface obtained by the scanning section 10 in a second angle range different from the first angle range. Even if the first angle range reaches the data density value of the first criterion, the characteristic information possessed by the corresponding cell in the second angle range can be different, and by such an update of the characteristic information, data with high reliability for each cell can be obtained, and ultimately a dental model with high reliability can be obtained. Therefore, after the new real-time three-dimensional surface obtained in the second angle range is aligned with the cells corresponding to the existing real-time three-dimensional surface, the newly input characteristic information is updated to the corresponding cells. In Figure 8 the hatched part, the data density before the update corresponds to the data density value of the first criterion, but the characteristic information input in the second angle range is accumulated, so that the data density of the cell is added. As described above, by accumulating and updating the characteristic information in multiple angle ranges until the prescribed criterion value, the characteristic information of the site scanned in multiple angle ranges can be stored in each cell, which can prevent data distortion and thus obtain a more precise dental model.

[0094] The accumulation process of the data density in the same angle range and / or different angle ranges will be described in more detail with examples.

[0095] For example, the first angle range is -30° to +30° including the reference angle 0°, the second angle range is -90° to -30°, and the third angle range is +30° to +90°. In addition, the first angle range, the second angle range, and the third angle range can each have a data density threshold of 100. That is, it can be determined that the final data density threshold at which data with sufficient reliability for the same site is obtained is 300.

[0096] When the user starts scanning by the scanning section 10 in the first angle range, the image data included in the first angle range is accumulated as the data density. At this time, the process of accumulating the data density, as described above, can be performed in a manner of aligning the position of the data in a single cell and updating the characteristic information. For example, the data density can be accumulated to 100 as the first reference in the first angle range. When the data density is accumulated to 100 in the first angle range, even if the scanning section 10 obtains additional image data in the first angle range, the cell reaching the data density size of the first reference does not update the characteristic information by the additional image data.

[0097] After that, when the user scans the specific place of the object body in the second angle range, the data density can be accumulated to the data density threshold value of the second angle range. For example, in an arbitrary cell, when the data density of 100 is accumulated in the first angle range, in the cell, the data density of 100 is additionally accumulated in the second angle range, and thus the data density can be accumulated to the second reference (the data density of 200). Also, when the data density of 100 is additionally accumulated in the second angle range, even if the scanning section 10 obtains additional image data in the second angle range, the cell does not update the characteristic information by the additional image data.

[0098] After that, when the user scans the specific place of the object body in the third angle range, the data density can be accumulated to the data density threshold value of the third angle range. For example, in an arbitrary cell, when the data density of 100 is accumulated in the first angle range and the data density of 100 is accumulated in the second angle range, in the cell, the data density of 100 is additionally accumulated in the third angle range, and thus the data density can be accumulated to the third reference (the data density of 300 or the final data density threshold value). Also, when the data density of 100 is additionally accumulated in the third angle range, even if the scanning section 10 obtains additional image data in the third angle range, the cell does not update the characteristic information by the additional image data.

[0099] The above is described in a manner that the data density is accumulated to the first reference in the first angle range, to the second reference in the second angle range, and to the third reference (final data density threshold) in the third angle range, but it is not necessary to scan in the above manner. As another example, even if the data density of 50 is accumulated in the first angle range, when the scanning angle of the scanning section 10 is changed to the second angle range, the data density corresponding to the second angle range can be accumulated. For example, the data density of 50 can be accumulated in the first angle range, the data density of 80 can be accumulated in the second angle range, and the data density of 70 can be accumulated in the third angle range. In this case, when the scanning section 10 is located in the first angle range, the data density of 50 can be further accumulated, when it is located in the second angle range, the data density of 20 can be further accumulated, and when it is located in the third angle range, the data density of 30 can be further accumulated. That is, the data density can be independently accumulated in each angle range at the same site, and when the data density of a sufficient size is accumulated in each angle range, it can be determined that the reliability of the cell is high. As a result, by accumulating the image data regarding the same site in various angle ranges, a dental model in which the reliability of all cells is high can be obtained.

[0100] According to the situation, when sufficient data density has been accumulated in a certain angle range, but insufficient data density has not been accumulated in other angle ranges, feedback can be given to the user to scan in other angles. For example, assume that sufficient data density has been accumulated in the first angle range, but insufficient data density has not been accumulated in the second angle range and the third angle range. At this time, when the first angle range is stayed for more than a predetermined time, the control section 20 described below can control to output a notification message to the display section 30. For example, the notification message can be displayed as, for example, "Please tilt the scanner to scan in other angles". Or, to assist the user to perform more effective scanning, the notification message can be displayed in the form of a symbol or a sentence indicating the roll, pitch, yaw direction to scan in other angle ranges.

[0101] The above is described taking one angle element on a plane as an example, but the present application comprehensively considers three angle elements to set the angle range according to the concept of a sherical cone and a sherical sector in a three-dimensional space, and accumulation of data density corresponding to each angle range can be performed.

[0102] In addition, as another example of the present application, the angle range in relation to the tooth surface as the object body can be flexibly set. For example, the scanning section 10 includes a light projector that externally irradiates light of a specific form, and a camera that receives light reflected from the surface of the object body. At this time, when light irradiated from the light projector toward the object body is reflected from the surface of the object body and received by the camera, the angle of the surface of the object body with respect to the scanning section 10 can be derived from the brightness of the received light. After being perpendicularly incident on the surface of the object body, the light that is perpendicularly reflected shows the clearest image data for that site. Therefore, when the scanning section 10 starts scanning, the scanning angle at which the light received by the camera is brightest during a predetermined time period can be designated as the reference angle (0, 0, 0). In addition, a first angle range including the reference angle can be set with a larger data density threshold value than other angle ranges. For example, when the final data density threshold value with sufficient reliability for an arbitrary cell is 400, the threshold value for data density obtained in the first angle range is 200, the threshold value for data density obtained in the second angle range is 100, and the threshold value for data density obtained in the third angle range is 100. Thus, by accumulating more image data in the first angle range than in other angle ranges, the reliability of the oral cavity model finally generated by the merging section 26 can be further improved.

[0103] On the other hand, according to the size of the data density and the angle range, update restriction information is additionally assigned to the attribute information and, when the reference data density value is reached within the same angle range, it can be determined from the assignment that the information is restricted from being updated in that angle range. Whenever new real-time three-dimensional surface is input from the corresponding point determination section 25, only the update restriction information is confirmed, without confirming the data density value, and thus it is determined whether to update the attribute information for the corresponding cell. For a cell to which update restriction information is assigned, data obtained from the scanning section 10 can not be stored. The update restriction information can be assigned by the data density value of each angle range reaching the reference data density value, and when the scanning angle of data obtained from the scanning section 10 includes the update restriction information, the attribute information for the corresponding cell can be processed so as not to be updated.

[0104] Figure 9 and Figure 10 For a reference diagram for explaining the reliability data acquisition system of the present application, a real-time three-dimensional surface is generated and displayed on a user interface on the display section according to scanning by the scanning section.

[0105] Referring to Figure 9 Data obtained from the scanning section 10 is converted into a real-time three-dimensional surface by the three-dimensional data generation section 21 of the control section 20, and displayed on a display section 30 in electrical communication with the control section 20. The display section 30 can use any device through which a physician can visually recognize the scanning process, and preferably an LCD display, a tablet, or the like can be used.

[0106] During the scanning process, the user interface displays a real-time three-dimensional surface M' in the model display area 140a. In the center of the user interface, the scanning area 160 displays the portion being scanned in real time by the scanning unit 10, and image information captured by the camera of the scanning unit 10 is displayed in the real-time display area 140b. Before the scanning unit 10 scans the object M, the model display area 140a becomes a blank space. When scanning is initiated, a real-time three-dimensional surface is generated based on the input data, and the positions of the real-time three-dimensional surfaces are aligned. This alignment can be performed using the Iterative Closest Point (ICP) method described above, or using position information and scanning angles derived from the movement distance and movement angle obtained by a gyroscope sensor built into the scanning unit 10.

[0107] When aligning real-time 3D surfaces, the characteristic information of the corresponding cells is confirmed and selectively updated. Initially, the data density of the real-time 3D surface acquired within a first angular range can be accumulated to a maximum of a first baseline data density value. On the other hand, when the real-time 3D surface is acquired by the scanning unit 10 within a new second angular range, an update can be performed to add additional characteristic information, bringing the accumulated data above the first baseline data density value. As described above, when sufficient data has been accumulated at various angles, it is determined that the data density has reached a threshold, and the addition and update of characteristic information can be limited to the corresponding cells.

[0108] On the other hand, Figure 9 and Figure 10 As shown, different reliability colors can be assigned to correspond to the magnitude of the data density and displayed on the display unit 30 in a manner that is easy for the physician to identify. For example, when the data density assigned to a cell is lower than a first baseline data density value, the first reliability color RD1 can be assigned and displayed as the color of the corresponding cell. Furthermore, when the data density assigned to a cell is above the first baseline data density value and below the second baseline data density value, the second reliability color RD2 can be assigned. When the data density assigned to a cell reaches the second baseline data density value, the third reliability color RD3 (critical color) can be assigned. Cells assigned the third reliability color RD3 can be judged to have achieved sufficient scanning. In this case, the first reliability color RD1 can be red, the second reliability color RD2 can be yellow, and the third reliability color RD3 can be green.

[0109] However, the reliability color corresponds to the data density value, but does not directly correspond to the angle range. For example, an arbitrary cell has a data density of 50 in a first angle range and a data density of 51 in a second angle range, and reaches a first reference data density value, the second reliability color RD2 can be assigned to the cell. However, even if an arbitrary cell has sufficient data density in a first angle range, the reliability color does not change from red to yellow, or from yellow to green, if scanning is not performed in other angle ranges. Therefore, in order to change the reliability color of all cells to a third reliability color RD3, i.e., green, the user must scan the object body at multiple angles.

[0110] In the present specification, three reliability colors are described, but are not limited thereto, and any configuration capable of assigning at least one reliability color to correspond to the magnitude of the data density can be used. In addition, the manner of indicating reliability can use different patterns other than colors. The physician recognizes the reliability color of the cell forming the real-time three-dimensional surface displayed on the display portion 30 by vision, and performs additional scanning on the portion not displaying the critical color, thereby obtaining an oral model having high overall reliability. In order to obtain an oral model having high reliability, the object body must be scanned at multiple angles.

[0111] In addition, the characteristic information assigned to the cell having the real-time three-dimensional surface can be stored in the storage portion 40 formed in the reliability data acquisition system of the present application, and the oral model having high reliability can be acquired based on the characteristic information accumulated in the storage portion 40. In addition, by selectively updating the characteristic information corresponding to the magnitude of the angle range and the data density, unnecessary waste of space of the storage portion 40 can be prevented.

[0112] Hereinafter, the reliability data acquisition method of the present application will be described. In describing the reliability data acquisition method, the contents repeated in the description of the reliability data acquisition system will be simply described or omitted.

[0113] Figure 11 is a flowchart regarding the reliability data acquisition method of the present application.

[0114] Referring to Figure 11 , the reliability data acquisition method of the present application can include a scanning step S1 of receiving light reflected from an object body to be scanned by a scanner at two or more angle ranges, a real-time three-dimensional surface generation step S2 of converting image data obtained based on the light received from the scanning step S1 into a form of a real-time three-dimensional surface including at least one cell, and an alignment step S3 of aligning overlapping cells of the real-time three-dimensional surface.

[0115] In the scanning step S1, the scanning section can be directed toward an object body as a subject of scanning at a plurality of scanning angles, which can be divided into two or more angle ranges. At this time, the scanning section can be a hand-held scanner or a table-top scanner. The object body of scanning can be the actual inside of the mouth of a patient as a subject of treatment, or a plaster model obtained by taking a mold. The object body can reflect natural light and be received by a lens of at least one camera formed inside the scanning section, but preferably, in order to transform the obtained image data of the object body into a real-time three-dimensional surface, a specific form of light is irradiated from a light projector possessed by the scanning section toward the object body and the reflected light is received. At this time, the light irradiated from the light projector can be structured light, and preferably can be light having a wavelength in the visible light region.

[0116] The real-time three-dimensional surface generation step S2 is a step of transforming the image data acquired from the scanning step S1 into a real-time three-dimensional surface having surface information. As described above, light in the form of structured light is irradiated toward the object body, and the reflected light is received by a lens of at least one camera formed inside the scanning section, and is transformed into a real-time three-dimensional surface by an imaging sensor electrically connected to the camera. The imaging sensor can use any means capable of transforming two-dimensional image data into a real-time three-dimensional surface, but preferably, a CMOS sensor can be used. On the other hand, the real-time three-dimensional surface can include at least one cell, each cell can have characteristic information corresponding to the respective position. As described above, the characteristic information can include position information, scanning angle, curvature, data density, object body color, reliability color, etc. about the respective position.

[0117] When a plurality of shots of real-time three-dimensional surfaces are generated in the above-described real-time three-dimensional surface generation step S2, an alignment step S3 of performing alignment can be performed so that the positions between the cells possessed by the real-time three-dimensional surfaces overlap. The alignment step S3 can connect the real-time three-dimensional surfaces, accumulate characteristic information about the overlapping cells, and finally merge the real-time three-dimensional surfaces to be merged into a dental model.

[0118] On the other hand, for the cells of the real-time three-dimensional surfaces aligned by the alignment step S3, the characteristic information update step S4 can confirm the characteristic information assigned to the cells, and selectively update the characteristic information of the corresponding cells depending on whether the characteristic information corresponds to a critical condition. Selectively updating the characteristic information of the cells means that, for cells that have already ensured sufficient data and have high reliability, it is judged that additional data input is not required, and the characteristic information update is not performed, and for cells that have not ensured sufficient data, the characteristic information update is performed.

[0119] At this time, the characteristic information allocated to the cell can include at least one of position information indicating the position of the cell, a scan angle indicating the angle, a data density indicating the accumulation degree of the data, an object color indicating the color of the object, a curvature indicating the concave-convex information of the surface of the object, and a reliability color indicating the reliability degree of the data. In particular, the data density indicates the accumulation degree of the data, and the greater the data density, the more reliable the cell.

[0120] Figure 12 FIG. 4 is a flowchart illustrating a step of determining a critical condition of a corresponding point in the reliability data acquisition method of the present application.

[0121] Reference will now be made in detail to Figure 12 The characteristic information update step S4 will be described in further detail. The characteristic information update step S4, first, can confirm the characteristic information allocated to each cell, which is a cell possessed by the aligned real-time three-dimensional surface. At this time, the characteristic information to be confirmed as an object can be various, and can include an angle range confirmation step S41 of first confirming the angle range corresponding to the scan angle of the scanning section. That is, the classification is performed to confirm in which category of the angle range the scan angle will be accumulated in the state in which the current scanning section performs scanning. On the other hand, the angle range can take the angle at the start of the scanning step as a reference angle, and can be symmetrically formed with the reference angle as the center. The angle range can be formed to be classified into two or more, and each angle range can be pre-set to have a threshold value of the data density capable of being accumulated. For example, when the scan angle has a first angle range and a second angle range, the threshold value of the data density of the first angle range can be 100, and the threshold value of the data density of the second angle range can be 100. That is, one cell accumulates the data density through two angle ranges (the first angle range and the second angle range), and the threshold value of the data density accumulated in one cell can be 200.

[0122] On the other hand, after the angle range confirmation step S41, a data density confirmation step S42 of confirming the size of the data density accumulated in the angle range can be performed. At this time, when the size of the data density allocated to the angle range of the cell is lower than the threshold value, a characteristic information addition step S43 of updating the characteristic information can be performed to add the data density to the corresponding cell. In addition, when the size of the data density allocated to the angle range corresponds to the threshold value, the update can be limited so as not to add the data density to the corresponding cell any more. Thus, the additional characteristic information is not input to the cell already having sufficient data density, and thus it is possible to prevent the waste of system resources, and to obtain a dental model having high reliability.

[0123] The scanning angle is defined by the angle of the starting scanning step as a reference angle. The scanning angle is based on an orthogonal coordinate system and can include a first angle element including a first rotation direction L centered on the x-axis, a second angle element including a second rotation direction F centered on the y-axis, and a third angle element including a third rotation direction centered on the z-axis. The first angle element and the second angle element can refer to any of roll, pitch, and yaw with respect to the rotation of the object. Preferably, the first angle element can be roll, and the second angle element can correspond to pitch. At least two angle elements including the first angle element and the second angle element can be used to measure the scanning angle. On the other hand, the moving distance and the moving angle of the scanning unit performing the scanning step S1 can be obtained by a gyroscope sensor built into the scanning unit, for example, a six-axis gyroscope sensor can be used.

[0124] On the other hand, each cell can be assigned a reliability color composed of at least two colors according to the size of the data density. When the real-time three-dimensional surface is displayed through the screen (display unit), this can make it easy for the doctor to grasp which part is not completely scanned, and to perform additional scanning on the cell part that is not completely scanned. The reliability color can be assigned in order of red, yellow, green, etc. according to the size of the data density, which means that when the threshold value of the data density is set according to the angle range as described above, a comprehensive scan of various angle ranges must be performed on the corresponding cell site to obtain data with high reliability. By accumulating data density by scanning various angle ranges, the reliability of the characteristic information assigned to each cell is increased, and data distortion can be prevented.

[0125] When data with high reliability is formed through the above steps, a merging step S5 of generating a three-dimensional oral model by merging the real-time three-dimensional surface can be performed, thereby generating a final oral model, and as a result, an oral model with high overall reliability can be obtained.

[0126] On the other hand, the reliability data acquisition system and the reliability data acquisition method of the present application described above all processes are based on cells. By performing characteristic information update according to the angle range based on the cell, compared with the configuration of performing grouping to update data according to the conventional scanning area, the calculation process is simple and intuitive, so the system resources can be effectively used, and as a result, a three-dimensional oral model with high reliability can be quickly obtained, thereby providing accurate dental treatment for patients.

[0127] The above description is only an example of the technical idea of the present application, and anyone with ordinary knowledge in the technical field to which the present application belongs can make various modifications and changes within the scope of the essential characteristics of the present application.

[0128] Therefore, the disclosed embodiments are not intended to limit the technical ideas of the present application, but to illustrate, and the scope of the technical ideas of the present application is not limited by these embodiments. The scope of protection of the present application should be interpreted according to the claims, and all technical ideas within the same scope should be interpreted as being included in the scope of protection of the present application.

[0129] Industrial applicability

[0130] The present application provides a reliability data acquisition system using multi-angle scanning and a method using the same, and for obtaining an overall high-reliability oral model, an object is scanned at multiple angles.

Claims

1. A reliability data acquisition system, wherein, comprises: a scanning section that irradiates light toward an object to be scanned in two or more angle ranges and receives light reflected from the object, and a control section that processes to display a plurality of data obtained based on the light received from the scanning section on a user interface as a real-time three-dimensional surface and changes a characteristic of the real-time three-dimensional surface according to a scanning angle of the real-time three-dimensional surface; the real-time three-dimensional surface includes at least one cell, and the characteristic of the real-time three-dimensional surface includes a data density of each of a plurality of angle ranges of the cell, the data density indicates a degree of data accumulation, when the scanning angle of the scanning section scanning the object corresponds to a predetermined angle range and the data density of the predetermined angle range of the corresponding cell corresponds to a threshold value determined for the angle range, the data obtained from the scanning section is not stored in the corresponding cell.

2. The reliability data acquisition system according to claim 1, wherein, the control section generates a three-dimensional oral model by merging the real-time three-dimensional surfaces.

3. The reliability data acquisition system according to claim 1, wherein, the control section includes: a three-dimensional data generation section that transforms the data acquired from the scanning section into a form of the real-time three-dimensional surface; an alignment section that aligns positions between the real-time three-dimensional surfaces; a characteristic assignment section that assigns characteristic information to the real-time three-dimensional surfaces; and a scanning angle calculation section that calculates the scanning angle.

4. The reliability data acquisition system according to claim 3, wherein, the cell is a voxel having a volume, the cell includes at least one of the characteristic information including a curvature, an object color, a reliability color, and position information.

5. The reliability data acquisition system according to claim 4, wherein, the scanning angle calculation section calculates a movement distance and a movement angle based on a coordinate deviation of the scanning section.

6. The reliability data acquisition system according to claim 5, wherein, the scanning angle includes at least two angle elements including a first rotation direction and a second rotation direction.

7. The reliability data acquisition system according to claim 6, wherein, the movement distance is expressed in a form of an orthogonal coordinate system.

8. The reliability data acquisition system according to claim 7, wherein, the control section further includes: a corresponding point judgment section that selectively updates the characteristic information of the cell of the aligned real-time three-dimensional surfaces by judging whether the characteristic information is lower than a threshold value.

9. The reliability data acquisition system according to claim 8, wherein, the corresponding point judgment section confirms the characteristic information of the cell corresponding to an overlapping alignment portion of the real-time three-dimensional surfaces.

10. The reliability data acquisition system according to claim 9, wherein, the characteristic information confirmed in the corresponding point judgment section is at least one of the data density and the scanning angle.

11. The reliability data acquisition system according to claim 4, wherein, When the scanning angle at which the scanning section scans the object body corresponds to a predetermined angle range and the data density of the predetermined angle range of the corresponding cell corresponds to a threshold value determined for the angle range, the property assignment section assigns update restriction information to the corresponding cell.

12. A method of acquiring reliability data, Wherein, Including: a scanning step of obtaining at least one image data from an object body to be scanned at different angles by a scanning section; a real-time three-dimensional surface generation step of converting the image data obtained from the scanning step into a form of a real-time three-dimensional surface; an alignment step of aligning the real-time three-dimensional surface; a property information update step of confirming property information assigned to the real-time three-dimensional surface and selectively updating the property information of the real-time three-dimensional surface according to whether the property information corresponds to a critical condition, the real-time three-dimensional surface includes at least one cell, and the property of the real-time three-dimensional surface includes a data density of each of a plurality of angle ranges of each of the cells, the data density indicates a data accumulation degree, when the scanning angle at which the scanning section scans the object body corresponds to a predetermined angle range and the data density of the predetermined angle range of the corresponding cell corresponds to a threshold value determined for the angle range, the data obtained from the scanning section is not stored in the corresponding cell.

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