Inspection of physical dental elements using motion tracking

Abstract

A method of examining the geometry of a physical dental element (100) using motion tracking and augmented reality, the method comprising: receiving a three-dimensional digital model comprising a three-dimensional digital dental element (104), and repeatedly performing: receiving optical imaging data (112) from an optical sensor device (59); detecting structural elements in the optical imaging data (112); determining a target position of the three-dimensional digital tooth element (104) using the reference points defined by the structural elements; and controlling the electronic display device for displaying on the physical tooth element (100) an augmented reality view (110) augmented with the three-dimensional digital tooth element (104).

Description

Technical Field

[0001] This invention relates to the field of dental technology. More specifically, this invention relates to a method for examining the geometry of physical dental elements. This invention also relates to a computer device and computer program product for examining the geometry of physical dental elements. Background Technology

[0002] Dental components (e.g., crowns) intended for placement within a patient's dentition typically require precise installation. Precise installation avoids harmful stress and helps extend the component's durability. Furthermore, precise installation allows the component to integrate comfortably into the patient's dentition, which is aesthetically pleasing. Finally, precise installation helps ensure adequate speech ability, enabling the patient to speak clearly through the component's placement within the dentition. Therefore, optimal mechanical, phonological, and aesthetic fit is often required. However, during the manufacture of physical dental components, unintended deviations from the target geometry can occur, hindering precise installation. These deviations may arise, for example, from errors and / or inaccuracies during component design. Additionally, errors and / or inaccuracies during component manufacturing can also contribute to such deviations.

[0003] Therefore, it may be necessary to examine the geometry of the physical dental components to ensure that the geometry does not contain such unexpected deviations.

[0004] The object of this invention is to provide a method, computer device, and computer program product for examining the geometry of physical dental components using motion tracking and augmented reality. This object is achieved through the features of the independent claims. Summary of the Invention

[0005] One aspect of the present invention relates to a method for examining the geometry of a physical dental element using motion tracking and augmented reality. The method includes: receiving a three-dimensional digital model comprising a three-dimensional digital dental element. The three-dimensional digital dental element defines geometric constraints on the geometry of the physical dental element. The method further includes repeatedly performing: receiving optical imaging data from an optical sensor device; detecting a structuring element in the optical imaging data, wherein the structuring element defines a reference point for a target position of the three-dimensional digital dental element; determining the target position of the three-dimensional digital dental element using the reference point defined by the structuring element; and controlling an electronic display device for displaying an augmented reality view enhanced by the three-dimensional digital dental element on the physical dental element. At least a portion of the three-dimensional digital dental element is arranged at the target position. The enhancement performed on at least a portion of the three-dimensional digital dental element indicates whether the geometry of the physical dental element conforms to the geometric constraints defined by the three-dimensional digital dental element arranged at the target position.

[0006] This method can be beneficial because it allows for the examination of the geometry of physical dental elements using a three-dimensional digital model. Structural elements can be detected within the optical imaging data. These structural elements define reference points for the target locations of one or more parts of the three-dimensional digital dental element; that is, the target locations of one or more parts of the three-dimensional digital dental element can be determined using these reference points defined by the structural elements. For example, structural elements define reference points for the target locations of the three-dimensional digital dental element; that is, the target locations of the three-dimensional digital dental element can be determined using these reference points defined by the structural elements.

[0007] To acquire the optical imaging data, one or more optical sensor devices can be used, for example, in the form of one or more cameras. The structural element can be, for example, a structural element of a physical tooth element, and the target position of the three-dimensional digital tooth element can be determined relative to the physical tooth element, i.e., the position of the physical tooth element. For example, the optical imaging data from the optical sensor devices can include imaging data of the physical tooth element; that is, the optical sensor can acquire optical imaging data of the physical tooth element.

[0008] Alternatively or additionally, the structuring element may be, for example, a structuring element of one or more other physical elements, and the target position of the three-dimensional digital dental element may be determined relative to these other physical elements (i.e., the positions of these other physical elements). For example, optical imaging data from an optical sensor device may include imaging data of these other physical elements, i.e., the optical sensor may acquire optical imaging data of the physical dental element.

[0009] In addition, an electronic display device is used to display an augmented reality view enhanced by the three-dimensional digital dental element on the physical dental element. A portion of the three-dimensional digital dental element is positioned at a target location determined by a reference point. The enhancement of at least a portion of the three-dimensional digital dental element indicates whether the geometry of the physical dental element conforms to the geometric constraints defined by the three-dimensional digital dental element positioned at the target location.

[0010] Geometric constraints can be, for example, direct geometric constraints. A 3D digital dental element can, for example, define a geometric target shape for a physical dental element, and it can be checked whether the geometry of the physical dental element matches the geometric target shape defined by the 3D digital dental element. The physical dental element can, for example, be a digital template used to manufacture a physical dental element as a physical copy of the 3D digital dental element. If checking the geometry of the physical dental element indicates that dental material must be removed from the physical dental element to make the geometry of the physical tooth conform to geometric constraints (e.g., match the geometric target shape), the corresponding dental material can be removed, for example, by machining. If checking the geometry of the physical dental element indicates that dental material must be added to the physical dental element to make the geometry of the physical tooth conform to geometric constraints (e.g., match the geometric target shape), the corresponding dental material can be added.

[0011] Alternatively or additionally, geometric constraints can be, for example, indirect geometric constraints. A three-dimensional digital dental element can, for example, define the geometry of adjacent structures adjacent to the position of the physical dental element in the patient's dentition. It can be required that the geometry of the physical dental element does not conflict with adjacent structures already existing in the dentition. Therefore, adjacent structures can impose geometric constraints on the physical dental element, for example, requiring the physical dental element not to intersect with the corresponding adjacent structure. If the physical dental element intersects with an adjacent structure and / or the geometric constraints defined by the adjacent structure, the intersection points of the physical dental element can be removed.

[0012] It can be required that the distance between the surface of a physical tooth element, defined by its geometry, and adjacent structures is not too great; that is, the distance between the surface of the physical tooth element and the surface of an adjacent structure facing the physical tooth element can be equal to a predetermined value. If the distance is greater than the predetermined value, it may be necessary to add tooth material to the surface of the physical tooth element to reduce the distance and thus match the predetermined value.

[0013] For example, a complete three-dimensional digital tooth element can be displayed. If the three-dimensional digital tooth element is, for example, a three-dimensional digital template of a physical tooth element, then, for example, a complete three-dimensional digital template can be displayed.

[0014] For example, only one or more parts of a three-dimensional digital dental element can be displayed. If the three-dimensional digital dental element is, for example, an antagonist, then only the occlusal surface of the antagonist can be displayed. If the three-dimensional digital dental element is, for example, adjacent teeth, then only the adjacent surfaces of the adjacent teeth can be displayed.

[0015] Augmented reality is used to provide images on physical dental components enhanced with 3D digital dental elements, allowing users to examine physical dental components using the 3D digital dental elements. This allows the physical world to be combined with the digital world.

[0016] The system repeatedly receives optical imaging data acquired by optical sensor devices and repeatedly determines structural elements. Then, it uses the optical imaging data to track the movement of the structural elements and adjusts the target position of the 3D digital tooth element based on the movement of the structural elements. The positional changes of the structural elements are tracked, and the positional changes of the reference points determined each time follow the changes of the structural elements tracked by the optical imaging data. The positional changes of the reference points define the changes in the target position, at which the augmented reality view on the physical tooth element is enhanced by the 3D digital model.

[0017] Using physical dental elements allows users to manipulate them tactilely and directly adjust their geometry when necessary. If tooth material must be removed from the physical dental element to conform to the geometric constraints defined by the 3D digital dental element, this material can be removed directly. The resulting adjustment of the physical dental element's geometry can be tracked in real-time, for example, using an augmented reality view on the physical dental element enhanced by the 3D digital dental element. Therefore, it is possible to check in real-time whether the adjustment of the physical dental element's geometry is sufficient to conform to the geometric constraints imposed by the 3D digital dental element.

[0018] If tooth material must be added to the physical tooth element to make its geometry conform to the geometric constraints defined by the 3D digital tooth element, then the corresponding tooth material can be added directly to the physical tooth element. The resulting adjustment of the physical tooth element's geometry can be, for example, tracked in real-time using an augmented reality view on the physical tooth element enhanced by the 3D digital tooth element. Therefore, it is possible to check in real-time whether the adjustment of the physical tooth element's geometry is sufficient to make its geometry conform to the geometric constraints defined by the 3D digital tooth element.

[0019] The results of physical dental element adjustments can be experienced by the user not only visually, but also tactilely.

[0020] For example, a 3D digital dental element is a 3D digital template of a physical dental element. The target position of the 3D digital dental element coincides with the position of the physical dental element, so that the display portion of the 3D digital dental element visually overlaps with the physical dental element.

[0021] The beneficial effect of this example is that by overlaying a physical tooth element onto a 3D digital template (i.e., a 3D digital tooth element), it is possible to effectively check whether the geometry of the physical tooth element matches the target geometry defined by the geometry of the 3D digital template. Using motion tracking, the physical tooth element can be rotated and moved to examine the geometry from different directions and angles. Through motion tracking, the 3D digital tooth element can rotate and move synchronously with the physical tooth element. For example, the structural elements detected in optical imaging data can be structural elements of the physical tooth element. For example, the structural elements detected in optical imaging data can be structural elements of a structure arranged in a fixed spatial relationship with the physical tooth element, so that the corresponding structure moves while maintaining a fixed spatial relationship with the physical tooth element.

[0022] The geometric constraints of a physical tooth element's geometry can be provided by the geometry defined by a 3D digital template, i.e., the geometry of the 3D digital template. To meet these geometric constraints, the geometry of the physical tooth element may be required to match the geometry of the 3D digital template. When visually overlaying a physical tooth element onto a 3D digital template using augmented reality views, the geometry of the physical tooth element may need to match the geometry of the 3D digital template.

[0023] For example, a view transparently displayed on a physical tooth element overlaps with the display portion of a 3D digital tooth element. For example, a sequence of images of the display portion of a 3D digital tooth element.

[0024] For example, optical imaging data includes imaging data of physical dental elements. For example, an image sequence of a physical dental element generated using the acquired optical imaging data can be combined with an image sequence of a display portion of a three-dimensional digital dental element and displayed on a monitor, thereby overlaying the images of the physical dental element with the images of the three-dimensional digital dental element.

[0025] When a physical dental element or an image of a physical dental element overlaps with a 3D digital dental element or at least a portion thereof, the geometry of the physical dental element can be checked to see if it matches the geometry defined by the 3D digital template. If the geometry of the physical dental element deviates from the geometry defined by the 3D digital template, the physical dental element can be adjusted to reduce or even eliminate these deviations. Adjustments may include removing material from the dental element and / or adding dental material to the dental element.

[0026] For example, a 3D digital model is a 3D digital model of at least a portion of a patient's dentition, and a 3D digital dental element is a 3D digital copy of the dental elements contained within the dentition. The 3D digital model defines the spatial relationship between the target location of the 3D digital dental element and a predetermined location within the dentition, the predetermined location being used to arrange the physical dental elements.

[0027] Optical imaging data from an optical sensor device can, for example, include optical imaging data from a physical model of a three-dimensional digital model of at least a portion of the patient's dentition. Therefore, the spatial relationship between the target position of a three-dimensional digital dental element and a predetermined position within the dentition defined by the three-dimensional digital model can be mapped to the spatial relationship between the target position of the three-dimensional digital dental element and the predetermined position within the physical model (i.e., the dentition) of the three-dimensional digital model.

[0028] A three-dimensional digital dental element can be, for example, a three-dimensional digital copy of an opposing or adjacent tooth at a predetermined location within a patient's dentition. Therefore, checking the geometric constraints defined by the three-dimensional digital dental element can include checking whether the geometry of the physical dental element conflicts with the opposing or adjacent tooth when the physical dental element is positioned at a predetermined location within the dentition (e.g., a physical model of the dentition). For example, it can also be checked whether the distance between the physical dental element and the opposing or adjacent tooth matches a predetermined value.

[0029] For example, a three-dimensional digital tooth element is an enlarged three-dimensional digital copy of a tooth element that includes a row of teeth, scaled up based on a predefined scaling factor.

[0030] Additional safety margins can be considered when determining whether the geometry of a physical tooth element conforms to the geometric constraints defined by the three-dimensional digital tooth element (i.e., by the magnified three-dimensional digital copy) by using a magnified three-dimensional digital copy of the opposing tooth or adjacent tooth.

[0031] For example, in response to a received request to adjust transparency input, the electronic display device is controlled to adjust the transparency of the displayed three-dimensional digital dental element.

[0032] The displayed 3D digital dental element allows you to see the physical dental element or an image of the physical dental element. Therefore, you can simultaneously view the geometry of the physical dental element and the geometry of the 3D digital dental element, especially the geometry of the 3D digital dental element. This makes it easy to check whether the geometry of the physical dental element matches the geometry of the 3D digital dental element.

[0033] The transparency of the displayed 3D digital dental element is adjustable. For example, the transparency can be adjusted from opaque to transparent. By adjusting the transparency, the physical dental element or an image of the physical dental element can be seen more or less through the displayed 3D digital dental element.

[0034] For example, an electronic display device is configured to enhance the user's visual perception of a physical tooth element by displaying a portion of a three-dimensional digital tooth element.

[0035] Electronic display devices can be, for example, one of the following: eyeglasses, a display portion of a three-dimensional digital dental element projected or reflected through the transparent lens surface of the eyeglasses; a head-up display; a contact lens; an eye mask; a virtual retinal display.

[0036] Heads-up displays, particularly portable head-mounted displays, can be configured to display three-dimensional digital dental elements positioned at a defined target location, allowing the user to view the real world through the physical dental elements. Heads-up displays are transparent displays that show three-dimensional digital dental elements without requiring the user to take their gaze away from the physical dental elements, which can be seen through the transparent display.

[0037] For example, a contact lens can be used, which includes a display element embedded in the lens for display. The display element may include, for example, integrated circuits, LEDs, and an antenna for wireless communication. The display element can be configured to display a three-dimensional digital dental element when a user views the physical dental element through the lens.

[0038] For example, an eye mask can be used, configured to be worn in front of the eyes. The eye mask can act as a camera to record a scene visible to the eye, including physical dental elements, and it can also act as a display to overlay a computer-generated image containing 3D digital dental elements onto the original scene visible to the eye. For example, the eye mask can use a beamsplitter to send the same scene, including physical dental elements, to one eye and a camera, or to both eyes and a camera. The camera can digitize a reflected image of the scene and send it to a computer. The computer can process the image, enhance it using 3D digital dental elements positioned at the target location, and send the processed image to a projector. The projector can then send the processed image to the other side of the beamsplitter, causing the computer-generated enhanced image using 3D digital dental elements to be reflected into the eye and overlaid with the physical dental elements onto the original scene.

[0039] A virtual retinal display is a display that scans directly onto the user's retina. The user sees what appears to be a regular display floating in space, showing three-dimensional digital tooth elements. This floating display with three-dimensional digital tooth elements can overlay a scene that includes physical tooth elements as seen by the user.

[0040] For example, an electronic display device includes a non-transparent display that shows a portion of a three-dimensional digital dental element in conjunction with a continuous sequence of frames. The frames are generated using images produced from repeatedly received optical imaging data. The repeatedly received optical imaging data includes optical imaging data of the physical dental element.

[0041] Electronic display devices can be, for example, one of the following: a computer screen; a laptop computer display; a tablet computer display; a smartphone display; a projector configured to project images onto a projection surface, such as a projection screen.

[0042] For example, for each frame displayed on the electronic display device, the display portion of the three-dimensional digital tooth element is updated.

[0043] The electronic display device may be provided in the form of a head-mounted device (e.g., a virtual reality head-mounted device), which includes one or more cameras that capture a view of the real world in the form of optical imaging data acquired by the cameras and re-display the augmented reality view using a display included in the head-mounted device. The displayed augmented reality view is enhanced by three-dimensional digital dental elements. At least a portion of the displayed three-dimensional digital dental elements is positioned at a target location.

[0044] For example, optical imaging data is repeatedly received at a repetition frequency that matches the frame rate, structural elements are detected, and target positions are determined, thereby controlling an electronic display device to display an augmented reality view.

[0045] The beneficial effect of this example is that target location determination and motion tracking can be performed at the same rate as the frame rate, thus obtaining a real-time impression of motion tracking. The target position of the 3D digital tooth element can be updated at the same rate as the frame rate.

[0046] For example, an electronic display device is controlled to display a frame containing an image of a physical dental element. This frame is generated by repeatedly receiving optical imaging data that includes optical imaging data of the physical dental element.

[0047] For example, the detected structural elements include those of a physical dental element. Therefore, the target location can be determined relative to the physical dental element, which provides a reference point defined by the structural elements of the physical dental element. This structural element may, for example, include contour points and / or contour lines of the physical dental element. These contour points and / or contour lines of the physical dental element can be detected using a three-dimensional model of the physical dental element. For example, in addition to a three-dimensional digital model, a three-dimensional model of these contour points and / or contour lines of the physical dental element can also be received.

[0048] If the 3D digital tooth element is a 3D digital template of the physical tooth element, the target location may coincide with the location of the detected structural element. Therefore, the structural elements of the physical tooth element itself can indicate the target location.

[0049] If the three-dimensional digital dental element is, for example, an opposing or adjacent tooth, the target location is defined by the spatial relationship between the target location (i.e., the location of the opposing or adjacent tooth) and the predetermined location of the physical dental element within the patient's dentition. This spatial relationship is defined, for example, by a three-dimensional digital model containing at least a portion of the patient's dentition. Structural elements of the physical dental element can indicate the predetermined location of the physical dental element, and this predetermined location can be used to determine the target location using the spatial relationship between the predetermined location indicated by the physical dental element and the target location that needs to be determined.

[0050] For example, when a physical tooth element undergoes curing, the displayed three-dimensional digital tooth element dimensions are magnified according to the inverse of a shrinking factor, which describes the shrinkage of the tooth material of the physical tooth element.

[0051] When a physical dental element undergoes curing, its geometry can be inspected before curing, provided that the geometry is easily correctable. To ensure the correct dimensions of the physical dental element after curing, it can be manufactured on a scale-up basis relative to the expected final dimensions, according to an inverse shrinkage factor that describes the shrinkage of the dental material. Therefore, scaling up the dimensions can compensate for the shrinkage caused by curing.

[0052] In order to define the correct geometric constraints for the magnified geometry of the physical tooth element, the displayed three-dimensional digital tooth element can also be magnified by the same scaling factor, i.e., the inverse shrinkage factor.

[0053] The beneficial effect of the example is that even for enlarged physical tooth elements, appropriate geometric constraints can be defined.

[0054] For example, physical dental elements are arranged within a physical model of the patient's dentition. Optical imaging data includes optical imaging data of the physical model of the dentition. Detected structural elements include structural elements of the physical model of the dentition.

[0055] Structural elements, such as contour points and / or contour lines of dental elements contained in a physical model of the dentition. To detect these contour points and / or contour lines of physical dental elements, a three-dimensional model of these contour points and / or contour lines of a physical model of the patient's dentition can be used. For example, in addition to a three-dimensional digital model, a three-dimensional model of these contour points and / or contour lines of the physical model can also be received.

[0056] If a 3D digital dental element is a 3D digital template of a physical dental element, then the target location, i.e., the predetermined location of the physical dental element within the patient's dentition, is defined by the spatial relationship between the target location and the locations of structural elements within the dentition. This spatial relationship is defined, for example, by a 3D digital model containing at least a portion of the patient's dentition. The structural elements define the locations within the dentition. Starting from this location, a target location relative to the locations of the structural elements can be defined using the spatial relationship defined by the 3D digital model, which may also include these structural elements.

[0057] If the three-dimensional digital dental element is, for example, an adjacent tooth, and the detected structural elements include structural elements of the physical dental element contained in the physical model, then the target location is defined by the spatial relationship between the target location (i.e., the location of the adjacent tooth) and the location of the physical dental element within the physical model. This spatial relationship is defined, for example, by a three-dimensional digital model containing at least a portion of the patient's dentition. Starting from this location, using the spatial relationship defined by the three-dimensional digital model, a target location relative to the location of the structural elements can be defined, wherein the three-dimensional digital model may include digital models of physical dental elements having these structural elements.

[0058] If the three-dimensional digital dental element is, for example, an opposing tooth or an adjacent tooth, and the detected structural elements include structural elements of another dental element contained in the physical model, then the target location is defined by the spatial relationship between the target location (i.e., the location of the opposing tooth or adjacent tooth) and the location of the other dental element in the patient's dentition. This spatial relationship is defined, for example, by a three-dimensional digital model containing at least a portion of the patient's dentition. Starting from that location, using the spatial relationship defined by the three-dimensional digital model, a target location relative to the location of the structural elements can be defined, wherein the three-dimensional digital model may include another dental element having those structural elements.

[0059] For example, when physical dental elements undergo curing, the size of the physical model of the patient's dentition will be magnified according to the inverse shrinkage factor, which describes the shrinkage of the dental material of the physical dental elements.

[0060] When a physical dental element undergoes curing, its geometry can be inspected before curing, provided that the geometry is easily correctable. To ensure the correct dimensions of the physical dental element after curing, it can be manufactured on a scale-up basis relative to the expected final dimensions, according to an inverse shrinkage factor that describes the shrinkage of the dental material. Therefore, scaling up the dimensions can compensate for the shrinkage caused by curing.

[0061] If the physical model of the dental arch is to be configured to include enlarged physical tooth elements, then the physical model of the dental arch can be enlarged by the same scaling factor, i.e., the inverse shrinkage factor, to ensure that the relative position of the physical model of the dental arch with respect to the enlarged physical tooth elements is correct.

[0062] For example, the target position of a 3D digital dental element in the form of a 3D digital template defines a predetermined position within the physical model for arranging the physical dental element. The display of a portion of the 3D digital template at the predetermined position indicates the deviation between the physical dental element's position and the predetermined position.

[0063] This allows users to adjust the position of physical tooth elements within the dental arch physical model to reduce or compensate for deviations. An electronic display device can show an augmented reality view of the physical tooth elements arranged within the dental arch physical model, enhanced with 3D digital tooth elements positioned at a target location (i.e., a predetermined location where the physical tooth elements are intended to be placed). Therefore, the current position of the physical tooth element in the dental arch physical model can be compared to its predetermined position. If the current position deviates from the predetermined position, the current position can be adjusted to match the predetermined position. Thus, the augmented reality view enhanced with 3D digital tooth elements allows for the positioning of physical tooth elements within the dental arch physical model.

[0064] For example, the method further includes detecting the geometry of a physical dental element using repeatedly received optical imaging data. If the optical imaging data acquired using an optical sensor includes optical imaging data of the physical dental element, then the optical imaging data can be used to detect the geometry of the physical dental element.

[0065] For example, the method further includes determining one or more intersections between the surface of a physical dental element and the surface of a three-dimensional digital dental element disposed at the target location. A display of a portion of the three-dimensional digital dental element indicates one or more intersections. To determine one or more intersections, the detected geometry of the physical dental element can be used.

[0066] For example, one or more intersections of the displayed 3D digital dental element can be highlighted. This allows the user to effectively identify portions of the physical dental element that intersect with the 3D digital dental element, as the intersections contained within the 3D digital dental element are highlighted. The geometry of the physical dental element can be adjusted by removing dental material from the physical dental element that intersects with the 3D digital dental element, i.e., the 3D digital dental element is highlighted by the highlighted intersections.

[0067] For example, the method further includes using intersection points to identify one or more portions of a physical dental element that violate geometric constraints. The electronic display device is further controlled to highlight the identified portions of the physical dental element. These highlighted portions of the physical dental element can help adjust the geometry of the physical dental element. The geometry can be adjusted by removing the highlighted portions to bring the adjusted geometry into compliance with geometric constraints.

[0068] For example, the method further includes determining one or more portions of a three-dimensional digital dental element in the form of a three-dimensional digital template of a physical dental element, wherein the one or more portions of the three-dimensional digital dental element are geometries extending beyond the detected physical dental element. An electronic display device is controlled to display only the one or more portions of the three-dimensional digital dental element determined that extend beyond the geometry of the detected physical dental element.

[0069] This allows users to adjust the geometry of a physical tooth element by adding tooth material. To adjust the geometry, tooth material can be added to the position and shape of the display portion of the 3D digital tooth element beyond the detected geometry. If the adjusted geometry of the physical tooth element, after adding tooth material, matches the combination of the physical tooth element's geometry and the display portion of the 3D digital tooth element beyond the detected geometry, then the adjusted geometry conforms to geometric constraints, i.e., it coincides with them.

[0070] For example, the method further includes receiving a three-dimensional digital structural model that defines structural elements and their spatial relationships with each other. Using the structural model can facilitate detection, i.e., identification of these structural elements defined by the structural model. The structural model can be generated, for example, from a three-dimensional digital model. For instance, geometric features (such as contour lines and / or contour points) can be extracted from the three-dimensional digital model as structural elements. The definitions of the extracted structural elements and their spatial relationships with each other can be provided in the form of the structural model.

[0071] A three-dimensional digital structural model is, for example, a three-dimensional digital structural model of a physical dental element that defines the characteristic structural elements of the physical dental element and their spatial relationships. These characteristic structural elements include, for example, characteristic contour points and / or contour lines of the physical dental element. This structural model can be generated, for example, from a three-dimensional digital template of the physical dental element. Using this structural model can facilitate detection, i.e., identifying the structural elements contained within a physical dental element, because the structural model defines what is being searched for.

[0072] A three-dimensional digital structural model is, for example, a three-dimensional digital structural model of a patient's dental arch that defines the characteristic structural elements of the patient's dental arch and the spatial relationships between them. A physical model of the dental arch similar to the patient's dental arch can contain these characteristic structural elements. These characteristic structural elements include, for example, characteristic contour points and / or contour lines of the physical model. This structural model can be generated, for example, from a three-dimensional digital model. Using this structural model can facilitate detection, i.e., identifying the structural elements contained in the physical model of the patient's dental arch, because the structural model defines what is being searched for.

[0073] For example, a structural element may include one or more artificial structural markers. Using artificial markers as structural elements can facilitate their detection because they are easier to identify. For instance, artificial structural markers may be constructed to make them easily distinguishable from other structural elements, particularly those of the dental structure.

[0074] For example, a three-dimensional digital structural model may include artificial structural markers. A three-dimensional digital structural model may, for example, include feature contour points and / or contour lines of the artificial structural markers. For instance, a structural model can be generated using a three-dimensional digital template of a physical tooth element with digitally added artificial structural markers.

[0075] The three-dimensional digital dental element may be, for example, a three-dimensional digital dental restoration model, i.e., a three-dimensional digital model of the target state of one or more teeth achieved through one or more restorative measures. The three-dimensional digital dental element, as a target state model of the corresponding tooth, may, for example, resemble the state of one or more teeth of the patient that need to be achieved; that is, it may be a digital template of one or more teeth of the patient that need to be achieved. The three-dimensional digital dental element may, for example, be generated by a computer system performing a method for determining parameters of orthodontic restoration measures, or it may be received from an external source. An external source may, for example, be a server that provides the three-dimensional digital dental element via a network, such as a cloud server. An external source may, for example, be a removable storage device that provides the three-dimensional digital dental element via direct communication (e.g., wireless or wired connection).

[0076] To generate a 3D digital dental element, one or more 3D digital dental models from a digital dental library can be used, for example. These 3D digital models can also be tailored to the patient's dentition. For example, one or more 3D digital models of one or more other teeth in the patient's dentition can be used to generate the 3D digital dental element, where one or more other teeth may be, for example, one or more opposing teeth or one or more opposing teeth within the same dental arch. These other 3D digital models can be generated, for example, using scan data of their respective other teeth. For example, one or more 3D digital models of other teeth can also be tailored to fit the patient's dentition. For example, one or more 3D digital dental models describing the current state of one or more teeth in the dentition can be used to generate the 3D digital dental element. For example, one or more 3D digital dental models can be adjusted to resemble the target state of one or more teeth obtained by using the 3D digital dental element. For example, the 3D digital dental element can be generated from an initial state.

[0077] For example, three-dimensional digital dental elements can be generated using a trained machine learning module. To generate three-dimensional digital dental elements, the trained machine learning module can, for example, use a three-dimensional digital dental arch model. The three-dimensional digital dental arch model can, for example, describe the current state of a patient's dental arch, wherein the dental elements described by the three-dimensional digital dental elements are applied to that current state of the patient's dental arch. The corresponding three-dimensional digital dental elements can be obtained as output from the processing of the trained machine learning module, in response to providing the three-dimensional digital dental arch model as input. The trained machine learning module can be trained to provide three-dimensional digital dental elements as output, in response to receiving the three-dimensional digital dental arch model as input.

[0078] For example, providing a trained machine learning module may include providing a machine learning module to be trained. A set of training datasets may be provided to train the machine learning module to be trained. For example, each training dataset may include a 3D digital training dental arch model and a 3D digital training restored tooth model. The machine learning module to be trained may be trained to output 3D digital training tooth elements provided with the training datasets as a response to receiving the 3D digital training dental arch models of the respective training datasets as input.

[0079] The machine learning module to be trained can be, for example, an untrained machine learning module, a pre-trained machine learning module, or a partially trained machine learning module. The machine learning module being trained can be an untrained machine learning module that needs to be trained from scratch. Alternatively, the machine learning module being trained can be a pre-trained machine learning module or a partially trained machine learning module. Generally, it may not be necessary to start with an untrained machine learning module, such as in deep learning. For example, it can start with a pre-trained or partially trained machine learning module. The pre-trained or partially trained machine learning module may have already been pre-trained or partially trained for the same or similar tasks. Using pre-trained or partially trained machine learning modules can, for example, make trained machine learning modules train faster, i.e., the training can converge faster. For example, transfer learning can be used to train pre-trained or partially trained machine learning modules. Transfer learning refers to a machine learning process that, when solving different problems, does not need to learn from scratch, but rather learns from previously learned patterns. In this way, previous learning results can be utilized, avoiding starting from zero. A pre-trained machine learning module is a machine learning module that has been previously trained, for example, on a large benchmark dataset, to solve a problem similar to the problem to be solved by the additional learning. For a pre-trained machine learning module, the previous learning process has already been successfully completed. A partially trained machine learning module is a machine learning module that has been partially trained, meaning that the training process may not have been completed. For example, a pre-trained or partially trained machine learning module can, for example, be imported and trained for the purposes disclosed herein.

[0080] Machine learning (ML) refers to computer algorithms that automatically construct probabilistic models, called machine learning modules or models, to extract useful information from training datasets. Machine learning modules can also be called predictive models. Machine learning algorithms build mathematical models based on sample data (called "training data") to make predictions or decisions without explicit programming to perform the task. Machine learning modules can be executed using learning algorithms such as supervised or unsupervised learning. Machine learning modules can be based on a variety of techniques, such as clustering, classification, linear regression, reinforcement, self-learning, support vector machines, and neural networks. Machine learning modules can be data structures or programs such as neural networks, particularly convolutional neural networks, support vector machines, decision trees, and Bayesian networks. Machine learning modules can be used to predict unmeasured values, such as a three-dimensional digital tooth element as the output of a trained machine learning module. A trained machine learning module can predict unmeasured values ​​based on other known values ​​(e.g., taking a three-dimensional digital tooth model as input). As an example, a machine learning module may include a deep learning model.

[0081] A three-dimensional digital dental arch model can be, for example, a three-dimensional digital model of the current state of the dental arch. This three-dimensional digital dental arch model can be generated from scan data obtained through direct and / or indirect scanning of the dental arch. As a model of the current state of the corresponding dental arch, this three-dimensional digital dental arch model can resemble the actual state of the patient's dental arch; that is, it can be a digital copy of the physical dental arch. The three-dimensional digital dental arch model of each tooth can, in particular, resemble the geometry of the physical dental arch and the relative positions of the teeth contained within the arch. The three-dimensional digital dental arch model can be generated by a computer system or received from an external source. An external source can be, for example, a server that provides the three-dimensional digital dental arch model via a network, such as a cloud server. An external source can also be a removable storage device that provides the three-dimensional digital dental arch model via a direct communication connection (e.g., wireless or wired).

[0082] For example, the physical dental elements are the following: veneer, inlay, onlay, overlay, crown, bridge, mockup, waxup, bite plate, provisional, a dental bar, denture, and overdenture.

[0083] Veneers are a layer of restorative material placed on teeth to cover one or more surfaces. For example, veneers can improve the aesthetics of a smile and / or protect tooth surfaces from damage. Indirect veneers are fabricated outside the patient's mouth and then installed on the teeth inside the mouth. Direct veneers are built directly onto the teeth inside the patient's mouth. Teeth can be prepared to receive veneers.

[0084] For example, veneers can be made using two main types of restorative materials: composite materials and dental ceramics. Composite veneers can be placed directly on the teeth, i.e., constructed inside the patient's mouth, or indirectly fabricated outside the patient's mouth and then bonded to the teeth. In contrast, ceramic veneers can only be fabricated indirectly outside the patient's mouth. One type is a full veneer crown, which is a dental restorative element configured to cover all crown surfaces of the tooth (i.e., mesial, distal, labial / buccal, lingual / palatal, and occlusal surfaces). Another type is a laminated veneer crown, which is a thin restorative material that, for example, covers only a single surface of the tooth (e.g., the labial / buccal surface). Laminated veneers are often used for aesthetic purposes.

[0085] Inlays, onlays, and overlays are forms of indirect restorations fabricated outside the patient's oral cavity. They are single, solid components that are matched to the specific size and shape of the receiving site prepared within the tooth. Inlays, onlays, or overlays are placed within the corresponding receiving site and bonded (e.g., cemented) to the prepared tooth. In contrast to crowns, inlays, overlays, and coverings are placed within the receiving site of the damaged tooth.

[0086] An inlay is configured to cover the inner portion, such as the central portion, of the occlusal surface of a tooth. Therefore, an inlay can be used to replace the inner portion of a damaged tooth and cover a portion of the corresponding occlusal surface. The inlay is located within the hard tissue of the tooth but does not cover the cusp or tip portion. A high onlay, compared to an inlay, also covers at least one cusp of the tooth. An overlay, compared to a high onlay, covers a larger portion of the occlusal surface of the tooth beyond the cusps.

[0087] Inlays, onlays, and overlays can be configured, for example, as pinlays. Pinlays are characterized by the additional use of pins to increase their retention force. Therefore, any inlay, onlay, or overlay can be configured as a pinlay by reinforcing it with pins. For example, the pin can be inserted into the edge of the tooth or parallel to the groove. Generally, the base of the pin should be located on an undamaged portion of the tooth surface.

[0088] A dental crown is a dental restorative element in the form of a cap. Such crowns can be provided, for example, as full-coverage crowns or partial crowns (e.g., 7 / 8 or 3 / 4 crowns). Partial crowns, such as 7 / 8 and 3 / 4 crowns, are a hybrid of inlays and full-coverage crowns. They are classified according to the estimated coverage of the prepared tooth wall used to place the corresponding crown. For example, a 3 / 4 crown is designed to cover three-quarters of the tooth wall to be restored, i.e., three-quarters of the tooth wall, such as preserving the buccal surface. For example, a 7 / 8 crown is designed to cover seven-eighths of the tooth wall to be restored. A full-coverage crown completely covers or surrounds the prepared tooth. For example, a crown may be necessary when a large cavity threatens the health of the tooth. Crowns can be bonded to the tooth to which the crown will be received using an adhesive material (e.g., dental cement). Crowns can be made of a variety of materials and can be fabricated using indirect methods, i.e., outside the patient's mouth. Crowns can be used to strengthen teeth, improve their appearance, and / or prevent tooth deterioration.

[0089] A dental bridge is a permanent dental prosthetic element used to replace one or more missing teeth. A dental bridge comprises multiple fused artificial dental elements, such as one or more artificial replacement teeth, that are explicitly connected to adjacent teeth. Traditional dental bridges can be supported by, for example, full overglaze crowns, partial crowns, overglazes, inlays, or other fittings on abutment teeth. The abutment teeth need to be prepared and reduced in size to support the bridge.

[0090] A model prosthesis composite is a composite placed in the patient's mouth so that the patient can see the result of the prosthesis restoration before the actual restoration is performed. Therefore, both the patient and the dentist can assess the expected aesthetic and functional effects of the prosthesis. Furthermore, the anticipated final result can be seen at an early stage in the planning of the prosthesis. This approach ensures that the patient and dentist have the same expected outcome in mind and allows for potential adjustments (e.g., bonding) before the final restoration is fabricated and applied.

[0091] A wax-based prosthesis is a prosthesis made from laboratory wax. This wax model is used to obtain information indicating the suitability of a particular prosthesis. Laboratory wax is used to create the planned prosthesis. The wax model can be used to test the suitability of the planned prosthesis. A potential benefit of using wax is that it allows for easy adjustment of the wax model to test adjustments to the planned prosthesis, and / or adjustment of the planned prosthesis according to requirements determined by the wax model.

[0092] A bite splint is a device that covers and protects teeth. For example, bite splints can be used to protect teeth from damage caused by accidental impacts and external shocks. They can also be used to protect teeth from damage caused by bruxism and / or temporomandibular disorder (TMD). Furthermore, bite splints may be part of certain dental procedures, such as teeth whitening or sleep apnea prevention.

[0093] A temporary restoration is a temporary dental prosthesis designed to serve as a template for the final restoration. It is used for validation, such as ensuring patient occlusal comfort, meeting aesthetic parameters that satisfy the patient's and dentist's expectations, and / or for speech and airflow assessment. Aesthetic parameters may include, for example, shape, midline, smile line, interdental space shapes, and / or contact point location. Speech and airflow assessment ensures that hissing, whistling, and / or slurred speech are absent, and that the prosthetic restoration achieves clear pronunciation similar to the temporary restoration.

[0094] A dental bar is a bar that is installed in a patient's mouth, for example, configured to support a dental implant. The denture is fitted onto the bar so that it is secured to the intended position by the bar.

[0095] Dentures are prosthetic devices used to replace missing teeth, and their configuration is supported by the soft and hard tissues surrounding the oral cavity. For example, dentures can be removable, called removable partial dentures or removable complete dentures. Furthermore, dentures are configured to be bonded or fastened to teeth or dental implants. For example, a partial mandibular denture can replace a portion of the mandibular dental arch. A complete mandibular denture can replace the entire mandibular dental arch. Similarly, a partial maxillary denture can replace a portion of the maxillary dental arch. A complete maxillary denture can replace the entire maxillary dental arch.

[0096] Overlay dentures refer to a specific type of denture, namely, a removable denture that covers and is placed on one or more remaining natural teeth, the roots of natural teeth, and / or dental implants.

[0097] Another aspect of the invention relates to a computer program product for examining the geometry of a physical dental element using motion tracking and augmented reality. The computer program product includes a computer-readable storage medium having program instructions. These program instructions are executable by a processor of a computer device to cause the computer device to receive a three-dimensional digital model including a three-dimensional digital dental element that defines geometric constraints on the geometry of the physical dental element. The program instructions are further executable by the processor of the computer device to cause the computer device to repeatedly perform: receiving optical imaging data from an optical sensor device; detecting a structuring element in the optical imaging data, wherein the structuring element defines a reference point for a target position of the three-dimensional digital dental element; using the reference point defined by the structuring element to determine the target position of the three-dimensional digital dental element; and controlling an electronic display device to display an augmented reality view enhanced by the three-dimensional digital dental element on the physical dental element. At least a portion of the three-dimensional digital dental element is arranged at the target position. The enhancement of at least a portion of the three-dimensional digital dental element indicates whether the geometry of the physical dental element conforms to the geometric constraints defined by the three-dimensional digital dental element arranged at the target position.

[0098] The program instructions provided by the computer program product can also be executed by the processor of the computer device to cause the computer device to perform the method in any of the above examples, which pertains to examining the geometry of a physical tooth element using motion tracking and augmented reality.

[0099] Another aspect of the invention relates to a computer program for examining the geometry of a physical dental element using motion tracking and augmented reality. The computer program includes program instructions. These instructions are executable by a processor of a computer device to cause the computer device to receive a three-dimensional digital model including a three-dimensional digital dental element that defines geometric constraints on the geometry of the physical dental element. The program instructions are further executable by the processor of the computer device to cause the computer device to repeatedly perform: receiving optical imaging data from an optical sensor device; detecting a structuring element in the optical imaging data, the structuring element defining a reference point for a target position of the three-dimensional digital dental element; using the reference point defined by the structuring element to determine the target position of the three-dimensional digital dental element; and controlling an electronic display device to display an augmented reality view enhanced by the three-dimensional digital dental element on the physical dental element. At least a portion of the three-dimensional digital dental element is arranged at the target position. The enhancement of at least a portion of the three-dimensional digital dental element indicates whether the geometry of the physical dental element conforms to the geometric constraints defined by the three-dimensional digital dental element arranged at the target position.

[0100] The program instructions provided by the computer program can further be executed by the processor of the computer device to cause the computer device to perform the method described in any of the above examples, which is for closing one or more holes at the bottom of a three-dimensional digital preparation model for tooth preparation.

[0101] Another aspect of the invention relates to a computer device for examining the geometry of a physical dental element using motion tracking and augmented reality. The computer device includes a processor and a memory, wherein the memory stores program instructions executable by the processor. The computer device further includes components for controlling an electronic display device to display at least a portion of a three-dimensional digital dental element. The processor executes the program instructions to cause the computer device to receive a three-dimensional digital model including the three-dimensional digital dental element, which defines geometric constraints on the geometry of the physical dental element. The processor's execution of the program instructions also causes the computer device to repeatedly perform: receiving optical imaging data from an optical sensor device; detecting a structuring element in the optical imaging data, wherein the structuring element defines a reference point for a target position of the three-dimensional digital dental element; using the reference point defined by the structuring element to determine the target position of the three-dimensional digital dental element; and controlling the electronic display device to display an augmented reality view enhanced by the three-dimensional digital dental element on the physical dental element. At least a portion of the three-dimensional digital dental element is arranged at the target position. The enhancement of at least a portion of the three-dimensional digital dental element indicates whether the geometry of the physical dental element conforms to the geometric constraints defined by the three-dimensional digital dental element arranged at the target position.

[0102] The processor executing program instructions can also cause the computer device to perform the method described in any of the above embodiments, which uses motion tracking and augmented reality to examine the geometry of the physical tooth element.

[0103] It should be understood that one or more of the above embodiments can be combined, provided that the combined embodiments are not mutually exclusive. Attached Figure Description

[0104] The example will now be described in more detail with reference to the accompanying drawings:

[0105] Figure 1 An exemplary physical tooth element is shown;

[0106] Figure 2 Demonstrates configuration for detection Figure 1 An exemplary three-dimensional digital structural model of a physical tooth element;

[0107] Figure 3 Showing Figure 1 An exemplary three-dimensional digital structural model in the form of a digital template of a physical tooth element;

[0108] Figure 4 Showing Figure 1 An exemplary augmented reality view of physical tooth components;

[0109] Figure 5 Showing Figure 1 An exemplary augmented reality view of physical tooth components;

[0110] Figure 6 Showing Figure 1 An exemplary augmented reality view of physical tooth components;

[0111] Figure 7 An exemplary physical tooth row model is shown;

[0112] Figure 8 Demonstrates configuration for detection Figure 7 An exemplary three-dimensional digital structural model of a physical tooth row model;

[0113] Figure 9 It showcases 3D digital templates of teeth that need to be added to the dental arch. Figure 8 An exemplary three-dimensional digital structural model;

[0114] Figure 10 Demonstrates the addition of physical tooth models Figure 7 An exemplary physical tooth row model;

[0115] Figure 11 Showing Figure 8 Three-dimensional digital structure model Figure 7 An exemplary image of a physical tooth row model;

[0116] Figure 12 Demonstrates enhancement through a 3D digital template of teeth. Figure 7 An exemplary augmented reality view on a physical toothed model;

[0117] Figure 13 This demonstrates the use of 3D digital templates to enhance the physical dental arch model. Figure 7 An exemplary augmented reality view;

[0118] Figure 14 An exemplary physical tooth row model with added markers is shown;

[0119] Figure 15 The configuration for detection was shown. Figure 14 An exemplary three-dimensional digital structural model of the physical tooth row model with labels;

[0120] Figure 16 An exemplary physical dental arch model with physical tooth models added is shown;

[0121] Figure 17 Showing Figure 16 An exemplary augmented reality view enhanced using a three-dimensional digital template of teeth on a physical dental arch model;

[0122] Figure 18 Showing Figure 16 An exemplary augmented reality view enhanced using a three-dimensional digital template of teeth on a physical dental arch model;

[0123] Figure 19 An exemplary physical dental arch model with bridge receiving sites is shown;

[0124] Figure 20 Demonstrates configuration for detection Figure 19 An exemplary three-dimensional digital structural model of a physical tooth row model;

[0125] Figure 21 This showcases a 3D digital template of a dental bridge that needs to be added to the dentition. Figure 19 An exemplary three-dimensional digital structure model;

[0126] Figure 22 Showing Figure 21 Three-dimensional digital structure model Figure 19 An exemplary image of a physical tooth row model;

[0127] Figure 23 Showing Figure 19 An exemplary augmented reality view on a physical dental arch model enhanced with a 3D digital template of a dental bridge;

[0128] Figure 24 Showing Figure 19 An exemplary augmented reality view on a physical dental arch model enhanced with a 3D digital template of a dental bridge;

[0129] Figure 25 Showing Figure 19 An exemplary augmented reality view on a physical dental arch model enhanced with a 3D digital template of a dental bridge;

[0130] Figure 26 Showing Figure 19 An exemplary augmented reality view on a physical dental arch model enhanced with a 3D digital template of a dental bridge;

[0131] Figure 27 An exemplary augmented reality view of a physical tooth element 100, enhanced by a three-dimensional digital model of adjacent teeth, is shown.

[0132] Figure 28 An exemplary augmented reality view of a physical tooth element 100, enhanced by a three-dimensional digital model of adjacent teeth, is shown.

[0133] Figure 29 An exemplary computer device is shown that uses motion tracking and augmented reality to examine the geometry of physical tooth components;

[0134] Figure 30 An exemplary computer device is shown that uses motion tracking and augmented reality to examine the geometry of physical tooth components;

[0135] Figure 31 A flowchart illustrating an exemplary method for examining the geometry of a physical tooth component using motion tracking and augmented reality is shown;

[0136] Figure 32 A flowchart illustrating an exemplary method for examining the geometry of a physical tooth component using motion tracking and augmented reality is shown;

[0137] Figure 33 A flowchart illustrating an exemplary method for examining the geometry of a physical tooth component using motion tracking and augmented reality is shown;

[0138] Figure 34 An exemplary system is shown that uses motion tracking and augmented reality to examine the geometry of physical tooth components; and

[0139] Figure 35 An exemplary electronic display device for displaying augmented reality views is shown. Detailed Implementation

[0140] In the following text, similar elements are indicated by the same reference numerals.

[0141] Figure 1 An exemplary physical tooth element 100 is shown. Figure 1 An exemplary physical tooth element 100 has the form of a crown. Figure 2 An exemplary three-dimensional digital structure model 102 is shown, which is configured for detection. Figure 1 The physical tooth element 100 is in the form of a crown. A three-dimensional digital structural model 102 defines... Figure 1 The structural elements to be detected in the optical imaging data of the physical tooth element 100 and their spatial relationships with each other. Figure 2 The three-dimensional digital structure model 102 in the middle defines Figure 1 A contour model of the outline of an exemplary physical tooth element 100. Figure 2 The three-dimensional digital structural model 102 can be, for example, through tooth elements (i.e., such as...) Figure 3 The three-dimensional digital model of the shown three-dimensional digital tooth element is used to generate the data. Optionally, a three-dimensional digital structural model 102 can be provided to define only the three-dimensional digital tooth element. Figure 1The outline and / or outline points of a portion of an exemplary physical tooth element 100. The physical tooth element 100 can be detected in optical imaging data acquired by an optical sensor device (e.g., a camera) by detecting structural elements defined by the three-dimensional structural model 102. For example, the position, orientation, and size of the physical tooth element 100 can be determined in the optical imaging data. Figure 3 An exemplary three-dimensional digital model of a dental element is shown, namely, a three-dimensional digital dental element 104. The three-dimensional digital dental element 104 is, for example,... Figure 1 A three-dimensional digital template of a physical dental element 100. The three-dimensional digital dental element 104 can, for example, be used for examination. Figure 1 The geometry of the physical tooth element 100.

[0142] Figure 4 Showing Figure 1 An exemplary augmented reality view of the physical dental element 100. Hereinafter, the augmented reality view may be provided, for example, by an electronic display device configured to enhance the user's visual perception of the physical dental element 100 through the displayed three-dimensional digital dental element 104 and / or a portion thereof. The three-dimensional digital dental element 104 may be displayed by projection or reflection on the surface of a transparent display (e.g., a lens). For example, the electronic display device providing the augmented reality view may include a non-transparent display showing a portion of the three-dimensional digital dental element 104, which is combined with a continuous frame sequence including optical imaging data of the physical dental element 100.

[0143] The optical imaging data of the physical dental element 100 can, for example, be used to detect the geometry of the physical dental element 100. A three-dimensional digital dental element 104 is arranged at the target location, for example, at the same location of the physical dental element 100 detected in the optical imaging data. Figure 4 As shown, a portion 106 of the physical dental element 100 extends beyond the geometry defined by the three-dimensional digital dental element 104 covering the physical dental element 100. For example, the portion 106 that violates the geometric constraints can be highlighted to indicate which portion of the physical dental element 100 must be adjusted (e.g., removed) to conform to the geometric constraints defined by the three-dimensional digital dental element 104. Figure 5 Shown in Figure 1An alternative augmented reality view of the physical tooth element 100 is shown, depicting the boundary line 107 of a unique portion (i.e., portion 106) of the three-dimensional digital tooth element 104, which defines the intersection between the surfaces of the physical tooth element 100 and the three-dimensional digital tooth element 104. The portion 106 of the physical tooth element 100 extending beyond the geometry defined by the three-dimensional digital tooth element 104 is highlighted.

[0144] Figure 6 Showing Figure 1 Another exemplary augmented reality view of the physical tooth element. In this document, portion 108 is a part of the geometry of a three-dimensional digital tooth element 104 extending beyond the detected physical tooth element 100. Figure 6 In the example, the augmented reality view only enhances a portion 108 of the 3D digital tooth element 104 that extends beyond the detected geometry of the physical tooth element 100. Therefore, it is shown how the physical tooth element 100 can be extended to match the geometric target shape defined by the 3D digital tooth element 104 for the physical tooth element 100. For example, the physical tooth element 100 can be adjusted by adding tooth material at the location defined by portion 108 and in the shape defined by portion 108.

[0145] Figure 7 An exemplary physical dental arch model 120 is shown, such as a patient's mandibular dental arch. The physical dental arch model 120 includes prepared teeth 132 on which physical dental elements 100 in the form of crowns are arranged. The space for the physical dental elements 100 is limited, for example, by two adjacent teeth 134, which are arranged relative to the prepared teeth 132 in the distal and mesial directions, respectively. Figure 8 The configuration for detection is shown. Figure 7 An exemplary three-dimensional digital structure model 122 of the physical tooth row model 120.

[0146] The three-dimensional digital structure model 122 defines Figure 7 The structural elements to be detected in the optical imaging data of the physical tooth row model 120 shown, as well as their spatial relationships with each other. Figure 8 The three-dimensional digital structure model 122 in the definition Figure 7 The physical tooth row model 120 is a contour model of the outline. Figure 8 The three-dimensional digital structural model 122 can be generated, for example, from a three-dimensional digital model of the patient's mandibular dental arch. Optionally, a structural model 122 may be provided, which only defines... Figure 7The physical tooth model 120 can be identified by detecting the contour lines and / or contour points of a portion thereof. The physical tooth model 120 can be detected in optical imaging data acquired by an optical sensor device (e.g., a camera) by detecting structural elements defined by the structural model 122. For example, the position, orientation, and size of physical tooth elements 100 within the optical imaging data can be determined. Figure 9 It shows Figure 8 An exemplary three-dimensional digital structure model 122 includes a three-dimensional digital element 104, which is a three-dimensional digital template of a physical tooth element 100 in the form of a crown to be arranged on a prepared tooth 132. The prepared tooth 132 defines the target position of the three-dimensional digital element 104 relative to the three-dimensional digital structure model 122 for arranging the three-dimensional digital element 104.

[0147] Figure 10 Showing Figure 7 The exemplary physical dental arch model 120 shown includes physical tooth elements 100 arranged in the form of crowns on prepared teeth 132. Figure 11 Showing Figure 7 An exemplary image 112 of the physical tooth row model 120 shown, wherein Figure 8 The three-dimensional digital structural model 122 is used to detect the physical tooth row model 120 within the optical imaging data 112. The position, orientation, and / or size of the three-dimensional digital structural model 122 can be adjusted, for example, until the three-dimensional digital structural model 122 (i.e., the structural element defined by the three-dimensional digital structural model 122) matches a structure within the optical imaging data 112 (i.e., the structural element contained in the optical imaging data 112), then the structure is identified as the physical tooth row model 120 (i.e., the structural element of the physical tooth row model 120 to be detected).

[0148] Figure 12 Showing Figure 7 An exemplary augmented reality view 110 on the physical tooth row model 120 shown, which enhances... Figure 9 The three-dimensional digital element 104 illustrates the target geometric shape and / or target position of the physical tooth element 100 arranged within the physical tooth model 120. Therefore, it is possible to effectively check whether the geometry and / or position conforms to the target geometric shape and / or target position defined by the enhanced three-dimensional digital element 104. The user can visually inspect the geometry and / or position of the physical tooth element 100 arranged within the physical tooth model 120. Figure 13 Showing Figure 7 An exemplary augmented reality view 110 on the physical tooth row model 120 shown, which enhances... Figure 9 104 three-dimensional digital components. Figure 13 The augmented reality view 110 shown is... Figure 12 The augmented reality view 110 shown is the same, the only difference being that, Figure 13 The transparency of the 3D digital tooth element 104 displayed in the augmented reality view 110 has been increased. Increasing transparency can, for example, allow the user to see the physical tooth element 100 better in the augmented reality view 110. For instance, the transparency can be increased when the user wants to adjust the physical tooth element 100, and decreased when the user wants to check the adjustment results through the 3D digital element 104.

[0149] Figure 14 An exemplary physical dental arch model 120 is shown, such as a patient's mandibular dental arch. For example, Figure 14 The exemplary physical tooth row model 120 shown corresponds to Figure 7 An exemplary physical dental arch model 120. Furthermore, the physical dental arch model 120 includes markers 136. These markers 136 are, for example, non-anatomical structural elements and can be used as structural elements detected within the optical imaging data of the physical dental arch model 120. By detecting these structural elements (i.e., markers 136), the exemplary physical dental arch model 120 can be detected, for example, in the optical imaging data.

[0150] Figure 15 The configuration for detection was shown. Figure 14 An exemplary three-dimensional digital structure model 122 of the physical tooth row model 120 shown. Figure 15 The exemplary three-dimensional digital structure model 122 can, for example, correspond to the model with added numerical markers 138. Figure 8 The three-dimensional digital structure model 122. Figure 15 The position and shape of the digital markers 138 in the three-dimensional digital structure model 122 are related to... Figure 14 The position and shape of the physical marker 136 in the exemplary physical tooth model 120 correspond to those of the physical marker 136. Therefore, by matching the digital marker 138 with the physical marker 136 in the optical image of the three-dimensional digital structure model 122, the physical marker 136 can be detected in the optical imaging data, thereby detecting the three-dimensional digital structure model 122.

[0151] Figure 16 An exemplary physical dentition model 120 is shown, such as a portion of a patient's mandibular dental arch. A physical dental element 100 in the form of a crown is disposed between two adjacent teeth 134, which are positioned distally and mesially relative to the physical dental element 100, respectively. The physical dental element 100 may be disposed, for example, on a prepared tooth or on an implant abutment. Figure 17 Showing Figure 16An exemplary augmented reality view 110 on a physical toothed model 120, wherein the augmented reality view 110 enhances the three-dimensional digital element 104. The three-dimensional digital element 104 is... Figure 16 A three-dimensional digital template of the physical dental element 100 is shown. The three-dimensional digital element 104 illustrates the target shape and target position of the physical dental element 100 arranged within the physical dental model 120. Therefore, it is possible to effectively check whether the geometry and / or position conforms to the target geometric shape and / or target position defined by the enhanced three-dimensional digital element 104. The user can visually inspect the geometry and / or position of the physical dental element 100 arranged within the physical dental model 120.

[0152] Figure 18 It shows Figure 16 An exemplary augmented reality view 110 on a physical toothed model 120, which enhances a three-dimensional digital element 104, the three-dimensional digital element 104 being... Figure 16 A three-dimensional digital template of physical dental element 100. Figure 18 The augmented reality view 110 shown is... Figure 17 The augmented reality view 110 shown is the same, the only difference is that, Figure 18 The transparency of the displayed 3D digital tooth element 104 has been increased. Increasing transparency can, for example, allow the user to see the physical tooth element 100 better in the augmented reality view 110. For instance, transparency can be increased when the user wants to adjust the physical tooth element 100, and decreased when the user wants to check the adjustment results through the 3D digital element 104.

[0153] Figure 19 An exemplary physical dentition model 120 is shown, such as a portion of a patient's mandibular dental arch. This physical dentition model 120 includes two receiving sites 133 configured to receive teeth of a physical dental element in the form of a dental bridge. The bridge is positioned distally to adjacent teeth 134. The physical dental element in the form of a dental bridge may, for example, include three teeth. Two of the three teeth may be positioned at locations defined by the receiving sites 133, while the third tooth will be positioned at a location 135 between the two receiving sites.

[0154] Figure 20 The configuration for detection is shown. Figure 19 An exemplary three-dimensional digital structural model 122 of the physical tooth row model 120 is shown. Structural model 122 defines the... Figure 19 The structural elements to be detected in the optical imaging data of the physical tooth row model 120 and their spatial relationships with each other. Figure 20 Structural model 122 is defined Figure 19The physical tooth row model 120 is a contour model of the outline. Figure 20 The structural model 122 can be generated, for example, using a three-dimensional digital model of the patient's mandibular dental arch. Alternatively, the structural model 122 can be provided to define only... Figure 19 The outline and / or outline points of a portion of the physical tooth row model 120 are shown. The physical tooth row model 120 can be detected in optical imaging data acquired by an optical sensor device (e.g., a camera) by detecting structural elements defined by the structural model 122.

[0155] Figure 21 It showcases a device with 104 three-dimensional digital elements. Figure 19 An exemplary three-dimensional digital structural model 122 is provided, wherein the three-dimensional digital element 104 is a three-dimensional digital template of a physical tooth element in the form of a dental bridge, arranged at a receiving site 133 next to an adjacent tooth 134. The receiving site 133 defines a target position of the three-dimensional digital element 104 relative to the three-dimensional digital structural model 122, at which the three-dimensional digital element 104 is arranged.

[0156] Figure 22 It shows having Figure 21 3D digital structure model 122 Figure 19 An exemplary image of an exemplary physical tooth row model 120, wherein, Figure 21 A three-dimensional digital structural model 122 is used to detect the physical tooth row model 120 within the optical imaging data 112. The position, orientation, and / or size of the three-dimensional digital structural model 122 can be adjusted, for example, until the three-dimensional digital structural model 122 (i.e., the structural element defined by the three-dimensional digital structural model 122) matches a structure within the optical imaging data 112 (i.e., the structural element contained in the optical imaging data 112), and the structure is then identified as the physical tooth row model 120 (i.e., the structural element of the physical tooth row model 120 to be detected).

[0157] Figure 23 It shows the way Figure 21 The dental bridge-shaped three-dimensional digital element 104 shown is enhanced. Figure 19 An exemplary augmented reality view 110 is shown on a physical dental arch model 120. A three-dimensional digital element 104 illustrates the geometric target shape and / or target position of the physical tooth element 100 arranged within the physical dental arch model 120. Therefore, it is possible to efficiently check whether the geometry and / or position conforms to the geometric target shape and / or target position defined by the augmented three-dimensional digital element 104. The user can visually inspect the geometry and / or position of the physical tooth element 100 arranged within the physical dental arch model 120.

[0158] Figure 24 It shows in Figure 19The use of physical tooth row model 120 Figure 21 An exemplary augmented reality view 110 is enhanced by a three-dimensional digital element 104 in the form of a dental bridge. Figure 24 The augmented reality view 110 in the middle shows the relationship with Figure 23 The augmented reality view 110 is the same physical toothed model 120 as the physical toothed model 120, only from a different perspective. Therefore, the user can move and / or rotate the physical toothed model 120 while the augmented reality view 110 is provided on top of it. The user can detect the physical toothed model 120 from different directions, and the augmented reality view 110 is enhanced by a 3D digital element 104, the position and / or orientation of which is updated in real time. Therefore, the user may have the impression that the enhanced 3D digital element 104 moves and / or rotates along with the physical toothed model 120.

[0159] Figure 25 It shows in Figure 19 The use of physical tooth row model 120 Figure 21 An exemplary augmented reality view 110 is enhanced by a three-dimensional digital element 104 in the form of a dental bridge. Figure 15 The augmented reality view 110 shown is... Figure 13 The augmented reality view 110 shown is the same, the only difference is that, Figure 15 The transparency of the 3D digital tooth element 104 displayed in the image has been increased. Increasing transparency can, for example, allow the user to better see the structure beneath the physical tooth element 100 and / or the 3D digital tooth element 104 within the augmented reality view 110. For instance, transparency can be increased when the user wants to adjust the physical tooth element 100, and decreased when the user wants to use the 3D digital element 104 to check the results of the adjustment.

[0160] Figure 26 It shows in Figure 19 On the physical tooth row model 120, using Figure 21 An exemplary augmented reality view 110 is enhanced by a three-dimensional digital element 104 in the form of a dental bridge. Figure 26 The augmented reality view 110 shown here only displays the image from different perspectives. Figure 25 The augmented reality view 110 shown is the same physical toothed model 120. Therefore, the user can move and / or rotate the physical toothed model 120 while the augmented reality view 110 is displayed on the physical toothed model 120.

[0161] Figure 27An exemplary augmented reality view 110 is shown on a physical dental element 100 (e.g., in the form of a crown), which is augmented using a three-dimensional digital model 104 of two adjacent teeth 134. The three-dimensional digital model 104 may include two adjacent teeth 134, between which the physical dental element 100 will be arranged. The augmented reality view 110 on the physical dental element 100 with the three-dimensional digital model 104 of the two adjacent teeth 134 can, for example, be used to examine the arrangement of the physical dental element 100 between the two adjacent teeth 134. For example, the two adjacent teeth 134 may define approximate constraints on the geometry of the physical dental element 100. Figure 27 As shown in the augmented reality view 110, the user can visually check whether the geometry of the physical tooth element 100 conforms to the constraints defined by the adjacent teeth 134. Figure 28 It shows Figure 27 An exemplary augmented reality view 110 is generated on the physical dental element 100 using a three-dimensional digital model 104 of the patient's dental arch portion. The dental arch may include two adjacent teeth 134. Furthermore, the three-dimensional digital model 104 may include one or more additional teeth of the dental arch and a portion of the dental arch's gingiva, i.e., a portion of the gingiva in which the teeth of the dental arch are arranged.

[0162] Figure 29 A schematic diagram of an exemplary computer device 10 is shown, illustrating the use of motion tracking and augmented reality to examine the geometry of a physical tooth element. Computer device 10 can operate with a number of other general-purpose or special-purpose computing system environments or configurations. Computer device 10 can be described in the general context of computer device executable instructions, such as program modules comprising executable program instructions that can be executed by computer device 10. Generally, program modules can include routines, programs, objects, components, logic, and data structures that perform a specific task or implement a specific abstract data type. Computer device 10 can be practiced in a distributed computing environment where tasks are performed by remote processing devices linked via a communication network. In a distributed computing environment, program modules can reside in local and remote computer device storage media, including memory storage devices.

[0163] exist Figure 29In this diagram, computer device 10 is shown as a general-purpose computing device. Components of computer device 10 may include, but are not limited to, one or more processors or processing units 16, system memory 28, and a bus 18 that couples various system components, including system memory 28, to processors 16. Bus 18 represents one or more types of bus architectures, including memory buses or memory controllers, peripheral buses, accelerated graphics ports, and processor or local buses using any of the various bus architectures. By way of example and not limitation, architectures include Industry Standard Architecture (ISA) buses, MicroChannel Architecture (MCA) buses, Enhanced ISA (EISA) buses, Video Electronics Standards Association (VESA) local buses, and Peripheral Component Interconnect (PCI) buses.

[0164] Computer device 10 may include various computer device readable storage media. The media may be any available storage media accessible to computer device 10, and may include volatile and non-volatile storage media, removable and non-removable storage media.

[0165] System memory 28 may include computer device readable storage media in the form of volatile memory, such as random-access memory (RAM) 30 and / or cache memory 32. Computer device 10 may further include other removable / non-removable computer device storage media, volatile / non-volatile computer device storage media. For example, storage system 34 may be provided for reading and writing from a non-removable, non-volatile magnetic medium, also known as a hard disk drive. For example, a disk drive may be provided for reading and writing from a removable non-volatile disk (e.g., floppy disk), and an optical disk drive may be provided for reading and writing from a removable non-volatile optical disk (e.g., CD-ROM, DVD-ROM, or other optical storage media). In these cases, each storage medium may be connected to bus 18 via one or more data media interfaces. Memory 28 may, for example, include a three-dimensional digital model containing three-dimensional digital tooth elements. The three-dimensional digital tooth elements define the geometric constraints of the geometry of the physical tooth elements. Memory 28 may, for example, include a three-dimensional digital structural model that defines the structural elements to be detected within the optical imaging data and their spatial relationships with each other.

[0166] Program 40 may have one or more program modules 42, and these are stored in memory 28 by way of example. Program modules 42 may include an operating system, one or more applications, other program modules, and / or program data. Each of these program modules 42 (i.e., the operating system, one or more applications, other program modules, and / or program data, or some combination thereof) may include an implementation of a network environment. One or more of the program modules 42 may be configured to examine the geometry of a physical tooth element using motion tracking and augmented reality. This examination may, for example, include receiving a three-dimensional digital model containing a three-dimensional digital tooth element. The three-dimensional digital model may, for example, be stored in memory 28. The three-dimensional digital tooth element defines the geometric constraints of the geometry of the physical tooth element. Furthermore, the following steps can be repeated: receiving optical imaging data from an optical sensor device (e.g., an optical sensor device included in external device 14); detecting a structuring element in the optical imaging data, wherein the structuring element defines a reference point for the target position of the three-dimensional digital dental element; using the reference point defined by the structuring element to determine the target position of the three-dimensional digital dental element; and controlling the electronic display device 24 to display an augmented reality view enhanced by the three-dimensional digital dental element on the physical dental element. At least a portion of the three-dimensional digital dental element can be arranged at the target position. The augmented reality view using said at least a portion of the three-dimensional digital dental element can indicate whether the geometry of the physical dental element conforms to the geometric constraints defined by the three-dimensional digital dental element arranged at the target position.

[0167] Computer device 10 can communicate with one or more peripheral devices 14, such as optical sensor devices. The one or more peripheral devices 14 may also include, for example, a keyboard, a pointing device (such as a mouse), and a display 24 that enables a user to interact with computer device 10. Peripheral devices 14 and computer device 10 can communicate via input / output (I / O) interface 22. Computer device 10 can also communicate with one or more networks, such as local area networks (LANs), wide area networks (WANs), and / or public networks (such as the Internet), via network adapter 20. Network adapter 20 can communicate with other components of computer device 10 via bus 18. It should be understood that, although not shown, other hardware and / or software components can be used in conjunction with computer device 10.

[0168] Figure 29 The computer device 10 shown can, for example, be configured to examine the geometry of physical tooth elements using motion tracking and augmented reality.

[0169] Figure 30An exemplary computer device 10 is shown for examining the geometry of a physical tooth element 100 using motion tracking and augmented reality. The computer device 10 can be configured, for example, as... Figure 29 As shown. The computer device 10 may include hardware component 54, which includes one or more processors and memory for executing program instructions. Executing the program instructions by one or more processors can enable one or more processors to control the computer device 10, thereby enabling the use of motion tracking and augmented reality to examine the geometry of the physical tooth element 100.

[0170] The computer device 10 may also include one or more input devices, such as a keyboard 58 and a mouse 56, enabling a user to interact with the computer device 10. The computer device 10 may, for example, include one or more optical scanners 59 configured to acquire optical imaging data of the physical dental element 100. For example, the physical dental element may be arranged in the form of a crown within a physical dental arch model 120 scanned using one or more optical scanners 59. Furthermore, the computer device 10 may include one or more output devices, such as a display 24, to provide control elements 52, such as GUI elements, to a graphical user interface 50. The display 24 may, for example, be configured to display an augmented reality view 110 enhanced using three-dimensional digital dental elements 104 on the physical dental element 100. The physical dental element 100 may, for example, be arranged within a physical dental arch model 120. For example, additional electronic display devices may be provided, configured to display the augmented reality view enhanced using three-dimensional digital dental elements on the physical dental element.

[0171] Figure 30 The computer device 10 shown can, for example, be configured to examine the geometry of the physical tooth element 100 using motion tracking and augmented reality.

[0172] Figure 31 An exemplary method for examining the geometry of a physical tooth element using motion tracking and augmented reality is illustrated. In box 200, a three-dimensional digital model including a three-dimensional digital tooth element is received. The three-dimensional digital tooth element defines the geometric constraints of the geometry of the physical tooth element. The method further includes repeating boxes 202 through 214. In box 202, optical imaging data is received from an optical sensor device.

[0173] In box 204, structural elements within the optical imaging data are detected. Structural elements define reference points for the target location of the 3D digital dental element. To enable and / or facilitate the detection of structural elements, the 3D digital structural model needs to define structural elements (e.g., characteristic geometric features), such as identical contour points and / or contour lines, and their spatial relationships. The 3D digital structural model is, for example, a 3D digital structural model of a physical dental element, which defines the characteristic structural elements of the physical dental element and their spatial relationships. Characterized structural elements include, for example, characteristic contour points and / or contour lines of the physical dental element. The structural model can be generated, for example, using a 3D digital template of the physical dental element. Using a 3D digital structural model facilitates the detection, i.e., the identification of structural elements included in the physical dental element, because the structural model defines what is being sought. Structural elements can, for example, include one or more artificial structural markers. Using artificial markers as structural elements facilitates the detection of structural elements because artificial markers can be more easily detected. For example, artificial structural markers can be formed that are easily distinguishable from other structural elements, especially structural elements of the dental structure. For example, the 3D digital structural model can include artificial structural markers. Three-dimensional digital structural models can include, for example, characteristic contour points and / or contour lines marked with artificial structures. For instance, a structural model can be generated using a three-dimensional digital template of a physical tooth element with digitally added artificial structural markers.

[0174] In box 206, a target position of the 3D digital dental element is determined using reference points defined by the structural elements. In box 214, an electronic display device is controlled to display an augmented reality view enhanced by the 3D digital dental element on the physical dental element. At least a portion of the 3D digital dental element is positioned at the target position. The augmented reality view of at least a portion of the 3D digital dental element is used to indicate whether the geometry of the physical dental element conforms to the geometric constraints defined by the 3D digital dental element positioned at the target position.

[0175] Figure 32 An exemplary method for examining the geometry of a physical tooth element using motion tracking and augmented reality is illustrated. In box 200, a three-dimensional digital model including a three-dimensional digital tooth element is received. The three-dimensional digital tooth element defines the geometric constraints of the geometry of the physical tooth element. The method also includes repeating boxes 202 through 214. In box 202, optical imaging data is received from an optical sensor device.

[0176] In box 204, structural elements within the optical imaging data are detected. Structural elements define reference points for the target location of a 3D digital dental element. To enable and / or facilitate the detection of structural elements, the 3D digital structural model needs to define structural elements (e.g., characteristic geometric features), such as identical contour points and / or contour lines, and their spatial relationships. The 3D digital structural model is, for example, a 3D digital structural model of a physical dental element, which defines the characteristic structural elements of the physical dental element and the spatial relationships between said characteristic structural elements. Characterized structural elements include, for example, characteristic contour points and / or contour lines of the physical dental element. The structural model can be generated, for example, using a 3D digital template of the physical dental element. Using a 3D digital structural model facilitates the detection, i.e., the identification of structural elements included in the physical dental element, because the structural model defines what needs to be found. Structural elements can, for example, include one or more artificial structural markers. Using artificial markers as structural elements facilitates the detection of structural elements because artificial markers can be more easily detected. For example, artificial structural markers can be formed that are easily distinguishable from other structural elements, especially structural elements of the dental structure. For example, the 3D digital structural model can include artificial structural markers. A three-dimensional digital structural model may include, for example, characteristic contour points and / or contour lines marked with artificial structures. For instance, a structural model can be generated using a three-dimensional digital template of a physical tooth element with digitally added artificial structural markers.

[0177] In box 206, a target position of the 3D digital dental element is determined using reference points defined by the structural element. In box 208, the geometry of the physical dental element can be detected using the optical imaging data received in box 202. In box 210, one or more intersection points between the surface of the physical dental element and the surface of the 3D digital dental element arranged at the target position are determined. To determine one or more intersection points, the geometry of the physical dental element detected in box 208 can be used. In box 214, an electronic display device is controlled to display an augmented reality view on the physical dental element enhanced by the 3D digital dental element. At least a portion of the 3D digital dental element is arranged at the target position. The augmented reality view of at least a portion of the 3D digital dental element indicates whether the geometry of the physical dental element conforms to the geometric constraints defined by the 3D digital dental element arranged at the target position. For example, one or more intersection points determined in box 210 can be indicated. For example, one or more intersection points of the displayed 3D digital dental element can be highlighted. This allows users to effectively identify portions of the physical tooth element that intersect with the 3D digital tooth element, as the intersection points included by the 3D digital tooth element are highlighted. Users can adjust the geometry of the physical tooth element, for example, by removing tooth material that intersects with the 3D digital tooth element from the physical tooth element, i.e., by highlighting the intersection points. As steps 202 through 214 are repeated, the augmented reality view on the physical tooth element can, for example, display the progress of the adjustment in real time. For example, the highlighted intersection points can be continuously reduced by adjusting, for example, removing tooth material from the physical tooth element, until the highlighted intersection points disappear, i.e., there is no intersection, and the adjusted geometry conforms to geometric constraints. The augmented reality view can show the user the progress of the adjustment as it is performed.

[0178] Figure 33 An exemplary method for examining the geometry of a physical tooth element using motion tracking and augmented reality is illustrated. In box 200, a three-dimensional digital model including a three-dimensional digital tooth element is received. The three-dimensional digital tooth element defines the geometric constraints of the geometry of the physical tooth element. The method also includes repeating boxes 202 through 214. In box 202, optical imaging data is received from an optical sensor device.

[0179] In box 204, structural elements within the optical imaging data are detected. These structural elements define reference points for the target location of the 3D digital dental element. To enable and / or facilitate the detection of structural elements, the 3D digital structural model needs to define these structural elements (e.g., characteristic geometric features), such as identical contour points and / or contour lines, and their spatial relationships. The 3D digital structural model is, for example, a 3D digital structural model of a physical dental element, which defines the characteristic structural elements of the physical dental element and their spatial relationships. Characterized structural elements include, for example, characteristic contour points and / or contour lines of the physical dental element. The structural model can be generated, for example, using a 3D digital template of the physical dental element. Using a 3D digital structural model facilitates the detection, i.e., the identification of structural elements included in the physical dental element, because the structural model defines what is being sought. Structural elements can, for example, include one or more artificial structural markers. Using artificial markers as structural elements facilitates the detection of structural elements because artificial markers can be more easily detected. For example, artificial structural markers can be formed that are easily distinguishable from other structural elements, particularly structural elements of the dental structure. For example, the 3D digital structural model can include artificial structural markers. Three-dimensional digital structural models can include, for example, characteristic contour points and / or contour lines marked with artificial structures. For instance, a structural model can be generated using a three-dimensional digital template of a physical tooth element with digitally added artificial structural markers.

[0180] In box 206, a target position of the 3D digital dental element is determined using reference points defined by structural elements. In box 208, the geometry of the physical dental element can be detected using the optical imaging data received in box 202. In box 212, one or more portions of the 3D digital dental element in the form of a 3D digital template of the physical dental element are determined, these portions extending beyond the detected geometry of the physical dental element. In box 214, an electronic display device is controlled to display an augmented reality view on the physical dental element enhanced using the 3D digital dental element. At least a portion of the 3D digital dental element is arranged at the target position. The augmented reality view of at least a portion of the 3D digital dental element indicates whether the geometry of the physical dental element conforms to the geometric constraints defined by the 3D digital dental element arranged at the target position. The electronic display device is controlled to display only the determined one or more portions of the 3D digital dental element extending beyond the geometry of the physical dental element detected in box 208, and not the remaining portions of the 3D digital dental element that do not extend beyond the detected geometry of the physical dental element. This allows the user to adjust the geometry of the physical tooth element, for example, by adding tooth material to the physical tooth element. To adjust the geometry of the physical tooth element, tooth material can be added, for example, to the position and shape of the display portion of the 3D digital tooth element extending beyond the detected geometry of the physical tooth element. By repeating the steps of boxes 202 to 214, the augmented reality view on the physical tooth element can, for example, show the progress of the adjustment in real time. For example, the display portion of the 3D digital tooth element extending beyond the detected geometry of the physical tooth element can be continuously reduced through continuous adjustment (e.g., adding tooth material to the physical tooth element and thereby extending its geometry) until no part extends beyond the adjusted and detected geometry. When the geometry of the physical tooth element adjusted using the added tooth material matches the combination of the geometry of the physical tooth element and the shape of the display portion of the 3D digital tooth element extending beyond the detected geometry, the adjusted geometry conforms to geometric constraints, i.e., the two shapes coincide. The augmented reality view can show the user the progress of the adjustment as it is performed.

[0181] Figure 34 An exemplary manufacturing system 11 for manufacturing physical dental components is shown. This manufacturing system 11 can, for example, provide physical dental components 100 that can be inspected using motion tracking and augmented reality. For example, Figures 31 to 33 The method described herein can be used to examine the geometry of a physical tooth element manufactured using manufacturing system 11. For example, a three-dimensional digital model 104 of the tooth element can be provided as a template for manufacturing a physical copy of the physical tooth element 100.

[0182] Manufacturing system 11 may include computer devices, such as Figure 30 The computer device 10 shown or independent of Figure 30 The computer device 10 is an additional computer device. The computer device 10 may also be configured to control one or more manufacturing devices 60 and 70. For example, the manufacturing system 11 may include manufacturing equipment in the form of a machining device 70 controlled by the computer device 10, which may be configured to use one or more machining tools 72 to machine a blank 76, the blank 76 of which may be provided by a holding device 74, and to cut the blank 76 into the desired shape and size of the element to be manufactured (e.g., physical dental element 100 or a component thereof). The machining tool 72 may be, for example, a milling tool.

[0183] For example, manufacturing system 11 may include manufacturing equipment in the form of 3D printing equipment 60, which may be controlled by computer device 10 and configured to print elements to be manufactured, such as physical dental element 100 or components thereof. 3D printing equipment 60 may include printing element 62, configured to print corresponding elements, such as dental restorative elements, layer by layer. Printing element 62 may, for example, include nozzles configured to dispense printing material.

[0184] When using metal to manufacture components produced by 3D printing equipment 60, the 3D printing equipment 60 can, for example, be configured to perform selective laser sintering or selective laser melting. Selective laser sintering uses a laser to sinter powder material, automatically aiming the laser at a point in space defined by the three-dimensional digital model of the component to be printed. Laser energy can cause localized sintering or melting of the powder material, thereby binding the materials together to form a solid structure. For example, the printed component 62 of the 3D printing equipment 60 may include a laser and / or a dispensing device for dispensing powder material.

[0185] For example, a three-dimensional digital model 104 of the physical dental element 100 can serve as the positive electrode to define the negative electrode of the physical dental element 100, wherein the physical dental element 100 is in the form of a three-dimensional digital model of the negative electrode of the physical dental element 100. The three-dimensional digital model of the negative electrode of the dental element can be used, for example, to manufacture a casting matrix using machining equipment 70 or 3D printing equipment 60. The casting matrix can be configured to cast the physical dental restorative element by injecting dental material into the casting matrix and curing the injected dental material.

[0186] Figure 35An exemplary electronic display device 24 configured to display an augmented reality view is shown. The electronic display device 24 can be used by a user 12 to display an augmented reality view on a physical dental element enhanced using a three-dimensional digital dental element. At least a portion of the three-dimensional digital dental element is arranged at a target location, and the augmented reality view on the physical dental element is enhanced using at least a portion of the three-dimensional digital dental element. The augmented reality view having at least a portion of the three-dimensional digital dental element indicates whether the geometry of the physical tooth conforms to the geometric constraints defined by the three-dimensional digital dental element positioned at the target location.

[0187] For example, electronic display device 24 may include a non-transparent display showing portions of a three-dimensional digital dental element in conjunction with a sequence of consecutive frames. Frames are generated from images produced by repeatedly received optical imaging data acquired by one or more optical sensor devices. The repeatedly received optical imaging data includes optical imaging data of the physical dental element.

[0188] The electronic display device 24 may be provided, for example, in the form of a head-mounted device 81 similar to a virtual reality head-mounted device, which includes one or more cameras to capture a real-world view in the form of optical imaging data acquired by the cameras, and re-displays the augmented reality view on a display including the head-mounted device 81. The head-mounted device 81 may be worn, for example, by a user 12 who processes physical dental elements and attempts to examine the geometry of the physical dental elements, wherein examining the geometry of the physical dental elements, i.e., checking whether the geometry of the physical dental elements conforms to the geometric constraints defined by the three-dimensional digital dental elements arranged at the target location.

[0189] The electronic display device 24 may be provided, for example, in the form of a computer screen 83, which is connected to the computer device 10. For example, one or more cameras connected to the computer device 10 may be used to acquire optical imaging data to provide a recorded reality view on the physical dental element. This recorded reality view is enhanced and displayed via the computer screen 83. The computer screen 83 may be used, for example, by a user 12 who is processing the physical dental element and attempting to examine its geometry, i.e., checking whether the geometry of the physical dental element conforms to the geometric constraints defined by the three-dimensional digital dental element arranged at the target location.

[0190] The electronic display device 24 may be provided, for example, in the form of a tablet 84 or any other mobile portable terminal including a display. One or more cameras on the tablet 84, or one or more cameras connected to the tablet 84, may be used to acquire optical imaging data to provide a recorded reality view on the physical dental element. This recorded reality view is enhanced and displayed on the tablet 84. The tablet 84 may be used, for example, by a user 12 who is handling the physical dental element and attempting to examine the geometry of the physical dental element, wherein examining the geometry of the physical dental element, i.e., checking whether the geometry of the physical dental element conforms to the geometric constraints defined by the three-dimensional digital dental element arranged at the target location.

[0191] For example, an electronic display device 24, provided, for instance, in the form of glasses 82, can be configured to enhance the visual perception of a physical dental element by the user 12 of the electronic display device 24 using a portion of the displayed three-dimensional digital dental element. The display portion of the three-dimensional digital dental element can be projected or reflected, for example, through the surface of a transparent lens of the glasses 82. One or more cameras of the glasses 82, or cameras connected to the glasses 82, can be used to acquire optical imaging data for determining a target location where at least a portion of the three-dimensional digital dental element must be arranged. This target location can be, for example, a target position on the surface of the transparent lens of the glasses 82, such that the user 12, when observing the physical dental element through the transparent lens, sees an overlap between the physical dental element and at least a portion of the three-dimensional digital dental element. The glasses 82 can be used, for example, by the user 12 who is processing the physical dental element and attempting to examine its geometry, i.e., checking whether the geometry of the physical dental element conforms to the geometric constraints defined by the three-dimensional digital dental element arranged at the target location.

[0192] Although the invention has been described and illustrated in detail in the accompanying drawings and the foregoing description, such description and illustration should be considered illustrative or exemplary rather than restrictive; the invention is not limited to the disclosed embodiments.

[0193] Those skilled in the art can understand and implement other variations of the disclosed embodiments by studying the drawings, this disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. The fact that certain measures are recited in mutually different dependent claims does not indicate that an advantage cannot be obtained by utilizing a combination of these measures. Any reference numerals in the claims should not be construed as limiting the scope.

[0194] A single processor or other unit may perform the functions listed in the claims. A computer program may be stored / distributed on a suitable medium, such as an optical storage medium or a solid-state medium provided together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless communication systems.

[0195] Those skilled in the art will understand that aspects of the present invention can be embodied as apparatus, method, computer program, or computer program product. Accordingly, aspects of the present invention may take the form of a completely hardware embodiment, a completely software embodiment (including firmware, resident software, and microcode, etc.), or an embodiment combining software and hardware aspects, which are generally collectively referred to herein as "circuit," "module," or "system." Furthermore, one aspect of the present invention is to provide a computer program product contained in one or more computer-readable media, wherein computer-executable code is embedded on the computer-readable media. A computer program includes computer-executable code or "program instructions."

[0196] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. As used herein, "computer-readable storage medium" includes any tangible storage medium that can store instructions executable by a processor of a computing device. A computer-readable storage medium may be referred to as a computer-readable non-transitory storage medium. A computer-readable storage medium may also be referred to as a tangible computer-readable medium. For example, a computer-readable storage medium may also store data accessible by a processor of a computer device. Examples of computer-readable storage media include, but are not limited to: floppy disks, magnetic hard disk drives, solid-state drives, flash memory, USB thumb drives, random access memory (RAM), read-only memory (ROM), optical disks, magneto-optical disks, and processor register files. Examples of optical disks include compact disks (CDs) and digital versatile disks (DVDs), such as CD-ROMs, CD-RWs, CD-Rs, DVD-ROMs, DVD-RWs, or DVD-R discs. Another example of an optical disk may be a Blu-ray disc. The term computer-readable storage medium also refers to various types of recording media that can be accessed by a computer device via a network or communication link. For example, data can be obtained via a modem, the Internet, or a local area network. Computer-executable code embedded on a computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, radio frequency (RF), etc., or any suitable combination thereof.

[0197] Computer-readable signal media may include propagated data signals in baseband or as part of a carrier wave, containing computer-executable code. Such propagated data signals may take any of a variety of forms, including, but not limited to, electromagnetic, optical, or any suitable combination thereof. Computer-readable signal media may be any computer-readable medium that is not a computer-readable storage medium, capable of communicating, propagating, or transmitting programs for use by or connection to an instruction execution system, apparatus, or device.

[0198] An example of a computer-readable storage medium is "computer memory" or "memory". Computer memory is any memory that can be directly accessed by a processor. Another example of a computer-readable storage medium is "computer storage" or "memory". Computer storage is any non-volatile computer-readable storage medium. For example, computer storage can also be computer memory, and computer memory can also be computer storage.

[0199] As used herein, "processor" includes electronic components capable of executing programs or machine-executable instructions or computer-executable code. The term "computing device" as used herein should be interpreted as potentially containing more than one processor or processing core. A processor may be, for example, a multi-core processor. A processor may also refer to a collection of processors within a single computing device or distributed across multiple computing devices. The term "computing device" should also be interpreted as potentially referring to a collection or network of computing devices that include a processor or processors. Computer-executable code can be executed by multiple processors within the same computing device or even distributed across multiple computing devices.

[0200] Computer executable code may include machine-executable instructions or a program that causes a processor to execute one aspect of the invention. The computer executable code for performing the operations of the aspects of the invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​and conventional procedural programming languages. Object-oriented programming languages ​​include languages ​​such as Java, Smalltalk, and C++, while conventional procedural programming languages ​​include languages ​​such as C or similar languages. The code is compiled into machine-executable instructions. In some embodiments, the computer executable code may be in the form of a high-level language or a pre-compiled form and may be used in conjunction with an interpreter that generates machine-executable instructions in real time.

[0201] Computer executable code can execute entirely on the user's computer, partially on the user's computer as a standalone software package, partially on the user's computer, partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer via any type of network (including a local area network (LAN) or a wide area network (WAN)), or connected to an external computer via the Internet provided by an Internet service provider.

[0202] Typically, program instructions can be executed on one processor or several processors. In the case of multiple processors, they can be distributed across several different entities, such as clients, servers, etc. Each processor can execute a portion of the instructions specific to that entity. Therefore, when a system or process involves multiple entities, a computer program or program instructions are understood to be suitable for execution by a processor associated with or related to the respective entity.

[0203] As used herein, a "user interface" is an interface that allows a user or operator to interact with a computer or computer device. A "user interface" can also be referred to as a "human interface device." A user interface can provide information or data to and / or receive information or data from an operator. A user interface enables input from an operator to be received by the computer and can provide output from the computer to the user. In other words, a user interface allows an operator to control or manipulate a computer, and the user interface allows the computer to display the effects of the operator's control or manipulation. Displaying data or information on a monitor or graphical user interface is an example of providing information to an operator. Examples of user interface components for receiving information or data from an operator include keyboards, mice, trackballs, touchpads, pointers, graphics tablets, joysticks, game controllers, cameras, head-mounted displays, gear levers, steering wheels, pedals, wired gloves, dance mats, remote controls, one or more switches, one or more buttons, and accelerometers.

[0204] Graphical user interface (GUI) elements are data objects, some of whose properties specify the shape, layout, and / or behavior of an area displayed on a graphical user interface (e.g., a screen). GUI elements can be standard GUI elements such as buttons, text boxes, tabs, icons, text fields, panes, checkbox items, or groups of items. GUI elements can also be images, alphanumeric characters, or any combination thereof. At least some properties of the displayed GUI elements depend on the data values ​​aggregated on the group of data objects represented by the GUI element.

[0205] This invention also describes flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products. It should be understood that each block or part of a block in a flowchart, illustration, and / or block diagram can be implemented, where applicable, by computer execution of computer program instructions in the form of code. It should also be understood that combinations of blocks from different flowcharts, illustrations, and / or block diagrams can be combined when not mutually exclusive. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus to perform operations such that the instructions, executed via the processor of the computer or other programmable data processing apparatus, create a method for implementing the function / action specified in one or more blocks of the flowchart and / or block diagram.

[0206] These computer program instructions may also be stored in a computer-readable medium that can instruct a computer, other programmable data processing apparatus, or other device to operate in a particular manner, such that the instructions stored in the computer-readable medium can be used to produce an article of manufacture including instructions that implement the functions / actions specified in the flowcharts and / or block diagrams.

[0207] Computer program instructions can also be loaded onto a computer, other programmable data processing apparatus or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer-implemented process, such that the instructions that execute on the computer or other programmable apparatus provide a process for implementing the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0208] List of reference numerals

[0209] 10. Computer devices

[0210] 11 Manufacturing System

[0211] 12 users

[0212] 14 External devices

[0213] 16 processing units

[0214] 18 bus

[0215] 20 Network Adapters

[0216] 22 Input / Output Interfaces

[0217] 24 Display devices

[0218] 28. Memory

[0219] 30 Random Access Memory

[0220] 32. Cache memory

[0221] 34 Storage System

[0222] 40 Programs

[0223] 42 Program Modules

[0224] 50 User Interface

[0225] 52 Control Elements

[0226] 54 Hardware devices

[0227] 56-keyboard

[0228] 58 Mouse

[0229] 59 Optical Sensors

[0230] 60 3D printing equipment

[0231] 62 Printed Components

[0232] 70 Machining Equipment

[0233] 72 Machining Tools

[0234] 74. Maintaining equipment

[0235] 76 blanks

[0236] 78 raw materials

[0237] 81 Virtual Reality Headset

[0238] 82 Glasses

[0239] 83 Computer screens

[0240] 84 tablet

[0241] 100 physical dental components

[0242] 102 Three-dimensional digital structure model

[0243] 104 3D Digital Dental Elements

[0244] 106. Part of Physical Dental Components

[0245] 107 Boundary Line

[0246] Part of 108 3D digital dental elements

[0247] 110 Augmented Reality View

[0248] 112 Optical Imaging Data

[0249] 120 Physical Tooth Row Model

[0250] 122 Three-dimensional digital structure model

[0251] 132 Prepared Teeth

[0252] 133 Tooth receiving site

[0253] Position of tooth 135

[0254] 134 Adjacent teeth

[0255] 136 Physical markers

[0256] 138 Numerical Marker

Claims

1. A method for examining the geometry of a physical dental element (100) using motion tracking and augmented reality, the method comprising: Receive a three-dimensional digital model including a three-dimensional digital tooth element (104), the three-dimensional digital tooth element (104) defining the geometric constraints of the geometry of the physical tooth element (100); Repeat execution: Receive optical imaging data (112) from the optical sensor device (59); Detect the structural elements in the optical imaging data (112), the structural elements defining reference points for the target position of the three-dimensional digital tooth element (104); The target position of the three-dimensional digital tooth element (104) is determined using reference points defined by the structural elements; Control the electronic display devices (24, 81, 82, 83, 84) for displaying an augmented reality view (110) enhanced by a three-dimensional digital dental element (104) on the physical dental element (100), wherein at least a portion of the three-dimensional digital dental element (104) is arranged at the target location, and the enhancement of at least a portion of the three-dimensional digital dental element (104) indicates whether the geometry of the physical dental element (100) conforms to the geometric constraints defined by the three-dimensional digital dental element (104) arranged at the target location.

2. According to the method of claim 1, the three-dimensional digital dental element (104) is a three-dimensional digital template of the physical dental element (100), and the target position of the three-dimensional digital dental element (104) is consistent with the position of the physical dental element (100) so that the display portion of the three-dimensional digital dental element (104) visually overlaps with the physical dental element (100).

3. The method according to claim 1, wherein the three-dimensional digital model is a three-dimensional digital model of at least a portion of the patient's dentition, the three-dimensional digital dental element (104) is a three-dimensional digital copy of the physical dental element (100) included in the dentition, the three-dimensional digital model defining the spatial relationship between the target position of the three-dimensional digital dental element (104) and a predetermined position within the dentition, the predetermined position being used to arrange the physical dental element (100).

4. The method according to claim 3, wherein the three-dimensional digital tooth element (104) is an enlarged three-dimensional digital copy of the tooth element (100) including the tooth row, magnified based on a predetermined scaling factor.

5. The method according to any one of claims 1 to 4, in response to receiving an input requesting adjustment of transparency, controlling the electronic display device (24, 81, 82, 83, 84) to adjust the transparency of the displayed three-dimensional digital dental element (104).

6. The method according to any one of claims 1 to 5, wherein the optical imaging data (112) is repeatedly received, the structural element is detected, and the target position is determined at a repetition rate matching the frame rate, and the electronic display device (24, 81, 82, 83, 84) is controlled to display the augmented reality view (110) according to the frame rate.

7. The method according to claim 6, wherein the electronic display device (24, 81, 82, 83, 84) is controlled to display frames of images including the physical dental element (100), the frames being generated by repeatedly receiving optical imaging data (112) including optical imaging data (112) of the physical dental element (100).

8. The method according to any one of claims 1 to 7, wherein the detected structural element includes the structural element of the physical tooth element (100).

9. The method according to any one of claims 1 to 8, wherein, when the physical tooth element (100) is cured, the dimensions of the displayed three-dimensional digital tooth element (104) are magnified according to an inverse shrinkage factor, the inverse shrinkage factor describing the shrinkage of the tooth material of the physical tooth element (100).

10. The method according to any one of claims 1 to 9, wherein the physical dental element (100) is arranged within a physical model (120) of the patient's dentition, the optical imaging data (112) includes optical imaging data (112) of the physical model (120) of the dentition, and the detected structural elements include structural elements of the physical model (120) of the dentition.

11. The method according to claim 10, wherein, when the physical dental element (100) is cured, the dimensions of the physical model (120) of the patient's dentition are enlarged according to an inverse shrinkage factor, the inverse shrinkage factor describing the shrinkage of the dental material of the physical dental element (100).

12. The method according to any one of claims 10 and 11, wherein the target position of the three-dimensional digital dental element (104) in the form of a three-dimensional digital template of the physical dental element (100) defines a predetermined position within the physical model for arranging the physical dental element (100), and the display of a portion of the three-dimensional digital template at the predetermined position indicates the deviation between the position of the physical dental element (100) and the predetermined position.

13. The method according to any one of claims 1 to 12, the method further comprising detecting the geometry of the physical tooth element (100) using repeatedly received optical imaging data (112).

14. The method of claim 13, further comprising determining one or more intersections between the surface of the physical dental element (100) and the surface of the three-dimensional digital dental element (104) disposed at the target location, wherein the display of portions of the three-dimensional digital dental element (104) indicates the one or more intersections.

15. The method of claim 14, the method further comprising using the intersection to determine one or more portions (106) of the physical dental element (100) that violate geometric constraints of the geometry, and further controlling the electronic display device (24, 81, 82, 83, 84) to highlight the determined portion (106) of the physical dental element (100).

16. The method according to any one of claims 13 to 15, the method further comprising: determining one or more portions (108) of the three-dimensional digital dental element (104) in the form of a three-dimensional digital template of the physical dental element (100), the one or more portions (108) of the three-dimensional digital dental element (104) extending beyond the geometry of the detected physical dental element (100); and controlling an electronic display device (24, 81, 82, 83, 84) to display only the one or more portions (108) of the three-dimensional digital dental element (104) extending beyond the geometry of the detected physical dental element (100).

17. The method according to any one of claims 1 to 16, the method further comprising receiving a three-dimensional digital structure model (102, 122), the three-dimensional digital structure model (102, 122) defining the structural elements and the spatial relationships between the structural elements.

18. The method according to any one of claims 1 to 17, wherein the structural element comprises one or more artificial structural markers (136).

19. The method according to any one of claims 1 to 18, wherein the physical dental element (100) is one of the following: veneer, inlay, high inlay, overlay, crown, bridge, solid model, wax figure, occlusal plate, temporary restoration, dental bar, denture, and overlay denture.

20. A computer program product for examining the geometry of a physical dental element (100) using motion tracking and augmented reality, the computer program product comprising a computer-readable storage medium having program instructions executable by a processor (16) of a computer device (10) to cause the computer device (10) to perform: Receive a three-dimensional digital model including a three-dimensional digital tooth element (104), the three-dimensional digital tooth element (104) defining the geometric constraints of the geometry of the physical tooth element (100); Repeat execution: Receive optical imaging data (112) from the optical sensor device (59); Detect the structural elements in the optical imaging data (112), the structural elements defining the reference point of the target position of the three-dimensional digital tooth element (104); The target position of the three-dimensional digital tooth element (104) is determined using reference points defined by the structural elements; Control the electronic display devices (24, 81, 82, 83, 84) for displaying an augmented reality view (110) enhanced by a three-dimensional digital dental element (104) on the physical dental element (100), wherein at least a portion of the three-dimensional digital dental element (104) is arranged at the target location, and the enhancement of at least a portion of the three-dimensional digital dental element (104) indicates whether the geometry of the physical dental element (100) conforms to the geometric constraints defined by the three-dimensional digital dental element (104) arranged at the target location.

21. A computer program (40) for examining the geometry of a physical dental element (100) using motion tracking and augmented reality, the computer program (40) comprising program instructions executable by a processor (16) of a computer device (10) to cause the computer device (10) to perform: Receive a three-dimensional digital model including a three-dimensional digital tooth element (104), the three-dimensional digital tooth element (104) defining the geometric constraints of the geometry of the physical tooth element (100); Repeat execution: Receive optical imaging data (112) from the optical sensor device (59); Detect the structural elements in the optical imaging data (112), the structural elements defining reference points for the target position of the three-dimensional digital tooth element (104); The target position of the three-dimensional digital tooth element (104) is determined using reference points defined by the structural elements; Control the electronic display devices (24, 81, 82, 83, 84) for displaying an augmented reality view (110) enhanced by a three-dimensional digital dental element (104) on the physical dental element (100), wherein at least a portion of the three-dimensional digital dental element (104) is arranged at the target location, and the enhancement of at least a portion of the three-dimensional digital dental element (104) indicates whether the geometry of the physical dental element (100) conforms to the geometric constraints defined by the three-dimensional digital dental element (104) arranged at the target location.

22. A computer device (10) for examining the geometry of a physical dental element (100) using motion tracking and augmented reality, the computer device (10) comprising a processor (16) and a memory (28) storing program instructions executable by the processor (16), the computer device (10) further comprising components for controlling electronic display devices (24, 81, 82, 83, 84) to display at least a portion of a three-dimensional digital dental element (104), the processor (16) executing the program instructions to cause the computer device (10) to perform: Receive a three-dimensional digital model including a three-dimensional digital tooth element (104), the three-dimensional digital tooth element (104) defining the geometric constraints of the geometry of the physical tooth element (100); Repeat execution: Receive optical imaging data (112) from the optical sensor device (59); Detect the structural elements within the optical imaging data (112), the structural elements defining reference points for the target position of the three-dimensional digital tooth element (104); The target position of the three-dimensional digital tooth element (104) is determined using reference points defined by the structural elements; Control the electronic display devices (24, 81, 82, 83, 84) for displaying an augmented reality view (110) enhanced by a three-dimensional digital dental element (104) on the physical dental element (100), wherein at least a portion of the three-dimensional digital dental element (104) is arranged at the target location, and the enhancement of at least a portion of the three-dimensional digital dental element (104) indicates whether the geometry of the physical dental element (100) conforms to the geometric constraints defined by the three-dimensional digital dental element (104) arranged at the target location.

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