Biological measurement probe and measuring device

Abstract

This invention provides a bio-probe that can accurately overlay jaw movement data and dental arch morphology data. [Solution] The bio-probe of the present disclosure is a bio-probe for dental use and comprises: an image sensor having an imaging surface; at least one registration portion positioned to overlap with the imaging surface when viewed from a direction perpendicular to the imaging surface of the image sensor; and a sensor frame on which a sensor can be positioned away from the at least one registration portion.

Description

[Technical Field]

[0001] This disclosure relates to a biological measurement probe and a measuring device. [Background technology]

[0002] Patent Document 1 discloses a jaw movement measuring device comprising a primary coil rigidly coupled to the teeth of either the maxilla or the mandible, and a secondary coil rigidly coupled to the teeth of the opposite jaw. The primary coil comprises three sets of excitation coils wound in mutually orthogonal directions. The secondary coil comprises two or more sets of sensor coils wound in mutually orthogonal directions. Each excitation coil of the primary coil is connected to an AC power source and excited by AC of different frequencies. The measuring device described in Patent Document 1 calculates the AC induced in the multiple sensor coils using a calculation circuit to detect the relative position between the mandible and the maxilla. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Patent No. 4324386 specification [Overview of the project] [Problems that the invention aims to solve]

[0004] In recent years, there has been a growing demand for bio-probes and measuring devices that can accurately overlay jaw movement data and dental arch morphology data.

[0005] The purpose of this disclosure is to provide a biometric probe and measuring device that can accurately superimpose jaw movement data and dental arch morphology data. [Means for solving the problem]

[0006] A bio-marker probe according to one aspect of the present disclosure is a bio-marker probe for dental use, comprising: an image sensor having an imaging surface; at least one registration portion positioned to overlap with the imaging surface when viewed from a direction perpendicular to the imaging surface of the image sensor; and a sensor frame on which a sensor can be positioned at a position away from the at least one registration portion.

[0007] A measuring device according to one aspect of the present disclosure is a jaw movement measuring device comprising a first sensor and a second sensor for acquiring relative positional information of the maxilla and the mandible, and a biological reference probe according to the above-described aspect, wherein the second sensor is arranged on the sensor frame of the biological reference probe. [Effects of the Invention]

[0008] According to this disclosure, a biometric probe and measuring device are provided that can accurately superimpose jaw movement data and dental arch morphology data. [Brief explanation of the drawing]

[0009] [Figure 1] Schematic diagram illustrating the overlay of jaw movement data and dental arch morphology data. [Figure 2] A schematic diagram illustrating the concept of superimposing the reference coordinate system of jaw movement data and the morphological coordinate system of dental arch morphology data in this disclosure. [Figure 3] A schematic block diagram showing an example of the configuration of the measuring device of Embodiment 1 relating to this disclosure. [Figure 4] A schematic diagram showing an example of how the measuring device of Embodiment 1 of this disclosure is used. [Figure 5] A schematic diagram showing an example of a biological targeting probe according to Embodiment 1 of this disclosure. [Figure 6] A schematic perspective view showing an example of a registration cap according to Embodiment 1 of this disclosure. [Figure 7] Figure 5 shows a schematic enlarged view of portion A1 of the biological targeting probe. [Figure 8]Schematic cross-sectional view of the biological targeting probe shown in Figure 7, cut along line BB. [Figure 9] A flowchart illustrating an example of the superposition of jaw movement data and dental arch morphology data in Embodiment 1 of this disclosure. [Figure 10] Schematic perspective view of the registration cap in a modified example. [Modes for carrying out the invention]

[0010] [About the concepts in this disclosure] In recent years, dental CAD / CAM systems have been required to digitize not only the fabrication of prosthetic devices, but also the entire treatment cycle, from examination and diagnosis to treatment and evaluation. For example, in dental practice, there is a need to visualize the patient's jaw movements in the virtual space of CAD / CAM and diagnose the occlusion of the upper and lower teeth. As an example of diagnosis using a CAD / CAM system, the dynamic occlusion of the upper and lower teeth is visualized in the virtual space, and the areas that dynamically make occlusal contact are displayed in different colors according to the distance between the upper and lower dental arches.

[0011] To visualize jaw movement in the virtual space of CAD / CAM, visualization techniques are utilized that include measuring jaw movement, measuring dental arch morphology, and overlaying the measured jaw movement data with the dental arch morphology data.

[0012] The jaw movement can be measured, for example, by a jaw movement measuring device described in Patent Document 1.

[0013] The morphology of the dental arch is measured, for example, by scanning a model that reproduces the morphology of the dental arch. For example, the model is made by pouring plaster into a mold of the dental arch, which has been prepared using impression material, and then hardening it.

[0014] Here, the coordinate systems of the jaw movement data obtained by measuring jaw movement and the dental arch morphology data obtained by measuring dental arch morphology are different. Therefore, in order to superimpose the jaw movement data and the dental arch morphology data, it is necessary to make these coordinate systems the same.

[0015] Figure 1 is a schematic diagram for explaining the superposition of jaw movement data and dentition form data.

[0016] As shown in Figure 1, the superposition of the jaw movement data and the dentition form data is performed by aligning the reference coordinate system O of the jaw movement data U -X U Y U Z U and the form coordinate system O of the dentition form data S -X S Y S Z S . For example, the form coordinate system O of the dentition form data S -X S Y S Z S is converted to the reference coordinate system O of the jaw movement data U -X U Y U Z U .

[0017] The reference coordinate system O of the jaw movement data U -X U Y U Z U is the maxillary occlusal plane coordinate system. The maxillary occlusal plane coordinate system is a coordinate system defined based on three reference points, and is a right-handed coordinate system with the front, left, and upper directions defined as positive. For example, the three reference points are the incisor point IN of the maxillary dentition, the left first molar central fossa L6, and the right first molar central fossa R6. In the reference coordinate system O of the jaw movement data U -X U Y U Z U , a plane including the three reference points is defined as the reference plane, the center of gravity of the three reference points is defined as the origin O U , the straight line connecting the origin O U and the incisor point IN is defined as the X U axis, the normal line of the reference plane passing through the origin O U is defined as the Z U axis, and the straight line perpendicular to both axes is defined as the Y U axis. Note that the maxillary occlusal plane coordinate system O U -X U Y U Z U and the mandibular occlusal plane coordinate system O L -X LY L Z L This coincides with the intercuspal position.

[0018] The three reference points are recorded, for example, by inserting a bio-reference probe with three styluses into the patient's oral cavity. Specifically, the tips of the styluses of the bio-reference probe are brought into contact with characteristic points on the teeth and recorded as reference points.

[0019] Morphological coordinate system O of dental arch morphology data S -X S Y S Z S The reference coordinate system O for jaw movement data U -X U Y U Z U To convert to this format, three reference points (IN, the incisal point of the maxillary dentition, L6, the central fossa of the left first molar, and R6, the central fossa of the right first molar) are recorded in the dental arch morphology data. Here, it is required that the three reference points in the dental arch morphology data be recorded to coincide with the three reference points in the jaw movement data.

[0020] However, as a method for recording the three reference points in the dental arch morphology data, users manually record the three reference points on the CAD / CAM application. Specifically, they manually record three points in the dental arch of the dental arch morphology data that are in approximately the same positions as the three reference points in the jaw movement data.

[0021] Therefore, it is difficult to accurately match the three reference points recorded in the dental morphology data with the three reference points recorded in the jaw movement data.

[0022] Therefore, the present inventors investigated the configuration of a bio-referenced probe that acquires tooth morphology including three characteristic points (reference points) in imaging data, and investigated how to superimpose two coordinate systems, jaw movement data and tooth morphology data, by superimposing the morphology of the entire dentition from tooth morphology data onto the tooth morphology from imaging data acquired with the bio-referenced probe.

[0023] Figure 2 is a schematic diagram illustrating the concept of superimposing the reference coordinate system of jaw movement data and the morphological coordinate system of dental arch morphology data in this disclosure.

[0024] As shown in Figure 2, the reference coordinate system O of the jaw movement data in Embodiment 1 of this disclosure U -X U Y U Z U and dental arch morphology data D s Morphological coordinate system O S -X S Y S Z S In the superposition, three imaging data D containing tooth morphology with characteristic points are obtained. IN , D L6 ,D R6 And, dental arch morphology data D s And, superimpose them.

[0025] Image data D IN , D L6 ,D R6 This is image data of the patient's oral cavity. Image data D IN , D L6 ,D R6 This is the reference coordinate system O for jaw movement data. U -X U Y U Z U This is imaging data that includes the morphology of the tooth portion corresponding to the incisal point IN of the maxillary dentition, the central fossa L6 of the left first molar, and the central fossa R6 of the right first molar.

[0026] Three imaging data D IN , D L6 ,D R6 For the tooth morphology recorded, dental arch morphology data D includes the morphology of the entire dentition. s The data is superimposed. From the superimposed data, three feature points, namely three reference points (the incisal point IN of the maxillary dentition, the central fossa L6 of the left first molar, and the central fossa R6 of the right first molar), are selected. The three feature points selected from the superimposed data are the jaw movement data and the dentition morphology data D. sThese are the same points. Therefore, the three reference points in the dental arch morphology data coincide with the three reference points in the jaw movement data. As a result, the reference coordinate system O of the jaw movement data is U -X U Y U Z U and morphological coordinate system O of dental arch morphology data S -X S Y S Z S This allows for a highly accurate matching of the data. As a result, it becomes possible to accurately superimpose jaw movement data and dental arch morphology data.

[0027] Each of the embodiments described below is an example of the present disclosure. The numerical values, shapes, configurations, steps, and order of steps shown in each of the following embodiments are illustrative and not limiting to the present disclosure. Among the components in Embodiment 1 below, those components that are not described in the independent claim representing the highest-level concept are described as optional components.

[0028] An embodiment of this disclosure will be described below with reference to the accompanying drawings. The following description is essentially illustrative and is not intended to limit this disclosure, its applications, or its uses. Furthermore, the drawings are schematic, and the proportions of the dimensions, etc., do not necessarily correspond to those of reality.

[0029] In this specification, terms such as "First," "Second," etc., are used for illustrative purposes only and should not be understood as expressing or implying relative importance or ranking of technical features. Features designated as "First" or "Second" express or imply that they include one or more such features.

[0030] (Embodiment 1) [Regarding the configuration of the measuring device] FIG. 3 is a schematic block diagram showing an example of the configuration of the measurement apparatus according to Embodiment 1 of the present disclosure. FIG. 4 is a schematic diagram showing an example of a state in which the measurement apparatus according to Embodiment 1 of the present disclosure is being used. The measurement apparatus 1 shown in FIG. 3 and FIG. 4 is an apparatus for measuring jaw movement, and measures, for example, the movement of the lower jaw relative to the upper jaw. FIG. 4 shows an example of a state in which the morphology of teeth is being imaged using the biological landmark probe 2.

[0031] As shown in FIG. 3 and FIG. 4, the measurement apparatus 1 includes a biological landmark probe 2, a first sensor 3, and a second sensor 4. The measurement apparatus 1 may further include a controller that controls the biological landmark probe 2, the first sensor 3, and the second sensor 4.

[0032] <生物標点プローブ> The biological landmark probe 2 is configured to acquire imaging data for superimposing jaw movement data and dentition morphology data D s . The biological landmark probe 2 is a probe that is inserted into the oral cavity of a patient and acquires a plurality of pieces of imaging data D including tooth morphology. IN , D L6 , D R6 . Specifically, the biological landmark probe 2 images the tooth morphology corresponding to the incisor point IN of the maxillary dentition, the left first molar central fossa L6, and the right first molar central fossa R6 that define the reference coordinate system O of the jaw movement data U -X U Y U Z U . The biological landmark probe 2 also images the morphology of the teeth together with a plurality of registration units to be described later.

[0033] The first sensor 3 is a sensor attached to the upper jaw of a patient. For example, the first sensor 3 is a coil. Specifically, the first sensor 3 is a 3-axis coil. The first sensor 3 is connected to an AC power supply and excited by alternating currents of three different frequencies.

[0034] The second sensor 4 is a sensor attached to the living body reference point probe 2. The second sensor 4 is attached to the lower jaw when measuring jaw movement. For example, the second sensor 4 is a coil. Specifically, the second sensor 4 receives three-axis magnetic fields emitted from the first sensor, that is, alternating magnetic fields of three different frequencies.

[0035] The signal received by the second sensor 4 is transmitted to the controller. For example, the controller performs signal processing such as FFT on the signal, and calculates the position and orientation of the second coordinate system O2-X2Y2Z2 of the second sensor 4 relative to the first coordinate system O1-X1Y1Z1 of the first sensor 3 using a 4×4 homogeneous transformation matrix (6-degree-of-freedom data). Thereby, the relative position and orientation between the upper jaw and the lower jaw can be detected, and jaw movement data including the movement of the lower jaw relative to the upper jaw can be acquired.

[0036] Note that when the jaw movement data is displayed and analyzed by CAD / CAM, as the reference coordinate system for jaw movement, the upper jaw occlusal plane coordinate system O defined by three points on the dentition (for example, the incisor point IN, the left first molar fossa L6, and the right first molar fossa R6) U -X U Y U Z U is used. For this reason, the 4×4 homogeneous transformation matrix representing the position and orientation of the second coordinate system O2-X2Y2Z2 relative to the first coordinate system O1-X1Y1Z1 is coordinate-transformed from the first coordinate system O1-X1Y1Z1 to the upper jaw occlusal plane coordinate system O U -X U Y U Z U .

[0037] To perform the coordinate transformation, three reference points on the upper dentition relative to the first coordinate system O1-X1Y1Z1, for example, the incisor point IN, the left first molar fossa L6, and the right first molar fossa R6 are recorded. Based on the three recorded reference points, coordinate transformation from the first coordinate system O1-X1Y1Z1 to the upper jaw occlusal plane coordinate system O U -X U Y U Z U can be performed.

[0038] [Biological probe] The detailed configuration of the biological target probe 2 will be explained with reference to Figures 5 to 8.

[0039] Figure 5 is a schematic diagram showing an example of a biometric probe according to Embodiment 1 of the present disclosure. Figure 6 is a schematic perspective view showing an example of a registration cap according to Embodiment 1 of the present disclosure. Figure 7 is a schematic enlarged view showing an enlarged view of portion A1 of the biometric probe shown in Figure 5. Figure 8 is a schematic cross-sectional view of the biometric probe shown in Figure 7 cut along line BB.

[0040] As shown in Figures 3 and 5, the biological reference probe 2 comprises a housing 10, a registration cap 20, and a sensor frame 30.

[0041] The housing 10 is a housing that houses the components constituting the biometric probe 2. The housing 10 has a longitudinal direction. For example, the housing 10 has a rod shape. For example, the housing 10 tapers towards the tip. The tip portion of the housing 10 is large enough to be inserted into the patient's oral cavity. The rear end portion of the housing 10 functions as a gripping portion. The rear end portion of the housing 10 may be provided with an input interface for controlling the operation of the biometric probe 2.

[0042] The housing 10 houses the image sensor 11. The image sensor 11 is composed of, for example, a CCD (charge-coupled device) image sensor or a CMOS image sensor. The image sensor 11 is positioned at the front end of the housing 10. The image sensor 11 has an imaging surface 12. For example, the imaging surface 12 has a rectangular shape when viewed from a direction perpendicular to the imaging surface 12.

[0043] The registration cap 20 is a component that is placed on the housing 10. The registration cap 20 is attached to the portion of the housing 10 where the image sensor 11 is positioned. Specifically, the registration cap 20 is attached to the housing 10 so as to be positioned around the image surface 12 when viewed from a direction perpendicular to the image surface 12.

[0044] As shown in Figures 5 to 8, the registration cap 20 comprises a plurality of registration sections RS1 to RS4 and a plurality of calibration sections CS1 to CS4.

[0045] In this embodiment, the multiple registration units RS1 to RS4 include four registration units RS1 to RS4. Also, in this embodiment, the multiple calibration units CS1 to CS4 include four calibration units CS1 to CS4.

[0046] Furthermore, the registration cap 20 has an opening 21 that is positioned to overlap with the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12 of the image sensor 11. The opening 21 is positioned opposite the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12.

[0047] The opening 21 is formed by a through-hole provided in the registration cap 20. This through-hole penetrates the registration cap 20 in a direction perpendicular to the imaging surface 12. When viewed from a direction perpendicular to the imaging surface 12, the opening 21 is larger than the imaging surface 12. When viewed from a direction perpendicular to the imaging surface 12, the opening 21 has, for example, a rectangular shape.

[0048] The multiple registration sections RS1 to RS4 are positioned so as to overlap with the imaging surface 12 of the image sensor 11 when viewed from a direction perpendicular to the imaging surface 12. The multiple registration sections RS1 to RS4 are positioned within the aperture 21 when viewed from a direction perpendicular to the imaging surface 12.

[0049] The multiple registration sections RS1 to RS4 have, for example, a spherical shape. The diameter of the multiple registration sections RS1 to RS4 is, for example, 1 mm to 10 mm in diameter. Preferably, the diameter of the multiple registration sections RS1 to RS4 is 2 mm to 6 mm in diameter. More preferably, the diameter of the multiple registration sections RS1 to RS4 is 3 mm to 5 mm in diameter. Furthermore, the multiple registration sections RS1 to RS4 have substantially the same shape and substantially the same size. Here, "subjectively" means that a difference of up to 5% error is allowed.

[0050] The multiple registration sections RS1 to RS4 are made of, for example, aluminum oxide and polyamide synthetic resin. A scanning spray may also be applied to the surfaces of the multiple registration sections RS1 to RS4.

[0051] As shown in Figure 7, the multiple registration sections RS1 to RS4 are arranged with a distance between them. The multiple registration sections RS1 to RS4 are positioned away from the central portion CR1 of the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12. The central portion CR1 of the imaging surface 12 is the region that includes the center C1 of the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12. The central portion CR1 of the imaging surface 12 is the region within a predetermined distance from the center C1 of the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12. The center C1 of the imaging surface 12 is the point where the two diagonals of the rectangular imaging surface 12 intersect when viewed from a direction perpendicular to the imaging surface 12.

[0052] The multiple registration units RS1 to RS4 are arranged with a distance between them when viewed from a direction perpendicular to the imaging surface 12.

[0053] In this specification, the longitudinal direction of the housing 10, viewed from a direction perpendicular to the imaging surface 12, is defined as the first direction DR1, and the direction perpendicular to the first direction DR1 is defined as the second direction DR2. In this specification, the four registration sections RS1 to RS4 may be referred to as the first to fourth registration sections RS1 to RS4.

[0054] When viewed from a direction perpendicular to the imaging surface 12, the first registration section RS1 and the third registration section RS3 are spaced apart with the central portion CR1 of the imaging surface 12 in between. The second registration section RS2 and the fourth registration section RS4 are spaced apart with the central portion CR1 of the imaging surface 12 in between.

[0055] The first registration section RS1 and the second registration section RS2 are arranged with a first spacing SP1 in the first direction DR1. The third registration section RS3 and the fourth registration section RS4 are also arranged with a first spacing SP1 in the first direction DR1.

[0056] The second registration section RS2 and the third registration section RS3 are arranged with a second spacing SP2 in the second direction DR2. The first registration section RS1 and the fourth registration section RS4 are also arranged with a second spacing SP2 in the second direction DR2.

[0057] The first interval SP1 is larger than the second interval SP2.

[0058] As shown in Figure 7, at least a portion of the multiple registration sections RS1 to RS4 protrude from the opening 21 in a direction perpendicular to the imaging surface 12. Furthermore, the multiple registration sections RS1 to RS4 are positioned away from the imaging surface 12 in a direction perpendicular to the imaging surface 12. For example, the distance between the multiple registration sections RS1 to RS4 and the imaging surface 12 is 3 mm to 13 mm. Preferably, the distance between the multiple registration sections RS1 to RS4 and the imaging surface 12 is 3 mm to 7 mm. More preferably, the distance between the multiple registration sections RS1 to RS4 and the imaging surface 12 is 3 mm to 5 mm.

[0059] As shown in Figures 6 to 8, the multiple registration sections RS1 to RS4 are supported by multiple support frames 22 that protrude from the registration cap 20. For example, the multiple support frames 22 are frames that extend in the second direction DR2.

[0060] Multiple registration units RS1 to RS4 are imaged by the image sensor 11 along with the tooth morphology. The position coordinates of the multiple registration units RS1 to RS4 are calibrated so that they are known with respect to the second coordinate system O2-X2Y2Z2 of the second sensor 4. The position coordinates of the multiple registration units RS1 to RS4 are, for example, the centroids. The position coordinates of the multiple registration units RS1 to RS4 are used to superimpose jaw movement data and dental arch morphology data.

[0061] As shown in Figures 5 to 8, the multiple calibration units CS1 to CS4 are positioned outside the multiple registration units RS1 to RS4 when viewed from a direction perpendicular to the imaging surface 12.

[0062] The multiple calibration units CS1 to CS4 are positioned on the registration cap 20 outside the aperture 21 when viewed from a direction perpendicular to the imaging surface 12. Specifically, when viewed from a direction perpendicular to the imaging surface 12, the multiple calibration units CS1 to CS4 are positioned outside the corners of the aperture 21.

[0063] The multiple calibration sections CS1 to CS4 are protrusions that project in a direction perpendicular to the imaging surface 12. For example, the protrusions have a rounded, curved convex shape. For example, the protrusions have a spherical shape. Furthermore, the multiple calibration sections CS1 to CS4 have substantially the same shape and substantially the same size.

[0064] Multiple calibration units CS1 to CS4 are used to calibrate multiple registration units RS1 to RS4. Specifically, the position coordinates of the multiple registration units RS1 to RS4 relative to the multiple calibration units CS1 to CS4 are known by design. Therefore, the position coordinates of the multiple calibration units CS1 to CS4 are calibrated so that they are known with respect to the second coordinate system O2-X2Y2Z2 of the second sensor 4. The position coordinates of the multiple calibration units CS1 to CS4 are, for example, the center of gravity. In this way, the position coordinates of the multiple registration units RS1 to RS4 relative to the second coordinate system O2-X2Y2Z2 can be indirectly calculated based on the position coordinates of the multiple calibration units CS1 to CS4.

[0065] The sensor frame 30 is a frame that allows the second sensor 4 to be positioned away from the multiple registration sections RS1 to RS4. One end of the sensor frame 30 is connected to the housing 10, and the other end of the sensor frame 30 is positioned away from the housing 10 and the registration cap 20. The second sensor 4 is positioned on the other end of the sensor frame 30.

[0066] The sensor frame 30 has a plate shape and is curved. For example, when viewed from a direction perpendicular to the imaging surface 12, the sensor frame 30 extends from the housing 10 in a second direction DR2 and is curved in a first direction DR1.

[0067] [Regarding the overlaying of jaw movement data and dental arch morphology data] Referring to Figure 9, an example of overlaying jaw movement data and dental arch morphology data using the bio-targeting probe 2 will be explained.

[0068] Figure 9 is a flowchart showing an example of the superposition of jaw movement data and dental arch morphology data in Embodiment 1 of this disclosure. The example shown in Figure 9 illustrates the process for superimposing jaw movement data and dental arch morphology data.

[0069] As shown in Figure 9, step ST1 involves calibrating the biological reference point probe 2. In step ST1, the position coordinates of multiple registration sections RS1 to RS4 of the second sensor 4, which is located on the sensor frame 30, are obtained relative to the second coordinate system O2-X2Y2Z2. For example, the position coordinates of the multiple registration sections RS1 to RS4 are the position coordinates of the centroids of the multiple registration sections RS1 to RS4. The second sensor 4 is located on the sensor frame 30 of the biological reference point probe 2.

[0070] Calibration can be performed using techniques such as pivot calibration.

[0071] In this embodiment, the image sensor 11 simultaneously records three feature points on the dentition (for example, the incisor point IN, the left first molar fossa L6, and the right first molar fossa R6) and the shapes of multiple registration parts RS1 to RS4, in terms of their position and orientation in the second coordinate system O2-X2Y2Z2 of the second sensor 4 relative to the first coordinate system O1-X1Y1Z1 of the first sensor 3. Therefore, due to the structure, it may be difficult to directly measure the position coordinates of the centroids of the multiple registration parts RS1 to RS4 using pivot calibration technology.

[0072] Therefore, the position coordinates of multiple calibration units CS1 to CS4 relative to the second coordinate system O2-X2Y2Z2 of the second sensor 4 are obtained, and the position coordinates of multiple registration units RS1 to RS4 are indirectly calculated based on the position coordinates of the multiple calibration units CS1 to CS4. Note that the position coordinates of the multiple registration units RS1 to RS4 and the position coordinates of the multiple calibration units CS1 to CS4 are known from the design.

[0073] Using pivot calibration technology, the position coordinates of the centroids of multiple calibration units CS1 to CS4 relative to the second coordinate system O2-X2Y2Z2 of the second sensor 4 are obtained.

[0074] Pivot calibration may be performed using, for example, dynamic pivot calibration or static pivot calibration.

[0075] Dynamic pivot calibration is performed by moving the position and orientation of the second coordinate system O2-X2Y2Z2 relative to the first coordinate system O1-X1Y1Z1. For example, by fitting multiple calibration units CS1-CS4 to the pivot and moving the second sensor 4 relative to the first sensor 3 for 10 seconds, the center of gravity of the multiple calibration units CS1-CS4 can be determined.

[0076] Static pivot calibration is performed with the second coordinate system O2-X2Y2Z2 fixed in the same position and orientation as the first coordinate system O1-X1Y1Z1. For example, multiple calibration units CS1-CS4 are fitted to the pivot, and the positional relationship between the first sensor 3 and the second sensor 4 is fixed and recorded for 1 second. Alternatively, the second sensor 4 is fixed at 10 different positions relative to the first sensor 3, and a 1-second recording is performed at each position.

[0077] Next, the position coordinates of the center of gravity of the multiple registration units RS1 to RS4 are calculated based on the position coordinates of the center of gravity of the multiple calibration units CS1 to CS4. Since the positions of the center of gravity of the multiple registration units RS1 to RS4 relative to the positions of the center of gravity of the multiple calibration units CS1 to CS4 are known from the design, the position coordinates of the center of gravity of the multiple registration units RS1 to RS4 can be easily calculated based on the position coordinates of the center of gravity of the multiple calibration units CS1 to CS4.

[0078] In this way, the position coordinates of multiple registration units RS1 to RS4 relative to the second coordinate system O2-X2Y2Z2 of the second sensor 4 can be obtained.

[0079] In step ST2, three sets of imaging data D were obtained using the bio-targeting probe 2 to which the second sensor 4 was fixed, capturing multiple registration areas RS1 to RS4 and the morphology of teeth including feature points on the maxillary dentition.IN , D L6 ,D R6 This acquires the data. This records the position of the feature points on the maxillary dentition relative to the first coordinate system O1-X1Y1Z1 of the first sensor 3.

[0080] Specifically, the bio-targeting probe 2 is inserted into the patient's oral cavity, and the morphology (tooth surface shape) of the teeth, including the incisor point IN of the maxillary dentition, the left first molar fossa L6, and the right first molar fossa R6, is imaged along with multiple registration points RS1 to RS4. Image data D IN , D L6 ,D R6 In this case, the position of the feature point on the maxillary dentition relative to the first coordinate system O1-X1Y1Z1 can be determined based on the position coordinates of multiple registration parts RS1 to RS4 relative to the second coordinate system O2-X2Y2Z2 obtained in step ST1.

[0081] Three imaging data D IN , D L6 ,D R6 This refers to data, for example, that captures the morphology of one or two teeth, and is a point cloud data such as an STL file.

[0082] Step ST3 involves dentition morphology data D s To obtain the following: For example, dental arch morphology data D s This data is acquired by scanning a model that reproduces the dentition morphology with a scanner before measuring jaw movement, and is recorded in the controller or server's storage device. Dental morphology data D s This is obtained from the storage device. Dental morphology data D s This is a different coordinate system O from the first coordinate system O1-X1Y1Z1 and the second coordinate system O2-X2Y2Z2. S -X S Y S Z S It is recorded there.

[0083] Dental arch morphology data D s This is morphological data of the entire dentition, such as point cloud data like STL data.

[0084] Step ST4 involves three imaging data D IN , D L6 ,D R6 and dental arch morphology data D s Based on this, maxillary occlusal plane coordinate system O U -X U Y U Z U and dental arch morphology data D s Morphological coordinate system O S -X S Y S Z S Superimpose them together.

[0085] Specifically, three imaging data D IN , D L6 ,D R6 For the tooth morphology recorded in, dentition morphology data D s Three imaging data D are used to ensure that the morphology of the entire dentition recorded matches. IN , D L6 ,D R6 and dental arch morphology data D s Superimpose them together.

[0086] Three imaging data D IN , D L6 ,D R6 Since it records the position of feature points on the maxillary dentition relative to the first coordinate system O1-X1Y1Z1, three imaging data D IN , D L6 ,D R6 For the tooth morphology recorded in, dentition morphology data D s When the morphology of the entire dentition recorded is superimposed, the dentition morphology data D s Morphological coordinate system O S -X S Y S Z S This is integrated into the first coordinate system O1-X1Y1Z1. That is, the dental arch morphology data D s Morphological coordinate system O S -X S Y S Z S This is the three imaging data D IN , D L6 ,D R6Based on this, it is transformed into the first coordinate system O1-X1Y1Z1.

[0087] Here, we have three imaging data D IN , D L6 ,D R6 and dental arch morphology data D s Since it is point cloud data, it contains morphological information for multiple points. For example, three imaging data D IN , D L6 ,D R6 These contain approximately 24,000, 17,000, and 18,000 morphological information points, respectively. Based on this multi-point morphological information, three imaging data D IN , D L6 ,D R6 The tooth morphology recorded and 、 Dental arch morphology data D s The morphology of the entire dentition recorded is superimposed. Therefore, three imaging data D IN , D L6 ,D R6 The tooth morphology recorded and 、 Dental arch morphology data D s The morphology of the entire dentition recorded in the image can be accurately superimposed with the image.

[0088] Next, in the superimposed data, three feature points (reference points) are selected: the incisor point IN, the left first molar fossa L6, and the right first molar fossa R6. For example, the superimposed data is displayed on a CAD / CAM application, and the user selects the three feature points. Alternatively, the CAD / CAM application automatically extracts the feature points corresponding to the incisor point IN, the left first molar fossa L6, and the right first molar fossa R6 from the superimposed data, thereby selecting the three feature points.

[0089] In this way, the three feature points used to define the reference coordinate system for mandibular movement and the three feature points used to superimpose the dental arch morphology and the jaw movement coordinate system can be selected from the same morphology within the same coordinate system (first coordinate system O1-X1Y1Z1). This allows the reference coordinate system O of the jaw movement data to be selected. U -X U YU Z U And, dental arch morphology data D s Morphological coordinate system O S -X S Y S Z S And can be made to match.

[0090] In step ST5, jaw movement data, including mandibular movement relative to the maxilla, is acquired using the first sensor 3 and the second sensor 4.

[0091] In this way, jaw movement data and dental arch morphology data can be superimposed.

[0092] [effect] The biological target probe 2 of Embodiment 1 of this disclosure can achieve the following effects.

[0093] The bio-marker probe 2 of Embodiment 1 of this disclosure is a bio-marker probe for dental use and comprises an image sensor 11, a plurality of registration units RS1 to RS4, and a sensor frame 30. The image sensor 11 has an imaging surface 12. The plurality of registration units RS1 to RS4 are arranged in positions that overlap with the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12 of the image sensor 11. The sensor frame 30 allows for the placement of a sensor 4 at a position away from the plurality of registration units RS1 to RS4. With this configuration, jaw movement data and dental arch morphology data can be accurately superimposed. Specifically, the bio-marker probe 2 can record the morphology of teeth, including feature points for superimposing jaw movement data and dental arch morphology data, as imaging data. The bio-marker probe 2 can also acquire imaging data including the plurality of registration units RS1 to RS4 and the morphology of teeth, including feature points. In superimposing jaw movement data and dental arch morphology data, the accuracy of the superimposition can be improved by using the imaging data for superimposition.

[0094] The multiple registration sections RS1 to RS4 have a spherical shape. This configuration makes it easy to determine the center of gravity of the multiple registration sections RS1 to RS4. This allows for easy improvement of the accuracy of the superposition.

[0095] Multiple registration units RS1 to RS4 are arranged with a gap between them. This configuration allows for the acquisition of imaging data in which feature points are captured between the multiple registration units RS1 to RS4. This further improves the accuracy of image superposition.

[0096] Multiple registration sections RS1 to RS4 are positioned away from the central portion CR1 of the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12. This configuration allows the tooth surface shape, including feature points, to be captured in the center of the imaging data, making superimposition even easier.

[0097] The biological targeting probe 2 comprises a housing 10 that houses the image sensor 11 and has a longitudinal direction. When viewed from a direction perpendicular to the imaging surface 12, the longitudinal direction of the housing 10 is defined as the first direction DR1, and the direction perpendicular to the first direction DR1 is defined as the second direction DR2. In this configuration, the first interval SP1 between the first and second registration sections RS1 and RS2 in the first direction DR1 is greater than the second interval SP2 between the second and third registration sections RS2 and RS3 in the second direction DR2. With this configuration, imaging data in which feature points are captured between multiple registration sections RS1 to RS4 can be acquired more easily.

[0098] The bio-targeting probe 2 includes a registration cap 20 with an opening 21 that overlaps with the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12. Multiple registration sections RS1 to RS4 are arranged in the opening 21 when viewed from a direction perpendicular to the imaging surface 12. With this configuration, the tooth surface shape can be easily imaged together with the multiple registration sections RS1 to RS4.

[0099] At least a portion of the multiple registration sections RS1 to RS4 protrude from the opening 21 in a direction perpendicular to the imaging surface 12. This configuration allows imaging to be performed with the multiple registration sections RS1 to RS4 in contact with the tooth surface.

[0100] The biological target probe 2 includes multiple calibration units CS1 to CS4 that are positioned outside of the multiple registration units RS1 to RS4 when viewed from a direction perpendicular to the imaging surface 12. With this configuration, the position coordinates of the multiple calibration units CS1 to CS4 relative to the second coordinate system of the second sensor 4 can be indirectly determined by determining the position coordinates of the multiple registration units RS1 to RS4 relative to the second coordinate system of the second sensor 4.

[0101] The multiple calibration units CS1 to CS4 are protrusions that project in a direction perpendicular to the imaging surface 12. With this configuration, the position coordinates of the multiple calibration units CS1 to CS4 with respect to the second coordinate system of the second sensor 4 can be easily determined.

[0102] The protrusions have a rounded, curved convex shape. This configuration helps to prevent injury to the oral cavity by the multiple calibration parts CS1 to CS4 when the biometric probe 2 is inserted into the patient's oral cavity.

[0103] The multiple calibration units CS1 to CS4 are positioned outside the aperture 21 when viewed from a direction perpendicular to the imaging surface 12. This configuration makes it easy to determine the position coordinates of the multiple calibration units CS1 to CS4 with respect to the second coordinate system of the second sensor 4.

[0104] The biological target probe 2 includes a second sensor 4 positioned on the sensor frame 30. This configuration further improves the accuracy of superposition.

[0105] The measuring device of Embodiment 1 according to this disclosure can achieve the following effects.

[0106] The measuring device 1 of Embodiment 1 according to this disclosure is a jaw movement measuring device and comprises a first sensor 3, a second sensor 4, and a biological reference probe 2. The first sensor 3 and the second sensor 4 acquire relative positional information between the maxilla and the mandible. The second sensor 4 is positioned on the sensor frame 30 of the biological reference probe 2. This configuration provides the same effects as the biological reference probe 2 described above.

[0107] The first sensor 3 and the second sensor 4 are coils. This configuration allows for accurate measurement of jaw movement data.

[0108] In this embodiment, an example has been described in which the biological reference probe 2 has four registration sections RS1 to RS4, but it is not limited to this. The biological reference probe 2 may have at least one registration section. Preferably, the biological reference probe 2 may have at least three registration sections.

[0109] In this embodiment, an example in which the multiple registration sections RS1 to RS4 have a spherical shape has been described, but the embodiment is not limited to this. The multiple registration sections RS1 to RS4 may have any shape from which their position coordinates can be obtained. For example, the multiple registration sections RS1 to RS4 may be semicircular, elliptical, or polygonal in shape.

[0110] In this embodiment, an example has been described in which the biological reference probe 2 has four calibration units CS1 to CS4, but it is not limited to this. For example, the biological reference probe 2 may have at least one calibration unit. Furthermore, if the position coordinates of the multiple registration units RS1 to RS4 with respect to the second coordinate system O2-X2Y2Z2 of the second sensor 4 can be directly determined, the calibration unit is not an essential component. In other words, the biological reference probe 2 may not have a calibration unit.

[0111] In this embodiment, an example in which the multiple calibration sections CS1 to CS4 are protrusions has been described, but the embodiment is not limited to this. The multiple calibration sections CS1 to CS4 may also be recesses. Furthermore, an example in which the protrusions have a rounded, curved convex shape has been described, but the embodiment is not limited to this. The protrusions may have any shape as long as they have a shape that allows the position coordinates of the multiple calibration sections CS1 to CS4 with respect to the second coordinate system O2-X2Y2Z2 to be measured.

[0112] In this embodiment, an example in which the biological reference point probe 2 includes a registration cap 20 has been described, but it is not limited to this. The registration cap 20 is not an essential component of the biological reference point probe 2. For example, a plurality of registration sections RS1 to RS4 and a plurality of calibration sections CS1 to CS4 may be provided on the housing 10, or they may be provided on a component other than the registration cap 20.

[0113] In this embodiment, an example in which the first sensor 3 and the second sensor 4 are coils has been described, but the embodiment is not limited to this. The first sensor 3 and the second sensor 4 can be any sensors capable of measuring jaw movement.

[0114] In this embodiment, an example in which the sensor frame 30 is connected to the housing 10 has been described, but the embodiment is not limited to this. For example, the sensor frame 30 may be connected to a member that is detachably attached to the housing 10.

[0115] In this embodiment, three imaging data D are obtained by the biological target probe 2. IN , D L6 ,D R6 An example of how the data can be acquired has been described, but it is not limited to this. At least three imaging data may be acquired by the biological target probe 2. Also, imaging data D IN , D L6 ,D R6While examples have been described that include the morphology of tooth portions corresponding to the incisor point IN of the maxillary dentition, the central fossa L6 of the left first molar, and the central fossa R6 of the right first molar, the data is not limited to these examples. The imaging data may also include tooth morphology with feature points other than those described above.

[0116] <Variation> Figure 10 is a schematic perspective view of the registration cap in a modified example.

[0117] As shown in Figure 10, in the modified example, the registration cap 20A has three registration sections RS1 to RS3. The four calibration sections CS1 to CS4 are recesses with a rounded, curved concave shape.

[0118] Even with this configuration, jaw movement data and dental arch morphology data can be accurately superimposed.

[0119] Furthermore, by configuring the four calibration sections CS1 to CS4 with rounded, curved recesses, the risk of injury to the patient's oral cavity can be further reduced when the bio-targeting probe 2 is inserted into the patient's oral cavity.

[0120] In the modified example, an example was described in which three registration sections RS1 to RS3 and four calibration sections CS1 to CS4 are provided on the registration cap 20A. However, the three registration sections RS1 to RS3 and four calibration sections CS1 to CS4 on the registration cap 20A may be provided on the housing 10, or on a component other than the registration cap 20A.

[0121] Although this disclosure has described each embodiment with a certain degree of detail, the details of the configuration of these embodiments are subject to change, and changes in the combination and order of elements in each embodiment can be realized without departing from the claimed scope and spirit of the invention.

[0122] Furthermore, general and specific aspects of this disclosure may be implemented by systems, methods, computer programs and computer-readable recording media, or combinations thereof.

[0123] (Summary of the embodiment) (1) The bio-probe of the present disclosure is a bio-probe for dental use, comprising: an image sensor having an imaging surface; at least one registration portion positioned to overlap with the imaging surface when viewed from a direction perpendicular to the imaging surface of the image sensor; and a sensor frame on which a sensor can be positioned away from the at least one registration portion.

[0124] (2) In the biological reference probe of (1), the at least one registration portion may have a spherical shape.

[0125] (3) In the biological target probe of (1) or (2), the at least one registration portion may include a plurality of registration portions, and the plurality of registration portions may be spaced apart from each other.

[0126] (4) In the biological reference probe of (3), the plurality of registration portions may be positioned away from the central portion of the imaging surface when viewed from a direction perpendicular to the imaging surface.

[0127] (5)(3) or (4) the biological target probe may further comprise a housing that houses the image sensor and has a longitudinal direction, and when viewed from a direction perpendicular to the imaging surface, the longitudinal direction of the housing is designated as the first direction and the direction perpendicular to the first direction is designated as the second direction, the first spacing of the plurality of registration portions in the first direction may be greater than the second spacing of the plurality of registration portions in the second direction.

[0128] (6) Any one of the biological target probes of (1) to (5) may further include a registration cap having an opening that overlaps with the imaging surface when viewed from a direction perpendicular to the imaging surface, and the at least one registration portion may be positioned in the opening when viewed from a direction perpendicular to the imaging surface.

[0129] (7)(6) In the biological targeting probe, at least a portion of the at least one registration portion may protrude from the opening in a direction perpendicular to the imaging plane.

[0130] (8) Any one of the biological reference probes of (1) to (5) may further include at least one calibration section located outside the at least one registration section when viewed from a direction perpendicular to the imaging plane.

[0131] In the biological reference probe of (9)(8), the at least one calibration portion may be at least one projection protruding in a direction perpendicular to the imaging surface, or at least one recess in a direction perpendicular to the imaging surface.

[0132] In the biological marker probe of (10)(9), the at least one projection may have a rounded, curved convex shape, and the at least one recess may have a rounded, curved concave shape.

[0133] Any one of the (11)(8) to (10) biological reference probes may further include a registration cap having an opening that overlaps with the imaging surface when viewed from a direction perpendicular to the imaging surface, and the at least one calibration section may be located outside the opening when viewed from a direction perpendicular to the imaging surface.

[0134] (12) Any one of the biological reference probes (1) to (10) may further comprise the sensor positioned on the sensor frame.

[0135] (13) The measuring device of the present disclosure is a jaw movement measuring device comprising a first sensor and a second sensor for acquiring relative position information of the maxilla and the mandible, and one of the biological reference probes of (1) to (11), wherein the second sensor is arranged on the sensor frame of the biological reference probe.

[0136] In the biometric probe of (14)(13), the first sensor and the second sensor may be coils. [Industrial applicability]

[0137] The biometric probe and measuring device relating to this disclosure are useful for overlaying jaw movement data and dental arch morphology data. [Explanation of Symbols]

[0138] 1. Measuring device 2. Biological target probe 3. First Sensor 4. Second Sensor 10 cabinets 11 Image sensor 12 Imaging surface 20 Registration Caps 21 Aperture 22 Support frame 30 sensor frames RS1~RS4 Registration Section CS1~CS4 Calibration Section

Claims

1. A dental bio-marking probe, An image sensor with a sharp imaging surface, Viewed from a direction perpendicular to the imaging surface of the image sensor, at least one registration portion is positioned to overlap with the imaging surface, A sensor frame in which a sensor can be positioned at a location away from at least one registration section, Equipped with, Biological targeting probe.

2. The at least one registration portion has a spherical shape, A biological target probe according to claim 1.

3. The at least one registration unit includes a plurality of registration units, The plurality of registration units are arranged with space between them. A biological target probe according to claim 1.

4. The plurality of registration units are arranged at positions away from the central portion of the imaging surface when viewed from a direction perpendicular to the imaging surface. The biological target probe according to claim 3.

5. The image sensor is housed in a housing that has a longitudinal direction, When viewed from a direction perpendicular to the imaging surface, the longitudinal direction of the housing is defined as the first direction, and the direction perpendicular to the first direction is defined as the second direction, The first spacing between the plurality of registration portions in the first direction is greater than the second spacing between the plurality of registration portions in the second direction. The biological target probe according to claim 3.

6. The registration cap further comprises an opening provided at a position overlapping with the imaging surface when viewed from a direction perpendicular to the imaging surface, The at least one registration portion is positioned in the opening when viewed from a direction perpendicular to the imaging surface. A biological target probe according to claim 1.

7. At least a portion of the at least one registration portion protrudes from the opening in a direction perpendicular to the imaging surface. The biological target probe according to claim 6.

8. The system further comprises at least one calibration unit, which is positioned outside the at least one registration unit when viewed from a direction perpendicular to the imaging surface. A biological target probe according to claim 1.

9. The at least one calibration portion is at least one projection protruding in a direction perpendicular to the imaging surface, or at least one recess in a direction perpendicular to the imaging surface. The biological target probe according to claim 8.

10. The at least one projection has a rounded, curved convex shape, The at least one recess has a rounded, curved concave shape. The biological target probe according to claim 9.

11. The registration cap further comprises an opening provided at a position overlapping with the imaging surface when viewed from a direction perpendicular to the imaging surface, The at least one calibration unit is located outside the aperture when viewed from a direction perpendicular to the imaging surface. The biological target probe according to claim 8.

12. The sensor further comprises the sensor arranged in the sensor frame. A biological target probe according to claim 1.

13. A device for measuring jaw movement, A first sensor and a second sensor that acquire relative positional information of the upper jaw and the lower jaw, A biological target probe according to any one of claims 1 to 11, Equipped with, The second sensor is positioned on the sensor frame of the biological target probe. Measuring device.

14. The first sensor and the second sensor are coils. The measuring device according to claim 13.

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