Vision inspection apparatus for iimplant

Abstract

An implant surface vision inspection device is disclosed. According to one aspect of the present invention, the device comprises: an input tray on which a plurality of implants to be inspected are placed; a good product tray on which a good product implant determined to be good among the plurality of implants to be inspected is placed; a defective product tray on which a defective implant determined to be defective among the plurality of implants to be inspected is placed; a device housing having a front entrance through which the input tray, the good product tray, and the defective product tray can be inserted and withdrawn, and a front door for opening and closing the front entrance; a front work stage having a portion of a jig disposed on an upper surface to allow the input tray, the good product tray, and the defective product tray to be placed, and a through hole connecting the upper space and the lower space, wherein the internal space of the housing is divided into an upper space and a lower space; a robot arm for grasping an implant to be inspected placed on the input tray and transferring it to the lower space through the through hole; and a camera assembly disposed in the lower space to generate an image of the implant to be inspected grasped and transferred by the robot arm. An implant surface vision inspection device may be provided, comprising a control unit that controls the robot arm and the camera assembly, analyzes the captured image generated by the camera assembly to determine whether the implant to be inspected is good or defective, and controls the robot arm so that good implants are transferred to the good product tray and defective implants are transferred to the defective product tray according to the determination result.

Description

Technology Field

[0001] The present invention relates to an implant surface vision inspection device. Background Technology

[0003] A dental implant is an artificial tooth that can replace a lost tooth; in a broad sense, it may refer to the entire assembly including a screw-shaped fixture embedded in the alveolar bone to function as a root, a tooth-shaped crown, and an abutment fixed to the fixture to support the crown, while in a narrow sense, it may refer only to the fixture.

[0004] Implants undergo an inspection process after manufacturing, and fixtures require various inspections such as size inspection, surface foreign matter and dent inspection, etching limit line inspection, and internal dent inspection.

[0005] However, since conventional implant inspections were mostly performed manually, they presented problems such as reduced productivity of implant products and increased worker fatigue. Although automated implant inspection devices were developed to address these issues, they suffered from the problem of requiring a relatively long inspection time and reduced accuracy of the results.

[0006] The background technology of the present invention is disclosed in Korean Registered Patent Publication No. 10-2048971. The problem to be solved

[0008] An embodiment of the present invention provides an implant surface vision inspection device that improves implant inspection time and inspection result accuracy. means of solving the problem

[0010] According to one aspect of the present invention, the device housing comprises: an input tray on which a plurality of implants to be inspected are placed; a good product tray on which a good product implant determined to be good among the plurality of implants to be inspected is placed; a defective product tray on which a defective implant determined to be defective among the plurality of implants to be inspected is placed; a front entrance through which the input tray, the good product tray, and the defective product tray can be inserted and withdrawn, and a front door for opening and closing the front entrance; a front work stage having a portion of a jig disposed on an upper surface to allow the input tray, the good product tray, and the defective product tray to be placed, and a through hole connecting the upper space and the lower space, wherein the internal space of the housing is divided into an upper space and a lower space; a robot arm for grasping an implant to be inspected placed on the input tray and transferring it to the lower space through the through hole; and a camera assembly disposed in the lower space to generate an image of the implant to be inspected grasped and transferred by the robot arm. An implant surface vision inspection device may be provided, comprising a control unit that controls the robot arm and the camera assembly, analyzes the captured image generated by the camera assembly to determine whether the implant to be inspected is good or defective, and controls the robot arm so that good implants are transferred to the good product tray and defective implants are transferred to the defective product tray according to the determination result.

[0011] The above-mentioned implant to be inspected is extended in the vertical direction, and is grasped by the robot arm and transported to the lower space such that an abutment coupling hole to which an abutment is coupled is positioned on the bottom surface, and the camera assembly may include a plurality of first cameras that photograph the implant to be inspected from different horizontal directions; and a second camera that photographs the bottom surface of the implant to be inspected from below the implant to be inspected.

[0012] The above camera assembly further includes a first mirror formed in a hollow cylindrical shape and having a first reflective surface formed on its inner circumference; and a second mirror formed in a hollow truncated polygonal shape and having a second reflective surface formed on each of its outer surfaces, wherein the second camera generates a second imaging image comprising a first image viewed from a vertical direction through the hollow of the second mirror and a plurality of second images formed on the plurality of second reflective surfaces, and the second image may be an image reflected from the first reflective surface, such that the inner surface of the abutment coupling hole is visible when the bottom surface of the implant to be inspected is viewed from an inclined direction.

[0013] The plurality of first cameras may be positioned at the same height as the location of the implant to be inspected where the second camera can generate the second image.

[0014] The plurality of first cameras may be positioned higher than the location of the implant to be inspected where the second camera can generate the second image.

[0015] The control unit can move the implant to be inspected to a position where a first image can be generated by the plurality of first cameras, and then determine whether the implant to be inspected is tilted by analyzing the plurality of first images generated by the plurality of first cameras, and if it is determined that the implant to be inspected is tilted with respect to the up and down direction, correct the tilt of the implant to be inspected and then move the implant to a position where the second camera can generate the second image.

[0016] The above control unit can determine whether the implant under inspection is good or defective using a deep learning algorithm.

[0017] The housing further comprises a rear work stage having an internal space divided into an upper space and a lower space, a plurality of jigs disposed on an upper surface for seating the input tray, the good product tray and the defective tray, and a through hole connecting the upper space and the lower space; and a camera transfer unit for transferring the camera assembly to the front work stage and the rear work stage, wherein the housing further comprises a rear entrance through which the input tray, the good product tray and the defective tray can be inserted and withdrawn, and a rear door for opening and closing the rear entrance, and the robot arm may be configured to be implantable transferable on both the front work stage and the rear work stage. Effects of the invention

[0019] According to an embodiment of the present invention, the time required for implant inspection can be reduced, and the accuracy of the implant inspection results can be improved. Brief explanation of the drawing

[0021] FIGS. 1 and FIGS. 2 are drawings of an implant surface vision inspection device according to an embodiment of the present invention. Fig. 3 is a partial cross-sectional view of Fig. 2. FIGS. 4 and FIGS. 5 are drawings illustrating the robot arm of FIGS. 1. FIGS. 6 to 8 are drawings illustrating the camera assembly of FIG. 1. FIG. 9 is a drawing for explaining the internal structure of the camera module of FIG. 6. FIG. 10 is a drawing illustrating a first captured image generated by the first camera of FIG. 6. FIG. 11 is a drawing illustrating a second captured image generated by the second camera of FIG. 9. FIG. 12 is a drawing illustrating the control unit of an implant surface vision inspection device according to FIG. 1. FIGS. 13 to 15 are drawings illustrating images determined to be surface defects, etching limit line defects, and internal defects, respectively. Specific details for implementing the invention

[0022] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0023] Unless explicitly defined otherwise, the terms used in the embodiments of the present invention may be interpreted in a sense that is generally understood by those skilled in the art to which the present invention pertains, and are intended merely to describe specific embodiments and are not intended to limit the present invention.

[0024] In this specification, the singular form shall be deemed to include the plural form unless otherwise specifically stated.

[0025] In addition, if it is stated that a part "includes" a certain component, it means that the part may include additional components.

[0026] In addition, when a component is described as "above," it refers to the area above or below the component, and does not necessarily mean that it is located on the upper side relative to the direction of gravity.

[0027] In addition, where it is stated that a component is "connected" or "combined" to another component, this may include not only cases where the component is directly connected or combined to the other component, but also cases where the component is indirectly connected or combined through another component.

[0028] In addition, terms such as "first," "second," etc., may be used to describe a component; however, these terms are intended merely to distinguish the component from other components and are not intended to limit the essence, order, or sequence of the component.

[0029] FIGS. 1 and 2 are drawings of an implant surface vision inspection device according to an embodiment of the present invention, FIG. 3 is a partial cutaway view of FIG. 2, and FIGS. 4 and 5 are drawings illustrating a robot arm of FIG. 1.

[0030] Referring to FIGS. 1 to 5, an implant surface vision inspection device (10) according to one embodiment of the present invention may include a housing (100), an input tray (200), a good product tray (210), a defective product tray (220), a front work stage (300), a robot arm (500), a camera assembly (600), and a control unit (not shown), and may further include a rear work stage (400) and a camera transfer unit (700).

[0031] An internal space can be formed in the housing (100) where an implant inspection can be performed.

[0032] The housing (100) may be equipped with a front entrance (110) and a front door (120) for opening and closing the front entrance (110).

[0033] The front entrance (110) is formed on the front of the housing (100) and can be connected to the interior space of the housing (100).

[0034] Accordingly, the operator may insert the input tray (200), good product tray (210), and defective tray (220) onto the front work stage (300) through the front entrance (110), or pull out the input tray (200), good product tray (210), and defective tray (220) placed on the front work stage (300) to the outside.

[0035] The input tray (200) can be configured to accommodate multiple implants to be examined.

[0036] For example, the input tray (200) may have a plurality of protrusions on its upper surface that can be inserted into the abutment coupling hole of an implant, for example, a fixture.

[0037] A good product tray (210) may be fitted with a good product implant determined to be good through a vision inspection described later among a plurality of implants subject to inspection in the input tray (200), and a defective product tray (220) may be fitted with a defective product determined to be defective through a vision inspection described later among a plurality of implants subject to inspection in the input tray (200). The good product tray (210) and the defective product tray (200) may be configured to allow implants to be fitted, just like the input tray (200).

[0038] The front work stage (300) may be arranged to divide the internal space of the housing (100) into an upper space and a lower space, and may be provided with a plurality of first jigs (310) and first through holes (320).

[0039] A plurality of first jigs (310) are coupled to the front work stage (300) so as to be placed on the upper surface of the front work stage (300) to fix the input tray (200), good product tray (210), and defective tray (220).

[0040] The first through hole (320) can penetrate the upper and lower surfaces of the front work stage (300) to connect the upper space and the lower space of the housing (100).

[0041] The rear work stage (400) can be positioned behind the front work stage (300).

[0042] The rear work stage (400) may be arranged to divide the internal space of the housing (100) into an upper space and a lower space, and may be equipped with a plurality of second jigs (410) and second through holes (420).

[0043] A plurality of second jigs (410) are coupled to the rear work stage (400) so as to be placed on the upper surface of the rear work stage (400) to secure the input tray (200), good product tray (210), and defective tray (220).

[0044] The second through hole (420) can penetrate the upper and lower surfaces of the rear work stage (400) to connect the upper space and the lower space of the housing (100).

[0045] Meanwhile, if the vision inspection device (10) includes a rear work stage (400), the housing (100) may further be provided with a rear entrance (130) and a rear door (140) for opening and closing the rear entrance (130).

[0046] The rear entrance (130) is formed on the rear of the housing (100) and can be connected to the interior space of the housing (100).

[0047] Accordingly, the operator may insert the input tray (200), good product tray (210), and defective tray (220) onto the rear work stage (400) through the rear entrance (130), or pull out the input tray (200), good product tray (210), and defective tray (220) placed on the rear work stage (400) to the outside.

[0048] In particular, when the implant inspection on the front work stage (300) and the implant inspection on the rear work stage (400) are performed sequentially as described below, for example, when the inspection of multiple implants to be inspected on the input tray (200) placed on the rear work stage (400) is completed and then the inspection of multiple implants to be inspected on the input tray (200) placed on the front work stage (300) is performed, the operator can perform uninterrupted inspection without interfering with the implant inspection being performed on the front work stage (300) by pulling out the input tray (200), good product tray (210), and defective tray (220) on the rear work stage (400) through the rear entrance (130).

[0049] The robot arm (500) can, for example, grasp and transport the implant by vacuum suction.

[0050] For example, the robot arm (500) can grasp the implants to be inspected, which are seated on the input tray (200), one by one and transfer them to the lower space of the housing (100) through the first through hole (320) of the front work stage (300) or the second through hole (420) of the rear work stage (400).

[0051] The robot arm (500) can be configured to grip the implant to be inspected in an up-and-down extended state, i.e., in an upright state, so that the abutment coupling ball is positioned on the bottom surface.

[0052] Additionally, the robot arm (500) can be configured to allow implant transfer on both the front work stage (300) and the rear work stage (400) so that inspection work on the front work stage (300) and inspection work on the rear work stage (400) can be performed by a single robot arm.

[0053] For example, the robot arm (500) can be placed in the boundary area between the front work stage (300) and the rear work stage (400).

[0054] The camera assembly (600) can be placed in the lower space of the housing (100), and can generate an image by taking a picture of an implant to be inspected, which is transferred to the lower space of the housing (100) while being held by the robot arm (500), for example, while being held by the robot arm (500).

[0055] The detailed configuration of the camera assembly (600) will be described in detail below with reference to additional drawings.

[0056] The camera transfer unit (700) can transfer the camera assembly (600) to the front work stage (300) and the rear work stage (400).

[0057] Accordingly, the camera assembly (600) is transferred to the rear work stage (400) by the camera transfer unit (700) after, for example, the inspection work at the front work stage (300) is completed, so that the inspection work at the front work stage (300) and the inspection work at the rear work stage (400) can be performed by a single camera assembly (600).

[0058] The camera transfer unit (700) may include a linear motor, but is not necessarily limited thereto, and may include various known devices that perform linear reciprocating transfer.

[0059] The control unit can control the robot arm (500), camera assembly (600), camera transfer unit (700), etc., according to a pre-set program, and the operation of the control unit will be described in detail later.

[0060] FIGS. 6 to 8 are drawings illustrating the camera assembly of FIG. 1, FIG. 9 is a drawing for explaining the internal structure of the camera module of FIG. 6, FIG. 10 is a drawing illustrating a first captured image generated by the first camera of FIG. 6, and FIG. 11 is a drawing illustrating a second captured image generated by the second camera of FIG. 9.

[0061] Referring to FIGS. 6 through 11, the camera assembly (600) may include a plurality of first cameras (610) and second cameras (621), and may further include a first mirror (622) and a second mirror (623).

[0062] Additionally, the second camera (621), the first mirror (622), and the second mirror (623) may be modularized into a single camera module (620).

[0063] Additionally, a plurality of first cameras (610) and camera modules (620) can be coupled to a camera frame that is transported by a camera transport unit (700).

[0064] Multiple first cameras (610) can photograph the implant (20) under inspection from different horizontal directions.

[0065] For example, a plurality of first cameras (610) may be arranged radially on a horizontal plane with respect to an up-and-down centerline (A) passing through the center of the first through hole (320) or the second through hole (420).

[0066] Accordingly, the first image captured by the first camera (610) may include the external side shape of the implant (20).

[0067] The second camera (621) can photograph the bottom surface of the implant (20) under inspection from the lower side of the implant (20) under inspection.

[0068] The first mirror (622) can be coupled to the camera module (620) and can be formed in a hollow cylindrical shape, and a first reflective surface (622a) can be formed on the inner surface of the first mirror (622).

[0069] The second mirror (623) can be coupled to the camera module (620) and can be formed in a hollow polygonal truncated pyramid shape, for example, a hexagonal truncated pyramid shape, and a second reflective surface (623a) can be formed on each of the multiple outer surfaces of the second mirror (623).

[0070] The second camera (621), the first mirror (622), and the second mirror (623) may be arranged so that the second image captured by the second camera (621) includes a first image (M1) in which the bottom surface of the implant (20) to be inspected is viewed from a vertical direction, and a plurality of second images (M2) in which the inner surface of the abutment coupling hole is seen by viewing the bottom surface of the implant (20) to be inspected from an inclined direction.

[0071] For example, the second camera (621), the first mirror (622), and the second mirror (623) may each be arranged sequentially on an upper and lower centerline (A) passing through the center of the first through hole (320) or the second through hole (420), and the second camera (621) may obtain a first image (M1) through the hollow of the second mirror (623), and a plurality of second images (M2) may be images formed on a plurality of second reflective surfaces (623a).

[0072] That is, the second camera (621) can obtain multiple second images (M2) of the implant (20) reflected from the first reflective surface (622a) and formed on multiple second reflective surfaces (623a).

[0073] FIG. 12 is a diagram showing the control unit of an implant surface vision inspection device according to FIG. 1, and FIG. 13 to 15 are diagrams showing captured images determined to be surface defects, etching limit line defects, and internal defects, respectively.

[0074] Referring to FIGS. 12 to 15, the control unit (800) can control the robot arm (500), the camera assembly (600), and the camera transfer unit (700).

[0075] First, when an inspection start signal is input through the input unit (810), the control unit (800) can move the robot arm (500) toward the input tray (200), and use a third camera installed on the robot arm (500) to check whether there is an implant to be inspected in the input tray (200), while also recognizing a barcode displayed on the input tray (200) to check the model information of the implant.

[0076] Next, the control unit (800) can grasp the implant to be inspected in the input tray (200) and transfer it to the lower space of the housing (100) through the first through hole (320) or the second through hole (420), and drive the camera assembly (600) to generate an image, while analyzing the image generated by the camera assembly (600) to determine whether the implant to be inspected is good or defective.

[0077] For example, the control unit (800) can perform model inclusion inspection, surface foreign matter and dent inspection, etching limit line inspection, hexagonal shape inspection, and internal dent inspection.

[0078] For example, the control unit (800) can calculate the size of the implant, such as the length and outer diameter, by analyzing the first and second images generated by the camera assembly (600), and can check whether other implant models are mixed in by comparing the calculated size of the implant with the product information of the corresponding model stored in the database (820).

[0079] As a second example, the control unit (800) can analyze a plurality of first images generated by a plurality of first cameras (610) to inspect whether there is, for example, a foreign substance or a scratch of 200 μm or more on the surface of the implant.

[0080] Additionally, the control unit (800) can determine whether the implant to be inspected is tilted by analyzing a plurality of first images generated by the first camera (610), and if it is determined that the implant to be inspected is tilted relative to the up and down direction, it can control the robot arm (500) to correct the tilt of the implant to be inspected.

[0081] As a third example, the control unit (800) may perform an etching limit line inspection by analyzing the first image (M1) among the second captured images generated by the second camera (621).

[0082] Here, the etching limit line refers to a boundary line of a coating film formed on the surface of an implant to allow the implant to adhere well to the bone, and if the etching limit line is encroached upon by, for example, 200㎛ or more, it may be judged as defective.

[0083] In a fourth example, the control unit (800) can analyze the first image (M1) among the second captured images generated by the second camera (621) to inspect the hexagonal shape of the base joint ball.

[0084] Fifth example, the control unit (800) may analyze a plurality of second images (M2) among the second images generated by the second camera (621) to inspect whether there is a foreign object or a dent defect of, for example, 200 μm or larger on the inner surface of the abutment coupling hole of the implant product.

[0085] Meanwhile, the second camera (621) can generate a second imaging image including a plurality of second images (M2) only when the implant to be inspected is at a height within a specific range, and the plurality of first cameras (610) may be positioned higher than the position of the implant to be inspected where the second camera (621) can generate a second imaging image including a plurality of second images (M2).

[0086] In this case, the control unit (800) can control the robot arm (500) to transport the implant to be inspected to the same height as the plurality of first cameras (610), and can generate a plurality of first images by the plurality of first cameras (610), and after analyzing the plurality of first images to determine whether the implant to be inspected is tilted and performing tilt correction, can control the robot arm (500) and the plurality of second cameras (621) to lower the implant to be inspected and generate a second image.

[0087] However, it is not necessarily limited to this, and a plurality of first cameras (610) may be positioned at the same height as the location of the implant to be inspected, where the second camera (621) can generate a second image including a plurality of second images (M2). In this case, the control unit (800) may control the plurality of first cameras (610) and the second camera (621) to obtain the first image and the second image simultaneously, and thereby the inspection time may be further shortened.

[0088] For example, it takes 1 second to pick up the implant, 1 second to transfer the implant, 0.5 seconds for model inclusion inspection and surface foreign matter and dent inspection, 1 second to correct the implant tilt, 0.5 seconds for etching limit line inspection, hexagonal shape inspection and internal dent inspection, 1 second to transfer the implant, and 1 second to put the implant down, so the inspection time per implant can take about 6 seconds, and if the inspection is performed simultaneously at two forward work stages (300), the inspection time per implant can be shortened to about 3 seconds.

[0089] Meanwhile, the control unit (800) may use a deep learning algorithm for the aforementioned inspection, that is, for determining whether the implant is good or defective, and may include a deep learning learning unit (830) for this purpose.

[0090] Next, the control unit (800) can control the robot arm (500) so that good implants determined to be good as a result of vision inspection are transferred to the good product tray (210) and defective implants determined to be defective are transferred to the defective product tray (220).

[0091] Meanwhile, when the inspection work at the front work stage (300) or the rear work stage (400) is completed, the control unit (800) controls the camera transfer unit (700) to transfer the camera assembly (600) to the rear work stage (400) or the front work stage (300), and then performs the inspection work at the rear work stage (400) or the front work stage (300) without interruption.

[0092] Although the present invention has been described above with reference to preferred embodiments, this is merely illustrative and does not limit the invention. A person skilled in the art may modify and change the embodiments in various ways by adding, changing, deleting, or adding components without departing from the technical spirit of the invention as described in the claims, and such modifications and changes are also to be considered to be included within the scope of the rights of the present invention. Explanation of the symbols

[0094] 10: Vision Inspector 20: Implant 100: Housing 110: Front entrance 120: Front door 130: Rear entrance 140: Rear door 200: Input Tray 210: Good quality tray 220: Defective Tray 300: Forward work stage 310: 1st Jig 320: First through hole 400: Rear work stage 410: 2nd Jig 420: Second penetration hole 500: Robotic Arm 600: Camera Assembly 610: First Camera 620: Camera module 621: Second Camera 622: 1st Mirror 622a: First reflective surface 623: Second Mirror 623a: Second reflective surface 700: Camera transfer unit 800: Control unit 810: Input section 820: Database 830: Deep learning training unit

Claims

Claim 1 An input tray on which a plurality of implants to be inspected are placed; a good product tray on which a good product implant determined to be good among the plurality of implants to be inspected is placed; a defective product tray on which a defective implant determined to be defective among the plurality of implants to be inspected is placed; a device housing having a front entrance through which the input tray, the good product tray, and the defective product tray can be inserted and withdrawn, and a front door for opening and closing the front entrance; a front work stage having a front work stage that divides the internal space of the housing into an upper space and a lower space, a plurality of jigs disposed on an upper surface to allow the input tray, the good product tray, and the defective product tray to be placed, and a through hole connecting the upper space and the lower space; a robot arm that grasps the implants to be inspected placed on the input tray and transfers them to the lower space through the through hole; and a camera assembly disposed in the lower space to generate an image of the implants to be inspected that are grasped and transferred by the robot arm. The apparatus includes a control unit that controls the robot arm and the camera assembly, analyzes the captured image generated by the camera assembly to determine whether the implant to be inspected is good or defective, and controls the robot arm so that, according to the determination result, good implants are transferred to the good product tray and defective implants are transferred to the defective tray; wherein the implant to be inspected is extended in the vertical direction and is grasped by the robot arm and transferred to the lower space such that an abutment coupling hole to which an abutment is coupled is positioned on the bottom surface, and the camera assembly comprises: a plurality of first cameras that photograph the implant to be inspected from different horizontal directions; a second camera that photographs the bottom surface of the implant to be inspected from below the implant to be inspected; and a first mirror formed in the shape of a hollow cylinder and having a first reflective surface formed on its inner circumference.An implant surface vision inspection device comprising a second mirror having a hollow polygonal frustum shape and having a second reflective surface formed on each of a plurality of outer surfaces, wherein the second camera generates a second captured image comprising a first image viewed from a vertical direction through the hollow of the second mirror and a plurality of second images formed on the plurality of second reflective surfaces, wherein the second image is an image reflected from the first reflective surface and is an image in which the inner surface of the abutment coupling hole is visible when the bottom surface of the implant to be inspected is viewed from an inclined direction. Claim 2 delete Claim 3 delete Claim 4 An implant surface vision inspection device according to claim 1, characterized in that the plurality of first cameras are positioned at the same height as the location of the implant to be inspected where the second camera can generate the second image. Claim 5 An implant surface vision inspection device according to claim 1, characterized in that the control unit determines whether the implant under inspection is good or defective using a deep learning algorithm. Claim 6 An implant surface vision inspection device according to claim 1, further comprising: a rear work stage having a plurality of jigs disposed on an upper surface to allow the input tray, the good product tray, and the defective tray to be seated, and a through hole connecting the upper space and the lower space; and a camera transfer unit for transferring the camera assembly to the front work stage and the rear work stage, wherein the housing further comprises a rear entrance through which the input tray, the good product tray, and the defective tray can be inserted and withdrawn, and a rear door for opening and closing the rear entrance, and wherein the robot arm is configured to be capable of implant transfer on both the front work stage and the rear work stage.

Images