CA2005439A1 - Apparatus for digitizing the contour of a three-dimensional surface, particularly useful for preparing a dental crown - Google Patents
Apparatus for digitizing the contour of a three-dimensional surface, particularly useful for preparing a dental crownInfo
- Publication number
- CA2005439A1 CA2005439A1 CA002005439A CA2005439A CA2005439A1 CA 2005439 A1 CA2005439 A1 CA 2005439A1 CA 002005439 A CA002005439 A CA 002005439A CA 2005439 A CA2005439 A CA 2005439A CA 2005439 A1 CA2005439 A1 CA 2005439A1
- Authority
- CA
- Canada
- Prior art keywords
- deflection
- probe
- handle
- arm
- along
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C19/00—Dental auxiliary appliances
- A61C19/04—Measuring instruments specially adapted for dentistry
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
- G05B19/4207—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C13/00—Dental prostheses; Making same
- A61C13/0003—Making bridge-work, inlays, implants or the like
- A61C13/0004—Computer-assisted sizing or machining of dental prostheses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C9/00—Impression cups, i.e. impression trays; Impression methods
- A61C9/004—Means or methods for taking digitized impressions
- A61C9/0046—Data acquisition means or methods
- A61C9/008—Mechanical means or methods, e.g. a contact probe moving over the teeth
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37039—Digitize position with flexible feeler, correction of position as function of flexion
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37273—Wheatstone bridge
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37274—Strain gauge
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37357—Force, pressure, weight or deflection
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41206—Lookup table, memory with certain relationships
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45167—Dentist, dental manufacture
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
Abstract
APPARATUS FOR DIGITIZING THE CONTOUR OF A THREE-DIMENSIONAL SURFACE, PARTICULARLY USEFUL FOR PREPARING A DENTAL CROWN Apparatus for digitizing the contour of a three-dimensional surface of an object includes a handle, a probe carried by the handle and movable along three independent axes to contact sample points on the three-dimensional surface, and a positional sensor for sensing the position of the handle along the three axes and for outputting positional values. The probe includes an arm deflectable during the movement of the probe, which deflections are sensed by a sensor. digital processor processes the positional values only when one of the deflection sensors senses a deflection in its respective arm above a predetermined threshold value, and modifies the positional values by the deflection values.
Description
~S~3~
APPARATUS FOR DIGITIZING THE CONTOUR OF A
THREE-DIMENSIONAL SURFACE, PARTICULARLY US~FUL
FOR PREPARING A DENTAL CROWN
BACKGROUND OF THE INVENTION
The present invention relates to apparatus for digitizing the contour of a three-dimensional surface.
The invention is particularly applicable for digitizing a dental surface, e.g., a ground tooth for preparing a dental crown, and is therefore described below with respect to this applicatlon.
When a tooth is in an advanced state of decay, it may become necessary to apply a crown. This involves grinding the tooth and then fixing the crown to it. If one or more teeth are missing or are to be removed, it may be necessary to insert a bridge, which includes a crown applied to each of the two teeth to be bridged and integrally formed with one or more artificial teeth to fill the space of the missing tooth or teeth.
The metal infrastructure for preparing a crown or bridge is conventionally produced by makiny a cast model of the respective part of the oral cavity, and then using the cast model for building the crown or bridge. Such a procedure is very time-consuming and requires a large number of visits by the patient to the dentist. Moreover, this procedure i9 greatly dependent ~.. ~ , , -: ,. : . . .......... , :
: . : . , ;: , . ~ :
z~s~
on the skill and experience of both the dentist and the laboratory technician in making the cast model and the crown or bridge based on it, as well as on the precision of the equipment used.
- Many systems have been proposed for automatically producing crowns and bridges by digitizing the contour of the tooth to be crowned. Some of the proposed systems are based on optical measurements, as illustrated for example in US Patents 4,742,464, 4,663,720, 4,611,288 and 4,575,805. Other proposed systems are based on the use of contact-type probes which are passed over the surface of the tooth to be crow~ed. Examples of the latter type system are illustrated in US Patents 4,182,312, 4,478,580, 4,411,626 and 4,324,546.
US Patent 4,182,312 discloses a contact-type dental probe in which an aluminum tray is fixed in the patient's mouth such that when the dentist applies the probe to the patient's tooth or gum tissues, an electrical circuit is completed, via the saliva in the patient's mouth, to the tray to enable the transducer to output the positional signals of the probe. However, since the contact of the probe with the surface being digitized is based on completing an electrical circuit to the tray via the subject's saliva, the results would be distorted by the thickness of the saliva film, which , .
.
, 201[3~
is significant when compared to the precision required for dental probes of this type. US Patent 4,478,580 discloses apparatus for treating teeth in which a rotary cutter head is provided with stress sensors so that both the shape of the tooth being ground, as well as the resistance to grinding, are sensed during the grinding operation.
- Insofar as we are aware, apparatus for digitizing the contour of a tooth in order to automatically prepare a crown or a bridge has not yet gained widespread use despite the long felt need and search for such an apparatus.
OBJECTS AND SUMMARY OF THE INVENTION
An object of the present invention is to provide improved apparatus for digitizing the contour of a three-dimensional surface, particularly a dental surface to enable dental crowns and bridges to be produced in a more efficient manner than by the present conventional techniques, and in a more precise manner than in the previously-proposed automated techniques.
According to the invention, there is provided apparatus for digitizing the contour of a three-dimensional surface of an object, comprising: a handle graspable by the user; mounting means for mounting the handle with respect to the object; a probe connected to
APPARATUS FOR DIGITIZING THE CONTOUR OF A
THREE-DIMENSIONAL SURFACE, PARTICULARLY US~FUL
FOR PREPARING A DENTAL CROWN
BACKGROUND OF THE INVENTION
The present invention relates to apparatus for digitizing the contour of a three-dimensional surface.
The invention is particularly applicable for digitizing a dental surface, e.g., a ground tooth for preparing a dental crown, and is therefore described below with respect to this applicatlon.
When a tooth is in an advanced state of decay, it may become necessary to apply a crown. This involves grinding the tooth and then fixing the crown to it. If one or more teeth are missing or are to be removed, it may be necessary to insert a bridge, which includes a crown applied to each of the two teeth to be bridged and integrally formed with one or more artificial teeth to fill the space of the missing tooth or teeth.
The metal infrastructure for preparing a crown or bridge is conventionally produced by makiny a cast model of the respective part of the oral cavity, and then using the cast model for building the crown or bridge. Such a procedure is very time-consuming and requires a large number of visits by the patient to the dentist. Moreover, this procedure i9 greatly dependent ~.. ~ , , -: ,. : . . .......... , :
: . : . , ;: , . ~ :
z~s~
on the skill and experience of both the dentist and the laboratory technician in making the cast model and the crown or bridge based on it, as well as on the precision of the equipment used.
- Many systems have been proposed for automatically producing crowns and bridges by digitizing the contour of the tooth to be crowned. Some of the proposed systems are based on optical measurements, as illustrated for example in US Patents 4,742,464, 4,663,720, 4,611,288 and 4,575,805. Other proposed systems are based on the use of contact-type probes which are passed over the surface of the tooth to be crow~ed. Examples of the latter type system are illustrated in US Patents 4,182,312, 4,478,580, 4,411,626 and 4,324,546.
US Patent 4,182,312 discloses a contact-type dental probe in which an aluminum tray is fixed in the patient's mouth such that when the dentist applies the probe to the patient's tooth or gum tissues, an electrical circuit is completed, via the saliva in the patient's mouth, to the tray to enable the transducer to output the positional signals of the probe. However, since the contact of the probe with the surface being digitized is based on completing an electrical circuit to the tray via the subject's saliva, the results would be distorted by the thickness of the saliva film, which , .
.
, 201[3~
is significant when compared to the precision required for dental probes of this type. US Patent 4,478,580 discloses apparatus for treating teeth in which a rotary cutter head is provided with stress sensors so that both the shape of the tooth being ground, as well as the resistance to grinding, are sensed during the grinding operation.
- Insofar as we are aware, apparatus for digitizing the contour of a tooth in order to automatically prepare a crown or a bridge has not yet gained widespread use despite the long felt need and search for such an apparatus.
OBJECTS AND SUMMARY OF THE INVENTION
An object of the present invention is to provide improved apparatus for digitizing the contour of a three-dimensional surface, particularly a dental surface to enable dental crowns and bridges to be produced in a more efficient manner than by the present conventional techniques, and in a more precise manner than in the previously-proposed automated techniques.
According to the invention, there is provided apparatus for digitizing the contour of a three-dimensional surface of an object, comprising: a handle graspable by the user; mounting means for mounting the handle with respect to the object; a probe connected to
2 ~ 3 and carried by the handle and movable thereby along three independent axes to contact sample points on said three-dimensional surface; positional sensor means for sensing the position of the handle along the three axes and for outputting positional values corresponding thereto; the probe including an arm deflectable along first and second ones of the three axes during the movement of the probe along the three-dimensional surface by the handle; first and second deflection sensor means for sensing the deflection of the arm along the first and second axes, respectively, and for outputting deflection values corresponding thereto; and a digital processor including means or processing the positional values only when one of the deflection sensors senses a deflection in its respective arm above a predetermined threshold value, and means for modifying the positional values by the deflection values to output digital surface-location values representing the location of the points on the three-dimensional surace during the movement of the probe therealong by the handle.
It will thus be seen that the deflection sensors serve the double function of: (1l determining when contact is made by the probe with the three-dimensional surface being contoured, and (2) correcting the measurements by the deflections of the probe. The 2~5~
apparatus thus permits three--dimensional surfaces to be digitized in an automatic and highly-precise manner. A
deflection sensor for the third axis may be provided but is not essential for the above purposes.
The above-described apparatus is particularly us~ful for digitizing a dental surface of a subject, in which case the described mounting means includes a biting member to be clamped between the upper and lower teeth of the subject.
Further featues and advantages of the invention will be apparent from the description below.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention is herein described, by way of example only, with reference to the accompanying drawings, wherein:
Fig. 1 illustrates one form of probe assembly constructed in accordance with the present invention for digitizing the contour of a patient's tooth;
Fig. 2 is a perspective view more particularly illustrating the construction of the probe assembly;
Fig. 3 is a perspective view more particularly illustrating the mounting for the handle and probe in the probe assembly;
,~
'. :
, .. ' . . . .
2~
Fig. 4 illustrates the construction of one o~
the slides provided for each orthogonal axis in the probe assembly;
Fig. 5 illustrate~ the deflection sensors in the probe assembly of Figs. 1 and 2 for sensing deflections in the three orthogonal axes;
Fig. 6 illustrates the manner of using the probe assembly for digitizing the contour of a ground tooth;
Fig. 7 illustrates a bridge circuit provided for each of the three pairs of deflection sensors in the probe assembly;
Fig. 8 is a block diagram illustrating one form of data processor system for use with the probe assembly;
Fig. 9 illustrates the setup for pre-calibrating the probe assembly by producing and storing a look-up table for the respective probe assembly;
Fig. 10 is a flow diagram illustrating the operation of the system of Figs. 1-9 where both the di~itizing and processing operations are performed "on-line";
Fig. 11 is a flow diagram more particularly illustrating the compensation, transform and sort operations indicated by Routine-A in the diagram of Fig. 10;
. . ' ' , ' ' , ,, ' , 5~L39 Fig. 12a illustrates a semi-sphere geometrically divided by a plurality of longitudinal meridian lines and a plurality of horizontal latitude lines into a plurality of segments for use in defining the contour of the surface of the tooth to receive the crown;
Fig. 12b defines the X-Y plane of the semi-sphere of Fig. 12a, and particularly the manner of measuring the medidian angle "a" in the plane of the tooth base;
Fig. 12c illustrates the X-Z plane of the semi-sphere of Fig. 12a, and particularly the manner of measuring the latitude "B" in the plane perpendicular to the tooth base; and Figs. 13a and 13b are flow diagrams illustrating another operation of the system of Figs.
1-9, particularly when using a low-power (e.g., personal) computer, in which the digitizing operation (illustrated in Fig. 13a) is performed "on-line", and the processing operations (illustrated in Fig. 13b) are performed "off-line".
DESCRIPTION OF_A PREFERRED EMBODIMENT
Figs. 1 and 2 illustrate a probe assembly constructed in accordance with the present invention for use in digiti7ing the contour of the surface of a tooth .
'~
It will thus be seen that the deflection sensors serve the double function of: (1l determining when contact is made by the probe with the three-dimensional surface being contoured, and (2) correcting the measurements by the deflections of the probe. The 2~5~
apparatus thus permits three--dimensional surfaces to be digitized in an automatic and highly-precise manner. A
deflection sensor for the third axis may be provided but is not essential for the above purposes.
The above-described apparatus is particularly us~ful for digitizing a dental surface of a subject, in which case the described mounting means includes a biting member to be clamped between the upper and lower teeth of the subject.
Further featues and advantages of the invention will be apparent from the description below.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention is herein described, by way of example only, with reference to the accompanying drawings, wherein:
Fig. 1 illustrates one form of probe assembly constructed in accordance with the present invention for digitizing the contour of a patient's tooth;
Fig. 2 is a perspective view more particularly illustrating the construction of the probe assembly;
Fig. 3 is a perspective view more particularly illustrating the mounting for the handle and probe in the probe assembly;
,~
'. :
, .. ' . . . .
2~
Fig. 4 illustrates the construction of one o~
the slides provided for each orthogonal axis in the probe assembly;
Fig. 5 illustrate~ the deflection sensors in the probe assembly of Figs. 1 and 2 for sensing deflections in the three orthogonal axes;
Fig. 6 illustrates the manner of using the probe assembly for digitizing the contour of a ground tooth;
Fig. 7 illustrates a bridge circuit provided for each of the three pairs of deflection sensors in the probe assembly;
Fig. 8 is a block diagram illustrating one form of data processor system for use with the probe assembly;
Fig. 9 illustrates the setup for pre-calibrating the probe assembly by producing and storing a look-up table for the respective probe assembly;
Fig. 10 is a flow diagram illustrating the operation of the system of Figs. 1-9 where both the di~itizing and processing operations are performed "on-line";
Fig. 11 is a flow diagram more particularly illustrating the compensation, transform and sort operations indicated by Routine-A in the diagram of Fig. 10;
. . ' ' , ' ' , ,, ' , 5~L39 Fig. 12a illustrates a semi-sphere geometrically divided by a plurality of longitudinal meridian lines and a plurality of horizontal latitude lines into a plurality of segments for use in defining the contour of the surface of the tooth to receive the crown;
Fig. 12b defines the X-Y plane of the semi-sphere of Fig. 12a, and particularly the manner of measuring the medidian angle "a" in the plane of the tooth base;
Fig. 12c illustrates the X-Z plane of the semi-sphere of Fig. 12a, and particularly the manner of measuring the latitude "B" in the plane perpendicular to the tooth base; and Figs. 13a and 13b are flow diagrams illustrating another operation of the system of Figs.
1-9, particularly when using a low-power (e.g., personal) computer, in which the digitizing operation (illustrated in Fig. 13a) is performed "on-line", and the processing operations (illustrated in Fig. 13b) are performed "off-line".
DESCRIPTION OF_A PREFERRED EMBODIMENT
Figs. 1 and 2 illustrate a probe assembly constructed in accordance with the present invention for use in digiti7ing the contour of the surface of a tooth .
'~
3~
to receive a dental crown. After the dentist has ground the tooth as required, this probe assembly would be used with the data processor system illustrated in Fig. 8 to digitize the contour of the qround surface of th~
tooth in order to produce digital data for use in automatically preparing the crown according to that contour.
The probe assembly illustrated in Figs. 1 and 2 comprises a wedge-shaped mounting member 2 to be clamped between the upper and lower teeth of the subject. Mounting member 2 is secured to one end of an arm 4 connected at its opposite end by an articulated joint 6 to one end of a second arm 8. The opposite end of arm 8 carries an articulated joint 10 to which is mounted one section 12a of a slide 12, having a second, relatively-movable section 12b to which is mounted a base member 1~. B~se member 14 mounts one section 16a of a further slide 16 having a second, relatively-movable section 16b which is movable perpendicularly to the direction of movement of section 12b of slide 12.
Slide section 12b in turn mounts one section 18a of a third slide 18 having a second, relatively-movable section 18b movable perpendicularly to the directions of movements of both slide sections 12b and 16b. Slide section 18b in turn mounts a handle 20 knurled at one end 2? to facilitate grasping by the dentist. The opposite end ~f handle 20 mounts a probe heaa 24.
The illustrated probe assembly further includes a digitizer switch SW conveniently accessible to the dentish when probing th~ outer surface of the ground tooth.
AS shown more particularly in Fig S, probe head 24 carries a probe 26 at the tip of an arm 28 depending from the probe head. Arm 28 is deflectable along both the X-axis and the Y-axis. A pair of deflection sensors DSx are fixed on the two opposite sides of arm 28 aligned with each other along the X-axis, and a second pair of deflections sensors DSy are fixed on the remaining two opposite sides of arm 28 aligned with each other along the Y-axis. Probe head 24 is in turn mounted to the end of handle 20 by a further arm 30 which may be deflectable along the Z-axis, and which may include a third pair of deflection sensors DSz fixed on its opposite sides aligned with each other al`ong the Z-axis. Deflection sensors DSx, DSy, DSz may be resistance-type strain gages producing analog outputs.
It will thus be seen, as shown more particularly in Fig. 3, that the three slide assemblies 12, 16 and 18 permit handle 20 and probe 26 to move along the three orthogonal axes with respect to the mounting member 2. Thus, slide assembly 12 permits .
, . ` ,~
,~. . ; . ..
:, ' ' '`
': .
~ - 10 ~
Z~ L3~
movement along the X-axis, slide assembly 16 permits movement along the Y-axis, and slide assembly 18 permits movement along the Z-axis.
Fig. 4 more particularly illustrates the construction of slide assembly 12, it being appreciated that slide assemblies 16 and 18 are similarly constructed. Thus, slide assembly 12 includes slide member 12a fixed to joint 10 and formed with a dove-tail rib 12a' received within a dove-tail groove 12b' formed in slide member 12b fixed to the common base membçr 14 (Fig. 2). A plurality of roller bearings 12c, e.g., of the cylindrical type, are interposed between rib 12a' and groove 12b'. Such slide assemblies are well-known and permit precise movement of one of its slide members (12b, 16b, 18b) with respect to its other slide member (12a, 16a, 18a) along its respective orthogonal axis.
The probe assembly illustrated in Fig. 2 further includes a linear encoder Ex coupled to slide member 12b of slide assembly 12 outputting an electrical signal corresponding to the magnitude of movement of slide member 12b along the X-axis. The movable slide members 16b and 18b of slide assemblies 16 and 18, respectively, are similarly coupled to linear encoders Ey, Ez (Fig. 8), outputting electrical signals corresponding to the magnitude of movement of these two , ~ 3'3 slide members along the Y-axis and Z-axis, respectively.
The linear encoders may be potentiometers outputting analog electrical signals.
Fig. 6 illustrates the manner of using the probe assembly for probing the surface of a ground tooth GT to receiYe a crown. During the probing operation, handle 20 is grasped by the dentist and is manipulated to cause the probe 26 to engage and move along the outer surface of the ground tooth. As soon as the probe 26 contacts the ground tooth, a deflection will be produced in its arm 28 along the X~axis and/or Y-axis, and/or in arm 30 lif included) along the Z-axis, as sensed by the deflection sensors DSx, DSy on arm 28, and DSz on arm 30. These deflections are used both for determining when the probe 26 is in contact with the ground tooth GT, and also for modifying the positional data outputted by the encoders Ex, Ey, Ez, representing the instantaneous position of handle 20 in order to compensate this positional data by the deflections produced in arms 28 and 30.
Fig. 7 illustrates a bridge circuit which may be used for each pair of the deflection ~ensors. While the bridge circuit o~ Fig. 7 illustrates the pair of deflection sensors DSx1, DSx2 for detecting the delection of arm 28 along the X-axis, it will be appreciated that a similar bridge circuit may be - : . . . .
, ' ' ; ' , ~ ; '~ ,,. ,.,.~
i. :
- - 12 ~
2~3~5~3~3 provided for each of the other two pairs of sensors for detecting the deflection of arm 28 along the Y-axis, and Z axis, re~pectively.
Thus, the circuit illustrated in Fig. 7 includes a Wheatstone bridge having four arms: two arms are occupied by resistors R1, R2, whereas the remaining two arms are occupied by the two deflection sensors DS~1, DSx2. The arrangement is such that, upon deflection of arm 28 in either direction along the x-axis, the outputs of the two deflection sensors DSx1, DSx2 are cumulative, thereby multiplying the sensitivity of the sensors, but the influence of temperature on the outputs of the two sensors is equal and opposite such that the bridge circuit tends to cancel temperature effects.
Fig. 8 illustrates the main components of the data processor system for use with the probe assembly of Figs. 1 and 2. Thus, the data processor system receives the positional data from the three linear encoders Ex, Ey, Ez, representing the instanteneous position of the handle 20, and also receives the deflection data from the three pairs of deflection sensor DSx, DSy, DSz. The deflection data is used for determining when contact of the probe 26 is made against the ground tooth GT, and also for compensating the positional data by the deflections of the two arms 28, 30 in order to produce , ;~ .
..
2~C~5~;~9 the correct instantaneous positions of the probe 26 which define the contour of the .surfac0 of the tooth GT
being probed.
Thus, as shown in Fig. 8, the positional data outputs from the three encoders, EX, Ey, Ez are fed to an analog-to-digital converter 42 which converts the analog data to digital data before such data is transmitted to the central bus 44. Similarly, the deflection data outputs from the three pairs of deflection sensors DSx, DSy, DSz, after being processed by the Wheatstone bridge 40x, 40y, 40z for the respective sensor pair (Fig. 7), are converted to digital form in an analog-to-digital converter 46 before being transmitted to the central bus 44.
The data processor system illustrated in Fig.
8 further includes an operator panel 48 connected to the central bus 44 via an input/output unit 50. Also connected to the central bus 44 are a keyboaxd and display unit 52, a RAM (random-access memory) unit 54, a hard disk 56 for storing interim data, and a CPU
(central processor unit~ 58 controlling the overall operation of the system. The digital data outputted by the system, representing the measured sample points on the contour of the surface of the tooth to receive the crown, is outputted to one or more diskettes (floppy disks) 59, in a form to be usable in a mill~ng machine . :. :. .
,. .
, ,. ' ~ ':, ' ' ~5~
for cutting the crown according to the contour as digitized by the illustrated system.
The positional data detected by the three encoders Ex, ~y, Ez are modified by the deflections in the two arms Z8, 30 as sensed by the three pairs of deflection sensor DSx, DSy, DSz. These modifications are effected by means of a look-up table stored in memory unit 54 of the digital processor system ~Ihich is precalibrated for the respective probe assembly to indicate the deflections corresponding to various readings of the deflection sensors. Fig. 9 illustrates a set-up which may be used for preparing this precalibrated look-up table.
As shown in Fig. 9, a precalibrating device 60 having a precisely measurable deflector element 62 is used to deflect arm 28 of the probe assembly separately along each of the three orthogonal axes. The digital positions of the delector element 62 are recorded in a computer 64 simultaneously with the outputs of the deflector sensors, to prepare a table relating the deflections, as produced and measured by deflector element 62, to the outputs of the deflection sensors DSx, DSx, DSz.
For relating the deflections to the outputs of the X-axis deflector sensors DSx, precalibrating device 60 i5 oriented so as to project its deflecting element -' , , 3"3 62 at precisely measured distances along the X-axis, while the readings of the deflection sensors DSx are recorded simultaneously with the instantaneous position of the deflector element 62. This procedure may be done in a continuous manner while periodically sampling, e.g., every two milliseconds, the instantaneous position of the deflector element 62 and the reading of its respective deflector sensors DSx . The same pxocedure would be followed also with respect to the Y-axis and the Z-axis, such that the look-up table prepared in this manner would provide precalibration data relating the outputs of all the deflector sensors DSx, DSy, DSz to the actual deflections along the three orthogonal axes.
When the apparatus is first installed and before used f3r digitizing the contour of a ground tooth, it is precalibrated as described above with reference to Fig. 9, in order to produced the precalibrated look-up table. This look-up table is stored in memory unit 54 of the digital processor illustrated in Fig. 8.
When the apparatus is to be used for digitizing the contour of a ground tooth GT (Fig. 6) or a particular patient, the probe assembly is attached to the patient's mouth by having the patient firmly clamp the mounting device 2 (Fig. 2) between the upper and lower teeth of the patient, with the probe handle 20 - ~: . .' , .
' , . ' . ' . .
.' 2430~9 projecting outwardly of the patient's mouth, and the probe head 24 located within the patient's mouth in the general area of the ground tooth to be probed. The articulated joints 6 and 10 of the probe assembly illustrated in Fig. 2 permit manipulation of the probe handle 20 and the probe head 24 for this purpose.
The dentist, while grasping end 2~ of handle 20, turns "on" the digitizer switch SW and moves the probe 26 into contact with and along the surface of the ground tooth GT (Fig. 6) so as to cover substantially its complete outer surface. During this probing operation, the three encoders Ex, Ey, Ez carried by the three slides 12, 16, 18 (Fig. 2), output positional data representing the instantaneous position of the probe handle 20; whereas the three pairs of deflector sensors DSx, DSy, DSz, output deflection data representing the deflections of probe arm 28 about the X-axis and Y-axis, and the deflections of probe arm 30 about the Z-axis.
The foregoing positional data and deflection data are converted to digital form by A/D converters 42, 46 (Fig.
8) before being fed to the distribution bus 44 of the data processing system.
Preferably, the dentist first coats the tooth to be probed with a colored substance which is automatically removed where contacted by the probe. In this manner, the dentist can see whether the complete .
., :
:
-: :
surface of the ground tooth has been probed. In any event the computer, as described below, also provides an indication whether sufficient sample points have been probed in order to reconstruct the tooth contour.
Figs. 10-12c illustrate one mode of operation when a high-power computer is available, permitting all the operations to be performed "on-line". If, however, only a low-power computer is available, e.gO, a personal computer, then the digitizing operation as illustrated in Fig. 13a may be performed "on-line", while the processing operations illustrated in Fig. 13b may be performed "off-line".
When a high-power computer is available enabling all the operations to be performed "on-line", the system operates as illustrated in Figs. 10-12c.
- At the start, a "flag" bit (IS) is "off"~
i.e., IS=0 (block 70), indicating that the digitizing switch DS has not yet been actuated. During this time, the dentist may adjust the probe assembly within the patient's mouth. When the probe assembly is properly adjusted, the dentist actuates-the digitizing switch SW
(block 72), whereupon the "IS" flag is turned "on";
i.e., IS=1 lblock 74).
As the dentist moves the probe over the ground tooth, the positional data from the three encoders Ex, Ey, Ez, and the deflection data from the three pairs of ; ~ , . . ; . . -'~05~ 3 defl~ction sensor DSx, DSy, DSz, are collected every two milliseconds (block 76) in the distribution bus 5~ -(block 78~, and a decision is made (bloc~ 80) whether the deflection data shows a deflection above a predetermined threshold (N) to indicate that proper contact has been made by the probe 26 with the ground tooth GT being probed. If the dePlection data in all three axes is less than the predetermined threshold (N), this indicates that no proper contact ha~ been made by the probe with the ground tooth, and therefore the collected positional data and deflection data are not stored. However, if the deflection data along any of the three axes is greater than the threshold value (N), thereby indicating that the probe tip has properly contacted the ground tooth, the collected positional data and deflection data are stored in the memory unit 54.
The storing of the positional and deflection data in the memory unit 54 is effected in Routine-A
(block 82) of the flow diagram of Fig. 10, and more particularly illustrated in Fig. 11. Thus, as shown in Fig. 11, the collected positional data, representing the instantaneous positions of the handle 20, is modified by the collected deflection data, representing the deflections of arms 28 and 30 when producing the positional data, in order to compensate the positional Z~
data for such deflections. This compensation (indicated by block 82a, Fig. 11 ) is effected by the us0 of the look-up table stored in the digital processor for the respective probe assembly which had been precalibrated, as described above and as illustrated in Fig. 9, to indicate the actual deflections corresponding to various outputs of the deflection sensors. The so-compensated data thus represents the .instantaneous positions of the probe 28 when in contact with the tooth surface, and thereby the digital surface- ocation Yalues representing surface sample points on the tooth surface.
Since the above-described probing process is done manually, the data so produced will not be in a --logical array. The produced data may also be insufficient for the resolution required, which resolution may be initially inputted into the system via the keyboard 52. Accordingly, the data processor system arranges the inputted digitized data into a logical array for use in producing the data defining the digitized contour. In addition, the system checks the inputted data to see that sufficient sample points were taken to meet the required resolution or the crown to be produced.
The foregoing operations performed in Routine-A are more particularly indicated by bloaks 82b-82f in Fig. 11, and by the diagrams in Figs.
. ' ' , 2 [)0~3~
12a-12c.
AS shown particularly in the diagrams of Figs.
12a-12c, the digitization space is represented by a semi-sphere which has been geometrically divided into a plurality of segments by vertically-extendin~ meridian lines ML, and horizontally-extending latitude lines LL.
The digitization space is characterized by a polar display in which each segment is defined by: (1) the angle "~" (Fig. 12b) fro~ the center "O" of the semi-sphere to the respective segment in the plane of the base of the tooth; and (2) the angle "~" ~Fig. 12c) from the center "O" of the semi-sphere to the respective segment in the plane perpendicular to the tooth base.
These segments are identified by the numbers "E" and "J". For example, "E" is the number of divisions of angle a, and "J" is the number of divisions o~ angle B.
Thus, segment "5-6" is the fifth segment with respect to angle ~, and the sixth segment with respect to anyle B.
For each of the sample points stored in the memory as a result of the Digitization Operation, the data processor system executes a transformation to polaric as illustrated by block 82b in Fig. 11, in order to transform these stored sample points in relation to the above-described segments of the semi-spherical digitization space. Thus, the transformation process . .
' ' ' ' ~'' ' ' , ' ' ! ; ~ .
; ', ,, . ' , :' ' ~0~3~3 transforms the stored data, in cartesian coordinates (X, Y, Z) around the center polnt "o" of the tooth, to polaric coordinates, wherein each point is defined by the length "R" and the angles a and B around-point "O".
Each point is thus identified by the distance "R" for the respective segment number (REJ). Such transformations are well-known, and therefore further details of the manner of producing them are not set forth herein.
Routine-A illustrated in Fig. 11 also sorts the sample points to their respective segments E, J
(block 82c). As each sample is sorted to its respective segment, a check is made (block 82d) to determine whether the respective segment has yet received a sample point: if not, that sample point is recorded therein as "R" (block 82e); but if the respective segment had previously received a sample point, then the respective "R" is averaged with the previously-recorded "R's" for the respective segment (block 82f). This completes Routine-A of Fig. 11.
Returning to the flow diagram of Fig. 10, after all the sample points have been sorted to their respective segments, a check is made of all the segments to see whether there are too many unfilled segments (block 84), which could indicate that the data is sufficient according to the required resolution. For .
;
example, the required resolution, as initially inputted into the data processor system via keyboard 52, may have specified that there must be no more than two adjacent vacant segments. If the system determines that insufficient data was inputted, the system signals the dentist to sample more points (block 86), whereupon the dentist continues to scan the tooth with the probe in order to introduce additional sample point data until the "Sample More" display is extinguished.
When the "Sample More" display is extin~uished, indicating to the dentist that sufficient points have been sampled, the dentish will turn-off the digitizer switch SW. This turns-off the flay "IS";
i.e., IS=O (block 88~. The system will then interpolate the values of adjacent segments which are absent a sample point in order to fill in the vacant segment or segments (block 90).
The process is completed by outputting a CNC
file, e.g., to a diskette 59 (Fig. 8), representing the digitized contour of the surface of the tooth to receive the crown (block 92). Thi~ digital file may then be used for controlling a milling machine to cut the crown according to the digitized contour. The so-produced CNC
file may be in a form defining the tool-path points of the milling machine to cut the digitized contour, or in a form convertible in the milling machine itselE to the : , .
'' ~ ;
)5~;~qJ
tool-path points o~ the milling machine.
The milling machine may be included in the above-described system so that the cutting of the crown can be effected immediately aftex the tooth surface has been digitized, thereby enabling the patient to be fitted immediately with the crown. Alternatively, the milling machine may be at another location, e.g., at a centralized dental laboratory for cutting dental crowns in accordance wlth CNC files supplied to itl in which case the patient would be fitted with the crown in a subseqent visit to the dentist.
Figs. 13a, 13b illustrate a flow diagram which may be used in order to enable the computations to be performed by a low-power computer, e.g., a personal computer, whereupon the digiti~ing operation (illustrated in Fig. 13a) is performed on-line, but the processing operations (illustrated in Fig. 13b) are performed off-line.
With reference to Fig. 13a illustrating the digitizing operation, the probing and data- collecting steps are the same as in the flow diagram illustrated in Fig. 10, and therefore the steps are identified by the same reference numerals 70-80. However, whereas in the Fig. 10 operation Routine-A (block 82, more particularly illustrated in Fig. 11) was entered after a decision was made that the probe had sufficient contact with the , ~
' `1 ,, .
.
- 2~ -5~39 tooth, in the flow diagram illustrated in Fig. 13a followlng this decision the data is stored in the memory (block 100). When the memory is full, the operations illustrated by block 104 are performed, namely: the "off" light is energized; a beep is sounded, the data is stored in the hard disk; another beep is sounded; and the "on" light is energized, followin~ which the computer returns to the beginning of the digitizing process.
This continues until the digitizing switch SW
is manually turned off, wherepon flag IS is "0" (block 106), at which time all the data remaining in the memory is transferred to the hard disk (block 108). This completes the digitizing operations performed on-line.
At any time thereafter, the processing of the collected data may be done off-line, as illustrated by the flow diagram in Fig. 13b. First, the positional and deflection data are read from the hard disk (block 110), and then the computer perform~ the compensation, transformation and sort operations of Routine~A (block 82) as described above and as more particularly illustrated in Fig. 11. After Routine-A has been completed, the computer interpolates the values of the segments about a sample point ~block 112) in the same manner as described above with respect to Fig. 10 (block 90), and the data is outputted in the form of a CNC file .
,:, -,~: , j :
S7l;3~
on the hard disk (block 114).
When the collection of the data has thus been completed on the hard disk ~block 116), a decision is made, in the same manner as described above with respect to block 84 in Fig~ 1 O, whether there is sufficient data (block 118), in which case the appropriate display (block 120 or 122) is energized. This ends the off-line processing. Should it be determined that there is insufficient data, it will be necessary for the dentist to re-examine the patient in order to complete the data obtained.
Many variations may be made in the above-described apparatusO Thus, the Z-axis sensor DSz may be omitted since the other two sensors DSX, DSy are sufficient to sense deflection. Also, a single sensor may be provided for each axis, rather than a pair, in which case DSX2 (Fig. 7) could be a variable resistor.
Instead of using two analog-to-analog digital converters, as shown in Fig. 8 at 42 and 46, one may be used and switched-over between the two circuits.
Further, instead of inputting a resolution value to determine whether sufficient points have been sampled, the sampled points can be displayed on a reproduction of the tooth involved, and it can be left to the dentist to decide whether sufficient points have been sampled to provide the required coverage. Still further, the .
2~5~3g biting teeth (2, Figs. 1, 2) may be fixed in place by cement. The described apparatus may also be used for digitizing other surfaces or contours, in which case there may be two or more guldes for each axis. Many other variations, modifications and applications of the invention will be apparent.
, .
; ;, ' :~
to receive a dental crown. After the dentist has ground the tooth as required, this probe assembly would be used with the data processor system illustrated in Fig. 8 to digitize the contour of the qround surface of th~
tooth in order to produce digital data for use in automatically preparing the crown according to that contour.
The probe assembly illustrated in Figs. 1 and 2 comprises a wedge-shaped mounting member 2 to be clamped between the upper and lower teeth of the subject. Mounting member 2 is secured to one end of an arm 4 connected at its opposite end by an articulated joint 6 to one end of a second arm 8. The opposite end of arm 8 carries an articulated joint 10 to which is mounted one section 12a of a slide 12, having a second, relatively-movable section 12b to which is mounted a base member 1~. B~se member 14 mounts one section 16a of a further slide 16 having a second, relatively-movable section 16b which is movable perpendicularly to the direction of movement of section 12b of slide 12.
Slide section 12b in turn mounts one section 18a of a third slide 18 having a second, relatively-movable section 18b movable perpendicularly to the directions of movements of both slide sections 12b and 16b. Slide section 18b in turn mounts a handle 20 knurled at one end 2? to facilitate grasping by the dentist. The opposite end ~f handle 20 mounts a probe heaa 24.
The illustrated probe assembly further includes a digitizer switch SW conveniently accessible to the dentish when probing th~ outer surface of the ground tooth.
AS shown more particularly in Fig S, probe head 24 carries a probe 26 at the tip of an arm 28 depending from the probe head. Arm 28 is deflectable along both the X-axis and the Y-axis. A pair of deflection sensors DSx are fixed on the two opposite sides of arm 28 aligned with each other along the X-axis, and a second pair of deflections sensors DSy are fixed on the remaining two opposite sides of arm 28 aligned with each other along the Y-axis. Probe head 24 is in turn mounted to the end of handle 20 by a further arm 30 which may be deflectable along the Z-axis, and which may include a third pair of deflection sensors DSz fixed on its opposite sides aligned with each other al`ong the Z-axis. Deflection sensors DSx, DSy, DSz may be resistance-type strain gages producing analog outputs.
It will thus be seen, as shown more particularly in Fig. 3, that the three slide assemblies 12, 16 and 18 permit handle 20 and probe 26 to move along the three orthogonal axes with respect to the mounting member 2. Thus, slide assembly 12 permits .
, . ` ,~
,~. . ; . ..
:, ' ' '`
': .
~ - 10 ~
Z~ L3~
movement along the X-axis, slide assembly 16 permits movement along the Y-axis, and slide assembly 18 permits movement along the Z-axis.
Fig. 4 more particularly illustrates the construction of slide assembly 12, it being appreciated that slide assemblies 16 and 18 are similarly constructed. Thus, slide assembly 12 includes slide member 12a fixed to joint 10 and formed with a dove-tail rib 12a' received within a dove-tail groove 12b' formed in slide member 12b fixed to the common base membçr 14 (Fig. 2). A plurality of roller bearings 12c, e.g., of the cylindrical type, are interposed between rib 12a' and groove 12b'. Such slide assemblies are well-known and permit precise movement of one of its slide members (12b, 16b, 18b) with respect to its other slide member (12a, 16a, 18a) along its respective orthogonal axis.
The probe assembly illustrated in Fig. 2 further includes a linear encoder Ex coupled to slide member 12b of slide assembly 12 outputting an electrical signal corresponding to the magnitude of movement of slide member 12b along the X-axis. The movable slide members 16b and 18b of slide assemblies 16 and 18, respectively, are similarly coupled to linear encoders Ey, Ez (Fig. 8), outputting electrical signals corresponding to the magnitude of movement of these two , ~ 3'3 slide members along the Y-axis and Z-axis, respectively.
The linear encoders may be potentiometers outputting analog electrical signals.
Fig. 6 illustrates the manner of using the probe assembly for probing the surface of a ground tooth GT to receiYe a crown. During the probing operation, handle 20 is grasped by the dentist and is manipulated to cause the probe 26 to engage and move along the outer surface of the ground tooth. As soon as the probe 26 contacts the ground tooth, a deflection will be produced in its arm 28 along the X~axis and/or Y-axis, and/or in arm 30 lif included) along the Z-axis, as sensed by the deflection sensors DSx, DSy on arm 28, and DSz on arm 30. These deflections are used both for determining when the probe 26 is in contact with the ground tooth GT, and also for modifying the positional data outputted by the encoders Ex, Ey, Ez, representing the instantaneous position of handle 20 in order to compensate this positional data by the deflections produced in arms 28 and 30.
Fig. 7 illustrates a bridge circuit which may be used for each pair of the deflection ~ensors. While the bridge circuit o~ Fig. 7 illustrates the pair of deflection sensors DSx1, DSx2 for detecting the delection of arm 28 along the X-axis, it will be appreciated that a similar bridge circuit may be - : . . . .
, ' ' ; ' , ~ ; '~ ,,. ,.,.~
i. :
- - 12 ~
2~3~5~3~3 provided for each of the other two pairs of sensors for detecting the deflection of arm 28 along the Y-axis, and Z axis, re~pectively.
Thus, the circuit illustrated in Fig. 7 includes a Wheatstone bridge having four arms: two arms are occupied by resistors R1, R2, whereas the remaining two arms are occupied by the two deflection sensors DS~1, DSx2. The arrangement is such that, upon deflection of arm 28 in either direction along the x-axis, the outputs of the two deflection sensors DSx1, DSx2 are cumulative, thereby multiplying the sensitivity of the sensors, but the influence of temperature on the outputs of the two sensors is equal and opposite such that the bridge circuit tends to cancel temperature effects.
Fig. 8 illustrates the main components of the data processor system for use with the probe assembly of Figs. 1 and 2. Thus, the data processor system receives the positional data from the three linear encoders Ex, Ey, Ez, representing the instanteneous position of the handle 20, and also receives the deflection data from the three pairs of deflection sensor DSx, DSy, DSz. The deflection data is used for determining when contact of the probe 26 is made against the ground tooth GT, and also for compensating the positional data by the deflections of the two arms 28, 30 in order to produce , ;~ .
..
2~C~5~;~9 the correct instantaneous positions of the probe 26 which define the contour of the .surfac0 of the tooth GT
being probed.
Thus, as shown in Fig. 8, the positional data outputs from the three encoders, EX, Ey, Ez are fed to an analog-to-digital converter 42 which converts the analog data to digital data before such data is transmitted to the central bus 44. Similarly, the deflection data outputs from the three pairs of deflection sensors DSx, DSy, DSz, after being processed by the Wheatstone bridge 40x, 40y, 40z for the respective sensor pair (Fig. 7), are converted to digital form in an analog-to-digital converter 46 before being transmitted to the central bus 44.
The data processor system illustrated in Fig.
8 further includes an operator panel 48 connected to the central bus 44 via an input/output unit 50. Also connected to the central bus 44 are a keyboaxd and display unit 52, a RAM (random-access memory) unit 54, a hard disk 56 for storing interim data, and a CPU
(central processor unit~ 58 controlling the overall operation of the system. The digital data outputted by the system, representing the measured sample points on the contour of the surface of the tooth to receive the crown, is outputted to one or more diskettes (floppy disks) 59, in a form to be usable in a mill~ng machine . :. :. .
,. .
, ,. ' ~ ':, ' ' ~5~
for cutting the crown according to the contour as digitized by the illustrated system.
The positional data detected by the three encoders Ex, ~y, Ez are modified by the deflections in the two arms Z8, 30 as sensed by the three pairs of deflection sensor DSx, DSy, DSz. These modifications are effected by means of a look-up table stored in memory unit 54 of the digital processor system ~Ihich is precalibrated for the respective probe assembly to indicate the deflections corresponding to various readings of the deflection sensors. Fig. 9 illustrates a set-up which may be used for preparing this precalibrated look-up table.
As shown in Fig. 9, a precalibrating device 60 having a precisely measurable deflector element 62 is used to deflect arm 28 of the probe assembly separately along each of the three orthogonal axes. The digital positions of the delector element 62 are recorded in a computer 64 simultaneously with the outputs of the deflector sensors, to prepare a table relating the deflections, as produced and measured by deflector element 62, to the outputs of the deflection sensors DSx, DSx, DSz.
For relating the deflections to the outputs of the X-axis deflector sensors DSx, precalibrating device 60 i5 oriented so as to project its deflecting element -' , , 3"3 62 at precisely measured distances along the X-axis, while the readings of the deflection sensors DSx are recorded simultaneously with the instantaneous position of the deflector element 62. This procedure may be done in a continuous manner while periodically sampling, e.g., every two milliseconds, the instantaneous position of the deflector element 62 and the reading of its respective deflector sensors DSx . The same pxocedure would be followed also with respect to the Y-axis and the Z-axis, such that the look-up table prepared in this manner would provide precalibration data relating the outputs of all the deflector sensors DSx, DSy, DSz to the actual deflections along the three orthogonal axes.
When the apparatus is first installed and before used f3r digitizing the contour of a ground tooth, it is precalibrated as described above with reference to Fig. 9, in order to produced the precalibrated look-up table. This look-up table is stored in memory unit 54 of the digital processor illustrated in Fig. 8.
When the apparatus is to be used for digitizing the contour of a ground tooth GT (Fig. 6) or a particular patient, the probe assembly is attached to the patient's mouth by having the patient firmly clamp the mounting device 2 (Fig. 2) between the upper and lower teeth of the patient, with the probe handle 20 - ~: . .' , .
' , . ' . ' . .
.' 2430~9 projecting outwardly of the patient's mouth, and the probe head 24 located within the patient's mouth in the general area of the ground tooth to be probed. The articulated joints 6 and 10 of the probe assembly illustrated in Fig. 2 permit manipulation of the probe handle 20 and the probe head 24 for this purpose.
The dentist, while grasping end 2~ of handle 20, turns "on" the digitizer switch SW and moves the probe 26 into contact with and along the surface of the ground tooth GT (Fig. 6) so as to cover substantially its complete outer surface. During this probing operation, the three encoders Ex, Ey, Ez carried by the three slides 12, 16, 18 (Fig. 2), output positional data representing the instantaneous position of the probe handle 20; whereas the three pairs of deflector sensors DSx, DSy, DSz, output deflection data representing the deflections of probe arm 28 about the X-axis and Y-axis, and the deflections of probe arm 30 about the Z-axis.
The foregoing positional data and deflection data are converted to digital form by A/D converters 42, 46 (Fig.
8) before being fed to the distribution bus 44 of the data processing system.
Preferably, the dentist first coats the tooth to be probed with a colored substance which is automatically removed where contacted by the probe. In this manner, the dentist can see whether the complete .
., :
:
-: :
surface of the ground tooth has been probed. In any event the computer, as described below, also provides an indication whether sufficient sample points have been probed in order to reconstruct the tooth contour.
Figs. 10-12c illustrate one mode of operation when a high-power computer is available, permitting all the operations to be performed "on-line". If, however, only a low-power computer is available, e.gO, a personal computer, then the digitizing operation as illustrated in Fig. 13a may be performed "on-line", while the processing operations illustrated in Fig. 13b may be performed "off-line".
When a high-power computer is available enabling all the operations to be performed "on-line", the system operates as illustrated in Figs. 10-12c.
- At the start, a "flag" bit (IS) is "off"~
i.e., IS=0 (block 70), indicating that the digitizing switch DS has not yet been actuated. During this time, the dentist may adjust the probe assembly within the patient's mouth. When the probe assembly is properly adjusted, the dentist actuates-the digitizing switch SW
(block 72), whereupon the "IS" flag is turned "on";
i.e., IS=1 lblock 74).
As the dentist moves the probe over the ground tooth, the positional data from the three encoders Ex, Ey, Ez, and the deflection data from the three pairs of ; ~ , . . ; . . -'~05~ 3 defl~ction sensor DSx, DSy, DSz, are collected every two milliseconds (block 76) in the distribution bus 5~ -(block 78~, and a decision is made (bloc~ 80) whether the deflection data shows a deflection above a predetermined threshold (N) to indicate that proper contact has been made by the probe 26 with the ground tooth GT being probed. If the dePlection data in all three axes is less than the predetermined threshold (N), this indicates that no proper contact ha~ been made by the probe with the ground tooth, and therefore the collected positional data and deflection data are not stored. However, if the deflection data along any of the three axes is greater than the threshold value (N), thereby indicating that the probe tip has properly contacted the ground tooth, the collected positional data and deflection data are stored in the memory unit 54.
The storing of the positional and deflection data in the memory unit 54 is effected in Routine-A
(block 82) of the flow diagram of Fig. 10, and more particularly illustrated in Fig. 11. Thus, as shown in Fig. 11, the collected positional data, representing the instantaneous positions of the handle 20, is modified by the collected deflection data, representing the deflections of arms 28 and 30 when producing the positional data, in order to compensate the positional Z~
data for such deflections. This compensation (indicated by block 82a, Fig. 11 ) is effected by the us0 of the look-up table stored in the digital processor for the respective probe assembly which had been precalibrated, as described above and as illustrated in Fig. 9, to indicate the actual deflections corresponding to various outputs of the deflection sensors. The so-compensated data thus represents the .instantaneous positions of the probe 28 when in contact with the tooth surface, and thereby the digital surface- ocation Yalues representing surface sample points on the tooth surface.
Since the above-described probing process is done manually, the data so produced will not be in a --logical array. The produced data may also be insufficient for the resolution required, which resolution may be initially inputted into the system via the keyboard 52. Accordingly, the data processor system arranges the inputted digitized data into a logical array for use in producing the data defining the digitized contour. In addition, the system checks the inputted data to see that sufficient sample points were taken to meet the required resolution or the crown to be produced.
The foregoing operations performed in Routine-A are more particularly indicated by bloaks 82b-82f in Fig. 11, and by the diagrams in Figs.
. ' ' , 2 [)0~3~
12a-12c.
AS shown particularly in the diagrams of Figs.
12a-12c, the digitization space is represented by a semi-sphere which has been geometrically divided into a plurality of segments by vertically-extendin~ meridian lines ML, and horizontally-extending latitude lines LL.
The digitization space is characterized by a polar display in which each segment is defined by: (1) the angle "~" (Fig. 12b) fro~ the center "O" of the semi-sphere to the respective segment in the plane of the base of the tooth; and (2) the angle "~" ~Fig. 12c) from the center "O" of the semi-sphere to the respective segment in the plane perpendicular to the tooth base.
These segments are identified by the numbers "E" and "J". For example, "E" is the number of divisions of angle a, and "J" is the number of divisions o~ angle B.
Thus, segment "5-6" is the fifth segment with respect to angle ~, and the sixth segment with respect to anyle B.
For each of the sample points stored in the memory as a result of the Digitization Operation, the data processor system executes a transformation to polaric as illustrated by block 82b in Fig. 11, in order to transform these stored sample points in relation to the above-described segments of the semi-spherical digitization space. Thus, the transformation process . .
' ' ' ' ~'' ' ' , ' ' ! ; ~ .
; ', ,, . ' , :' ' ~0~3~3 transforms the stored data, in cartesian coordinates (X, Y, Z) around the center polnt "o" of the tooth, to polaric coordinates, wherein each point is defined by the length "R" and the angles a and B around-point "O".
Each point is thus identified by the distance "R" for the respective segment number (REJ). Such transformations are well-known, and therefore further details of the manner of producing them are not set forth herein.
Routine-A illustrated in Fig. 11 also sorts the sample points to their respective segments E, J
(block 82c). As each sample is sorted to its respective segment, a check is made (block 82d) to determine whether the respective segment has yet received a sample point: if not, that sample point is recorded therein as "R" (block 82e); but if the respective segment had previously received a sample point, then the respective "R" is averaged with the previously-recorded "R's" for the respective segment (block 82f). This completes Routine-A of Fig. 11.
Returning to the flow diagram of Fig. 10, after all the sample points have been sorted to their respective segments, a check is made of all the segments to see whether there are too many unfilled segments (block 84), which could indicate that the data is sufficient according to the required resolution. For .
;
example, the required resolution, as initially inputted into the data processor system via keyboard 52, may have specified that there must be no more than two adjacent vacant segments. If the system determines that insufficient data was inputted, the system signals the dentist to sample more points (block 86), whereupon the dentist continues to scan the tooth with the probe in order to introduce additional sample point data until the "Sample More" display is extinguished.
When the "Sample More" display is extin~uished, indicating to the dentist that sufficient points have been sampled, the dentish will turn-off the digitizer switch SW. This turns-off the flay "IS";
i.e., IS=O (block 88~. The system will then interpolate the values of adjacent segments which are absent a sample point in order to fill in the vacant segment or segments (block 90).
The process is completed by outputting a CNC
file, e.g., to a diskette 59 (Fig. 8), representing the digitized contour of the surface of the tooth to receive the crown (block 92). Thi~ digital file may then be used for controlling a milling machine to cut the crown according to the digitized contour. The so-produced CNC
file may be in a form defining the tool-path points of the milling machine to cut the digitized contour, or in a form convertible in the milling machine itselE to the : , .
'' ~ ;
)5~;~qJ
tool-path points o~ the milling machine.
The milling machine may be included in the above-described system so that the cutting of the crown can be effected immediately aftex the tooth surface has been digitized, thereby enabling the patient to be fitted immediately with the crown. Alternatively, the milling machine may be at another location, e.g., at a centralized dental laboratory for cutting dental crowns in accordance wlth CNC files supplied to itl in which case the patient would be fitted with the crown in a subseqent visit to the dentist.
Figs. 13a, 13b illustrate a flow diagram which may be used in order to enable the computations to be performed by a low-power computer, e.g., a personal computer, whereupon the digiti~ing operation (illustrated in Fig. 13a) is performed on-line, but the processing operations (illustrated in Fig. 13b) are performed off-line.
With reference to Fig. 13a illustrating the digitizing operation, the probing and data- collecting steps are the same as in the flow diagram illustrated in Fig. 10, and therefore the steps are identified by the same reference numerals 70-80. However, whereas in the Fig. 10 operation Routine-A (block 82, more particularly illustrated in Fig. 11) was entered after a decision was made that the probe had sufficient contact with the , ~
' `1 ,, .
.
- 2~ -5~39 tooth, in the flow diagram illustrated in Fig. 13a followlng this decision the data is stored in the memory (block 100). When the memory is full, the operations illustrated by block 104 are performed, namely: the "off" light is energized; a beep is sounded, the data is stored in the hard disk; another beep is sounded; and the "on" light is energized, followin~ which the computer returns to the beginning of the digitizing process.
This continues until the digitizing switch SW
is manually turned off, wherepon flag IS is "0" (block 106), at which time all the data remaining in the memory is transferred to the hard disk (block 108). This completes the digitizing operations performed on-line.
At any time thereafter, the processing of the collected data may be done off-line, as illustrated by the flow diagram in Fig. 13b. First, the positional and deflection data are read from the hard disk (block 110), and then the computer perform~ the compensation, transformation and sort operations of Routine~A (block 82) as described above and as more particularly illustrated in Fig. 11. After Routine-A has been completed, the computer interpolates the values of the segments about a sample point ~block 112) in the same manner as described above with respect to Fig. 10 (block 90), and the data is outputted in the form of a CNC file .
,:, -,~: , j :
S7l;3~
on the hard disk (block 114).
When the collection of the data has thus been completed on the hard disk ~block 116), a decision is made, in the same manner as described above with respect to block 84 in Fig~ 1 O, whether there is sufficient data (block 118), in which case the appropriate display (block 120 or 122) is energized. This ends the off-line processing. Should it be determined that there is insufficient data, it will be necessary for the dentist to re-examine the patient in order to complete the data obtained.
Many variations may be made in the above-described apparatusO Thus, the Z-axis sensor DSz may be omitted since the other two sensors DSX, DSy are sufficient to sense deflection. Also, a single sensor may be provided for each axis, rather than a pair, in which case DSX2 (Fig. 7) could be a variable resistor.
Instead of using two analog-to-analog digital converters, as shown in Fig. 8 at 42 and 46, one may be used and switched-over between the two circuits.
Further, instead of inputting a resolution value to determine whether sufficient points have been sampled, the sampled points can be displayed on a reproduction of the tooth involved, and it can be left to the dentist to decide whether sufficient points have been sampled to provide the required coverage. Still further, the .
2~5~3g biting teeth (2, Figs. 1, 2) may be fixed in place by cement. The described apparatus may also be used for digitizing other surfaces or contours, in which case there may be two or more guldes for each axis. Many other variations, modifications and applications of the invention will be apparent.
, .
; ;, ' :~
Claims (19)
1. Apparatus for digitizing the contour of a three-dimensional surface of an object, comprising:
a handle graspable by the user;
mounting means for mounting the handle with respect to the object;
a probe connected to and carried by the handle and movable thereby along three independent axes to contact sample points on said three-dimensional surface;
positional sensor means for sensing the position of the handle along the three axes and for outputting positional values corresponding thereto;
said probe including an arm deflectable along first and second ones of said three axes during the movement of the probe along the three-dimensional surface by the handle;
first and second deflection sensor means for sensing the deflection of said arm along said first and second axes, respectively, and for outputting deflection values corresponding thereto;
and a digital processor including means for processing said positional values only when one of said deflection sensors senses a deflection in its respective arm above a predetermined threshold value, and means for modifying said positional values by said deflection values to output digital surface-location values representing the location of the sample points on said three-dimensional surface during the movement of the probe therealong by said handle.
a handle graspable by the user;
mounting means for mounting the handle with respect to the object;
a probe connected to and carried by the handle and movable thereby along three independent axes to contact sample points on said three-dimensional surface;
positional sensor means for sensing the position of the handle along the three axes and for outputting positional values corresponding thereto;
said probe including an arm deflectable along first and second ones of said three axes during the movement of the probe along the three-dimensional surface by the handle;
first and second deflection sensor means for sensing the deflection of said arm along said first and second axes, respectively, and for outputting deflection values corresponding thereto;
and a digital processor including means for processing said positional values only when one of said deflection sensors senses a deflection in its respective arm above a predetermined threshold value, and means for modifying said positional values by said deflection values to output digital surface-location values representing the location of the sample points on said three-dimensional surface during the movement of the probe therealong by said handle.
2. The apparatus according to Claim 1, wherein each of said deflection sensor means comprises a strain sensor fixed on a side of said deflector arm in alignment with its respective axis.
3. The apparatus according to Claim 1, wherein said means for modifying said positional values by said deflection values comprises a look-up table stored in said digital processor and precalibrated for the respective probe to indicate the deflections corresponding to various outputs of said deflection sensor means.
4. The apparatus according to Claim 1, wherein said mounting means for mounting the handle with respect to said object comprises three slides, one for each of the three axes, each slide including roller bearings to permit displacement of the handle along the respective axis of the slide.
5. The apparatus according to Claim 4, wherein said positional sensor means comprises three linear encoders, one for each of said three axes and coupled to the slide of its respective axis.
6. The apparatus according to Claim 5, wherein said mounting means further comprises a common base member mounting said three slides, three encoders, handle and probe.
7. The apparatus according to Claim 6, wherein said mounting means further comprises a pair of articulated arms adjustably supporting said common base member, including the three slides, three encoders, handle and probe mounted thereto.
8. The apparatus according to Claim 1, wherein the apparatus is to be used for digitizing a dental surface of a subject, said mounting means comprising a mounting member to be clamped between the upper and lower teeth of the subject.
9. The apparatus according to Claim 1, wherein the probe is mounted on an arm which is deflectable along the third independent axis.
10. The apparatus according to Claim 1, wherein said probe arm includes a first pair of deflection sensors on opposite sides of the arm, and a second pair of deflection sensors on the remaining opposite sides of the arm.
11. Apparatus for digitizing the contour of a dental surface of a subject, comprising:
a handle graspable by the user;
a mounting means including a member to be clamped between the upper and lower teeth of the subject for mounting the handle with respect to the subject;
a probe connected to and carried by the handle and movable thereby along three independent axes to contact sample points on said dental surface;
positional sensor means for sensing the position of the handle along the three axes and for outputting positional values corresponding thereto;
said probe including an arm deflectable along first and second ones of said three axes during the movement of the probe along the dental surface by the handle;
first and second deflection sensor means for sensing the deflection of said arm along said first and second axes, respectively, and for outputting deflection values corresponding thereto;
and a digital processor including means for processing said positional values only when one of said deflection sensors senses a deflection in its respective arm above a predetermined threshold value, and means for modifying said positional values by said deflection values to output digital surface-location values representing the location of the sample points on said dental surface during the movement of the probe therealong by said handle.
a handle graspable by the user;
a mounting means including a member to be clamped between the upper and lower teeth of the subject for mounting the handle with respect to the subject;
a probe connected to and carried by the handle and movable thereby along three independent axes to contact sample points on said dental surface;
positional sensor means for sensing the position of the handle along the three axes and for outputting positional values corresponding thereto;
said probe including an arm deflectable along first and second ones of said three axes during the movement of the probe along the dental surface by the handle;
first and second deflection sensor means for sensing the deflection of said arm along said first and second axes, respectively, and for outputting deflection values corresponding thereto;
and a digital processor including means for processing said positional values only when one of said deflection sensors senses a deflection in its respective arm above a predetermined threshold value, and means for modifying said positional values by said deflection values to output digital surface-location values representing the location of the sample points on said dental surface during the movement of the probe therealong by said handle.
12. The apparatus according to Claim 11, wherein each of said deflection sensor means comprises a strain sensor fixed on a side of said deflector arm in alignment with its respective axis.
13. The apparatus according to Claim 12, wherein said means for modifying said positional values by said deflection values comprises a look-up table stored in said digital processor and precalibrated for the respective probe to indicate the deflections corresponding to various outputs of said deflection sensor means.
14. The apparatus according to Claim 11, wherein said mounting means for mounting the handle with respect to said subject further comprises three slides, one for each of the three axes, each slide including roller bearings to permit displacement of the handle along the respective axis of the slide.
15. The apparatus according to Claim 14, wherein said positional sensor means comprises three linear encoders, one for each of said three axes and coupled to the slide of its respective axis.
16. The apparatus according to Claim 5, wherein said mounting means further comprises a common base member mounting said three slides, three encoders, handle and probe.
17. The apparatus according to Claim 16, wherein said mounting means further comprises a pair of articulated arms adjustably supporting said common base member, including the three slides, three encoders, handle and probe mounted thereto.
18. The apparatus according to Claim 11, wherein the probe is mounted on an arm which is deflectable along the third independent axis.
19. The apparatus according to Claim 11, wherein said probe arm includes a first pair of deflection sensors on opposite sides of the arm, and a second pair of deflection sensors on the remaining opposite sides of the arm.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IL88842A IL88842A (en) | 1988-12-30 | 1988-12-30 | Apparatus and method for digitizing the contour of a surface particularly useful for preparing a dental crown |
IL88842 | 1988-12-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
CA2005439A1 true CA2005439A1 (en) | 1990-06-30 |
Family
ID=11059541
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA002005439A Abandoned CA2005439A1 (en) | 1988-12-30 | 1989-12-13 | Apparatus for digitizing the contour of a three-dimensional surface, particularly useful for preparing a dental crown |
Country Status (12)
Country | Link |
---|---|
US (1) | US4997369A (en) |
EP (1) | EP0376873B1 (en) |
JP (1) | JP2933658B2 (en) |
KR (1) | KR0152067B1 (en) |
AT (1) | ATE140321T1 (en) |
AU (1) | AU614254B2 (en) |
CA (1) | CA2005439A1 (en) |
DE (1) | DE68926814T2 (en) |
ES (1) | ES2091203T3 (en) |
GR (1) | GR3021284T3 (en) |
IL (1) | IL88842A (en) |
ZA (1) | ZA899976B (en) |
Families Citing this family (244)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5343391A (en) * | 1990-04-10 | 1994-08-30 | Mushabac David R | Device for obtaining three dimensional contour data and for operating on a patient and related method |
US5257184A (en) * | 1990-04-10 | 1993-10-26 | Mushabac David R | Method and apparatus with multiple data input stylii for collecting curvilinear contour data |
US5569578A (en) * | 1990-04-10 | 1996-10-29 | Mushabac; David R. | Method and apparatus for effecting change in shape of pre-existing object |
JPH0495002U (en) * | 1991-01-14 | 1992-08-18 | ||
US5131844A (en) * | 1991-04-08 | 1992-07-21 | Foster-Miller, Inc. | Contact digitizer, particularly for dental applications |
SE469158B (en) * | 1991-11-01 | 1993-05-24 | Nobelpharma Ab | DENTAL SENSOR DEVICE INTENDED TO BE USED IN CONNECTION WITH CONTROL OF A WORKING EQUIPMENT |
US5230623A (en) * | 1991-12-10 | 1993-07-27 | Radionics, Inc. | Operating pointer with interactive computergraphics |
DE4204327C2 (en) * | 1992-02-14 | 2000-07-06 | Joachim Becker | Method and device for producing a medical or dental restoration body |
JPH05266146A (en) * | 1992-03-19 | 1993-10-15 | Matsushita Electric Ind Co Ltd | Representing device for body shape |
WO1993020493A1 (en) * | 1992-04-03 | 1993-10-14 | Foster-Miller, Inc. | Method and apparatus for obtaining coordinates describing three-dimensional objects of complex and unique geometry using a sampling probe |
DE4214876C2 (en) * | 1992-05-05 | 2000-07-06 | Kaltenbach & Voigt | Optical measurement of teeth without a matt surface treatment |
SE501410C2 (en) * | 1993-07-12 | 1995-02-06 | Nobelpharma Ab | Method and apparatus in connection with the manufacture of tooth, bridge, etc. |
SE501411C2 (en) * | 1993-07-12 | 1995-02-06 | Nobelpharma Ab | Method and apparatus for three-dimensional body useful in the human body |
AU680538B2 (en) * | 1994-10-04 | 1997-07-31 | Nobel Biocare Services Ag | Process and device in respect of a three-dimensional body usable in the human body |
AU685831B2 (en) * | 1994-10-04 | 1998-01-29 | Nobel Biocare Services Ag | Process and device in connection with the production of a tooth, bridge, etc |
SE515768C2 (en) | 1995-12-05 | 2001-10-08 | Nobelpharma Ab | Compression device for dental or other human body related product or tool for this |
US5865769A (en) * | 1996-05-20 | 1999-02-02 | International Business Machines Corporation | Surface contour measurement instrument |
EP0814394A3 (en) * | 1996-06-21 | 1999-06-09 | British United Shoe Machinery Co. Limited | Digitiser |
US8496474B2 (en) | 1997-06-20 | 2013-07-30 | Align Technology, Inc. | Computer automated development of an orthodontic treatment plan and appliance |
US5975893A (en) | 1997-06-20 | 1999-11-02 | Align Technology, Inc. | Method and system for incrementally moving teeth |
US6450807B1 (en) | 1997-06-20 | 2002-09-17 | Align Technology, Inc. | System and method for positioning teeth |
US6152731A (en) * | 1997-09-22 | 2000-11-28 | 3M Innovative Properties Company | Methods for use in dental articulation |
DK0913130T3 (en) | 1997-10-31 | 2003-06-16 | Dcs Forschungs & Entwicklungs | Method and apparatus for making a tooth replacement part |
IL122807A0 (en) | 1997-12-30 | 1998-08-16 | Cadent Ltd | Virtual orthodontic treatment |
US9084653B2 (en) | 1998-01-14 | 2015-07-21 | Cadent, Ltd. | Methods for use in dental articulation |
IL125659A (en) | 1998-08-05 | 2002-09-12 | Cadent Ltd | Method and apparatus for imaging three-dimensional structure |
CA2346299A1 (en) | 1998-10-08 | 2000-04-13 | Align Technology, Inc. | Computer automated development of an orthodontic treatment plan and appliance |
US6802713B1 (en) | 1998-10-08 | 2004-10-12 | Align Technology, Inc. | Defining tooth-moving appliances computationally |
US11026768B2 (en) | 1998-10-08 | 2021-06-08 | Align Technology, Inc. | Dental appliance reinforcement |
US6514074B1 (en) | 1999-05-14 | 2003-02-04 | Align Technology, Inc. | Digitally modeling the deformation of gingival |
US7121825B2 (en) | 1998-11-30 | 2006-10-17 | Align Technology, Inc. | Tooth positioning appliances and systems |
US6406292B1 (en) | 1999-05-13 | 2002-06-18 | Align Technology, Inc. | System for determining final position of teeth |
ES2367348T3 (en) | 1998-11-30 | 2011-11-02 | Align Technology, Inc. | DEVICES AND FIXING PROCEDURES FOR A DENTAL APPLIANCE. |
US7108508B2 (en) | 1998-12-04 | 2006-09-19 | Align Technology, Inc. | Manipulable dental model system for fabrication of a dental appliance |
AU2164100A (en) | 1998-12-04 | 2000-06-26 | Align Technology, Inc. | Reconfigurable dental model system for fabrication of dental appliances |
US6488499B1 (en) | 2000-04-25 | 2002-12-03 | Align Technology, Inc. | Methods for correcting deviations in preplanned tooth rearrangements |
US7357636B2 (en) | 2002-02-28 | 2008-04-15 | Align Technology, Inc. | Manipulable dental model system for fabrication of a dental appliance |
US6299440B1 (en) | 1999-01-15 | 2001-10-09 | Align Technology, Inc | System and method for producing tooth movement |
US6318994B1 (en) | 1999-05-13 | 2001-11-20 | Align Technology, Inc | Tooth path treatment plan |
KR20010026892A (en) * | 1999-09-09 | 2001-04-06 | 이득우 | Rapid teeth manufacturing system and teeth manufacuring apparatus used therefor |
US20030020906A1 (en) * | 1999-10-25 | 2003-01-30 | Perry Y. Li | Scanning apparatus |
US6355048B1 (en) | 1999-10-25 | 2002-03-12 | Geodigm Corporation | Spherical linkage apparatus |
US7904307B2 (en) | 2000-03-24 | 2011-03-08 | Align Technology, Inc. | Health-care e-commerce systems and methods |
US20020188478A1 (en) | 2000-03-24 | 2002-12-12 | Joe Breeland | Health-care systems and methods |
AU2001249765A1 (en) | 2000-03-30 | 2001-10-15 | Align Technology, Inc. | System and method for separating three-dimensional models |
US6454565B2 (en) | 2000-04-25 | 2002-09-24 | Align Technology, Inc. | Systems and methods for varying elastic modulus appliances |
WO2001082192A1 (en) | 2000-04-25 | 2001-11-01 | Align Technology, Inc. | Treatment analysis systems and methods |
US6582229B1 (en) | 2000-04-25 | 2003-06-24 | Align Technology, Inc. | Methods for modeling bite registration |
US6947038B1 (en) | 2000-04-27 | 2005-09-20 | Align Technology, Inc. | Systems and methods for generating an appliance with tie points |
US7040896B2 (en) | 2000-08-16 | 2006-05-09 | Align Technology, Inc. | Systems and methods for removing gingiva from computer tooth models |
US6497574B1 (en) | 2000-09-08 | 2002-12-24 | Align Technology, Inc. | Modified tooth positioning appliances and methods and systems for their manufacture |
US6371930B1 (en) * | 2000-10-20 | 2002-04-16 | Shafir Production Systems Ltd. | Method and apparatus for mapping contoured surfaces particularly useful in preparing artificial dental crowns |
US7736147B2 (en) | 2000-10-30 | 2010-06-15 | Align Technology, Inc. | Systems and methods for bite-setting teeth models |
US7074038B1 (en) | 2000-12-29 | 2006-07-11 | Align Technology, Inc. | Methods and systems for treating teeth |
US7580846B2 (en) | 2001-01-09 | 2009-08-25 | Align Technology, Inc. | Method and system for distributing patient referrals |
US7771195B2 (en) | 2001-10-29 | 2010-08-10 | Align Technology, Inc. | Polar attachment devices and method for a dental appliance |
US6830450B2 (en) | 2002-04-18 | 2004-12-14 | Align Technology, Inc. | Systems and methods for improved engagement between aligners and teeth |
US7255558B2 (en) | 2002-06-18 | 2007-08-14 | Cadent, Ltd. | Dental imaging instrument having air stream auxiliary |
US7077647B2 (en) | 2002-08-22 | 2006-07-18 | Align Technology, Inc. | Systems and methods for treatment analysis by teeth matching |
US7156661B2 (en) | 2002-08-22 | 2007-01-02 | Align Technology, Inc. | Systems and methods for treatment analysis by teeth matching |
DK2465464T3 (en) | 2002-10-03 | 2018-11-19 | Align Technology Inc | Procedure for preparing a physical model |
US20040166463A1 (en) | 2003-02-26 | 2004-08-26 | Align Technology, Inc. | Systems and methods for combination treatments of dental patients |
US20040166462A1 (en) | 2003-02-26 | 2004-08-26 | Align Technology, Inc. | Systems and methods for fabricating a dental template |
US7600999B2 (en) | 2003-02-26 | 2009-10-13 | Align Technology, Inc. | Systems and methods for fabricating a dental template |
US7658610B2 (en) | 2003-02-26 | 2010-02-09 | Align Technology, Inc. | Systems and methods for fabricating a dental template with a 3-D object placement |
DK1610708T3 (en) | 2003-04-03 | 2020-02-24 | Align Technology Inc | Method and system for fabricating a toothpick |
US7648360B2 (en) | 2003-07-01 | 2010-01-19 | Align Technology, Inc. | Dental appliance sequence ordering system and method |
US7576332B2 (en) | 2003-08-01 | 2009-08-18 | St. George's Healthcare Nhs Trust | Imaging system |
US7030383B2 (en) | 2003-08-04 | 2006-04-18 | Cadent Ltd. | Speckle reduction method and apparatus |
US20050186533A1 (en) * | 2004-02-02 | 2005-08-25 | Yechiel Cohen | Computer-controlled dental treatment system and method |
US7333874B2 (en) | 2004-02-24 | 2008-02-19 | Cadent Ltd. | Method and system for designing and producing dental prostheses and appliances |
US8874452B2 (en) | 2004-02-27 | 2014-10-28 | Align Technology, Inc. | Method and system for providing dynamic orthodontic assessment and treatment profiles |
US7904308B2 (en) | 2006-04-18 | 2011-03-08 | Align Technology, Inc. | Method and system for providing indexing and cataloguing of orthodontic related treatment profiles and options |
US9492245B2 (en) | 2004-02-27 | 2016-11-15 | Align Technology, Inc. | Method and system for providing dynamic orthodontic assessment and treatment profiles |
US11298209B2 (en) | 2004-02-27 | 2022-04-12 | Align Technology, Inc. | Method and system for providing dynamic orthodontic assessment and treatment profiles |
US7241142B2 (en) | 2004-03-19 | 2007-07-10 | Align Technology, Inc. | Root-based tooth moving sequencing |
EP1607064B1 (en) | 2004-06-17 | 2008-09-03 | Cadent Ltd. | Method and apparatus for colour imaging a three-dimensional structure |
US8899976B2 (en) | 2004-09-24 | 2014-12-02 | Align Technology, Inc. | Release agent receptacle |
JP4451275B2 (en) * | 2004-10-29 | 2010-04-14 | 株式会社ジーシー | Method for creating three-dimensional shape data of dental prosthesis |
US7309230B2 (en) | 2004-12-14 | 2007-12-18 | Align Technology, Inc. | Preventing interference between tooth models |
US7357634B2 (en) | 2004-11-05 | 2008-04-15 | Align Technology, Inc. | Systems and methods for substituting virtual dental appliances |
US7862336B2 (en) | 2004-11-26 | 2011-01-04 | Cadent Ltd. | Method and system for providing feedback data useful in prosthodontic procedures associated with the intra oral cavity |
US7236842B2 (en) | 2004-12-02 | 2007-06-26 | Cadent Ltd. | System and method for manufacturing a dental prosthesis and a dental prosthesis manufactured thereby |
US7494338B2 (en) * | 2005-01-11 | 2009-02-24 | Duane Durbin | 3D dental scanner |
WO2006092800A2 (en) | 2005-03-03 | 2006-09-08 | Cadent Ltd. | System and method for scanning an intraoral cavity |
US20060275731A1 (en) | 2005-04-29 | 2006-12-07 | Orthoclear Holdings, Inc. | Treatment of teeth by aligners |
EP1743594A1 (en) | 2005-07-14 | 2007-01-17 | Yechiel Cohen | Computer-Controlled Dental Treatment System And Method |
US7555403B2 (en) | 2005-07-15 | 2009-06-30 | Cadent Ltd. | Method for manipulating a dental virtual model, method for creating physical entities based on a dental virtual model thus manipulated, and dental models thus created |
DE102006025775A1 (en) * | 2006-05-31 | 2007-12-06 | Rheinisch-Westfälisch-Technische Hochschule Aachen | Method for data acquisition in the mouth of a patient, corresponding device, installation with a dentist's chair and such a device, and use of this device |
US8038444B2 (en) | 2006-08-30 | 2011-10-18 | Align Technology, Inc. | Automated treatment staging for teeth |
US9326831B2 (en) | 2006-10-20 | 2016-05-03 | Align Technology, Inc. | System and method for positioning three-dimensional brackets on teeth |
US7878805B2 (en) | 2007-05-25 | 2011-02-01 | Align Technology, Inc. | Tabbed dental appliance |
US8562338B2 (en) | 2007-06-08 | 2013-10-22 | Align Technology, Inc. | Treatment progress tracking and recalibration |
US8591225B2 (en) | 2008-12-12 | 2013-11-26 | Align Technology, Inc. | Tooth movement measurement by automatic impression matching |
US8075306B2 (en) | 2007-06-08 | 2011-12-13 | Align Technology, Inc. | System and method for detecting deviations during the course of an orthodontic treatment to gradually reposition teeth |
US10342638B2 (en) | 2007-06-08 | 2019-07-09 | Align Technology, Inc. | Treatment planning and progress tracking systems and methods |
US9060829B2 (en) | 2007-06-08 | 2015-06-23 | Align Technology, Inc. | Systems and method for management and delivery of orthodontic treatment |
US8738394B2 (en) | 2007-11-08 | 2014-05-27 | Eric E. Kuo | Clinical data file |
US7914283B2 (en) | 2007-12-06 | 2011-03-29 | Align Technology, Inc. | Activatable dental appliance |
US8899977B2 (en) | 2008-01-29 | 2014-12-02 | Align Technology, Inc. | Orthodontic repositioning appliances having improved geometry, methods and systems |
US8439672B2 (en) | 2008-01-29 | 2013-05-14 | Align Technology, Inc. | Method and system for optimizing dental aligner geometry |
US8108189B2 (en) | 2008-03-25 | 2012-01-31 | Align Technologies, Inc. | Reconstruction of non-visible part of tooth |
EP2299928A1 (en) * | 2008-05-08 | 2011-03-30 | DeguDent GmbH | Method for determining 3d data from at least one prepared maxillary area |
US8092215B2 (en) | 2008-05-23 | 2012-01-10 | Align Technology, Inc. | Smile designer |
US9492243B2 (en) | 2008-05-23 | 2016-11-15 | Align Technology, Inc. | Dental implant positioning |
US9119691B2 (en) | 2008-05-23 | 2015-09-01 | Align Technology, Inc. | Orthodontic tooth movement device, systems and methods |
US8172569B2 (en) | 2008-06-12 | 2012-05-08 | Align Technology, Inc. | Dental appliance |
KR101706619B1 (en) | 2008-07-03 | 2017-02-14 | 얼라인 테크널러지, 인크. | Method, apparatus and system for use in dental procedures |
US8509932B2 (en) | 2008-07-17 | 2013-08-13 | Cadent Ltd. | Methods, systems and accessories useful for procedures relating to dental implants |
US20100055635A1 (en) | 2008-09-02 | 2010-03-04 | Align Technology, Inc. | Shape engineered aligner - auto shaping |
US8152518B2 (en) | 2008-10-08 | 2012-04-10 | Align Technology, Inc. | Dental positioning appliance having metallic portion |
EP3964163B1 (en) | 2008-11-20 | 2023-08-02 | Align Technology, Inc. | Orthodontic systems and methods including parametric attachments |
US20100129763A1 (en) | 2008-11-24 | 2010-05-27 | Align Technology, Inc. | Sequential sports guard |
US8936463B2 (en) | 2008-11-24 | 2015-01-20 | Align Technology, Inc. | Dental appliance with simulated teeth and method for making |
US8401686B2 (en) | 2008-12-18 | 2013-03-19 | Align Technology, Inc. | Reduced registration bonding template |
US9642678B2 (en) | 2008-12-30 | 2017-05-09 | Align Technology, Inc. | Method and system for dental visualization |
US8382474B2 (en) | 2008-12-31 | 2013-02-26 | Cadent Ltd. | Dental articulator |
US8640338B2 (en) | 2009-02-02 | 2014-02-04 | Viax Dental Technologies, LLC | Method of preparation for restoring tooth structure |
US20100192375A1 (en) | 2009-02-02 | 2010-08-05 | Remedent Nv | Method for producing a dentist tool |
US8936464B2 (en) | 2009-02-24 | 2015-01-20 | Cadent Ltd. | Method, system and model for indirect bonding |
US8292617B2 (en) | 2009-03-19 | 2012-10-23 | Align Technology, Inc. | Dental wire attachment |
US8765031B2 (en) | 2009-08-13 | 2014-07-01 | Align Technology, Inc. | Method of forming a dental appliance |
US8708697B2 (en) | 2009-12-08 | 2014-04-29 | Align Technology, Inc. | Tactile objects for orthodontics, systems and methods |
US20110269092A1 (en) | 2010-04-30 | 2011-11-03 | Align Technology, Inc. | Reinforced aligner hooks |
US9211166B2 (en) | 2010-04-30 | 2015-12-15 | Align Technology, Inc. | Individualized orthodontic treatment index |
US9241774B2 (en) | 2010-04-30 | 2016-01-26 | Align Technology, Inc. | Patterned dental positioning appliance |
US9299192B2 (en) | 2010-07-19 | 2016-03-29 | Align Technology, Inc. | Methods and systems for creating and interacting with three dimensional virtual models |
EP3725260B1 (en) | 2011-01-13 | 2023-06-07 | Align Technology, Inc. | Method and system for creating a virtual dental model |
US9108338B2 (en) | 2011-04-13 | 2015-08-18 | Align Technology, Inc. | Methods and systems for thermal forming an object |
BR122020013944B1 (en) | 2011-05-26 | 2021-06-08 | Viax Dental Technologies, LLC | dental system, dental coating, and method for producing a dental coating |
US9125709B2 (en) | 2011-07-29 | 2015-09-08 | Align Technology, Inc. | Systems and methods for tracking teeth movement during orthodontic treatment |
US9403238B2 (en) | 2011-09-21 | 2016-08-02 | Align Technology, Inc. | Laser cutting |
US8641414B2 (en) | 2011-10-10 | 2014-02-04 | Align Technology, Inc. | Automatic placement of precision cuts |
US9375300B2 (en) | 2012-02-02 | 2016-06-28 | Align Technology, Inc. | Identifying forces on a tooth |
US9022781B2 (en) | 2012-02-15 | 2015-05-05 | Align Technology, Inc. | Orthodontic appliances that accommodate incremental and continuous tooth movement, systems and methods |
US9375298B2 (en) | 2012-02-21 | 2016-06-28 | Align Technology, Inc. | Dental models and related methods |
US9220580B2 (en) | 2012-03-01 | 2015-12-29 | Align Technology, Inc. | Determining a dental treatment difficulty |
US9655691B2 (en) | 2012-05-14 | 2017-05-23 | Align Technology, Inc. | Multilayer dental appliances and related methods and systems |
US9414897B2 (en) | 2012-05-22 | 2016-08-16 | Align Technology, Inc. | Adjustment of tooth position in a virtual dental model |
WO2014006579A2 (en) * | 2012-07-03 | 2014-01-09 | Eric Chevalier | Dental tool comprising a versatile tip |
US20140067334A1 (en) | 2012-09-06 | 2014-03-06 | Align Technology Inc. | Method and a system usable in creating a subsequent dental appliance |
US10617489B2 (en) | 2012-12-19 | 2020-04-14 | Align Technology, Inc. | Creating a digital dental model of a patient's teeth using interproximal information |
US9668829B2 (en) | 2012-12-19 | 2017-06-06 | Align Technology, Inc. | Methods and systems for dental procedures |
US10098714B2 (en) * | 2012-12-19 | 2018-10-16 | Align Technology, Inc. | Apparatus and method for optically scanning an object in registration with a reference pattern |
US9393087B2 (en) | 2013-08-01 | 2016-07-19 | Align Technology, Inc. | Methods and systems for generating color images |
US10555792B2 (en) | 2014-01-31 | 2020-02-11 | Align Technology, Inc. | Direct fabrication of orthodontic appliances with elastics |
US10758323B2 (en) | 2014-01-31 | 2020-09-01 | Align Technology, Inc. | Orthodontic appliances with elastics |
US10299894B2 (en) | 2014-02-21 | 2019-05-28 | Align Technology, Inc. | Treatment plan specific bite adjustment structures |
US9844424B2 (en) | 2014-02-21 | 2017-12-19 | Align Technology, Inc. | Dental appliance with repositioning jaw elements |
US10537406B2 (en) | 2014-02-21 | 2020-01-21 | Align Technology, Inc. | Dental appliance with repositioning jaw elements |
EP3119347B1 (en) | 2014-03-21 | 2023-06-07 | Align Technology, Inc. | Segmented orthodontic appliance with elastics |
US10016262B2 (en) | 2014-06-16 | 2018-07-10 | Align Technology, Inc. | Unitary dental model |
CN106572894A (en) | 2014-06-20 | 2017-04-19 | 阿莱恩技术有限公司 | Elastic-coated orthodontic appliance |
CN111631832B (en) | 2014-06-20 | 2022-02-25 | 阿莱恩技术有限公司 | Orthotic with elastic layer |
US9439568B2 (en) | 2014-07-03 | 2016-09-13 | Align Technology, Inc. | Apparatus and method for measuring surface topography optically |
US9261358B2 (en) | 2014-07-03 | 2016-02-16 | Align Technology, Inc. | Chromatic confocal system |
US9261356B2 (en) | 2014-07-03 | 2016-02-16 | Align Technology, Inc. | Confocal surface topography measurement with fixed focal positions |
US10772506B2 (en) | 2014-07-07 | 2020-09-15 | Align Technology, Inc. | Apparatus for dental confocal imaging |
US9693839B2 (en) | 2014-07-17 | 2017-07-04 | Align Technology, Inc. | Probe head and apparatus for intraoral confocal imaging using polarization-retarding coatings |
US9675430B2 (en) | 2014-08-15 | 2017-06-13 | Align Technology, Inc. | Confocal imaging apparatus with curved focal surface |
US9724177B2 (en) | 2014-08-19 | 2017-08-08 | Align Technology, Inc. | Viewfinder with real-time tracking for intraoral scanning |
US9660418B2 (en) | 2014-08-27 | 2017-05-23 | Align Technology, Inc. | VCSEL based low coherence emitter for confocal 3D scanner |
US10449016B2 (en) | 2014-09-19 | 2019-10-22 | Align Technology, Inc. | Arch adjustment appliance |
US9610141B2 (en) | 2014-09-19 | 2017-04-04 | Align Technology, Inc. | Arch expanding appliance |
US11147652B2 (en) | 2014-11-13 | 2021-10-19 | Align Technology, Inc. | Method for tracking, predicting, and proactively correcting malocclusion and related issues |
US9744001B2 (en) | 2014-11-13 | 2017-08-29 | Align Technology, Inc. | Dental appliance with cavity for an unerupted or erupting tooth |
EP3932362A1 (en) * | 2014-12-09 | 2022-01-05 | Biomet 3I, LLC | Robotic device for dental surgery |
US20160193014A1 (en) | 2015-01-05 | 2016-07-07 | Align Technology, Inc. | Method to modify aligner by modifying tooth position |
US10537463B2 (en) | 2015-01-13 | 2020-01-21 | Align Technology, Inc. | Systems and methods for positioning a patient's mandible in response to sleep apnea status |
US10517701B2 (en) | 2015-01-13 | 2019-12-31 | Align Technology, Inc. | Mandibular advancement and retraction via bone anchoring devices |
US10588776B2 (en) | 2015-01-13 | 2020-03-17 | Align Technology, Inc. | Systems, methods, and devices for applying distributed forces for mandibular advancement |
US10504386B2 (en) | 2015-01-27 | 2019-12-10 | Align Technology, Inc. | Training method and system for oral-cavity-imaging-and-modeling equipment |
CN112545678A (en) | 2015-02-23 | 2021-03-26 | 阿莱恩技术有限公司 | Method for manufacturing aligner by correcting tooth position |
KR102521044B1 (en) | 2015-02-23 | 2023-04-13 | 얼라인 테크널러지, 인크. | Pre-alignment step to solve the problem of delay in sub-step clear brace treatment |
US11850111B2 (en) | 2015-04-24 | 2023-12-26 | Align Technology, Inc. | Comparative orthodontic treatment planning tool |
US10905504B2 (en) * | 2015-06-02 | 2021-02-02 | Biomet 3I, Llc | Robotic device for dental surgery |
US11045282B2 (en) | 2015-07-07 | 2021-06-29 | Align Technology, Inc. | Direct fabrication of aligners with interproximal force coupling |
US11642194B2 (en) | 2015-07-07 | 2023-05-09 | Align Technology, Inc. | Multi-material aligners |
US10743964B2 (en) | 2015-07-07 | 2020-08-18 | Align Technology, Inc. | Dual aligner assembly |
US10959810B2 (en) | 2015-07-07 | 2021-03-30 | Align Technology, Inc. | Direct fabrication of aligners for palate expansion and other applications |
US10492888B2 (en) | 2015-07-07 | 2019-12-03 | Align Technology, Inc. | Dental materials using thermoset polymers |
US11419710B2 (en) | 2015-07-07 | 2022-08-23 | Align Technology, Inc. | Systems, apparatuses and methods for substance delivery from dental appliance |
US20170007359A1 (en) | 2015-07-07 | 2017-01-12 | Align Technology, Inc. | Direct fabrication of orthodontic appliances with variable properties |
US10248883B2 (en) | 2015-08-20 | 2019-04-02 | Align Technology, Inc. | Photograph-based assessment of dental treatments and procedures |
US11931222B2 (en) | 2015-11-12 | 2024-03-19 | Align Technology, Inc. | Dental attachment formation structures |
US11554000B2 (en) | 2015-11-12 | 2023-01-17 | Align Technology, Inc. | Dental attachment formation structure |
US11596502B2 (en) | 2015-12-09 | 2023-03-07 | Align Technology, Inc. | Dental attachment placement structure |
US11103330B2 (en) | 2015-12-09 | 2021-08-31 | Align Technology, Inc. | Dental attachment placement structure |
US10045835B2 (en) | 2016-02-17 | 2018-08-14 | Align Technology, Inc. | Variable direction tooth attachments |
US10383705B2 (en) | 2016-06-17 | 2019-08-20 | Align Technology, Inc. | Orthodontic appliance performance monitor |
CN107518952B (en) * | 2016-06-17 | 2021-08-20 | 阿莱恩技术有限公司 | Intraoral appliance with sensing |
WO2017218947A1 (en) * | 2016-06-17 | 2017-12-21 | Align Technology, Inc. | Intraoral appliances with sensing |
GB2552137A (en) * | 2016-07-03 | 2018-01-17 | Tarazi Eyal | Systems and methods of automated control of in-situ preparation for prefabricated fixed dental prosthesis |
US10507087B2 (en) | 2016-07-27 | 2019-12-17 | Align Technology, Inc. | Methods and apparatuses for forming a three-dimensional volumetric model of a subject's teeth |
KR102546050B1 (en) | 2016-07-27 | 2023-06-22 | 얼라인 테크널러지, 인크. | Intraoral scanner with dental diagnostics capabilities |
EP4254429A3 (en) | 2016-08-24 | 2024-01-03 | Align Technology, Inc. | Method to visualize and manufacture aligner by modifying tooth position |
CN109922754B (en) | 2016-11-04 | 2021-10-01 | 阿莱恩技术有限公司 | Method and apparatus for dental images |
AU2017366755B2 (en) | 2016-12-02 | 2022-07-28 | Align Technology, Inc. | Methods and apparatuses for customizing rapid palatal expanders using digital models |
US11376101B2 (en) | 2016-12-02 | 2022-07-05 | Align Technology, Inc. | Force control, stop mechanism, regulating structure of removable arch adjustment appliance |
WO2018102702A1 (en) | 2016-12-02 | 2018-06-07 | Align Technology, Inc. | Dental appliance features for speech enhancement |
EP3824843A1 (en) | 2016-12-02 | 2021-05-26 | Align Technology, Inc. | Palatal expanders and methods of expanding a palate |
US10548700B2 (en) | 2016-12-16 | 2020-02-04 | Align Technology, Inc. | Dental appliance etch template |
WO2018118769A1 (en) | 2016-12-19 | 2018-06-28 | Align Technology, Inc. | Aligners with enhanced gable bends |
US11071608B2 (en) | 2016-12-20 | 2021-07-27 | Align Technology, Inc. | Matching assets in 3D treatment plans |
US10456043B2 (en) | 2017-01-12 | 2019-10-29 | Align Technology, Inc. | Compact confocal dental scanning apparatus |
US10779718B2 (en) | 2017-02-13 | 2020-09-22 | Align Technology, Inc. | Cheek retractor and mobile device holder |
US11007035B2 (en) | 2017-03-16 | 2021-05-18 | Viax Dental Technologies Llc | System for preparing teeth for the placement of veneers |
EP3600130B1 (en) | 2017-03-20 | 2023-07-12 | Align Technology, Inc. | Generating a virtual depiction of an orthodontic treatment of a patient |
US10613515B2 (en) | 2017-03-31 | 2020-04-07 | Align Technology, Inc. | Orthodontic appliances including at least partially un-erupted teeth and method of forming them |
US11045283B2 (en) | 2017-06-09 | 2021-06-29 | Align Technology, Inc. | Palatal expander with skeletal anchorage devices |
US10639134B2 (en) | 2017-06-26 | 2020-05-05 | Align Technology, Inc. | Biosensor performance indicator for intraoral appliances |
US11793606B2 (en) | 2017-06-30 | 2023-10-24 | Align Technology, Inc. | Devices, systems, and methods for dental arch expansion |
WO2019006416A1 (en) | 2017-06-30 | 2019-01-03 | Align Technology, Inc. | Computer implemented method and system for designing and/or manufacturing orthodontic appliances for treating or preventing temporomandibular joint dysfunction |
US10885521B2 (en) | 2017-07-17 | 2021-01-05 | Align Technology, Inc. | Method and apparatuses for interactive ordering of dental aligners |
WO2019018784A1 (en) | 2017-07-21 | 2019-01-24 | Align Technology, Inc. | Palatal contour anchorage |
EP3658067B1 (en) | 2017-07-27 | 2023-10-25 | Align Technology, Inc. | System and methods for processing an orthodontic aligner by means of an optical coherence tomography |
US11633268B2 (en) | 2017-07-27 | 2023-04-25 | Align Technology, Inc. | Tooth shading, transparency and glazing |
US11116605B2 (en) | 2017-08-15 | 2021-09-14 | Align Technology, Inc. | Buccal corridor assessment and computation |
WO2019036514A1 (en) | 2017-08-17 | 2019-02-21 | Align Technology, Inc. | Systems, methods, and apparatus for correcting malocclusions of teeth |
WO2019036677A1 (en) | 2017-08-17 | 2019-02-21 | Align Technology, Inc. | Dental appliance compliance monitoring |
US10813720B2 (en) | 2017-10-05 | 2020-10-27 | Align Technology, Inc. | Interproximal reduction templates |
CN111565668B (en) | 2017-10-27 | 2022-06-07 | 阿莱恩技术有限公司 | Substitute occlusion adjusting structure |
EP3703608B1 (en) | 2017-10-31 | 2023-08-30 | Align Technology, Inc. | Determination of a dental appliance having selective occlusal loading and controlled intercuspation |
CN111315315B (en) | 2017-11-01 | 2022-08-23 | 阿莱恩技术有限公司 | Automated therapy planning |
WO2019089782A1 (en) | 2017-11-01 | 2019-05-09 | Align Technology, Inc. | Systems and methods for correcting malocclusions of teeth |
WO2019100022A1 (en) | 2017-11-17 | 2019-05-23 | Align Technology, Inc. | Orthodontic retainers |
EP3716885B1 (en) | 2017-11-30 | 2023-08-30 | Align Technology, Inc. | Orthodontic intraoral appliances comprising sensors |
WO2019118876A1 (en) | 2017-12-15 | 2019-06-20 | Align Technology, Inc. | Closed loop adaptive orthodontic treatment methods and apparatuses |
US10980613B2 (en) | 2017-12-29 | 2021-04-20 | Align Technology, Inc. | Augmented reality enhancements for dental practitioners |
WO2019147868A1 (en) | 2018-01-26 | 2019-08-01 | Align Technology, Inc. | Visual prosthetic and orthodontic treatment planning |
CA3086553A1 (en) | 2018-01-26 | 2019-08-01 | Align Technology, Inc. | Diagnostic intraoral scanning and tracking |
US11937991B2 (en) | 2018-03-27 | 2024-03-26 | Align Technology, Inc. | Dental attachment placement structure |
KR20200141498A (en) | 2018-04-11 | 2020-12-18 | 얼라인 테크널러지, 인크. | Releasable palate dilator |
CN117736392A (en) | 2018-05-04 | 2024-03-22 | 阿莱恩技术有限公司 | Curable composition for high Wen Guangke-based photopolymerization process and method of preparing crosslinked polymer therefrom |
US11224768B2 (en) | 2018-05-16 | 2022-01-18 | Profound Medical Inc. | Apparatus and method for directing energy from a multi-element source |
US11026766B2 (en) | 2018-05-21 | 2021-06-08 | Align Technology, Inc. | Photo realistic rendering of smile image after treatment |
US11553988B2 (en) | 2018-06-29 | 2023-01-17 | Align Technology, Inc. | Photo of a patient with new simulated smile in an orthodontic treatment review software |
WO2020005386A1 (en) | 2018-06-29 | 2020-01-02 | Align Technology, Inc. | Providing a simulated outcome of dental treatment on a patient |
US10835349B2 (en) | 2018-07-20 | 2020-11-17 | Align Technology, Inc. | Parametric blurring of colors for teeth in generated images |
US11478334B2 (en) | 2019-01-03 | 2022-10-25 | Align Technology, Inc. | Systems and methods for nonlinear tooth modeling |
EP3905984B1 (en) | 2019-01-03 | 2024-02-21 | Align Technology, Inc. | Automatic aligner design with robust parametric optimization method |
US11779243B2 (en) | 2019-01-07 | 2023-10-10 | Align Technology, Inc. | Customized aligner change indicator |
WO2020231984A1 (en) | 2019-05-14 | 2020-11-19 | Align Technology, Inc. | Visual presentation of gingival line generated based on 3d tooth model |
US11622836B2 (en) | 2019-12-31 | 2023-04-11 | Align Technology, Inc. | Aligner stage analysis to obtain mechanical interactions of aligners and teeth for treatment planning |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4182312A (en) * | 1977-05-20 | 1980-01-08 | Mushabac David R | Dental probe |
US4167066A (en) * | 1978-04-14 | 1979-09-11 | The Boeing Company | Automatic inspection apparatus |
US4192312A (en) * | 1978-09-01 | 1980-03-11 | Wilson Donald L | Surgical incision guide means |
JPS598841B2 (en) * | 1978-10-05 | 1984-02-28 | 大阪機工株式会社 | How to create NC data for mold processing |
GB2045437B (en) * | 1979-03-30 | 1984-02-08 | Renishaw Electrical Ltd | Coordinate measuring machine |
FR2468441A1 (en) * | 1979-11-06 | 1981-05-08 | Adepa | Pipework model tracer for machine tool programming - uses triple axis tracer with head rotation and computing device to allow programmable detection from minium data |
DE3031085A1 (en) * | 1980-08-16 | 1982-03-25 | Heyligenstaedt & Co, Werkzeugmaschinenfabrik Gmbh, 6300 Giessen | Copying milling machine control - high precision being achieved by numerical control of cutter according to model contour |
DE3231160C2 (en) * | 1982-08-21 | 1985-11-07 | Dr. Johannes Heidenhain Gmbh, 8225 Traunreut | Multi-coordinate probe |
DE3302063C2 (en) * | 1983-01-22 | 1986-06-19 | Brüstle, Michael, Dr.-Ing., 7000 Stuttgart | Device for the compensation of position errors on machine tools or measuring machines as well as on industrial robots |
DE3824209C1 (en) * | 1988-07-16 | 1989-10-26 | Thomas Dr.Med.Dent. 7400 Tuebingen De Ney | Method for the electronic, force-controlled, computer-assisted recording of the depth of gingival pockets |
-
1988
- 1988-12-30 IL IL88842A patent/IL88842A/en not_active IP Right Cessation
-
1989
- 1989-12-04 US US07/445,053 patent/US4997369A/en not_active Expired - Fee Related
- 1989-12-06 EP EP89630211A patent/EP0376873B1/en not_active Expired - Lifetime
- 1989-12-06 DE DE68926814T patent/DE68926814T2/en not_active Expired - Fee Related
- 1989-12-06 AT AT89630211T patent/ATE140321T1/en not_active IP Right Cessation
- 1989-12-06 ES ES89630211T patent/ES2091203T3/en not_active Expired - Lifetime
- 1989-12-13 CA CA002005439A patent/CA2005439A1/en not_active Abandoned
- 1989-12-19 AU AU47027/89A patent/AU614254B2/en not_active Ceased
- 1989-12-26 JP JP33992689A patent/JP2933658B2/en not_active Expired - Lifetime
- 1989-12-28 ZA ZA899976A patent/ZA899976B/en unknown
- 1989-12-28 KR KR1019890019866A patent/KR0152067B1/en not_active IP Right Cessation
-
1996
- 1996-10-09 GR GR960402646T patent/GR3021284T3/en unknown
Also Published As
Publication number | Publication date |
---|---|
JPH02215457A (en) | 1990-08-28 |
GR3021284T3 (en) | 1997-01-31 |
DE68926814D1 (en) | 1996-08-14 |
EP0376873A3 (en) | 1992-09-02 |
IL88842A (en) | 1990-07-26 |
DE68926814T2 (en) | 1997-02-13 |
EP0376873B1 (en) | 1996-07-10 |
KR900009028A (en) | 1990-07-02 |
AU4702789A (en) | 1990-07-05 |
ZA899976B (en) | 1991-04-24 |
ATE140321T1 (en) | 1996-07-15 |
EP0376873A2 (en) | 1990-07-04 |
IL88842A0 (en) | 1989-07-31 |
US4997369A (en) | 1991-03-05 |
KR0152067B1 (en) | 1998-10-01 |
JP2933658B2 (en) | 1999-08-16 |
AU614254B2 (en) | 1991-08-22 |
ES2091203T3 (en) | 1996-11-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US4997369A (en) | Apparatus for digitizing a three-dimensional surface | |
Luthardt et al. | Accuracy of mechanical digitizing with a CAD/CAM system for fixed restorations. | |
US4575805A (en) | Method and apparatus for the fabrication of custom-shaped implants | |
CA1286382C (en) | Method for calibrating a coordinate measuring machine and the like and system therefor | |
US5047966A (en) | Airfoil measurement method | |
JP3927705B2 (en) | Method for determining the shape of the replica of the remaining tooth area | |
Andersson et al. | Accuracy of machine milling and spark erosion with a CAD/CAM system | |
US4945501A (en) | Method for determining position within the measuring volume of a coordinate measuring machine and the like and system therefor | |
CA1299362C (en) | Coordinate measuring system | |
US4182312A (en) | Dental probe | |
JP3645947B2 (en) | Workpiece measuring method and coordinate measuring machine with manually controlled coordinate measuring machine | |
US5125261A (en) | Analogue probe calibration | |
US6766217B1 (en) | Method of manufacturing dental prosthesis, method of placing object for measurement and measuring device | |
EP1181499B1 (en) | Movement control for a metrological instrument | |
CA2449509C (en) | Method and device for the three-dimensional mapping and digitization of a plaster or positive model | |
WO2002054974A2 (en) | Mating parts scanning and registration methods | |
JPH0525626B2 (en) | ||
RU2369833C2 (en) | Machine for three-dimensional measurements, which provides for simultaneous measurements | |
JP2009080114A (en) | Modular calibration method | |
US5078599A (en) | System for inspecting a dental model | |
GB2429291A (en) | A metrological apparatus and method of calibration using a surface of known form | |
CN112880592B (en) | Inclination calibration method of numerical control turntable center based on mandrel | |
EP2050534B1 (en) | Method for checking a rotary axis with a self-centring sensing device | |
Mulcahy et al. | Measurement of misfit at the implant-prosthesis interface: an experimental method using a coordinate measuring machine. | |
CA1310092C (en) | Method for determining position within the measuring volume of a coordinate measuring machine and the like and system therefor |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
EEER | Examination request | ||
FZDE | Discontinued |