CA2154478A1 - Method and arrangement for collecting data for production of artificial support members or replacement parts for the human body - Google Patents
Method and arrangement for collecting data for production of artificial support members or replacement parts for the human bodyInfo
- Publication number
- CA2154478A1 CA2154478A1 CA002154478A CA2154478A CA2154478A1 CA 2154478 A1 CA2154478 A1 CA 2154478A1 CA 002154478 A CA002154478 A CA 002154478A CA 2154478 A CA2154478 A CA 2154478A CA 2154478 A1 CA2154478 A1 CA 2154478A1
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- CA
- Canada
- Prior art keywords
- area
- data
- implant
- pictures
- dental
- 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
- 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
- A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0062—Arrangements for scanning
- A61B5/0064—Body surface scanning
Abstract
For collecting manufacturing data for equipment for production of artificial support members or replacement parts (dental bridges, dental caps, etc.) for the human body, a camera (2) is used for stereophotography. The camera is arranged to take simultaneous pictures (3a, 3b) of the respective body area from different angles at one and the same exposure. Reading equipment scans the said pictures which have been taken and provides digitized data concerning the structure/shape, etc. of the respective area or object/implant. Computer equipment uses the digitized data and can graphically reproduce on its screen, or automatically reproduce, the picture which has been taken. With the aid of identification software, points are identified which are used for calculating the spatial position by means of photogrammetric calculation of spatial coordinates. The manufacturing data is generated as a function of the identifications and calculations which have been made.
Description
Z1~478 W095/1~731 PCT/SE94/01142 Method and arrangement for collecting data for production of artificial support members or replacement parts for the human body.
The present invention relates to a method for collecting control data or manufacturing data, for example data on cutting coordinates, for one or more m~Chi n~ or manu$acturing systems for production of lO artificial support members or replacement parts for the h~m~n body. The said members and parts preferably consist of dental bridges, dental caps or other dental articles for positioning in the mouth cavity. The method utilizes stereophotography in which each imaging is carried out 15 from d~fferent angles in relation to the relevant body areas, for example the jaw, teeth, etc., which are to be provided with the ~aid ~u~o~L members or replacement parts. The invention also relates to an arrangement for implementing the said method. The data collected can also 20 be used for or in blasting fungi in the mouth cavity.
PRIOR ART
It is already known to propose arrangements and methods for collecti~g control data, in which a model is produced and is sc~nn~ by reA~;ng equipment, and in 25 which the shape of the model can be represented by or with digitized data which i8 processed or used in computcr equipment for production of the manufacturing data.
It is also known to use equipment for stereo-30 photography of, for example, the mouth cavity of a cp~tient, the photographs being used for det~-min;ng the positions of the implant and the like in the mouth cavity. The determ;n~tion of the positions of the implant can in this case be carried out photogrammetrically.
The present invention relates to a method for collecting control data or manufacturing data, for example data on cutting coordinates, for one or more m~Chi n~ or manu$acturing systems for production of lO artificial support members or replacement parts for the h~m~n body. The said members and parts preferably consist of dental bridges, dental caps or other dental articles for positioning in the mouth cavity. The method utilizes stereophotography in which each imaging is carried out 15 from d~fferent angles in relation to the relevant body areas, for example the jaw, teeth, etc., which are to be provided with the ~aid ~u~o~L members or replacement parts. The invention also relates to an arrangement for implementing the said method. The data collected can also 20 be used for or in blasting fungi in the mouth cavity.
PRIOR ART
It is already known to propose arrangements and methods for collecti~g control data, in which a model is produced and is sc~nn~ by reA~;ng equipment, and in 25 which the shape of the model can be represented by or with digitized data which i8 processed or used in computcr equipment for production of the manufacturing data.
It is also known to use equipment for stereo-30 photography of, for example, the mouth cavity of a cp~tient, the photographs being used for det~-min;ng the positions of the implant and the like in the mouth cavity. The determ;n~tion of the positions of the implant can in this case be carried out photogrammetrically.
2 ~ 7 8 DESCRIPTION OF THE lNV~-llON
TECHNICAL P~ORT~M
The use of models entails relati~ely complicated and time-consuming procedures for the designing ~ld production of implants and artificial ~u~olL mQmbers for these (dental bridges, dental caps, etc.). The model is produced by, among other thing8, t~k; ng an impression in the patient's mouth, and many patients cannot tolerate, or are a~erse to, such impression techniqu~s. There i8 therefore a need for simplified methods and arrangement~, for example in the production of dental bridges. The in~ention ai~ to solve this problem.
Th2 u~e of models in itsQlf r~sults in relati~ely large sources of error in the f~n~ ~h~A constructions which, on account of ;n~A~quate fitti~g, build stat1c stresse~ into the patiQnt's uth and which in the long term cause the ~oll~pse of parts of the jaw bone despite the fact that the stresses are relati~ely small. The invention aims to sol~e this problem too, and it ~ ~O~Q8 a method and arrangement which ma~e it possible to eliminate built-in forces of this kind.
The U~Q of stereophotography a~d photogrammetry for e8tabl~h;ng the po~itions of t~eth and implants in the mouth ca~ity should in itsQlf be able to ob~iate the use of models which are proA~sA using an impression compound in the patient's mouth. ~ ~ve., equipment used hitherto for stereophotography has ~l~vcl to be more or less impr~ctical to employ in ronn~rtion with dental work in the mouth cavity. Stereophotography in~ol~es imaging the same jaw area or implant/ob~ect from different angles, and this means that it ha~ hitherto been proposed to use several camera~ which ha~e been coordinated in terms of their function. The eguipment becomQs complex, and it i8 difficult to ~vL~t the mo~ement~ the patient makes between the exposures from affecting the result.
The in~ention solves this problem too.
C~mputer equipment for production of dental articles is beg;nn;n~ to be introduced to an e~er greatQr extent on the dental market. It i8 important to u e 21~7~
computer equipment (personal computers) having easy-to-follow instructions 80 that the equipment can be used by persons who, when all is said and done, are not computer experts. The invention solves this problem too. This applies also to the proposed camera eguipment which, according to the invention, is calibrated for high-guality use in connection with manufacture and has a user-friendly construction. It is important that the camera eguipment should be of a conventional type and should not necessitate the use of advanced photography techniques from the point of view of taking picturQs. The invention solves this problem too.
Id~ntification of the end surfaces by means of ~oftware in the computer equipment must not in itself involve a complicated mnnagement of the computer equipment. ThQ invention ~olvQs thi~ problem and proposQs an embodiment in which stAn~d software sold on the market will be u~ed for the identification.
SO~ N
The feature which can pr~ncip~lly be regarded as characterizing a method according to the invention is, inter alia, that the respective body area in question is stereophotographed using a single camera a~ ya-l to take simult~n~o~ pictures of the body area or body areas ~rom different angles at one and the same exposure. T~e different pictures taken simultaneously in this way are developed and are read by r~A~i ng equipment which, as a function of the re~ing, generates digitized data concer~i ng the stereophotographed body area and/or the object or ob~ects which is or are applied in this area and which can in this caso consist of an implant or i~plants. The digitized data i8 transmitted to computer equipment in which the digitized data is processed or used in order to permit graphic ~-Gd~ction on the screen of the computer equipment, or on another screen belonging to another medium. SurfacQs, for example end surfaces, of the body area in quQstion (a tooth r~nant, for ex~mrle) and/or of the object applied on this area 2 ~ 8 Wo95/15731 PCT/SE9410114 are then identified, which object, in accordance with the abo~e, can consist of an implant. The identification takes place until the data, collected by me~s of the computer equipment, concer~;n~ the surfaces thu~
identified is used as control data or manufacturing data.
Alternati~ely, the data can be integrated in the control or ~~nl~acturing data together with other function data.
This function data can relate, for example, to the available space for the r~spective ~olL member or replacement part. The function data can also relate to ae~thetic requirements placed on the respective ~o L
m~mher or replacement part in thiR context. In one emko~;m~nt of the inventi~e concept, the mucous membrane of the uth ca~ity is ;m~ged (photographed) for ~P~ ol ~ the t~oy ~hy of the mucou~ membrane. The imaging is carried out in conjunction with or prior to the production in question and can, for example, be taken as a ba~is for the tr~atment of the patient. The collection of data can also be used in the blasting of fungi in the mouth ca~ity.
The feature which can pr;nc;r~lly be r~garded as characterizing an al ~y~ment accord~ng to the invention i8 that the camera equipment compri~es a single camera which i8 arrang~d to be able to take simult~neo~
pictures of the respecti~e body area or body areas from different angles during one and the same exposure. Al~o included is re~;ng equipment, which i8 arranged to be able to scan pictures taken simultaneously with the said camera and to output, as a function of the sc~nn;n~, digitized data conce~n;ng the struct~re or shape of the said body area or body aroas and/or of the object or ob~cts applied in this area or these are~s, which objects can, in accordance with the abo~e, consist of implants. The computer equipment employed $B arranged to receive ~nd to process or use the said digitized data for graphic L ~ oduction, on the screen of the computer equipment, of the said structure/structures or shape/shapes of the respective area and/or ob;ect. The computer equipment is al ~yel to identify, with the aid 4~8 Wo95/15731 PCT/SE94/01142 of ident$fication software, the position or po~itions in space of one or more surfaces, for example end surfaces, of the respective area (tooth remnant, for example) and/or of an object applied on this area, for example the said implant. In addition, m~mhers are provided for generating the said manufacturing data with the aid of the data relating to the identified surfaces, if appropriate together with function data on the available space for and/or aesthetic requirements of the respective ~o ~ member or part, etc.
In one ~mho~iment of the inventive concept, the identification software is arranged to operate with reference markings applied on the said surfaces. These markings preferably consist of circles or have designs of a corresr~n~;n~ geometrical nature. The software performs the identification by, among other things, comparing the simultanoously taken pictures of the respective area(s) and/or objects with the reference markings which are applied or pr~sent thereon. Any d~fference in the comparison can be observQd in the y~GyL~hical l_~ o~ction. One or more compensating actions or compen~at~ng measures for Ql;minating the said difference i~ the graphic _~od~ction can be carried out on the computer equipment. When a difference in the corresp~n~n~e betwQen the said pictures and the said reference marking~ ha~ beQn el~m;n~ted or has been substantially eliminated~ the p-oy,~m creates data on the actual position of the surface in question, which position can be represented by the position of the centre point of the surface, of the ~n~l ;n~tion of the surface in space, etc. A unit which can be applied on the rQspQctivQ area, tooth remnant, implant, etc. is provided with reference markings in the form of circles about the periphery or circumference of the top surface o$ the unit. The identification ~r ~y~m is arranged to identify points in ;m~ges in the coordinate system of the picture.
Data obt~; ne~ is input $or a photogrammetric calculation of image coordinates in accordance with a process which i~ known per se.
2 ~ ~ 4 ~ 7 8 ~ r PCT/SEs~/01142 In one embs~im~nt~ the said camera is arranged to take pictures in or at the mouth cavity at a distance of 50 to 150 mm. The imaging can in~olve stereophotograph~
of implants in the jaw, either at the level o~ the fixture, i.Q. down in the jaw in the llnh~l ed state of the latter, or at the level of the spacer, where the jaw is healed and only the spacers on the implant protrude above the healed jaw bone. The centre points and inclin-ations of the end surfaces can be determined in this way~
and the ~aluQs dete~;ne~ are used for a dental bridge construction, a dental cap construction, or the construc-tion of another dental article. The camera in question can operate with two virtual le~ functions arranged at a distance from one another for achieving the stereo effect. The camera can thus effect thr~e ;m~ges of the raspective area or area~ and/or ob~ect. Two or more images are thus u~ed, which include the imagea effected with the virtual lens functions. For determining the ;ncl;n~tion of the surface, use is ~ade of a surface normal in the form of a three-dimen~ l vector with a length which essentially corresponds to the length of th~
radius of the end surface (or equivalent).
The ;~ging can involve sterQophotography of a number of implants, for example 2 to 6 implants. Each ;~plant has in this case essentially the shape of a cyl;n~D~ the end surface of which is inten~e~ to be identified in space. Adaptations by h~ ;n~ the respective implant up to a common level in a dental bridge can be carried out by mQans of calculations in the computer equipment. The precision of the determ;n~tion of the Rolid angle for the ;~plant or the abutment surface of the cyl;n~e , which abutment surface is formed by th~
said end ~urface, is of the order of magnitude of O.Ol r~ nR, which correspond8 to an error of the order of magnitude of 0.03 mm at th~ periphery of th~
implant/cyl; n~e~ . The precision of the dete~m~nation of an individual point on the re~pectiv~ area and/or th~
implant/cyl~n~r, for ex~ple cectre points in the end surface, is of the order of ma~nitude of 0.02 mm.
21~4~78 DESCRIPTION OF T~E FIGURES
A preaently proposed e_bodiment of a method and arrangement according to the invention will be described hereinbelow with reference to the att~ drawings, in which:
F$gure 1 shows in outline, and in block diagram form, the chain involved in the production of a dental article for the hUma~ body, F$gure 2 shows, in basic diagram form, a radiation pattern for a camera which i8 used with mirror surfaces for achieving virtual len~ functions with wh$ch ~tereophotography can be performed, Flgure 3 ~hows, from above, end sur aces which have been taken by stereophotography with the camera according to F$gure 2, and have b~en L~od~ced graphically on a computer screen, Figure 4 shows, seen in a p~ ctive view obliquely from above, the inclination of an implant and its end surface, Figure 5 shows, from above, the end ~urface~ of a number of impl~nts which ha~e been taken by ~tereophotography and have been L_~ G~ced graphically on a computer screen, F$gure 6 shows, from the side, a unit which has been placed on an implant and which is provided with c$rcular reference markings on its top surface, about it~
periphery, and F$gure 7 shows, in a top view, the unit according to Figure 6.
DESCRIPTION OF A DETATT-~n EMBODIMENT
A patient i8 indicated by 1 $n F$gure 1. Stereo-photography w$th a camera 2 is performed directly on the patient, $n his or her mouth cavity la. The photography can involve photography of implants which have been implanted into the jaw bone lb of the patient. The camera $8 of such a type that stereophotography can take place with a single exposure in accordance with what is d~scribed below. The camera i8 of the m; n i ~ ture camera W095/15731 2 15 4 4 7 8 8 PCT/SE9~/01142 type and i8 described i~ more detail in the Swedish patent application tlacuna] filed on the same day. The picture is taken at a distance L of the order of magnitude of 50 to 150 mm. Reference number 3 ~hows a photograph which has been taken with the camera 2. The photograph pre~ents two i~ges 3a, 3b of the same object, but taken from different angles. A third ;mAge, which can be present in the zone 3c, i~ not usQd in the present case. The photograph as such can be di~ided into several zones, each one of which presents its own image of the object in question, which object can consist of a jaw bone part, one or more implants, etc. In the pre~ent case, the spatial position of an imrlant is to be identified. In this caso, U~Q is made of the end surface of the i~plant, and of reference markings applied on thi~
end ~urfaco, with three reference markings on such a surface having been shown on each image in the respecti~e zone by 3a', 3a'', 3a''' and 3b', 3b'', 3b''~
re~pecti~ely. The ;~ges on the photograph 3 are with a r~;ng device 4 w~ich is of a type known per 8e~
The re~; ng de~ice can thus c~R;Rt of the R~n~R photo CD
system, ~asselblad's ~lide ~-annq~, etc. The r~;ng do~ice i8 in this case arranged to represent, with digital ~ignals i1, the shape in question which has been read, in the pre~ent c~e attribut~ble to, among other things, the said reference mar~ings. The digitized data i8 stored in a storage unit 5 and can be transmitted to computer equipment 6. The transmission can bo by wire 7, via diskette, without wir~s, etc. The data il in question is received in the computer equipment in an adaptor unit 8. The computer equipment comprise~ a mi~l~.o es~or (CP~), memory elements 9, 10, a bus r~nnqction 11 through which all the un$ts of the computer equipment ar~
connected to each other, a te~minal 12 and a computer screen 13. Also included i~ a r-adout unit 14. The data il i8 recei~ed and processed or u~ed in the computer equipment 6 80 as ~o be able to ~oduce graphically, on the screen 13, the body area, the object 13a, etc. which has been photographed and wh$ch is ;~ged on the ~ ~ 5~1478 WO95/15731 PCT/SE9~101142 photograph 3. The eomputer operates with a graphics p ~y1 whieh is known per se. The computer ~imilarly operates with an identifieation ploy ~, whieh i8 known per se, for identifying the ~hape, spatial position, etc.
5 Of the area or the object which has been imaged. An example which may be mentioned of a graphics program is "NI~ image" from the National Institute of Health, USA.
As an example of an identifieation ~Gy~m, the last-mentioned ~y am ean be used, or nPhoto 3D" from Harry W. To~ ~, Montana, USA. Computation software which can be used is "CAP, ~2-konsultanse", Germany. The computer equipment is operated ~ia the terminal 12 in a m~ner known per 8e.
Following identifieation of shape, position, ete., the identification data i2 in question is read out ~o the readout element 14, which in turn transmits eontrol data or m~n-~f~turing data i2' to one or more manufaeturing maeh~n~ 15, or to one or more m~n~f~eturing systems 16 whieh inelude the said maeh~ne/m~h~nos. The transmission is effeeted by wire 17, without wire~, ~ia diskette, etc. In t_e case of wire/wirelQs~ transmission, the transmission can be effected ~ia the publie tels~hons network 18. The mPn~fAeturing system can include an adaptor unit l9, computor el~ment 20 (CP~), memory and terminal element 21, which can also include a screen in the same way as the c~mputer equipment 6. In Figure l, the seeond computer equipment is indicated by 22. In this ca~e too there is a readout unit 23, from which cutting coordinate data and other manufacturing data i3 are transmitted to the said -~h~nq or m~eh~no~.
Figure 2 shows parts of the function of the camera. The eamera has an aetual or real lens 24. The imaging surfaee is indicated by 25, and the camera is pro~ided with two parallel mirror surfaces or reflection surfaces 26, 27. The said mirror surfaees or reflection surfaces are arranged in such a way that two ~irtual len~
functions 28, 29 are created. The said ~irtual lena ~unctions are situated at a distanee L' fr one another, -Wo95/15731 2 1 ~ 4 ~ 7 8 PCT/SE94/01142 and three ;m~ges or image zones (cf. 3a, 3b and 3c in Figure 1) are obt~;ne~ on the imaging surface 25. Each of the two virtual lens functions 28, 29 gives its own image zone and its own ;m~ge, while the real lens 24 gives an image or image zone pert~;n;ng to itAelf. Imaging of one and the same body area/body areas or object (implant, cap, dental bridge, etc.) is thus obt~;n~ th~ouyl- the distance L'.
With the a ~yæment according to Figure 2, it is possible, by using more mirrors, to obtain more than two image zones, for example four ;mage zones, and consequently four different images. The images are compared in the computer equipment 6 with the aid of the said identification ~oy ~m. According to Figure 3, four different ;m~ges are compared. A mean value 30 defines a number of centre points 31, 32, 33, 34 and 35 for pO8~-ible circles through 3 of per~pheral point~, of which two have been shown by 36 and 37.
In a similar way, the angle of ;n~l ;nation for the body in quQstion can be worked out by calculating tha solid angle. Figure 4 shows an end surface 38 of an object 39. A three-dimensional vector is shown by 40, and a radius by 41. Different axes of ;n~l ~n~tion which are us~d in the calculation are shown by 42, 43 and 44. A
centre point is indicated by 45.
Figure 5 shows the images of five different implants 46, 47, 48, 49 and 50. The centre points and angles of ;n~l ;n~tion of these implant~ are estimated in accordance with the above. By means of the fact that the ~nCl ;nations and the positions of the centre points have been determ;ned in this way, control data (cf. i2' in Figure 1) c~n be extracted. The precision of th~
determination of the centre points and of the angle~ of ;n~l ;n~tion is in this cas~ extremely high, and reference is made to the preciQions ment;r~s~ above.
Figure 6 shows a unit 51. Tha unit can be fixed on an implant 52 or other object. The unit is provided on its top surface 53 with peripheral, circular reference markings. ~he po~it~ ~ntng and the 8hape of the~e WO95/15731 2 1 5 4 ~ 7 8 PCT/SE94/01142 reference markingR are shown in Figure 7. The identification program used in the computer 6 can in this case be made to operate with the aid of the said circular reference markings. In accordance with the above, image coordinate data is collected and is used in the calculation of the spatial coordinates, which calculation can be done in a known ~nner using the photogr~metric computation progr~m.
The invention is not limlted to the embodiment shown here;n~hove by way of example, but instead can be modified within the scope of the att~cheA patent claims and the inventive concept.
TECHNICAL P~ORT~M
The use of models entails relati~ely complicated and time-consuming procedures for the designing ~ld production of implants and artificial ~u~olL mQmbers for these (dental bridges, dental caps, etc.). The model is produced by, among other thing8, t~k; ng an impression in the patient's mouth, and many patients cannot tolerate, or are a~erse to, such impression techniqu~s. There i8 therefore a need for simplified methods and arrangement~, for example in the production of dental bridges. The in~ention ai~ to solve this problem.
Th2 u~e of models in itsQlf r~sults in relati~ely large sources of error in the f~n~ ~h~A constructions which, on account of ;n~A~quate fitti~g, build stat1c stresse~ into the patiQnt's uth and which in the long term cause the ~oll~pse of parts of the jaw bone despite the fact that the stresses are relati~ely small. The invention aims to sol~e this problem too, and it ~ ~O~Q8 a method and arrangement which ma~e it possible to eliminate built-in forces of this kind.
The U~Q of stereophotography a~d photogrammetry for e8tabl~h;ng the po~itions of t~eth and implants in the mouth ca~ity should in itsQlf be able to ob~iate the use of models which are proA~sA using an impression compound in the patient's mouth. ~ ~ve., equipment used hitherto for stereophotography has ~l~vcl to be more or less impr~ctical to employ in ronn~rtion with dental work in the mouth cavity. Stereophotography in~ol~es imaging the same jaw area or implant/ob~ect from different angles, and this means that it ha~ hitherto been proposed to use several camera~ which ha~e been coordinated in terms of their function. The eguipment becomQs complex, and it i8 difficult to ~vL~t the mo~ement~ the patient makes between the exposures from affecting the result.
The in~ention solves this problem too.
C~mputer equipment for production of dental articles is beg;nn;n~ to be introduced to an e~er greatQr extent on the dental market. It i8 important to u e 21~7~
computer equipment (personal computers) having easy-to-follow instructions 80 that the equipment can be used by persons who, when all is said and done, are not computer experts. The invention solves this problem too. This applies also to the proposed camera eguipment which, according to the invention, is calibrated for high-guality use in connection with manufacture and has a user-friendly construction. It is important that the camera eguipment should be of a conventional type and should not necessitate the use of advanced photography techniques from the point of view of taking picturQs. The invention solves this problem too.
Id~ntification of the end surfaces by means of ~oftware in the computer equipment must not in itself involve a complicated mnnagement of the computer equipment. ThQ invention ~olvQs thi~ problem and proposQs an embodiment in which stAn~d software sold on the market will be u~ed for the identification.
SO~ N
The feature which can pr~ncip~lly be regarded as characterizing a method according to the invention is, inter alia, that the respective body area in question is stereophotographed using a single camera a~ ya-l to take simult~n~o~ pictures of the body area or body areas ~rom different angles at one and the same exposure. T~e different pictures taken simultaneously in this way are developed and are read by r~A~i ng equipment which, as a function of the re~ing, generates digitized data concer~i ng the stereophotographed body area and/or the object or ob~ects which is or are applied in this area and which can in this caso consist of an implant or i~plants. The digitized data i8 transmitted to computer equipment in which the digitized data is processed or used in order to permit graphic ~-Gd~ction on the screen of the computer equipment, or on another screen belonging to another medium. SurfacQs, for example end surfaces, of the body area in quQstion (a tooth r~nant, for ex~mrle) and/or of the object applied on this area 2 ~ 8 Wo95/15731 PCT/SE9410114 are then identified, which object, in accordance with the abo~e, can consist of an implant. The identification takes place until the data, collected by me~s of the computer equipment, concer~;n~ the surfaces thu~
identified is used as control data or manufacturing data.
Alternati~ely, the data can be integrated in the control or ~~nl~acturing data together with other function data.
This function data can relate, for example, to the available space for the r~spective ~olL member or replacement part. The function data can also relate to ae~thetic requirements placed on the respective ~o L
m~mher or replacement part in thiR context. In one emko~;m~nt of the inventi~e concept, the mucous membrane of the uth ca~ity is ;m~ged (photographed) for ~P~ ol ~ the t~oy ~hy of the mucou~ membrane. The imaging is carried out in conjunction with or prior to the production in question and can, for example, be taken as a ba~is for the tr~atment of the patient. The collection of data can also be used in the blasting of fungi in the mouth ca~ity.
The feature which can pr;nc;r~lly be r~garded as characterizing an al ~y~ment accord~ng to the invention i8 that the camera equipment compri~es a single camera which i8 arrang~d to be able to take simult~neo~
pictures of the respecti~e body area or body areas from different angles during one and the same exposure. Al~o included is re~;ng equipment, which i8 arranged to be able to scan pictures taken simultaneously with the said camera and to output, as a function of the sc~nn;n~, digitized data conce~n;ng the struct~re or shape of the said body area or body aroas and/or of the object or ob~cts applied in this area or these are~s, which objects can, in accordance with the abo~e, consist of implants. The computer equipment employed $B arranged to receive ~nd to process or use the said digitized data for graphic L ~ oduction, on the screen of the computer equipment, of the said structure/structures or shape/shapes of the respective area and/or ob;ect. The computer equipment is al ~yel to identify, with the aid 4~8 Wo95/15731 PCT/SE94/01142 of ident$fication software, the position or po~itions in space of one or more surfaces, for example end surfaces, of the respective area (tooth remnant, for example) and/or of an object applied on this area, for example the said implant. In addition, m~mhers are provided for generating the said manufacturing data with the aid of the data relating to the identified surfaces, if appropriate together with function data on the available space for and/or aesthetic requirements of the respective ~o ~ member or part, etc.
In one ~mho~iment of the inventive concept, the identification software is arranged to operate with reference markings applied on the said surfaces. These markings preferably consist of circles or have designs of a corresr~n~;n~ geometrical nature. The software performs the identification by, among other things, comparing the simultanoously taken pictures of the respective area(s) and/or objects with the reference markings which are applied or pr~sent thereon. Any d~fference in the comparison can be observQd in the y~GyL~hical l_~ o~ction. One or more compensating actions or compen~at~ng measures for Ql;minating the said difference i~ the graphic _~od~ction can be carried out on the computer equipment. When a difference in the corresp~n~n~e betwQen the said pictures and the said reference marking~ ha~ beQn el~m;n~ted or has been substantially eliminated~ the p-oy,~m creates data on the actual position of the surface in question, which position can be represented by the position of the centre point of the surface, of the ~n~l ;n~tion of the surface in space, etc. A unit which can be applied on the rQspQctivQ area, tooth remnant, implant, etc. is provided with reference markings in the form of circles about the periphery or circumference of the top surface o$ the unit. The identification ~r ~y~m is arranged to identify points in ;m~ges in the coordinate system of the picture.
Data obt~; ne~ is input $or a photogrammetric calculation of image coordinates in accordance with a process which i~ known per se.
2 ~ ~ 4 ~ 7 8 ~ r PCT/SEs~/01142 In one embs~im~nt~ the said camera is arranged to take pictures in or at the mouth cavity at a distance of 50 to 150 mm. The imaging can in~olve stereophotograph~
of implants in the jaw, either at the level o~ the fixture, i.Q. down in the jaw in the llnh~l ed state of the latter, or at the level of the spacer, where the jaw is healed and only the spacers on the implant protrude above the healed jaw bone. The centre points and inclin-ations of the end surfaces can be determined in this way~
and the ~aluQs dete~;ne~ are used for a dental bridge construction, a dental cap construction, or the construc-tion of another dental article. The camera in question can operate with two virtual le~ functions arranged at a distance from one another for achieving the stereo effect. The camera can thus effect thr~e ;m~ges of the raspective area or area~ and/or ob~ect. Two or more images are thus u~ed, which include the imagea effected with the virtual lens functions. For determining the ;ncl;n~tion of the surface, use is ~ade of a surface normal in the form of a three-dimen~ l vector with a length which essentially corresponds to the length of th~
radius of the end surface (or equivalent).
The ;~ging can involve sterQophotography of a number of implants, for example 2 to 6 implants. Each ;~plant has in this case essentially the shape of a cyl;n~D~ the end surface of which is inten~e~ to be identified in space. Adaptations by h~ ;n~ the respective implant up to a common level in a dental bridge can be carried out by mQans of calculations in the computer equipment. The precision of the determ;n~tion of the Rolid angle for the ;~plant or the abutment surface of the cyl;n~e , which abutment surface is formed by th~
said end ~urface, is of the order of magnitude of O.Ol r~ nR, which correspond8 to an error of the order of magnitude of 0.03 mm at th~ periphery of th~
implant/cyl; n~e~ . The precision of the dete~m~nation of an individual point on the re~pectiv~ area and/or th~
implant/cyl~n~r, for ex~ple cectre points in the end surface, is of the order of ma~nitude of 0.02 mm.
21~4~78 DESCRIPTION OF T~E FIGURES
A preaently proposed e_bodiment of a method and arrangement according to the invention will be described hereinbelow with reference to the att~ drawings, in which:
F$gure 1 shows in outline, and in block diagram form, the chain involved in the production of a dental article for the hUma~ body, F$gure 2 shows, in basic diagram form, a radiation pattern for a camera which i8 used with mirror surfaces for achieving virtual len~ functions with wh$ch ~tereophotography can be performed, Flgure 3 ~hows, from above, end sur aces which have been taken by stereophotography with the camera according to F$gure 2, and have b~en L~od~ced graphically on a computer screen, Figure 4 shows, seen in a p~ ctive view obliquely from above, the inclination of an implant and its end surface, Figure 5 shows, from above, the end ~urface~ of a number of impl~nts which ha~e been taken by ~tereophotography and have been L_~ G~ced graphically on a computer screen, F$gure 6 shows, from the side, a unit which has been placed on an implant and which is provided with c$rcular reference markings on its top surface, about it~
periphery, and F$gure 7 shows, in a top view, the unit according to Figure 6.
DESCRIPTION OF A DETATT-~n EMBODIMENT
A patient i8 indicated by 1 $n F$gure 1. Stereo-photography w$th a camera 2 is performed directly on the patient, $n his or her mouth cavity la. The photography can involve photography of implants which have been implanted into the jaw bone lb of the patient. The camera $8 of such a type that stereophotography can take place with a single exposure in accordance with what is d~scribed below. The camera i8 of the m; n i ~ ture camera W095/15731 2 15 4 4 7 8 8 PCT/SE9~/01142 type and i8 described i~ more detail in the Swedish patent application tlacuna] filed on the same day. The picture is taken at a distance L of the order of magnitude of 50 to 150 mm. Reference number 3 ~hows a photograph which has been taken with the camera 2. The photograph pre~ents two i~ges 3a, 3b of the same object, but taken from different angles. A third ;mAge, which can be present in the zone 3c, i~ not usQd in the present case. The photograph as such can be di~ided into several zones, each one of which presents its own image of the object in question, which object can consist of a jaw bone part, one or more implants, etc. In the pre~ent case, the spatial position of an imrlant is to be identified. In this caso, U~Q is made of the end surface of the i~plant, and of reference markings applied on thi~
end ~urfaco, with three reference markings on such a surface having been shown on each image in the respecti~e zone by 3a', 3a'', 3a''' and 3b', 3b'', 3b''~
re~pecti~ely. The ;~ges on the photograph 3 are with a r~;ng device 4 w~ich is of a type known per 8e~
The re~; ng de~ice can thus c~R;Rt of the R~n~R photo CD
system, ~asselblad's ~lide ~-annq~, etc. The r~;ng do~ice i8 in this case arranged to represent, with digital ~ignals i1, the shape in question which has been read, in the pre~ent c~e attribut~ble to, among other things, the said reference mar~ings. The digitized data i8 stored in a storage unit 5 and can be transmitted to computer equipment 6. The transmission can bo by wire 7, via diskette, without wir~s, etc. The data il in question is received in the computer equipment in an adaptor unit 8. The computer equipment comprise~ a mi~l~.o es~or (CP~), memory elements 9, 10, a bus r~nnqction 11 through which all the un$ts of the computer equipment ar~
connected to each other, a te~minal 12 and a computer screen 13. Also included i~ a r-adout unit 14. The data il i8 recei~ed and processed or u~ed in the computer equipment 6 80 as ~o be able to ~oduce graphically, on the screen 13, the body area, the object 13a, etc. which has been photographed and wh$ch is ;~ged on the ~ ~ 5~1478 WO95/15731 PCT/SE9~101142 photograph 3. The eomputer operates with a graphics p ~y1 whieh is known per se. The computer ~imilarly operates with an identifieation ploy ~, whieh i8 known per se, for identifying the ~hape, spatial position, etc.
5 Of the area or the object which has been imaged. An example which may be mentioned of a graphics program is "NI~ image" from the National Institute of Health, USA.
As an example of an identifieation ~Gy~m, the last-mentioned ~y am ean be used, or nPhoto 3D" from Harry W. To~ ~, Montana, USA. Computation software which can be used is "CAP, ~2-konsultanse", Germany. The computer equipment is operated ~ia the terminal 12 in a m~ner known per 8e.
Following identifieation of shape, position, ete., the identification data i2 in question is read out ~o the readout element 14, which in turn transmits eontrol data or m~n-~f~turing data i2' to one or more manufaeturing maeh~n~ 15, or to one or more m~n~f~eturing systems 16 whieh inelude the said maeh~ne/m~h~nos. The transmission is effeeted by wire 17, without wire~, ~ia diskette, etc. In t_e case of wire/wirelQs~ transmission, the transmission can be effected ~ia the publie tels~hons network 18. The mPn~fAeturing system can include an adaptor unit l9, computor el~ment 20 (CP~), memory and terminal element 21, which can also include a screen in the same way as the c~mputer equipment 6. In Figure l, the seeond computer equipment is indicated by 22. In this ca~e too there is a readout unit 23, from which cutting coordinate data and other manufacturing data i3 are transmitted to the said -~h~nq or m~eh~no~.
Figure 2 shows parts of the function of the camera. The eamera has an aetual or real lens 24. The imaging surfaee is indicated by 25, and the camera is pro~ided with two parallel mirror surfaces or reflection surfaces 26, 27. The said mirror surfaees or reflection surfaces are arranged in such a way that two ~irtual len~
functions 28, 29 are created. The said ~irtual lena ~unctions are situated at a distanee L' fr one another, -Wo95/15731 2 1 ~ 4 ~ 7 8 PCT/SE94/01142 and three ;m~ges or image zones (cf. 3a, 3b and 3c in Figure 1) are obt~;ne~ on the imaging surface 25. Each of the two virtual lens functions 28, 29 gives its own image zone and its own ;m~ge, while the real lens 24 gives an image or image zone pert~;n;ng to itAelf. Imaging of one and the same body area/body areas or object (implant, cap, dental bridge, etc.) is thus obt~;n~ th~ouyl- the distance L'.
With the a ~yæment according to Figure 2, it is possible, by using more mirrors, to obtain more than two image zones, for example four ;mage zones, and consequently four different images. The images are compared in the computer equipment 6 with the aid of the said identification ~oy ~m. According to Figure 3, four different ;m~ges are compared. A mean value 30 defines a number of centre points 31, 32, 33, 34 and 35 for pO8~-ible circles through 3 of per~pheral point~, of which two have been shown by 36 and 37.
In a similar way, the angle of ;n~l ;nation for the body in quQstion can be worked out by calculating tha solid angle. Figure 4 shows an end surface 38 of an object 39. A three-dimensional vector is shown by 40, and a radius by 41. Different axes of ;n~l ~n~tion which are us~d in the calculation are shown by 42, 43 and 44. A
centre point is indicated by 45.
Figure 5 shows the images of five different implants 46, 47, 48, 49 and 50. The centre points and angles of ;n~l ;n~tion of these implant~ are estimated in accordance with the above. By means of the fact that the ~nCl ;nations and the positions of the centre points have been determ;ned in this way, control data (cf. i2' in Figure 1) c~n be extracted. The precision of th~
determination of the centre points and of the angle~ of ;n~l ;n~tion is in this cas~ extremely high, and reference is made to the preciQions ment;r~s~ above.
Figure 6 shows a unit 51. Tha unit can be fixed on an implant 52 or other object. The unit is provided on its top surface 53 with peripheral, circular reference markings. ~he po~it~ ~ntng and the 8hape of the~e WO95/15731 2 1 5 4 ~ 7 8 PCT/SE94/01142 reference markingR are shown in Figure 7. The identification program used in the computer 6 can in this case be made to operate with the aid of the said circular reference markings. In accordance with the above, image coordinate data is collected and is used in the calculation of the spatial coordinates, which calculation can be done in a known ~nner using the photogr~metric computation progr~m.
The invention is not limlted to the embodiment shown here;n~hove by way of example, but instead can be modified within the scope of the att~cheA patent claims and the inventive concept.
Claims (10)
1. Method for collecting control data (i2), for example data on cutting coordinates, for one or more machines or manufacturing systems (16) for production of artificial support members (39) or replacement parts for the human body, the said members and parts preferably being in the form of dental bridges, dental caps, etc.
for positioning in the mouth cavity (1a), and utilizing stereophotography in which each imaging is carried out from different angles in relation to the relevant body areas, for example the jaw, teeth, etc., which are to be provided with the said members or parts, characterized in that the respective body area in question is imaged using an imaging device (2) arranged to take simultaneous pictures of the body area or body areas from different angles at one and the same exposure, in that the different pictures (3a, 3b) taken simultaneously with a single imaging device are developed and are read (scanned) by the reading equipment (4) which, as a function of the reading, generates digitized data concerning the imaged body area and/or the object or objects which is or are applied in this area, for example an implant, in that the digitized data is transmitted to computer equipment (6) in which the digitized data (i1) is processed or used in order to permit automatic reproduction or graphic reproduction (13a) on the screen of the computer equipment (or on another screen), in that surfaces, for example end surfaces (38), of the body area in question (a tooth remnant, for example) and/or of the object/implant (39) applied on this area are identified, and their spatial positions are calculated with a photogrammetric computation program in the computer equipment, and in that the data (i2) collected and the surfaces thus identified are used as the said control data (i2') or are integrated in the latter together with function data relating to the available space for and/or the aesthetic requirements placed on the respective support member or replacement part, etc.
for positioning in the mouth cavity (1a), and utilizing stereophotography in which each imaging is carried out from different angles in relation to the relevant body areas, for example the jaw, teeth, etc., which are to be provided with the said members or parts, characterized in that the respective body area in question is imaged using an imaging device (2) arranged to take simultaneous pictures of the body area or body areas from different angles at one and the same exposure, in that the different pictures (3a, 3b) taken simultaneously with a single imaging device are developed and are read (scanned) by the reading equipment (4) which, as a function of the reading, generates digitized data concerning the imaged body area and/or the object or objects which is or are applied in this area, for example an implant, in that the digitized data is transmitted to computer equipment (6) in which the digitized data (i1) is processed or used in order to permit automatic reproduction or graphic reproduction (13a) on the screen of the computer equipment (or on another screen), in that surfaces, for example end surfaces (38), of the body area in question (a tooth remnant, for example) and/or of the object/implant (39) applied on this area are identified, and their spatial positions are calculated with a photogrammetric computation program in the computer equipment, and in that the data (i2) collected and the surfaces thus identified are used as the said control data (i2') or are integrated in the latter together with function data relating to the available space for and/or the aesthetic requirements placed on the respective support member or replacement part, etc.
2. Arrangement for implementing the method according to Patent Claim 1 for collecting manufacturing data (i2') for one or more machines or manufacturing systems (16) which can be used for the production of artificial support members (39) or replacement parts for the human body (1), such as dental bridges, dental caps, etc., preferably for use in the mouth cavity (1a), the arrangement comprising reproduction equipment for imaging, for example stereophotography, by means of which pictures (3a', 3a'', 3a''') can be taken from different angles in relation to the body area or areas in question, for example the jaw (1b), teeth, etc. which are to be provided with the said members or parts, characterized in that the equipment consists of a reproduction device (2) which is arranged to take simultaneous pictures (3a, 3b, 3c) of the respective body area or body areas from different angles during one and the same exposure, in that reading equipment (4) is arranged to scan pictures taken simultaneously with the said reproduction device and to output, as a function of the scanning, digitized data (i1) concerning the structure/shape of the said body area or body areas and/or of the object or objects arranged in this area or these areas, for example an implant, in that computer equipment (6) is arranged to receive and to process or use the said digitized data and to reproduce graphically (13a) on its screen (13), or reproduce automatically, the said structure/structures or shape/shapes of the respective area and/or object, in that the computer equipment (6) is arranged to identify, with the aid of identification software, one or more surfaces, for example end surfaces, or detail thereof, of the respective area (tooth remnant, for example) and/or of an object applied on this area, for example the said implant, to spatial position(s), and in that members (6, 14) are arranged for generating or instigating the said manufacturing data (i2', i3') with the aid of the data relating to the identified surfaces, if appropriate together with function data on the available space for and/or aesthetic requirements of the respective support member or part, etc.
3. Arrangement according to Patent Claim 2, characterized in that the identification software is arranged to operate with reference markings (36, 37, 54) applied on the said surface (38, for example), these markings preferably being in the form of circles or corresponding geometrical figures, in that the identification program performs the identification by comparing the simultaneously taken pictures of the respective area(s) and/or objects (39, for example) and the reference markings which are applied or present thereon.
4. Arrangement according to Patent Claim 2 or 3, characterized in that the reproduction device comprises a camera which is arranged to take pictures in or at the mouth cavity (1a) at a distance (L) of 50 to 150 mm, and in that the imaging can involve stereophotography of implants in the jaw (1b), either at the level of the fixture, down in the jaw in the unhealed state, or at the level of the spacer, in the healed state, and with only the spacers protruding above the healed jaw bone, it being possible for the centre points and inclinations of the end surfaces to be determined, and in that the value (i2') determined can be used for production of a dental bridge construction, a dental cap construction, or another dental construction.
5. Arrangement according to any one of Patent Claims 2 to 4, characterized in that the camera (2) operates with two or more virtual lens functions (28, 29) arranged at a distance (L') from one another for achieving the stereo effect, and in that images of the respective area or areas and/or object which have been effected in this way by the camera [lacuna] a reduced number of pictures with the actual lens functions (28, 29) are included in determining the position of the surfaces, for example by determining centre points in, and inclinations of, end surfaces.
6. Arrangement according to any one of Patent Claims 2 to 5, characterized in that each surface normal (40) is defined as a three-dimensional vector with a length which essentially corresponds to the length of the radius (41) of the end surface (or equivalent).
7. Arrangement according to any one of Patent Claims 2 to 6, characterized in that the imaging involves stereophotography of a number of implants, for example 2 to 6 implants (46 - 50), which have essentially the shapes of cylinders, the end surfaces of which are intended to be identified in space, and in that adaptation by building the respective implant up to a common level in a dental bridge or equivalent can be carried out by means of calculations in the computer equipment.
8. Arrangement according to any one of Patent Claims 2 to 7, characterized in that the precision of the determination of the solid angle for the abutment surface (38) of the implant/of the cylinder, which abutment surface is formed by the said end surface, is of the order of magnitude of 0.01 radians, which corresponds to an error of the order of magnitude of 0.03 mm at the periphery of the implant/cylinder, and/or in that the precision of the determination of an individual point on the area(s) and/or the implant/cylinder, for example centre points in an end surface, is of the order of magnitude of 0.02 mm.
9. Arrangement according to any one of Patent Claims 2 to 8, characterized in that, in a series of peripheral reference markings on the periphery or circumference of an end surface, only three need be determined for indicating the centre point of the end surface.
10. Arrangement according to any one of Patent Claims 2 to 9, characterized in that the mucous membrane in the mouth cavity is imaged in order to reproduce the topograhy of the mucous membrane, it being possible for the imaging to be effected in conjunction with or prior to the production in question.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE9304042A SE502035C2 (en) | 1993-12-06 | 1993-12-06 | Method and apparatus for producing information for the production of artificial support organs or replacement parts for the human body |
| SE9304042-6 | 1993-12-06 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2154478A1 true CA2154478A1 (en) | 1995-06-15 |
Family
ID=20392001
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002154478A Abandoned CA2154478A1 (en) | 1993-12-06 | 1994-11-29 | Method and arrangement for collecting data for production of artificial support members or replacement parts for the human body |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US5851115A (en) |
| EP (1) | EP0683647B1 (en) |
| JP (1) | JPH08509150A (en) |
| AT (1) | ATE170730T1 (en) |
| AU (1) | AU682083B2 (en) |
| CA (1) | CA2154478A1 (en) |
| DE (1) | DE69413204T2 (en) |
| SE (1) | SE502035C2 (en) |
| WO (1) | WO1995015731A1 (en) |
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-
1993
- 1993-12-06 SE SE9304042A patent/SE502035C2/en unknown
-
1994
- 1994-11-29 JP JP7516135A patent/JPH08509150A/en not_active Ceased
- 1994-11-29 DE DE69413204T patent/DE69413204T2/en not_active Expired - Lifetime
- 1994-11-29 EP EP95903479A patent/EP0683647B1/en not_active Expired - Lifetime
- 1994-11-29 AU AU12516/95A patent/AU682083B2/en not_active Ceased
- 1994-11-29 WO PCT/SE1994/001142 patent/WO1995015731A1/en active IP Right Grant
- 1994-11-29 US US08/495,620 patent/US5851115A/en not_active Expired - Lifetime
- 1994-11-29 CA CA002154478A patent/CA2154478A1/en not_active Abandoned
- 1994-11-29 AT AT95903479T patent/ATE170730T1/en not_active IP Right Cessation
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|---|---|
| US5851115A (en) | 1998-12-22 |
| ATE170730T1 (en) | 1998-09-15 |
| WO1995015731A1 (en) | 1995-06-15 |
| EP0683647A1 (en) | 1995-11-29 |
| SE9304042L (en) | 1995-06-07 |
| SE502035C2 (en) | 1995-07-24 |
| EP0683647B1 (en) | 1998-09-09 |
| JPH08509150A (en) | 1996-10-01 |
| AU1251695A (en) | 1995-06-27 |
| DE69413204D1 (en) | 1998-10-15 |
| DE69413204T2 (en) | 1999-04-08 |
| AU682083B2 (en) | 1997-09-18 |
| SE9304042D0 (en) | 1993-12-06 |
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| EEER | Examination request | ||
| FZDE | Discontinued |