WO2011042626A1 - Self-contained system for processing digitization of dental impressions - Google Patents

Self-contained system for processing digitization of dental impressions Download PDF

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Publication number
WO2011042626A1
WO2011042626A1 PCT/FR2010/000674 FR2010000674W WO2011042626A1 WO 2011042626 A1 WO2011042626 A1 WO 2011042626A1 FR 2010000674 W FR2010000674 W FR 2010000674W WO 2011042626 A1 WO2011042626 A1 WO 2011042626A1
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WO
WIPO (PCT)
Prior art keywords
dental impression
scanning
dental
impression
scanning system
Prior art date
Application number
PCT/FR2010/000674
Other languages
French (fr)
Inventor
Olivier Casteran
Steeve Casteran
Original Assignee
Laboratoire De Prothese Dentaire Soca
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Application filed by Laboratoire De Prothese Dentaire Soca filed Critical Laboratoire De Prothese Dentaire Soca
Publication of WO2011042626A1 publication Critical patent/WO2011042626A1/en

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Classifications

    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • 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
    • G05B2219/37558—Optical sensor, scanner
    • 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
    • G05B2219/45172—Prosthesis
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49302—Part, workpiece, code, tool identification

Definitions

  • the present invention relates to a system for digitizing dental impressions.
  • dental impression is meant a reproduction, in plaster, which has been prepared from an impression, in the form of a silicone mold, of a patient's jaw, made in the mouth by a dentist.
  • a known digitization system generally comprises a box containing a scanning module, optical type or mechanical probe, and in which an operator inserts a dental impression.
  • the dental impression is then scanned by the scanning module, which makes it possible to obtain a digital image of the patient's jaw.
  • the digital image thus obtained subsequently makes it possible to produce a dental prosthesis for the purpose of CAD software, in particular of the joint prosthesis type, that is to say, sealed in the mouth, or attached, that is, say removable, as well as the combined cases.
  • Such a digitization system allows a high quality of work of the prosthetist, so that the dental prosthesis obtained is perfectly adapted to the patient's jaw.
  • this system has the disadvantage that the productivity is limited on the one hand by the reduced capacity of the digitization box, and on the other hand because of the introduction of each dental impression, one after the other, by an operator, limiting the operating time of the system to the hours of work of the operator.
  • human error positioning of fingerprints is one of the major flaws of this system, since they have the consequence of having to start scanning again, which further reduces the productivity of the system. It can thus be estimated that 20% of the working time of an operator is devoted to a second digitization, which makes it impossible to move towards a larger production or sustained rate, and confines this type of system to a "small-scale" production. ".
  • the object of the present invention is to overcome these disadvantages.
  • the invention relates to a system for digitizing dental impressions, comprising a scanning optical module, at least one support station of said dental impressions comprising at least one support surface of said dental impressions in a so-called storage position, and a robotic arm for moving each of said dental impressions between said storage position of each fingerprint and a scanning position of each fingerprint by said scanning optical module.
  • FIG 1 is a perspective view of the dental impression scanning system according to the present invention in storage position
  • FIG. 2 is a perspective view of the digitization system of FIG. 1 in the digitization position of a dental impression
  • FIG. 3 is a perspective view of a support station of the digitization system of FIG. 1,
  • FIG. 4A is a perspective view of a housing of the support station of FIG. 3A
  • FIG 4B is a perspective view of the housing of FIG 4A, storing a dental impression
  • FIG. 5 is a perspective view of an articulated arm of the system of FIG. 1.
  • Figures 1 and 2 there is shown in 10 a scanning system of dental impressions, in particular for the realization of a dental prosthesis.
  • dental impression is meant a reproduction, in plaster, which has been prepared from an impression, in the form of a silicone mold, of a patient's jaw, made in the mouth by a dentist, ie the mold in silicone directly.
  • the dental impressions are referenced in M in the figures, and the two jaws in m.
  • the scanning system 10 comprises a scanning optical module 12, at least one support station 14 of the dental impressions M comprising at least one support face 16, 16 'of the impressions M in a position called storage, and a robotic arm 18 for moving each of the fingerprints M between the storage position and a scanning position of each fingerprint by the scanning optical module 12, in which each fingerprint M is arranged near the scanning optical module. , that is to say at a pre-established distance allowing optimal scanning of each imprint M.
  • the storage position is otherwise called the palletizing position.
  • the digitization system 10 ensures, in particular thanks to the robotic arm 18, a digitization of a plurality of dental impressions M independently, without external constraint.
  • the at least one support face 16, 16 ' is removably mounted, which allows the loading and unloading of dental impressions M.
  • the system 10 comprises a support station 14 provided with two faces 16 and 16 '.
  • the double-sided storage support station 14 makes it possible to process a large number of dental impressions M in the same work cycle of the robot, a cycle corresponding to a first digitization of all the impressions stored in the two faces 16 and 16 'of the support station 14.
  • the digitization system 10 is advantageously integrated in a glazed cell 20.
  • the scanning optical module 12 comprises at least one camera, a laser transmitter for pointing the scanning front line of the camera, and a member for transmitting the scanned data to a remote unit, such as a computer.
  • the remote unit comprises a screen on which the scanned image of the imprint M is displayed.
  • the module 12 is not further described because known to those skilled in the art.
  • the support station 14 is formed from rails 22 directed substantially parallel to each other along a horizontal direction denoted X, and are mounted superimposed one below the other.
  • Each rail 22 is provided with spacers 24.
  • Each spacer 24 is directed along a horizontal Y direction and orthogonal to the X direction, and protrudes on either side of the rail 22 into two segments of equal length. , 26 '.
  • the rails 22 provided with their spacers 24 are held by feet 28 directed vertically along a direction Z.
  • the feet 28 and the rails 22 define a plane which delimits two spaces, E and E ', respectively comprising the segments 26 and 26' and each forming one of the two support faces 16, 16 'of the support station 14 .
  • the support station 14 is pivotally mounted between two positions of presentation of each of the faces 16, 16 'facing the robotic arm 18.
  • the robotic arm 18 is disposed in each of the two positions of presentation facing one of the support faces 16, 16 'of the support station 14.
  • Each housing 30 is delimited by the space between two segments 26, 26 'consecutive, two feet 28 consecutive and two consecutive rails 22.
  • Each housing 30 is provided with a first 32 and a second 34 trays for receiving a dental impression M, the first tray 32 being intended to receive the dental impression M before scanning and after digitization without detected error, as it will be detailed below, and the second plate 34 is intended to receive the dental impression M after scanning in case of digitization error detected, as will also be detailed later.
  • the first plate 32 of a given housing 30 constitutes the lower level of this housing 30, while the second plate 32 of the same housing 30 is the upper level.
  • the robotic arm 18 can reproduce the complex movements of a human arm, and is controlled by a software unit not shown.
  • the arm 18 comprises at one of its ends a base 36 fixed while the other of its ends is formed of a base 38 for gripping each tooth impression M.
  • the base 38 comprises a flat parallelepipedal bar 40 traversed orthogonally from a bar 42, so that the bar 40 and the cross member 42 form a cross grip 44 of each dental impression M, each jaw m resting on this cross grip 44.
  • the motorized arm 18 comprises means 46 for holding each dental impression M on the base 38.
  • These holding means comprise at least one venturi air suction duct 48, and preferably, each end of the crosspiece 42 is provided with a venturi air duct.
  • each jaw m is disposed on one of the suction ducts 48, so that it is held in position by the venturi effect.
  • each plate 32, 34 of the same housing 30 comprises a recess 50 able to receive a dental impression M, this recess 50 being hollowed out with an indentation 51 of the base 38 of the motorized arm. 18, so that the cross 44 forming the end of the base 38 can be inserted in the cavity 51, under an imprint M disposed in the recess 50, and thus grasp this impression M.
  • the digitization system 10 comprises means 52 for correcting the position of each dental impression M on the base 38 of the robotic arm 18.
  • correction means 52 otherwise called packer
  • packer are arranged at above the support station 14, and comprise a central recess 54 provided at the front of two fingers 56, the cross 44 being intended to fit into the packer 52 extending between the two fingers 56, in the recess 54 and on either side of this recess 54.
  • the motorized arm 18 having grasped on its base 38 an impression M is placed under the packer 52, each jaw m on either side of the recess 54 , which restores the position of the imprint M on the base 38 in case of an unsuitable position.
  • the packer 52 advantageously has elastic properties, the elasticity being chosen so that it allows to cash the adequate replacement force of the imprint M while avoiding the arm 18 to disjunct because of a too much effort.
  • the robotic arm 18 comprises reading means, not shown, for example of optical or RFIt type, a barcode or RFID affixed to each print M which details the nature of the work to be performed (In particular, joint prosthesis, joint, combined case) and means for transferring this information concerning the nature of the work to the scanning optical module.
  • This barcode or RFID is an identification code of the order made by a dentist. So the nature of The work to be done is known from the motorized arm 18 and the scanning optical module 12, and depending on the work to be done, the optical module 12 controls which movements the robotic arm 18 must perform, which in particular determines the number of passes of the robot. fingerprint in front of the optical module 12 for scanning.
  • the invention also relates to a method of using the scanning system 10 for scanning a dental impression M, and which comprises the following steps:
  • a step of entering the dental impression M on the basis of the robotic arm a step of moving the impression M from its storage position in a housing on the first plate 32 to its scanning position, the dental impression M being disposed near the cameras of the optical module to be scarvné,
  • the error detection is automatic and comprises a detection of the total or partial presence of a dental impression M to digitizing, presence detection of the identification code of the order, verification of conformity of the imprint M with the nature of the work to be performed.
  • the dental impression M has been digitized and returned to the storage position on one or the other of the trays 32, 34 of its initial housing 30, and the robotic arm 18 continues its work. grasping the imprint M disposed in the housing 30 adjacent to the first housing 30.
  • each imprint M is digitized, the scanning system 10 ensuring complete autonomy of operation.
  • the support station 14 pivots on itself in order to present the face 16 'to the robotic arm 18 which can continue the scanning cycle.
  • the digitizing system 10 makes it possible to use an autonomously optimized digitization, since an error detected during digitization, for example because the imprint M is not well presented to the camera of the optical module 12, has not been detected. no major consequence on the process: the other imprints M are scanned, before during a second cycle of the robotic arm 18, the imprints arranged M at the end of the first cycle on the upper levels 34 of the housings 30 are re - digitized or manually taken back.
  • the method comprises an additional step immediately after the capture step, during which the robot places the impression M on the packer 52 in order to correct the position of this impression M on the base 38 of the robotic arm 18, as already explained.
  • the method may also comprise a step of reading the bar code of each imprint M, which determines in particular the number of passages of the imprint in front of the optical module for scanning.
  • a step of reading the bar code of each imprint M which determines in particular the number of passages of the imprint in front of the optical module for scanning.
  • the dental impressions M are loaded manually or automatically on a face 16 during the previously described method of use made on the other face 16 ', which ensures a significant time saving.
  • the method comprises a preliminary step of adapting the scanning strategy according to the work to be performed, which makes it possible on the one hand to anticipate the working time of the robotic arm 18 and on the other hand to make sure that the measurements made during the digitization actually correspond to the order made by the dentist.
  • the digitization system 10 digitizes a plurality of dental impressions M autonomously, which makes it possible to support a high work rate and a high productivity, while controlling a high quality of the image obtained, and therefore, of the final prosthesis.
  • the digitization system 10 also makes it possible to digitize in a single measurement the upper and lower arches, that is to say the two jaws m, so that in a single work is performed occlusion, while it requires two jobs and an additional correlation for the systems of the state of the art. In other words, the occlusion is made by optical measurement directly on the fingerprints, avoiding the use of manual systems type "bitten". Thus, any inaccuracy related to a manual operation is avoided.

Abstract

The invention relates to a system for digitizing dental impressions (M), said system including: an optical digitization module (12); at least one holding station (14) for said dental impressions (M), said holding station including at least one holding surface (16, 16') for said dental impressions (M) in a so-called "storage" position; and an automated arm (18) for moving each of said dental impressions (M) between said position for storing each impression (M) and a position for digitizing each impression (M) by means of said optical digitization module (12).

Description

SYSTEME AUTONOME DE TRAITEMENT DE NUMERISATION  AUTONOMOUS SCANNING PROCESSING SYSTEM
D'EMPREINTES DENTAIRES  DENTAL IMPRESSIONS
La présente invention concerne un système de numérisation d'empreintes dentaires. The present invention relates to a system for digitizing dental impressions.
Par empreinte dentaire, on entend une reproduction, en plâtre, qui a été préparée à partir d'une empreinte, sous forme d'un moule en silicone, de mâchoire d'un patient, réalisée en bouche par un dentiste.  By dental impression is meant a reproduction, in plaster, which has been prepared from an impression, in the form of a silicone mold, of a patient's jaw, made in the mouth by a dentist.
Un système de numérisation connu comprend généralement un caisson renfermant un module de numérisation, de type optique ou palpeur mécanique, et dans lequel un opérateur insère une empreinte dentaire. L'empreinte dentaire est alors scannée par le module de numérisation, ce qui permet d'obtenir une image numérique de la mâchoire du patient. L'image numérique ainsi obtenue permet par la suite de réaliser une prothèse dentaire au rœ ers de logiciels dédiés de C.A.O, notamment de type prothèse conjointe, c'est-à-dire scellée en bouche, ou adjointe, c'est-à-dire amovible, ainsi que les cas combinés.  A known digitization system generally comprises a box containing a scanning module, optical type or mechanical probe, and in which an operator inserts a dental impression. The dental impression is then scanned by the scanning module, which makes it possible to obtain a digital image of the patient's jaw. The digital image thus obtained subsequently makes it possible to produce a dental prosthesis for the purpose of CAD software, in particular of the joint prosthesis type, that is to say, sealed in the mouth, or attached, that is, say removable, as well as the combined cases.
Un tel système de numérisation permet une grande qualité de travail du prothésiste, de sorte que la prothèse dentaire obtenue est parfaitement adaptée à la mâchoire du patient.  Such a digitization system allows a high quality of work of the prosthetist, so that the dental prosthesis obtained is perfectly adapted to the patient's jaw.
Toutefois, ce système présente l'inconvénient que la productivité est limitée d'une part par la capacité réduite du caisson de numérisation, et d'autre part du fait de l'introduction de chaque empreinte dentaire, l'une après l'autre, par un opérateur, limitant le temps de fonctionnement du système aux heures de travail de l'opérateur. De plus, les erreurs humaines de positionnement des empreintes constituent l'un des défauts majeurs de ce système, puisqu'elles ont pour conséquence de devoir recommencer une numérisation, ce qui réduit encore la productivité du système. On peut ainsi évaluer que 20% du temps de travail d'un opérateur est consacré à une deuxième numérisation, ce qui rend impossible de s'orienter vers une production plus large ou cadence soutenue, et cantonne ce type de système à une production « artisanale ». However, this system has the disadvantage that the productivity is limited on the one hand by the reduced capacity of the digitization box, and on the other hand because of the introduction of each dental impression, one after the other, by an operator, limiting the operating time of the system to the hours of work of the operator. In addition, human error positioning of fingerprints is one of the major flaws of this system, since they have the consequence of having to start scanning again, which further reduces the productivity of the system. It can thus be estimated that 20% of the working time of an operator is devoted to a second digitization, which makes it impossible to move towards a larger production or sustained rate, and confines this type of system to a "small-scale" production. ".
Le but de la présente invention est de remédier à ces inconvénients.  The object of the present invention is to overcome these disadvantages.
A cet effet, l'invention concerne un système de numérisation d'empreintes dentaires, comprenant un module optique de numérisation, au moins une station support desdites empreintes dentaires comprenant au moins une face de support desdites empreintes dentaires dans une position dite de stockage, et un bras robotisé de déplacement de chacune desdites empreintes dentaires entre ladite position de stockage de chaque empreinte et une position de numérisation de chaque empreinte par ledit module optique de numérisation. To this end, the invention relates to a system for digitizing dental impressions, comprising a scanning optical module, at least one support station of said dental impressions comprising at least one support surface of said dental impressions in a so-called storage position, and a robotic arm for moving each of said dental impressions between said storage position of each fingerprint and a scanning position of each fingerprint by said scanning optical module.
L'invention sera décrite maintenant plus en détail en référence aux figures annexées données uniquement à titre d'exemple et dans lesquelles : The invention will now be described in more detail with reference to the appended figures given solely by way of example and in which:
-la figure 1 est une vue en perspective du système de numérisation d'empreintes dentaires selon la présente invention en position de stockage,  FIG 1 is a perspective view of the dental impression scanning system according to the present invention in storage position,
-la figure 2 est une vue en perspective du système de numérisation de la figure 1 en position de numérisation d'une empreinte dentaire, FIG. 2 is a perspective view of the digitization system of FIG. 1 in the digitization position of a dental impression,
-la figure 3 est une vue en perspective d'une station support du système de numérisation de la figure 1, FIG. 3 is a perspective view of a support station of the digitization system of FIG. 1,
-la figure 4A est une vue en perspective d'un logement de la station support de la figure 3A,  FIG. 4A is a perspective view of a housing of the support station of FIG. 3A,
-la figure 4B est une vue en perspective du logement de la figure 4A, stockant une empreinte dentaire, et  FIG 4B is a perspective view of the housing of FIG 4A, storing a dental impression, and
-la figure 5 est une vue en perspective d'un bras articulé du système de la figure 1. Sur les figures 1 et 2, on a représenté en 10 un système de numérisation d'empreintes dentaires, notamment en vue de la réalisation d'une prothèse dentaire. Par empreinte dentaire, on entend une reproduction, en plâtre, qui a été préparée à partir d'une empreinte, sous forme d'un moule en silicone, de mâchoire d'un patient, réalisée en bouche par un dentiste, soit le moule en silicone directement. Les empreintes dentaires sont référencées en M dans les figures, et les deux mâchoires en m. FIG. 5 is a perspective view of an articulated arm of the system of FIG. 1. Figures 1 and 2, there is shown in 10 a scanning system of dental impressions, in particular for the realization of a dental prosthesis. By dental impression is meant a reproduction, in plaster, which has been prepared from an impression, in the form of a silicone mold, of a patient's jaw, made in the mouth by a dentist, ie the mold in silicone directly. The dental impressions are referenced in M in the figures, and the two jaws in m.
Comme visible sur les figures 1 et 2, le système de numérisation 10 comprend un module optique de numérisation 12, au moins une station support 14 des empreintes dentaires M comprenant au moins une face de support 16, 16' des empreintes M dans une position dite de stockage, et un bras robotisé 18 de déplacement de chacune des empreintes M entre la position de stockage et une position de numérisation de chaque empreinte par le module optique de numérisation 12, dans laquelle chaque empreinte M est disposée à proximité du module optique de numérisation, c'est-à-dire à une distance pré-établie permettant une numérisation optimale de chaque empreinte M.  As can be seen in FIGS. 1 and 2, the scanning system 10 comprises a scanning optical module 12, at least one support station 14 of the dental impressions M comprising at least one support face 16, 16 'of the impressions M in a position called storage, and a robotic arm 18 for moving each of the fingerprints M between the storage position and a scanning position of each fingerprint by the scanning optical module 12, in which each fingerprint M is arranged near the scanning optical module. , that is to say at a pre-established distance allowing optimal scanning of each imprint M.
La position de stockage est autrement appelée position de palettisation. The storage position is otherwise called the palletizing position.
Le système de numérisation 10 assure, notamment grâce au bras robotisé 18, une numérisation d'une pluralité d'empreintes dentaires M de façon autonome, sans contrainte extérieure. The digitization system 10 ensures, in particular thanks to the robotic arm 18, a digitization of a plurality of dental impressions M independently, without external constraint.
Avantageusement, la au moins une face de support 16, 16' est montée amovible, ce qui permet le chargement et le déchargement d'empreintes dentaires M.  Advantageously, the at least one support face 16, 16 'is removably mounted, which allows the loading and unloading of dental impressions M.
Selon le mode de réalisation préféré, illustré sur les figures 1 à 3, le système 10 comprend une station support 14 munie de deux faces 16 et 16'. La station support 14 à double face de stockage permet de traiter un grand nombre d'empreintes dentaires M dans un même cycle de travail du robot, un cycle correspondant à une première numérisation de toutes les empreintes stockées dans les deux faces 16 et 16' de la station support 14. Comme visible sur les figures 1 et 2, le système de numérisation 10 est avantageusement intégré dans un cellule vitrée 20. According to the preferred embodiment, illustrated in Figures 1 to 3, the system 10 comprises a support station 14 provided with two faces 16 and 16 '. The double-sided storage support station 14 makes it possible to process a large number of dental impressions M in the same work cycle of the robot, a cycle corresponding to a first digitization of all the impressions stored in the two faces 16 and 16 'of the support station 14. As can be seen in FIGS. 1 and 2, the digitization system 10 is advantageously integrated in a glazed cell 20.
Le module optique de numérisation 12 comprend au moins une caméra, un émetteur laser permettant de pointer la ligne de front de balayage de la caméra, et un organe de transmission des données scannées à une unité à distance, tel qu'un ordinateur. L'unité à distance comprend un écran sur lequel s'affiche l'image numérisée de l'empreinte M. Le module 12 n'est pas plus décrit car connu de l'homme du métier.  The scanning optical module 12 comprises at least one camera, a laser transmitter for pointing the scanning front line of the camera, and a member for transmitting the scanned data to a remote unit, such as a computer. The remote unit comprises a screen on which the scanned image of the imprint M is displayed. The module 12 is not further described because known to those skilled in the art.
Comme plus particulièrement visible à la figure 3, la station support 14 est constituée à partir de rails 22 dirigés sensiblement parallèlement les uns aux autres le long d'une direction horizontale notée X, et sont montés superposés les uns sous les autres. Chaque rail 22 est muni d'entretoises 24. Chaque entretoise 24 est dirigée le long d'une direction Y horizontale et orthogonale à la direction X, et fait saillie de part et d'autre du rail 22 en deux segments de longueur égale, 26, 26'. Les rails 22 munis de leurs entretoises 24 sont maintenus par des pieds 28 dirigés verticalement le long d'une direction Z.  As more particularly visible in Figure 3, the support station 14 is formed from rails 22 directed substantially parallel to each other along a horizontal direction denoted X, and are mounted superimposed one below the other. Each rail 22 is provided with spacers 24. Each spacer 24 is directed along a horizontal Y direction and orthogonal to the X direction, and protrudes on either side of the rail 22 into two segments of equal length. , 26 '. The rails 22 provided with their spacers 24 are held by feet 28 directed vertically along a direction Z.
Ainsi, les pieds 28 et les rails 22 définissent un plan qui délimite deux espaces, E et E', comprenant respectivement les segments 26 et 26' et chacun formant l'une des deux faces de support 16, 16' de la station support 14. Thus, the feet 28 and the rails 22 define a plane which delimits two spaces, E and E ', respectively comprising the segments 26 and 26' and each forming one of the two support faces 16, 16 'of the support station 14 .
Selon une autre caractéristique de l'invention, la station support 14 est montée pivotante entre deux positions de présentation de chacune des faces 16, 16' en regard du bras robotisé 18. Ainsi, le bras robotisé 18 est disposé dans chacune des deux positions de présentation en regard de l'une des faces de support 16, 16' de la station support 14. According to another characteristic of the invention, the support station 14 is pivotally mounted between two positions of presentation of each of the faces 16, 16 'facing the robotic arm 18. Thus, the robotic arm 18 is disposed in each of the two positions of presentation facing one of the support faces 16, 16 'of the support station 14.
Selon une autre caractéristique de l'invention, chaque face de support 16, 16' comprend une pluralité de logements 30, chaque logement 30 étant destiné à recevoir une seule empreinte dentaire M. Chaque logement 30 est délimité par l'espace compris entre deux segments 26, 26' consécutifs, deux pieds 28 consécutifs et deux rails 22 consécutifs. Chaque logement 30 est muni d'un premier 32 et d'un second 34 plateaux de réception d'une empreinte dentaire M, le premier plateau 32 étant destiné à recevoir l'empreinte dentaire M avant numérisation et après numérisation sans erreur détectée, comme il sera détaillé plus loin, et le second plateau 34 étant destiné à recevoir l'empreinte dentaire M après numérisation en cas d'erreur de numérisation détectée, comme il sera également détaillé plus loin. Comme visible sur les figures 4A et 4B, le premier plateau 32 d'un logement 30 donné constitue le niveau inférieur de ce logement 30, tandis que le second plateau 32 de ce même logement 30 en constitue le niveau supérieur. According to another characteristic of the invention, each support face 16, 16 'comprises a plurality of housings 30, each housing 30 being intended to receive a single dental impression M. Each housing 30 is delimited by the space between two segments 26, 26 'consecutive, two feet 28 consecutive and two consecutive rails 22. Each housing 30 is provided with a first 32 and a second 34 trays for receiving a dental impression M, the first tray 32 being intended to receive the dental impression M before scanning and after digitization without detected error, as it will be detailed below, and the second plate 34 is intended to receive the dental impression M after scanning in case of digitization error detected, as will also be detailed later. As shown in Figures 4A and 4B, the first plate 32 of a given housing 30 constitutes the lower level of this housing 30, while the second plate 32 of the same housing 30 is the upper level.
Le bras robotisé 18 peut reproduire les mouvements complexes d'un bras humain, et est commandé par une unité logicielle non représentée. On parle d'un bras poly articulé. Le bras 18 comprend à l'une de ses extrémités un socle 36 fixe tandis que l'autre de ses extrémités est formée d'une base 38 pour la préhension de chaque empreinte dentaire M. Comme plus particulièrement visible sur la figure 5, la base 38 comprend un barreau 40 parallélépipédique plat traversé orthogonalement d'une barre 42, de sorte que le barreau 40 et la traverse 42 forment une croix de préhension 44 de chaque empreinte dentaire M, chaque mâchoire m reposant sur cette croix de préhension 44.  The robotic arm 18 can reproduce the complex movements of a human arm, and is controlled by a software unit not shown. We are talking about a poly articulated arm. The arm 18 comprises at one of its ends a base 36 fixed while the other of its ends is formed of a base 38 for gripping each tooth impression M. As more particularly visible in Figure 5, the base 38 comprises a flat parallelepipedal bar 40 traversed orthogonally from a bar 42, so that the bar 40 and the cross member 42 form a cross grip 44 of each dental impression M, each jaw m resting on this cross grip 44.
Selon une autre caractéristique de l'invention, le bras motorisé 18 comprend des moyens 46 de maintien de chaque empreinte dentaire M sur la base 38. Ces moyens de maintien comprennent au moins un conduit 48 d'aspiration d'air à effet venturi, et de préférence, chaque extrémité de la traverse 42 est munie d'un conduit d'air à effet venturi. Ainsi, quand une empreinte dentaire est posée sur la base 38, chaque mâchoire m est disposée sur l'un des conduits d'aspiration 48, de sorte qu'elle est maintenue en position par effet venturi. Comme visible sur les figures 4A e† 4B, chaque plateau 32, 34 d'un même logement 30 comprend une empreinte 50 apte à recevoir une empreinte dentaire M, cette empreinte 50 étant creusée d'une empreinte 51 de la base 38 du bras motorisé 18, de sorte que la croix 44 formant extrémité de la base 38 peut s'insérer dans l'empreinte 51, sous une empreinte M disposée dans l'empreinte 50, et ainsi saisir cette empreinte M. According to another characteristic of the invention, the motorized arm 18 comprises means 46 for holding each dental impression M on the base 38. These holding means comprise at least one venturi air suction duct 48, and preferably, each end of the crosspiece 42 is provided with a venturi air duct. Thus, when a dental impression is placed on the base 38, each jaw m is disposed on one of the suction ducts 48, so that it is held in position by the venturi effect. As can be seen in FIGS. 4A and 4B, each plate 32, 34 of the same housing 30 comprises a recess 50 able to receive a dental impression M, this recess 50 being hollowed out with an indentation 51 of the base 38 of the motorized arm. 18, so that the cross 44 forming the end of the base 38 can be inserted in the cavity 51, under an imprint M disposed in the recess 50, and thus grasp this impression M.
Comme visible sur les figures 1 et 2, le système de numérisation 10 comprend des moyens 52 de correction de la position de chaque empreinte dentaire M sur la base 38 du bras robotisé 18. Ces moyens de correction 52, autrement appelés tasseur, sont disposés au dessus de la station support 14, et comprennent un évidement central 54 muni à l'avant de deux doigts 56, la croix 44 étant destinée à s'insérer dans le tasseur 52 en s'étendant entre les deux doigts 56, dans l'évidement 54 et de part et d'autre de cet évidement 54. Ainsi, le bras motorisé 18 ayant saisi sur sa base 38 une empreinte M vient se placer sous le tasseur 52, chaque mâchoire m de part et d'autre de l'évidement 54, ce qui rétablit la position de l'empreinte M sur la base 38 en cas de position non adéquate.  As can be seen in FIGS. 1 and 2, the digitization system 10 comprises means 52 for correcting the position of each dental impression M on the base 38 of the robotic arm 18. These correction means 52, otherwise called packer, are arranged at above the support station 14, and comprise a central recess 54 provided at the front of two fingers 56, the cross 44 being intended to fit into the packer 52 extending between the two fingers 56, in the recess 54 and on either side of this recess 54. Thus, the motorized arm 18 having grasped on its base 38 an impression M is placed under the packer 52, each jaw m on either side of the recess 54 , which restores the position of the imprint M on the base 38 in case of an unsuitable position.
On note que le tasseur 52 présente avantageusement des propriétés élastiques, l'élasticité étant choisie de sorte qu'elle permet d'encaisser l'effort de replacement adéquat de l'empreinte M tout en évitant au bras 18 de disjoncter du fait d'un effort trop important.  It is noted that the packer 52 advantageously has elastic properties, the elasticity being chosen so that it allows to cash the adequate replacement force of the imprint M while avoiding the arm 18 to disjunct because of a too much effort.
Selon une autre caractéristique de l'invention, le bras robotisé 18 comprend des moyens de lecture, non représentés, par exemple de type optique ou RFIt , d'un code barre ou RFID apposé sur chaque empreinte M qui détaille la nature du travail à effectuer (notamment prothèse adjointe, conjointe, cas combiné) et des moyens de transfert de ces informations concernant la nature du travail au module optique de numérisation. Ce code barre ou RFID est un code d'identification de la commande effectuée par un dentiste. Ainsi, la nature du travail à effectuer est connue du bras motorisé 18 et du module optique de numérisation 12, et, suivant le travail à réaliser, le module optique 12 commande quels mouvements doit effectuer le bras robotisé 18, ce qui détermine en particulier le nombre de passages de l'empreinte devant le module optique 12 pour numérisation. According to another characteristic of the invention, the robotic arm 18 comprises reading means, not shown, for example of optical or RFIt type, a barcode or RFID affixed to each print M which details the nature of the work to be performed (In particular, joint prosthesis, joint, combined case) and means for transferring this information concerning the nature of the work to the scanning optical module. This barcode or RFID is an identification code of the order made by a dentist. So the nature of The work to be done is known from the motorized arm 18 and the scanning optical module 12, and depending on the work to be done, the optical module 12 controls which movements the robotic arm 18 must perform, which in particular determines the number of passes of the robot. fingerprint in front of the optical module 12 for scanning.
Sur les figures, seul le mode de réalisation préféré est illustré, mais il est bien entendu que le cadre de l'invention n'est pas limité à ce mode de réalisation. Ainsi, il peut être prévu plusieurs stations support, notamment deux stations support disposées en regard l'une de l'autre, le bras robotisé étant disposé entre les deux stations, avantageusement à égale distance.  In the figures, only the preferred embodiment is illustrated, but it is understood that the scope of the invention is not limited to this embodiment. Thus, it can be provided several support stations, including two support stations disposed opposite one another, the robotic arm being disposed between the two stations, preferably at equal distances.
En outre, la station support telle qu'illustrée est montée pivotante, mais il est également possible d'encliqueter la station de sorte à présenter la face 16, puis de retirer la station et de l'encliqueter de sorte à présenter l'autre face 16'. L'invention concerne également un procédé d'utilisation du système de numérisation 10 pour la numérisation d'une empreinte dentaire M, et qui comprend les étapes suivantes :  In addition, the support station as illustrated is pivotally mounted, but it is also possible to snap the station so as to present the face 16, then remove the station and snap it so as to present the other face 16 '. The invention also relates to a method of using the scanning system 10 for scanning a dental impression M, and which comprises the following steps:
-une étape de saisie de l'empreinte dentaire M sur la base du bras robotisé, -une étape de déplacement de l'empreinte M depuis sa position de stockage dans un logement 30 sur le premier plateau 32 jusqu'à sa position de numérisation, l'empreinte dentaire M étant disposée à proximité des caméras du module optique afin d'être scarvné,  a step of entering the dental impression M on the basis of the robotic arm, a step of moving the impression M from its storage position in a housing on the first plate 32 to its scanning position, the dental impression M being disposed near the cameras of the optical module to be scarvné,
-au moins une étape de numérisation de l'empreinte dentaire M, et  at least one step of scanning the dental impression M, and
si aucune erreur n'a été détectée, une étape de repositionnement de l'empreinte dentaire sur le premier plateau 32 du même logement 30, ou if no error has been detected, a step of repositioning the dental impression on the first plate 32 of the same housing 30, or
si une erreur a été détectée, une étape de positionnement de l'empreinte dentaire M sur le second plateau 34 du même logement 30. if an error has been detected, a step of positioning the dental impression M on the second plate 34 of the same housing 30.
Avantageusement, la détection d'erreur est automatique et comprend une détection de présence totale ou partielle d'une empreinte dentaire M à numériser, une détection de présence du code d'identification de la commande, une vérification de conformité de l'empreinte M avec la nature du travail à effectuer. Advantageously, the error detection is automatic and comprises a detection of the total or partial presence of a dental impression M to digitizing, presence detection of the identification code of the order, verification of conformity of the imprint M with the nature of the work to be performed.
A l'issue de ce procédé, l'empreinte dentaire M a été numérisée et replacée en position de stockage sur l'un ou l'autre des plateaux 32, 34 de son logement initial 30, et le bras robotisé 18 continue son travail en saisissant l'empreinte M disposée dans le logement 30 adjacent au premier logement 30. Ainsi, chaque empreinte M est numérisée, le système de numérisation 10 assurant une autonomie complète de fonctionnement.  At the end of this process, the dental impression M has been digitized and returned to the storage position on one or the other of the trays 32, 34 of its initial housing 30, and the robotic arm 18 continues its work. grasping the imprint M disposed in the housing 30 adjacent to the first housing 30. Thus, each imprint M is digitized, the scanning system 10 ensuring complete autonomy of operation.
Quand toutes les empreintes M de la face 16 en regard du bras robotisé 18 ont été numérisées, la station support 14 pivote sur elle-même afin de présenter la face 16' au bras robotisé 18 qui peut continuer le cycle de numérisation. When all the fingerprints M of the face 16 facing the robotic arm 18 have been digitized, the support station 14 pivots on itself in order to present the face 16 'to the robotic arm 18 which can continue the scanning cycle.
Le système de numérisation 10 permet par son utilisation une numérisation optimisée de façon autonome puisqu'une erreur détectée en cours de numérisation, par exemple parce que l'empreinte M n'est pas bien présentée à la caméra du module optique 12, n'a aucune conséquence lourde sur le procédé : les autres empreintes M sont scannées, avant qu'au cours d'un deuxième cycle du bras robotisé 18, les empreintes disposées M à l'issue du premier cycle sur les niveaux supérieurs 34 des logements 30 soient re-numérisées ou reprises manuellement. The digitizing system 10 makes it possible to use an autonomously optimized digitization, since an error detected during digitization, for example because the imprint M is not well presented to the camera of the optical module 12, has not been detected. no major consequence on the process: the other imprints M are scanned, before during a second cycle of the robotic arm 18, the imprints arranged M at the end of the first cycle on the upper levels 34 of the housings 30 are re - digitized or manually taken back.
Avantageusement, le procédé comprend une étape supplémentaire immédiatement après l'étape de saisie, au cours de laquelle le robot vient placer l'empreinte M sur le tasseur 52 afin de corriger la position de cette empreinte M sur la base 38 du bras robotisé 18, comme déjà expliqué.  Advantageously, the method comprises an additional step immediately after the capture step, during which the robot places the impression M on the packer 52 in order to correct the position of this impression M on the base 38 of the robotic arm 18, as already explained.
En outre, le procédé peut également comprendre une étape de lecture du code barre de chaque empreinte M, ce qui détermine en particulier le nombre de passages de l'empreinte devant le module optique pour numérisation. De ce fait, une grande qualité d'image obtenue par numérisation est assurée. Le nombre d'étapes de numérisation est donc fonction de la nature du travail à effectuer, et le procédé d'utilisation comprend soit une seule étape de numérisation, soit au contraire une plusieurs étapes de numérisation. In addition, the method may also comprise a step of reading the bar code of each imprint M, which determines in particular the number of passages of the imprint in front of the optical module for scanning. As a result, a high image quality obtained by digitization is ensured. The number Scanning steps are therefore a function of the nature of the work to be performed, and the method of use comprises either a single scanning step, or on the contrary a plurality of scanning steps.
On note qu'avantageusement, les empreintes dentaires M sont chargées manuellement ou automatiquement sur une face 16 pendant le procédé d'utilisation précédemment décrit effectué sur l'autre face 16', ce qui assure un gain de temps notable.  It is noted that, advantageously, the dental impressions M are loaded manually or automatically on a face 16 during the previously described method of use made on the other face 16 ', which ensures a significant time saving.
Avantageusement, le procédé comprend une étape préliminaire d'adaptation de la stratégie de numérisation en fonction du travail à effectuer, ce qui permet d'une part d'anticiper le temps de travail du bras robotisé 18 et d'autre part de s'assurer que les mesures effectuées lors de la numérisation correspondent effectivement à la commande réalisée par le dentiste.  Advantageously, the method comprises a preliminary step of adapting the scanning strategy according to the work to be performed, which makes it possible on the one hand to anticipate the working time of the robotic arm 18 and on the other hand to make sure that the measurements made during the digitization actually correspond to the order made by the dentist.
Le système de numérisation 10 assure une numérisation d'une pluralité d'empreintes dentaires M de façon autonome, ce qui permet de soutenir une grande cadence de travail et une productivité élevée, tout en contrôlant une grande qualité de l'image obtenue, et, par conséquent, de la prothèse finale. Le système de numérisation 10 permet également de numériser en une seule mesure les arcades supérieure et inférieure, c'est-à-dire des deux mâchoires m, de sorte qu'en un seul travail est réalisée la prise d'occlusion, alors qu'elle demande deux travaux et une corrélation supplémentaire pour les systèmes de l'état de la technique. En d'autres termes, la prise d'occlusion est faite par mesure optique directement sur les empreintes, évitant le recours à des systèmes manuels de type « mordu ». Ainsi, toute imprécision liée à une opération manuelle est évitée.  The digitization system 10 digitizes a plurality of dental impressions M autonomously, which makes it possible to support a high work rate and a high productivity, while controlling a high quality of the image obtained, and therefore, of the final prosthesis. The digitization system 10 also makes it possible to digitize in a single measurement the upper and lower arches, that is to say the two jaws m, so that in a single work is performed occlusion, while it requires two jobs and an additional correlation for the systems of the state of the art. In other words, the occlusion is made by optical measurement directly on the fingerprints, avoiding the use of manual systems type "bitten". Thus, any inaccuracy related to a manual operation is avoided.

Claims

REVENDICATIONS
1. Système de numérisation d'empreintes dentaires (M), comprenant : A dental impression scanning system (M), comprising:
-un module optique de numérisation (12),  an optical scanning module (12),
-au moins une station support (14) desdites empreintes dentaires (M) comprenant au moins une face de support (16, 16') desdites empreintes dentaires (M) dans une position dite de stockage, et  at least one support station (14) of said dental impressions (M) comprising at least one support face (16, 16 ') of said dental impressions (M) in a so-called storage position, and
-un bras robotisé (18) de déplacement de chacune desdites empreintes dentaires (M) entre ladite position de stockage de chaque empreinte (M) et une position de numérisation de chaque empreinte (M) par ledit module optique de numérisation (12).  a robotic arm (18) for moving each of said dental impressions (M) between said storage position of each imprint (M) and a scanning position of each imprint (M) by said scanning optical module (12).
2. Système de numérisation d'empreintes dentaires selon la revendication 1, dans lequel la au moins une face de support (16, 16') est montée amovible.  The dental impression scanning system according to claim 1, wherein the at least one support face (16, 16 ') is removably mounted.
3. Système de numérisation d'empreintes dentaires selon la revendication 1, dans lequel la au moins une station support (14) comprend deux faces de support (16, 16').  A dental impression scanning system according to claim 1, wherein the at least one support station (14) comprises two support faces (16, 16 ').
4. Système de numérisation d'empreintes dentaires selon la revendication précédente, dans lequel la au moins une station support (14) est montée pivotante entre deux positions de présentation de chacune des faces (16, 16') en regard du bras robotisé.  4. Dental impression scanning system according to the preceding claim, wherein the at least one support station (14) is pivotally mounted between two presentation positions of each of the faces (16, 16 ') facing the robotic arm.
5. Système de numérisation d'empreintes dentaires selon l'une des revendications 1 à 4, dans lequel chaque face de support (16, 16') comprend une pluralité de logements (30) d'une empreinte dentaire (M), chaque logement (30) étant muni d'un premier (32) et d'un second (34) plateaux de réception de ladite une empreinte dentaire (M), le premier plateau (32) étant destiné à recevoir une empreinte dentaire (M) avant numérisation et après numérisation sans erreur détectée, le second plateau (34) étant destiné à recevoir l'empreinte dentaire (M) après numérisation en cas d'erreur de numérisation détectée. The dental impression scanning system according to one of claims 1 to 4, wherein each support surface (16, 16 ') comprises a plurality of housings (30) of a dental impression (M), each housing (30) being provided with a first (32) and a second (34) receiving plates of said one dental impression (M), the first plate (32) being intended to receive a dental impression (M) before scanning and after scanning without error detected, the second plate (34) being intended to receive the dental impression (M) after digitization in case of digitization error detected.
6. Système de numérisation d'empreintes dentaires selon l'une quelconque des revendications précédentes, dans lequel le bras robotisé (18) comprend une base (38) destinée à soulever chaque empreinte dentaire (M), ladite base (38) étant munie de moyens de maintien (46) de l'empreinte dentaire (M) sur ladite base (38).  A dental impression scanning system according to any one of the preceding claims, wherein the robotic arm (18) comprises a base (38) for lifting each dental impression (M), said base (38) being provided with holding means (46) of the dental impression (M) on said base (38).
7. Système de numérisation d'empreintes dentaires selon la revendication précédente, dans lequel les moyens de maintien (46) de l'empreinte dentaire (M) sur la base (38) du bras robotisé (18) comprennent au moins un conduit (48) d'aspiration d'air à effet venturi.  7. Dental impression scanning system according to the preceding claim, wherein the means (46) for holding the dental impression (M) on the base (38) of the robotic arm (18) comprise at least one duct (48). ) suction air venturi effect.
8. Système de numérisation d'empreintes dentaires selon l'une quelconque des revendications précédentes, comprenant des moyens (52) de correction de la position de l'empreinte dentaire (M) sur la base (38) du bras articulé (18).  A dental impression scanning system according to any one of the preceding claims, comprising means (52) for correcting the position of the dental impression (M) on the base (38) of the articulated arm (18).
9. Système de numérisation d'empreintes dentaires selon l'une des revendications 5 à 8, dans lequel chaque plateau (32, 34) comprend une empreinte (50) d'une empreinte dentaire (M) creusée d'une empreinte (51) de la base (38) du bras motorisé (18).  Dental impression scanning system according to one of Claims 5 to 8, in which each plate (32, 34) comprises an impression (50) of a dental impression (M) hollowed out with an impression (51). the base (38) of the motorized arm (18).
10. Système de numérisation d'empreintes dentaires selon l'une des revendications précédentes, comprenant des moyens de lecture d'un code d'identification apposé sur chaque empreinte (M), de sorte que la nature du travail à effectuer est connue du bras motorisé (18) et du module optique de numérisation (12).  10. dental impression scanning system according to one of the preceding claims, comprising means for reading an identification code affixed to each imprint (M), so that the nature of the work to be performed is known arm motorized motor (18) and the scanning optical module (12).
11. Procédé d'utilisation du système de numérisation d'empreintes dentaires selon l'une quelconque des revendications 1 à 10, comprenant les étapes suivantes :  The method of using the dental impression scanning system according to any one of claims 1 to 10, comprising the steps of:
-une étape de saisie de l'empreinte dentaire (M) sur la base (38) du bras robotisé (18), -une étape de déplacement de l'empreinte (M) depuis sa position de stockage dans un logement (30) sur le premier plateau (32) jusqu'à sa position de numérisation, a step of seizing the dental impression (M) on the base (38) of the robotic arm (18), a step of moving the cavity (M) from its storage position in a housing (30) on the first plate (32) to its scanning position,
-au moins une étape de numérisation de l'empreinte dentaire (M), et si aucune erreur n'a été détectée, une étape de repositionnement de l'empreinte dentaire (M) sur le premier plateau (32) du même logement (30), ou  at least one step of scanning the dental impression (M), and if no error has been detected, a step of repositioning the dental impression (M) on the first plate (32) of the same housing (30); ), or
si une erreur a été détectée, une étape de positionnement de l'empreinte dentaire (M) sur le second plateau (34) du même logement (30). if an error has been detected, a step of positioning the dental impression (M) on the second plate (34) of the same housing (30).
12. Procédé d'utilisation selon la revendication précédente, comprenant un nombre d'étapes de numérisation fonction de la nature du travail à effectuer.  12. The method of use according to the preceding claim, comprising a number of scanning steps depending on the nature of the work to be performed.
PCT/FR2010/000674 2009-10-07 2010-10-07 Self-contained system for processing digitization of dental impressions WO2011042626A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0956987A FR2950987B1 (en) 2009-10-07 2009-10-07 AUTONOMOUS DENTAL FINGER SCANNING PROCESSING SYSTEM
FR0956987 2009-10-07

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FR2950987B1 (en) 2011-12-23

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