公开(公告)号：US12274600B2

公开(公告)日：2025-04-15

申请号：US18914013

申请日：2024-10-11

Applicant: Align Technology, Inc.

Inventor： Ofer Saphier ,  Yossef Atiya ,  Arkady Rudnitsky ,  Nir Makmel ,  Sergei Ozerov ,  Tal Verker ,  Tal Levy

IPC: A61C9/00 ,  A61B1/00 ,  A61B1/24 ,  G02B27/42 ,  G06T7/521 ,  G06T7/586 ,  G06T7/80 ,  G06T17/00 ,  H04N9/31

Abstract: An intraoral scanning system comprises an elongate handheld wand with a probe at a distal end, a structured light projector configured to project a uniform structured light pattern onto an object, a plurality of cameras configured to capture points of the uniform structured light pattern projected onto the object by the structured light projector, and one or more processors. The one or more processors are configured to determine a correspondence between projected points in the uniform structured light pattern generated by the structured light projector and captured points of the uniform structured light pattern captured by the plurality of cameras viewing the uniform structured light pattern projected onto the object, and to use triangulation and the determined correspondence to determine three-dimensional points in space associated with the captured points of the uniform structured light pattern captured by the plurality of cameras.

公开(公告)号：US12178685B2

公开(公告)日：2024-12-31

申请号：US18418211

申请日：2024-01-19

Applicant: Align Technology, Inc.

Inventor： Ofer Saphier ,  Yossef Atiya ,  Arkady Rudnitsky ,  Nir Makmel ,  Sergei Ozerov ,  Tal Verker ,  Tal Levy

IPC: A61C9/00 ,  A61B1/00 ,  A61B1/24 ,  G02B27/42 ,  G06T7/521 ,  G06T7/586 ,  G06T7/80 ,  G06T17/00 ,  H04N9/31

Abstract: A dental scanning system comprises an intraoral scanner and one or more processors. The intraoral scanner comprises one or more light projectors configured to project a pattern (comprising a plurality of pattern features) on a dental object, and two or more cameras configured to acquire sets of images, each comprising at least one image from each camera. The processor(s) are configured to determine a correspondence between pattern features in the pattern of light and image features in each set of images by determining intersections of projector rays corresponding to one or more of the plurality of pattern features and camera rays corresponding to the one or more image features in three-dimensional (3D) space based on calibration data that associates the camera rays corresponding to pixels on the camera sensor of each of the two or more cameras to the projector rays.

公开(公告)号：US20240163413A1

公开(公告)日：2024-05-16

申请号：US18418209

申请日：2024-01-19

Applicant: Align Technology, Inc.

Inventor： Ofer Saphier ,  Tal Levy ,  Gal Peleg ,  Eliran Dafna ,  Sergei Ozerov ,  Tal Verker ,  Nir Makmel ,  Yossef Atiya

IPC: H04N13/204 ,  G01B11/25 ,  G06T7/521 ,  H04N1/00

CPC classification number: H04N13/204 ,  G01B11/25 ,  G06T7/521 ,  H04N1/00018

Abstract: An intraoral scanner comprises one or more structured light projectors and two or more cameras, where each structured light projector projects a pattern of light onto an intraoral three-dimensional (3D) surface and the two or more cameras capture one or more sets of images, wherein each image includes at least a portion of the projected pattern of light. A processor solves a correspondence problem within a set of images of the one or more sets of images such that points in 3D space are determined based on correspondence of captured features in the set of images to projected features of at least the portion of the projected pattern, wherein said points in 3D space form a solution to the correspondence problem. The processor calibrates the intraoral scanner by performing an adjustment to stored calibration data associated with the intraoral scanner based on the solution to the correspondence problem.

公开(公告)号：US11896461B2

公开(公告)日：2024-02-13

申请号：US16446181

申请日：2019-06-19

Applicant: Align Technology, Inc.

Inventor： Ofer Saphier ,  Yossef Atiya ,  Arkady Rudnitsky ,  Nir Makmel ,  Sergei Ozerov ,  Tal Verker ,  Tal Levy

IPC: A61C9/00 ,  G06T7/80 ,  G02B27/42 ,  G06T17/00 ,  H04N9/31 ,  G06T7/521 ,  A61B1/00 ,  A61B1/24 ,  G06T7/586

CPC classification number: A61C9/006 ,  A61B1/00096 ,  A61B1/00172 ,  A61B1/00193 ,  A61B1/24 ,  G02B27/4222 ,  G02B27/4227 ,  G06T7/521 ,  G06T7/586 ,  G06T7/80 ,  G06T7/85 ,  G06T17/00 ,  H04N9/3161 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/10052 ,  G06T2207/30036

Abstract: An apparatus for intraoral scanning includes an elongate handheld wand that has a probe. One or more light projectors and two or more cameras are disposed within the probe. The light projectors each has a pattern generating optical element, which may use diffraction or refraction to form a light pattern. Each camera may be configured to focus between 1 mm and 30 mm from a lens that is farthest from the camera sensor. Other applications are also described.

公开(公告)号：US11826225B2

公开(公告)日：2023-11-28

申请号：US17826016

申请日：2022-05-26

Applicant: Align Technology, Inc.

Inventor： Ofer Saphier ,  Yossef Atiya ,  Arkady Rudnitsky ,  Nir Makmel ,  Sergei Ozerov ,  Tal Verker ,  Tal Levy

IPC: A61C9/00 ,  G06T7/80 ,  G02B27/42 ,  G06T17/00 ,  H04N9/31 ,  G06T7/521 ,  A61B1/00 ,  A61B1/24 ,  G06T7/586

CPC classification number: A61C9/006 ,  A61B1/00096 ,  A61B1/00172 ,  A61B1/00193 ,  A61B1/24 ,  G02B27/4222 ,  G02B27/4227 ,  G06T7/521 ,  G06T7/586 ,  G06T7/80 ,  G06T7/85 ,  G06T17/00 ,  H04N9/3161 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/10052 ,  G06T2207/30036

Abstract: An apparatus for intraoral scanning comprises an elongate handheld wand comprising a probe at a distal end, one or more light projectors, and two or more cameras. Each light projector comprises at least one light source configured to generate light and a pattern generating optical element configured to generate a pattern of light when the light is transmitted through the pattern generating optical element. Each camera comprises a camera sensor and one or more lenses and is configured to capture a plurality of images that depict at least a portion of the projected pattern of light on an intraoral surface, wherein each camera is configured to focus at an object focal plane that is located between about 1 mm and about 30 mm from a lens of the one or more lenses that is farthest from the camera sensor.

公开(公告)号：US11793611B2

公开(公告)日：2023-10-24

申请号：US17694462

申请日：2022-03-14

Applicant: Align Technology, Inc.

Inventor： Yossef Atiya ,  Tal Verker

IPC: A61C9/00 ,  A61C1/08 ,  A61B5/00 ,  A61B1/247 ,  A61B1/06 ,  A61B1/00 ,  G01B11/24 ,  G01B11/30

CPC classification number: A61C9/0066 ,  A61B1/00011 ,  A61B1/00045 ,  A61B1/000094 ,  A61B1/0676 ,  A61B1/247 ,  A61B5/0013 ,  A61B5/0022 ,  A61B5/0088 ,  A61B5/7228 ,  A61C1/088 ,  A61C9/0046 ,  A61C9/0053 ,  G01B11/24 ,  G01B11/30 ,  A61B2562/0233

Abstract: An apparatus includes a probe and a light source configured to output light. The apparatus includes a light focusing assembly comprising an image space lens, an object space lens and a focus changing assembly between the image space lens and the object space lens. The focus changing assembly is configured to focus the light to a plurality of external focal planes to illuminate a patient's teeth, wherein at least a portion of the focus changing assembly is located at a back focal length of the object space lens. The apparatus includes a detector to measure characteristics of incident light returning from an illuminated patient's teeth and a processor coupled to the detector and configured to generate data representative of a topography of the patient's teeth based on the one or more measured characteristics of the incident light.

公开(公告)号：US20230233087A1

公开(公告)日：2023-07-27

申请号：US18190026

申请日：2023-03-24

Applicant: Align Technology, Inc.

Inventor： Yossef Atiya ,  Tal Verker ,  Nir Makmel

IPC: A61B5/00 ,  G02B13/16 ,  G02B6/26 ,  F21V8/00 ,  G01B11/24 ,  G01B11/245 ,  A61C9/00 ,  G02B5/04 ,  G02B23/24

CPC classification number: A61B5/0088 ,  G02B13/16 ,  G02B6/262 ,  G02B6/0006 ,  G01B11/24 ,  G01B11/245 ,  A61C9/0066 ,  G02B6/0046 ,  G02B5/04 ,  G02B23/2461 ,  G01B2210/50 ,  G02B2006/0098

Abstract: An intraoral scanner comprises a light source for generating light, an optics system for focusing the light, and a light-guiding part having an entrance and an exit. The light source, the optics system and the light-guiding part are arranged such that the light passes through the optics system, enters the light-guiding part via the entrance, and exits the light-guiding part via the exit. The optics system is configured such that, upon entering the light-guiding part, an outermost chief ray of the light with respect to an optical axis of the optics system is divergent to the optical axis and an outermost marginal ray of the light with respect to the optical axis is parallel or divergent to the optical axis.

公开(公告)号：US11672631B2

公开(公告)日：2023-06-13

申请号：US17740113

申请日：2022-05-09

Applicant: Align Technology, Inc.

Inventor： Tal Verker ,  Adi Levin ,  Ofer Saphier ,  Maayan Moshe

IPC: G01J3/06 ,  A61C9/00 ,  G01B11/24 ,  G02B23/24 ,  G02B21/00 ,  G02B27/00 ,  G02B23/26

CPC classification number: A61C9/0066 ,  G01B11/24 ,  G02B21/006 ,  G02B23/2446 ,  G02B23/2461 ,  G02B23/26 ,  G02B27/0025

Abstract: A method comprises obtaining reference data about a 3D calibration object, the reference data comprising known coordinates for a plurality of points on the object, and obtaining measurement data comprising measurements for the plurality of points on the object, the measurement data having been generated based on scanning of the object by an uncalibrated intraoral scanner. The method comprises comparing the measurement data to the reference data to determine differences therebetween and applying the determined differences between the measurement data and the reference data for the plurality of points to a function to generate a compensation model that compensates for one or more inaccuracies of the intraoral scanner. The compensation model is then stored, wherein the compensation model causes the intraoral scanner to be a calibrated intraoral scanner and is usable to correct measurement errors of the intraoral scanner caused by the one or more inaccuracies of the intraoral scanner.

公开(公告)号：US11563929B2

公开(公告)日：2023-01-24

申请号：US16910042

申请日：2020-06-23

Applicant: Align Technology, Inc.

Inventor： Ofer Saphier ,  Tal Levy ,  Gal Peleg ,  Eliran Dafna ,  Sergei Ozerov ,  Tal Verker ,  Nir Makmel ,  Yossef Atiya

IPC: H04N13/204 ,  G01B11/25 ,  G06T7/521 ,  H04N1/00

Abstract: A method for generating a 3D image includes driving structured light projector(s) to project a pattern of light on an intraoral 3D surface, and driving camera(s) to capture images, each image including at least a portion of the projected pattern, each one of the camera(s) comprising an array of pixels. A processor compares a series of images captured by each camera and determines which of the portions of the projected pattern can be tracked across the images. The processor constructs a three-dimensional model of the intraoral three-dimensional surface based at least in part on the comparison of the series of images. Other embodiments are also described.

公开(公告)号：US20220192801A1

公开(公告)日：2022-06-23

申请号：US17694462

申请日：2022-03-14

Applicant: Align Technology, Inc.

Inventor： Yossef Atiya ,  Tal Verker

IPC: A61C9/00 ,  A61C1/08 ,  A61B5/00 ,  A61B1/247 ,  A61B1/06 ,  A61B1/00 ,  G01B11/24 ,  G01B11/30

Abstract: An apparatus includes a probe and an illumination unit configured to output light. The apparatus includes a light focusing assembly comprising an image space lens, an object space lens and a focus changing assembly between the image space lens and the object space lens. The light focusing assembly has at least one of the following properties: 1) at least a portion of the focus changing assembly is located at a back focal length of the object space lens, 2) the light focusing assembly is free of moving parts, or 3) the light focusing assembly comprises double telecentric confocal optics. The apparatus includes a detector to measure characteristics of incident light returning from an illuminated patient's teeth and a processor coupled to the detector and configured to generate data representative of a topography of the patient's teeth based on the one or more measured characteristics of the incident light.