公开(公告)号：US07697721B2

公开(公告)日：2010-04-13

申请号：US11303722

申请日：2005-12-16

申请人： Rudger Rubbert ,  Peer Sporbert ,  Thomas Weise

发明人： Rudger Rubbert ,  Peer Sporbert ,  Thomas Weise

IPC分类号： G06K9/00

CPC分类号： G01B11/2513 ,  A61C9/006 ,  G06K7/10

摘要： In accordance with a specific embodiment of the present invention, an image is projected upon a surface. The image can include a pattern having a plurality of individual shapes used to measure and map the surface. The plurality of individual shapes include features that are detectable in a direction parallel to the plane formed by a projection axis of the projected shapes and a point associated with a view axis. The image further comprises a feature containing an encoding information for identifying the plurality of shapes individually. The feature containing encoding information can be a separate feature from each of the plurality of individual shapes, or may be a feature integral to the plurality of individual shapes. The feature containing encoding information is oriented such that the encoding information is retrieved along a line perpendicular to a plane formed by the projection axis and the point along the view axis. The use of the feature is used to perform multiframe reference independent scanning.

摘要翻译： 根据本发明的具体实施例，将图像投影到表面上。 图像可以包括具有用于测量和映射表面的多个单独形状的图案。 多个单独形状包括在平行于由投影形状的投影轴形成的平面的方向上可检测的特征以及与视轴相关联的点。 图像还包括包含用于分别识别多个形状的编码信息的特征。 包含编码信息的特征可以是与多个单独形状中的每一个单独的特征，或者可以是与多个单独形状成一体的特征。 包含编码信息的特征被定向成使得沿着垂直于由投影轴和沿着视轴的点形成的平面的线来检索编码信息。 该功能的使用用于执行多帧参考独立扫描。

公开(公告)号：US20070081718A1

公开(公告)日：2007-04-12

申请号：US11636739

申请日：2006-12-11

申请人： Rudger Rubbert ,  Thomas Weise ,  Peer Sporbert ,  Hans Imgrund ,  Dimitrij Kouzian

发明人： Rudger Rubbert ,  Thomas Weise ,  Peer Sporbert ,  Hans Imgrund ,  Dimitrij Kouzian

IPC分类号： G06K9/00

CPC分类号： G06T7/35 ,  A61C7/00 ,  A61C7/002 ,  A61C7/146 ,  A61C9/0053 ,  A61C13/0004 ,  A61F2002/30953 ,  B33Y50/00 ,  B33Y80/00 ,  G06K2009/2045 ,  G06K2209/05 ,  G06K2209/40 ,  G06T7/30 ,  G06T2207/30004

摘要： A method and system are provided for constructing a virtual three-dimensional model of an object using a data processing system, and at least one machine-readable memory accessible to said data processing system. A set of at least two digital three-dimensional frames of portions of the object are obtained from a source, such as a computing system coupled to an optical or laser scanner, CT scanner, Magnetic Resonance Tomography scanner or other source. The at least two frames comprise a set of point coordinates in a three dimensional coordinate system providing differing information of the surface of the object. The frames provide a substantial overlap of the represented portions of the surface of the object, but do not coincide exactly for example due to movement of the scanning device relative to the object between the generation of the frame. Data representing the set of frames are stored in the memory. The data processing system processes the data representing the set of frames with said data processing system so as to register the frames relative to each other to thereby produce a three-dimensional virtual representation of the portion of the surface of the object covered by said set of frames. The registration is performed without using pre-knowledge about the spatial relationship between the frames. The three-dimensional virtual model or representation is substantially consistent with all of the frames.

公开(公告)号：US20060079981A1

公开(公告)日：2006-04-13

申请号：US11285629

申请日：2005-11-22

申请人： Rudger Rubbert ,  Thomas Weise ,  Friedrich Riemeier ,  Rohit Sachdeva ,  Peer Sporbert

发明人： Rudger Rubbert ,  Thomas Weise ,  Friedrich Riemeier ,  Rohit Sachdeva ,  Peer Sporbert

IPC分类号： A61C3/00

CPC分类号： G06T17/00 ,  A61C7/00 ,  A61C7/002 ,  A61C7/146 ,  A61C9/0046 ,  A61C13/0004 ,  A61F2002/30953 ,  B33Y50/00 ,  B33Y80/00 ,  G06F19/00 ,  G06F19/3418 ,  G06F19/3481 ,  G06Q10/06 ,  G16H50/50 ,  G16H80/00

摘要： Interactive, computer based orthodontist treatment planning, appliance design and appliance manufacturing is described. A scanner is described which acquires images of the dentition which are converted to three-dimensional frames of data. The data from the several frames are registered to each other to provide a complete three-dimensional virtual model of the dentition. Individual tooth objects are obtained from the virtual model. A computer-interactive software program provides for treatment planning, diagnosis and appliance from the virtual tooth models. A desired occlusion for the patient is obtained from the treatment planning software. The virtual model of the desired occlusion and the virtual model of the original dentition provide a base of information for custom manufacture of an orthodontic appliance. A variety of possible appliance and appliance manufacturing systems are contemplated, including customized archwires and customized devices for placement of off-the shelf brackets on the archwires, and removable orthodontic appliances.

公开(公告)号：US20050089214A1

公开(公告)日：2005-04-28

申请号：US10993323

申请日：2004-11-18

申请人： Rudger Rubbert ,  Thomas Weise ,  Peer Sporbert ,  Hans Imgrund ,  Hans-Florian Geerdes ,  Lutz Pfeil ,  Peter See

发明人： Rudger Rubbert ,  Thomas Weise ,  Peer Sporbert ,  Hans Imgrund ,  Hans-Florian Geerdes ,  Lutz Pfeil ,  Peter See

IPC分类号： A61C7/00 ,  A61C7/14 ,  A61C9/00 ,  A61C13/00 ,  A61F2/30 ,  G06T17/00 ,  G06K9/00

CPC分类号： G01B11/2504 ,  A61C7/00 ,  A61C7/002 ,  A61C7/146 ,  A61C9/006 ,  A61C13/0004 ,  A61F2002/30953 ,  B33Y50/00 ,  B33Y80/00 ,  G01B11/2518 ,  G06T7/521 ,  G06T17/00

摘要： A scanning system includes a hand-held scanning device that generates two-dimensional images of a pattern reflected off an object. The system also includes a memory and processing unit. The memory stores a calibration table for the scanner and received scanned bitmap images. The processing unit generates three-dimensional information as to a scanned object. The scanning can be performed without knowledge or even precise control of the position of the object relative to the scanner. Random movement of the object during scanning is also possible. For example, the scanner is simply swept over the surface of the object by hand. Three-dimensional information of the object is obtained from the captured images using a calibration table for the scanner. A method of calibration of the scanner in X, Y and Z directions is also described. The scanner can be used for a variety of purposes, including medical and industrial purposes. The illustrated embodiment is in-vivo scanning of human teeth for purposes of orthodontic treatment planning and diagnosis.

摘要翻译： 扫描系统包括产生从物体反射的图案的二维图像的手持式扫描装置。 该系统还包括存储器和处理单元。 存储器存储扫描仪的校准表并接收扫描的位图图像。 处理单元产生关于扫描对象的三维信息。 可以在不知情的情况下执行扫描，或者甚至可以精确地控制对象相对于扫描仪的位置。 扫描期间对象的随机移动也是可能的。 例如，扫描仪只需用手扫过物体表面即可。 使用扫描仪的校准表从捕获的图像中获得对象的三维信息。 还描述了在X，Y和Z方向上校准扫描仪的方法。 扫描仪可用于各种用途，包括医疗和工业用途。 所示实施例是用于正牙治疗计划和诊断的人牙齿的体内扫描。

公开(公告)号：US20060093206A1

公开(公告)日：2006-05-04

申请号：US11303722

申请日：2005-12-16

申请人： Rudger Rubbert ,  Peer Sporbert ,  Thomas Weise

发明人： Rudger Rubbert ,  Peer Sporbert ,  Thomas Weise

IPC分类号： G06K9/00 ,  G01B11/24

CPC分类号： G01B11/2513 ,  A61C9/006 ,  G06K7/10

摘要： In accordance with a specific embodiment of the present invention, an image is projected upon a surface. The image can include a pattern having a plurality of individual shapes used to measure and map the surface. The plurality of individual shapes include features that are detectable in a direction parallel to the plane formed by a projection axis of the projected shapes and a point associated with a view axis. The image further comprises a feature containing an encoding information for identifying the plurality of shapes individually. The feature containing encoding information can be a separate feature from each of the plurality of individual shapes, or may be a feature integral to the plurality of individual shapes. The feature containing encoding information is oriented such that the encoding information is retrieved along a line perpendicular to a plane formed by the projection axis and the point along the view axis. The use of the feature is used to perform multiframe reference independent scanning.

公开(公告)号：US20050043837A1

公开(公告)日：2005-02-24

申请号：US10951119

申请日：2004-09-27

申请人： Rudger Rubbert ,  Thomas Weise ,  Friedrich Riemeier ,  Rohit Sachdeva ,  Peer Sporbert

发明人： Rudger Rubbert ,  Thomas Weise ,  Friedrich Riemeier ,  Rohit Sachdeva ,  Peer Sporbert

IPC分类号： A61C3/00 ,  A61C7/00 ,  A61C7/14 ,  A61C9/00 ,  A61C13/00 ,  A61F2/30 ,  G06F19/00 ,  G06Q10/06 ,  G06T17/00

CPC分类号： G06T17/00 ,  A61C7/00 ,  A61C7/002 ,  A61C7/12 ,  A61C7/14 ,  A61C7/146 ,  A61C7/28 ,  A61C9/0046 ,  A61C13/0004 ,  A61F2002/30953 ,  B33Y50/00 ,  B33Y80/00 ,  G06F19/00 ,  G06F19/321 ,  G06F19/3481 ,  G06Q10/06 ,  G16H50/50

摘要： Interactive, computer based orthodontist treatment planning, appliance design and appliance manufacturing is described. A scanner is described which acquires images of the dentition which are converted to three-dimensional frames of data. The data from the several frames are registered to each other to provide a complete three-dimensional virtual model of the dentition. Individual tooth objects are obtained from the virtual model. A computer-interactive software program provides for treatment planning, diagnosis and appliance from the virtual tooth models. A desired occlusion for the patient is obtained from the treatment planning software. The virtual model of the desired occlusion and the virtual model of the original dentition provide a base of information for custom manufacture of an orthodontic appliance. A variety of possible appliance and appliance manufacturing systems are contemplated, including customized archwires and customized devices for placement of off-the shelf brackets on the archwires, and removable orthodontic appliances.

摘要翻译： 描述了交互式，基于计算机的正畸治疗计划，器具设计和器具制造。 描述了一种扫描器，其获取被转换为三维数据帧的齿列的图像。 来自多个帧的数据彼此登记，以提供牙列的完整的三维虚拟模型。 从虚拟模型获得单个牙齿对象。 计算机交互软件程序提供虚拟牙齿模型的治疗计划，诊断和器具。 从治疗计划软件获得患者期望的闭塞。 所需闭塞的虚拟模型和原始齿列的虚拟模型提供了用于定制矫正器具制造的信息的基础。 可以考虑各种可能的器具和器具制造系统，包括定制的弓丝和用于将弓形架上的现成支架放置的定制装置以及可移除的矫正器具。

公开(公告)号：US06771809B1

公开(公告)日：2004-08-03

申请号：US09560132

申请日：2000-04-28

申请人： Rudger Rubbert ,  Peer Sporbert ,  Thomas Weise

发明人： Rudger Rubbert ,  Peer Sporbert ,  Thomas Weise

IPC分类号： G06K900

CPC分类号： A61C7/146 ,  A61C7/00 ,  A61C7/002 ,  A61C9/006 ,  A61F2002/30953

摘要： In accordance with a specific embodiment of the present invention, an image is projected upon a surface. The image can include a pattern having a plurality of individual shapes used to measure and map the surface. The plurality of individual shapes include features that are detectable in a direction parallel to the plane formed by a projection axis of the projected shapes and a point associated with a view axis. The image further comprises a feature containing an encoding information for identifying the plurality of shapes individually. The feature containing encoding information can be a separate feature from each of the plurality of individual shapes, or may be a feature integral to the plurality of individual shapes. The feature containing encoding information is oriented such that the encoding information is retrieved along a line perpendicular to a plane formed by the projection axis and the point along the view axis. The use of the feature is used to perform multiframe reference independent scanning. In a specific embodiment, the frames captured during the scanning process are registered.

摘要翻译： 根据本发明的具体实施例，将图像投影到表面上。 图像可以包括具有用于测量和映射表面的多个单独形状的图案。 多个单独形状包括在平行于由投影形状的投影轴形成的平面的方向上可检测的特征以及与视轴相关联的点。 图像还包括包含用于分别识别多个形状的编码信息的特征。 包含编码信息的特征可以是与多个单独形状中的每一个单独的特征，或者可以是与多个单独形状成一体的特征。 包含编码信息的特征被定向成使得沿着垂直于由投影轴和沿着视轴的点形成的平面的线来检索编码信息。 该功能的使用用于执行多帧参考独立扫描。 在具体实施例中，记录在扫描处理期间捕获的帧。

公开(公告)号：US06532299B1

公开(公告)日：2003-03-11

申请号：US09616093

申请日：2000-07-13

申请人： Rohit Sachdeva ,  Rudger Rubbert ,  Peer Sporbert ,  Thomas Weise

发明人： Rohit Sachdeva ,  Rudger Rubbert ,  Peer Sporbert ,  Thomas Weise

IPC分类号： G06K900

CPC分类号： A61C7/146 ,  A61C7/00 ,  A61C7/002 ,  A61C9/006 ,  A61F2002/30953 ,  B33Y50/00 ,  B33Y80/00

摘要： A 3D scan data of an anatomical structure is obtained. The 3D scan data is transmitted to a remote facility for further use. For example, the three-dimensional scan data can be used to design an anatomical device, manufacture an anatomical device, monitor structural changes of the anatomy, archive data pertaining to the anatomical structure, perform a closed-loop iterative analysis of the anatomical structure, perform an interactive consultation of the structure, perform simulations based upon the structure, make a diagnosis related to the anatomical structure, determine a treatment plan based on the anatomical structure, manufacture the anatomical device, perform a verification of a treatment or structure, or for educational purposes.

摘要翻译： 获得解剖结构的3D扫描数据。 3D扫描数据被传送到远程设备以供进一步使用。 例如，三维扫描数据可用于设计解剖装置，制造解剖装置，监测解剖结构的结构变化，存档与解剖结构相关的数据，执行解剖结构的闭环迭代分析， 执行结构的交互式咨询，基于结构执行模拟，进行与解剖结构相关的诊断，基于解剖结构确定治疗计划，制造解剖装置，执行治疗或结构的验证，或对 教育目的

公开(公告)号：US06738508B1

公开(公告)日：2004-05-18

申请号：US09560583

申请日：2000-04-28

申请人： Rudger Rubbert ,  Peer Sporbert ,  Thomas Weise

发明人： Rudger Rubbert ,  Peer Sporbert ,  Thomas Weise

IPC分类号： G06K900

CPC分类号： A61C7/146 ,  A61C7/00 ,  A61C7/002 ,  A61C9/006 ,  A61F2002/30953

摘要： In accordance with a specific embodiment of the present invention, an image is projected upon a surface. The image can include a pattern having a plurality of individual shapes used to measure and map the surface. The plurality of individual shapes include features that are detectable in a direction parallel to the plane formed by a projection axis of the projected shapes and a point associated with a view axis. The image further comprises a feature containing an encoding information for identifying the plurality of shapes individually. The feature containing encoding information can be a separate feature from each of the plurality of individual shapes, or may be a feature integral to the plurality of individual shapes. The feature containing encoding information is oriented such that the encoding information is retrieved along a line perpendicular to a plane formed by the projection axis and the point along the view axis. The feature is used to perform multiframe reference independent scanning. In a specific embodiment, the frames are registered to form a three-dimensional mode.

摘要翻译： 根据本发明的具体实施例，将图像投影到表面上。 图像可以包括具有用于测量和映射表面的多个单独形状的图案。 多个单独形状包括在平行于由投影形状的投影轴形成的平面的方向上可检测的特征以及与视轴相关联的点。 图像还包括包含用于分别识别多个形状的编码信息的特征。 包含编码信息的特征可以是与多个单独形状中的每一个单独的特征，或者可以是与多个单独形状成一体的特征。 包含编码信息的特征被定向成使得沿着垂直于由投影轴和沿着视轴的点形成的平面的线来检索编码信息。 该功能用于执行多帧参考独立扫描。 在具体实施例中，帧被注册以形成三维模式。

公开(公告)号：US20050069188A1

公开(公告)日：2005-03-31

申请号：US10953240

申请日：2004-09-29

申请人： Rudger Rubbert ,  Thomas Weise ,  Peer Sporbert ,  Hans Imgrund ,  Dimitrij Kouzian

发明人： Rudger Rubbert ,  Thomas Weise ,  Peer Sporbert ,  Hans Imgrund ,  Dimitrij Kouzian

IPC分类号： A61C7/00 ,  A61C7/14 ,  A61C9/00 ,  A61F2/30 ,  G06K9/00

CPC分类号： G06T7/35 ,  A61C7/00 ,  A61C7/002 ,  A61C7/146 ,  A61C9/0053 ,  A61C13/0004 ,  A61F2002/30953 ,  B33Y50/00 ,  B33Y80/00 ,  G06K2009/2045 ,  G06K2209/05 ,  G06K2209/40 ,  G06T7/30 ,  G06T2207/30004

摘要： A method and system are provided for constructing a virtual three-dimensional model of an object using a data processing system, and at least one machine-readable memory accessible to said data processing system. A set of at least two digital three-dimensional frames of portions of the object are obtained from a source, such as a computing system coupled to an optical or laser scanner, CT scanner, Magnetic Resonance Tomography scanner or other source. The at least two frames comprise a set of point coordinates in a three dimensional coordinate system providing differing information of the surface of the object. The frames provide a substantial overlap of the represented portions of the surface of the object, but do not coincide exactly for example due to movement of the scanning device relative to the object between the generation of the frame. Data representing the set of frames are stored in the memory. The data processing system processes the data representing the set of frames with said data processing system so as to register the frames relative to each other to thereby produce a three-dimensional virtual representation of the portion of the surface of the object covered by said set of frames. The registration is performed without using pre-knowledge about the spatial relationship between the frames. The three-dimensional virtual model or representation is substantially consistent with all of the frames.

摘要翻译： 提供了一种用于使用数据处理系统构建对象的虚拟三维模型的方法和系统，以及至少一个可访问所述数据处理系统的机器可读存储器。 从源（例如耦合到光学或激光扫描仪，CT扫描仪，磁共振断层扫描仪或其他源的计算系统）获得对象的部分的至少两个数字三维帧的集合。 所述至少两个框架包括提供物体表面的不同信息的三维坐标系中的一组点坐标。 这些框架提供了物体表面的表示部分的实质重叠，但是由于扫描装置相对于物体在帧的产生之间的移动，例如不精确地重合。 表示帧集合的数据被存储在存储器中。 数据处理系统使用所述数据处理系统处理表示帧集合的数据，以便相对于彼此登记帧，从而产生由所述一组数据处理系统覆盖的对象表面部分的三维虚拟表示 框架。 执行注册而不使用关于帧之间的空间关系的预先知识。 三维虚拟模型或表示与所有帧基本一致。