INTRAORAL SCANNING USING ULTRASOUND AND OPTICAL SCAN DATA

• US 20160163115A1
• Filed: 12/08/2014
• Published: 06/09/2016
• Est. Priority Date: 12/08/2014
• Status: Active Grant

• Current Assignee: Align Technology Incorporated
• Original Assignee: Align Technology Incorporated
• Inventors: Furst, Gilad
• Granted Patent: US 10,453,269 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 8/466 adapted to display 3D data 3D imaging and stereoscopic displays in devices for short-range imaging with acoustic waves G01S15/8993 and G01S7/52068, respectively; 3D image rendering G06T15/00; manipulating 3D models for computer graphics G06T19/00
• CPC Class Codes: A61B 8/5253 combining overlapping images, e.g. spatial compounding
• CPC Class Codes: A61B 8/5261 combining images from different diagnostic modalities, e.g. ultrasound and X-ray
• CPC Class Codes: A61C 1/00 Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
• CPC Class Codes: A61C 1/07 with vibratory drive, e.g. ultrasonic
• CPC Class Codes: A61C 9/0053 Optical means or methods, e.g. scanning the teeth by a laser or light beam
• CPC Class Codes: A61C 9/0086 Acoustic means or methods
• CPC Class Codes: G06T 19/20 Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
• CPC Class Codes: G06T 2207/10084 Hybrid tomography; Concurrent acquisition with multiple different tomographic modalities
• CPC Class Codes: G06T 2207/10136 3D ultrasound image
• CPC Class Codes: G06T 2207/20221 Image fusion; Image merging
• CPC Class Codes: G06T 2207/30036 Dental; Teeth
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G06T 2219/2004 Aligning objects, relative positioning of parts
• CPC Class Codes: G06T 2219/2016 Rotation, translation, scaling
• CPC Class Codes: G06T 7/344 involving models
• CPC Class Codes: G06V 10/751 Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching

Abstract

Optical scan data including a first set of images representing a first portion of a three-dimensional object is received. A processing device receives ultrasound scan data including a second set of three-dimensional images representing a second portion of the three-dimensional object. The processing device performs image stitching between the second set of three-dimensional images using the optical scan data. The processing device then creates a virtual model of the three-dimensional object based on the stitched second set of three-dimensional images.

Claims

1. A method comprising:

receiving optical scan data comprising a first set of images representing a first portion of a three-dimensional object;

receiving, by a processing device, ultrasound scan data comprising a second set of three-dimensional images representing a second portion of the three-dimensional object;

performing, by the processing device, image stitching between the second set of three-dimensional images using the optical scan data; and

creating a virtual model of the three-dimensional object based on the stitched second set of three-dimensional images.

2. The method of claim 1, wherein each three-dimensional image of the second set of three-dimensional images is correlated to an image of the first set of images, and wherein performing the image stitching comprises:

registering the first set of images to each other, the registering comprising determining rotations and translations to perform on one or more of the first set of images; and

for one or more three-dimensional images of the second set of three-dimensional images, applying the rotations and translations of a corresponding image from the first set of images.

3. The method of claim 2, further comprising:

stitching the second set of three-dimensional images with the first set of images.

4. The method of claim 2, wherein the optical scan data and the ultrasound scan data are associated with inertial measurement data, the method further comprising:

using the inertial measurement data to perform the image stitching.

5. The method of claim 1, wherein the three-dimensional object is a portion of a jaw, wherein the first portion of the three-dimensional object comprises crowns of one or more teeth of the jaw, and wherein the second portion of the three-dimensional object comprises roots of the one or more teeth of the jaw.

6. The method of claim 1, wherein the optical scan data is from an optical sensor, wherein the ultrasound scan data is from an ultrasound transducer having a fixed displacement from the optical sensor, and wherein generation of the optical scan data is approximately synchronized to generation of the ultrasound scan data.

7. The method of claim 1, wherein the first set of images comprises a first set of three-dimensional images.

8. The method of claim 1, wherein the first set of images is a first set of two-dimensional images, wherein each three-dimensional image of the second set of three-dimensional images is correlated to a two-dimensional image of the first set of two-dimensional images, and wherein performing the image stitching comprises:

registering the first set of two-dimensional images to a pre-existing model, the registering comprising determining rotations and translations to perform on one or more of the first set of two-dimensional images based on the pre-existing model; and

for one or more three-dimensional images of the second set of three-dimensional images, applying the rotations and translations of a corresponding image from the first set of two-dimensional images.

9. A non-transitory computer readable storage medium comprising instructions that, when executed by a processing device, cause the processing device to perform operations comprising:

receiving optical scan data comprising a first set of images representing a first portion of a three-dimensional object;

receiving, by the processing device, ultrasound scan data comprising a second set of three-dimensional images representing a second portion of the three-dimensional object;

performing, by the processing device, image stitching between the second set of three-dimensional images using the optical scan data; and

creating a virtual model of the three-dimensional object based on the stitched second set of three-dimensional images.

10. The non-transitory computer readable medium of claim 9, wherein each three-dimensional image of the second set of three-dimensional images is correlated to an image of the first set of images, and wherein performing the image stitching the operations further comprising:

registering the first set of images to each other, the registering comprising determining rotations and translations to perform on one or more of the first set of images; and

for one or more three-dimensional images of the second set of three-dimensional images, applying the rotations and translations of a corresponding image from the first set of images.

11. The non-transitory computer readable medium of claim 10, the operations further comprising:

stitching the second set of three-dimensional images with the first set of images.

12. The non-transitory computer readable medium of claim 10, wherein the optical scan data and the ultrasound scan data are associated with inertial measurement data, the operations further comprising:

using the inertial measurement data to perform the image stitching.

13. The non-transitory computer readable medium of claim 9, wherein the optical scan data is from an optical sensor, the ultrasound scan data is from an ultrasound transducer having a fixed displacement from the optical sensor, and wherein generation of the optical scan data is approximately synchronized to generation of the ultrasound scan data.

14. The non-transitory computer readable medium of claim 9, wherein the first set of images is a first set of two-dimensional images, wherein each three-dimensional image of the second set of three-dimensional images is correlated to a two-dimensional image of the first set of two-dimensional images, and wherein performing the image stitching the operations further comprising:

registering the first set of two-dimensional images to each other, the registering comprising determining rotations and translations to perform on one or more of the first set of two-dimensional images based on a pre-existing model; and

for one or more three-dimensional images of the second set of three-dimensional images, applying the rotations and translations of a corresponding image from the first set of two-dimensional images.

15. An intraoral scanner comprising:

a probe with a sensing face;

an optical imaging device, coupled to the sensing face of the probe, to generate optical scan data and send the optical scan data to a processing device, wherein the optical scan data is for a first set of images representing an coronal portion of one or more teeth of a patient;

an ultrasound imaging device, coupled to the sensing face of the probe at a fixed position relative to the optical imaging device, to generate ultrasound scan data and send the ultrasound scan data to the processing device, wherein the ultrasound scan data is for a second set of three-dimensional images representing a apical portion of the one or more teeth, the apical portion comprising roots of the one or more teeth, wherein each of the first set of images corresponds to and has a configured offset to one of the second set of three-dimensional images.

16. The intraoral scanner of claim 15, further comprising:

the processing device, wherein the processing device is to;

perform image stitching between the second set of three-dimensional images using the optical scan data; and

create a virtual model of the apical portion of the one or more teeth of the patient based on the stitched second set of three-dimensional images.

17. The intraoral scanner of claim 16, wherein each three-dimensional image of the second set of three-dimensional images is correlated to an image of the first set of images, and wherein to perform image stitching, the processing device is further to:

register the first set of images to each other, the registering comprising determining rotations and translations to perform on one or more of the first set of images; and

for one or more three-dimensional images of the second set of three-dimensional images, apply the rotations and translations of a corresponding image from the first set of images.

18. The intraoral scanner of claim 17, wherein the processing device is further to:

stitch the second set of three-dimensional images with the first set of images.

19. The intraoral scanner of claim 17, further comprising:

an inertial measurement device, coupled to the probe, to generate inertial measurement data and provide the inertial measurement data to the processing device; and

the processing device further to;

use the inertial measurement data to perform the image stitching, wherein the optical scan data and the ultrasound scan data are associated with the inertial measurement data.

20. The intraoral scanner of claim 16, wherein the first set of images is a first set of two-dimensional images, wherein each three-dimensional image of the second set of three-dimensional images is correlated to a two dimensional image of the first set of two-dimensional images, wherein to perform the image stitching, the processing device is further to:

register the first set of two-dimensional images to a pre-existing model, the registering comprising determining rotations and translations to perform on one or more of the first set of two-dimensional images based on the pre-existing model; and

for one or more three-dimensional images of the second set of three-dimensional images, apply the rotations and translations of a corresponding image from the first set of two-dimensional images.