Three-dimensional scan recovery

• US 8,035,637 B2
• Filed: 01/20/2006
• Issued: 10/11/2011
• Est. Priority Date: 01/20/2006
• Status: Active Grant

• Current Assignee: Medit Corp.
• Original Assignee: 3M Innovative Properties Company (3M Company)
• Inventors: Kriveshko, Ilya A.
• Primary Examiner(s): Wu; Xiao
• Assistant Examiner(s): Hoang; Phi
• Application Number:
  US11/337,182
• Publication Number:
  US 20070236494A1
• Time in Patent Office: 2,090 Days
• Field of Search: 382/154, 382/128
• US Class Current: 345/419
• CPC Class Codes: A61C 9/0046 Data acquisition means or methods
• CPC Class Codes: A61C 9/0086 Acoustic means or methods
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06T 2200/04 involving 3D image data
• CPC Class Codes: G06T 2200/24 involving graphical user interfaces [GUIs]
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30036 Dental; Teeth
• CPC Class Codes: G06T 7/30 Determination of transform parameters for the alignment of images, i.e. image registration

Abstract

A scanning system that acquires three-dimensional images as an incremental series of fitted three-dimensional data sets is improved by testing for successful incremental fits in real time and providing a variety of visual user cues and process modifications depending upon the relationship of newly acquired data to previously acquired data. The system may be used to aid in error-free completion of three-dimensional scans. The methods and systems described herein may also usefully be employed to scan complex surfaces including occluded or obstructed surfaces by maintaining a continuous three-dimensional scan across separated subsections of the surface. In one useful dentistry application, a full three-dimensional surface scan may be obtained for two dental arches in occlusion.

Claims

1. A method comprising:

providing a first set of three-dimensional data from a subject;

scanning the subject with a scanner to acquire one or more additional three-dimensional images;

test fitting each one of the one or more additional three-dimensional images to the first set of three-dimensional data with a processor in real time, and

providing real time visual feedback to a user in a display relating to a success of the test fitting for each one of the one or more additional three-dimensional images in real time at a frame rate at which each one of the one or more additional three-dimensional images is acquired, the real time visual feedback including a display of a current video image from the scanner in which the first set of three-dimensional data is superimposed on and aligned with the current video image when test fitting is successful, and the real time visual feedback further including a display of the current video image from the scanner along with a previous video image from the scanner when the test fitting is not successful, thereby providing an indication to the user of when newly acquired data is being successfully fitted to the first set of three-dimensional data.

2. The method of claim 1 wherein providing real time visual feedback includes superimposing the first set of three-dimensional data and the one or more additional three-dimensional images on a video image of the subject when a test fit is successful.

3. The method of claim 1 wherein providing real time visual feedback includes displaying one or more navigation cues when a test fit is unsuccessful.

4. The method of claim 1 further comprising, when the test fitting is unsuccessful, fitting each new one of the one or more additional three-dimensional images to one another to provide a second set of three-dimensional data, and upon a successful fit, adding the second set of three-dimensional data to the first set of three-dimensional data.

5. The method of claim 1 wherein the three-dimensional data includes three-dimensional surface data.

6. The method of claim 1 wherein the one or more additional three-dimensional images include surface data derived from two-dimensional image sets of the subject.

7. The method of claim 1 wherein the set of three-dimensional data includes three-dimensional surface data acquired from a subject as a sequence of three-dimensional images, each one of the sequence of three-dimensional images fitted to at least one previous one of the sequence of three-dimensional images.

8. A system comprising:

storage means for providing a first set of three-dimensional data from a subject;

acquisition means for scanning the subject to acquire one or more additional three-dimensional images;

computing means for test fitting each one of the one or more additional three-dimensional images to the first set of three-dimensional data in real time, and

display means for providing real time visual feedback to a user relating to the test fitting in real time at a frame rate at which each of the one or more three-dimensional images is acquired, the real time visual feedback including a display of a current video image from the scanner in which the first set of three-dimensional data is superimposed on and aligned with the current video image when test fitting is successful, and the real time visual feedback further including a display of the current video image from the scanner along with a previous video image from the scanner when the test fitting is not successful, thereby providing an indication to the user of when newly acquired data is being successfully fitted to the first set of three-dimensional data.

9. The system of claim 8 wherein providing real time visual feedback includes superimposing the first set of three-dimensional data and the one or more additional three-dimensional images on a video image of the subject when a test fit is successful.

10. The system of claim 8 wherein providing real time visual feedback includes displaying one or more navigation cues when a test fit is unsuccessful.

11. The system of claim 8 wherein the computing means includes means for, when the test fitting is unsuccessful, fitting each new one of the one or more additional three-dimensional images to one another to provide a second set of three-dimensional data, and upon a successful fit, adding the second set of three-dimensional data to the first set of three-dimensional data.

12. The system of claim 8 wherein the three-dimensional data includes three-dimensional surface data.

13. The system of claim 8 wherein the one or more additional three-dimensional images include surface data derived from two-dimensional image sets of the subject.

14. The system of claim 8 wherein the set of three-dimensional data includes three-dimensional surface data acquired from a subject as a sequence of three-dimensional images, each one of the sequence of three-dimensional images fitted to at least one previous one of the sequence of three-dimensional images.

15. A computer program product comprising computer executable code embodied on a non-transitory computer readable medium that, when executing on one or more computing devices, performs the steps of:

providing a first set of three-dimensional data from a subject;

scanning the subject to acquire one or more additional three-dimensional images;

test fitting each one of the one or more additional three-dimensional images to the first set of three-dimensional data in real time, and

providing real time visual feedback to a user relating to the test fitting in real time at a frame rate at which each one of the one or more additional three-dimensional images is acquired, the real time visual feedback including a display of a current video image from the scanner in which the first set of three-dimensional data is superimposed on and aligned with the current video image when test fitting is successful, and the real time visual feedback further including a display of the current video image from the scanner along with a previous video image from the scanner when the test fitting is not successful, thereby providing an indication to the user of when newly acquired data is being successfully fitted to the first set of three-dimensional data.

16. The computer program product of claim 15 wherein providing real time visual feedback includes superimposing the first set of three-dimensional data and the one or more additional three-dimensional images on a video image of the subject when a test fit is successful.

17. The computer program product of claim 15 wherein providing real time visual feedback includes displaying one or more navigation cues when a test fit is unsuccessful.

18. The computer program product of claim 15 further comprising computer code that performs the steps of, when the test fitting is unsuccessful, fitting each new one of the one or more additional three-dimensional images to one another to provide a second set of three-dimensional data, and upon a successful fit, adding the second set of three-dimensional data to the first set of three-dimensional data.

19. The computer program product of claim 15 wherein the three-dimensional data includes three-dimensional surface data.

20. The computer program product of claim 15 wherein the one or more additional three-dimensional images include surface data derived from two-dimensional image sets of the subject.

21. The computer program product of claim 15 wherein the set of three-dimensional data includes three-dimensional surface data acquired from a subject as a sequence of three-dimensional images, each one of the sequence of three-dimensional images fitted to at least one previous one of the sequence of three-dimensional images.