System and method for robotic digital scanning of teeth

摘要

A method of scanning a patient's mouth using a robot to obtain a 3-D model of the patient's teeth. A database can contain a 3D model of a generic jaw geometry approximated in size by geometric parameters and at least one jaw scanning pattern. Geometric measurements of a patient's jaw are taken, then these are applied to the geometric parameters of the generic jaw. A predetermined scanning pattern is used to program the robot to scan the teeth with a scanner. The robot program is executed to move the scanner along the jaw scanning pattern at a fixed or variable distance from surfaces of the patient's jaw in sequences of coverage to the end of a scanning pattern to produce a three-dimensional (3D) model of the patient's teeth.

主权项

1. A procedure for optical scanning teeth for dental procedures performed in a mouth cavity comprising:
mounting an optical scanner having a scanning beam on a robot, the robot containing a processor with a memory, the memory storing a robot program that includes executable instructions for controlling the robot and containing a database including a 3D model of a generic jaw geometry approximated in size by geometric parameters and at least one jaw scanning pattern; manually taking geometric measurements of a patient's jaw; applying the geometric measurements to the geometric parameters of the generic jaw to define an approximate 3D geometry of the patient's jaw; recalling a predetermined jaw scanning pattern from the database; adjusting the jaw scanning pattern to match the approximate 3D geometry of the patient's jaw; executing a robot program to move from a home position and introduce the scanner into a mouth cavity at a start point of the jaw scanning pattern; manually initiating the scanner to scan the patient's jaw with the scanning beam according to the jaw scanning pattern; continuing to execute the robot program to move the scanner along the jaw scanning pattern at in sequences of coverage to the end of a scanning pattern; recording 3D images generated by the digital optical scanner; retracting the scanner away from the mouth cavity to the home position.