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1. 发明申请

US20050089214A1 Scanning system and calibration method for capturing precise three-dimensional information of objects 失效
标题翻译：用于捕获物体的精确三维信息的扫描系统和校准方法
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。

2. 发明申请

US20060228010A1 Scanning system and calibration method for capturing precise three-dimensional information of objects 有权
公开(公告)号：US20060228010A1
公开(公告)日：2006-10-12
申请号：US11387387
申请日：2006-03-23
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： 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.

3. 发明申请

US20090291417A1 INTERACTIVE ORTHODONTIC CARE SYSTEM BASED ON INTRA-ORAL SCANNING OF TEETH 有权
标题翻译：基于口腔内窥镜扫描的交互式正畸治疗系统
公开(公告)号：US20090291417A1
公开(公告)日：2009-11-26
申请号：US12510921
申请日：2009-07-28
申请人： Rüdger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Werner Butscher , Peer Sporbert , Hans Imgrund , Lutz Pfeil , Hans-Florian Geerdes , Dimitrij Kouzian , Mario Leichner , Stephan Maetzel , Peter See , Jens Troeger
发明人： Rüdger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Werner Butscher , Peer Sporbert , Hans Imgrund , Lutz Pfeil , Hans-Florian Geerdes , Dimitrij Kouzian , Mario Leichner , Stephan Maetzel , Peter See , Jens Troeger
IPC分类号： A61B6/03 , G06G7/60 , G06F17/50
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.
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。

4. 发明授权

US07029275B2 Interactive orthodontic care system based on intra-oral scanning of teeth 有权
公开(公告)号：US07029275B2
公开(公告)日：2006-04-18
申请号：US10280758
申请日：2002-10-24
申请人： Rüdger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Werner Butscher , Peer Sporbert , Hans Imgrund , Lutz Pfeil , Hans-Florian Geerdes , Dimitrij Kouzian , Mario Leichner , Stephan Maetzel , Peter See , Jens Troeger
发明人： Rüdger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Werner Butscher , Peer Sporbert , Hans Imgrund , Lutz Pfeil , Hans-Florian Geerdes , Dimitrij Kouzian , Mario Leichner , Stephan Maetzel , Peter See , Jens Troeger
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.

5. 发明授权

US06648640B2 Interactive orthodontic care system based on intra-oral scanning of teeth 有权
公开(公告)号：US06648640B2
公开(公告)日：2003-11-18
申请号：US09835039
申请日：2001-04-13
申请人： Rüdger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Werner Butscher , Peer Sporbert , Hans Imgrund , Lutz Pfeil , Hans-Florian Geerdes , Dimitrij Kouzian , Mario Leichner , Stephan Maetzel , Peter See , Jens Troeger
发明人： Rüdger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Werner Butscher , Peer Sporbert , Hans Imgrund , Lutz Pfeil , Hans-Florian Geerdes , Dimitrij Kouzian , Mario Leichner , Stephan Maetzel , Peter See , Jens Troeger
IPC分类号： A61C300
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.

6. 发明授权

US07305110B2 Scanning system and calibration method for capturing precise three-dimensional information of objects 有权
标题翻译：用于捕获物体的精确三维信息的扫描系统和校准方法
公开(公告)号：US07305110B2
公开(公告)日：2007-12-04
申请号：US11387387
申请日：2006-03-23
申请人： Rüdger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Hans-Florian Geerdes , Lutz Pfeil , Peter See
发明人： Rüdger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Hans-Florian Geerdes , Lutz Pfeil , Peter See
IPC分类号： 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. 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 is also described. 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。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。还描述了扫描仪的校准方法。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。

7. 发明授权

US08121718B2 Interactive orthodontic care system based on intra-oral scanning of teeth 有权
标题翻译：基于口腔内扫描牙齿的互动矫正护理系统
公开(公告)号：US08121718B2
公开(公告)日：2012-02-21
申请号：US12510921
申请日：2009-07-28
申请人： Rüdger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Werner Butscher , Peer Sporbert , Hans Imgrund , Lutz Pfeil , Hans-Florian Geerdes , Dimitrij Kouzian , Mario Leichner , Stephan Maetzel , Peter See , Jens Troeger
发明人： Rüdger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Werner Butscher , Peer Sporbert , Hans Imgrund , Lutz Pfeil , Hans-Florian Geerdes , Dimitrij Kouzian , Mario Leichner , Stephan Maetzel , Peter See , Jens Troeger
IPC分类号： G06F19/00 , G06F17/50
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.
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。

8. 发明授权

US07068825B2 Scanning system and calibration method for capturing precise three-dimensional information of objects 失效
公开(公告)号：US07068825B2
公开(公告)日：2006-06-27
申请号：US09834593
申请日：2001-04-13
申请人： Rüdger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Hans-Florian Geerdes , Lutz Pfeil , Peter See
发明人： Rüdger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Hans-Florian Geerdes , Lutz Pfeil , Peter See
IPC分类号： 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.

9. 发明授权

US07058213B2 Scanning system and calibration method for capturing precise three-dimensional information of objects 失效
标题翻译：用于捕获物体的精确三维信息的扫描系统和校准方法
公开(公告)号：US07058213B2
公开(公告)日：2006-06-06
申请号：US10993323
申请日：2004-11-18
申请人： Rüdger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Hans-Florian Geerdes , Lutz Pfeil , Peter See
发明人： Rüdger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Hans-Florian Geerdes , Lutz Pfeil , Peter See
IPC分类号： 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。

10. 发明授权

US08897902B2 Orthodontic digital setups 有权
标题翻译：正畸数字设置
公开(公告)号：US08897902B2
公开(公告)日：2014-11-25
申请号：US14000151
申请日：2012-02-17
申请人： Peter See , Richard E. Raby , Nicholas A. Stark
发明人： Peter See , Richard E. Raby , Nicholas A. Stark
IPC分类号： G05B19/18 , G06F19/00 , A61C3/00 , A61C13/08 , A61C11/00 , A61C9/00 , G06T19/00 , A61C7/00
CPC分类号： A61C7/002 , A61C2007/004 , G06F19/12 , G06T19/00 , G06T2210/41 , G16H50/50
摘要： Methods for recognizing a virtual tooth surface, defining a virtual tooth coordinate system, and simulating a collision between virtual teeth are provided. Methods include receiving input data specifying a point on the rendered surface model associated with a tooth, deriving a perimeter on the surface model of the tooth, and analyzing the surface model along a plurality of paths outwardly extending from points on the perimeter. Methods also include receiving point input data, receiving axis input data that defines first and second axes associated with the virtual tooth, computing a substantially normal vector for a portion of the tooth surface surrounding the point, and computing a coordinate system. Methods also include receiving permissible movement input data directed to permissible movement of a first virtual tooth, bringing the first virtual tooth into contact with a second virtual tooth, and displaying data resulting from the simulation.
摘要翻译：提供了用于识别虚拟牙齿表面，限定虚拟牙坐标系以及模拟虚拟牙齿之间的碰撞的方法。方法包括接收指定与牙齿相关联的渲染表面模型上的点的输入数据，导出牙齿的表面模型上的周长，以及沿着从周边上的点向外延伸的多个路径来分析表面模型。方法还包括接收点输入数据，接收轴输入数据，其定义与虚拟齿相关联的第一和第二轴，计算围绕点的牙齿表面的一部分的基本法线向量，以及计算坐标系。方法还包括接收针对第一虚拟齿的允许移动的允许运动输入数据，使第一虚拟齿与第二虚拟齿接触，以及显示由模拟产生的数据。

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