3D system and method for guiding objects

Patent metadata

Field	Value
Publication number	US-9763746-B2
Application number	US-201615089855-A
Country	US
Kind code	B2
Filing date	Apr 4, 2016
Priority date	Apr 7, 2011
Publication date	Sep 19, 2017
Grant date	Sep 19, 2017

Abstract

A method for providing a guided relative movement of a first object and a second object includes obtaining the first object; obtaining the second object and a 3D model of the second object, and deriving from the 3D model a first preferred relative arrangement between the first and second objects; obtaining a pre-process plan describing a preferred path for the relative movement of the first and second objects towards the first preferred relative arrangement; performing a movement procedure that includes 3D scanning at least a region of said second object using the 3D scanner and determining a present relative arrangement of the first and second objects from a result of the 3D scanning; calculating information for correcting in real-time for deviation in the relative movement from the preferred path; and providing a relative movement of the first and second objects towards the first preferred relative arrangement.

First claim

What is claimed is:

1. A method for providing a guided relative movement of a first object and a second object, said method comprising:
obtaining the first object onto which a 3D scanner of a 3D guiding system is attached;
obtaining the second object and a 3D model of the second object, and deriving from said 3D model a first preferred relative arrangement between the first and second objects;
obtaining a pre-process plan describing a preferred path for the relative movement of the first and second objects towards the first preferred relative arrangement;
performing a movement procedure comprising:
a) 3D scanning at least a region of said second object using said 3D scanner and determining a present relative arrangement of the first and second objects from a result of the 3D scanning;
b) calculating information for correcting in real-time for deviation in the relative movement from the preferred path; and
c) providing a relative movement of said first and second objects towards the first preferred relative arrangement, where the calculated information is used for guiding the relative movement from the present relative arrangement.

2. The method according claim 1 , wherein the preferred path is formed from the first preferred relative arrangement and a number of derived further preferred relative arrangements.

3. The 3D method according to claim 1 , wherein the relative movement of the first and second objects is computer controlled.

4. The method according to claim 3 , wherein the relative movement at least in part is provided by a robotic device.

5. The method according to claim 1 , wherein the first or second object is a handheld device and the relative movement is controlled by a human operator.

6. The method according to claim 1 , wherein correcting for said deviations comprises bringing the relative movement back to the preferred path.

7. The method according to claim 1 , wherein correcting for said deviations comprises adapting the preferred path.

8. The method according to claim 1 wherein a planned modification is taken into account when deriving the first preferred relative arrangement from said 3D model.

9. The method according to claim 1 , wherein the second object relates to a tooth or the mandibular or maxillary bone of the patient, the first object comprises a dental drilling tool, and where planned modification comprises a hole drilled into a tooth or the mandibular or maxillary bone and the dental drilling tool in the first preferred relative arrangement is arranged such that it can remove tooth or bone material to form the planned hole.

10. The method according to claim 1 , wherein the second object relates to human body and the first object comprises a surgical tool, and where planned modification comprises a surgical procedure and the surgical tool in the first preferred relative arrangement is arranged such that it can perform the planned surgical procedure on the human body.

11. The method according to claim 1 wherein the result of the 3D scanning is used to generate a new 3D model of the second object as seen in the view of the present relative arrangement, and where determining the present relative arrangement of the first and second objects comprises comparing the new 3D model and the obtained 3D model.

12. The method according to claim 11 , wherein comparing the new 3D model and the obtained 3D model comprises rotating and translating the obtained 3D model and/or the new 3D model such that they are aligned correctly and determining the present relative arrangement based on the extent of rotation and translation required to provide the correct alignment.

13. The method according to claim 1 , wherein the method comprises determining a guiding signal based on the calculated information and displaying the guiding signal using an information displaying device of said 3D guiding system.

14. The method according to claim 13 , wherein the information displaying device projects the guiding signal onto the second object.

15. The method according to claim 13 , wherein the information displaying device comprises a display and the guiding signal is visualized in said display.

16. The method according to claim 1 , wherein the obtained 3D model comprises data expressing an interior structure of the second object and where the interior structure is taken into account when deriving the first preferred relative arrangement and/or the preferred path.

17. The method according to claim 16 , wherein the second object relates to a patient's set of teeth and the interior structure of the second object comprises nerves, root parts of teeth, or the mandibular and/or maxillary bone structure, or bone structure, arteries, or veins of a human body.

18. The method according to claim 2 , wherein one or more of said further preferred relative arrangements corresponds to an arrangement where at least a portion of a distal end of the first object is located below the surface of the second object.

19. A 3D guiding system for guiding a relative movement of a first object and a second object, where the 3D guiding system is configured for being arranged in relation to said first object, and where the 3D guiding system comprises:
a 3D scanner configured for performing a 3D scanning of the second object where the 3D scanner is attached to said first object;
a non-transitory computer-readable medium configured for at least temporary storing:
a 3D model of the second object;
a preferred path for the relative movement of the first and second objects towards the first preferred relative arrangement; and
program code for determining a present relative arrangement of the first and second objects from a result of a 3D scanning of the second object; and
program code for calculating information for correcting in real-time for deviation in the relative movement from the preferred path.

Assignees

• 3Shape As

Inventors

• Deichmann Nikolaj
• Fisker Rune

Classifications

• A61B5/489

  Blood vessels · CPC title

• A61B5/0062

  Arrangements for scanning · CPC title

• A61C1/082

  Positioning or guiding, e.g. of drills · CPC title

• A61B5/4893

  Nerves · CPC title

• A61B17/176 Primary

  for the jaw · CPC title