CN103828360A - 光学扫描设备 - Google Patents
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Abstract
一种用于扫描身体孔道或表面的设备包括光源和广角镜头。来自光源的光被投射在广角镜头远端或近处的图案中。优选地,该图案是在广角镜头的焦面内。图案与身体孔道(如耳道)的表面相交,并限定沿表面延伸的图案的局部横向部分。处理器被配置为接收来自广角镜头的横向部分的图像,并使用广角镜头的已知的焦面确定横向部分在坐标系中的位置。多个横向部分由处理器进行重新构造以建立三维的形状。该三维形状可用于如医疗设备(如助听器)的诊断、导航或定制吻合的目的。
Description
相关申请的交叉引用
本专利申请要求于2011年3月23日提交的且标题为“光学扫描设备”的美国临时专利申请第61/466863号的权益和优先权。
本专利申请要求于2012年3月12日提交的且标题为“光学扫描设备”的美国非临时专利申请第13/417767号的权益和优先权。
背景
本发明涉及确定软组织表面的形状,并且更具体地涉及使用光学技术来确定这些形状。
助听器、听力保护和定制头戴式耳机往往需要由患者的耳道制成的硅胶印模。听力学家把硅胶材料倒入耳朵内,等待它变硬,然后制造者使用所形成的硅胶印模来制造定制适配的耳内设备。这个过程缓慢、昂贵、一致性不好,并且对于患者来说是不舒适的,而且甚至是危险的。
此外,还有一系列的其他医疗需求从确定身体表面的形状中获益,这些身体表面包括限定身体孔道如患者的耳道、咽喉、口腔或鼻孔的形状大小的表面。例如,通过知道这些形状或被塑造成具有这些形状的定制适配的医疗器械可以对手术进行指导。
因此,有必要对身体表面的形状(包括与身体孔道有关的表面的形状和大小)的确定进行改进。
概述
根据本发明的一个实施方式,一种用于扫描身体的身体孔道的设备包括光源和广角镜头,其中,来自光源的光被投射在广角镜头远处的图案中。
在另一个实施方式中,本发明的一个实施方式包括一种确定身体孔道的几何形状的方法。该方法包括使用光源把光图案投射到坐标系中的位置处。光图案的至少一个局部横向部分照射身体孔道的表面。横向部分在坐标系中的位置是使用带有焦面的摄像机进行确定的,其中该焦面包括该位置。
附图简述
图1是本发明的一个实施方式的设备的示意图;
图2是本发明的另一个实施方式的探头的示意图;
图3A-图3E是图2的探头的远端的各种视图;
图4是图2的探头的分解视图;
图5是本发明的另一个实施方式的示意图,其中,在广角镜头的前向视场中使用了分束器;
图6是被用于校准的激光光图案照射的皮肤目标的图像;
图7是图6的激光光图案的横向部分的厚度的横截面图,示出了在厚度上的强度分布;
图8是被用于校准图2的探头的目标;
图9是使用图2的探头的广角镜头拍摄的图8的目标的模拟图像;
图10是由处理器使用来检测与所测表面相交的激光光图案的横向部分的径向距离或位置的数学和几何形状的示意图;
图11是由示于图1的计算机所重建的耳道的一部分的三维形状;
图12是用于测量本发明的另一个实施方式的耳朵鞍形部的几何形状的方法中所使用的耳朵解剖结构透视图;以及
图13是用于光学测定表面几何形状的本发明的另一个实施方式的计算机系统的示意图。
示例实施方式的详细描述
现在参考图1-图4,本发明的实施方式包括用于扫描身体孔道或表面的设备10,设备10包括光源12和广角镜头14。来自光源的光被投射在广角镜头14远处或近处的图案16中。优选地,图案16在广角镜头14的焦面18内。图案16与身体孔道(如耳道)的表面相交并限定沿该表面延伸的图案的局部横向部分20。处理器26被配置为从广角镜头14接收横向部分20的图像,并使用广角镜头14的已知的焦面确定横向部分在坐标系中的位置。
本文所用的术语“已知的”是指已知约在适于达到所需分辨率的正常公差范围内。因此,已知的焦面具有一定的厚度和其对应于正常制造公差的结果的变化。
本文使用的术语是为了描述特定实施方式的目的,而不是意在限制本发明。除非上下文清楚地另有指示,否则如本文所用的单数形式“一(a)”、“一(an)”和“该(the)”旨在也包括复数形式。应该进一步理解,当术语“包含(comprises)”、“包括(comprising)”等等用于本说明书中时,其指定所述特征、整数、步骤、操作、元件和/或部件的存在,但并非排除一种或多种其它特征、整数、步骤、操作、元件、部件和/或其组合(group)的存在或加入。
下面的权利要求中的所有装置或步骤加功能元件的相应结构、材料、动作和等同物被认为包括用于实现与作为特别要求保护的其他元件相结合的功能的任何结构、材料或动作。出于示例和说明目的给出了对本发明的优选实施例的描述,并且所述描述并非旨在穷举或将本发明限于所公开的形式。在不脱离本发明的范围和精神的情况下,许多修改和变化对于本技术领域的普通技术人员而言将是明显的。选择和描述这些实施例是为了最好地解释本发明的原理和实际应用,并使得本领域其他技术人员能够理解本发明,并考虑各种实施例的各种修改适用于特定应用。
再次参看图1和图2,正在使用设备10检查患者的身体30。该设备还可包括:手持式探头34、光学硬件组件66、跟踪系统28和计算机68。
值得注意的是,光学硬件组件66(包括用于激光和/或纤维镜的光源)、跟踪系统28和计算机68这些元件中的一些或全部可以被包含在手持式探头34的主体内。
患者的身体30限定可由用于医疗目的的本发明的实施方式进行研究的多个孔道或身体表面中的任何一个。身体标记38或基准对限定目标的表面或孔道的身体30的部分进行装饰。例如,头带72在耳道70附近的头部周围延伸并承载着多个回复反射球。
还应当注意的是,非医疗用途也是可能的,如在工业环境中测量弯曲的开口或表面。然而,本发明的实施方式特别适合于测量具有小直径(约6毫米)的耳道70的表面。该耳道可选地具有至少一个沿其长度方向的弯部。
探头34包括手柄74、线缆76、探头轴40和多个探头标记38。线缆76包括光导体42和多个图像导体44,并将探头34连接到光学硬件组件66上。图像导体例如可通过光纤线或者通过传送含有图像数据的电信号来传导光图像。因此,在本文中术语“导体”被用于其最广泛的意义上以包括传导任何模拟信号或数字信号、电力或信息或数据。导体也可代表例如通过RF信号进行的无线通信。
光学硬件组件包括纤维镜主体、光源12和摄像机。纤维镜主体通过图像导体44中的一个被连接到探头34。摄像机被连接到纤维镜主体并从中接收图像以用于探头34在身体孔道内的导航。同样,光源(在这种情况下为激光光源)通过光导体42连接到探头34。
跟踪系统28包括一对间隔开并指向探头标记36和身体标记38的摄像机78。可选地,有至少三个探头标记。跟踪系统28可以是集成的系统,该集成的系统被配置为使用板载硬件和软件跟踪和报告对象在其坐标系内的位置或一个标记相对于另一个标记的位置。或者,处理功能可以被分布在例如图1中所示的实施方式的计算机系统68内。
计算机系统68被连接到光学硬件组件66和跟踪系统28上。在计算机内的是处理器26和在图13中更详细地描述的附加部件。一般来说,计算机系统被配置为接收来自探头34的数据(包括与身体孔道的表面相交的光图案16的横向部分20上的数据)和来自跟踪系统28的数据(包括探头34和穿戴者的身体相对于坐标系的位置数据)。而且,计算机的处理器26被配置为使用该数据来确定身体表面的三维形状(例如耳道70的形状)以用于构建定制的助听器。
参看图2,以更大的示意性细节示出了探头34,并且探头34包括以跟踪系统28的摄像机78的视场内的多个回复反射跟踪球形式的探头标记36。如上所述,可选地,使用了三个或更多个探头标记36并且探头包括三个或更多个这样的探头标记。一般而言,在不存在其他假设或信息的情况下,三个球是锁定所有6个自由度所需要的最小数量。从探头的远端发射的是光图案16(在这种情况下为平坦的表面,但它也可以是光锥或束或一些其他的表面形状),该光图案16延伸穿过盖子56的透明侧壁58并在与耳道70的内表面相交时形成一个或多个横向部分20。探头34具有有利的尺寸以在耳道70内移动以捕获几个形状,其被传输到计算机系统68用于组合成三维形状32。
图3A、图3B、图3C、图3D和图3F是探头34的远端的更详细的视图。探头能够可选地包含光导体42、图像导体44、盖子56、反射器48、掩模50、锥形反射镜52和纤维镜54中的一个或多个。
参看图3A,探头34的远端以横截面示出,并且广角镜头14被定位于纤维镜54和载有激光的光导体42的端部附近。广角镜头限定了如虚线所示的视场46。从镜头近侧向后延伸的是被配置为承载(一个或多个)局部横向部分20上的图像或数据的图像导体44中的一个。值得注意的是,所示的实施方式的视场是全150度,其中光图案16可与广角镜头的光轴成直角地横向延伸出来。多达180度的角度是可能的,但是更广的角度可能越来越难以最大限度地降低失真。
延伸在广角镜头14下面并越过广角镜头14的是光导体42和纤维镜54的远端,纤维镜54包括用于漫射光的(一个或多个)导体(如光纤束)和用于返回导航图像的(一个或多个)返回导体。定位在光源12的最远端的是反射镜52,反射镜52具有圆锥形的形状并被配置为将激光重定向成图案16。如果该圆锥形状相对于激光的轴线大于或小于45度的角度,则图案16的形状是圆锥面。在45度处,该形状是示于图2中的平坦表面60。
如图3D所示,掩模50是具有一对孔的平面片材,并且优选地是由透明的材料进行构造的,以便阻挡可能不代表所检测和测量的表面的、来自被重定向返回到广角镜头14的激光的反射。这些孔允许将激光传输到锥形反射镜52的光导体42和用于纤维镜54的图像导体44通过。
透明的侧壁58和盖子56被配置为密封和保护探头34的远端部分,但同时允许激光光图案16、来自纤维镜54的漫射导航光和从中产生和从中返回的图像通过。对于纤维镜而言,盖子56可以是透明的但并不必需是透明的。可选地,如图3所示,盖子56中的开口可允许纤维镜通过和/或通过纤维镜进行查看。
由于光导体42和图像导体延伸到广角镜头14的远端,所以当光照射表面时光的投射图案16的图像并没有通过全360度视场被完全检测和返回。相反,在大致圆筒形的开口(如耳道)中,所返回的局部横向部分20可能只是“C形”,该“C形”除去了受到光导体42和图像导体44阻挡而不可见的部分。
图4示出了本发明的另一个实施方式的探头34的分解视图,其中外轴40被移除以更好地示出这些光学部件的功能。从远端开始,盖子56被组装到由透明圆柱形管的一短段所形成的透明的侧壁58上。反射镜52也在远端,反射镜52被安装在镜筒内并被固定到激光光导体42的端部。激光光导体42还可包括准直功能以生成用于通过锥形反射镜52重定向成图案16的准直光束。
纤维镜54具有在锥形反射镜52附近的远端,并且在轴40内的光导体42邻近的路径内向近端延伸。纤维镜54和光导体52都围绕CCD摄像机芯片80弯曲并进入探头34的主体内以通过线缆76到达计算机系统68。
广角镜头14及其图像导体44也在探头34的轴40内从圆筒形窗口58向后延伸,并处于与导体42、44大致平行的关系中。广角镜头14的光学部件的相对定位一部分是通过使用一对衬垫82进行保持的。广角镜头14是多个光学镜头元件,该多个光学镜头元件包括将横向部分20的图像返回到如图4所示安装在探头主体内的CCD摄像机芯片80的图像导体14。
支撑广角镜头14的是调焦螺旋84,调焦螺旋84在被旋转时调整广角镜头14的焦点,从而改变其焦面的位置,以用于提高在不同身体孔道内的精度和用于补偿制造容差以及用于提高多种孔道内的精度。在调焦螺旋84的近处的是CCD摄像机芯片,CCD摄像机芯片接收横向部分20的图像并将那些图像转换成像素数据以返回计算机68用于进行处理。
如本文所用的术语“广角镜头”是指被配置用于相对宽的视场的任何镜头,相对宽的视场在弯曲的开口如耳道70中起作用。例如,对于耳道而言,63度的角度产生约等于可以使用居中的探头34扫描的耳道的最大直径的镜头-焦面偏移。值得注意的是,60度的镜头(具有相当标准的尺寸的广角镜头)的焦面与该直径相等,这产生了约6毫米的向前焦面,该约6毫米的向前焦面足够短以承受约在6毫米直径处的耳道中的第二弯曲部。因此,对于用于耳道的目的而言,广角镜头为60度或更大。甚至更好起作用的其他增量是90度,其具有2:1的比例,允许向前焦面的距离为约3毫米,使得探头34是相当短的。大于90度的镜头是有可能的,这种镜头包括仅具有侧向视场而没有前向视场的复杂光学元件。
在如图5所示的另一个实施方式中,设备10可能不需要纤维镜54,并且以广角镜头14被替代用于前向视场。分束器将广角镜头视场的中心转移到第二个摄像机,第二个摄像机更远地聚焦在探头34的前面并被配置为对前向(非激光照明的)视场进行成像。可提供漫射光源以照射探头34的前方。
参看图6,显示了一种皮肤目标,并且出于确定激光图案16将如何投射在皮肤上以及如何标记其位置的目的,图案16的局部横向部分20被投射在该皮肤目标上。如图7所示,其中一个横向部分的垂直截面显示了光强度(y轴)随着该截面的厚度(x轴)以钟形曲线形状改变。因此,局部横向部分20可包括光图案16的边缘22或光图案的脊24。这些地标可被用于确定横向部分20在坐标系中的位置。例如,可以发现上述地标之一(例如,通过处理器26的脊检测功能)或横向部分的内部边缘或横向部分的外部边缘。或者,可使用内部部分和外部部分的平均。
本发明的一个优点是由于广角镜头14的焦面与激光的图案16重叠,所以广角镜头14可以以高精度相对接近地查看身体表面的横向部分。本文所用的术语“焦面”是指在能够达到某一基线分辨率(例如能够辨别50微米的特征或更小的特征)的广角镜头14的聚焦的范围内的厚度。例如,图案16在焦面内的横向定位允许一个像素相当于约50微米。焦面本身具有钟形曲线分布的分辨率,允许焦面的重叠或厚度以及横向部分20的宽度的变化,如上所示,横向部分20在其厚度上具有其自身的曲线分布。
一般而言,广角镜头14应当具有适当低的失真阈值以满足分辨率的目标。大部分广角镜头可以是高达-80%或-60%的失真,这将需要通过提高其他方面(如焦面和横向部分20的位置)的精度来进行补偿。因此,虽然优选地各个部件被总体地调整以允许用于广角镜头14的光轴的横向距离的50微米或更高的分辨率,但是不存在设定的阈值。本发明人已经发现优于-40%的失真对于本文提及的用于耳道应用的优选视场而言运作良好。
跟踪器或跟踪系统28被配置为确定探头34在坐标系中的位置和患者的身体30在坐标系中的位置。处理器26被配置为使用此信息来确定探头34的位置及其相对于身体30的测量值。跟踪系统28可包括商业上可获得的跟踪系统(如来自加拿大安大略省的滑铁卢的NDI的POLARISSPECTRA)的元件。该系统是一种两个摄像机的系统,以允许通过探头标记36和身体标记38在其包括患者和探头34的视场中确定对象的三维位置。
一旦视场被校准以建立坐标系,就使用位于视场中的目标来校准探头34及其激光图案16。对于这样的校准,假设激光图案16和光学器件(包括广角镜头14)是完美的,并且探头34是刚性的。这使得能够实现被定向到坐标系中的激光图案16的定位。
如图8所示,例如,该目标包括被连接到一对光学标记88的方格图案86,该对光学标记88仔细地与探头34的z轴对准。通过在校准对象上进行摄影测量,发现86相对于88的相对位置。特别地,探头34被放置成使得被投射的激光图案16与校准网格(在容差范围内)是共面的(在容差范围内)。这可以借助于位于目标中的孔,该孔允许探头34的通过。当激光光图案16散布在目标86的表面上时就建立了定位。
随着方格图案86就位,使用跟踪器28执行跟踪会话以便使用标记88建立网格图案的位置和使用探头标记36建立探头的位置。然后,当保持探头34和方格图案86的相对关系时,灯或光照射在方格图案86上并且通过广角镜头14收集到它的图像。优选地,还要注意y轴和z轴相对于跟踪器28的方向以避免轴向方向错误。
校准还可包括非平面的光图案,其中网格图案在几个不同的方位中暴露于光图案下。光图案横向部分与网格线的相交允许非平面光图案的形状相对于广角镜头重构。使用类似于图8中所示出的目标,有可能将图案的重构后的形状关联到手柄的坐标系中。
图9示出了校准图像的模拟。从光学标记88到方格图案86的每个角部和激光图案16的距离与棋盘上的网格点的角部是重合的。因此,激光击中表面的三维位置可被内插以确定方格图案86的最近的网格点。然后,此信息被用于在坐标系内固定激光图案。
在另一个实施方式中,设备10包括处理器26,处理器26被连接成与广角镜头14通信并被配置为执行多种功能,这些功能包括:确定横向部分20在坐标系中的位置;使用已知的焦面确定横向部分20的位置;确定多个横向部分20在坐标系中的位置和相对于身体30的坐标系的对应位置;使用这些位置和对应位置将横向部分20结合在一起成为身体孔道(如耳道)的三维形状32。
图10示意性地示出了用于由处理器26实施的横向部分20从探头34的光轴的径向距离的计算的实施方式。可通过三角测量确定该位置,如在式(1-7)中所示。
式2:
式3:
式4:
式5:
式6:
式7:
式8
在图10的例子中和在式1-7中,用于扫描仪的坐标系被定向成使得其Z轴居中并被固定作为扫描探头的中心轴,当从终端向探头内观看时,在这里也被称为成像轴。因此,在这个例子中,从激光照射点的成像轴的距离R与激光平面和镜头之间的距离S的比例等于从图像传感器的中心的距离h与图像传感器表面和镜头之间的距离S'的比例。放大率M为S'和S的比例。当镜头和激光平面之间的距离和镜头到图像传感器的距离S和S'是已知的时,式1-7可以重新构造照射点在坐标系中的几何形状。这些式子也表示对于焦面如平面而言,存在坐标系中的点到图像传感器上的像素位置的1:1映射。
图像传感器可被实现在互补对称的金属-氧化物-半导体(CMOS)传感器中,作为电荷耦合器件(“CCD”),或使用本技术领域的技术人员可能会遇到的其它传感技术实现。当沿Z轴的扫描递增或同步地步进以产生完整帧的读出时,CMOS传感器可以在快照读出模式中操作或使用卷帘式快门操作。类似的递增或步进可用于使用图像帧的隔行扫描操作的CCD。
图11示出了由使用处理器26组装的多个横向部分构造而成的耳道92的示例性三维形状32。
在本发明的另一个实施方式中,如图12所示,设备10可用于测量非常适合于方便创建助听器的解剖学特征。这些部件包括鞍形部90、耳道92和外耳蜗94。如上所述对耳道92和外耳蜗94进行扫描并且探头34被旋转,使得激光图案16落在耳屏96的外部的表面上。扫描在耳廓98以上移动,直至达到鞍点100,并且扫描超出鞍点100行进10毫米至15毫米。该数据与孔道数据一起被传输到处理器26,以构造被用于定制构建助听器的三维形状32。
现在参看图13,图13提供了根据本发明的一个实施方式,被配置为实施用于测量身体表面的系统的中央服务器500或如在图1中所示的计算机68的类似的网络实体的示意图。如本文所使用的,指定“中央”仅仅用于描述服务器提供用于多个客户端或其他计算设备的通用功能,并且不要求或推断服务器相对于其他计算设备的任何居中定位。正如从图13中可以理解的,在本实施方式中,中央服务器500可包括通过系统接口或总线545与中央服务器500内的其他元件进行通信的处理器510(例如处理器26)。也被包括在中央服务器500中的可以是用于接收和显示数据的显示设备/输入设备520。该显示设备/输入设备520可以是例如与监视器或示于图1和图4中的CCD80或跟踪器28结合使用的键盘或指向设备。中央服务器500可进一步包括存储器505,存储器505可同时包括只读存储器(ROM)535和随机存取存储器(RAM)530。服务器的ROM535可被用于存储基本输入/输出系统540(BIOS),该基本输入/输出系统540(BIOS)含有有助于通过一个或多个网络传输信息的基本例程。
此外,中央服务器500可包括用于在各种计算机可读介质(如硬盘、可移动磁盘或CD-ROM盘)上存储信息的至少一个存储设备515(如硬盘驱动器、软盘驱动器、光盘驱动器或CDROM驱动器)。正如本领域的普通技术人员将会理解的那样,这些存储设备515中的每一个可通过适当的接口被连接到系统总线545上。存储设备515及其相关的计算机可读介质可为中央服务器提供非易失性存储。重要的是要注意,以上所描述的计算机可读介质可以由本领域中已知的任何其他类型的计算机可读介质替换。这样的介质包括例如磁带盒、闪存卡和数字视频盘。
多个程序模块可由各种存储设备进行存储并存储在RAM530内。这种程序模块可包括操作系统550和一个或多个(N个)模块560中的多个。在处理器510和操作系统550的协助下,模块560可控制中央服务器500的操作的某些方面。例如,这些模块可执行上面描述并由附图和本文所公开的其他材料所说明的功能。
图1-图13中的原理图、流程图和框图示出了根据本发明的各种实施方式的系统,方法和计算机程序产品的可能实施的体系结构、功能和操作。在这方面,流程图或框图中的每个块可表示代码的模块、段或部分,其包括用于实施指定的逻辑功能的一个或多个可执行指令。还应当指出的是,在一些可选的实施方式中,块中提到的功能可以附图中标准的顺序以外的顺序出现。例如,实际上,连续示出的两个块可能实质上同时执行,或这些块有时可以以相反的顺序执行,这取决于所涉及的功能。还要注意,框图和/或流程图图示的每个块以及框图和/或流程图图示的块的组合,可通过执行指定功能或动作的专用的基于硬件的系统或者专用硬件和计算机指令的组合来实现。
本文所描述的本发明的实施方式的优点包括图案16和延伸越过探头34的焦面18的相对短的距离(3毫米、2毫米、1毫米或更少)允许其在具有弯曲的几何形状的孔道(诸如具有小直径的耳道)中横向地成像,并且在那里超过弯部扫描3毫米并且同时对较大直径的耳道和空间成像而不必采取该段耳道上方的多个通路是有用的。而且,当激光图案16与焦面18重合时,广角镜头14的低失真产生了高分辨率。当其他现有技术系统具有分隔开1毫米或更大的相邻像素时,这允许单个像素的分辨率为50微米。
特定于创建助听器的优点包括允许直接扫描耳朵来替代制作硅胶模具的解决方案。通过捕获用于直接向助听器制造商提交的耳道的形状和大小,提高了质量、性能和吻合,同时降低了成本并提高了生产速度。其他的医疗应用包括内窥镜手术、牙科印模和上述工业应用,如检查各种导管、渠道、管道或其他开口。
下面的权利要求中的所有装置或步骤加功能元件的相应结构、材料、动作和等同物旨在包括与作为特别要求保护的其他元件相结合来执行功能的任何结构、材料或动作。出于示例和说明的目的已经给出了本发明的描述,但是所述描述并非旨在是穷举的或是将本发明限于所公开的形式。不脱离本发明的范围和精神的情况下,对于本技术领域的普通技术人员而言,许多修改和变化将是显而易见的。例如,摄像机可以是任何类型的图像传感器。选择和描述这些实施例是为了最好地解释本发明的原理和实践应用,并使得本领域其他普通技术人员能够理解本发明,并考虑各种实施例的各种修改适用于特殊的应用。
Claims (20)
1.一种用于扫描三维3D对象的装置,该装置包括:
扫描仪主体,在其上安装有扫描探头,所述扫描探头包括激光光源、激光光学元件、非激光视频照明源、广角镜头和图像传感器,所述广角镜头光耦合到所述图像传感器,所述图像传感器被安装在所述扫描仪主体内并被耦合到数据处理器用于进行数据通信;
多个跟踪照明传感器,所述跟踪照明传感器感测从跟踪照明发射器发射的和从安装在相对于被扫描对象固定的位置处的跟踪基准标记反射的跟踪照明的反射,所述跟踪照明传感器也感测从所述跟踪照明发射器发射的和从安装在所述扫描仪主体上的固定位置处的跟踪目标反射的跟踪照明的反射;和
所述数据处理器,其被配置成使得其通过构造被扫描对象的3D图像起作用,所述构造依赖于当所述被扫描对象被激光照射时所捕获到的图像序列和从所述跟踪照明传感器感测的跟踪照明的反射推断出的所述扫描仪探头的被跟踪位置。
2.根据权利要求1所述的装置,还包括显示屏,所述显示屏被耦合到所述图像传感器用于进行数据通信,所述显示屏显示所述被扫描对象的图像。
3.根据权利要求2所述的装置,其中,显示所述被扫描对象的图像的所述显示屏还包括显示来自所述被扫描对象的所述图像传感器的、仅由非激光视频照明进行照明而产生的视频图像的显示屏。
4.根据权利要求2所述的装置,其中,显示所述被扫描对象的图像的所述显示屏还包括显示所述被扫描对象的所述3D图像的显示屏。
5.根据权利要求1所述的装置,还包括被耦合到所述图像传感器用于进行数据通信的显示屏,所述显示屏显示所述被扫描对象的图像,所述显示屏被安装在所述扫描仪主体上。
6.根据权利要求1所述的装置,其中,在所述扫描探头中的所述激光光源包括光纤,所述光纤从所述探头以外的激光器将激光引导至所述扫描探头。
7.根据权利要求1所述的装置,其中:
所述激光光学元件包括锥形的激光-反射光学元件;并且
所述激光光源和所述锥形的激光-反射光学元件被配置成使得当耳朵探头位于耳朵内时,当所述锥形的激光-反射光学元件受到所述激光光源的照射时,所述锥形的激光-反射光学元件在耳朵的内表面上投射激光的断环。
8.根据权利要求1所述的装置,其中:
所述激光光学元件包括激光光学镜头;并且
所述激光光源和所述激光光学镜头被配置成使得当所述激光光学镜头受到所述激光光源照射时,所述激光光学镜头将激光从所述激光光学镜头的前表面投射在所述对象上。
9.根据权利要求1所述的装置,其中,所述广角镜头具有足够的景深,使得受到激光照射的所述被扫描对象的表面的整个部分在所述图像传感器处焦点对准。
10.根据权利要求1所述的装置,其中,对于当所述被扫描对象受到来自所述扫描探头的激光的照射时从所述图像传感器捕获的所述被扫描对象的2D图像序列而言,构造所述被扫描对象的3D图像还包括:
检测每个2D图像的脊点,所述检测还包括为每个2D图像识别一组最亮的像素,每一组描绘从所述被扫描对象的表面反射的激光的图案;
根据所述图像传感器中的每个像素与扫描仪空间中的对应点之间的预定关联,将所述脊点转换为扫描仪空间中的点;以及
根据限定扫描仪空间的坐标系的原点与限定对象空间的另一个坐标系的原点之间的关系,将扫描仪空间中的点转换为对象空间中的点。
11.根据权利要求1所述的装置,其中,构建所述3D图像还包括根据在所述探头相对于所述被扫描对象移动时由所述图像传感器捕获的图像的序列构造所述3D图像。
12.根据权利要求1所述的装置,其中,所述被扫描对象是耳朵。
13.根据权利要求1所述的装置,其中,所述被扫描对象是耳朵的内部部分。
14.根据权利要求1所述的装置,还包括被配置成延伸进入人体的孔道的所述扫描探头。
15.根据权利要求1所述的装置,其中,所述激光光源包括光纤,所述光纤比所述广角镜头延伸得更远并延伸到所述广角镜头的视场中。
16.一种确定三维扫描对象的几何形状的方法,所述方法包括:
使用光源将光图案投射到坐标系中的地点,其中,所述光图案的至少局部的横向部分照射所述被扫描对象的表面;以及
使用带有焦面的图像传感器确定所述横向部分在所述坐标系中的位置,所述焦面包括所述地点。
17.根据权利要求16所述的方法,还包括:
移动所述光源以照射所述被扫描对象的不同表面;以及
为每一个所述不同表面重复所述投射和确定的步骤。
18.根据权利要求16所述的方法,还包括:
确定被扫描对象在所述坐标系中的位置;以及
将所述被扫描对象的不同表面的横向部分的位置与所述被扫描对象在所述坐标系中的所述位置相关联;以及
19.根据权利要求16所述的方法,还包括:
确定被扫描对象在所述坐标系中的位置;
将所述被扫描对象的不同表面的横向部分的位置与所述被扫描对象在所述坐标系中的所述位置相关联;以及
使用所述横向部分的被相关联的位置组合三维形状。
20.根据权利要求16所述的方法,其中,所述被扫描对象是耳朵。
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US8900126B2 (en) | 2014-12-02 |
US20120281071A1 (en) | 2012-11-08 |
AU2012231140A1 (en) | 2013-10-31 |
KR20140067970A (ko) | 2014-06-05 |
WO2012129229A2 (en) | 2012-09-27 |
EP2710805A4 (en) | 2015-05-13 |
JP2014524751A (ja) | 2014-09-25 |
WO2012129229A3 (en) | 2014-05-01 |
CA2844738A1 (en) | 2012-09-27 |
US20150057533A1 (en) | 2015-02-26 |
EP2710805A2 (en) | 2014-03-26 |
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