Method and apparatus for colour imaging a three-dimensional structure

Abstract

A device for determining the surface topology and associated color of a structure, such as a teeth segment, includes a scanner for providing depth data for points along a two-dimensional array substantially orthogonal to the depth direction, and an image acquisition means for providing color data for each of the points of the array, while the spatial disposition of the device with respect to the structure is maintained substantially unchanged. A processor combines the color data and depth data for each point in the array, thereby providing a three-dimensional color virtual model of the surface of the structure. A corresponding method for determining the surface topology and associate color of a structure is also provided.

1 . (canceled) 
     
     
         2 . A system for generating a 3D model of an intraoral structure portion, the system comprising:
 an intraoral scanner comprising focusing optics, an illuminator, and an image sensor configured to capture image data, wherein light from the illuminator passes through the focusing optics to the intraoral structure portion and light from the intraoral structure portion passes through the focusing optics to the image sensor and wherein the image data includes first image data captured in response to illuminating the intraoral structure portion with light from the illuminator; and   one or more processors operably coupled to the intraoral scanner, the one or more processors configured to cause the system to:   generate depth data using the first image data from the intraoral scanner;   generate color data using the first image data from the intraoral scanner; and   generate a 3D model using the depth data and the color data.   
     
     
         3 . The system of  claim 2 , wherein the first image data is captured over a range of depths. 
     
     
         4 . The system of  claim 2 , wherein the illuminator generates light of a first wavelength. 
     
     
         5 . The system of  claim 4 , wherein the illuminator that generates light of the first wavelength comprises a first illuminator and wherein the system further comprises a second illuminator that generates light of at least a second wavelength. 
     
     
         6 . The system of  claim 5 , wherein the image sensor captures second image data in response to illuminating the intraoral structure portion with light from the second illuminator, and
 wherein the one or more processors are further configured to cause the system to:   generate the color data of the intraoral structure portion using the first image data and the second image data from the intraoral scanner.   
     
     
         7 . The system of  claim 5 , wherein the second illuminator generates light of the second wavelength and a third wavelength. 
     
     
         8 . The system of  claim 2 , wherein the depth data comprises a 3D surface model of the intraoral structure portion. 
     
     
         9 . The system of  claim 7 , wherein the first wavelength is red, the second wavelength is green, and the third wavelengths is blue. 
     
     
         10 . A method for determining surface topology and associated color of an intraoral structure, the method comprising:
 illuminating the intraoral structure with light from a light source passing though focusing optics;   capturing, using an intraoral scanner, image data of the intraoral structure from light returned passing through the focusing optics from the intraoral structure in response to the illumination of the intraoral structure with the light source;   generating, using the intraoral scanner and the image data, depth data of the intraoral structure;   generating, using the intraoral scanner and the image data, color data of the intraoral structure; and   generating a 3D model using the depth data and the color data.   
     
     
         11 . The method of  claim 10 , further comprising illuminating the intraoral structure with light of a first wavelength and a second wavelength. 
     
     
         12 . The method of  claim 11 , wherein the image data comprises light captured in response to illuminating the intraoral structure with light of the first wavelength and in response to illuminating the intraoral structure with light of the second wavelength. 
     
     
         13 . The method of  claim 12 , wherein the light source comprises a first light source and a second light source and illuminating the intraoral structure with light of the first wavelength includes illuminating the intraoral structure with light of the first wavelength from the first light source and illuminating the intraoral structure with light of the second wavelength includes illuminating the intraoral structure with light of the second wavelength from the second light source. 
     
     
         14 . The method of  claim 13 , wherein the depth data comprises a 3D surface model of the intraoral structure. 
     
     
         15 . A system for determining surface topology and associated color of an intraoral structure, the system comprising:
 an intraoral scanner comprising focusing optics, an illuminator, and an image sensor configured to capture image data of the intraoral structure from light returned through the focusing optics; and   one or more processors operably coupled to the intraoral scanner, the one or more processors configured to cause the system to:   generate depth data using the image data from the intraoral scanner,   generate color data using the image data from the intraoral scanner, and   provide a color three-dimensional digital model using the depth data and the color data, wherein the image data used for generating the depth data is also used for the color data of the color three-dimensional digital model.   
     
     
         16 . The system of  claim 15 , where the illuminator is a first illuminator and further comprises a second illuminator configured to illuminate the intraoral structure with light. 
     
     
         17 . The system of  claim 16 , wherein the image sensor is configured to capture the color data in response to illuminating the intraoral structure with light of the second illuminator. 
     
     
         18 . The system of  claim 15 , wherein a time interval for capturing the image data over a range of depths is within an interval between about 0 to about 100 milliseconds. 
     
     
         19 . The system of  claim 15 , wherein the depth data comprises a 3D surface model of the intraoral structure. 
     
     
         20 . The system of  claim 16 , wherein the first illuminator illuminates with red light and the second illuminator illuminates with green or blue light. 
     
     
         21 . The system of  claim 15 , wherein the image sensor is a monochrome image sensor.