Abstract: An intra-oral scanning device includes a main part having a first mount structure, a scanning arm having at least one signal collector, a drive mechanism connected to the scanning arm to move a head portion of the scanning arm, and a mouthpiece positionable in an oral cavity. The mouthpiece has a hollow interior, an opening to access the hollow interior and a second mount structure. The scanning arm extends into the hollow interior when the first mount structure is connected to the second mount structure. The scanning arm is mounted to a pivot manipulator of the drive mechanism such that an axis of rotation of the pivot manipulator is essentially perpendicular to a longitudinal axis of the scanning arm. The scanning arm is mounted to a linear manipulator of the drive mechanism such that a distance between the pivot manipulator and the head portion of the scanning arm is modifiable.