Abstract: A dental scanning system may include an intraoral scanner and an extraoral imaging device including a color imaging camera couplable in electronic communication with the intraoral scanner. The system may include non-transitory computer readable medium with instructions that, when executed by a processor, cause the system to carry out a method. The method may include capturing 2D image data of a patient's face and teeth with the extraoral imaging device, capturing intraoral 3D image data of a dentition of the patient with the intraoral scanner, generating a 3D model of the patient's teeth based on the intraoral 3D image data, and associating the 2D image data of the patient's face with the 3D model.

Abstract: An intraoral scanning system comprises an elongate handheld wand with a probe at a distal end, a structured light projector configured to project a uniform structured light pattern onto an object, a plurality of cameras configured to capture points of the uniform structured light pattern projected onto the object by the structured light projector, and one or more processors. The one or more processors are configured to determine a correspondence between projected points in the uniform structured light pattern generated by the structured light projector and captured points of the uniform structured light pattern captured by the plurality of cameras viewing the uniform structured light pattern projected onto the object, and to use triangulation and the determined correspondence to determine three-dimensional points in space associated with the captured points of the uniform structured light pattern captured by the plurality of cameras.

Abstract: In embodiments, a system for scanning an intraoral cavity comprises an intraoral scanner to generate topographical scan data of the intraoral cavity and 2D image data of the intraoral cavity, and a processing unit operatively connected to the intraoral scanner. The processing unit is to: receive the topographical scan data and the 2D image data from the intraoral scanner; generate a 3D digital model of the intraoral cavity using the intraoral scan data; output the 3D digital model to a display; determine which portions of the intraoral cavity have been scanned; generate a visual indicator that provides guidance for positioning and orienting the field of view of the intraoral scanner; and output the visual indicator to the display.

Abstract: Calibrating an intraoral scanner includes obtaining reference data of a reference three-dimensional (3D) representation of a calibration object and obtaining, based on the intraoral scanner being used by a user to scan the 3D calibration object, and from one or more device to real-world coordinate transformations of two-dimensional (2D) images of the 3D calibration object, measurement data. Calibrating the intraoral scanner further includes aligning the measurement data to the reference data to obtain alignment data and updating, based on the alignment data, said one or more transformations.

Abstract: A dental scanning system comprises an intraoral scanner and one or more processors. The intraoral scanner comprises one or more light projectors configured to project a pattern (comprising a plurality of pattern features) on a dental object, and two or more cameras configured to acquire sets of images, each comprising at least one image from each camera. The processor(s) are configured to determine a correspondence between pattern features in the pattern of light and image features in each set of images by determining intersections of projector rays corresponding to one or more of the plurality of pattern features and camera rays corresponding to the one or more image features in three-dimensional (3D) space based on calibration data that associates the camera rays corresponding to pixels on the camera sensor of each of the two or more cameras to the projector rays.

Abstract: An intraoral scanner comprises a light source to emit light, a spatial pattern to output patterned light, a beam splitter, an optical system to focus the patterned light, and a hollow front tip comprising a mirror to redirect the patterned light out of a side exit of the intraoral scanner. The intraoral scanner further comprises an image sensor to receive returning patterned light that has reflected off of the teeth and been redirected to the image sensor by the beam splitter. The intraoral scanner further comprises a depth scanning module to axially translate one or more lenses of the optics system in an optical axis to change a focus setting of the optics system. The depth scanning module is configured to axially translate the one or more lenses by 0.1-5 mm to achieve a depth scanning range of 5-40 mm at a scan speed of about 5-50 scans per second.

Abstract: An apparatus for determining surface topography of a patient's teeth comprises a probe sized to be at least partially inserted into an intraoral cavity of the patient, a light source to output light; and a light focusing assembly. The light focusing assembly comprises a first lens, a second lens and a focus changing assembly comprising one or more additional lenses that shares an optical axis with the first lens and the second lens and being configured to focus the light to a plurality of external focal planes to illuminate the patient's teeth, wherein the focus changing assembly has a movement gain factor, and wherein as a result of the movement gain factor a change in separation between lenses of the focus changing assembly by a first distance results in a change in a focus setting by a second distance that is 2-10 times greater than the first distance.

Abstract: An intraoral scanner comprises one or more structured light projectors and two or more cameras, where each structured light projector projects a pattern of light onto an intraoral three-dimensional (3D) surface and the two or more cameras capture one or more sets of images, wherein each image includes at least a portion of the projected pattern of light. A processor solves a correspondence problem within a set of images of the one or more sets of images such that points in 3D space are determined based on correspondence of captured features in the set of images to projected features of at least the portion of the projected pattern, wherein said points in 3D space form a solution to the correspondence problem. The processor calibrates the intraoral scanner by performing an adjustment to stored calibration data associated with the intraoral scanner based on the solution to the correspondence problem.

Abstract: Calibrating an intraoral scanner includes obtaining reference data of a reference three-dimensional (3D) representation of a calibration object and obtaining, based on the intraoral scanner being used by a user to scan the 3D calibration object, and from one or more device to real-world coordinate transformations of two-dimensional (2D) images of the 3D calibration object, measurement data. Calibrating the intraoral scanner further includes aligning the measurement data to the reference data to obtain alignment data and updating, based on the alignment data, said one or more transformations.

Abstract: An apparatus for intraoral three-dimensional (3D) scanning comprises a light source, a spatial pattern, a beam splitter, an optical system comprising fewer than 10 lenses, a mirror, an image sensor, and a depth scanning module. The depth scanning module is configured to axially translate one or more lenses of the optical system in the optical axis to change a focus setting of the optical system, wherein the depth scanning module is configured to axially translate the one or more lenses by 0.1-5 mm to achieve a depth scanning range of 5-40 mm at a scan speed of about 5-50 scans per second.

Abstract: An intraoral scanner comprises a housing, a light source for generating light, an optics system for focusing the light, a detector for detecting returning light reflected off an intraoral object, and a focus shifting mechanism configured to shift a focal plane of the optics system. The optics system is configured such that, after having passed through the optics system, an outermost chief ray of the light with respect to an optical axis of the optics system is divergent to the optical axis and an outermost marginal ray of the light with respect to the optical axis is parallel or divergent to the optical axis.

Abstract: In embodiments, a system for scanning an intraoral cavity comprises an intraoral scanner to generate intraoral scan data of the intraoral cavity and viewfinder images of the intraoral cavity, a display, and a processing unit operatively connected to the intraoral scanner and to the display. The processing unit is to: receive the intraoral scan data and the viewfinder images from the intraoral scanner; generate a three-dimensional (3D) digital model of the intraoral cavity using the intraoral scan data; output the 3D digital model to the display; output the viewfinder images to the display; determine which portions of the intraoral cavity have been scanned; determine a current field of view of the intraoral scanner; determine a visual indicator that provides guidance for positioning and orienting the field of view of the intraoral scanner; and output the visual indicator to the display.

Abstract: An apparatus for intraoral scanning comprises an elongate wand comprising a probe at a distal end of the wand, one or more cameras and a computer processor. The one or more cameras are disposed within the probe and arranged within the probe such that the one or more cameras receive rays of light from an intraoral cavity in a non-central manner, wherein the non-central manner in which the one or more cameras receive the rays of light from the intraoral cavity introduces image distortion. The computer processor is configured to generate a three-dimensional model of an intraoral surface based on images from the one or more cameras, wherein the computer processor compensates for the image distortion specifically introduced by the non-central manner in which the one or more cameras receive the rays of light from the intraoral cavity.

Abstract: Apparatuses, including sleeves, intraoral scanning systems to use these sleeves, and methods of using the sleeve. These sleeves may preserve the optical performance of the scanner while also providing a physical protection to the scanner itself, and may cover the entire intraoral scanner (e.g., the wand and/or connecting cable) or only the tip of the scanner (e.g., the wand portion) to prevent contamination.

Abstract: An intraoral scanner comprises one or more structured light projectors and two or more cameras, where each structured light projector projects a pattern of light onto an intraoral three-dimensional (3D) surface and the two or more cameras capture one or more sets of images, wherein each image includes at least a portion of the projected pattern of light. A processor solves a correspondence problem within a set of images of the one or more sets of images such that points in 3D space are determined based on correspondence of captured features in the set of images to projected features of at least the portion of the projected pattern, wherein said points in 3D space form a solution to the correspondence problem. The processor calibrates the intraoral scanner by performing an adjustment to stored calibration data associated with the intraoral scanner based on the solution to the correspondence problem.

Abstract: A dental scanning system comprises an intraoral scanner and one or more processors. The intraoral scanner comprises one or more light projectors configured to project a pattern (comprising a plurality of pattern features) on a dental object, and two or more cameras configured to acquire sets of images, each comprising at least one image from each camera. The processor(s) are configured to determine a correspondence between pattern features in the pattern of light and image features in each set of images by determining intersections of projector rays corresponding to one or more of the plurality of pattern features and camera rays corresponding to the one or more image features in three-dimensional (3D) space based on calibration data that associates the camera rays corresponding to pixels on the camera sensor of each of the two or more cameras to the projector rays.

Abstract: A dental scanning system comprises an intraoral scanner and one or more processors. The intraoral scanner comprises one or more light projectors configured to project a pattern (comprising a plurality of pattern features) on a surface of a dental object, and two or more cameras configured to acquire one or more sets of images, wherein each set of images comprises at least one image from each camera, and wherein each image includes at least a portion of the projected pattern. The processors are configured to determine one or more image features within each set of images, solve a correspondence problem within each set of images such that points in 3D space are determined based on the image features, wherein said points form a solution to the correspondence problem, and wherein the correspondence problem is solved for groups of pattern features, and generate a digital 3D representation of the dental object using the solution to the correspondence problem.

Abstract: An intraoral scanner comprises a light source for generating light, an optics system for focusing the light, and a light-guiding part having an entrance and an exit. The light source, the optics system and the light-guiding part are arranged such that the light passes through the optics system, enters the light-guiding part via the entrance, and exits the light-guiding part via the exit. The optics system is configured such that, upon entering the light-guiding part, an outermost chief ray of the light with respect to an optical axis of the optics system is divergent to the optical axis and an outermost marginal ray of the light with respect to the optical axis is parallel or divergent to the optical axis.

Abstract: Calibrating an intraoral scanner includes obtaining reference data of a reference three-dimensional (3D) representation of a calibration object and obtaining, based on the intraoral scanner being used by a user to scan the 3D calibration object, and from one or more device to real-world coordinate transformations of two-dimensional (2D) images of the 3D calibration object, measurement data. Calibrating the intraoral scanner further includes aligning the measurement data to the reference data to obtain alignment data and updating, based on the alignment data, said one or more transformations.

Abstract: An intraoral scanning system comprises and intraoral scanner and a processor. The intraoral scanner comprises one or more cameras and one or more structured light projectors, the intraoral scanner to generate a series of images using the one or more cameras, each image including at least a portion of a pattern projected by the one or more structured light projectors onto an intraoral three-dimensional surface. The processor runs a correspondence algorithm to compute respective three-dimensional positions of a plurality of features of the pattern on the intraoral three-dimensional surface, as captured in the series of images. The processor identifies the computed three-dimensional position of a detected feature of the pattern as corresponding to a particular projector ray r, in at least a subset of the series of images. The processor tracks the particular projector ray r across one or more additional images of the series of images.