WO2012015110A1 - Method for processing-coordinate synchronisation by means of haptic marker point detection - Google Patents

Abstract

The disclosed method for processing-coordinate synchronisation comprises: a first step of acquiring three-dimensional coordinate data about an object which is provided with a marker; a second step of securing the object, which is provided with the marker, in a predetermined position on a processing device that has its own individual three-dimensional absolute coordinate system and effects processing in accordance with numerical data that accords with the absolute coordinate system; a third step of acquiring, as coordinates in the absolute coordinate system of the processing device, marker-point coordinates which have been extracted by means of contact between the marker of the object secured in the predetermined position of the processing device and a haptic detector linked to the absolute coordinate system of the processing device; and a fourth step of converting the three-dimensional coordinate data of the object including the marker point into coordinates in the absolute coordinate system of the processing device, based on the marker-point coordinates acquired from the haptic detector.

Description

Method of synchronizing machining coordinates by contact mark detection

The present invention is inherent in a device (hereinafter, simply referred to as a 'machining device') which is the subject of a process to coordinate data of an object for the purpose of processing, processing, position transfer, or procedure (hereinafter, simply referred to as 'machining'). In particular, the present invention relates to a method of synchronizing a coordinate system of an object, and in particular, by contacting a label attached to an object with a contact detector connected to the coordinate system of the processing apparatus to obtain absolute coordinates of the marker points occupied on the coordinate system of the processing apparatus. To a coordinate system of a processing apparatus.

Advances in CAD / CAM technology have led to significant innovations throughout the industry, and CAD / CAM technology is not only limited to industries that are intended for production, but also to the medical field of manufacturing prosthetics optimized for individual patients. have.

In the dental field, as CAD / CAM technology is developed, its use is emerging as a major concern. For this purpose, 3D scanning of an intraoral impression model is indispensable. As described above, the design and processing through the image are not only advantageous in terms of precision and efficiency, but also because the convenience is greatly improved compared to the conventional method, such as reducing the number of visits by the subject.

However, in order to apply the processing data designed on the computer based on the image obtained by 3D scanning of the intraoral impression model to the impression model, a process of synchronizing the coordinate data of the image with the coordinate system of the processing apparatus must be accompanied.

Conventionally, as a part of achieving the purpose of the coordinate synchronization, by scanning the position of the object to be processed in a specific position, to secure the coordinate system of the object image to the scanning device. However, this method requires knowing the relationship between the coordinate system of the processing device and the coordinate system of the scanning device in advance, and the coordinate system of the image extracted from the impression model must be transformed according to the relationship of the coordinate system. The disadvantage is that it is complicated.

In addition, if any of the processing and scanning devices are changed, the coordinate system transformation must be set again from the beginning. In other words, these methods have limitations in versatility and compatibility.

On the other hand, the coordinate system inherent in a device (hereinafter, simply referred to as a 'processing device') that coordinates data of an object that is the object of processing, processing, position transfer, or procedure (hereinafter, simply referred to as 'machining'). The difficulty of the synchronization process is not limited to the dental field.

For example, such difficulty exists in gamma knife surgery, which is reported to be effective in the treatment of patients with congenital cerebral artery disease, pituitary tumors, metastatic brain tumors and Parkinson's disease. Gamma Knife is a method of removing lesions by focusing gamma rays from 201 radiation collimators on a single point.To focus 201 gamma rays on a "point", you need to calculate the exact location of the lesion in the head of the patient. do. In order to calculate the location of the lesion as a coordinate, it is first fixed to the head by a device called a frame, which is then fixed to the head with local anesthesia on the scalp. The patient then takes an MRI or CT scan and uses the image to find the coordinates of the lesion on the computer. After the coordinate calculation is completed, the medical staff operates on the patient with gamma knife according to the result.

Looking at the gamma knife procedure as described above, it can be seen that the coordinates of the lesion are synchronized by fixing and scanning the patient's head in a structure connected to the coordinate system of the gamma knife device called a frame. This is fundamentally different from the method of synchronizing the coordinate data of the impression model with the coordinate system of the processing device in the dental field.

However, the gamma knife procedure is a human being, so the process of fixing the patient's head to the frame, and the procedure to be repeated every time the procedure is very painful, there is a need for improvement than the dental field.

The present invention is to improve the conventional coordinate synchronization technique as described above, the absolute coordinate occupies the coordinate system of the processing apparatus by using a contact detector connected to the coordinate system of the processing apparatus the position of the cover point extracted from the label attached to the object It is to provide a method for synchronizing the entire coordinate data of an object with the coordinate system of the processing apparatus by acquiring in the form of.

The method of synchronizing the processed coordinates according to the present invention comprises the first step of acquiring three-dimensional coordinate data of an object to which a label is attached; and processing according to numerical data having its own three-dimensional absolute coordinate system and following the absolute coordinate system. A second step of fixing the object to which the label is given at a predetermined position on the processing apparatus; and between the label of the object fixed at the predetermined position of the processing apparatus and a contact detector connected to an absolute coordinate system of the processing apparatus. A third step of acquiring the coordinates of the marker point extracted through the contact of the coordinates in the absolute coordinate system of the processing apparatus; And a fourth step of converting three-dimensional coordinate data of the object including the mark point into coordinates in the absolute coordinate system of the processing apparatus based on the coordinates of the mark point obtained from the contact detector. .

Wherein the third step is characterized in that the contact detector is prepared in the processing unit provided in the processing apparatus.

At this time, the contact detector is characterized in that the detachably fixed to the processing unit of the processing apparatus.

In particular, the contact detector is preferably mounted to be replaced with a processing tool mounted on the processing unit of the processing device.

Alternatively, the contact detector may be configured to move to a position of a machining tool mounted on a machining portion of the machining apparatus when acquiring the coordinates of the mark point.

In the third step, the object is moved with respect to the fixed contact detector so that the contact detector and the label may come into contact with each other.

Alternatively, in the third step, the contact detector may move, or the contact detector and the object may both move to contact the contact detector with the label.

In particular, in a preferred embodiment of the present invention, the processing device is a five-axis processing device and the processing unit performs a linear reciprocating motion of one axis.

On the other hand, the three-dimensional coordinate data of the object of the first step further includes the data of the processing vector.

In addition, the labeling point of the first step is characterized in that three is given to the object.

Here, the first step is to give the shape of the label to the shape that can determine the center of the circle from the coordinates of the three points selected in the surface contour of the positive or negative shape as one cover point, the third step is The contact detector in contact with the label may be provided in a shape complementary to the shape of the label.

And the first step extracts one labeling point from each of three separate labels separated from each other, and the shape of each label including the labeling point may be a shape or a cone whose surface contour includes at least part of a sphere. have.

Alternatively, the first step extracts one labeling point from each of three separate labels separated from each other, and the shape of each label is a shape in which the top or base contour of the surface contour can extract one circle. Can be.

At this time, the first step is preferably to give the contour of the upper surface or the base surface of the label in the shape of a circle or part of a circle, or a polygonal shape inscribed or circumscribed to the circle.

Or alternatively, the first step imparts the three marker points to be included in one positive or negative label, each marker point being each center of each of the three arcs included in the contour of the positive or negative label. It can be configured to be defined as.

As an example of this alternative, the contour of the positive or negative label may be configured such that the vertex portion has a triangular contour with an arc shape.

On the other hand, in the first step, the label may be directly provided on the object or on a medium having a fixed position relative to the object.

And it is preferable to give each of the three mark points to be located outside the machining site of the object with respect to the geometric center of the object.

According to the present invention, the method of synchronizing the coordinates through the detection of the contact mark point may be completed whenever the coordinate coordinates of the object including the mark point are prepared, using a contact detector connected to the coordinate system of the processing apparatus. It has the advantage that it can. In other words, the present invention is very flexible because the acquisition of three-dimensional coordinate data of an object and coordinate synchronization of the acquired coordinate data can be separated in time and space.

In addition, the present invention can be applied directly to the existing processing equipment because the contact detector can be mounted in place of the processing tool of the processing device, so that the coordinate detection and position control functions of the processing tool inherent in the processing device can be utilized as it is. It also has generality.

Meanwhile, the method of synchronizing the processed coordinates by contact point detection according to the present invention may use an indirect method using a medium in which a label is combined without necessarily fixing the label directly to the object when applying the label to the object. This is particularly useful when the label cannot be directly fixed to the object, for example, when the processing site and the position of the label overlap, or when the object of coordinate acquisition is a mammal including a human.

1 is a flow chart showing the overall configuration of the method for synchronizing the processing coordinates by contact point detection according to the present invention.

Figure 2 schematically shows an example of a processing apparatus applied to the present invention.

3 is a perspective view illustrating an example in which a label is directly applied to an object.

4 is a perspective view showing an example in which a label is applied to an object using a medium chain tray.

5 is a perspective view showing an example in which a label is applied to an object using a medium chain plate.

6 is a perspective view showing an example in which a label is given to an object by using a medium corresponding to the medium;

7 shows an example in which three marker points are included in one positive or negative contour.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In the description of one embodiment of the present invention, descriptions of well-known configurations that will be apparent to those skilled in the art will be omitted so as not to obscure the subject matter of the present invention. In addition, when referring to the drawings it should be considered that the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of description.

Meanwhile, terms used to describe one embodiment of the present invention and define relative positions of front, rear, left and right, and the like used on the basis of the accompanying drawings. It should be noted, however, that such definitions of relative positions may be altered in an equivalent arrangement without changing the essential parts of the invention.

1 is a view showing the overall sequence of the process coordinate synchronization method through the detection of the contact mark point in accordance with the present invention.

Referring to Figure 1, the first step of acquiring the three-dimensional coordinate data of the object 20 to which the label 22 is attached, and processing, treatment, according to the numerical data along its own three-dimensional absolute coordinate system, The object 20 to which the label 22 is given at a predetermined position on a processing device 10 (hereinafter, simply referred to as a 'processing device') for performing a position transfer or a procedure (hereinafter, simply referred to as 'machining') is performed. The second step of fixing and the contact detector 30, which is installed at a predetermined position of the processing apparatus 10 and is connected to the absolute coordinate system of the processing apparatus 10, makes contact with the label 22 of the object 20. A third step of acquiring the coordinates of the marker point extracted from the labeled object 22 as coordinates in the absolute coordinate system of the processing apparatus 10, and the three-dimensional coordinate data of the object 20 including the marker point. 30 of the processing apparatus 10 on the basis of the absolute coordinates of And a fourth step of converting to coordinates in the world coordinate system.

Hereinafter, the first to fourth steps will be described in detail as follows.

The first step is a process of acquiring three-dimensional coordinate data of the object 20 to which the label 22 is attached. Three-dimensional coordinate data of the object 20 can be obtained by using a three-dimensional scanning device such as a three-dimensional CT already known, such a three-dimensional scanning technique is already widely used in the art, and a detailed description thereof will be omitted. .

What is important here is the configuration of the cover material 22, which is a processing device for the three-dimensional coordinate data of the object 20 acquired according to the coordinate system of the three-dimensional scanning device which is completely separate from the processing device 10 to be described later. It has a specific shape from which a cover point, which is a reference point for conversion into the absolute coordinate system of (10), can be extracted. The shape of the label 22 from which the label point can be extracted will be described later.

The second step is to fix the upper object 20 to which the label 22 is given at a predetermined position on the processing apparatus 10 having its own three-dimensional absolute coordinate system.

Here, the processing apparatus 10 refers to a device that performs processing on the object 20 to be processed according to the program for defining the input processing vector data and the processing sequence. The processing apparatus 10 has its own three-dimensional absolute coordinate system, and the data of the input processing vector must finally follow the absolute coordinate system of the processing apparatus 10 so that the desired machining operation can be accurately performed. Therefore, the machining vector data which is not created in the absolute coordinate system of the processing apparatus 10 from the beginning must be transformed.

And the object 20 is fixed at a predetermined position of the processing apparatus 10, "determined position" refers to the position where the relative coordinates with respect to the origin of the absolute coordinate system are physically determined. Therefore, after the object 20 is fixed at a predetermined position on the processing device 10 and the three-dimensional shape data and the processing vector data of the object 20 are converted into the absolute coordinates of the processing device 10, the processing device 10 is With respect to the origin of the world coordinate system, it is possible to know where the object 20 is, what shape it has, and where and how to process it.

Representative examples of the processing apparatus 10 may include an NC machine (numerical control machine tool) in addition to a manual multi-axis processing machine. In addition, various apparatuses which are operated manually or numerically controlled according to input data and programs are provided. It is included in the processing apparatus 10 of. For example, the gamma knives described above also belong to the scope of the processing apparatus 10 of the present invention in view of a device for controlling the irradiation of gamma rays in accordance with numerical data of lesions calculated by coordinates.

Meanwhile, in describing the present invention, the above processing apparatus 10 is used in a concept including both a means for inputting and storing numerical data and a program, and a means for controlling the operation of the processing apparatus 10. Although not expressly described, since it will be known to those skilled in the art will not affect the understanding and practice of the present invention.

In the third step, the contact detector 30 connected to the absolute coordinate system of the processing apparatus 10 is brought into contact with the label 22 of the object 20, and the coordinates of the label point extracted from the contact label 22 are contacted. It is a step of acquiring as a coordinate in the absolute coordinate system of the processing apparatus 10. The fact that the contact detector 30 is connected to the absolute coordinate system of the processing apparatus 10 is not only because the installation position of the contact detector 30 is determined in advance, but also its shape and size are already determined. Means that one point of absolute coordinates (typically the absolute coordinates of the terminal) of the contact detector 30 in contact with the label 22 of the contact point, i.e., the coordinate of the mark point, can be known. It is possible to determine the absolute coordinate by extracting the labeling point from the labeling 22 of the object 20 fixed at a predetermined position on the (10).

In practice, in order to acquire the coordinates of the marker point in a reproducible manner, the contact between the marker 22 and the contact detector 30 needs to be a three-dimensional concept rather than a point concept. That is, in order to obtain a consistent result at any time, the label 22 and the contact detector 30 must be contacted at a constant depth or depth and angle, so that the label 22 has a three-dimensional shape, for example, a cylinder or cone shape. It is preferable to make the contact detector 30 into a shape complementary to the shape of the label 22.

Further, in order to impart contact freedom to the label 22 and the contact detector 30, the contact complementarity shape between the label 22 and the contact detector 30 may be a sphere or a shape having a part of the sphere. This is because it is possible to perform coordinate transformation for the purpose of the present invention as long as the label point can be detected from the label 22 even if the contact geometric relationship between the label 22 and the contact detector 30 is not completely restricted in three dimensions. Because there is no problem at all.

The fourth step converts the three-dimensional coordinate data of the object 20 including the cover point into coordinates in the absolute coordinate system of the processing apparatus 10 based on the absolute coordinates of the cover point acquired from the contact detector 30. It's a step.

In more detail, after the label 22 is attached to the object 20 and three-dimensional scanning, the image of the label 22 including the label point and the three-dimensional image data of the object 20 are obtained together as coordinate data. Thereafter, the object 20 is fixed at the predetermined position of the processing apparatus 10 as it is given the label 22, and the absolute coordinates of the mark included in the label 22 are acquired by the contact detector 30. .

Through this process, the coordinates of the cover point are found to be two relative coordinates on the three-dimensional image data of the object 20 and absolute coordinates in a fixed position of the processing apparatus 10. Therefore, a coordinate shift matrix is obtained when the relative coordinates of the marker points on the three-dimensional image data of the target object 20 are replaced by the absolute coordinates of the processing apparatus 10, and the coordinate shift matrix thus obtained is used as it is. When applied to all three-dimensional image data, the three-dimensional image data of the object 20 is completely implanted in the absolute coordinate system of the processing apparatus 10.

Here, the relative coordinates of the marker point obtained on the three-dimensional image data of the object 20 should be determined as a point corresponding to the coordinates of one physical point determined when the contact detector 30 is in contact with the marker 22. Of course.

Meanwhile, the three-dimensional coordinate data of the object 20 to be transformed may include data of a processing vector designed through a simulation on a computer by CAD / CAM technique in advance. The three-dimensional coordinate data of the object 20 is typically three-dimensional image data obtained by three-dimensional scanning of the object 20, but may be coordinate data designed by a computer from the beginning regardless of scanning.

Through such a series of processes, all coordinate data about the object 20 is easily and accurately implanted into the absolute coordinate system of the processing device 10, so that the object 20 is fixed at a predetermined position of the processing device 10 as in the prior art. With the three-dimensional scanning device linked to the absolute coordinate system in the state, almost all limitations on the device operation and the work content caused by acquiring the three-dimensional coordinate data of the object 20 are eliminated.

Meanwhile, a third step of bringing the contact detector 30 into contact with the label 22 of the object 20 and obtaining the absolute coordinates of the labeling point from the contacted label 22 is illustrated by way of example in FIG. 2. The processing apparatus 10 will be described in more detail.

The contact detector 30 is fixed at a predetermined position of the processing apparatus 10. In particular, the contact detector 30 is equipped with a processing unit 50, that is, a processing tool 60 provided with the processing apparatus 10. It is preferable to prepare in parts. This configuration brings several advantages, firstly, it is possible to use the mobility originally possessed by the processing unit 50 for relative movement to bring the contact detector 30 and the label 22 of the object 20 into contact with each other. Is there. That is, since most of the processing apparatus 10 is configured to move the processing unit 50 in at least one axis or more, if the mobility is used as it is in the contact detector 30, the separate unit for the contact detector 30 is used. There is no need to provide a moving means.

In addition, since the processing apparatus 10 according to the present invention includes a scaler or an encoder capable of detecting the movement amount, the coordinates of the processing unit 50 (particularly the processing tool) moving in accordance with mechanical constraints can always be grasped. have. Therefore, if the contact detector 30 is fixed to the processing unit 50, the mechanism for measuring the coordinates can also be omitted.

Of course, the relative movement for contacting the contact detector 30 and the label 22 of the object 20 may be achieved by moving the object 20 while the contact detector 30 is fixed. Both the expression detector 30 and the object 20 can be moved, or can also be moved only by the contact detector 30.

2 shows an example of a processing apparatus 10 in which both the contact detector 30 and the object 20 move. The illustrated processing device 10 is a five-axis processing device 10, the processing unit 50 is a linear reciprocating motion of the vertical axis in the vertical direction, the fixed portion 40 to which the object 20 is fixed is a processing unit ( It is configured to perform a total four-axis movement of two-axis movement in the plane (XY plane) orthogonal to the linear movement direction (Z axis) of 50) and two-side movement in which the object 20 rotates about two orthogonal axes. It became.

And the method of fixing the contact detector 30 to the processing unit 50 can be a variety of examples, the contact detector 30 may be detachably fixed. In particular, when the contact detector 30 is replaced with the processing tool 60 mounted on the processing unit 50, the touch detector 30 can be treated in almost the same manner as the processing tool 60. It is convenient and can link machining precision and detection precision.

Alternatively, the contact detector 30 may be configured to be selectively moved to the position of the machining tool 60 only when the contact detector 30 is used (that is, when obtaining the coordinates of the mark point). An example of a configuration for selectively moving the contact detector 30 is shown in FIG. 2, which is as if several objective lenses having different magnifications in a microscope are fixed to an inclined rotating plate and an objective lens having an appropriate magnification as needed. It's similar to using.

On the other hand, the number and shape of the markers 22 that can extract the marker point as the reference point of the coordinate transformation is also an important factor, which will be described in detail.

First, it is preferable to select the number of the labels 22 given to the object 20 to three. Selecting the number of the markers 22, that is, three 'coordinates' of the markers, which are reference points of the coordinate transformation, is the minimum to define the position and direction (rotation) of the object 20 occupying the three-dimensional space. This is because there are three coordinates. And not selecting more than three coordinates is the number of _n C ₃ where three or more coordinates do not form a plane, where n is the number of selected coordinates, where n is a natural number This is because it is inefficient to fit data as much as).

In order to determine the coordinates of the marker point from the image data of the marker 22, the present invention extracts one circular plane from the coordinates of three points selected in its surface contour as the shape of the marker 22 positive or negative. Consists of shapes that can be. When a circle is extracted from three points, the center of this circle is determined as the coordinate of the mark point. Therefore, each label 22 should include a shape that can extract the center of the circle.

In the embodiment of the present invention, the label 22 is given as three separate labels 22, and the shape of the upper surface or the base surface of the surface contour is made to extract a single circle. . The contour of the top surface or the bottom surface of the label 22 may be configured to be the simplest circular, alternatively, may be configured in the form of a polygon, which is inscribed or circumscribed to a string, or a circle that is part of a circle.

That is, there are numerous contours of the top or base surface of the label 22 from which one circle can be extracted, most intuitively a circular contour. In addition, a contour of a polygonal shape inscribed or circumscribed to a circle, such as an equilateral triangle, is also possible.

Here, the top and bottom surfaces refer to the top and bottom surfaces of the surface contour, respectively, and it will be most intuitive to determine the top and bottom surfaces of the label 22 according to the general top and bottom arrangement of the object 20 as it is. However, even if the top and base are inverted or defined as a geometric relationship having horizontal or predetermined inclination, there is no effect on the essence of the present invention. .

When the label 22 is three-dimensionally formed according to the contours of the top and base surfaces of the label 22, the shape may be made of a cylinder or a polygonal column. In addition, the shape of the cylinder or polygonal cylinder may be tapered to make the contact detector 30 more smoothly inserted.

Alternatively, the shape of the label 22 may be a cone or a polygonal pyramid. If the top or base is a vertex of the horn, the coordinates of the vertex may be used as the coordinates of the label 22 as it is.

Alternatively, it is possible to give the shape of the three labels 22 positive or negative and to give the surface contours of at least a part of the sphere. In this case the center of the sphere will be extracted as the marker point.

And, corresponding to the shape of the various labels 22 as described above, the contact detector 30 in contact with the label 22 has a shape complementary to the shape of the label 22. That is, the contact detector 30 follows the shape of the label 22 as it is, but if the label 22 is positive, it will have a negative shape and positive.

This label 22 is given to the object 20 and scanned three-dimensionally to provide an absolute coordinate of the mark point as a reference point of the coordinate transformation, the label 22 being fixed on the object 20 or as shown in FIG. 20) may be formed directly.

Alternatively, the label 22 may be fixed on the medium 24 whose relative position with the object 20 is fixed. The use of the medium 24 makes it difficult to fix the label 22 directly on the object 20, for example, when the object 20 is a person or when the position of the label 22 overlaps with the processing site. This is convenient when the cover 22 has a shape that is small or complicated enough to be difficult to fix, or when the object 20 needs to be kept circular because other objects need to be used.

3 to 6 are diagrams showing various cases in which the label 22 is applied to the object 20. The object 20 is an impression model reflecting the shapes of teeth and gingiva in a person's mouth. For example, the cylinder is formed in a negative shape.

3 shows an example in which a negative label 22 is formed directly on the object 20. The label 22 may be formed by cutting after making the impression model, which is the object 20, or may be integrally formed by forming a shape of the label 22 into a mold for making the impression model.

4 shows a case in which the label 22 is fixed to the mediator 24 having the coupling portion 26 corresponding to the shape of at least a portion of the object 20. FIG. 4 shows the use of the mediator 24 by fixing the marker 22 to the oral attachment 24 ′ in which the shape of the tooth and gingiva, particularly the occlusal contour of the tooth, is negatively drawn. The intraoral fitting 24 ′, which is the mediator 24 here, has a shape corresponding to the intraoral teeth or the arch form. Thus, when the intraoral attachment 24 'is coupled to an impression model that mimics the shape of an oral tooth or an arch form, the relative position of the marker 22 and the impression model is thus fixed constantly. It is also possible to fix the medium 24 in the oral cavity of a person other than the impression model, which is the case with the aforementioned gamma knife. In this case, an intraoral fixture such as a mouthpiece made to have a coupling portion 26 corresponding to the shape of the entire teeth or teeth and oral cavity of a person also serves as a medium 24.

FIG. 5 shows a case in which a plate 24 ″ having a label 22 fixed thereto is used as the medium 24, and the object 20 is fixed to the plate 24 ″. 5 is also basically different from the case of FIG. 4, but FIG. 5 is meaningful in that it shows that the label 22 does not necessarily need to be positioned on the object 20. In other words, as long as the relative position of the object 20 and the label 22 is always fixed constantly during three-dimensional scanning and when acquiring the absolute coordinates of the label 22, the position of the label 22 is very flexible. It can be chosen.

FIG. 6 is also similar to that of FIG. 5, which shows that when the object 20 is provided with a corresponding portion 28 that is coupled to the fixed portion 40 provided at a predetermined position of the processing apparatus 10, FIG. The counterpart 28 is used as the medium 24. Since the counterpart 28 of the shape complementary to the fixed part 40 of the processing apparatus 10 is already provided in the object 20, it is convenient in that it does not need to prepare the separate plate 24 ". If the 20 is made of a mold like the impression model described above, the sound of the corresponding portion 28 is formed in the mold, so that the object 20, the corresponding portion 28, and even the label 22 are integrally manufactured at once. It is also possible.

On the other hand, it is also possible not to make the three labels 22 into three separate labels 22 separated from each other. For example, as shown in the shape of the label 22 shown in FIG. 7, three label points may be assigned to be included in one positive or negative shape. In this case, each mark point may be defined as the center (C) of the three arcs included in the contour of the positive or negative, since the center (C) of the arc can be obtained by extracting any three points on the arc. As the shape of the label 22, the three vertex portions of FIG. 7 will be representative of the triangular contour having an arc shape. However, if only three vertex portions have the circular arc shape, the same result will be obtained. Bring.

In particular, each of the three marker points (that is, the markers), as shown in Figs. 3 to 6, is the machining portion of the object 20 with respect to the geometric center of the object 20 (tooth or gingival portion in the impression model). It is preferable to give so that it may be located outside. This is because one plane is extracted by three marker points, and therefore, it is advantageous in terms of an error that a machining part exists inside the reference point of plane extraction. This is the same reason that interpolation has less error than extrapolation in interpolation.

While one preferred embodiment of the present invention has been shown and described, it will be appreciated by those skilled in the art that the present invention may be modified without departing from the spirit or spirit of the invention. . Therefore, the scope of the present invention will be defined by the appended claims and equivalents thereof.

The present invention is useful as a method of synchronizing the coordinate data of an object, which is the object of processing, to a unique coordinate system of the processing apparatus serving as the subject of processing.

Claims (18)

A first step of acquiring three-dimensional coordinate data of the object to which the label is attached; A second step of fixing an object to which the label is given at a predetermined position on a processing apparatus having a unique three-dimensional absolute coordinate system and performing machining according to the numerical data along the absolute coordinate system; Obtaining coordinates of the marker point extracted through contact between the label of the object fixed at the fixed position of the processing apparatus and the contact detector connected to the absolute coordinate system of the processing apparatus as coordinates in the absolute coordinate system of the processing apparatus. Three steps; And A fourth step of converting three-dimensional coordinate data of the object including the cover point into coordinates in the absolute coordinate system of the processing apparatus based on the coordinates of the cover point acquired from the contact detector; Process coordinate synchronization method comprising a. The method of claim 1, The third step is a process coordinate synchronization method, characterized in that for preparing the contact detection unit provided in the processing unit. The method of claim 2, And said contact detector is detachably fixed to a processing unit of said processing apparatus. The method of claim 3, And said contact detector is replaced with a processing tool mounted on a processing unit of said processing apparatus. The method of claim 2, And said contact detector is moved to a position of a processing tool mounted on a processing unit of said processing apparatus when acquiring the coordinates of said mark point. The method according to any one of claims 1 to 5, The third step is a process coordinate synchronization method characterized in that the object is moved with respect to the fixed contact detector is in contact with the contact detector and the label. The method according to any one of claims 1 to 5, The third step is a process coordinate synchronization method characterized in that only the contact detector is moved or both the contact detector and the object is moved to contact the contact detector and the label. The method of claim 2, The processing device is a five-axis processing device, the processing unit synchronization process coordinates, characterized in that for performing a linear reciprocating motion. The method of claim 1, The three-dimensional coordinate data of the object of the first step further comprises a processing vector data. The method of claim 1, The three coordinate points of the first step is the processing coordinate synchronization method, characterized in that three to the object. The method of claim 10, In the first step, the shape of the label is positive or negative, and the center of the circle obtained from the coordinates of the three points selected from the surface contour thereof is determined to be one cover point, and the third step is the label. And providing the contact detector in contact with the shape in a shape complementary to the shape of the label. The method of claim 11, The first step is to extract one label point from each of the three separate labels separated from each other, wherein the shape of each label including the label point is a shape or conical shape whose surface contour includes at least part of the sphere. Process coordinate synchronization method. The method of claim 11, The first step is to extract one label point from each of the three separate labels separated from each other, the shape of each label is that the contour of the top or base surface of the surface contour can extract a single circle Characterized in the process coordinate synchronization method. The method of claim 13, The first step is a method of synchronizing the processing coordinates, characterized in that to give the contour of the top surface or the base surface of the label in a circular shape or a polygonal shape inscribed or circumscribed to a circle, or a circle that is part of a circle. The method of claim 11, The first step implies that the three marker points are included in one positive or negative marker, and each of the marker points is defined as each center of three arcs included in the contour of the positive or negative marker. Characterized in the process coordinate synchronization method. The method of claim 15, The contour of the positive or negative label has a contour of the triangle having a vertex portion having an arc shape. The method of claim 1, The first step is to give the label directly on the object, or the process coordinates synchronization method, characterized in that the relative position with the object to give a fixed medium. The method according to any one of claims 10 to 17, And each of the three marker points is positioned to be located outward from a machining portion of the object with respect to the geometric center of the object.

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