1111111111111111 IIIIII IIIII 1111111111 11111 11111 11111 111111111111111 111111111111111 11111111
`US 20100009308Al
`
`c19) United States
`c12) Patent Application Publication
`Wen et al.
`
`c10) Pub. No.: US 2010/0009308 Al
`Jan. 14, 2010
`(43) Pub. Date:
`
`(54) VISUALIZING AND MANIPULATING
`DIGITAL MODELS FOR DENTAL
`TREATMENT
`
`(75)
`
`Inventors:
`
`Huafeng Wen, Redwood City, CA
`(US); Muhammad Ziaullah Khan
`Chishti, Washington, DC (US);
`Yasser Bashir, Lahore (PK);
`Omair Aslam, Lahore Cantt (PK);
`Sohaib Athar, Lahore Cantt (PK)
`
`Correspondence Address:
`PAUL HASTINGS JANOFSKY & WALKER LLP
`3579 VALLEY CENTRE DRIVE
`SAN DIEGO, CA 92130 (US)
`
`(73) Assignee:
`
`ALIGN TECHNOLOGY, INC.,
`Santa Clara, CA (US)
`
`(21) Appl. No.:
`
`11/744,823
`
`(22) Filed:
`
`May 4, 2007
`
`Related U.S. Application Data
`
`(60) Provisional application No. 60/798,237, filed on May
`5, 2006.
`
`Publication Classification
`
`(51)
`
`Int. Cl.
`A61C 7100
`(2006.01)
`G06T 15100
`(2006.01)
`G06F 17150
`(2006.01)
`G05B 19118
`(2006.01)
`(52) U.S. Cl. ............. 433/24; 345/419; 700/98; 345/651;
`345/156; 345/168; 703/1; 700/118
`ABSTRACT
`
`(57)
`
`Methods and apparatus for visualizing and manipulating
`three-dimensional digital dental models and related methods
`and apparatus for dental treatments are disclosed. In one
`aspect, a method for visualizing and manipulating a three(cid:173)
`dimensional digital dental model may comprise viewing the
`three-dimensional digital dental model and using hand ges(cid:173)
`tures to instruct a computer to manipulate one or more teeth in
`the digital dental model. In other aspects, a dental treatment
`method may comprise viewing a three-dimensional digital
`model, using hand gestures, a conventional keyboard, and/or
`a conventional mouse to instruct a computer to manipulate
`one or more teeth in the digital model to generate a three(cid:173)
`dimensional digital model of a modified arrangement of the
`subject's teeth, and fabricating one or more dental aligners
`configured to reposition the subject's teeth into the modified
`arrangement. Viewing may comprise stereoscopically view(cid:173)
`ing a digital dental model.
`
`365
`
`Align EX1025
`Align v. 3Shape
`IPR2022-00145
`
`

`

`Patent Application Publication
`
`Jan. 14, 2010 Sheet 1 of 10
`
`US 2010/0009308 Al
`
`r 10
`VIEWING THE THREE-DIMENSIONAL
`DIGITAL DENTAL MODEL
`
`( 20
`
`,,
`USING HAND GESTURES TO
`INSTRUCT A COMPUTER
`TO MANIPULATE ONE OR MORE
`TEETH IN THE DIGITAL DENTAL MODEL
`
`FIG. 1
`
`r 30
`INSTRUCTING THE COMPUTER VIA A DATA GLOVE
`THAT MEASURES ORIENTATIONS, POSITIONS,
`AND/OR MOVEMENTS OF A USER1S FINGERS
`
`l
`
`( 40
`
`INSTRUCTING THE COMPUTER VIA A POSITION
`SENSING DEVICE THAT MEASURES THE THREE-
`DIMENSIONAL POSITION, OR A CHANGE IN THE
`THREE-DIMENSIONAL POSITION, OF A USER1S HAND
`
`l
`
`( 50
`RECENING FORCE FEEDBACK RELATING TO THE
`FORCES NECESSARY TO MANIPULATE
`CORRESPONDING TEETH IN A PATIENT'S MOUTH
`IN THE SAME MANNER
`
`FIG. 2
`
`

`

`Patent Application Publication
`
`Jan. 14, 2010 Sheet 2 of 10
`
`US 2010/0009308 Al
`
`co
`['-..
`
`bl
`[§5]
`!JI
`
`c..o
`tD
`
`C'\J
`['-..
`
`co
`
`(0 )
`
`[]]
`[1]
`rm]
`[u]
`[w]
`~
`[I]
`[I]
`~
`~
`[]]
`[]]
`[]]
`[]]
`
`(
`
`0
`C0
`
`0
`I'-
`
`N
`<D
`
`CV')
`
`.
`CJ
`u:
`
`{O ~
`I'--
`{O
`
`00
`CD
`
`\
`
`'::::I""
`(0
`
`og~gggg
`~Ell?] El El El
`~ ~ ...J
`f= ~ c3 ~
`o!d:.iI:52:
`I:!: 1!.s~:::rQ
`~
`N @~@~~ Cl
`u:J ~ z
`IB l:, a.§
`co u,_;::J>cc!=i-
`'r
`'r
`'i'
`'i'
`'r
`'r
`'r
`
`::,.
`
`,c;( _J
`
`0
`
`C>
`co
`
`z
`0
`
`C,
`0::
`
`' ~
`
`

`

`Patent Application Publication
`
`Jan. 14, 2010 Sheet 3 of 10
`
`US 2010/0009308 Al
`
`ACQUIRING A THREE-DIMENSIONAL DIGITAL
`MODEL OF A CURRENT ARRANGEMENT OF A
`SUBJ EC rs TEETH
`~·
`
`VIEWING THE DIGITAL MODEL OF THE
`CURRENT ARRANGEMENT
`
`r 100
`
`/1 10
`
`1
`
`/1 20
`USING HAND GESTURES TO INSTRUCT A COMPUTER
`TO MANIPULATE ONE OR MORE TEETH IN THE
`DIGITAL DENTAL MODEL OF THE CURRENT
`ARRANGEMENT TO GENERATE A THREE-DIMENSIONAL
`DIGITAL MODEL OF A MODIFIED ARRANGEMENT
`OF THE SUBJECT1S TEETH
`,.
`FABRICATING ONE OR MORE DENTAL ALIGNERS
`CONFIGURED TO REPOSITION THE SUBJECT'S TEETH
`INTO THE MODIFIED ARRANGEMENT
`
`( 130
`
`FIG~ 4
`
`

`

`Patent Application Publication
`
`Jan. 14, 2010 Sheet 4 of 10
`
`US 2010/0009308 Al
`
`150~
`
`160
`
`155
`
`FIG~ 5
`
`

`

`Patent Application Publication
`
`Jan. 14, 2010 Sheet 5 of 10
`
`US 2010/0009308 Al
`
`FIG. 6
`
`190
`
`155
`
`185
`
`180
`
`200
`
`FIG. 7
`
`

`

`Patent Application Publication
`
`Jan. 14, 2010 Sheet 6 of 10
`
`US 2010/0009308 Al
`
`160
`
`155
`
`FIG. 8
`
`225
`
`175
`
`FIG. 9
`
`r230 r230 r230
`
`175
`
`175
`
`175
`
`FIG. 10
`
`

`

`Patent Application Publication
`
`Jan. 14, 2010 Sheet 7 of 10
`
`US 2010/0009308 Al
`
`,-240
`
`255
`
`260
`
`IMAGE
`CAPTURING - (cid:173)
`DEVICE
`
`COMPUTER
`
`245
`
`ROTATION
`SCAN PLATE 14-------1 MECHANISM
`
`FIG. 11A
`
`250
`
`245
`
`FIG. 11 B
`
`IMAGE SCANNING
`DIRECTION
`VERTICAL A1/XIS 265
`270
`
`.
`
`,,--230
`
`245
`
`FIG. 11 C
`
`

`

`Patent Application Publication
`
`Jan. 14, 2010 Sheet 8 of 10
`
`US 2010/0009308 Al
`
`285~
`
`280~ /:280
`280-'-0 l)(j 1/280
`
`280
`
`FIG. 12
`
`FIG. 13
`
`280
`
`280
`
`

`

`Patent Application Publication
`
`Jan. 14, 2010 Sheet 9 of 10
`
`US 2010/0009308 Al
`
`290
`
`FIG. 14
`
`FIG. 15
`
`

`

`Patent Application Publication
`
`Jan. 14, 2010 Sheet 10 of 10
`
`US 2010/0009308 Al
`
`350
`
`365
`
`FIG. 16
`
`370
`
`375
`
`FIG. 17
`
`FIG. 18
`
`

`

`US 2010/0009308 Al
`
`Jan. 14, 2010
`
`1
`
`VISUALIZING AND MANIPULATING
`DIGITAL MODELS FOR DENTAL
`TREATMENT
`
`CROSS-REFERENCE TO RELATED
`APPLICATIONS
`
`[0001] The present application claims the benefit of U.S.
`Provisional Application Ser. No. 60/798,237, filed May 5,
`2006, which is incorporated herein by reference in its entirety.
`
`TECHNICAL FIELD
`
`[0002] This application generally relates to the field of den(cid:173)
`tal care, and more particularly to the field of orthodontics.
`
`BACKGROUND
`
`[0003] Orthodontics is the practice of manipulating a sub(cid:173)
`ject's teeth to provide better function and appearance. Typi(cid:173)
`cally, brackets are bonded to a subject's teeth and coupled
`together with an arched wire. The combination of the brackets
`and wire provide a force on the teeth causing them to move.
`Once the teeth have moved to a desired location and are held
`in place for a certain period of time, the body adapts bone and
`the surrounding soft-tissue to maintain the teeth in the desired
`location. To further assist in retaining the teeth in the desired
`location, a subject may be fitted with a retainer.
`[0004] To achieve tooth movement, orthodontists utilize
`their expertise to first determine a three-dimensional mental
`image of the subject's physical orthodontic structure and a
`three-dimensional mental image of a desired physical orth(cid:173)
`odontic structure for the subject, which may be assisted
`through the use of X-rays and/or models. Based on these
`mental images, the orthodontist further relies on his/her
`expertise to place the brackets and/or bands on the teeth and
`to manually bend (i.e., shape) wire, such that a force is
`asserted on the teeth to reposition the teeth into the desired
`physical orthodontic structure. As the teeth move towards the
`desired location, the orthodontist makes continual judgments
`as to the progress of the treatment, plans next steps in the
`treatment ( e.g., determines new bends in the wire, repositions
`or replaces brackets, decides whether a head gear is required,
`etc.), and evaluates the success of the previous steps.
`In general, the orthodontist makes manual adjust(cid:173)
`[0005]
`ments to the wire and/or replaces or repositions brackets
`based on his or her expert opinion. Unfortunately, in the oral
`environment, it is difficult for a human being to accurately
`develop a visual three-dimensional image of an orthodontic
`structure due to the limitations of human sight and the physi(cid:173)
`cal structure of a human mouth. In addition, it is difficult to
`accurately estimate three-dimensional wire bends ( with accu(cid:173)
`racy within a few degrees) and to manually apply such bends
`to a wire. Further, it is hard to determine an ideal bracket
`location to achieve the desired orthodontic structure based on
`the mental images. It is also extremely difficult to manually
`place brackets in what is estimated to be the ideal location.
`Accordingly, orthodontic treatment is an iterative process
`requiring multiple wire changes, with the process success and
`speed being very much dependent on the orthodontist's motor
`skills and diagnostic expertise. As a result of multiple wire
`changes, subject discomfort and cost are increased. As one
`would expect, the quality of care varies greatly from orth(cid:173)
`odontist to orthodontist as does the amount of time required to
`treat a subject.
`
`[0006] Over the years, various methods and devices have
`been developed to assist dentists with delivery of orthodontic
`treatments. Examples of these methods and devices are dis(cid:173)
`closed in U.S. Pat. No. 6,699,037 B2 titled "METHOD AND
`SYSTEM FOR INCREMENTALLY MOVING TEETH"
`issued to Chishti et al., dated Mar. 2, 2004; U.S. Pat. No.
`6,682,346 B2 titled "DEFINING TOOTH-MOVING APPLI(cid:173)
`ANCES COMPUTATIONALLY" issued to Chishti et al.,
`dated Jan. 27, 2004; U.S. Pat. No. 6,471,511 titled "DEFIN(cid:173)
`ING TOOTH-MOVING APPLIANCES COMPUTATION(cid:173)
`ALLY" issued to Chishti et al., dated Oct. 29, 2002; U.S. Pat.
`No. 5,645,421 titled "ORTHODONTIC APPLIANCE DEB(cid:173)
`ONDER" issued to Slootsky, dated Jul. 8, 1997; U.S. Pat. No.
`5,618,176 titled "ORTHODONTIC BRACKET AND LIGA(cid:173)
`TURE AND METHOD OF LIGATING ARCH WIRE TO
`BRACKET" issued to Andreiko et al., dated Apr. 8, 1997;
`U.S. Pat. No. 5,607,305 titled "PROCESS AND DEVICE
`FOR PRODUCTION OF THREE-DIMENSIONAL DEN(cid:173)
`TAL BODIES" issued to Andersson et al., dated Mar. 4, 1997;
`U.S. Pat. No. 5,605,459 titled "METHOD OF AND APPA(cid:173)
`RATUS FOR MAKING A DENTAL SET-UP MODEL"
`issued to Kuroda et al., dated Feb. 25, 1997; U.S. Pat. No.
`5,587,912 titled "COMPUTER AIDED PROCESSING OF
`THREE-DIMENSIONAL OBJECT AND APPARATUS
`THEREFOR" issued to Andersson et al., dated Dec. 24, 1996;
`U.S. Pat. No. 5,549,476 titled "METHOD FOR MAKING
`DENTAL RESTORATIONS AND THE DENTAL RESTO(cid:173)
`RATION MADE THEREBY" issued to Stem, datedAug. 27,
`1996; U.S. Pat. No. 5,533,895 titled "ORTHODONTIC
`APPLIANCE AND GROUP STANDARDIZED BRACK(cid:173)
`ETS THEREFOR AND METHODS OF MAKING,
`ASSEMBLING AND USING APPLIANCE
`TO
`STRAIGHTEN TEETH" issued to Andreiko et al., dated Jul.
`9, 1996; U.S. Pat. No. 5,518,397 titled "METHOD OF
`FORMING AN ORTHODONTIC BRACE" issued to
`Andreiko et al., dated May 21, 1996; U.S. Pat. No. 5,474,448
`titled "LOW PROFILE ORTHODONTIC APPLIANCE"
`issued to Andreiko et al., dated Dec. 12, 1995; U.S. Pat. No.
`5,454,717 titled "CUSTOM ORTHODONTIC BRACKETS
`AND BRACKET FORMING METHOD AND APPARA(cid:173)
`TUS" issued to Andreiko et al., dated Oct. 3, 1995; U.S. Pat.
`No. 5,452,219 titled "METHOD OF MAKING A TOOTH
`MOLD"issued to Dehoff eta!., dated Sep. 19, 1995; U.S. Pat.
`No. 5,447,432 titled "CUSTOM ORTHODONTIC ARCH(cid:173)
`WIRE FORMING METHOD AND APPARATUS" issued to
`Andreiko et al., dated Sep. 5, 1995; U.S. Pat. No. 5,431,562
`titled "METHOD AND APPARATUS FOR DESIGNING
`AND FORMING A CUSTOM ORTHODONTIC APPLI(cid:173)
`ANCEAND FOR STRAIGHTENING OF TEETH THERE(cid:173)
`WITH" issued to Andreiko et al., dated Jul. 11, 1995; U.S.
`Pat. No. 5,395,238 titled "METHOD OF FORMING ORTH(cid:173)
`ODONTIC BRACE" issued to Andreiko et al., dated Mar. 7,
`1995; U.S. Pat. No. 5,382,164 titled "METHOD FOR MAK(cid:173)
`ING DENTAL RESTORATIONS AND THE DENTAL
`RESTORATIONS MADE THEREBY" issued to Stem,
`dated Jan. 17, 1995; U.S. Pat. No. 5,368,478 titled
`"METHOD FOR FORMING JIGS FOR CUSTOM PLACE(cid:173)
`MENT OF ORTHODONTIC APPLIANCES ON TEETH"
`issued to Andreiko et al, dated Nov. 29, 1994; U.S. Pat. No.
`5,342,202 titled "METHOD FOR MODELING CRANIO(cid:173)
`FACIALARCHITECTURE" issued to Deshayes, datedAug.
`30, 1994; U.S. Pat. No. 5,340,309 titled "APPARATUS AND
`METHOD FOR RECORDING JAW MOTION" issued to
`Robertson, dated Aug. 23, 1994; U.S. Pat. No. 5,338,198
`
`

`

`US 2010/0009308 Al
`
`Jan. 14, 2010
`
`2
`
`titled "DENTAL MODELING SIMULATOR" issued to Wu
`et al., dated Aug. 16, 1994; U.S. Pat. No. 5,273,429 titled
`"METHOD AND APPARATUS FOR MODELING A DEN(cid:173)
`TAL PROSTHESIS" issued to Rekow et al., dated Dec. 28,
`1993; U.S. Pat. No. 5,186,623 titled "ORTHODONTIC FIN(cid:173)
`ISHING POSITIONER AND METHOD OF CONSTRUC(cid:173)
`TION" issued to Breads et al., dated Feb. 16, 1993; U.S. Pat.
`No. 5,139,419 titled "METHOD OF FORMING AN ORTH(cid:173)
`ODONTIC BRACE" issued toAndreiko eta!., datedAug. 18,
`1992; U.S. Pat. No. 5,059,118 titled "ORTHODONTIC FIN(cid:173)
`ISHING POSITIONER AND METHOD OF CONSTRUC(cid:173)
`TION" issued to Breads et al., dated Oct. 22, 1991; U.S. Pat.
`No. 5,055,039 titled "ORTHODONTIC POSITIONERAND
`METHODS OF MAKING AND USING SAME" issued to
`Abbatte et al., dated Oct. 8, 1991; U.S. Pat. No. 5,035,613
`titled "ORTHODONTIC FINISHING POSITIONER AND
`METHOD OF CONSTRUCTION" issued to Breads et al.,
`dated Jul. 30, 1991; U.S. Pat. No. 5,011,405titled "METHOD
`FOR DETERMINING ORTHODONTIC BRACKET
`PLACEMENT" issued to Lemchen, dated Apr. 30, 1991;
`U.S. Pat. No. 4,936,862 titled "METHOD OF DESIGNING
`AND MANUFACTURING A HUMAN JOINT PROSTHE(cid:173)
`SIS" issued to Walker et al., date Jun. 26, 1990; U.S. Pat. No.
`4,856,991
`titled "ORTHODONTIC FINISHING POSI(cid:173)
`TIONERAND METHOD OF CONSTRUCTION" issued to
`Breades et al., datedAugust 15, 1989; U.S. Pat. No. 4,798,534
`titled "METHOD OF MAKING A DENTAL APPLIANCE"
`issued to Breads, datedJan.17, 1989; U.S. Pat. No. 4,755,139
`titled "ORTHODONTIC ANCHOR APPLIANCE AND
`METHOD FOR TEETH POSITIONING AND METHOD
`OF CONSTRUCTING THE APPLIANCE"
`issued to
`Abbatte et al., dated Jul. 5, 1988; U.S. Pat. No. 3,860,803
`titled "AUTOMATIC METHOD AND APPARATUS FOR
`FABRICATING PROGRESSIVE DIES" issued to Levine,
`dated Jan. 14, 1975; U.S. Pat. No. 3,660,900 titled
`"METHOD AND APPARATUS FOR IMPROVED ORTH(cid:173)
`ODONTIC BRACKET AND ARCH WIRE TECHNIQUE"
`issued to Andrews, dated May 9, 1972; each of which is
`incorporated herein by reference in its entirety for all pur(cid:173)
`poses.
`[0007] The practice of orthodontics and other dental treat(cid:173)
`ments can benefit from a computer model that is representa(cid:173)
`tive of the positions of the teeth in a tooth arch. The computer
`model may be prepared based on an impression model taken
`from the subject. The computer model may be utilized to
`assist the dentist in planning an orthodontic treatment regi(cid:173)
`men by providing visual feedback of possible treatment steps
`in a particular treatment regimen.
`[0008]
`In particular, the computer modeling tool may be
`useful in designing and manufacturing removable aligning
`appliances for orthodontic treatment. In some existing sys(cid:173)
`tems, a digital model of the initial arrangement of a subject's
`teeth is generated from information captured from an impres(cid:173)
`sion model of the subject's dentition. A computer is then used
`to manipulate the digital model of the initial arrangement to
`produce a digital model of a desired final tooth arrangement.
`A series of intermediate digital models corresponding to suc(cid:173)
`cessive tooth arrangements from the initial to final arrange(cid:173)
`ments is generated from the digital models of the initial and
`final arrangements.
`[0009] Removable aligning appliances (e.g., devices,
`shells, etc.) produced based on the intermediate digital mod(cid:173)
`els are then used to move the teeth toward the desired final
`positions. Repositioning is accomplished with a series of such
`
`appliances configured to receive the teeth in a cavity and
`incrementally reposition individual teeth in a series of suc(cid:173)
`cessive steps. The successive use of a number of such appli(cid:173)
`ances permits each appliance to be configured to move indi(cid:173)
`vidual teeth in small increments.
`[0010] The individual appliances typically include a poly(cid:173)
`meric shell having the tooth-receiving cavity formed therein.
`Each individual appliance is configured so that its tooth(cid:173)
`receiving cavity has a geometry corresponding to an interme(cid:173)
`diate or end tooth arrangement intended for that appliance.
`That is, when an appliance is first worn by the subject, certain
`of the teeth will be misaligned relative to an undeformed
`geometry of the appliance cavity. The appliance, however, is
`sufficiently resilient to accommodate or conform to the mis(cid:173)
`aligned teeth, and will apply sufficient resilient force against
`such misaligned teeth in order to reposition the teeth to the
`intermediate or end arrangement desired for that treatment
`step.
`[0011] Existing systems for fabricating dental aligners
`from digital models of tooth arrangements may be slow and
`expensive as a result of requiring extensive manipulation of
`the digital models via conventional mouse and keyboard
`computer interfaces by users who view conventional flat rep(cid:173)
`resentations of the digital models.
`
`SUMMARY
`
`[0012] Methods and apparatus for visualizing and manipu(cid:173)
`lating three-dimensional digital dental models and related
`methods and apparatus for dental treatments are disclosed.
`The three dimensional digital dental models may include, but
`are not limited to, digital models ofindividual teeth, groups of
`teeth, tooth arches, gingival tissue, and bone as well as digital
`models of dental appliances including, but not limited to,
`dental aligners. The dental treatment methods disclosed
`include, but are not limited to, fabrication of dental appliances
`such as, for example, dental aligners. The term "dental
`aligner" may refer to any dental device for rendering correc(cid:173)
`tive tooth movement or for correcting malocclusion. One or
`more dental aligners can be worn on the subject's teeth so that
`a subject wearing the dental aligners will gradually have his
`or her teeth repositioned by the dental aligner "pushing" ( or
`pulling) against the teeth and/or gums (gingiva). Additional
`uses for the disclosed methods and apparatuses other than
`manufacturing dental aligners are also contemplated.
`[0013]
`In one aspect, a method is disclosed for visualizing
`and manipulating a three-dimensional digital dental model.
`The method may comprise viewing the three-dimensional
`dental model, and using hand gestures (e.g., hand signals,
`signs, positions, or movements) to instruct a computer to
`manipulate one or more teeth in the digital dental model. The
`digital dental model may comprise, for example, a digital
`model of a subject's tooth arch. Manipulating one or more
`teeth in the digital dental model may comprise, for example,
`rotating, translating, or rotating and translating one or more
`teeth in the digital dental model.
`[0014] Using hand gestures to instruct the computer may
`comprise instructing the computer via at least one data glove
`or equivalent or similar device that measures orientations,
`positions, and/or movements of at least some of a user's
`fingers. A data glove is an input device in the form of a glove
`that measures orientations, positions, and/or movements of a
`wearer's fingers (and, optionally, wrist and elbow) and trans(cid:173)
`mits that information to a computer. Alternatively, or in addi(cid:173)
`tion, using hand gestures to instruct the computer may com-
`
`

`

`US 2010/0009308 Al
`
`Jan. 14, 2010
`
`3
`
`prise instructing the computer via at least one three(cid:173)
`dimensional position sensing device that measures the three(cid:173)
`dimensional position, or a change in the three-dimensional
`position, of at least one of the user's hands. Suitable hand
`gestures may include, but are not limited to, pointing, grab(cid:173)
`bing, and pinching hand and finger positions or motions,
`rotations and translations of the hand or fingers, and other
`hand and finger positions and motions that one of ordinary
`skill in the art having the benefit of this disclosure would find
`suitable. In some variations, a user selects a tooth movement
`with a gesture made with one hand and controls an extent of
`the movement with a gesture made with the other hand. The
`term "hand gesture" as used herein is not meant to include
`conventional keyboard typing or keyboard data entry.
`[0015]
`In some variations an image of a hand (a "virtual
`hand") is displayed with the digital model and controlled by
`a user's hand gestures to manipulate one or more teeth in the
`digital model. The virtual hand may mimic the user's hand
`positions and motions, for example, to allow the user to grasp
`and move an individual tooth with the virtual hand.
`[0016] Manipulating the one or more teeth in the digital
`dental model may also comprise receiving force feedback
`relating to the forces necessary to manipulate one or more
`corresponding teeth in a subject's mouth in the same manner.
`The relationship between the forces may be, for example,
`linear, logarithmic, or non-linear in some other manner.
`[0017] Viewing the three-dimensional digital model may
`comprise viewing a conventional flat representation of the
`three-dimensional model. Alternatively, viewing the three(cid:173)
`dimensional digital model may comprise stereoscopically
`viewing the three-dimensional digital model. Stereoscopi(cid:173)
`cally viewing comprises viewing different images with each
`eye to create, for example, an illusion or perception of depth.
`Stereoscopically viewing the digital dental model may com(cid:173)
`prise viewing left-eye and right-eye images of the digital
`dental model presented on the same screen through a stereo(cid:173)
`scopic viewing device that transmits left-eye images to a
`user's left eye, transmits right-eye images to the user's right
`eye, blocks left-eye images from the user's right eye, and
`blocks right-eye images form the user's left eye. Alterna(cid:173)
`tively, stereoscopically viewing the digital dental model may
`comprise viewing different images presented directly to a
`user's left and right eyes.
`[0018] Any of the disclosed methods for viewing or stereo(cid:173)
`scopically viewing a three-dimensional digital model may be
`used in combination with any of the disclosed methods for
`using hand gestures to instruct a computer to manipulate one
`or more teeth in the digital model. Any such combinations
`may also include a user receiving force feedback representing
`the forces necessary to manipulate one or more correspond(cid:173)
`ing teeth in a subject's mouth in the same manner.
`[0019]
`In another aspect, a dental treatment method is dis(cid:173)
`closed. The method may comprise acquiring a three-dimen(cid:173)
`sional digital model of a current arrangement of a subject's
`teeth, viewing the three-dimensional digital model of the
`current arrangement, using hand gestures to instruct a com(cid:173)
`puter to manipulate one or more teeth in the digital model of
`the current arrangement to generate a three-dimensional digi(cid:173)
`tal model of a modified arrangement of the subject's teeth,
`and fabricating one or more dental aligners configured to
`reposition the subject's teeth into the modified arrangement.
`[0020] The current arrangement of the subject's teeth may
`be, for example, a pretreatment arrangement. Alternatively,
`the current arrangement may have resulted from a previous
`
`treatment or from a previous stage of a treatment that the
`subject is undergoing. The modified arrangement may be, for
`example, a desired or predicted posttreatment arrangement of
`teeth in the subject's mouth expected or intended to result
`from a treatment plan, or an arrangement of teeth in the
`subject's mouth expected or intended to be intermediate
`between the current arrangement and a desired or predicted
`post-treatment arrangement. Intermediate and predicted or
`desired post-treatment arrangements of a subject's teeth may
`be referred to herein as "target" tooth arrangements or tooth
`arches.
`[0021]
`In some variations, acquiring the digital model of
`the current arrangement comprises digitizing the subject's
`tooth arch in the subject's mouth, digitizing a negative
`impression of the tooth arch, and/or digitizing a positive
`model of the subject's current tooth arch. Such digitizing may
`be accomplished, for example, by acquiring images of or
`scanning the tooth arch, negative impression, and/or positive
`model. As used herein, scanning may include, but is not
`limited to, laser scanning, optical scanning, destructive scan(cid:173)
`ning, computed tomography scanning, magnetic resonance
`imaging scanning, acoustic scanning, and scanning with a
`mechanical digitizing or scanning device.
`[0022] The digital model of the current arrangement may
`also be acquired, for example, by acquiring a negative impres(cid:173)
`sion of the subject's tooth arch, casting a positive model of the
`tooth arch from the negative impression, separating the posi(cid:173)
`tive model into a plurality of physical tooth models, generat(cid:173)
`ing a plurality of digital tooth models from the plurality of
`physical tooth models, and generating the digital model of the
`current arrangement from the digital tooth models. The digi(cid:173)
`tal tooth models may be generated, for example, by acquiring
`images of or scanning the physical tooth models. The relative
`positions of the teeth in the current arrangement may be
`determined, for example, by acquiring images of or scanning
`the subject's tooth arch, a negative impression of the tooth
`arch, and/or a positive model cast from the negative impres(cid:173)
`s10n.
`[0023] Viewing the three-dimensional digital model of the
`current arrangement may comprise viewing a conventional
`flat representation of the digital model or stereoscopically
`viewing the digital model by, for example, any of the methods
`disclosed above.
`[0024] Using hand gestures to instruct the computer to
`manipulate one or more teeth in the digital model of the
`current arrangement may comprise, for example, instructing
`the computer via a data glove or similar or equivalent device
`that measures orientations, positions, and/or movements of at
`least some of a user's fingers and/or instructing the computer
`via a three-dimensional position sensing device that measures
`the three-dimensional position, or a change in the three-di(cid:173)
`mensional position, of at least one of the user's hands.
`Manipulating one or more teeth in the digital model of the
`current arrangement may also comprise receiving force feed(cid:173)
`back relating to the forces necessary to manipulate one or
`more corresponding teeth in a subject's mouth in the same
`manner.
`[0025] Any of the disclosed methods for viewing or stereo(cid:173)
`scopically viewing the three-dimensional model of the cur(cid:173)
`rent arrangement may be used in combination with any of the
`disclosed methods for using hand gestures to instruct a com(cid:173)
`puter to manipulate one or more teeth in the digital model of
`the current arrangement. Any such combinations may also
`include a user receiving force feedback relating to the forces
`
`

`

`US 2010/0009308 Al
`
`Jan. 14, 2010
`
`4
`
`necessary to manipulate one or more corresponding teeth in a
`subject's mouth in the same manner.
`[0026] Fabricating one or more dental aligners may com(cid:173)
`prise, for example, arranging a plurality of physical tooth
`models to form a physical model of the modified arrangement
`and then forming (e.g., pressure or vacuum forming) the
`dental aligner over the physical model. In other variations,
`fabricating a dental aligner may comprise manufacturing a
`physical model of the modified arrangement by computer
`numerical control manufacturing based on the digital model
`of the modified arrangement, and then forming the dental
`aligner over the physical model. In yet other variations, fab(cid:173)
`ricating a dental aligner may comprise generating a digital
`model of the dental aligner from the digital model of the
`modified arrangement, and manufacturing the dental aligner
`by computer numerical control manufacturing based on the
`digital model of the dental aligner.
`[0027]
`In some variations, one or more digital models of
`arrangements of a subject's teeth intermediate between the
`current arrangement and the modified arrangement in a treat(cid:173)
`ment plan are generated from the digital model of the current
`arrangement and the digital model of the modified arrange(cid:173)
`ment. The one or more dental aligners may then be fabricated
`from the digital models of intermediate arrangements by
`methods similar or identical to those described above.
`[0028]
`In yet another aspect, another dental treatment
`method is disclosed. The method may comprise stereoscopi(cid:173)
`cally viewing a three-dimensional digital model of an
`arrangement of a subject's teeth, manipulating one or more
`teeth in the digital model to generate a three-dimensional
`digital model of a modified arrangement of a subject's teeth,
`and fabricating one or more dental aligners to reposition the
`subject's teeth into the modified arrangement. The digital
`models may be stereoscopically viewed by any of the meth(cid:173)
`ods disclosed herein. Manipulating teeth in the digital models
`may comprise, for example, using a conventional keyboard
`and/or conventional mouse to instruct the computer to
`manipulate the teeth. Alternatively, or in addition, manipulat(cid:173)
`ing teeth in the digital models may comprise using hand
`gestures as disclosed herein, for example, to instruct the com(cid:173)
`puter to manipulate the teeth. The one or more dental aligners
`may be fabricated by any of the methods disclosed herein.
`[0029] Using hand gestures to instruct a computer to
`manipulate a digital dental model may, in some variations, be
`easier, faster, and less expensive than using a conventional
`mouse and/or keyboard to interact with the computer. Stereo(cid:173)
`scopically viewing a three-dimensional digital model, rather
`than viewing a flat representation of the digital model, may
`also allow easier, faster, and less expensive manipulation of
`the digital model in some variations because, for example, the
`stereoscopic view may allow a user to more accurately per(cid:173)
`ceive the relative positions of various portions of the digital
`model.
`[0030] These and other embodiments, features and advan(cid:173)
`tages of the present invention will become more apparent to
`those skilled in the art when taken with reference to the
`following more detailed description of the invention in con(cid:173)
`junction with the accompanying drawings that are first briefly
`described.
`
`[0032] FIG. 2 shows a flow chart for using hand gestures to
`instruct a computer to manipulate one or more teeth in a
`digital dental model according to some variations of the
`exemplary process of FIG. 1.
`[0033] FIG. 3 shows an example of a user interface for
`displaying a digital representation of a subject's tooth arches.
`In this example, two windows are provided to display both a
`pre-modified tooth arch (shown in the left window) and a
`modified tooth arch (shown in the right window) in a side(cid:173)
`by-side manner.
`[0034] FIG. 4 shows a flow chart for an exemplary process
`for fabricating dental aligners as described herein.
`[0035] FIG. 5 shows a perspective view of a casting cham(cid:173)
`ber that may be used to cast a dental arch in some variations.
`[0036] FIG. 6 shows a base plate for a dental arch attached
`to a casting chamber lid according to some variations.
`[0037] FIG. 7 shows the use of a position measurement
`device to measure the locations and/or orientations of features
`in a negative impression of a dental arch according to some
`variations.
`[0038] FIG. 8 shows a base plate attached to the lid of a
`casting chamber and placed over the casting chamber so that
`pins attached to the base plate are positioned within a negative
`impression of a tooth arch according to some variations.
`[0039] FIG. 9 shows a positive mold of a subject's tooth
`arch according to some variations.
`[0040] FIG. 10 shows physical tooth models separated
`from the positive mold of FIG. 6 according to some varia(cid:173)
`tions.
`[0041] FIG. llA shows a scanning system used to digitize
`physical tooth models according to some variations.
`[0042] FIG. 11B shows a top view of physical tooth models
`mounted to a scan plate in the scanning system of FIG. llA
`according to some variations.
`[0043] FIG. llC shows a side view of physical tooth mod(cid:173)
`els mounted to a scan plate in the scanning system of FIG.
`llA according to some variations.
`[0044] FIG. 12 shows examples of graphic projections of
`digital representations of physical too