JP4492879B2 - Biological impression acquisition apparatus, method, and program - Google Patents

Description

  The present invention relates to a biological impression acquisition apparatus, method, and program, and more particularly, to a biological impression acquisition apparatus, method, and program for acquiring an impression of an object such as an ear hole.

  Acquiring an impression of a living body is used in various medical scenes. For example, in the context of otolaryngology, modeling of a wearing part of a hearing aid that is a hearing aid device is performed. In general, the shape of the hearing aid is to accurately measure (take an impression) the shape of the ear such as the pinna, the ear canal and the ear canal. In addition, hearing aids are currently collected with 3-5 minutes of impression by curing a soft (rubber, etc.) shaper or liquid, but patients may experience pain and discomfort. is there. Further, for example, in the case of a patient with perforation in the eardrum, since there is a possibility that a shaping agent or the like flows into the middle ear, it is essential to avoid injecting liquid into the outer ear canal. In addition, the hearing aid design is technical and relies on skilled personnel.

As a method for solving this problem, it has been proposed to shape the hearing aid based on the shape data obtained by measuring the shape of the ear three-dimensionally. For example, Patent Document 1 discloses a technique for inserting a sensor capable of measuring a three-dimensional shape from the ear canal, measuring the three-dimensional shape of the ear canal, and shaping the hearing aid based on the shape data.
Japanese Patent Laid-Open No. 9-10254

  However, even if the three-dimensional shape measurement of Patent Document 1 can measure the three-dimensional shape of the external auditory canal, a plurality of shape data of portions having different shapes from a relatively wide portion around the ear canal to a narrow hole such as the ear canal are continuously collected. Therefore, there is a problem that it is impossible to obtain all the data necessary for the hearing aid model. For this reason, at present, there is no apparatus that enables simple modeling of a living body.

  The present invention has been made in consideration of the above facts, and with a simple configuration and operation, it is possible to continuously collect a plurality of shape data of parts having different shapes from the periphery of the outer ear canal to the ear canal. It is an object to obtain a living body impression acquisition device, method and program capable of modeling the shape of the body.

In order to achieve the above object, a living body impression acquisition device according to the present invention includes a scanning device that scans the surface of an object with a laser beam, and the laser beam reflected by the surface of the object to receive the object. Detection means for detecting a three-dimensional position of the surface of the object irradiated with laser light, and the scanning apparatus and the detection from a reference axis in a predetermined direction from the object to the scanning apparatus and the detection means Tilting means for tilting the means, and rotating means for rotating the scanning device and the detection means about a predetermined direction from the object toward the scanning device and the detection means. While detecting the three-dimensional position of each location on the surface of the object while scanning the scanning device and the detection means with the laser beam while tilting, the detected tertiary Seeking the axis of the hole in the ear based on the position, by measuring the surface of the object optically while rotating the scanning device and the detection means by said rotation means as the center axis an axis which is determined, at least the outer ear hole The shape measuring means for optically measuring the surface of the object with the hole of the ear including the object to obtain surface shape information representing the three-dimensional position of each part of the surface of the object, and obtained by the shape measuring means Based on the obtained surface shape information, a creation means for creating a three-dimensional shape model of the object, an input means for inputting an insertion position of the insert to be inserted into the object, and the created In addition to setting the position of the outer ear canal in the three-dimensional shape model, setting means for setting a region from the set position of the outer ear canal to the input insertion position as a mold region, and the three-dimensional shape model To generate a pattern model representing a three-dimensional shape for the set type region is configured to include a control means for outputting the data of the generated pattern model and.

  In the present invention, the shape measuring means optically measures the surface of the object with at least the ear hole including the outer ear canal as the object, and obtains surface shape information representing the three-dimensional position of each part of the object surface. . Based on the surface shape information acquired by the shape measuring means, the creating means creates a three-dimensional shape model of the object. As a result, a three-dimensional shape model of the ear hole including at least the outer ear canal is obtained. The ear hole that goes from the outer ear hole to the deep part has a plurality of bent parts, but when making a hearing aid, a part of it is shaped. In this region, a standard value is determined as a distance from the outer ear canal toward the deep portion. Then, the insertion position in the target object of the insert to be inserted into the target object is input by the input means. On the other hand, the position of the outer ear canal can be set from a three-dimensional shape model of the ear hole including at least the outer ear canal. For example, the vicinity of the inflection point where the tubular portion obtained as a three-dimensional shape model spreads out can be set as the position of the outer ear canal. Then, the setting means sets the position of the outer ear canal in the three-dimensional shape model, and sets the area from the set position of the outer ear hole to the input insertion position as the mold area. If this mold area is set, it is possible to specify an insertion part when creating a hearing aid. Therefore, the control unit generates a mold model representing the three-dimensional shape for the mold region set from the three-dimensional shape model, and outputs data of the generated mold model.

  As a result, data can be obtained as a type model for an area for creating a hearing aid insertion portion that becomes an ear assisting device as a living body, for example, from the periphery of the outer ear canal to the ear canal.

In the living body impression acquisition apparatus, the shape measuring unit is configured to scan a surface of the object with a laser beam, and receive a laser beam reflected on the surface of the object to receive the surface of the object. And detecting means for detecting the three-dimensional position of the portion irradiated with the laser light, and scanning the respective positions on the surface of the object with the laser light for detecting the three-dimensional position by the detecting means. Ru can be carried out repeatedly while.

  Thereby, the object surface shape information can be acquired. The detection of the three-dimensional position by the detection means can be performed by applying, for example, a triangulation method. By configuring the shape measuring means as described above, the three-dimensional position of each part on the surface inside the ear canal can be detected without contact from the periphery of the object, for example, the ear canal.

In the living body impression acquisition apparatus, the shape measuring unit includes a rotating unit that rotates the scanning unit and the detecting unit about a central axis of an ear hole, and the rotating unit causes the scanning unit and the detecting unit to rotate. while rotating Ru can measure the surface of the object optically.

  When a three-dimensional position is detected linearly from the outer ear canal to the deep part of the ear canal while scanning with a scanning device, it is necessary to change the direction of scanning and detection in order to obtain all impressions of the tubular ear canal. is there. Therefore, all the impressions of the tubular ear canal can be obtained by rotating the scanning device and the detecting means about the central axis of the ear hole by the rotating means.

According to a second aspect of the invention, in a biological impression acquisition apparatus according to claim 1, wherein the shape measuring means includes an elastic means for said scanning device and said detection means, expands and contracts along the central axis of the ear hole, the The surface of the object is optically measured while expanding and contracting the scanning device and the detecting unit by an expansion / contraction unit.

  The shape measuring means performs shape measurement by scanning, but it is preferable to change the position in the direction along the ear hole in order to measure along the ear hole. Therefore, if the expansion / contraction means is expanded and contracted along the central axis of the ear hole, measurement in the direction along the ear hole can be easily performed.

According to a third aspect of the present invention, in the biological impression acquisition apparatus according to the first or second aspect , the input means includes a display means for displaying the created three-dimensional shape model, and a three-dimensional model displayed on the display means. And an instruction means for instructing the insertion position.

  When inputting an insertion position in an object to be inserted into the object using the three-dimensional shape model of the ear hole, the operator desires that an appropriate position can be set while visually confirming. Therefore, if the three-dimensional shape model is displayed on the display means and the insertion position is indicated on the displayed three-dimensional model by the instruction means, the insertion position can be input reliably and easily.

The biometric impression acquisition method according to another invention can realize the shape of a living body such as an ear with a simple apparatus configuration, like the biometric impression acquisition apparatus of the present invention. Specifically, a scanning device that scans the surface of the object with laser light, and 3 of the portions irradiated with the laser light among the surface of the object by receiving the laser light reflected by the surface of the object. Detecting means for detecting a dimensional position; tilting means for tilting the scanning device and the detecting means from a reference axis in a predetermined direction from the object toward the scanning device and the detecting means; and scanning from the object And a tilting means for tilting the scanning device and the detecting means to a shape measuring device comprising: a rotating means for rotating the scanning device and the detecting means about a predetermined direction toward the apparatus and the detecting means. While detecting the three-dimensional position of each part on the surface of the object while scanning with the laser beam, the axis of the ear hole is obtained based on the detected three-dimensional position. By measuring the surface of the object while rotating the scanning device and the detection means optically by said rotation means as the center axis an axis which is determined, the object of the ear canal, including at least the ear hole as an object Optically measuring the surface of the object, obtaining surface shape information representing the three-dimensional position of each part of the object surface, and a three-dimensional shape model of the object based on the obtained surface shape information A step of inputting an insertion position of the insert to be inserted into the object, and a position of the outer ear canal in the created three-dimensional shape model, Based on the step of setting a region from the position of the ear canal to the input insertion position as a mold region, and generating a mold model representing the three-dimensional shape of the set mold region Together, and a step for outputting the data of the generated pattern model and.

In addition, by executing a biological impression acquisition program according to another invention on a computer, the computer functions as the biological impression acquisition device of the present invention, and it is possible to shape the shape of a living body such as an ear with a simple configuration. realizable. Specifically, a scanning device that scans the surface of the object with laser light, and 3 of the portions irradiated with the laser light among the surface of the object by receiving the laser light reflected by the surface of the object. Detecting means for detecting a dimensional position; tilting means for tilting the scanning device and the detecting means from a reference axis in a predetermined direction from the object toward the scanning device and the detecting means; and scanning from the object And a tilting means for tilting the scanning device and the detecting means to a shape measuring device comprising: a rotating means for rotating the scanning device and the detecting means about a predetermined direction toward the apparatus and the detecting means. While detecting the three-dimensional position of each part on the surface of the object while scanning with the laser beam, the axis of the ear hole is obtained based on the detected three-dimensional position. By measuring the surface of the object while rotating the scanning device and the detection means optically by said rotation means as the center axis an axis which is determined, the object of the ear canal, including at least the ear hole as an object Optically measuring the surface of the object, obtaining surface shape information representing a three-dimensional position of each location on the surface of the object, and a three-dimensional shape model of the object based on the obtained surface shape information A step of inputting an insertion position of the insert to be inserted into the object, and a position of the outer ear canal in the created three-dimensional shape model, A step of setting a region from the position of the ear canal to the input insertion position as a mold region, and representing a three-dimensional shape of the set mold region based on the three-dimensional shape model To generate a model, and outputting the data of the generated pattern model includes a process for executing each process in the computer.

  As described above, since the present invention can obtain surface shape information of at least the ear hole including the outer ear canal by shape measurement, a three-dimensional shape model is created from the surface shape information, and a mold region for modeling The model model data representing the three-dimensional shape is output, and for example, the region data for creating the insertion part of the hearing aid that becomes an ear assisting device as a living body can be obtained.

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings. Hereinafter, a case where the present invention is applied to acquisition of an impression of a patient's ear as a living body will be described as an example, but the present invention is not limited to this.

  FIG. 1 shows a biological impression acquisition apparatus 10 according to the present embodiment. The biometric impression acquisition apparatus 10 includes a computer 12 including a personal computer (PC). The computer 12 includes a CPU 12A, a ROM 12B, a RAM 12C, and an input / output port 12D, which are connected to each other via a bus 12E. The input / output port 12D has a keyboard 14 and mouse 16 for allowing an operator to input arbitrary information and give various instructions, a display 18 including an LCD or CRT, an arbitrary information display 18, a hard disk drive ( HDD) 20 and a CD-ROM drive 22 are connected to each other. The display 18 corresponds to display means according to the present invention. The biometric impression acquisition device 10 corresponds to the biometric impression acquisition device of claim 1.

  The HDD 20 of the computer 12 is preinstalled with a biological impression acquisition program including a three-dimensional model generation program for generating a three-dimensional shape model and a model model, which will be described later. In this embodiment, the computer 12 corresponds to the computer described in claim 8, the biometric impression acquisition program corresponds to the biometric impression acquisition program according to the invention described in claim 8, and the computer 12 executes the biometric impression acquisition program. Thus, it is possible to function as the biological impression acquisition device according to claim 1.

  There are several methods for installing (transferring) the biological impression acquisition program to the computer 12. For example, the biological impression acquisition program is recorded on a CD-ROM together with the setup program, and this CD-ROM is stored in the CD of the computer 12. -When set in the ROM drive 22 and instructs the CPU 12A to execute the setup program, the biometric impression acquisition program is read from the CD-ROM and written in the HDD 20 in order, and various settings are performed as necessary. Thus, the biometric impression acquisition program is installed.

  Further, a molding device 24 and a three-dimensional shape measuring device 30 are connected to the input / output port 12D of the computer 12, respectively. The three-dimensional shape measuring apparatus 30 measures the shape of the hole from the patient's outer ear hole. The forming device 24 is a device for forming a mounting portion on the ear from the generated three-dimensional data of the mold model. In addition, the shaping | molding apparatus 24 is not a structure essential to this invention, and can be abbreviate | omitted. That is, as will be described in detail later, if a three-dimensional shape model or a model model has been generated, data can be acquired in a reusable format, and the acquired data may be stored so as to be usable.

  As shown in FIG. 2A, the three-dimensional shape measuring apparatus 30 can be worn so as to cover both ears of a patient (so-called headphone shape), and the right ear wearing part 30R and the left ear wearing part 30L. , And an arm 30A connecting them. As shown in FIG. 2B, a scanning measurement unit 48, which is a basic part of the three-dimensional shape measuring apparatus 30, is provided on the right ear approaching side of the right ear mounting portion 30R. The scanning measurement unit 48 has a box shape, and a rectangular opening is provided on the bottom surface of the scanning measurement unit 48. The opening is closed by a light-transmitting cover 50, and the three-dimensional shape measurement is performed. The device 30 is attached at a position corresponding to the cover 50 (opening) inside the housing of the measurement / imaging unit 48.

  As shown in FIG. 2C, the right ear mounting part 30R has an ear pad 33 attached to an exterior part 32 having a circular cross section. A circular base plate 34 having a center axis CL as the center of the exterior portion 32 is fixed to the exterior portion 32, and is tilted at three positions on the ear mounting side of the base plate 34 and at equal intervals from the central axis CL. One end of the portion 36 is attached. The other end of the shaft tilt drive unit 36 is attached to a circular base plate 38 having a bearing 44 attached to the outer periphery. The initial state of the circular base plate 38 is attached so that the center of the circular base plate 38 coincides with the central axis CL. The shaft tilt drive unit 36 functions as an axial direction adjustment mechanism that adjusts the direction of the shaft, and the length is adjusted by a signal from a controller (not shown). By adjusting the lengths of these three shaft inclination driving portions 36, the circular base plate 38 is inclined with respect to the base plate 34, and the normal direction of the circular base plate 38 is set to the normal direction of the base plate 34. Can be adjusted. The normal direction of the rotation base plate 46 can be adjusted with respect to the central axis CL.

  A circular base plate 38 is attached to the inside of the bearing 44, while a rotating base plate 46 is attached to the outside of the bearing 44. The rotation base plate 46 is attached so that the center of the rotation base plate 46 coincides with the central axis CL. A motor 40 is mounted on the side of the circular base plate 38 where the shaft tilt drive unit 36 is mounted with the rotary shaft 41 facing the outer periphery in the radial direction of the circular base plate 38. A pulley 42 is attached to the tip of the rotating shaft 41. The outer periphery of the pulley 42 is in contact with the outer ring side of the bearing 44 fixed to the rotating base plate 46. Thereby, when the rotating shaft 41 of the motor 40 rotates, the pulley 42 is rotated, and the rotation base plate 46 which is contacted and connected is rotated. A scanning measurement unit 48 is attached to the ear mounting side of the rotary base plate 46. The scanning measurement unit 48 is attached so that the central axis CL is positioned at the center of a scanning range described later as an initial state.

  Therefore, by adjusting the axis tilt drive unit 36, the normal direction of the rotation base plate 46 can be adjusted with respect to the central axis CL, that is, the direction of the optical axis of the scanning measurement unit 48 can be adjusted. Also, the rotation base plate 46 can be rotated by the rotation of the motor 40, that is, the scanning direction of the scanning measurement unit 48 can be rotated (details will be described later, see FIG. 3).

  In the following description, the normal direction of the rotation base plate 46 is described as the central axis L. Further, the configuration of the left ear mounting portion 30L is the same as the configuration of the right ear mounting portion 30R, and thus detailed description thereof is omitted. In addition, here, it is assumed that the three-dimensional shape measuring apparatus 30 includes the scanning measurement unit 48 and the like in each of the right ear mounting portion 30R and the left ear mounting portion 30L, but the present invention is not limited to this. You may make it equip at least one of the right ear mounting part 30R and the left ear mounting part 30L with the scanning measurement unit 48 grade | etc.,.

  FIG. 3 shows a conceptual diagram for explaining the central axis and the scanning direction adjusted in the three-dimensional shape measuring apparatus 30. As shown in FIG. 3A, the three-dimensional shape measuring apparatus 30 has a scanning measurement unit 48, a rotation drive unit including a motor 40 that rotates the scanning measurement unit 48, and the like. A rotation unit 39 including a rotation drive unit and an axis inclination drive unit 36 that inclines the axis of the rotation unit 39 (inclination of the central axis L) are included. The scanning measurement unit 48 can rotate in one direction (in the direction of arrow R in FIG. 3) about the central axis L by a rotary drive unit including a motor 40 and the like. Further, the direction of the central axis L with respect to the base plate 34 can be tilted in a predetermined direction (the direction of the arrow u and the direction of the arrow v in FIG. 3) by the shaft tilt drive unit 36. The central axis L is set so as to be located near the center of the outer ear hole 80. As shown in FIG. 3B, the scanning measurement unit 48 sets the scanning range 52 so as to cover the outer ear hole 80. Then, the scanning measurement unit 48 is rotated about the central axis L (the angle θ in FIG. 3), whereby the scanning direction is changed. By performing this rotation 360 degrees, the inner surface (surface) of the ear hole can be measured.

  As shown in FIG. 4, the scanning measurement unit 48 included in the three-dimensional shape measurement apparatus 30 includes a movable base 56 that is spanned between a pair of rails 54. A ball screw 60 that extends in parallel with the rail 54 and is rotated by a motor 58 is screwed into the movable base 56, and is slid along the rail 54 as the ball screw 60 rotates. The movable base 56 is provided with a light emitting unit 62 configured to include a laser light source. On the laser light (transmitting laser light) emission side of the light emitting unit 62, a mirror 64 attached to the movable base 56, A galvanometer mirror 66 which is attached to the rotating shaft of the motor 72 and whose direction is changed as the motor 72 is driven is arranged in order. The outgoing laser light emitted from the light emitting unit 62 is reflected by the mirror 64 and the galvanometer mirror 66, passes through the cover 50, and is emitted outside the housing of the scanning measurement unit 48.

  In addition, the outgoing laser light emitted outside the housing of the scanning measurement unit 48 is reflected by the irradiated object (for example, around the outer ear hole), passes through the cover 50 and is incident on the mirror 67 as return laser light. The mirror 67 is attached to the rotating shaft of the motor 72 in the same direction as the galvanometer mirror 66, and is configured to change the direction as the motor 72 is driven. On the return laser beam emission side of the mirror 67, a mirror 68, a lens 69, and a line sensor 70 in which a large number of photoelectric conversion elements are arranged in a line are arranged in order. The return laser beam incident on the mirror 67 is mirrored. Reflected by 67 and 68 and transmitted through the lens 69, the line sensor 70 receives the light. An output signal from the line sensor 70 is input to the controller of the three-dimensional shape measuring apparatus 30 via an amplifier or an A / D converter (both not shown). In addition, a position sensor that detects the position of the movable base 56 and an angle sensor that detects the orientation of the galvanometer mirror 66 (and the mirror 67) are also connected to the controller.

  Based on the light reception data input from the line sensor 70 via the amplifier / A / D converter, the controller determines which photoelectric conversion element of the line sensor 70 has received the laser light. Based on the position of the photoelectric conversion element that has received the laser light, the position of the movable base 56 detected by the sensor, and the orientation of the galvanometer mirror 66, the three-dimensional coordinates of the laser light irradiation position on the irradiated object (in detail, A three-dimensional coordinate system (three-dimensional coordinates in a three-dimensional coordinate system (referred to as a housing coordinate system) set with the position of the casing of the scanning measurement unit 48 as a reference) is detected (calculated) by the triangulation method. Motors 72 and 58 are respectively connected to the controller, and the motor 72 is driven to change the direction of the galvanometer mirror 66 (and the mirror 67), so that the laser beam irradiation position on the irradiated object is changed to the motor 72. In addition to moving along the direction orthogonal to the axis of the rotation axis (main scanning), the motor 58 is driven to move the movable base 56, so that the laser beam irradiation position on the irradiated object is parallel to the rail 54. Move along the direction (sub-scan).

  As a result, the surface shape of the irradiated object (three-dimensional coordinates of each part of the surface of the irradiated object) is measured by the three-dimensional shape measuring apparatus 30 over the entire surface. When instructed by the computer 12, the three-dimensional shape measuring apparatus 30 measures the surface shape of the irradiated object, and data representing the three-dimensional coordinates of each part of the surface of the irradiated object obtained by the measurement (hereinafter referred to as this data). (Referred to as surface measurement data).

  When the scanning measurement unit 48 is rotated by the motor 40, the origin of the coordinate axes of the three-dimensional coordinate system (housing coordinate system) and the direction of the coordinate axes change, so the surface measurement data measured at each rotation angle is determined. It is necessary to perform coordinate conversion into data of a three-dimensional coordinate system (housing coordinate system) at the specified rotation angle. A coordinate conversion coefficient for performing this coordinate conversion is stored in the computer 12 in advance for each rotation angle. A method for obtaining the coordinate conversion coefficient will be described.

  As shown in FIG. 8, three spheres 51A, 51B, and 51C having different reflectivities are installed as reference measuring elements 51 in an area where three-dimensional shape measurement is possible by laser light irradiation from the scanning measurement unit 48, Three-dimensional shape measurement is performed at each rotation angle. In this case, it is preferable that the positional relationship between the spheres 51A, 51B, 51C and the distance relationship from the sphere to the scanning measurement unit 48 are known. Since the surface data of the three spheres can be distinguished by the amount of reflected light, the sphere center coordinates are calculated from the surface data of each sphere by the least square method. A coordinate conversion formula for converting a coordinate in one coordinate system into a coordinate in another coordinate system is the following equation (1).

  The rotation angle defined in the above equation (1), the three spherical center coordinates at each rotation angle, and the unit component of the normal vector of the plane including the three spherical center coordinates are represented by (X1, Substituting into (Y1, Z1) and (X2, Y2, Z2) forms three sets of simultaneous equations with four equations. By solving these three sets of simultaneous equations, values g11 to g33 and vector components a, b, and c of the coordinate conversion equation can be obtained. Determinant values g11 to g33 and vector components a, b, and c at each rotation angle are stored in the computer 12 as coordinate transformation coefficients at each rotation angle.

  The surface measurement data corresponds to the surface shape information according to the present invention. The rail 54, the movable base 56, the motor 58, the ball screw 60, the light emitting unit 62, the mirror 64, the galvanometer mirror 66, and the motor 72 are defined in claim 2. In the scanning device described above, the mirrors 67 and 68, the lens 69, the line sensor 70, and the motor 72 correspond to the detection means described in claim 2, respectively.

  Next, the operation of this embodiment will be described. In this embodiment, a case will be described in which impression acquisition of a patient's ear is executed and data output (after patterning) for creating a wearing part of a hearing aid is performed. First, when the computer 12 that has been turned on is instructed to start the biometric impression acquisition program, a biometric impression acquisition process (FIG. 5) including generation of a three-dimensional shape model and a model model is executed. This biological impression acquisition process will be described with reference to the flowchart of FIG.

  First, the three-dimensional shape measuring apparatus 30 is fixed to the patient's head (more specifically, to cover the ear). As will be described later, the three-dimensional shape of the external auditory canal is measured from the vicinity of the ear canal. In order to improve measurement accuracy, it is preferable to fix the face to a table that gently presses the patient's chin, forehead, and temporal region. . After the fixing is completed, when information indicating that the process proceeds to the impression acquisition process is input by the operator via the keyboard 14, an affirmative determination is made in step 100. In step 100, the negative determination is repeated until the activation of the biometric impression acquisition program is instructed by the keyboard 14 (information indicating that the process shifts to the impression acquisition process is input). In step 102, an initial position (focal point) is set near the outer ear canal. Here, assuming that the center position of the outer ear hole corresponds to the center position of the moving range of the scanning measurement unit 48 of the three-dimensional shape measuring apparatus 30, the center position (center axis CL) is set to an initial value (FIG. 2). . This setting may be performed manually while visually observing the center position of the outer ear hole.

  In the next step 104, the central axis L of the ear canal is derived (the optical axis is inclined). The central axis L is an axis that can penetrate without contacting the surface of the ear canal, and the axis that can obtain the longest depth from the ear canal is derived. Specifically, with respect to the initial angle of the axis tilt drive unit 36, the laser beam is emitted toward the patient's ear (the ear canal), and the return laser beam reflected on the patient's ear (the ear canal) is reflected on the line sensor 70. The detection (calculation) of the three-dimensional coordinates of the deepest portion of the laser light irradiation position based on the light receiving position at is repeated while changing the direction of the galvanometer mirror 66 (and the mirror 67) and moving the movable base 56. Thus, the deepest portion of the surface shape inside the patient's ear (the ear canal) is measured. Thereby, the deepest part can be measured in the scanning direction X (FIG. 3) with respect to the central axis of the ear canal.

  However, the external auditory canal is not necessarily orthogonal to the central axis CL, which is the normal direction of the scanning measurement unit 48, and is generally inclined, and the reflected light of the laser beam at the deepest portion may not be obtained. is there. Therefore, the scanning measurement unit 48 is rotated at an angle θ (FIG. 3) and the deepest portion measurement is performed again. By performing this process by rotating each predetermined angle, and processing for one rotation, the deepest portion of the currently set central axis L can be measured. The above processing is performed for each state in which the initial angle is inclined to the arrows u and v (FIG. 3) by a predetermined angle, and the central axis Li = (ui, vi) of the ear canal where the calculation result is the deepest is obtained. To derive. Note that i is an arbitrary natural number. Further, the inclination of the arrow u and the arrow v can be executed by the shaft inclination driving unit 36.

  Note that since the process of step 104 is a process of self-derivation of the central axis L of the ear canal, it is not necessary to derive detailed three-dimensional coordinates and it is not necessary to obtain all the surfaces. For this reason, it is easy to reduce the amount of calculation. In the above description, the central axis L of the ear canal is derived by setting an axis that penetrates without contacting the deepest part of the ear canal. However, the present invention is not limited to this. For example, the deepest part may be set by position or distance. FIG. 6 shows an image of the derived central axis L of the ear canal. FIG. 6 shows a central axis L1 that achieves the deepest part of the ear canal as the central axis L, and a central axis L2 that focuses only on the ear canal near the ear canal.

  When the derivation of the central axis L of the ear canal ends, the process proceeds to step 106, and impression acquisition is started. In the impression acquisition, the three-dimensional shape measuring apparatus 30 is instructed to measure the surface shape. As a result, the three-dimensional shape measuring apparatus 30 emits laser light toward the patient's ear canal including the patient's ear canal, and is based on the light receiving position on the line sensor 70 of the return laser light reflected by the patient's surface. Then, detecting (calculating) the three-dimensional coordinates of the irradiation position of the laser beam is repeated while changing the direction of the galvanometer mirror 66 (and the mirror 67) and moving the movable base 56, so that the surface shape of the patient's ear canal Measure (three-dimensional coordinates of each part). The surface measurement data output as the measurement result of the surface shape by the three-dimensional shape measuring apparatus 30 is a three-dimensional coordinate value in the housing coordinate system.

  Acquiring an impression in step 106 is measuring the band shape of the ear canal hole. That is, the measurement by the three-dimensional shape measuring apparatus 30 measures and records the three-dimensional shape of the ear canal from the vicinity of the outer ear canal by the principle of triangulation by reflection of laser light. Therefore, it is impossible to measure all the inner surfaces of the ear canal. Therefore, in a single measurement by the three-dimensional shape measuring apparatus 30, a band-like region having a predetermined width is measured on the inner surface of the ear canal (range k in FIG. 3B).

  In the next step 108, it is determined whether or not the rotation of the scanning measurement unit 48 has finished 360 degrees (one rotation). On the other hand, when the result is negative, the scan measurement unit 48 is rotated by a predetermined angle θ predetermined in step 110 and then the process returns to step 106. Accordingly, while the scanning measurement unit 48 rotates by a predetermined angle θ, the band-shaped outer ear canal inner shape in the range k is measured. Note that the angle θ is determined so that a part of the range k overlaps.

  When the measurement data (three-dimensional coordinate values) of the inner surface shape of the outer ear canal in the range k is obtained by the above processing, in step 112, the measurement data of the inner surface shape of the outer ear canal region is subjected to coordinate conversion by the coordinate conversion coefficient at each angle θ. The three-dimensional shape of the external auditory canal is constructed by using the data of the housing coordinate system at the angle θ determined as described above. Here, a three-dimensional shape model based on a housing coordinate system is generated by constructing a three-dimensional shape of the ear canal. As a result, as shown in FIG. 6, a three-dimensional shape model is generated as a surface shape of the part exposed to the outside as an ear and the external auditory canal hidden inside. Digital data regarding the three-dimensional shape model 84 is stored in the computer (the hard disk drive 20 thereof).

  In the above description, the case where the band-like measurement (scanning by the range k) and the process of sequentially rotating the scanning measurement unit 48 is repeated has been described. However, the center of the measuring device is placed at the center of the cross section of the ear canal, and the laser The part (Linear Photodiode Array) is placed diagonally at an angle of 180 degrees, moved forward (rotated to a spiral), and scanned from the back of the ear canal to the ear canal in front. Also good. With the above process, the shape from the back of the ear canal to the vicinity of the outer ear canal can be measured with a single device.

  Here, the wearing part of the hearing aid is assumed to be a linear region of the ear canal. On the other hand, the ear canal has several bent portions as it goes into the head. The external auditory canal extends to the part exposed to the outside as an ear, and this region is referred to as an external ear hole 80. Therefore, if a portion from the outer ear hole 80 to the first bent portion that proceeds to the inside of the ear canal is set as a hearing aid wearing examination portion, a sufficient hearing aid wearing portion can be secured. Therefore, in step 114, the first bent portion that goes into the ear canal is determined as the first curve 82. In the next step 116, the ear canal is determined. The determination of the outer ear hole 80 is performed by automatically detecting the position of the bending portion of the ear canal that has the maximum bending degree. It should be noted that the portion exposed to the outside in the three-dimensional shape model may be set by the operator, and the first bent portion may be set as the outer ear hole 80. In addition, the digital data stored in step 112 is displayed on the display 18, or a model image obtained by reconstructing the three-dimensional shape model 84 from the digital data is displayed on the display 18, and input by the mouse 16 or the keyboard 14. You may decide by a numerical value or a position.

  In the next step 118, the area from the outer ear hole 80 to the first curve 82 is determined as a mold area, and the depth of the wearing part of the hearing aid is set. This mold region is a region corresponding to the wearing part of the hearing aid, and is considered when the hearing aid is created. Therefore, in the present embodiment, a model image obtained by reconstructing the three-dimensional shape model 84 from the digital data stored in step 112 is displayed on the display 18, and the mold area is input and set using the mouse 16 or the keyboard 14. decide. In this setting, an area from the outer ear hole 80 to a predetermined depth (for example, 10 mm) may be set as a wearing part of the hearing aid.

  As shown in FIG. 6, a three-dimensional shape model 84 is displayed on the display 18, and a depth S (distance S1 in the case of the central axis L1 and the central axis L2) of a predetermined distance (for example, 10 mm) from the outer ear hole 80 is displayed. The area up to the distance S2) is presented as the examination area of the hearing aid wearing part. While viewing the display 18, the operator inputs where (from what to where) the shape is required (in this embodiment, tracing with the mouse 16). From this input result, a mold region is determined, and a mold model 86 having an outer shape is obtained.

  In the next step 120, the shape of the mold area determined in step 118 is extracted. The shape extraction of the mold area is a process for extracting a three-dimensional coordinate group of the mold model 86. In the next step 122, the digital data (three-dimensional coordinate group) for the mold model 86 is stored in the computer, and the digital data (three-dimensional coordinate group) is output to the molding device 24. As a result, the molding device 24 can mold the mounting portion on the ear that matches the mold model based on the input digital data (three-dimensional coordinate group). In step 122, output of digital data (three-dimensional coordinate group) to the molding apparatus 24 is not essential. That is, it is only necessary to store the digital data (three-dimensional coordinate group) in the hard disk drive 20.

  In the next step 124, it is determined whether or not a confirmation completion instruction indicating that the visual confirmation of the display 18 by the operator has been completed has been made with the keyboard 14 or the mouse 16. If negative, the process returns to step 102 and the above process is repeated. On the other hand, if the determination is affirmative, this processing routine is terminated.

  In the above description, the surface shape of the external auditory canal can be measured by the scanning measurement unit 48 (three-dimensional shape measuring device 30). However, there may be an object in the external auditory canal that inhibits reflected light such as vellus hair. . In this case, the SN of the scanning measurement unit 48 decreases, but even the vellus hair can be measured by the accuracy of the scanning measurement unit 48. Therefore, in step 118, the operator inputs (traces with a mouse) what part of the outer ear canal, such as hair on the surface of the ear canal, is necessary while observing the display 18. It is preferable to be truncated.

  As described above, in the living body impression acquisition apparatus 10 of the present embodiment, the surface obtained by optically measuring the surface of the object (the shape of the ear canal in the present embodiment) by the three-dimensional shape measurement apparatus 30. Shape data can be easily acquired. For example, when creating a hearing aid that matches the shape of the ear, it is necessary to measure the shape of the ear canal from the ear canal. At present, there is no device for continuously measuring the shape from the periphery of the outer ear canal to the ear canal. This is not a problem with healthy ear modeling, but in pathological conditions (risk of inflammation, infection, etc.), contactless modeling is required. Further, non-contact is desirable in order to eliminate discomfort associated with the contact method. Therefore, the living body impression acquisition device 10 of the present embodiment can shape the shape from the periphery of the ear canal to the ear canal in a non-contact manner without causing pain to the patient with a simple device and operation. Further, since the collected data can be handled in a digitized manner, the data can be easily stored, and it is possible to easily execute the apparatus (molding apparatus 24) used for direct processing. In this way, as an unexpected effect, there is an advantage that an instrument for first try-on (without function as a hearing aid) can be made as a prototype, and after fitting the shape, an actual hearing aid can be created based on the result. .

  Note that the living body impression acquisition device 10 of the present embodiment has been described by taking as an example the case where a hearing aid wearing part is created, but the present invention is not limited to this, and the shape is requested in a non-contact manner. It can be easily applied to the living body part. Moreover, since the living body impression acquisition apparatus 10 according to the present embodiment can be realized only by the three-dimensional shape measuring apparatus 30 and the computer 12 in which the living body impression acquisition program is installed, no skill is required for the shape.

  In the three-dimensional shape measuring apparatus 30 of the above embodiment, laser light is emitted toward the patient's ear canal including the patient's ear canal, and the return laser light reflected by the surface is received on the line sensor 70 based on the light receiving position. The detection (calculation) of the three-dimensional coordinates of the irradiation position of the laser light is repeated while changing the direction of the galvanometer mirror 66 (and the mirror 67) and moving the movable base 56, so that the surface shape of the patient's ear canal ( The case where the measurement of the three-dimensional coordinates of each part is performed has been described. Another example of the surface shape measurement that can obtain the same effect as the three-dimensional shape measuring apparatus 30 will be described with reference to FIG.

  As shown in FIG. 7, another example of the three-dimensional shape measuring apparatus 31 includes a light projecting / receiving unit 30A, a telescopic rotation unit 30B, and a fixed unit 30C. The light projecting / receiving unit 30 </ b> A includes a light projecting unit corresponding to the light emitting unit 62 shown in FIG. 4 and a light receiving unit corresponding to the line sensor 70. The telescopic rotation unit 30B includes a rotation driving unit that rotates the light projecting / receiving unit 30A corresponding to the motor 40 shown in FIG. 3 about the central axis L (in the direction of arrow R), and the light projecting / receiving unit 30A about the central axis L. An expansion / contraction drive part 37C that expands / contracts the expansion / contraction bar 37B (in the direction of arrow G) is provided. In order to adjust the direction of the central axis L, the fixing portion 30C is attached to the telescopic rotation portion 30B connected to the light projecting / receiving portion 30A, and is fixed to an external housing (not shown).

  The central axis L of the ear canal is determined by adjustment by the fixing portion 30C. In the three-dimensional shape measuring apparatus 31 shown in FIG. 7, the light projecting / receiving unit 30A is inserted into the patient's external auditory canal and rotated about the central axis L to obtain the external auditory canal surface shape. The rotation by the rotation drive unit is to detect (calculate) the three-dimensional coordinates of the irradiation position of the laser beam based on the light receiving position on the line sensor 70 of the return laser beam that is emitted by the laser beam and reflected by the surface. By repeating the change of the position of the light projecting / receiving unit 30A by driving the expansion / contraction driving unit 37C, it is possible to measure the external ear canal surface shape (three-dimensional coordinates of each part) of the patient.

It is a block diagram which shows schematic structure of a biometric impression acquisition apparatus. It is a conceptual diagram which shows the structure of a three-dimensional shape measuring apparatus, (A) is an external view, (B) is a visual view with respect to a scanning measurement unit, (C) is sectional drawing of (B). It is explanatory drawing of the center axis | shaft adjusted with a three-dimensional shape measuring apparatus and a scanning direction, (A) is a block diagram, (B) is a figure of a scanning range. It is a perspective view which shows the internal structure of a scanning measurement unit. It is a flowchart which shows the content of the biometric impression acquisition process. It is explanatory drawing until a type | mold model is produced | generated from a three-dimensional shape model. It is a conceptual diagram which shows the other structure of a three-dimensional shape measuring apparatus. It is explanatory drawing of the process of calculating | requiring a coordinate conversion coefficient when rotating the scanning measurement unit of a three-dimensional shape measuring apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Living body impression acquisition apparatus 12 Computer 18 Display 22 Drive 30 3D shape measuring apparatus

Claims (5)

A scanning device that scans the surface of the object with laser light, and detecting the three-dimensional position of the surface of the object irradiated with the laser light by receiving the laser light reflected by the surface of the object Detecting means for inclining, inclining means for inclining the scanning apparatus and the detecting means from a reference axis in a predetermined direction from the object toward the scanning apparatus and the detecting means, and the scanning apparatus and the detection from the object Rotation means for rotating the scanning device and the detection means about a predetermined direction toward the means, and the object is scanned by laser light while the scanning device and the detection means are tilted by the tilting means. Detecting the three-dimensional position of each part on the surface of the object repeatedly, obtaining the axis of the ear hole based on the detected three-dimensional position, and using the obtained axis as the central axis By measuring the surface of the object while rotating the scanning device and the detection means optically by rotating means, the surface of the object optically measured ear hole including at least the ear hole as an object , Shape measuring means for obtaining surface shape information representing the three-dimensional position of each part of the object surface;
Creating means for creating a three-dimensional shape model of the object based on the surface shape information acquired by the shape measuring means;
Input means for inputting an insertion position in the object of an insert to be inserted into the object;
Setting means for setting the position of the outer ear canal in the created three-dimensional shape model, and setting a region from the set position of the outer ear canal to the input insertion position as a mold region;
Based on the three-dimensional shape model, a control unit that generates a type model representing the three-dimensional shape of the set type region and outputs data of the generated type model;
A biometric impression acquisition device including: The shape measuring means includes expansion / contraction means that expands / contracts the scanning device and the detection means along the central axis of the ear hole, and the surface of the object while expanding / contracting the scanning device and the detection means by the expansion / contraction means. The living body impression acquisition apparatus according to claim 1 , wherein the living body impression is measured optically. It said input means, according to claim 1 or claim characterized in that it comprises display means for displaying the 3-dimensional shape model created in the above, and an instruction means for instructing the insertion position on the displayed three-dimensional model 2. The biological impression acquisition device according to 2. A scanning device that scans the surface of the object with laser light, and detecting the three-dimensional position of the surface of the object irradiated with the laser light by receiving the laser light reflected by the surface of the object Detecting means for inclining, inclining means for inclining the scanning apparatus and the detecting means from a reference axis in a predetermined direction from the object toward the scanning apparatus and the detecting means, and the scanning apparatus and the detection from the object A shape measuring device comprising: a rotation unit that rotates the scanning device and the detection unit about a predetermined direction toward the unit; and a laser beam while tilting the scanning device and the detection unit by the tilting unit. While repeatedly scanning, detecting the three-dimensional position of each part on the surface of the object, obtaining the axis of the ear hole based on the detected three-dimensional position, By measuring the surface of the scanning device and the object while rotating the detection means optically by said rotation means as the center axis, an optical surface of the object to the ear canal, including at least the ear hole as an object And measuring surface shape information representing the three-dimensional position of each location on the surface of the object,
Creating a three-dimensional shape model of the object based on the acquired surface shape information;
Inputting an insertion position in the object of an insert to be inserted into the object;
In the created three-dimensional shape model, setting the position of the outer ear canal and setting the area from the set position of the outer ear canal to the input insertion position as a mold area;
Generating a model model representing a three-dimensional shape of the set mold region based on the three-dimensional shape model, and outputting data of the generated model model;
A method for acquiring a living body impression. A scanning device that scans the surface of the object with laser light, and detecting the three-dimensional position of the surface of the object irradiated with the laser light by receiving the laser light reflected by the surface of the object Detecting means for inclining, inclining means for inclining the scanning apparatus and the detecting means from a reference axis in a predetermined direction from the object toward the scanning apparatus and the detecting means, and the scanning apparatus and the detection from the object A shape measuring device comprising: a rotation unit that rotates the scanning device and the detection unit about a predetermined direction toward the unit; and a laser beam while tilting the scanning device and the detection unit by the tilting unit. While repeatedly scanning, detecting the three-dimensional position of each part on the surface of the object, obtaining the axis of the ear hole based on the detected three-dimensional position, By measuring the surface of the scanning device and the object while rotating the detection means optically by said rotation means as the center axis, an optical surface of the object to the ear canal, including at least the ear hole as an object Obtaining surface shape information representing a three-dimensional position of each location on the surface of the object,
Creating a three-dimensional shape model of the object based on the acquired surface shape information;
Inputting an insertion position in the object of an insert to be inserted into the object;
Setting the position of the outer ear canal in the created three-dimensional shape model, and setting a region from the set position of the outer ear canal to the input insertion position as a mold region;
Generating a model model representing the three-dimensional shape of the set mold region based on the three-dimensional shape model, and outputting data of the generated model model;
A biological impression acquisition program that includes the processes described above as processes that are executed by a computer.

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