TWI704907B - Dental modeling device and dental modeling method - Google Patents

Abstract

A dental modeling device and a dental modeling method are provided. The dental modeling device includes a projection module, an image sensing module, a first mirror, a second mirror, and a processing module. The projection module sequentially projects a plurality of structured lights to a dental object via a projection path. When the plurality of structured lights are sequentially projected to the dental object, the image sensing module sequentially senses a plurality of dental image lights of the dental object through a sensing path. The first mirror sequentially reflects the structured lights to the dental object, and sequentially reflects the dental image lights. The second mirror sequentially reflects the dental image lights reflected by the first mirror to the image sensing module. The processing module analyzes a plurality of dental images corresponding to the dental image lights to establish a dental model corresponding to the dental object.

Description

Tooth modeling device and tooth modeling method

The present invention relates to a modeling technique, and particularly relates to a dental modeling device and a dental modeling method.

With the aging of the global population and the rising awareness of oral health, the demand for dental modeling is increasing. However, since traditional dental modeling is mostly reconstructed and positioned by computer tomography, and the patient must bite the marking module to mark the position, the patient is uncomfortable in clinical treatment. Moreover, the traditional dental modeling device also has the disadvantages that the jig structure is too complicated and the sensing error is easy to be too large. In view of this, how to develop a dental modeling device that can provide an effective and accurate dental modeling function, the following will propose solutions of several embodiments.

The invention provides a tooth modeling device and a tooth modeling method, which can effectively capture a plurality of dental images of a dental object, so as to establish a corresponding dental model according to the plurality of dental images.

The tooth modeling device of the present invention includes a projection module, an image sensing module, a first reflecting mirror, a second reflecting mirror, and a processing module. The projection module is used to sequentially project a plurality of structured lights to the dental object through the projection path. When the plurality of structured lights are projected to the dental object in sequence, the image sensing module is used to sequentially and correspondingly sense the plurality of dental image lights of the dental object through the sensing path. The first reflecting mirror is arranged on the projection path and the sensing path. The first reflector is used to sequentially reflect the plurality of structured lights to the dental object, and sequentially reflect the plurality of dental image lights. The second mirror is arranged on the sensing path. The second reflector is used for sequentially reflecting the plurality of dental image light reflected by the first reflector to the image sensing module. The processing module is coupled to the image sensing module. The processing module is used for analyzing a plurality of dental images corresponding to the plurality of dental image lights to create a dental model corresponding to the dental object.

In an embodiment of the present invention, there is a specific included angle between the projection path and the sensing path between the first reflector and the dental object. The specific included angle is between 20 degrees and 40 degrees.

In an embodiment of the present invention, the above-mentioned dental modeling device further includes a third reflector. The third mirror is arranged on the sensing path. The third mirror is used to sequentially reflect the plurality of dental image lights reflected by the second mirror to the image sensing module.

In an embodiment of the present invention, the above-mentioned projection module and image sensing module are disposed on the holding portion. The first reflecting mirror and the second reflecting mirror are arranged on a side opposite to the holding part.

In an embodiment of the present invention, the above-mentioned projection module is a digital optical projection Shadow machine. The plurality of structured lights respectively correspond to a plurality of projection patterns. The multiple projection patterns are multiple stripe patterns each having different stripe widths.

In an embodiment of the present invention, the aforementioned plurality of stripe patterns are a plurality of bright stripes and a plurality of dark stripes arranged in a staggered manner.

In an embodiment of the present invention, the multiple stripe patterns described above are multiple stripes of the first color and stripes of the second color staggered.

In an embodiment of the present invention, the above-mentioned first reflector is in a rotatable angle state, so that the image sensing module captures the plurality of tooth image lights according to a plurality of different viewing angles.

In an embodiment of the present invention, when the projection module sequentially projects the plurality of structured lights to the dental object, the position of at least one of the dental modeling device and the dental object is in a variable state , So that the dental images obtained by the image sensing module according to the plurality of dental image lights respectively correspond to different viewing angles.

The tooth modeling method of the present invention includes the following steps: a plurality of structured lights are sequentially projected to a first mirror by a projection module through a projection path, and the plurality of structured lights are sequentially reflected to a first mirror by the first mirror A dental object; when the plurality of structured lights are projected to the dental object in sequence, the plurality of dental image lights of the dental object are sequentially correspondingly sensed by the image sensing module through the sensing path; and The processing module analyzes the multiple dental images corresponding to the multiple dental image lights to create a dental model corresponding to the dental object.

Based on the above, the dental modeling device and dental modeling method of the present invention can sequentially project a plurality of structural lights to the dental object through the projection module, and use the image The sensing module simultaneously sequentially captures a plurality of dental images with corresponding projection patterns. Therefore, the dental modeling device of the present invention can effectively perform dental modeling by analyzing the multiple dental images.

In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.

100, 200, 300: dental modeling device

110: Processing module

120, 220, 320: projection module

130, 230, 330: image sensor module

200B, 300B: accommodation space

240, 340: the first mirror

250, 350: second mirror

360: third mirror

410~440: Projection pattern

B, W: stripes

T: sensing period

TB1, TB2: dental objects

D1, D2, D3: direction

SP, SP’: Sensing path

PP, PP’: projection path

θ1, θ2: included angle

S510~S540, S610~S630: steps

Fig. 1 is a functional circuit diagram of a dental modeling device according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a dental modeling device according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a dental modeling device according to another embodiment of the present invention.

FIG. 4 is a schematic diagram of multiple projection patterns according to an embodiment of the invention.

FIG. 5 shows a flowchart of dental image processing according to an embodiment of the invention.

Fig. 6 shows a flowchart of a dental modeling method according to an embodiment of the present invention.

In order to make the content of the present invention more comprehensible, the following embodiments are specifically cited as examples on which the present invention can indeed be implemented. In addition, wherever possible, elements/components/steps with the same reference numbers in the drawings and embodiments represent the same or similar components.

Fig. 1 is a functional circuit diagram of a dental modeling device according to an embodiment of the present invention. 1, the dental modeling device 100 includes a processing module 110 and a projection module 120 And the image sensing module 130. The processing module 110 is coupled to the projection module 120 and the image sensing module 130. In this embodiment, the projection module 120 is used to sequentially project a plurality of structured lights to the dental object during the sampling period, and the image sensing module 130 is used to sequentially receive a plurality of structured lights corresponding to the plurality of structured lights. The tooth image light, so that the processing module 110 analyzes the plurality of tooth image lights to create a corresponding tooth model. In this embodiment, the dental model refers to a three-dimensional model that can be edited by three-dimensional editing software, and allows modeling technicians to conveniently edit, modify and draw the three-dimensional model on a computer device. And so on. Modeling technicians can conveniently manufacture solid dental models according to the edited three-dimensional models. In addition, in an embodiment, the corresponding three-dimensional model data can also be output to a three-dimensional printing device for three-dimensional printing.

In this embodiment, the processing module 110 may include, for example, a central processing unit (Central Processing Unit, CPU), an image signal processor (Image Signal Processor, ISP), a system on chip (System on Chip, SOC), or other options. Programmable general purpose or special purpose microprocessor (microprocessor), digital signal processor (Digital Signal Processor, DSP), programmable controller, special application integrated circuit (Application Specific Integrated Circuits, ASIC), programmable Programmable Logic Device (PLD), other similar processing devices, or a combination of these devices. Moreover, in an embodiment, the processing module 110 may be further coupled to a memory module (memory). The memory module may, for example, store image processing and calculation modules, image data, and three-dimensional model data for realizing the dental modeling function of the present invention, and the present invention is not limited.

In this embodiment, the projection module 120 includes, for example, a projector. In this embodiment, the image sensing module 130 includes, for example, a charge coupled device (CCD) sensor or a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS) sensor, etc. Take components.

Fig. 2 is a schematic structural diagram of a dental modeling device according to an embodiment of the present invention. Referring to FIG. 2, the dental modeling device 200 of this embodiment may have, for example, the functional circuit structure as described in the embodiment of FIG. 1. In this embodiment, the device body of the dental modeling device 200 extends in the first direction D1, and the section of the device body of the dental modeling device 200 in the second direction D2 and the third direction D3 may be, for example, a circle. A shape or polygonal style, so that the user can easily hold and put a part of the dental modeling device 200 into the oral cavity. The first direction D1, the second direction D2, and the third direction D3 are perpendicular to each other. Moreover, in this embodiment, a part of the device body of the dental modeling device 200 placed in the oral cavity has a hole through which light can pass.

Specifically, the dental modeling device 200 has a holding part, and the holding part is an end of the accommodating space 200B that is larger (or has a thicker structure). In this embodiment, the projection module 220, the image sensing module 230, and the processing module (not shown) may be disposed in the holding part of the dental modeling apparatus 200, and the first mirror 240 and The second reflecting mirror 250 may be provided on a side opposite to the grip portion. The side opposite to the grip portion is the end of the accommodating space 200B that is smaller (or has a thinner structure). When the user operates the dental modeling device 200, the user can put the smaller (or thinner) end of the accommodating space 200B into the oral cavity to sequentially project the knots of the projection module 220 The structured light is projected on the dental object TB1, and simultaneously and sequentially senses a plurality of dental image lights of the dental object TB1 through the image sensor 230.

In this embodiment, the first mirror 240 is disposed on the projection path PP and the sensing path SP, and the second mirror 250 is disposed on the sensing path SP. The first reflecting mirror 240 and the second reflecting mirror 250 may be arranged on two adjacent sides of the accommodating space 200B. Specifically, when the user operates the dental modeling apparatus 200, the projection module 220 sequentially projects a plurality of structured lights to the first mirror 240 via the projection path PP. The first reflecting mirror 240 sequentially reflects the plurality of structured lights to the dental object TB1. At the same time, the image sensing module 230 correspondingly sequentially senses multiple dental image lights of multiple dental images of the dental object TB1. The plurality of dental image lights are reflected to the second reflector 250 via the first reflector 240. The second mirror 250 sequentially reflects the plurality of dental image lights reflected by the first mirror 240 to the image sensing module 230.

In this embodiment, the first reflector 240 is in a rotatable angle state, so that the image sensing module 230 can capture the multiple tooth image lights according to multiple different viewing angles. In other words, the image sensing module 230 can obtain the plurality of dental images corresponding to different viewing angles according to the plurality of dental image lights. Or, in an embodiment, when the projection module 220 sequentially projects the plurality of structured lights to the dental object TB1, the position of at least one of the dental modeling device 200 and the dental object TB1 is variable State, so that the plurality of dental images obtained by the image sensing module 230 according to the plurality of dental image lights respectively correspond to different viewing angles.

It is worth noting that the multiple dental images are the multiple projection results of the dental object TB1 being sequentially and continuously projected by the multiple structured lights, and The plurality of structured lights respectively correspond to a plurality of projection patterns. Therefore, the processing module of the dental modeling device 200 can sequentially analyze the projection patterns in each dental image to obtain the relevant 3D contour information of the dental object TB1, and automatically and synchronously perform the modeling of the dental model operating. In this embodiment, there is a specific included angle θ1 between the projection path PP and the sensing path SP. In an embodiment, the specific included angle θ1 may be between 10 degrees and 45 degrees, but the invention is not limited thereto.

Fig. 3 is a schematic structural diagram of a dental modeling device according to another embodiment of the present invention. Referring to FIG. 3, the tooth modeling device 300 of this embodiment may, for example, have the functional circuit architecture as described in the embodiment of FIG. 1. In this embodiment, the device body of the dental modeling device 300 extends in the first direction D1, and the section of the device body of the dental modeling device 300 in the second direction D2 and the third direction D3 may be, for example, a circle. A shape or polygonal style, so that the user can hold and place a part of the dental modeling device 300 into the oral cavity. Moreover, in this embodiment, a part of the device body of the dental modeling device 300 placed in the oral cavity has a hole through which light can pass.

Specifically, the dental modeling device 300 has a holding part, and the holding part is an end of the accommodating space 300B that is larger (or has a larger structure). In this embodiment, the projection module 320, the image sensing module 330, and the processing module (not shown) can be arranged in the holding part of the dental modeling device 300, and the first mirror 340 and The second reflecting mirror 350 may be provided on a side opposite to the grip portion. The side opposite to the grip portion is the end of the accommodating space 300B that is smaller (or has a thinner structure). When the user operates the dental modeling device 300, the user can make the accommodating space 300B smaller (or knotted The end of the smaller structure) is placed in the oral cavity to project the structural light sequentially projected by the projection module 320 onto the dental object TB2, and to sense the dental object TB2 sequentially through the image sensor 330. Each tooth image light. However, compared with the embodiment of FIG. 2, this embodiment further includes a third reflecting mirror 360, and the third reflecting mirror 360 may be disposed between the holding part and a side opposite to the holding part.

In this embodiment, the first reflecting mirror 340 is arranged on the projection path PP' and the sensing path SP', and the second reflecting mirror 350 and the third reflecting mirror 360 are arranged on the sensing path SP'. The first reflecting mirror 340 and the second reflecting mirror 350 may be arranged on two adjacent sides of the accommodating space 300B. The second reflecting mirror 350 and the third reflecting mirror 360 may be disposed on corresponding two sides of the accommodating space 300B. Specifically, when the user operates the dental modeling device 300, the projection module 320 sequentially projects a plurality of structured lights to the first mirror 340 via the projection path PP'. The first reflecting mirror 340 sequentially reflects the plurality of structured lights to the dental object TB2. At the same time, the image sensing module 330 correspondingly sequentially senses a plurality of dental image lights of a plurality of dental images of the dental object TB2. The plurality of dental image lights are reflected to the second reflector 350 via the first reflector 340. The second mirror 350 sequentially reflects the plurality of dental image lights reflected by the first mirror 340 to the third mirror 360. The third mirror 360 sequentially reflects the plurality of dental image lights reflected by the second mirror 350 to the image sensing module 330.

In this embodiment, the first reflector 340 is in a rotatable angle state, so that the image sensing module 330 can capture the plurality of dental images according to a plurality of different viewing angles. In other words, the image sensing module 330 can obtain the plurality of tooth images corresponding to different viewing angles according to the plurality of tooth image lights. Or, in an implementation In an example, when the projection module 320 sequentially projects the plurality of structured lights to the dental object TB2, the position of at least one of the dental modeling device 300 and the dental object TB2 is in a variable state, so that the image The plurality of dental images obtained by the sensing module 330 according to the plurality of dental image lights respectively correspond to different viewing angles.

It is worth noting that the multiple dental images are the multiple projection results of the dental object TB2 being sequentially and continuously projected by the multiple structured lights, and the multiple structured lights respectively correspond to multiple projections. Projection patterns. Therefore, the processing module of the dental modeling device 300 can sequentially analyze the projection patterns in each dental image to obtain the relevant 3D contour information of the dental object TB2, and automatically and synchronously perform the modeling of the dental model operating. In this embodiment, there is a specific angle θ2 between the projection path PP' and the sensing path SP'. In an embodiment, the specific included angle θ2 may be between 10 degrees and 45 degrees, but the invention is not limited to this.

In addition, compared with the embodiment in FIG. 2, since the dental modeling device 300 of this embodiment is further provided with a third reflector 360, the accommodating space 300B of the dental modeling device 300 is compared with that of FIG. The space 200B is small (or thinner). The third reflecting mirror 360 is disposed at a position on the opposite side of the second reflecting mirror 350 in the accommodating space 300B, so that the plurality of dental image lights can enter the image sensing module 330 through three reflections. In other words, the dental modeling device 300 of this embodiment can further save the volume of the holding part, and can be correspondingly designed as a device structure that is more convenient to hold.

FIG. 4 is a schematic diagram of multiple projection patterns according to an embodiment of the invention. The multiple projection patterns described in each embodiment of the present invention may be as shown in FIG. 4 for example. Take the tooth of Figure 3 The volume modeling device 300 will be described. Referring to FIG. 3 and FIG. 4, the dental modeling device 300 of the present invention adopts a structured light method of 3D image reconstruction technology. The dental modeling device 300 includes an optical system composed of a projection module 320, an image sensing module 330, and a plurality of mirrors 340 and 350. The dental modeling device 300 uses the projection module 320 to project a specific definition image to the surface of the dental object TB2, and then the processing module operates the image sensing module 330 to perform image feature identification and decoding. Furthermore, in this embodiment, the dental modeling device 300 can use the dental object TB2, the projection point (the projection position projected by the projection module 320 on the dental object TB2), and the observation point (image sensing model). The group 330 senses the image capture position of the dental object TB2) in a triangular relationship in space, and uses the principle of triangulation to calculate and establish the three-dimensional contour, and accurately calculates the three-dimensional coordinate information of the object surface of the dental object TB2 .

In this embodiment, the projection module 320 of the dental modeling device 300 can sequentially project a plurality of structured lights to the first mirror 340 via the projection path PP. The first reflecting mirror 340 sequentially reflects the plurality of structured lights to the dental object TB2. In this embodiment, the multiple structured lights respectively correspond to the multiple projection patterns 410 to 440 shown in FIG. 4. In this embodiment, the projection module 320 may be a digital optical projector (Digital Light Processing, DLP), and the plurality of projection patterns 410 to 440 are a plurality of stripe patterns having different stripe widths. In this embodiment, the plurality of stripe patterns are a plurality of bright stripes W and a plurality of dark stripes B in a staggered arrangement, but the invention is not limited to this. In an embodiment, the plurality of stripe patterns may be a plurality of first color stripes arranged in a staggered manner with a plurality of second color stripes. It is worth noting that the multiple projection patterns The number of the plurality of stripe patterns 410 to 440 is, for example, sequentially increased to facilitate feature (stripe) identification and analysis by the processing module, and the plurality of projection patterns 410 to 440 are projected in a period T. The group 320 continuously projects to the dental object TB2. The projection module 320 may, for example, repeatedly project the plurality of projection patterns 410-440 corresponding to the period T in sequence during scanning.

FIG. 5 shows a flowchart of dental image processing according to an embodiment of the invention. 1 and 5, the dental image processing procedure of this embodiment can be at least applicable to the dental modeling device 100 of the embodiment in FIG. 1. In this embodiment, after the dental modeling device 100 sequentially projects a plurality of characteristic patterns (structured light) to the dental object via the projection module 120, the dental modeling device 100 performs steps S510 to S540. In step S510, the dental modeling apparatus 100 performs an image scanning operation through the image sensing module 130 to obtain multiple dental images. In step S520, the processing module 110 performs a feature recognition operation (such as the stripe feature in FIG. 4) to analyze the plurality of dental images. In step S530, the processing module 110 performs a feature decoding operation to obtain a plurality of three-dimensional contour information. In step S540, the processing module 110 performs an image fitting operation according to the plurality of three-dimensional contour information to create a dental model. Therefore, the dental image processing of this embodiment can effectively and accurately perform 3D model modeling of dental objects.

Regarding the above-mentioned image fitting operation, the processing module 110 may use a Moving Least Squares (MLS) method to reduce the noise of the three-dimensional point cloud. Furthermore, in the process of image bonding by the processing module 110, the processing module 110 may consider each adjacent two sets of data in the sequential three-dimensional scan. Since the tooth modeling device 100 is in a moving state during the scanning process, the adjacent two sets of data may not be complete. All coincide. Therefore, the processing module 110 adjusts the orientation of one of the adjacent two sets of data so that the data can be correctly fitted. For example, the processing module 110 may first use the linearized point-to-point algorithm to approximate the nonlinear optimization problem to solve the relative attitude change of the point-to-surface error, and the processing module 110 may use the singularity Value decomposition method (SVD-based point-to-point algorithm) to obtain the least square solution of the linear system. The processing module 110 can further establish a three-dimensional rigid body transformation matrix through the least squares solution of the linear system, so as to perform the fitting geometric transformation of each adjacent two groups of data, and adjust the data of each adjacent two groups by this conversion. One of the orientations, so that the data can fit correctly.

Fig. 6 shows a flowchart of a dental modeling method according to an embodiment of the present invention. 1 and 3, the dental image processing procedure of this embodiment can be at least applicable to the dental modeling device 300 of the embodiment in FIG. 3. The tooth modeling apparatus 300 may perform the following steps S610 to S630. In step S610, the dental modeling device 300 uses the projection module 320 to sequentially project a plurality of structured lights to the first mirror 340 via the projection path PP', and the first mirror 340 sequentially reflects the multiple structure lights. A structured light to the tooth object TB2. In step S620, when the plurality of structured lights are projected to the dental object TB2 in sequence, the image sensing module 330 correspondingly senses the plurality of teeth of the dental object TB2 via the sensing path SP'. Body image light. In step S630, the tooth modeling device 300 analyzes the plurality of tooth images corresponding to the plurality of tooth image lights through the processing module to create a tooth model corresponding to the tooth object TB2. Therefore, the dental image processing of this embodiment can effectively and accurately perform 3D model modeling of dental objects.

In addition, regarding other element characteristics of the dental modeling device 300 of this embodiment For the characteristics, technical details and implementation manners, please refer to the description of the above-mentioned embodiments of FIG. 1 to FIG. 5 respectively to obtain sufficient teachings, suggestions, and implementation descriptions, so no more details are given here.

In summary, the dental modeling device and dental modeling method of the present invention can use the projection module and the image sensing module to project and scan the dental object, so as to effectively construct the dental model. mold. In addition, the dental modeling device of the present invention can be configured with more than two mirrors to capture the dental image light by the image sensing module after multiple reflections, so that the dental modeling device can project The module and the image sensing module can be arranged in appropriate positions in the device body of the dental modeling device, and the volume of the holding part of the dental modeling device is correspondingly reduced to facilitate the user to hold and use. Therefore, the dental modeling device of the present invention can effectively perform modeling of a dental model by analyzing the multiple dental images, and can also provide a convenient use effect of dental object scanning.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be determined by the scope of the attached patent application.

100: Tooth modeling device

110: Processing module

120: Projection module

130: Image sensor module

Claims (8)

A dental modeling device includes: a projection module for projecting a plurality of structured lights to a dental object through a projection path in sequence; an image sensing module, when the structured lights are projected to the dental object in sequence When a dental object is used, it is used to sequentially and correspondingly sense a plurality of dental image lights of the dental object through a sensing path; a first reflector is arranged on the projection path and the sensing path for Reflect the structure lights to the dental object in sequence, and reflect the dental image light in sequence; a second reflector is arranged on the sensing path to be reflected in sequence through the first reflector The dental image light of the teeth reaches the image sensing module; a third reflector is arranged on the sensing path to sequentially reflect the dental image light reflected by the second reflector to the image sensing module An image sensing module, wherein the projection module and the image sensing module are arranged on a holding portion, and the first reflecting mirror and the second reflecting mirror are arranged on a side opposite to the holding portion, the The third reflecting mirror is arranged at a position between the holding part and a side opposite to the holding part, and the third reflecting mirror is arranged at a position opposite to the second reflecting mirror; and a processing module, The image sensing module is coupled to analyze a plurality of dental images corresponding to the dental image lights to create a dental model corresponding to the dental object. The dental modeling device according to claim 1, wherein there is a specific included angle between the projection path and the sensing path between the first mirror and the dental object, and the specific included angle Between 10 degrees and 45 degrees. For the tooth modeling device described in the first item of the scope of patent application, the projection module is a digital optical projector, the structured lights respectively correspond to a plurality of projection patterns, and the projection patterns have different stripes respectively A plurality of stripe patterns having a width, and the number of stripe patterns corresponding to the projection patterns increases in order. According to the tooth modeling device described in item 3 of the scope of patent application, the stripe patterns are a plurality of bright stripes and a plurality of dark stripes in a staggered arrangement. According to the dental modeling device described in item 3 of the scope of patent application, the stripe patterns are staggered arrangement of a plurality of first color stripes and a plurality of second color stripes. According to the dental modeling device described in claim 1, wherein the first reflector is in a rotatable angle state, so that the image sensing module captures the dental objects according to a plurality of different viewing angles Image light. The dental modeling device according to the first item of the scope of patent application, wherein when the projection module projects the structured lights to a dental object in sequence, at least one of the dental modeling device and the dental object One of the positions is in a variable state, so that the dental images obtained by the image sensing module according to the plurality of dental image lights correspond to different viewing angles. A dental modeling method, including: A projection module sequentially projects a plurality of structured lights to a first reflector through a projection path, and sequentially reflects the structured lights to the dental object by the first reflector; when the structured lights follow When projecting to the dental object sequentially, a plurality of dental image lights of the dental object are sequentially and correspondingly sensed by an image sensing module through a sensing path; and sequentially reflected by a second mirror The dental image light reflected by the first reflector is sent to the image sensing module; the dental image light reflected by the second reflector is sequentially reflected by a third reflector to the image sensor A measuring module, wherein the projection module and the image sensing module are arranged on a holding part of a dental modeling device, and the first reflecting mirror and the second reflecting mirror are arranged opposite to the holding part On one side, the third reflector is arranged at a position between the holding portion and a side opposite to the holding portion, and the third reflector is arranged at a position on the opposite side of the second reflector; and A processing module analyzes a plurality of dental images corresponding to the dental image lights to create a dental model corresponding to the dental object.

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