Extraoral dental scanner

Abstract

An extraoral dental scanner for three-dimensional capture of the surface of a dental shaped part (300) with a 3D measuring camera (102) having an optical axis (106), wherein the means for the machine-controlled relative positioning of the 3D measuring camera (102) and the dental shaped part (300) are embodied in such a way that the means for taking up and positioning the dental shaped part (300) can be moved into a parking position outside a region that can be captured optically by the 3D measuring camera (102), with a work plate (708) for manually positioning the dental shaped part (300) in the measurement volume (144) of the 3D measuring camera (102), wherein the work plate (708) is aligned perpendicularly to the optical axis (106) and wherein the work plate (708), as viewed from the 3D measuring camera (102), is arranged behind the means for taking up and positioning the dental shaped part (300), makes it possible to record uninterrupted 3D image data with very short recording times both by automatic and by manual positioning of dental shaped parts of different sizes and embodiment variants.

Claims

1. An extraoral dental scanner for three-dimensional capture of a surface of a dental shaped part, comprising: a three-dimensional measurement camera for three-dimensional capture of a surface of a dental shaped part in a measurement volume of the three-dimensional measurement camera; and a 5-axis relative positioning system configured to relatively position the three-dimensional measurement camera and the dental shaped part, wherein the 5-axis relative positioning system includes: (i) a camera elevation module for moving the three-dimensional measurement camera along a camera elevation module linear axis, (ii) a holding unit including a model rotation module, the holding unit configured to hold the dental shaped part, with the holding unit being rotatable about a holding unit rotational axis, (iii) a tilting module that is rotatable about a tilting module rotational axis, (iv) a swiveling module attached to the tilting module, the swiveling module being rotatable about a swiveling module rotational axis, and (v) a model-height compensation module attached to the swiveling module and movable along a model-height compensation elevation module linear axis, wherein the swiveling module rotational axis, the tilting module rotational axis, and the holding unit rotational axis, are all substantially perpendicular to each other, and wherein the holding unit is connected to the swiveling module so as to be rotatable about the swiveling module rotational axis.

2. The extraoral dental scanner according to claim 1, wherein the model rotation module of the holding unit is attached to the model-height compensation elevation module and is rotatable about a model rotation module rotational axis that runs substantially parallel to the model-height compensation elevation module linear axis, and wherein the holding unit further includes a model plate that is rotatably supported on the model rotation module, a center of the model plate is on the model rotation module rotational axis, and wherein the camera elevation module linear axis, the tilting module rotational axis, and the swiveling module rotational axis are all substantially perpendicular to each other and coincident with each other at a center of the measurement volume.

3. The extraoral dental scanner according to claim 2, wherein the model rotation module rotational axis is at a separation distance from the camera elevation module linear axis when the tilting module and the swiveling module are rotated to respective positions such that the model rotation module rotational axis is aligned parallel to the camera elevation module linear axis.

4. The extraoral dental scanner according to claim 3, wherein the separation distance is at least 22 mm but no more than 26 mm.

5. The extraoral dental scanner according to claim 2, wherein the camera elevation module has a travel range of +25 mm to 170 mm along the camera elevation module linear axis, wherein the tilting module has an angular range about the tilting module rotational axis of +60 to 60, wherein the swiveling module has an angular range about the tilting module rotational axis of +60 to 105, wherein the model-height compensation module has a travel range of +25 mm to 25 mm along the model-height compensation module linear axis, and wherein the model rotation module has an angular range about the model rotational module rotational axis of 0-360.

6. The extraoral dental scanner according to claim 2, wherein the model plate is circular and a diagonal of a measurement field of the three-dimensional measurement camera is at least as long as a radius of the model plate.

7. The extraoral dental scanner according to claim 2, wherein the camera elevation module is connected to an image processing device for automatic focusing of the three-dimensional measurement camera.

8. The extraoral dental scanner according to claim 1, wherein the three-dimensional measurement camera includes an optical image-recording camera and a structured-light projector, and wherein the three-dimensional measurement camera is configured to capture the surface of the dental shaped part using planar triangulation.

9. The extraoral dental scanner according to claim 1, wherein the 5-axis relative positioning system is configured to move the holding unit into a parking position outside a region which can be optically captured by the three-dimensional measurement camera.

10. The extraoral dental scanner according to claim 9, wherein a work plate is for manually positioning the dental shaped part within the measurement volume of the three-dimensional measurement camera, wherein the work plate is aligned substantially perpendicularly to an optical axis of the three-dimensional measurement camera, and wherein the work plate is behind the holding unit when viewed from the three-dimensional measurement camera.

11. The extraoral dental scanner according to claim 10, further comprising: a photoelectric beam generator configured to generate at least one photoelectric beam for a rough positioning of the three-dimensional measurement camera during a manual positioning of the dental shaped part.

12. An extraoral dental scanner for three-dimensional capture of a surface of a dental shaped part, comprising: a three-dimensional measurement camera for three-dimensional capture of a surface of a dental shaped part in a measurement volume of the three-dimensional measurement camera; and a relative positioning system configured to relatively position the three-dimensional measurement camera and the dental shaped part, wherein the relative positioning system includes: (i) a holding unit configured to hold the dental shaped part, with the holding unit being rotatable about a holding unit rotational axis, (ii) a tilting module that is rotatable about a tilting module rotational axis, and (iii) a swiveling module attached to the tilting module, the swiveling module being rotatable about a swiveling module rotational axis, wherein the swiveling module rotational axis, the tilting module rotational axis, and the holding unit rotational axis, are all substantially perpendicular to each other, wherein the holding unit is connected to the swiveling module so as to be rotatable about the swiveling module rotational axis, and wherein the relative positioning system is configured to move the holding unit into a parking position outside a region which can be optically captured by the three-dimensional measurement camera.

13. An extraoral dental scanner for the three-dimensional capture of a surface of a dental shaped part comprising: a 3D measuring camera for the three-dimensional capture of the surface of the dental shaped part in a measurement volume of the 3D measurement camera, the 3D measurement camera having an optical axis; a relative positioning system configured to relatively position the three-dimensional measurement camera and the dental shaped part, wherein the relative positioning system includes: (i) a holding unit configured to hold the dental shaped part, with the holding unit being rotatable about a holding unit rotational axis, (ii) a tilting module that is rotatable about a tilting module rotational axis, and (iii) a swiveling module attached to the tilting module, the swiveling module being rotatable about a swiveling module rotational axis, a work plate for manual positioning of the dental shaped part within the measurement volume of the 3D measurement camera, the work plate is aligned perpendicularly to the optical axis, wherein the work plate as seen from the 3D measurement camera is disposed behind the holding unit, wherein the swiveling module rotational axis, the tilting module rotational axis, and the holding unit rotational axis, are all substantially perpendicular to each other, wherein the relative positioning system is further configured to move the holding unit into a parking position outside a region which can be optically captured by the three-dimensional measurement camera; the extraoral dental scanner further comprising a first work area configured to automatically position the dental shaped part and a second work area configured to manually position the dental shaped part, wherein the work plate is disposed in the second work area and, wherein the first and the second work areas are disposed along said optical axis.

Description

BRIEF DESCRIPTION OF THE DRAWING

(1) The example embodiment is presented schematically in the drawings. The same reference numbers in the individual drawings here refer to the same elements or to functionally equivalent elements or to mutually corresponding elements as regards their functions. In detail:

(2) FIG. 1 shows a partial view (schematic) of the extraoral dental scanner with its main parts (without housing) and a representation of the position of the measurement volume in relation to the positioning axes;

(3) FIG. 2A shows a second partial view (schematic) of the parts of the extraoral dental scanner with a representation of the position of the measurement volume in relation to the positioning axes;

(4) FIG. 2B shows a magnified section of FIG. 2A in the region of the measurement volume;

(5) FIG. 3A shows a partial view (schematic) of the extraoral dental scanner with a representation of the position of the measurement volume in the example of a rotation scan (buccal) of a full jaw model;

(6) FIG. 3B shows a partial view (schematic) of the extraoral dental scanner with a representation of the position of the measurement volume in the example of a rotation scan (lingual) of a full jaw model;

(7) FIG. 3C shows a partial view (schematic) of the extraoral dental scanner with a representation of the position of the measurement volume in the example of a measurement involving undercuts;

(8) FIG. 4A shows a partial view (schematic) of the extraoral dental scanner with a representation of the position of the measurement volume in the example of a measurement involving undercuts in an individual tooth model in the rotation scan;

(9) FIG. 4B shows a partial view (schematic) of the extraoral dental scanner with a representation of the position of the measurement volume in the example of a rotation scan of an individual tooth model;

(10) FIG. 4C shows a partial view (schematic) of the extraoral dental scanner with a representation of the position of the measurement volume in the example of a rotation scan of an individual tooth model from a different viewing angle;

(11) FIG. 5A shows a partial view (schematic) of the extraoral dental scanner with a representation of the position of the measurement volume in the example of a measurement involving undercuts in a dental bridge model;

(12) FIG. 5B shows a partial view (schematic) of the extraoral dental scanner with a representation of the position of the measurement volume in the example of a rotation scan of a dental bridge model;

(13) FIG. 5C shows a partial view (schematic) of the extraoral dental scanner with a representation of the position of the measurement volume in the example of a rotation scan of a dental bridge model from a different viewing angle;

(14) FIG. 6 shows a partial view (schematic) of the extraoral dental scanner in wobble scanning mode in the example of a multiple individual-tooth wobble scan;

(15) FIG. 7A shows a view (schematic) of the extraoral dental scanner in automatic positioning mode; and

(16) FIG. 7B shows a view (schematic) of the extraoral dental scanner in manual positioning mode.

EMBODIMENT OF THE INVENTION

(17) The extraoral dental scanner 100 shown schematically in its neutral position in the partial view in FIG. 1 and used for the three-dimensional capture of the surface of a dental shaped part has the following principal elements or assemblies which are arranged inside a housing (not shown): a 3D measuring camera 102 for the three-dimensional capture of the surface of the dental shaped part in a measurement volume 104 of the 3D measurement camera 102, the 3D measurement camera 102 having an optical axis 106 and a measurement volume 104; means for the relative positioning of the 3D measurement camera 102 and of the dental shaped part, namely: a camera elevation module (linear drive module) 108 for the vertical movement of the 3D measurement camera 102 in either direction 110 along a linear axis 112 (first axis), whose position is identical to that of the optical axis 106 of the 3D measurement camera 102; a tilting module 114 with an axis of rotation 116 (second axis); a swiveling module 118 with an axis of rotation 120 (third axis); a model-height compensation elevation module 122 with a linear axis 124 (fourth axis); a model rotation module 126 with an axis of rotation 128 (fifth axis); and a model plate 130 to hold the dental shaped part.

(18) The measurement volume is defined by the image field of the camera (x,y), here typically 30 mm40 mm, with a depth corresponding to the depth of field of the camera, here typically 10 mm above and below a focus plane.

(19) The camera elevation module (linear drive module) 108 takes the form of an immovable assembly on which the 3D measurement camera is arranged.

(20) Beneath the camera elevation module 108 a further immovable assembly 132 is arranged to which the tilting module 114 is attached on one side and rotatably in two directions 134. The tilting module 114 takes the form of a right angle with two legs.

(21) The swiveling module 118 is attached to the further leg of the tilting module 114 on one side and rotatably in two directions 136.

(22) The combination of tilting module 114 and swiveling module 118 has a similar design to a robot arm and forms a cardan joint or cardan arm.

(23) The model-height compensation elevation module 122 is attached to the swiveling module 118 so that it can be moved linearly in two directions 137.

(24) The model rotation module 126 is here attached to the model-height compensation elevation module 122 in such a way for a rotation in a given direction 138 that the axis of rotation 128 of the model rotation module 126 runs parallel to the linear axis 124 of the model-height compensation elevation module 122. The model plate 130 for holding the dental shaped part is rotatably mounted with a predetermined direction 138 on the model rotation module 126, whereby the center 140 of the model plate 130 lies on the axis of rotation 128 of the model rotation module 126.

(25) The linear axis 112 of the camera elevation module 108 (and thus the optical axis 106 as well), the axis of rotation 116 of the tilting module 114 and the axis of rotation 120 of the swiveling module 118 stand in each case perpendicular to each other and intersect at the center 142 of the measurement volume 144.

(26) The axis of rotation 128 of the model rotation module 126 is separated from the optical axis of the 3D measurement camera by a distance 146 when the axis of rotation 116 of the tilting module 114 and the axis of rotation 120 of the swiveling module 118 are adjusted so that the axis of rotation 128 of the model rotation module 126 is aligned parallel to the optical axis 106 of the 3D measurement camera 102.

(27) The 3D measurement camera 102 has both an optical camera and a structured-light projector (neither illustrated separately).

(28) A structured-light projector or structured-light projection is a device or method of contactlessly capturing the three-dimensional shape of a surface of an object. On the triangulation principle stripes are projected onto the object under investigation and detected by a camera at a defined angle. The lateral deflection of the stripes detected by the camera is here a measure of the height of the object or individual points on a surface of the object.

(29) In automatic positioning mode the linear drive module (camera elevation module) 108 moves the 3D measurement camera 108 and thus the measurement volume 144 with the aid of an autofocus controller before every recording and without any manual interaction along the linear axis 112 parallel to the optical axis 106 of the camera into the area of the dental shaped part which is to be recorded.

(30) The means shown in FIG. 1 for the relative positioning of the dental shaped part (tilting module 114, swiveling module 118, model-height compensation elevation module 122, model rotation module 126 with the model plate 130) can be moved or rotated within specific ranges. In Table 1 below the angular or travel ranges with respect to the neutral position shown in FIG. 1 are listed:

(31) TABLE-US-00001 TABLE 1 Reference Designation Neutral number of axis position Max. range 112 First linear axis 0 mm +25/170 mm 116 Second axis of 0 +60/60 rotation 120 Third axis of 0 +60/105 rotation 124 Fourth linear axis 0 mm +25/25 mm 128 Fifth axis of 0 n 360 rotation

(32) The directions of the signing convention are marked beside the corresponding axes in FIG. 1.

(33) In FIG. 2 by means of a partial view (View A) of the immovable assembly 132 beneath the camera elevation module 108 and the positioning means 114, 118, 126, 130, 114 the position of the measurement volume 144 or image field 200 is indicated.

(34) The size of the image field 200 (widthheight) here measures 40 mm30 mm. The resulting length of the image field diagonal 202 is therefore 50 mm. The image field diagonal 202 here more than covers the radius of the model plate 130. The image field center 204 is identical to the intersection point 142 of the cardan axes 116, 120.

(35) The offset (distance) 146 between the model rotation axis 128 of the circular model plate 130 on the one side and the intersection 142 of the axis of rotation 120 of the swiveling module 118 with the axis of rotation 116 of the tilting module 114, in other words, at the center 142 of the cardan joint in the neutral position of the robot arm, measures 24 mm.

(36) View B in FIG. 2 shows a magnified section of View A in order to show the position and size of the image field 200 relative to the model rotation plate 130. The description of View A here applies analogously.

(37) In FIG. 3 in three partial views (Views A, B and C; schematic) of the extraoral dental scanner 100 in each case a position and angle-related orientation of the positioning means 108, 114, 118, 126, 130 or of the dental shaped part 300 during performance of a rotation scan (buccal and lingual) of a dental shaped part 300 embodied as a full jaw model is demonstrated.

(38) The dental shaped part 300 is arranged on the model plate 130 by means of, for example, a magnetic holder (not illustrated). In this mode the tilting module 114 is in the neutral position (angle of rotation of the second axis of rotation 116 equal to 0). The relative positioning of the dental shaped part 300 for the three-dimensional capture of its surface is carried out in this mode by varying the coordinates at the first linear axis 112 for moving the camera elevation module 108, at the axis of rotation 120 of the swiveling module 118, at the linear axis 124 for moving the model-height compensation elevation module 122 and at the axis of rotation 128 of the model rotation module 126. The surface of the dental shaped part 300 is here captured from both the buccal and the lingual direction.

(39) The relative positions or rotation angles shown by way of example in FIG. 3 at axes 112, 116, 120, 124, 128 of the positioning means 112, 116, 120, 124, 128 relative to the measurement volume 144 of the 3D measurement camera 102 are given below in the Tables 2 to 4 corresponding to Views A, B and C.

(40) TABLE-US-00002 TABLE 2 (View A) Reference number Designation of axis Coordinate 112 First linear axis +10 mm 116 Second axis of 0 rotation 120 Third axis of 90 rotation 124 Fourth linear axis +10 mm 128 Fifth axis of 8 45 rotation

(41) TABLE-US-00003 TABLE 3 (View B) Reference Designation of number axis Coordinate 112 First linear axis 62 mm 116 Second axis of 0 rotation 120 Third axis of 60 rotation 124 Fourth linear 18 mm axis 128 Fifth axis of 8 45 rotation

(42) TABLE-US-00004 TABLE 4 (View C) Reference number Designation of axis Coordinate 112 First linear axis +10 mm 116 Second axis of 0 rotation 120 Third axis of 105 rotation 124 Fourth linear axis +10 mm 128 Fifth axis of 8 45 rotation

(43) In FIG. 4 in three partial views (Views A, B and C; schematic) of the extraoral dental scanner 100 a position and angle-related orientation of the positioning means 108, 114, 118, 126, 130 or of the dental shaped part 300 is also demonstrated, but here during performance of a rotation scan of a dental shaped part 300 embodied as an individual tooth model.

(44) The dental shaped part 300 is arranged on the model plate 130 by means of a holder (not illustrated). In this mode the tilting module 114 is also in the neutral position (angle of rotation of axis 2 equal to 0). The relative positioning of the dental shaped part 300 for the three-dimensional capture of its surface is carried out in this mode analogously to FIG. 3 but here by varying the coordinates at axes 112, 120, 124, 128.

(45) The relative positions or rotation angles 112, 116, 120, 124, 128 shown by way of example in FIG. 4 at the axes of the positioning means 108, 114, 118, 126, 130 are given below in the Tables 5 to 7 corresponding to Views A, B and C.

(46) TABLE-US-00005 TABLE 5 (View A) Reference number Designation of axis Coordinate 112 First linear axis 20 mm 116 Second axis of 0 rotation 120 Third axis of 105 rotation 124 Fourth linear axis 10 mm 128 Fifth axis of 8 45 rotation

(47) TABLE-US-00006 TABLE 6 (View B) Reference number Designation of axis Coordinate 112 First linear axis 20 mm 116 Second axis of 0 rotation 120 Third axis of 90 rotation 124 Fourth linear axis 10 mm 128 Fifth axis of 8 45 rotation

(48) TABLE-US-00007 TABLE 7 (View C) Reference number Designation of axis Coordinate 112 First linear axis 25 mm 116 Second axis of 0 rotation 120 Third axis of 60 rotation 124 Fourth linear axis 18 mm 128 Fifth axis of 8 45 rotation

(49) In FIG. 5 in three further partial views (Views A, B and C; schematic) of the extraoral dental scanner 100 a position and angle-related orientation of the positioning means 108, 114, 118, 122, 126 or of the dental shaped part 306 is also demonstrated, here during performance of a rotation scan of a dental shaped part 300 embodied as a dental bridge model.

(50) The dental shaped part 300 is arranged on the model plate by means of a holder (not illustrated). In this mode the tilting module 114 is also in the neutral position (angle of rotation of axis 116 equal to 0). The relative positioning of the dental shaped part 300 for the three-dimensional capture of its surface is carried out in this mode as well analogously to FIGS. 3 and 4, here again by varying the coordinates at axes 112, 120, 124, 128.

(51) The relative positions or rotation angles shown by way of example in FIG. 5 at the axes of the positioning means 108, 114, 118, 122, 126 are given below in Tables 8 to 10 corresponding to Views A, B and C.

(52) TABLE-US-00008 TABLE 8 (View A) Reference number Designation of axis Coordinate 112 First linear axis 20 mm 116 Second axis of 0 rotation 120 Third axis of 105 rotation 124 Fourth linear axis 10 mm 128 Fifth axis of 8 45 rotation

(53) TABLE-US-00009 TABLE 9 (View B) Reference number Designation of axis Coordinate 112 First linear axis 25 mm 116 Second axis of 0 rotation 120 Third axis of 90 rotation 124 Fourth linear axis 18 mm 128 Fifth axis of 8 45 rotation

(54) TABLE-US-00010 TABLE 10 (View C) Reference number Designation of axis Coordinate 112 First linear axis 25 mm 116 Second axis of 0 rotation 120 Third axis of 75 rotation 124 Fourth linear axis 18 mm 128 Fifth axis of 8 45 rotation

(55) FIG. 5 shows a schematic partial view of the immovable assembly 132 and also the arrangement of tilting module 114, swiveling module 118, model-height compensation elevation module 122 and model rotation module 126 during performance of a multiple individual-tooth scan. The dental shaped parts 300 embodied as individual tooth models (here, for example, four individual tooth models) are here arranged on the model plate 130 by means of holders. With this so-called wobble scanning mode it is possible by varying the angles of the second and third axes of rotation 116, 120 to effect a change in the spatial orientation of each of the dental shaped parts 300 at a specific point on the surface without changing the spatial location of this point. In this way the individual tooth model 300 to be scanned remains at all times inside the measurement volume during wobble scanning mode. In this way, for each of the individual tooth models 300 arranged on the model plate 130 the surface can successively be fully captured from different directions by the scanner 100.

(56) In the case of wobble scanning mode the following angles of the second tilting module 114 and of the third swiveling module 118 are for example taken up successively:

(57) TABLE-US-00011 TABLE 11 Angle of Angle of the the second third tilting swiveling module 114 module 118 60 60 0 60 +60 60 +60 0 +60 +60 0 +60 60 +60 60 0

(58) A recording in which both the second tilting module 114 and also the third swiveling module 118 are set to 0 corresponds to a recording from above.

(59) FIG. 7 shows the extraoral dental scanner 100 with the assemblies/elements already described in FIG. 1 arranged in the housing 700 in automatic positioning mode (View A) and in manual positioning mode (View B).

(60) To implement both automatic and manual positioning modes the extraoral dental scanner 100 has in addition to the elements or assemblies already designated in FIG. 1 two vertically arranged working ranges 702, 704 (or working planes), whereby the upper working range 702 allows working in automatic positioning mode (View A) and the lower working range 704 allows working in manual positioning mode (View B).

(61) In automatic positioning mode the linear drive module 108 moves the 3D measurement camera 102 and thus the measurement volume 144 with the aid of an autofocus controller before every recording and without any manual interaction parallel to the optical axis of the camera into the area of the dental shaped part which is to be recorded.

(62) Here in automatic positioning mode the 3D measurement camera is located in the upper working range 702. In the representation in View A the robot arm 706 with its positioning means is for example in the neutral position for the overview recording mode.

(63) To implement manual positioning mode (View B) the extraoral dental scanner 100 has in addition a work plate 708 for manual positioning of a dental shaped part 300. The work plate 708, viewed from the 3D measurement camera 102 in the direction of its optical axis 106, is here arranged in such a way behind the model rotation module 126 that this and the work plate 708 cannot collide. The work plate 708 here lies in a plane perpendicular to the optical axis 106. The robot arm 706 is here in a parking position (View B) in manual positioning mode.

(64) In the case of the parking position shown in FIG. 7B the second tilting module 114 is set to +60, the third swiveling module 118 is set to 105 and the fourth model-height compensation elevation module 122 is moved fully downwards to 25 mm.

(65) In manual positioning mode different designs of dental shaped parts 300, including those using articulators, arranged on the work plate can be captured three-dimensionally (in FIG. 7, View B shown as an example). In manual positioning of the dental shaped part 300 there is first a rough positioning of the 3D measurement camera by means of at least one photoelectric beam, while fine positioning is carried out by an autofocusing device.

(66) By articulator is meant a device for simulating the movement of the mandibular joint. To do so plaster models of the dental arches of the upper and lower jaws are mounted in the articulator. The movement of the jaws relative to each other can then be simulated.

(67) An image field within the meaning of the description of the invention is a section through the measurement volume in the focal plane, where the sectional plane stands perpendicular to the optical axis.

(68) A buccal recording is a recording on the cheek side, and a lingual recording is a recording on the tongue side.

(69) A unilateral and rotatably fixed object, in other words, for example, an axis, a shaft, a cardan axis, a cardan shaft or similar is rotatably fixed or supported only at one of its two ends and is only there powered or rotated. The other end is not fixed on or to a further object or has no support.

(70) A 3D measurement camera is for example an optical camera for capturing the three-dimensional surface structure of an object by means of, for example, a structured-light projector.

(71) Positioning means within the meaning of the description of the invention are means for the relative positioning of the 3D measurement camera and of the dental shaped part.

(72) Robot arm 706 within the meaning of the description of the invention refers to the unit consisting of tilting module 114, swiveling module 118, model-height compensation elevation module 122, model rotation module 126 and model plate 130.

REFERENCE NUMBERS

(73) 100 extraoral dental scanner 102 3D measurement camera 104 measurement volume 106 optical axis 108 camera elevation module (linear drive module) 110 travel range of the linear axis of the camera elevation module 112 first axis/linear axis of the camera elevation module 114 tilting module 114 116 second axis/axis of rotation of the tilting module 118 swiveling module 120 third axis/axis of rotation of the swiveling module 122 model-height compensation elevation module 124 fourth axis/linear axis of the model-height compensation elevation module 126 model rotation module 128 fifth axis/axis of rotation of the model rotation module 130 model plate 132 immovable assembly of the dental scanner 134 angular range of the axis of rotation of the tilting module 136 angular range of the axis of rotation of the swiveling module 137 travel range of the linear axis of the model-height compensation elevation module 138 direction of movement (direction of rotation) of the model plate 140 center of the model plate 142 center of the measurement volume (intersection of the axis of rotation of the tilting module, axis of rotation of the swiveling module and linear axis of the camera elevation module) 144 measurement volume 146 offset (distance) between the model rotation axis and the intersection of the axis of rotation of the swiveling module with the axis of rotation of the tilting module (center of the cardan joint in the neutral position) 200 image field 202 image field diagonal 204 image field center 300 dental shaped part 700 housing 702 upper working range 704 lower working range 706 robot arm (consisting of tilting module 114, swiveling module 118, model-height compensation elevation module 122, model rotation module 126, and model plate 130) 708 work plate