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Hard tissue surface geometry determinationRelated Patent Categories: Dentistry, Apparatus, Having Gauge Or Guide, Having Tool, Marker, Or Coupling Or Guiding Means Therefor, Parallel DrillingHard tissue surface geometry determination description/claimsThe Patent Description & Claims data below is from USPTO Patent Application 20060240379, Hard tissue surface geometry determination. Brief Patent Description - Full Patent Description - Patent Application Claims
RELATED APPLICATIONS [0001] The present application is a continuation-in-part of U.S. Ser. No. 10/350,288, the disclosure of which is incorporated herein by reference. FIELD OF THE INVENTION [0002] The present invention relates to the measurement of surface geometries, for example, of dental and bone tissues. BACKGROUND OF THE INVENTION [0003] There are many applications where knowing the surface structure or internal structure of hard tissue is desirable. A typical solution, especially if the hard tissue is underlying soft tissue as is the case in dental care, is to obtain X-Ray CT images of the hard tissue [0004] U.S. Pat. No. 5,562,448 to Mushabac, the disclosure of which is incorporated herein by reference, describes an array of sensors which are slid over one or more teeth, to determine its surface structure. However, the position of the array must be determined for each measurement of the array. This patent also describes a point-by-point digitizing of jaw-bone surface by penetrating overlying soft tissue to the bone with a sharp probe, multiple times; again, requiring position determination for each point digitization. The multiple position determination may cause registration and/or other accuracy problems. [0005] In dental tooth implantation other than by the method of U.S. Pat. No. 5,562,448, it is common practice to peel the soft gum tissue off of the jaw bone, in order to better visualize the jaw bone surface geometry. [0006] While common practice is to determine the drilling direction by feel, it has been suggested to mount a surgical stent (template) on the jaw bone, to guide the drilling. The stent may be manufactured, for example, using CAD/CAM techniques and based on CT images of the jaw. [0007] U.S. Pat. No. 5,163,940 to Bourque, the disclosure of which is incorporated herein by reference, describes a measurement device for malting a measurement of a joint portion. SUMMARY OF THE INVENTION [0008] An aspect of some embodiments of the invention relates to apparatus for determining surface geometry of a hard tissue underlying soft tissue. In an exemplary embodiment of the invention, a plurality of pins or other tipped elements are advanced so that the tips penetrate the soft tissue and substantially do not penetrate, or penetrate by a known amount, the hard tissue. The surface may be reconstructed by knowing the relative positions of the tips. In an exemplary embodiment of the invention, the pins are coupled together so that their relative position, in at least one or two dimensions is known, for example, the pins each having a fixed channel along which substantially only motion along the axis of the pin is possible. [0009] In an exemplary embodiment of the invention, the apparatus is designed as a dental stent for simultaneous measurement of two sides and at least part of a top of a jaw bone where a tooth is to be implanted. In an exemplary embodiment of the invention, a drilling direction, position and/or depth in the jaw is estimated as a function of the determined surface geometry. [0010] Optionally, the dental stent includes one or more locking pins to lock the stent to a jaw bone. [0011] In an exemplary embodiment of the invention, the apparatus includes a built-in mechanism which determine the axial positions of the pins, and thus of the tips. [0012] Optionally, the apparatus includes a pin advancer and/or retractor. [0013] In an exemplary embodiment of the invention, the surface geometry is used as an input for a dental surgery planning system and/or drill guide. Alternatively or additionally, the surface geometry and/or tip position is used to control and/or monitor a drilling process. Optionally, the apparatus includes a drill guide whose orientation is controlled and/or monitored by the apparatus, responsive to the tip position. [0014] There is thus provided in accordance with an exemplary embodiment of the invention, apparatus for measuring a surface geometry of hard tissue covered by a layer of soft tissue, comprising: [0015] (a) a plurality of elements each having a tip adapted to penetrate said soft tissue and not substantially penetrate said hard tissue; [0016] (b) a frame supporting movement of said elements, each along a path, such that a plurality of said tips, when positioned along the paths, define a surface; and [0017] (c) at least one position sensor which generates a signal indicative of a tip position of at least one of said elements. Optionally, said path comprises a path along an axis of said elements. [0018] Alternatively or additionally, said elements are elongate. [0019] In an exemplary embodiment of the invention, said frame comprises two substantially oppositely facing panels, each of which panels supports a plurality of said elements. Optionally, said frame comprises at least one upper panel supporting a plurality of said elements. Alternatively or additionally, said frame comprises at least one upper panel supporting at least one fixed soft tissue penetration element. Alternatively or additionally, said tips are adapted to measure at least three sides of a shape generally corresponding to a rectangle, while mounted in said frame. Alternatively or additionally, said elements are arranged as a first set perpendicular to one plane, a second set generally facing said first plane and a third set oblique to said first and second sets. [0020] In an exemplary embodiment of the invention, at least some of said plurality of elements are arranged in two dimensions, with at least three elements in each of two orthogonal directions. 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