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Recent advances in dental optics Part II: Experimental tests for a new
intraoral scanner
Silvia Logozzo a,n, Ari Kilpel b, Anssi Mkynen b, Elisabetta M. Zanetti a,
Giordano Franceschini a
a
b
Department of Industrial Engineering, University of Perugia, Via Duranti, 931 06125 Perugia (Italy)
Department of Electrical Engineering, University of Oulu, PO Box 8000, FI-90014 Oulu, Finland
art ic l e i nf o
a b s t r a c t
Article history:
Received 21 June 2013
Received in revised form
27 July 2013
Accepted 30 July 2013
Available online 14 September 2013
The object of this paper is testing the performance of a new device for 3D oral scanning: a two channel
PTOF (pulsed time-of-ight) laser scanner, designed for dental and industrial applications in the
measurement range of zero to a few centimetres. The application on short distances (010 cm) has
entailed the improvement of performance parameters such as single shot precision, average precision
and walk error up to mm-level and to mm-level respectively.
The single-shot precision (s-value) has resulted to range from 43 to 63 ps (910 mm), having
considered the measurement range (6.510 mm) corresponding to 12 V signal; this result agrees well
with estimates made from simulations. The average precision has resulted to be dependent on the
number of measurements and can reach a value equal to 7 25 mm, whenever the measurements
frequency is sufciently high. For example, if the required scanning speed is 1000 points/s and the
required average precision is 725 mm, then a pulses frequency of 3050 MHz is needed, considering
signal amplitude varying between 12 V.
On the whole, the performance of this new device, based on PTOF has proven to be adequate to its
employment in the eld of restorative dentistry.
& 2013 Elsevier Ltd. All rights reserved.
Keywords:
Intraoral scanner
Pulsed time of ight
Laser range-nding techniques
Restorative dentistry
CAD/CAM
1. Introduction
Three-dimensional scanning of the mouth is required in a large
number of procedures in dentistry such as restorative dentistry
and orthodontics. The aim of the 3D mapping of the oral cavity is
to create digital impressions. Restorative dentistry is of course the
main eld which requires the application of very accurate 3D
intraoral scanners. In fact, the realization of any dental prosthesis
188
Table 1
Target performance parameters of the new PTOF
system.
Performance parameters
Minimum scanning speed
AP
Walk error
Measurement range
Mean measurement distance
1000 pts/s
7 25 mm
7 25 mm
110 cm
5 cm
2.1. Specications
The required performance parameters (Table 1), which could
make the new PTOF laser rangender suitable for dental applications, have been established on the basis of the performances
exhibited by the other intraoral scanning devices [1,5] and on the
basis of the requirements, in scientic literature.
1
r
V
V br
1
1kr
FM kr M 2
M
189
2.4. Optics
The optics is single axis and it is composed of the following
parts:
190
A single-axis optic has been chosen for the laser range nder
because of its high linearity and its wide measurement range.
Moreover, the single-axis optics, when properly adjusted, exhibits
a very limited variation of the optical power.
The optics schematic is shown in Fig. 2. The laser beam is
transmitted by means of the pigtailed aspheric collimator. Two
tubes are used as a reference, in order to change the focused
distance of both the transmitter and the receiver.
The performance parameters of the optics have been calculated
and also simulated by means of software, implemented at the
Electronics Laboratory of the University of Oulu, on the basis of the
theory reported in [11]. The name of this software is SNR Calculation Program for Laser Radar (2008) by K. Mtt.
The calculations and simulations have been performed considering two kinds of targets: a paper screen and a tooth. The
reectance index was set at 0.17 at 405 nm and at 0.45 at 660 nm
for the teeth enamel and to 1 for the paper. Fig. 3 shows the
average reection spectrum of the teeth enamel at several wavelengths [12].
The used beam splitter is 50/50, so the transmittance index is
0.25. The index for the rest of the losses has been set at 0.15, on the
basis of the measured value of the optical power. So the total
transmittance index of the optics is 0.21. The optical amplitude has
been measured by an oscilloscope connected to an optical converter. The optical power of the laser pulse has been measured
using a power meter. The measured peak optical power has
resulted to be equal to about 30 mW for the blue laser, and to
40 mW for the red laser.
Table 2
Specications Avalanche Photo-detector Thorlabs APD110A2/m.
Specication
Value
Multiplication factor, M
Detector active area diameter
Operating wavelength
Responsivity at 405 nm and M 1
Responsivity at 660 nm and M 1
Max responsivity at 800 nm and M 50
Max input power
Transimpedance gain Z
Max output voltage
Power supply
50
1 mm
2001000 nm
0.17 A/W
0.45 A/W
25 A/W
1 mW
50,000 V/A
3.6 V
7 12 V at 200 mA
Fig. 3. Average reectance factor of enamel. Bars indicate standard error at a few
wavelengths.
191
0.17 V, which is too low, while the amplitude variation ratio is too
high (3.08/0.17). According to this simulation, the distance variation range cannot exceed 72 mm from the focused distance.
In this situation, the minimum optical power is about 2600 nW
and the corresponding amplitude is 1.11 V; the amplitude variation
ratio is about 2.8 (3.08/1.11).
The second simulation has been performed using the red laser
and the paper screen as a target. The used parameters are reported
in Fig. 5; the same gure shows that the maximum received
optical power reaches about 1250 nW, when q1 is 7.4 cm and q2 is
8 cm. The correspondent maximum amplitude is 1.41 V see Eq. (3).
If the position of the target changes in a range of 75 mm from the
focused distance, then the minimum received power is about
192
The excess noise factor F(M) of the APD has been calculated
according to Eq. (2) and other experimental equations reported in
[13], considering the ionization ratio kr 0.02; in these conditions,
F(M) is about 3.
The slew rate (SR) of the signal can be calculated as
SR
V outampl
V =s
tr
where
2.5. Evaluation of single shot precision, pulses frequency and average
precision
The total single shot precision tTOT can be calculated as the
square root of the sum of squared single shot precisions tptof,
due to the PTOF system and tTDC, due to the TDC circuit:
q
t tot t 2ptof t 2TDC s
4
tTDC is at least about 40 ps using R-mode, as experimentally
measured, whereas tptof must be calculated; considering the case
of APD, the following equation holds:
s s
v2nampl 2qV outCFD MFMbZ
v2nrms
s
5
t ptof
SR2
SR2
where:
tr can be calculated as
tr
0:35
s
B
vn amp is the root mean square value of the electronics noise and
can be calculated as follows:
p
vnamp NEP MRZ B V
8
where:
vn rms rms value of the total noise in the timing moment [V];
vn amp rms value of the electronics noise [V];
Vout CFD pulse voltage in the timing point [V];
M multiplication factor of the APD;
F(M)excess noise factor of the APD;
B signal bandwidth [Hz];
Ztransimpedance gain of the amplier, in this system it is
equal to 50 k (Table 2);
q electron charge [C]; and
SR slew rate of the signal [V/s].
Vout CFD can be set equal to the product of the threshold voltage
level at CFD and the received amplitude voltage. The threshold
voltage level at CFD is 0.4 V (Tables 3), that is the 50% of the
Vout CFD, according to the LVPECL logic levels ((2.41.6 V)/2).
The multiplication factor M of the APD is 50 (Table 2), the signal
bandwidth B is 50 MHz (Table 3).
Table 3
Input and calculated performance parameters of the new PTOF system.
Performance parameters
M multiplication factor of APD
F(M) noise excess factor of APD
R(6 6 0) APD responsitivity at 660 nm
q electron charge
Vn amp
Vout ampl
Vthreshold CFD
Vout CFD
B bandwidth
Z
SR
tTDC
tptof
tTOT
Target AP in mm
Target AP in time
n (number of measurements needed)
Scanning speed
Minimum pulses frequency
50 (Table 2)
3 Eq. (2)
0.45 A/W (Table 2)
1.6 10 19C
1.87 mV (measured)
2V
0.4 V
0.8 V
50 MHz
50 k (Table 2)
228.57 MV/s (measured)
40 ps (measured)
43.6 ps Eq. (5)
59.2 ps Eq. (4)
50 m (Table 1)
0.33 ps (50 10 6 2/3 108)
31,540 Eq. (9)
1000 points/s (Table 1)
31.5 MHz
calculated [14]
r
V of f
20 V 0 1V ampl
1 1 s
t cross D
SR
t t
r
10
where
0 time constant corresponding to the corner frequency of
unit gain (1/GBW);
D delay time constant (the comparator has a propagation
delay after which the input signal is transmitted to the output);
tcross response time required for reaching a voltage level V0 in
the output;
Voff offset voltage;
Vampl peak amplitude of the input voltage;
SR combined slew rate of the leading and trailing edges of the
input pulses in the timing point. It can be calculated from
Eq. (6), as the 80% of Vampl divided by tr.
The rst two terms of the equation represent the contribution
of the propagation delay (and thus of the GBW product of the
comparator) and the third term takes in account the effect of the
offset voltage.
Eq. (10) allows calculating the walk error as the difference
between tcross for a given Vampl and tcross for Vampl 2 V; input values
are summarised in Table 4. The respective curves shown in Fig. 6. It
can be noticed that
fast comparators give a smaller walk error than slow comparators;
faster pulses give smaller walk error than slow pulses;
if a fast comparator and slow pulses are used, a small offset
voltage is sufcient to correct the walk error [2,14]; and
if the pulses are fast, a larger offset voltage is needed.
193
3. Experimental tests
The experimental tests have been aimed to the evaluation of
the performances of the optics, of the TDC circuit and of the built
PTOF system, in terms of single shot precision (SSP), average
precision (AP), walk error and pulses frequency.
3.1. Tests on optics
Basically, all optics layouts have been built according to Fig. 2
and optimizing the performance in terms of low amplitude
variation ratio. Some of the parameters used in the simulation
have been directly measured as, for example
the actual transmission index of the optics 0.21;
Table 4
Input and calculated parameters used to evaluate walk error.
Performance parameters
ADCMP573 G
ADCMP573 BW
ADCMP573
D
tr (rise time), tf (fall time)
0
V0
Voff
Max Vampl (received amplitude)
500
8 GHz
4 THz
150 ps
7 10 9 s Eq. (7)
2.5 10 13 s (1/GBW)
0.4V
2.533.5 mV
2V
194
Table 5
Results of R-mode measurements without noise
(true delay value 5 ns)
Max measured delay
Min measured delay
Number of measurements
Mean value
Single shot precision in time (std)
Single shot precision in mm (std)
APD in time
APD in mm
5.083 ns
4.794 ns
1023
4.934 ns
40.5 ps
6.078 mm
1.267 ps
0.19 mm
Table 6
Results of R-mode measurements with noise (true
delay value 5 ns).
Max measured delay
Min measured delay
Number of measurements
Mean value
SSP in time
SSP in mm
AP in time
AP in mm
5.3 ns
5.035 ns
1023
5.172 ns
36.2 ps
5.427 mm
1.131 ps
0.17 mm
Table 8
Performance parameters of the new PTOF system.
7 0.025 mm
1000 points/s
AP
Scanning speed
Table 7
Results of R-mode experimental measurements and numerical evaluations.
Amplitude [V]
1.6
Exp
# of Measurements
Max delay [ns]
Min delay [ns]
Mean value [ns]
SSP in time [ps]
SSP as a distance [mm]
AP in time [ps]
AP as a distance [mm]
a
b
1.5
a
20,440
59.36
58.83
59.04
64.2
9.63
0.449
0.067
(Section 2.5)
63.3
9.49
0.447
0.067
1.4
a
Exp
20,440
59.28
58.80
59.01
64.9
9.73
0.454
0.0681
(Section 2.5)
64.6
9.70
0.453
0.068
Exp
1.3
a
20,440
59.31
58.80
59.02
66.1
9.92
0.463
0.0694
(Section 2.5)
Expa
(Section 2.5)b
66.05
9.91
.462
0.0694
20,440
59.28
58.75
59.98
67.3
10.09
0.471
0.071
67.7
10.15
0.473
0.071
195
Acknowledgements
This paper is based on research work carried out at the
Electronics Laboratory of the Department of Electrical Engineering
196
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