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A novel 3D digital dental scanning system is introduced in this paper. The system is consisted of some action-controlling units and one structured light vision sensor. The scanning principle, the kinematic model and the calibration algorithm are discussed in detail. It is concluded that, from experiment, the scanning precision can be reached 0.18mm and 8000 pts can be obtained per second in the system. The dental scanning system can be used to reconstruct 3D model of dental wax conveniently.