Let $P$ be a $δ$-separated $(δ, s, C_P)$-set of points in $B(0, 1)\subset \mathbb{R}^d$ and $Π$ be a $δ$-separated $(δ, t, C_Π)$-set of hyperplanes intersecting $B(0, 1)$ in $\mathbb{R}^d$. Define \[I_{Cδ}(P, Π)=\#\{(p, π)\in P\times Π\colon p\in π(Cδ)\}.\] Suppose that $s, t\ge \frac{d+1}{2}$, then we have $I_{Cδ}(P, Π)\lesssim δ|P||Π|$. The main ingredient in our argument is a measure theoretic result due to Eswarathansan, Iosevich, and Taylor (2011) which was proved by using Sobolev bounds for generalized Radon transforms. Our result is essentially sharp, a construction will be provided and discussed in the last section.