CN110368007A - Splice control method between a kind of object - Google Patents
Splice control method between a kind of object Download PDFInfo
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- CN110368007A CN110368007A CN201910507135.XA CN201910507135A CN110368007A CN 110368007 A CN110368007 A CN 110368007A CN 201910507135 A CN201910507135 A CN 201910507135A CN 110368007 A CN110368007 A CN 110368007A
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- 235000013399 edible fruits Nutrition 0.000 claims 1
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- 210000000988 bone and bone Anatomy 0.000 description 8
- 238000009434 installation Methods 0.000 description 4
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H30/00—ICT specially adapted for the handling or processing of medical images
- G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10104—Positron emission tomography [PET]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
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Abstract
The present invention relates to technical field of virtual reality, and in particular to splices control method between a kind of object.Splice control method between the object to include: S1, the first comparing part and the second comparing part be separately fixed on the first object to be spliced and the second object to be spliced, forms that the first operation is whole and the second operation is whole；S2, simultaneously under first environment and second environment, formed it is described first operation it is whole and it is described second operation entirety between relative positional relationship separate picture；S3, under the second environment, according to the relative positional relationship in the separate picture between the first object to be spliced and the second object to be spliced, control and change first comparing part and second comparing part relative positional relationship between the two, and the respective posture of the two, to splice the described first object to be spliced and second object to be spliced.Using control method provided by the present invention, precisely easily the object that at least two cannot observe directly position can be spliced together.
Description
Technical field
The present invention relates to technical field of virtual reality, and in particular to splices control method between a kind of object.
Background technique
During current bone surgery, need first to carry out X-ray shooting to the injury of patient, to obtain patient's body
The actual conditions of endoskeleton, then, doctor are completed by personal experience to bone according to the limited information showed on X-ray
Prosthesis, this modus operandi deviation is larger, and in order to reduce operation deviation, typically only by during bone repair
On the one hand repeatedly shooting X-ray delays operation and carries out, brings huge slight illness to patient, on the one hand will cause patient radiation dose
Increase, further patient is caused to damage；Based on the above-mentioned fact, broadly from the point of view of, splice or connect at least two objects
When, it causes that splicing cannot be completed between two objects because the physical location between two objects to be spliced cannot be directly acquired
Scene is very common, it is then desired to a kind of simple and convenient method be provided, accurately cannot observe directly position at least two
The object set is spliced together.
Summary of the invention
(1) the technical problem to be solved by the present invention is providing a kind of simple and convenient method, with accurately will at least two
A object that cannot observe directly position is spliced together.
(2) technical solution
In order to realize above-mentioned technical problem, the present invention provides splice control method between a kind of object comprising: S1, general
First comparing part and the second comparing part are separately fixed on the first object to be spliced and the second object to be spliced, form the first operation
Whole and the second operation is whole；
S2, simultaneously under first environment and second environment, it is whole to form whole and described second operation of first operation
Between relative positional relationship separate picture；
S3, under the second environment, the first object to be spliced according to the separate picture and described second to
Splice the relative positional relationship between object, it is between the two to control and change first comparing part and second comparing part
Relative positional relationship and the respective posture of the two, to splice the described first object to be spliced and second object to be spliced.
Optionally, the S2 specifically:
S21, simultaneously under the first environment and the second environment, it is whole and described to form several described first operations
The separate picture of relative positional relationship between second operation entirety；
S22, several separate pictures according to form the whole phase between the second operation entirety of first operation
To the threedimensional model of positional relationship；
The S3 specifically:
S23, under the second environment, the first object to be spliced according to the threedimensional model and described second to
Splice the relative positional relationship between object, it is between the two to control and change first comparing part and second comparing part
Relative positional relationship and the respective posture of the two, to splice the described first object to be spliced and second object to be spliced.
Optionally, before the S1 further include:
S31, under the first environment, form phase between first object to be spliced and second object to be spliced
To the separate picture of positional relationship.
Optionally, the S31 specifically:
S41, under the first environment, formed several described first objects to be spliced and second object to be spliced it
Between relative positional relationship separate picture；
S42, according to several described separate pictures, formed first object to be spliced and second object to be spliced it
Between relative positional relationship threedimensional model.
Optionally, after the S3 further include:
S5, under the first environment, form phase between first object to be spliced and second object to be spliced
To the stitching image of positional relationship.
Optionally, after the S5 further include:
S6, judge spelling between the described first object to be spliced and second object to be spliced in the stitching image
Connect whether effect meets setting demand, if it is not, then returning to S1.
Optionally, the threedimensional model is dynamic model, whole with whole and described second operation of first operation
Between relative position and posture variation and change.
It optionally, include the first inertia in first comparing part referring to module, interior second comparing part includes second
Inertia is referring to module, the S3 specifically:
S81, under the second environment, the first object to be spliced according to the separate picture and described second to
Splice the relative positional relationship between object, it is between the two to control and change first comparing part and second comparing part
Relative positional relationship and the respective posture of the two, and in conjunction with referring to first inertia referring to module feedback data and institute
Feedback data of second inertia referring to module is stated, to splice the described first object to be spliced and second object to be spliced.
Optionally, the first environment is formed by one of Nuclear Magnetic Resonance, CT instrument, PET instrument and DSA instrument.
Optionally, the second environment is formed by RF transmitter.
(3) beneficial effect
The present invention splices control method between providing a kind of object, in splicing, first by the first comparing part and second pair
It is separately fixed on the first object to be spliced and the second object to be spliced according to portion, so that the first comparing part and the first object to be spliced
It is whole to form the first operation, the second comparing part and second the second operation of object formation to be spliced are whole, thus according to the first control
The relative position of both portion and the second comparing part and the situation of change of respective posture, obtain the first object to be spliced and second to
How relative position and respective posture between splicing object change；It is first same also, before splicing operation starts
When the separate picture that the first operation is whole and the second operation is whole is formed under first environment and second environment, according to the separation figure
Picture, and the first comparing part of visible image and relative position and the appearance of the second comparing part can be formed under second environment by changing
State, indirectly controls the object to be spliced of can not observe directly first and the second object to be spliced is spliced together, this control
Method is simple and convenient, and precision is relatively high.
Detailed description of the invention
The advantages of above-mentioned and/or additional aspect of the invention, will be apparent from the description of the embodiment in conjunction with the following figures
Be readily appreciated that, in which:
Fig. 1 is a kind of flow chart of splicing control method between object provided by the present invention；
Fig. 2 is another flow chart of splicing control method between object provided by the present invention；
Fig. 3 is another flow chart of splicing control method between object provided by the present invention；
Fig. 4 is another flow chart of splicing control method between object provided by the present invention；
Fig. 5 is another flow chart of splicing control method between object provided by the present invention；
Fig. 6 is another flow chart of splicing control method between object provided by the present invention；
Fig. 7 is another flow chart of splicing control method between object provided by the present invention.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, implementation of the invention
Feature in example and embodiment can be combined with each other.
As shown in Figure 1, the present invention splices control method between providing a kind of object comprising:
S1, the first comparing part and the second comparing part (being to show in figure) are separately fixed to the first object to be spliced and
On two objects (being to show in figure) to be spliced, it is whole whole (being to show in figure) with the second operation to form the first operation；
Specifically, the structure of the first comparing part and the second comparing part, construction and size can be identical, thus more accurate
Ground provides navigation control purpose for the first object to be spliced of splicing and the second object to be spliced；Certainly, under certain special screnes,
First comparing part and the second comparing part can be not exactly the same, and by setting respective algorithms, make the first comparing part and second pair
Relatively accurate navigation control effect can be provided according to portion.First comparing part and the second comparing part can fix in several ways
Be connected on the first object to be spliced and the second object to be spliced, such as can be connected through a screw thread between the two, grafting, riveting or
The connection of the either types such as clamping, those skilled in the art can flexibly select according to the actual situation, with guarantee the first comparing part and
Connection procedure between first object to be spliced and between the second comparing part and the second object to be spliced is simple and convenient, and even
It is relatively high to connect reliability.
S2, simultaneously under first environment and second environment, it is whole opposite between the second operation entirety to form the first operation
The separate picture of positional relationship；
Specifically, those skilled in the art in the actual operation process, can according to the first comparing part, the second comparing part,
The actual conditions of first object to be spliced and the second object to be spliced determine the specific formation side of first environment and second environment
Formula, to guarantee that the first comparing part (and second comparing part) and the first object (and second object to be spliced) to be spliced can be first
Imaged image under environment, so that staff can determine the first object to be spliced and the second object to be spliced according to aforementioned image
Between relative positional relationship, and the size and general shape of gap or spacing therebetween, and compare the first comparing part and
The image that second comparing part is respectively formed under first environment and second environment, to determine the first object to be spliced under second environment
Relative position between body and the second object to be spliced.
More specifically, the environment that first environment can be formed for X-ray machine, under X-ray environment, the equal energy of the object of most materials
Form image；Alternatively, first environment can also be formed by Nuclear Magnetic Resonance, this makes the accuracy of the separate picture to be formed and clear
Clear degree is relatively high, also, the object of more kinds of materials can form relatively clear image in Nuclear Magnetic Resonance, application
Range is relatively wider.In addition, the first operation can be made whole and the second operation is whole simultaneously in Nuclear Magnetic Resonance in imaging session
In the environment of form several separate pictures, several aforementioned separate pictures can embody first wait spell from different directions or in different angle
The relative positional relationship between object and the second object to be spliced is connect, this can make staff more accurately understand first wait spell
The positional relationship between object and the second object to be spliced is connect, and shape, size and the distribution situation in gap therebetween.When
So, first environment can also be formed using other equipment or other conditions, such as PET (Pos itron Emi ss ion
Computed Tomography, positron e mission computed tomography) instrument or DSA (Digita l subtract ion
Angi ography, angiography) instrument formed, to select suitable developing apparatus for different objects.
S3, under second environment, according to the phase between the in separate picture first object to be spliced and the second object to be spliced
To positional relationship, control and change the first comparing part and the second comparing part it is between the two relative positional relationship and the two it is each
From posture, to splice the first object to be spliced and the second object to be spliced.
In splicing, since staff cannot observe directly (or must under given conditions just it is observed that)
First object to be spliced and the second object to be spliced, thus can be by the first comparing part being respectively fixedly connected with both
With the second comparing part, corresponding relative position and the posture situation for changing the first object to be spliced and the second object to be spliced.Specifically
Ground, under second environment, the first comparing part and the second comparing part can show itself position and posture, and staff passes through
The relative position and the respective posture of the two, determination obtained between the first comparing part and the second comparing part can not observe directly
The first object to be spliced and the second object to be spliced relative position and real-time attitude, and then complete splicing the first object to be spliced
The work of body and the second object to be spliced.More specifically, second environment can be formed by natural light, staff can pass through sight
Position and the attitudes vibration for examining the first comparing part and the second comparing part, determine the first object to be spliced and the second object to be spliced it
Between relative positional relationship and attitudes vibration, to indirectly control the first object to be spliced and the second object to be spliced completes splicing
Work.
Preferably, the light environment that second environment can be formed for the infrared ray of RF transmitter transmitting, correspondingly,
The ability that the first comparing part and the second comparing part can be made to be provided with reflection infrared ray, in the space for carrying out concatenation, also
Camera installation can be equipped or light captures equipment, to capture the infrared light reflected in the first comparing part and the second comparing part
Line, to obtain the change in location and attitudes vibration situation of the first comparing part and the second comparing part according to aforementioned reflection light.Tool
Body, in splicing, RF transmitter can be made to keep always on state, in such a scenario, if first
The position of comparing part and the second comparing part remains unchanged, then, correspondingly, camera installation or light capture equipment and are captured
To the infrared light reflected through the first comparing part and the second comparing part light spot position and radiation direction also accordingly keep not
Become, and once the position or posture of the first comparing part and the second comparing part change, light captures equipment and is captured
Reflected light light spot position and radiation direction will certainly also change, and then with the help of the ancillary equipments such as computer,
Staff concisely can directly determine which kind of variation, phase has occurred in the position of the first comparing part and the second comparing part and posture
Ying Di, the relative positional relationship and attitudes vibration feelings being also assured that between the first object to be spliced and the second object to be spliced
Condition.
Further, second environment can be formed by more RF transmitters, and in more infrared ray transmittings of installation
During device, the direction for the infrared ray that more RF transmitters can be made to be issued is different, and it is possible to make more
RF transmitter is separately mounted to the different corners in the region of concatenation progress, to determine by infrared reflection light
During the position and posture of first comparing part and the second comparing part, make obtained first comparing part and the second comparing part
Position and attitudes vibration information are more accurate, this can further be promoted between the first object to be spliced and the second object to be spliced
Splicing precision.
It is a kind of using above-mentioned control method complete object between the specific embodiment that splices be bone surgery, in detail, when
After fracture occurs in patient, doctor is generally required to patient injury position taking x-rays, the letter then showed according to X-ray
Breath completes the splicing prosthesis between bone by experience, and in order to guarantee the accuracy for splicing prosthesis, usually need
Will multiple taking x-rays in the course of surgery, this undoubtedly will increase the dosage of patient's body radiation, and also will increase operation
Duration brings biggish pain to patient, and is unfavorable for physical recovery.And it is carried out using control method provided by the present invention
It states and splices prosthesis between bone, then the first comparing part and the second comparing part only need to be separately fixed to two pieces of patient's body wait spell
On the bone (the as first object to be spliced and the second object to be spliced) connect, then under second environment, core is carried out to patient
Magnetic resonance or CT examination etc. obtain while including two pieces of bones positioned at patient's body (cannot directly observe), and be located at and suffer from
External first comparing part of (image can be formed under second environment) of person and the separate picture of the second comparing part, at the same time,
The time point for shooting nuclear magnetic resonance or CT separate picture acquires equipment by electronic computer, RF transmitter and light,
The first comparing part and the second comparing part can accordingly be obtained under the second environments such as infrared thread environment, relative position between the two and
The case where respective posture, and then under the booster action of the equipment such as electronic computer, can by aforementioned separate picture first to
Splice the positional relationship between object and the second object to be spliced, synchronous combine is transferred under second environment the first comparing part and the
In the image formed between two comparing parts, even if staff can also be according to the first comparing part to remove first environment
Relative position and posture situation with the second comparing part, it is corresponding to obtain between the first object to be spliced and the second object to be spliced
Positional relationship and respective posture situation, and by the first comparing part of control and the second comparing part, indirectly by the first object to be spliced
Body and the second object to be spliced are spliced together.
Further, as shown in Fig. 2, in control method provided by the present invention, S2 specifically:
S21, simultaneously under first environment and second environment, it is whole between the second operation entirety to form several first operations
The separate picture of relative positional relationship；
Specifically, by CT instrument it is whole to the first operation with the second operation is whole is scanned, can be obtained several first
The separate picture of the whole relative positional relationship between the second operation entirety of operation can be with according to the setting operation before scanning
Make the positional relationship that there is setting between several separate pictures, the separate picture of several planes such as formed can be respectively first
The sectional view that operation is whole and the second operation entirety is at different depth position；Alternatively, being formed by the separation figure of several planes
It is different by several as that can also be respectively that the first operation is whole and second operates whole separate picture in different directions
Separate picture can promote staff and judge relative positional relationship between the first object to be spliced and the second object to be spliced
Accuracy.It is, of course, also possible to form the whole relative position between the second operation entirety of several first operations by other equipment
The separate picture of relationship, is no longer introduced one by one herein.
S22, according to several separate pictures, form the whole relative positional relationship between the second operation entirety of the first operation
Threedimensional model；
Specifically, in splicing, staff can be calculated according to several separate pictures are formed by by electronics
Machine and set algorithm, form the threedimensional model that the first operation is whole and the second operation is whole, and staff passes through observation aforementioned three
Dimension module can more clearly understand concrete shape, the size in the gap between the first object to be spliced and the second object to be spliced
And distribution situation, thus accuracy when promoting first object and the second object to be spliced to be spliced of splicing.In addition, staff
It can enable to be formed by threedimensional model change direction, angle and size under setting instruction by the programming etc. of change algorithm,
To determine the first object to be spliced and the second object to be spliced further convenient for staff by examining the threedimensional model
Concrete shape, size and the distribution situation of positional relationship, gap between body.
On this basis, S3 specifically:
S23, under second environment, according to the phase between the in threedimensional model first object to be spliced and the second object to be spliced
To positional relationship, control and change the first comparing part and the second comparing part it is between the two relative positional relationship and the two it is each
From posture, to splice the first object to be spliced and the second object to be spliced.
In this embodiment, staff can be according to being formed by threedimensional model, and control changes the first comparing part and the
The relative position of two comparing parts and respective posture, to complete the work of splicing the first object to be spliced and the second object to be spliced
Make.
Further, as shown in figure 3, before S1 further include:
S31, under first environment, form relative positional relationship between the first object to be spliced and the second object to be spliced
Separate picture.
Specifically, before carrying out splicing operation, it can first make the first object to be spliced and the first object to be spliced
Image is formed under one environment, on the one hand staff be enabled tentatively to understand the first object to be spliced and the second object to be spliced
On the other hand relative positional relationship between body can also make staff according to above-mentioned separate picture, determine the first comparing part
With the second comparing part optimal fixed point on the first object to be spliced and the second object to be spliced respectively, prevent because first wait spell
It connects because being fixed with the first docking section on object, and influences the progress with the splicing of the second object to be spliced；Or first to
Splicing object on because be fixed with first comparing part due to have an adverse effect to the overall structure stability of the first object to be spliced.More
Specifically, point of the first object to be spliced and the second object to be spliced can be formed under the auxiliary of X-ray instrument or Nuclear Magnetic Resonance
From image.
Further, as shown in figure 4, S31 specifically:
S41, under first environment, form between several first objects to be spliced and the second object to be spliced relative position and close
The separate picture of system；
Specifically, similar to the aforementioned embodimently, make before carrying out splicing operation the first object to be spliced and second to
During splicing image objects, several different separate pictures can also be formed, several separate pictures can reflect the respectively
One object to be spliced and the second object to be spliced different angle or in terms of mutual alignment relation.
S42, according to several separate pictures, form relative position between the first object to be spliced and the second object to be spliced and close
The threedimensional model of system.
Similarly, the can be formed by electronic computer and set algorithm, according to several above-mentioned different separate pictures
The threedimensional model of relative positional relationship between one object to be spliced and the second object to be spliced, staff is according to aforementioned three-dimensional mould
Type apparent can accurately determine the relative positional relationship between the first object to be spliced and the second object to be spliced, and
Force analysis can be carried out according to the specific structure of the two 3 D stereo, integrated structure mechanics, determine the first comparing part with comprehensive
The optimal fixed point of (and second comparing part) on the first object (and second object to be spliced) to be spliced, to prevent because of first
The setting of comparing part (and second comparing part), and influence splicing operation between the first object to be spliced and the second object to be spliced
It carries out, and prevents due to the increase of the first comparing part (and second comparing part) to the first object (and second comparing part) to be spliced
Overall structure stability have an adverse effect.
Further, it as shown in figure 5, splicing in control method between object provided by the present invention, can also be wrapped after S3
It includes:
S5, under first environment, form relative positional relationship between the first object to be spliced and the second object to be spliced
Stitching image.
It specifically, can be again after completing to the splicing operation of the first object to be spliced and the second object to be spliced
In the stitching image for forming relative positional relationship between the first object to be spliced and the second object to be spliced under first environment, this makes
Staff can more clearly recognize, using above-mentioned control method, splice the first object to be spliced and the of completion
Splicing effect between two objects to be spliced, to guarantee to splice accuracy.Furthermore it is also possible to by being formed under first environment
The stitching image of several the first objects to be spliced and the second object to be spliced, and according to several aforementioned stitching images, form first
The threedimensional model of object to be spliced and the second object to be spliced, so that staff be enable more accurately to determine the first object to be spliced
Whether the splicing effect between body and the second object to be spliced is able to satisfy design requirement.
Further, it is influenced by error or other factors, in fact it could happen that after completing setting operation, first is to be spliced
The case where there are still gaps between object and the second object to be spliced, as shown in fig. 6, after completing S5, if first wait spell
The splicing effect connect between object and the second object to be spliced is relatively poor, alternatively, the first object to be spliced and second to be spliced
Still have partial gap between object, S1 can be returned, and complete the control method again, with again to the first object to be spliced and
Second object to be spliced carries out splicing operation, thus by continuing between the first object to be spliced and the second object to be spliced
Relative position and respective posture are adjusted, and make have meet demand between the first object to be spliced and the second object to be spliced
Splicing effect.
In order to further enhance splicing precision, the first inertia can be set in the first comparing part referring to module, accordingly
The second inertia is arranged referring to module, in this case, as shown in fig. 7, S3 in ground in the second comparing part specifically:
S81, under second environment, according to the phase between the in separate picture first object to be spliced and the second object to be spliced
To positional relationship, control and change the first comparing part and the second comparing part it is between the two relative positional relationship and the two it is each
From posture, and combine referring to the first inertia referring to module feedback data and the second inertia referring to module feedback data, with
Splice the first object to be spliced and the second object to be spliced.
Specifically, the first inertia can be with referring to the working principle of module (being to show in figure) referring to module and the second inertia
Identical, such as the two can such as be moved by acquisition acceleration information come the motion state of judgment object and actual motion situation
The information such as distance and the direction of motion；Certainly, other than acquiring acceleration information, acquisition velocity information and magnetic field can also be passed through
Information etc., to judge, determine that union goes out the specific motion conditions of the first comparing part and the second comparing part.
In the present embodiment, staff splices the first object to be spliced and second by the first comparing part and the second comparing part
During object to be spliced, for judging there are two the standards of the first comparing part and the second comparing part motion conditions, first is that
The first comparing part of visible image and the position of the second comparing part and attitudes vibration information can be formed under second environment, this makes work
Making personnel can be by checking that aforementioned visible image obtains the specific motion conditions of the two；Second is that staff can also pass through
The set information of the first comparing part and the second comparing part that one inertia is acquired referring to module and the second inertia referring to module respectively,
Specifically, in the motion process of the first comparing part and the second comparing part, the first inertia is referring to module and the second inertia reference
Module can obtain first pair by operation by the equipment such as collected motion information transmission to electronic computer, or directly
The information such as move distance and the direction of motion according to portion and the second comparing part, and work people is notified by the modes such as playing or showing
Member.
Based on above-mentioned two groups of data, allows staff by comparing and analyzing, obtain the first comparing part and second
Both comparing parts more accurately motion information during concatenation；Alternatively, can also by access electronic computer, with
To motion image of the first comparing part (and second comparing part) under second environment and the first inertia referring to module (and second
Inertia is referring to module) motion information of the first comparing part (and second comparing part) collected is integrated, and is calculated by setting
Method, by contrast, analysis and compensation etc. modes, obtain the motion information of the first comparing part (and second comparing part) more accurately,
To further promote the precision of the splicing operation carried out to the first object to be spliced and the second object to be spliced.
In the description of the present invention, it should be noted that the above is only a preferred embodiment of the present invention, is not intended to limit
The scope of the patents of the invention, it is all to utilize equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content,
It is applied directly or indirectly in other relevant technical fields, and is included within the scope of the present invention.In addition,
It can be freely combined according to actual needs between above-described embodiment, though the technical solution freely formed not directly description,
Also within the scope of the present invention.
In the description of the present invention, it should be noted that the orientation or positional relationship of the instructions such as term " on ", "lower" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relatively heavy
The property wanted.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " connects
It is logical ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be direct connection, can also be can be by intermediary indirect communication
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.In addition, in the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or two
More than.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. splicing control method between a kind of object characterized by comprising
S1, the first comparing part and the second comparing part are separately fixed on the first object to be spliced and the second object to be spliced, shape
It is whole whole with the second operation at the first operation；
S2, simultaneously under first environment and second environment, formed it is described first operation it is whole and it is described second operation entirety between
The separate picture of relative positional relationship；
S3, under the second environment, the first object to be spliced according to the separate picture and described second to be spliced
Relative positional relationship between object controls and changes between the two opposite of first comparing part and second comparing part
Positional relationship and the respective posture of the two, to splice the described first object to be spliced and second object to be spliced.
2. splicing control method between object according to claim 1, which is characterized in that the S2 specifically:
S21, simultaneously under the first environment and the second environment, it is whole and described second to form several described first operations
Operate the separate picture of relative positional relationship between entirety；
S22, several separate pictures according to form the whole opposite position between the second operation entirety of first operation
Set the threedimensional model of relationship；
The S3 specifically:
S23, under the second environment, the first object to be spliced according to the threedimensional model and described second to be spliced
Relative positional relationship between object controls and changes between the two opposite of first comparing part and second comparing part
Positional relationship and the respective posture of the two, to splice the described first object to be spliced and second object to be spliced.
3. splicing control method between object according to claim 1 or 2, which is characterized in that before the S1 further include:
S31, under the first environment, form opposite position between first object to be spliced and second object to be spliced
Set the separate picture of relationship.
4. splicing control method between object according to claim 3, which is characterized in that the S31 specifically:
S41, under the first environment, form phase between several described first objects to be spliced and second object to be spliced
To the separate picture of positional relationship；
S42, several separate pictures according to, form phase between first object to be spliced and second object to be spliced
To the threedimensional model of positional relationship.
5. splicing control method between object according to claim 1 or 2, which is characterized in that after the S3 further include:
S5, under the first environment, form opposite position between first object to be spliced and second object to be spliced
Set the stitching image of relationship.
6. splicing control method between object according to claim 5, which is characterized in that after the S5 further include:
S6, judge splicing effect between the described first object to be spliced and second object to be spliced in the stitching image
Whether fruit meets setting demand, if it is not, then returning to S1.
7. splicing control method between object according to claim 2, which is characterized in that the threedimensional model is dynamic analog
Type changes with the variation of relative position and posture between the whole and described second operation entirety of first operation.
8. splicing control method between object according to claim 1, which is characterized in that include the in first comparing part
For one inertia referring to module, interior second comparing part includes the second inertia referring to module, the S3 specifically:
S81, under the second environment, the first object to be spliced according to the separate picture and described second to be spliced
Relative positional relationship between object controls and changes between the two opposite of first comparing part and second comparing part
Positional relationship and the respective posture of the two, and in conjunction with referring to first inertia referring to the feedback data of module and described the
The feedback data of two inertia reference module, to splice the described first object to be spliced and second object to be spliced.
9. splicing control method between object according to claim 1, which is characterized in that the first environment is by nuclear magnetic resonance
The formation of one of instrument, CT instrument, PET instrument and DSA instrument.
10. splicing control method between object according to claim 1, which is characterized in that the second environment is by infrared ray
Transmitter is formed.
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