具体实施方式
为了更好地理解本发明的技术方案,以下通过附图和具体实施例作进一步说明。
病人颅骨损伤,损伤情况为大面积损伤,创伤面积约120mm×120mm依照本方法发明对其进行颅骨缺损修复,过程如下:
1.计算机读取病人颅骨的CT或MR的DICOM格式数据;
2.将病人颅骨图像的DICOM数据在冠状位,矢状位和轴位进行病人的图像重建。生成病人颅骨的三个相位断面图。在病人颅骨轴位图上并参照冠状位和矢状位图,设计出病人覆盖颅骨缺损处的用于钛板成型的bezier曲线。
首先,在第一帧缺损处获得11个控制点,由于人体基本呈对称,这11个控制点可以根据边缘提取算法从缺损处的对称处获得。或手工设置。通过这11个控制点,我们可以构建10次bezier帧曲线。其向量为:
[P0,P1,P2,P3,P4...P10]=
P0:(-42.96876,-80.56641,57)P1:(-46.87501,-66.11329,57)P2:(-50.17362,-52.2678,57)
P3:(-52.63673,-38.57423,57)P4:(-53.71095,-25.06511,57)P5:(-53.60244,-11.82727,57)
P6:(-52.86459,1.17186,57)P7:(-51.75782,14.06248,57)P8:(-50.03256,26.98566,57)
P9:(-47.16798,40.1367,57)P10:(-42.48048,54.1992,57)
曲线任意点的空间坐标由下面公式获得:
其中Bi,n(t)为伯恩斯坦(Bernstein)基函数,他的多项式表达是:
Bi,10(t)=C10 iti(1-t)10-i=10!/i!(10-i)!×ti(1-t)10-it∈[0,1].
这样对于10次bezier曲线的数学表达式为
鉴于每一帧的曲线控制点数并不相同,最大得一帧控制点数为16点,在进行曲面构建时必须将这些曲线的控制点数进行规整.将曲线进行升阶到相同的阶数.升阶公式如下:
Pi *=i/n+1Pi-1+(1-i/n+1)Pi(i=0,1,2,...n+1)
Pi *为升阶后新的控制点。向量为:
[P0,P1,P2,P3,P4...P15]=
P0:(-42.96876,-80.56641,57)P1:(-45.57292,-70.931,57)P2:(-47.91668,-61.556,57)
P3:(-49.93991,-52.32122,57)P4:(-51.53246,-43.1816,57)P5:(-52.62512,-34.13076,57)
P6:(-53.21788,-25.17552,57)P7:(-53.36903,-16.32014,57)P8:(-53.16439,-7.558547,57)
P9:(-52.6818,1.12747,57)P10:(-51.96156,9.766747,57)P11:(-50.98909,18.39692,57)
P12:(-49.69201,27.06579,57)P13:(-47.94923,35.83982,57)P14:(-45.60548,44.8242,57)
P15:(-42.48048,54.1992,57)
3.在步骤2的帧曲线基础上构建曲面,采用的算法如下:
对于具有40层CT数据和每层有16个控制点的帧曲线,通过一下公式构建bezier曲面:
设Pij(i=0,1,...39,j=0,1,...15)为来自于bezier帧曲线组的空间控制点阵,则mxn次张量积形式的bezier曲线为:
其中Bi,mBj,n为伯恩斯坦(Bernstein)基函数。这样bezier曲面的矩阵表示式为:
公式中40×16向量矩阵的具体数值如下:
P0,0:(-58.10548,-27.34376,0)P0,1:(-54.98048,-23.73048,0)P0,2:(-52.23215,-20.2009,0)
P0,3:(-49.83582,-16.74538,0)P0,4:(-47.76679,-13.35424,0)P0,5:(-46.0004,-10.01783,0)
P0,6:(-44.51194,-6.726491,0)P0,7:(-43.27675,-3.470568,0)P0,8:(-42.27014,-0.2403998,0)
P0,9:(-41.46743,2.973671,0)P0,10:(-40.84393,6.181303,0)P0,11:(-40.37497,9.392154,0)
P0,12:(-40.03585,12.61588,0)P0,13:(-39.80191,15.86215,0)P0,14:(-39.64845,19.14061,0)
P0,15:(-39.55079,22.46092,0)
P1,0:(-59.23453,-27.07316,2.998534)P1,1:(-57.12706,-23.6131,2.998534)P1,2:(-54.82691,-20.21948,2.998534)
P1,3:(-52.78817,-16.91632,2.998534)P1,4:(-50.9278,-13.63647,2.998534)P1,5:(-48.57831,-10.42754,2.998534)
P1,6:(-47.14423,-7.139312,2.998534)P1,7:(-45.8755,-3.863062,2.998534)
P1,8:(-44.76299,-0.5921817,2.998534)P1,9:(-43.79583,2.679679,2.998534)
P1,10:(-42.96138,5.958618,2.998534)P1,11:(-42.24532,9.250476,2.998534)P1,12:(-41.6316,12.56084,2.998534)
P1,13:(-41.10242,15.89502,2.998534)P1,14:(-40.90229,19.21509,2.998534)
P1,15:(-40.49004,22.68895,2.998534)
P2,0:(-60.08073,-26.7965,5.997068)P2,1:(-57.94263,-23.52563,5.997068)P2,2:(-55.51614,-20.36516,5.997068)
P2,3:(-53.8315,-17.10254,5.997068)P2,4:(-52.23714,-13.85194,5.997068)P2,5:(-49.70406,-10.87851,5.997068)
P2,6:(-48.45949,-7.537376,5.997068)P2,7:(-47.28807,-4.20452,5.997068)
P2,8:(-46.19094,-0.8740408,5.997068)P2,9:(-45.16796,2.460112,5.997068)
P2,10:(-44.21767,5.804122,5.997068)P2,11:(-43.33739,9.164279,5.997068)
P2,12:(-42.52315,12.54697,5.997068)P2,13:(-41.76987,15.95864,5.997068)
P2,14:(-41.50097,19.14199,5.997068)P2,15:(-41.01343,22.70457,5.997068)
P3,0:(-57.16758,-27.66512,8.995607)P3,1:(-55.44933,-24.42489,8.995607)
P3,2:(-53.53607,-21.32266,8.995607)P3,3:(-52.61649,-17.92968,8.995607)
P3,4:(-51.65164,-14.56025,8.995607)P3,5:(-49.6159,-11.64174,8.995607)P3,6:(-48.75211,-8.145626,8.995607)
P3,7:(-47.83274,-4.66969,8.995607)P3,8:(-46.87081,-1.207538,8.995607)P3,9:(-45.87926,2.248231,8.995607)
P3,10:(-44.87123,5.705958,8.995607)P3,11:(-43.86005,9.174827,8.995607)
P3,12:(-42.85948,12.66475,8.995607)P3,13:(-41.88373,16.18628,8.995607)
P3,14:(-41.29562,19.08468,8.995607)P3,15:(-40.60003,22.61353,8.995607)
P4,0:(-49.55472,-30.25784,11.99415)P4,1:(-49.45856,-26.72903,11.99415)
P4,2:(-49.15433,-23.34677,11.99415)P4,3:(-49.48227,-19.62877,11.99415)
P4,4:(-49.54003,-15.95996,11.99415)P4,5:(-48.65602,-12.78603,11.99415)
P4,6:(-48.33511,-9.007486,11.99415)P4,7:(-47.79619,-5.270007,11.99415)
P4,8:(-47.06884,-1.566458,11.99415)P4,9:(-46.18321,2.112298,11.99415)P4,10:(-45.17028,5.777144,11.99415)
P4,11:(-44.06217,9.440418,11.99415)P4,12:(-42.89226,13.11559,11.99415)P4,13:(-41.69527,16.8169,11.99415)
P4,14:(-40.6158,19.46068,11.99415)P4,15:(-39.54875,22.92493,11.99415)
P5,0:(-38.56912,-34.46448,14.99269)P5,1:(-41.19314,-30.31629,14.99269)
P5,2:(-43.36798,-26.31805,14.99269)P5,3:(-45.25739,-22.09954,14.99269)
P5,4:(-46.57965,-17.95938,14.99269)P5,5:(-47.23991,-14.23809,14.99269)
P5,6:(-47.54597,-10.04902,14.99269)P5,7:(-47.45809,-5.924267,14.99269)
P5,8:(-47.02646,-1.856464,14.99269)P5,9:(-46.30086,2.164597,14.99269)P5,10:(-45.33111,6.151412,14.99269)
P5,11:(-44.16742,10.1181,14.99269)P5,12:(-42.86034,14.07959,14.99269)P5,13:(-41.46052,18.05074,14.99269)
P5,14:(-39.88246,20.65615,14.99269)P5,15:(-38.38503,24.14936,14.99269)
P6,0:(-26.6718,-39.71035,17.99123)P6,1:(-32.476,-34.73179,17.99123)P6,2:(-37.4128,-29.90638,17.99123)
P6,3:(-40.9036,-25.06264,17.99123)P6,4:(-43.51038,-20.31943,17.99123)P6,5:(-45.76429,-15.86431,17.99123)
P6,6:(-46.69119,-11.15644,17.99123)P6,7:(-47.05902,-6.533231,17.99123)
P6,8:(-46.93904,-1.988311,17.99123)P6,9:(-46.3996,2.488244,17.99123)P6,10:(-45.50713,6.90889,17.99123)
P6,11:(-44.32629,11.28733,17.99123)P6,12:(-42.91941,15.63692,17.99123)
P6,13:(-41.34513,19.96871,17.99123)P6,14:(-39.37934,22.86017,17.99123)
P6,15:(-37.48862,26.55636,17.99123)
P7,0:(-16.3182,-45.28915,20.98983)P7,1:(-25.0027,-39.44299,20.98983)P7,2:(-32.36094,-33.74568,20.98983)
P7,3:(-37.22874,-28.21512,20.98983)P7,4:(-40.93446,-22.79199,20.98983)
P7,5:(-44.53404,-17.54032,20.98983)P7,6:(-45.99949,-12.23679,20.98983)
P7,7:(-46.77165,-7.032163,20.98983)P7,8:(-46.93846,-1.922729,20.98983)P7,9:(-46.58202,3.099457,20.98983)
P7,10:(-45.7802,8.044999,20.98983)P7,11:(-44.60665,12.92499,20.98983)P7,12:(-43.12897,17.74818,20.98983)
P7,13:(-41.40548,22.51738,20.98983)P7,14:(-39.19397,26.02742,20.98983)
P7,15:(-36.97992,30.11221,20.98983)
P8,0:(-9.210724,-50.63352,23.98855)P8,1:(-19.90357,-44.03366,23.98855)
P8,2:(-28.90002,-37.55719,23.98855)P8,3:(-34.73806,-31.33605,23.98855)
P8,4:(-39.21888,-25.20935,23.98855)P8,5:(-43.73135,-19.19073,23.98855)
P8,6:(-45.60418,-13.24882,23.98855)P8,7:(-46.69246,-7.412666,23.98855)
P8,8:(-47.09237,-1.683143,23.98855)P8,9:(-46.89166,3.944037,23.98855)P8,10:(-46.17257,9.476068,23.98855)
P8,11:(-45.01151,14.91976,23.98855)P8,12:(-43.47562,20.277,23.98855)P8,13:(-41.61597,25.53872,23.98855)
P8,14:(-39.26333,29.92805,23.98855)P8,15:(-36.77192,34.54244,23.98855)
P9,0:(-6.01843,-55.44692,26.98751)P9,1:(-17.60654,-48.29168,26.98751)P9,2:(-27.28277,-41.19997,26.98751)
P9,3:(-33.61136,-34.32587,26.98751)P9,4:(-38.4889,-27.5128,26.98751)P9,5:(-43.42103,-20.7974,26.98751)
P9,6:(-45.55093,-14.20473,26.98751)P9,7:(-46.85142,-7.717638,26.98751)P9,8:(-47.41624,-1.34333,26.98751)
P9,9:(-47.32891,4.917377,26.98751)P9,10:(-46.66803,11.06719,26.98751)P9,11:(-45.507,17.10775,26.98751)
P9,12:(-43.90816,23.03287,26.98751)P9,13:(-41.91107,28.81919,26.98751)
P9,14:(-39.45475,34.23513,26.98751)P9,15:(-36.68242,39.44777,26.98751)
P10,0:(-6.464679,-59.69954,29.98682)P10,1:(-17.91985,-52.19849,29.98682)
P10,2:(-27.39255,-44.65794,29.98682)P10,3:(-33.76077,-37.1903,29.98682)
P10,4:(-38.6777,-29.73272,29.98682)P10,5:(-43.57729,-22.3846,29.98682)
P10,6:(-45.81992,-15.15226,29.98682)P10,7:(-47.23096,-8.019613,29.98682)
P10,8:(-47.89088,-1.001611,29.98682)P10,9:(-47.86906,5.894842,29.98682)
P10,10:(-47.23273,12.66746,29.98682)P10,11:(-46.04739,19.31261,29.98682)
P10,12:(-44.36814,25.8159,29.98682)P10,13:(-42.22136,32.13852,29.98682)
P10,14:(-39.63633,38.61063,29.98682)P10,15:(-36.53464,44.41801,29.98682)
P11,0:(-9.625435,-63.5363,32.98653)P11,1:(-20.23194,-55.85734,32.98653)
P11,2:(-28.86548,-47.98945,32.98653)P11,3:(-34.92418,-39.9927,32.98653)
P11,4:(-39.5978,-31.94266,32.98653)P11,5:(-44.11757,-23.99327,32.98653)
P11,6:(-46.35178,-16.14862,32.98653)P11,7:(-47.7862,-8.394007,32.98653)
P11,8:(-48.47913,-0.7528908,32.98653)P11,9:(-48.4773,6.761279,32.98653)
P11,10:(-47.83006,14.14128,32.98653)P11,11:(-46.5915,21.37881,32.98653)
P11,12:(-44.80872,28.45192,32.98653)P11,13:(-42.49531,35.30627,32.98653)
P11,14:(-39.71822,42.76821,32.98653)P11,15:(-36.21586,49.11301,32.98653)
P12,0:(-14.2917,-67.15649,35.98665)P12,1:(-23.74077,-59.40351,35.98665)
P12,2:(-31.22205,-51.26787,35.98665)P12,3:(-36.76045,-42.80076,35.98665)
P12,4:(-41.00998,-34.21073,35.98665)P12,5:(-44.93362,-25.65581,35.98665)
P12,6:(-47.07042,-17.23684,35.98665)P12,7:(-48.46183,-8.896521,35.98665)
P12,8:(-49.13847,-0.6668472,35.98665)P12,9:(-49.11851,7.432305,35.98665)
P12,10:(-48.42887,15.38933,35.98665)P12,11:(-47.11015,23.19228,35.98665)
P12,12:(-45.20197,30.81296,35.98665)P12,13:(-42.707,38.18215,35.98665)
P12,14:(-39.6651,46.50566,35.98665)P12,15:(-35.69327,53.3018,35.98665)
P13,0:(-19.291,-70.71259,38.98703)P13,1:(-27.65344,-62.93072,38.98703)
P13,2:(-33.97882,-54.53443,38.98703)P13,3:(-38.92699,-45.64598,38.98703)
P13,4:(-42.67681,-36.56471,38.98703)P13,5:(-45.9152,-27.3792,38.98703)
P13,6:(-47.89948,-18.43097,38.98703)P13,7:(-49.20362,-9.550095,38.98703)
P13,8:(-49.82895,-0.7764716,38.98703)P13,9:(-49.76236,7.86431,38.98703)
P13,10:(-49.00619,16.35719,38.98703)P13,11:(-47.58697,24.68788,38.98703)
P13,12:(-45.53823,32.82352,38.98703)P13,13:(-42.85399,40.6811,38.98703)
P13,14:(-39.48887,49.71018,38.98703)P13,15:(-35.00085,56.86564,38.98703)
P14,0:(-23.72887,-74.27133,42.00177)P14,1:(-31.34163,-66.46839,42.00177)
P14,2:(-36.73883,-57.78979,42.00177)P14,3:(-41.14197,-48.51886,42.00177)
P14,4:(-44.40486,-38.98959,42.00177)P14,5:(-46.96987,-29.14769,42.00177)
P14,6:(-48.77636,-19.71839,42.00177)P14,7:(-49.96843,-10.34672,42.00177)
P14,8:(-50.52016,-1.079174,42.00177)P14,9:(-50.38781,8.05409,42.00177)
P14,10:(-49.54927,17.03574,42.00177)P14,11:(-48.01777,25.85058,42.00177)
P14,12:(-45.82249,34.46262,42.00177)P14,13:(-42.95092,42.77637,42.00177)
P14,14:(-39.23127,52.35625,42.00177)P14,15:(-34.21009,59.78947,42.00177)
P15,0:(-27.0151,-77.73895,45.0021)P15,1:(-34.34416,-69.91159,45.0021)P15,2:(-39.18082,-60.93285,45.0021)
P15,3:(-43.16906,-51.31781,45.0021)P15,4:(-46.02774,-41.38737,45.0021)
P15,5:(-48.00996,-30.89363,45.0021)P15,6:(-49.63955,-21.04062,45.0021)P15,7:(-50.7118,-11.23819,45.0021)
P15,8:(-51.17912,-1.537601,45.0021)P15,9:(-50.97102,8.02799,45.0021)P15,10:(-50.04368,17.44034,45.0021)
P15,11:(-48.39906,26.68467,45.0021)P15,12:(-46.06376,35.72332,45.0021)
P15,13:(-43.02023,44.44968,45.0021)P15,14:(-38.95244,54.43567,45.0021)
P15,15:(-33.42022,62.07854,45.0021)
P16,0:(-28.99622,-80.99377,48.00216)P16,1:(-36.48458,-73.14741,48.00216)
P16,2:(-41.14938,-63.87228,48.00216)P16,3:(-44.8874,-53.95061,48.00216)
P16,4:(-47.45844,-43.66634,48.00216)P16,5:(-48.98436,-32.5593,48.00216)
P16,6:(-50.45412,-22.34178,48.00216)P16,7:(-51.40975,-12.17089,48.00216)
P16,8:(-51.7894,-2.100572,48.00216)P16,9:(-51.50214,7.834724,48.00216)
P16,10:(-50.48687,17.61721,48.00216)P16,11:(-48.73712,27.23363,48.00216)
P16,12:(-46.27838,36.64577,48.00216)P16,13:(-43.08836,45.73717,48.00216)
P16,14:(-38.70991,56.00887,48.00216)P16,15:(-32.71586,63.81025,48.00216)
P17,0:(-29.79123,-83.86747,51.00186)P17,1:(-37.76174,-76.02598,51.00186)
P17,2:(-42.5865,-66.49121,51.00186)P17,3:(-46.239,-56.30534,51.00186)
P17,4:(-48.64859,-45.71983,51.00186)P17,5:(-49.8561,-34.07679,51.00186)
P17,6:(-51.19293,-23.5575,51.00186)P17,7:(-52.04226,-13.08395,51.00186)
P17,8:(-52.33645,-2.710693,51.00186)P17,9:(-51.97191,7.5283,51.00186)
P17,10:(-50.87611,17.61693,51.00186)P17,11:(-49.03738,27.54428,51.00186)
P17,12:(-46.481,37.27227,51.00186)P17,13:(-43.17918,46.67564,51.00186)
P17,14:(-38.55463,57.13283,51.00186)P17,15:(-32.17069,65.05225,51.00186)
P18,0:(-29.70231,-86.21057,54.00126)P18,1:(-38.30767,-78.41509,54.00126)
P18,2:(-43.51725,-68.68816,54.00126)P18,3:(-47.22165,-58.28743,54.00126)
P18,4:(-49.58496,-47.45925,54.00126)P18,5:(-50.60303,-35.38776,54.00126)
P18,6:(-51.83764,-24.63173,54.00126)P18,7:(-52.59477,-13.92317,54.00126)
P18,8:(-52.80936,-3.315335,54.00126)P18,9:(-52.3736,7.159885,54.00126)
P18,10:(-51.20998,17.48908,54.00126)P18,11:(-49.30499,27.66408,54.00126)
P18,12:(-46.68391,37.64717,54.00126)P18,13:(-43.31148,47.30518,54.00126)
P18,14:(-38.52468,57.86291,54.00126)P18,15:(-31.83773,65.86436,54.00126)
P19,0:(-29.09763,-87.92638,57.00043)P19,1:(-38.32096,-80.22663,57.00043)
P19,2:(-44.0174,-70.39455,57.00043)P19,3:(-47.86869,-59.83484,57.00043)
P19,4:(-50.27673,-48.82742,57.00043)P19,5:(-51.21342,-36.45051,57.00043)
P19,6:(-52.37591,-25.52324,57.00043)P19,7:(-53.05629,-14.64707,57.00043)
P19,8:(-53.19955,-3.872389,57.00043)P19,9:(-52.70198,6.772324,57.00043)
P19,10:(-51.48752,17.277,57.00043)P19,11:(-49.54382,27.63617,57.00043)
P19,12:(-46.89552,37.81222,57.00043)P19,13:(-43.49701,47.66471,57.00043)
P19,14:(-38.64229,58.24808,57.00043)P19,15:(-31.74661,66.29501,57.00043)
P20,0:(-28.31583,-88.98447,59.99957)P20,1:(-38.00895,-81.42686,59.99957)
P20,2:(-44.18395,-71.58105,59.99957)P20,3:(-48.23072,-60.92254,59.99957)
P20,4:(-50.74452,-49.80168,59.99957)P20,5:(-51.68216,-37.24166,59.99957)
P20,6:(-52.79905,-26.20713,59.99957)P20,7:(-53.41792,-15.22832,59.99957)
P20,8:(-53.49988,-4.351616,59.99957)P20,9:(-52.95265,6.39877,59.99957)
P20,10:(-51.70749,17.01637,59.99957)P20,11:(-49.75546,27.4979,59.99957)
P20,12:(-47.11918,37.80515,59.99957)P20,13:(-43.7391,47.79082,59.99957)
P20,14:(-38.91196,58.33156,59.99957)P20,15:(-31.90199,66.38421,59.99957)
P21,0:(-27.6075,-89.41417,62.99873)P21,1:(-37.54818,-82.03143,62.99873)
P21,2:(-44.11295,-72.25341,62.99873)P21,3:(-48.36181,-61.55744,62.99873)
P21,4:(-51.01259,-50.38816,62.99873)P21,5:(-52.00795,-37.75328,62.99873)
P21,6:(-53.10065,-26.6721,62.99873)P21,7:(-53.67221,-15.65126,62.99873)
P21,8:(-53.70411,-4.7326,62.99873)P21,9:(-53.12155,6.064353,62.99873)
P21,10:(-51.86773,16.73652,62.99873)P21,11:(-49.93854,27.2819,62.99873)
P21,12:(-47.35238,37.66051,62.99873)P21,13:(-44.03191,47.71838,62.99873)
P21,14:(-39.31978,58.15421,62.99873)P21,15:(-32.28311,66.16976,62.99873)
P22,0:(-27.11648,-89.28415,65.99815)P22,1:(-37.06581,-82.08914,65.99815)
P22,2:(-43.88672,-72.44096,65.99815)P22,3:(-48.31152,-61.7666,65.99815)
P22,4:(-51.10445,-50.61032,65.99815)P22,5:(-52.19192,-37.98721,65.99815)
P22,6:(-53.27608,-26.91528,65.99815)P22,7:(-53.81297,-15.90744,65.99815)
P22,8:(-53.80684,-5.000964,65.99815)P22,9:(-53.20465,5.789218,65.99815)
P22,10:(-51.96475,16.46278,65.99815)P22,11:(-50.08822,27.01771,65.99815)
P22,12:(-47.5864,37.41083,65.99815)P22,13:(-44.36046,47.48149,65.99815)
P22,14:(-39.83413,57.75785,65.99815)P22,15:(-32.84505,65.69266,65.99815)
P23,0:(-26.8936,-88.67663,68.99784)P23,1:(-36.63937,-81.66154,68.99784)
P23,2:(-43.56948,-72.18195,68.99784)P23,3:(-48.12167,-61.58349,68.99784)
P23,4:(-51.04138,-50.49604,68.99784)P23,5:(-52.23693,-37.94853,68.99784)
P23,6:(-53.32243,-26.93658,68.99784)P23,7:(-53.83544,-15.9909,68.99784)
P23,8:(-53.80364,-5.144617,68.99784)P23,9:(-53.19802,5.591346,68.99784)
P23,10:(-51.99369,16.21843,68.99784)P23,11:(-50.19617,26.73304,68.99784)
P23,12:(-47.80668,37.08722,68.99784)P23,13:(-44.70167,47.11362,68.99784)
P23,14:(-40.40857,57.1863,68.99784)P23,15:(-33.52284,64.99933,68.99784)
P24,0:(-26.92888,-87.66396,71.99789)P24,1:(-36.30823,-80.80395,71.99789)
P24,2:(-43.2088,-71.51044,71.99789)P24,3:(-47.82671,-61.03591,71.99789)
P24,4:(-50.84279,-50.06696,71.99789)P24,5:(-52.14754,-37.64019,71.99789)
P24,6:(-53.23887,-26.73424,71.99789)P24,7:(-53.73675,-15.89469,71.99789)
P24,8:(-53.69131,-5.151318,71.99789)P24,9:(-53.09792,5.487998,71.99789)
P24,10:(-51.94844,16.02517,71.99789)P24,11:(-50.25117,26.45339,71.99789)
P24,12:(-47.99403,36.71837,71.99789)P24,13:(-45.02651,46.64606,71.99789)
P24,14:(-40.98696,56.48333,71.99789)P24,15:(-34.23899,64.13941,71.99789)
P25,0:(-27.18704,-86.29348,74.99821)P25,1:(-36.08897,-79.55296,74.99821)
P25,2:(-42.83989,-70.44711,74.99821)P25,3:(-47.45546,-60.13837,74.99821)
P25,4:(-50.52711,-49.33217,74.99821)P25,5:(-51.93015,-37.05967,74.99821)
P25,6:(-53.02678,-26.30247,74.99821)P25,7:(-53.5161,-15.60947,74.99821)
P25,8:(-53.46814,-5.008132,74.99821)P25,9:(-52.90118,5.495405,74.99821)
P25,10:(-51.82229,15.9021,74.99821)P25,11:(-50.24017,26.20031,74.99821)
P25,12:(-48.12661,36.32814,74.99821)P25,13:(-45.30322,46.10514,74.99821)
P25,14:(-41.51065,55.68778,74.99821)P25,15:(-34.91404,63.1597,74.99821)
P26,0:(-27.63675,-84.5731,78.01297)P26,1:(-35.98817,-77.91248,78.01297)
P26,2:(-42.48795,-68.98737,78.01297)P26,3:(-47.03053,-58.8825,78.01297)
P26,4:(-50.11011,-48.28088,78.01297)P26,5:(-51.5908,-36.19333,78.01297)
P26,6:(-52.68789,-25.62739,78.01297)P26,7:(-53.17286,-15.12104,78.01297)
P26,8:(-53.13211,-4.700639,78.01297)P26,9:(-52.60376,5.628025,78.01297)
P26,10:(-51.6073,15.86344,78.01297)P26,11:(-50.14902,25.98774,78.01297)
P26,12:(-48.18234,35.93052,78.01297)P26,13:(-45.50157,45.50574,78.01297)
P26,14:(-41.92813,54.82304,78.01297)P26,15:(-35.48082,62.09106,78.01297)
P27,0:(-28.25361,-82.50691,81.01337)P27,1:(-36.01097,-75.88722,81.01337)
P27,2:(-42.17713,-67.13071,81.01337)P27,3:(-46.57718,-57.2635,81.01337)
P27,4:(-49.61303,-46.90563,81.01337)P27,5:(-51.14178,-35.03478,81.01337)
P27,6:(-52.23072,-24.70197,81.01337)P27,7:(-52.71333,-14.42204,81.01337)
P27,8:(-52.68755,-4.221312,81.01337)P27,9:(-52.20686,5.893324,81.01337)
P27,10:(-51.29927,15.91651,81.01337)P27,11:(-49.96579,25.82319,81.01337)
P27,12:(-48.14044,35.53432,81.01337)P27,13:(-45.59298,44.85979,81.01337)
P27,14:(-42.19506,53.90798,81.01337)P27,15:(-35.88555,60.96145,81.01337)
P28,0:(-29.03242,-80.05016,84.01346)P28,1:(-36.15958,-73.43826,84.01346)
P28,2:(-41.92084,-64.84063,84.01346)P28,3:(-46.11065,-55.24656,84.01346)
P28,4:(-49.04962,-45.17499,84.01346)P28,5:(-50.59109,-33.56133,84.01346)
P28,6:(-51.66027,-23.50814,84.01346)P28,7:(-52.14016,-13.49936,84.01346)
P28,8:(-52.13496,-3.562144,84.01346)P28,9:(-51.70813,6.294151,84.01346)
P28,10:(-50.89178,16.0592,84.01346)P28,11:(-49.67909,25.70027,84.01346)
P28,12:(-47.98484,35.13029,84.01346)P28,13:(-45.55889,44.15744,84.01346)
P28,14:(-42.29178,52.92887,84.01346)P28,15:(-36.11242,59.76069,84.01346)
P29,0:(-29.97199,-77.13981,87.01319)P29,1:(-36.43443,-70.51208,87.01319)
P29,2:(-41.72845,-62.07014,87.01319)P29,3:(-45.64349,-52.78928,87.01319)
P29,4:(-48.43275,-43.05243,87.01319)P29,5:(-49.94748,-31.74928,87.01319)
P29,6:(-50.98288,-22.02844,87.01319)P29,7:(-51.45741,-12.34229,87.01319)
P29,8:(-51.47592,-2.719459,87.01319)P29,9:(-51.10601,6.827209,87.01319)
P29,10:(-50.37934,16.28164,87.01319)P29,11:(-49.27926,25.60355,87.01319)
P29,12:(-47.70316,34.69936,87.01319)P29,13:(-45.38756,43.3788,87.01319)
P29,14:(-42.21672,51.85585,87.01319)P29,15:(-36.17534,58.4596,87.01319)
P30,0:(-31.07031,-73.67936,90.01249)P30,1:(-36.83252,-67.02789,90.01249)
P30,2:(-41.604,-58.75263,90.01249)P30,3:(-45.18394,-49.83361,90.01249)
P30,4:(-47.77249,-40.48927,90.01249)P30,5:(-49.21844,-29.56934,90.01249)
P30,6:(-50.20401,-20.24202,90.01249)P30,7:(-50.6681,-10.93907,90.01249)
P30,8:(-50.71054,-1.690857,90.01249)P30,9:(-50.39731,7.485656,90.01249)
P30,10:(-49.75539,16.56837,90.01249)P30,11:(-48.75734,25.51026,90.01249)
P30,12:(-47.28661,34.21365,90.01249)P30,13:(-45.07471,42.49398,90.01249)
P30,14:(-41.98714,50.64272,90.01249)P30,15:(-36.11847,57.00839,90.01249)
P31,0:(-32.3231,-69.52505,93.01143)P31,1:(-37.34895,-62.86808,93.01143)
P31,2:(-41.54776,-54.79697,93.01143)P31,3:(-44.73722,-46.30104,93.01143)
P31,4:(-47.07677,-37.41962,93.01143)P31,5:(-48.40979,-26.98496,93.01143)
P31,6:(-49.32751,-18.1225,93.01143)P31,7:(-49.77303,-9.274267,93.01143)
P31,8:(-49.83611,-0.4721214,93.01143)P31,9:(-49.57572,8.26267,93.01143)
P31,10:(-49.01082,16.90235,93.01143)P31,11:(-48.10349,25.39473,93.01143)
P31,12:(-46.72823,33.64125,93.01143)P31,13:(-44.62141,41.46778,93.01143)
P31,14:(-41.63419,49.2338,93.01143)P31,15:(-36.00864,55.3429,93.01143)
P32,0:(-33.7252,-64.47581,96.01014)P32,1:(-37.97884,-57.8727,96.01014)
P32,2:(-41.55757,-50.08661,96.01014)P32,3:(-44.30689,-42.09085,96.01014)
P32,4:(-46.3522,-33.75786,96.01014)P32,5:(-47.52518,-23.95272,96.01014)
P32,6:(-48.3547,-15.63747,96.01014)P32,7:(-48.76969,-7.327298,96.01014)
P32,8:(-48.8456,0.9451023,96.01014)P32,9:(-48.63015,9.154667,96.01014)
P32,10:(-48.13211,17.26904,96.01014)P32,11:(-47.30484,25.23321,96.01014)
P32,12:(-46.02038,32.95158,96.01014)P32,13:(-44.03059,40.26556,96.01014)
P32,14:(-41.19513,47.57243,96.01014)P32,15:(-35.92272,53.39277,96.01014)
P33,0:(-35.26626,-58.28572,99.00874)P33,1:(-38.71407,-51.85308,99.00874)
P33,2:(-41.62655,-44.49324,99.00874)P33,3:(-43.89344,-37.09125,99.00874)
P33,4:(-45.6031,-29.40755,99.00874)P33,5:(-46.56469,-20.42917,99.00874)
P33,6:(-47.28298,-12.75354,99.00874)P33,7:(-47.65073,-5.075715,99.00874)
P33,8:(-47.72612,2.571917,99.00874)P33,9:(-47.54296,10.16171,99.00874)
P33,10:(-47.09942,17.6586,99.00874)P33,11:(-46.34328,25.00772,99.00874)
P33,12:(-45.15158,32.12075,99.00874)P33,13:(-43.30232,38.85955,99.00874)
P33,14:(-40.70279,45.61066,99.00874)P33,15:(-35.93021,51.09169,99.00874)
P34,0:(-36.90888,-50.72644,102.0072)P34,1:(-39.52674,-44.64611,102.0072)
P34,2:(-41.73247,-37.92017,102.0072)P34,3:(-43.48641,-31.21753,102.0072)
P34,4:(-44.82543,-24.2943,102.0072)P34,5:(-45.52119,-16.39067,102.0072)
P34,6:(-46.10281,-9.452496,102.0072)P34,7:(-46.40137,-2.507676,102.0072)
P34,8:(-46.45675,4.413338,102.0072)P34,9:(-46.28821,11.2823,102.0072)
P34,10:(-45.88467,18.06409,102.0072)P34,11:(-45.19292,24.70758,102.0072)
P34,12:(-44.1027,31.13595,102.0072)P34,13:(-42.42773,37.2358,102.0072)
P34,14:(-40.17163,43.3213,102.0072)P34,15:(-36.06924,48.39212,102.0072)
P35,0:(-38.54228,-41.73147,105.0059)P35,1:(-40.33411,-36.23487,105.0059)
P35,2:(-41.81444,-30.39335,105.0059)P35,3:(-43.04562,-24.49344,105.0059)
P35,4:(-43.99203,-18.43744,105.0059)P35,5:(-44.37293,-11.87352,105.0059)
P35,6:(-44.79202,-5.764849,105.0059)P35,7:(-44.99532,0.3511949,105.0059)
P35,8:(-45.00557,6.44814,105.0059)P35,9:(-44.82927,12.49981,105.0059)P35,10:(-44.44937,18.4743,105.0059)
P35,11:(-43.81702,24.32799,105.0059)P35,12:(-42.84189,29.99942,105.0059)
P35,13:(-41.38056,35.40281,105.0059)P35,14:(-39.57803,40.71552,105.0059)
P35,15:(-36.31181,45.29111,105.0059)
P36,0:(-39.91732,-31.64921,108.0043)P36,1:(-40.94646,-26.95722,108.0043)
P36,2:(-41.73648,-22.2163,108.0043)P36,3:(-42.46989,-17.19078,108.0043)
P36,4:(-43.0267,-12.07378,108.0043)P36,5:(-43.07047,-7.041469,108.0043)
P36,6:(-43.30584,-1.826535,108.0043)P36,7:(-43.38757,3.392119,108.0043)
P36,8:(-43.32492,8.594214,108.0043)P36,9:(-43.1157,13.75868,108.0043)
P36,10:(-42.74171,18.86028,108.0043)P36,11:(-42.16402,23.86631,108.0043)
P36,12:(-41.31752,28.73345,108.0043)P36,13:(-40.10502,33.4043,108.0043)
P36,14:(-38.83144,37.87199,108.0043)P36,15:(-36.51318,41.87641,108.0043)
P37,0:(-40.58841,-21.60556,111.003)P37,1:(-41.01278,-17.8045,111.003)P37,2:(-41.24391,-14.19225,111.003)
P37,3:(-41.55635,-10.03107,111.003)P37,4:(-41.76794,-5.837396,111.003)
P37,5:(-41.51786,-2.283303,111.003)P37,6:(-41.56239,2.038907,111.003)P37,7:(-41.5042,6.356941,111.003)
P37,8:(-41.34482,10.65849,111.003)P37,9:(-41.07906,14.93019,111.003)P37,10:(-40.69305,19.15625,111.003)
P37,11:(-40.1621,23.3171,111.003)P37,12:(-39.4485,27.38815,111.003)P37,13:(-38.49921,31.33846,111.003)
P37,14:(-37.73441,34.98302,111.003)P37,15:(-36.34301,38.40144,111.003)
P38,0:(-39.90609,-13.90364,114.0013)P38,1:(-39.99419,-10.75885,114.0013)
P38,2:(-39.92904,-7.883173,114.0013)P38,3:(-39.96219,-4.421724,114.0013)
P38,4:(-39.93082,-0.9714454,114.0013)P38,5:(-39.55082,1.668577,114.0013)
P38,6:(-39.42532,5.22015,114.0013)P38,7:(-39.23032,8.757245,114.0013)P38,8:(-38.96585,12.2757,114.0013)
P38,9:(-38.62934,15.77074,114.0013)P38,10:(-38.21519,19.23666,114.0013)
P38,11:(-37.71437,22.66659,114.0013)P38,12:(-37.11381,26.05218,114.0013)
P38,13:(-36.396,29.38336,114.0013)P38,14:(-35.93673,32.41562,114.0013)
P38,15:(-35.20938,35.38474,114.0013)
P39,0:(-37.10939,-12.20704,117)P39,1:(-37.20704,-8.984388,117)P39,2:(-37.23494,-5.789635,117)
P39,3:(-37.19524,-2.621709,117)P39,4:(-37.09007,0.5204607,117)P39,5:(-36.92159,3.637948,117)
P39,6:(-36.69193,6.731827,117)P39,7:(-36.40326,9.803168,117)P39,8:(-36.0577,12.85305,117)
P39,9:(-35.65742,15.88254,117)P39,10:(-35.20456,18.89271,117)P39,11:(-34.70125,21.88464,117)
P39,12:(-34.14965,24.8594,117)P39,13:(-33.55191,27.81806,117)P39,14:(-32.91017,30.7617,117)
P39,15:(-32.22657,33.69139,117)
Cn i阶乘计算会超过计算机的能力导致溢出错误。可采用de Casteljau算法来计算空间点。
基于de Casteljau的算法,可以构建40×16阶bezier曲面。通过边缘提取算法。我们可以构建单帧的三维bezier曲线。通过将这数十条不同阶数的曲线升阶到相同的阶数,然后构建控制曲线(Z轴);通过对空间曲线的校正。使帧曲线Z轴上保持连续性。接着将这些校正后曲线控制点置于一超空间中。在这个超空间中构建超空间控制曲面。通过调节超空间控制区面来完成对最终曲面的调节。最后我们将其拆分成m×n个双5次曲面片以实现局部的调节能力。同时也兼顾了proE的双16次曲面片矩阵的限制。这样就实现了钛板曲面的生成。
算法如下:
(1)空间bezier曲面的阶数是40×10,则拆分成19×7个空间3×3阶曲面片。公式如下:
m’=(m-3)/2+1=19; //3×3
n’=(n-3)/2+1=7; //3×3
(2)拆分成19×7个3×3阶曲面片
语法:(c#语言)
this.subGrpPlanes=new bezierPlane[19,7];
this.subGrpPlanes[i,j]=new bezierPlane();
(3)为了保持空间曲面的一阶参数连续性,即连接点具有相同的一阶导导数。则需要在空间进行插值,将bezier曲面片由3×3阶扩展成5×5阶。插值算法如下:
4.将拆分后bezier曲面转换成非均匀有理B样条曲面NURBS,算法如下:
非均匀有理B样条曲面是四维非均匀多项式曲面在三维空间的投影.其中
P(i,j)为三维空间的控制点。即bezier曲面的控制点坐标。
W(i,j)为权重,在从bezier曲面向非均匀有理B样条nurbs曲面转换时,权重统一取值为1。
bi,m1(u)bj,m2(V)为B样条基函数,根据de Boor由下面公式递规算出。
这样,我们就完成了从bezier曲面向非均匀有理B样条NURBS曲面的转换计算。
5.将设计出的病人缺损颅骨钛合金修复体的空间曲面非均匀有理B样条NURBS数据转换成标准的IGES数据格式,然后将IGES数据转换成能被数控机床直接识别和加工的G代码数据格式。
6.将G代码输入数据数控机床,加工出所需的冲压模具,如图2所示。
7.该模具冲压钛合金板,获得病人缺损颅骨修复体,如图3所示。
8.将输入计算机的病人颅骨CT或MR的DICOM格式数据,进行三维重建,并将重建后的颅骨图像输入数控机床,由数控机床加工出ABS材质的病人颅骨模型,如图4所示。
9.将步骤7得到的钛合金修复体,和步骤8获得的病人颅骨模型,进行匹配校验,确保修复体与病人颅骨模型严丝合缝,如图5所示。
经过校验的钛合金修复体即可通过外科手术植入人体,对颅骨进行修补。
最后将手术植入人体,对头颅缺损处进行修补,如图6所示。
应用该方法获得的修复体与病人颅骨模型匹配良好,符合病人的个性需要,不但可以实现上述具体实施方式所说的大面积头颅骨缺损外,还可以实现大曲率曲面,如病人颅骨的眉弓处的精确制作,如图7所示。