JP5702861B2 - 解剖学的表面の支援型自動データ収集方法 - Google Patents
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Description
− 前記解剖学的表面の第一の先行的データ収集を実施して、第一のデジタルモデルの形で三次元表示を作成し;
− 前記表面の走査によって第二の術中データ収集を実施して、第二のデジタルモデルの形で三次元表示を作成し;
前記走査は、前記表面の座標の位置決め手段を用いて実施され、該手段がロボットアームにより支持されているものであって;
− 前記第一のモデルおよび第二のモデルをレジストレーションによって対応付けする。
− 注目すべき点の領域で前記位置決め手段を、前記ロボットアームに支援されて手動式に移動させることによって前記解剖学的表面の前記注目すべき点の座標の予備的位置決めを実施して、基準を構築し、前記解剖学的表面の走査ゾーンを決定するステップ;
− 前記基準および前記注目すべき点のうちの少なくとも一つから、中間モデルを作成するステップ;
− 前記第二のモデルを用いて前記第一のモデルの予備的レジストレーションを実施するステップ;
− 決定されたゾーンの自動走査を実施するステップ;
からなることを特徴とする。
− 少なくとも三つの注目すべき点の座標の位置決めを実施するステップ;
− 前記三つの注目すべき点のうちの一つに基づいて、前記注目すべき点のうちの他の二つの点を通る軸の対称の位置にある第四の点を決定するステップ;および
− 自動走査の軌道の計算用基準を決定するステップであって、なおこの基準は、前記四つの注目すべき点の対を各々含む少なくとも二本の軸により構成されているステップ、
からなる。
2 第一のデジタルモデル
3 第二のデジタルモデル
4−7 点
8 中心点
Claims (7)
- 解剖学的表面の支援型自動データ収集方法であって、
− 前記解剖学的表面の第一の先行的なデータ収集を実施して、第一のデジタルモデル(2)の形で三次元表示を作成し;
− 前記表面の走査による第二の術中データ収集を実施して、第二のデジタルモデル(3)の形で三次元表示を作成し;
前記走査は、前記表面の座標の位置決め手段を用いて実施されるものであり、前記手段はロボットアームにより支持されており;
− 前記第一のモデル(2)および第二のモデル(3)をレジストレーションにより対応付けする
方法であって、前記走査が、
− 注目すべき点の領域で、前記ロボットアームに支援されて前記位置決め手段を手動式に移動させることにより前記解剖学的表面の前記注目すべき点の座標の予備的位置決めを実施して、基準を構築し、前記解剖学的表面の走査ゾーンを決定するステップと;
− 前記基準および前記注目すべき点のうちの少なくとも一つから、中間モデルを作成するステップ;
− 前記中間モデルを用いて前記第一のモデル(2)の予備的レジストレーションを実施するステップ;
− 決定されたゾーンの自動走査を実施するステップ、
とからなることを特徴とする方法。
- − 少なくとも三つの注目すべき点の座標の位置決めを実施するステップと;
− 前記三つの注目すべき点のうちの一つに基づいて、前記注目すべき点のうちの他の二つの点を通る軸の対称位置にある第四の点を決定するステップと;
− 自動走査の軌道の計算用基準を決定するステップであって、なおこの前記基準は、前記四つ注目すべき点の対を各々含む少なくとも二本の軸(A−A’、B−B’)により構成されているステップ、
とからなることを特徴とする、請求項1に記載のデータ収集方法。 - 少なくとも一つの中心点(8)の座標の位置決めを実施するステップからなり、前記中心点が前記軸(A−A’、B−B’)の交差点にあることを特徴とする、請求項2に記載のデータ収集方法。
- 第一のモデル(2)の領域で前記中心点(8)を記録するステップからなること;および、前記予備的レジストレーションが、前記中心点(8)と少なくとも一つの他の注目すべき点との整合によって行なわれることを特徴とする、請求項3に記載のデータ収集方法。
- 前記軸(A−A’、B−B’)の整合により、前記中間モデルと前記第一のモデル(2)とを対応付けするステップからなることを特徴とする、請求項4に記載のデータ収集方法。
- 前記解剖学的表面が顔(1)に対応すること、および前記軸(A−A’、B−B’)が少なくとも部分的に鼻梁および額線に沿っていることを特徴とする、請求項3〜5のいずれか一つに記載のデータ収集方法。
- 前記ロボットアーム上に中心をおく参照用基準を決定するステップからなることを特徴とする、請求項1〜6のいずれか一つに記載のデータ収集方法。
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FR1056428 | 2010-08-04 | ||
FR1056428A FR2963693B1 (fr) | 2010-08-04 | 2010-08-04 | Procede d'acquisition automatise et assiste de surfaces anatomiques |
PCT/FR2011/051747 WO2012017167A1 (fr) | 2010-08-04 | 2011-07-20 | Procede d'acquisition automatise et assiste de surfaces anatomiques |
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EP (2) | EP2601607B1 (ja) |
JP (1) | JP5702861B2 (ja) |
CN (1) | CN103430181B (ja) |
CA (1) | CA2807219C (ja) |
ES (1) | ES2666238T3 (ja) |
FR (1) | FR2963693B1 (ja) |
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US20170367622A1 (en) | 2017-12-28 |
EP3376417A1 (fr) | 2018-09-19 |
CA2807219A1 (fr) | 2012-02-09 |
EP2601607A1 (fr) | 2013-06-12 |
US9750432B2 (en) | 2017-09-05 |
CN103430181B (zh) | 2017-06-20 |
EP2601607B1 (fr) | 2018-04-04 |
ES2666238T3 (es) | 2018-05-03 |
WO2012017167A1 (fr) | 2012-02-09 |
FR2963693A1 (fr) | 2012-02-10 |
CA2807219C (fr) | 2016-11-29 |
JP2013540455A (ja) | 2013-11-07 |
US20130113798A1 (en) | 2013-05-09 |
CN103430181A (zh) | 2013-12-04 |
FR2963693B1 (fr) | 2013-05-03 |
US10039476B2 (en) | 2018-08-07 |
US9237861B2 (en) | 2016-01-19 |
US20160073933A1 (en) | 2016-03-17 |
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