US 12,232,814 B2
Apparatus and method for generating surface contour of bone model, storage medium, and electronic device
Pingping Liao, Beijing (CN)
Assigned to BOE Technology Group Co., Ltd., Beijing (CN)
Appl. No. 17/629,371
Filed by BOE Technology Group Co., Ltd., Beijing (CN)
PCT Filed Mar. 5, 2021, PCT No. PCT/CN2021/079393
§ 371(c)(1), (2) Date Jan. 22, 2022,
PCT Pub. No. WO2021/218383, PCT Pub. Date Nov. 4, 2021.
Claims priority of application No. 202010362867.7 (CN), filed on Apr. 30, 2020.
Prior Publication US 2022/0249169 A1, Aug. 11, 2022
Int. Cl. A61B 34/10 (2016.01); A61B 34/20 (2016.01)
CPC A61B 34/10 (2016.02) [A61B 34/20 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2068 (2016.02)] 20 Claims
OG exemplary drawing
 
1. An apparatus for generating a surface profile of a bone model, comprising:
a probe, a tip of which is configured to be capable of moving on a surface of a bone model;
at least three positioning apparatuses, wherein the positioning apparatuses are arranged at a tail of the probe, and any three of the positioning apparatuses are non-collinear, and the positioning apparatuses are positioning balls;
a positioning tracking apparatus, configured to acquire real-time center coordinates of the at least three positioning apparatuses; and
at least one processor, configured to acquire a real-time coordinate of the tip of the probe moving on the surface of the bone model based on the real-time center coordinates of the at least three positioning apparatuses acquired by the positioning tracking apparatus; and perform three-dimensional reconstruction on all real-time coordinates of the tip to obtain a three-dimensional digital model of the surface profile of the bone model;
wherein the at least one processor is further configured to: according to a center coordinate of each positioning apparatus and a geometric dimension of the probe, determine a fitting relationship between the center coordinates of the at least three positioning apparatuses and the coordinate of the tip; calibrate the fitting relationship; and determine the real-time coordinate of the tip based on the real-time center coordinates of the at least three positioning apparatuses and the calibrated fitting relationship;
wherein the at least one processor is configured to calibrate the fitting relationship through a following process: fixing the tip of the probe to a point within a space of the positioning tracking apparatus; holding the probe to rotate for at least two circles around the tip; recording, by the positioning tracking apparatus, motion trails of ball center coordinates of all the positioning balls in a rotation process; selecting a motion trail of a ball center of one positioning ball arbitrarily from all the positioning balls, the motion trail of a ball center coordinate of the selected positioning ball being on a ball with the tip as the ball center, and a radius of the ball being a distance between the tip and the ball center of the selected positioning ball; fitting the ball, a ball center coordinate of the fitted ball being the coordinate of the tip of the probe, and calibrating the fitting relationship accordingly.