CN102750418B - Based on internal fixation steel plate Design and the method for prefabricating of augmented reality - Google Patents
Based on internal fixation steel plate Design and the method for prefabricating of augmented reality Download PDFInfo
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- CN102750418B CN102750418B CN201210213425.1A CN201210213425A CN102750418B CN 102750418 B CN102750418 B CN 102750418B CN 201210213425 A CN201210213425 A CN 201210213425A CN 102750418 B CN102750418 B CN 102750418B
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Abstract
The invention discloses a kind of internal fixation steel plate Design based on augmented reality and method for prefabricating, user-interactive adjustment plane, the instruction human body plane of symmetry, and replace injured lateral body data by the volume data of not injured side, simulation is carried out to fracture site and rebuilds; Design reconstruction plate track is delineated, then according to the triangle gridding three-dimensional model of reconstruction plate Track Pick-up reconstruction plate to rebuilding the bone surface obtained; The superposition of the steel plate three-dimensional model of generation is plotted on the video image of Real-time Collection, and the attitude of steel plate three-dimensional model is controlled with augmented reality optical markers, then user's adjustment model attitude, observes real steel panel and the degree that overlaps of virtual steel plate, completes the moulding of steel plate.The method has saved operating time, Shorten the Treatment Process, reduces the generation of complication, improves cure rate.
Description
Technical field
The invention belongs to internal fixation steel plate technical field, particularly relate to a kind of internal fixation steel plate Design based on augmented reality and method for prefabricating.
Background technology
Complicated pelvic fracture refers to a kind of severe trauma, how to be destroyed by the many places (>=2) of the pelvic ring after direct violence caused by pelvic compression, damage location relates to pubis, ischium, ilium and acetabular bone and causes the integrality of normal pelvic structures impaired, and fracture of acetabulum belongs to articular fracture, therefore its principle of reatment should be all anatomical reduction.
In the reset of pelvis and fracture of acetabulum and internal fixation operation, skeleton dissection complex shape, individual difference is large, and fracture site exists deeply, has important nerve around, blood vessel holds, alternate position spike during operation, and the factor such as to lack experience in art is a kind of challenge to orthopedist.And traditional operation needs to expose completely fracture site, after completing reset, in art, carry out internal fixation steel plate moulding, extend operating time, cause unnecessary damage and lose blood.
In conventional surgical internal fixation operation, use 2 d fluoroscopy images, instruct the model of implant to select by the distance measured between anatomic landmark point.But such method is suitable for the implant model selecting batch production, and the reconstruction plate being unsuitable for needing to carry out three-dimensional modeling is prefabricated.Newly have developed the preoperative method for prefabricating of surgery implant based on three-dimensional fast shaping technology in recent years, the 3-D geometric model of implant is set up by three-dimensional modeling personnel, then the rapid forming equipments such as three-dimensional printer are used to produce subjects bones's implant solid model, for auxiliary prefabricated surgery implant.But these class methods have speed comparatively slow compared with method of the present invention, and equipment cost is high, require higher, the shortcoming larger to material consumption to operating personnel's specialty.
Carry out moulding point out the application such as welding position just like to workman in the industrial production with augmented reality is auxiliary; In surgical field, augmented reality is mainly used in navigating in operation designing and art at present.The present invention, on the basis that interactive reconstruction plate designs, uses augmented reality auxiliary to carry out intuitively, preoperative internal fixtion implant moulding fast.
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of internal fixation steel plate Design based on augmented reality and method for prefabricating, be intended to solve traditional operation need to expose fracture site completely, after completing reset, internal fixation steel plate moulding is carried out in art, extend operating time, the problem causing unnecessary damage and lose blood.
The embodiment of the present invention is achieved in that a kind of internal fixation steel plate Design based on augmented reality and method for prefabricating, and the method comprises:
User-interactive adjustment plane, the instruction human body plane of symmetry, and replace injured lateral body data by the volume data of not injured side, simulation is carried out to fracture site and rebuilds;
Design reconstruction plate track is delineated, then according to the triangle gridding three-dimensional model of reconstruction plate Track Pick-up reconstruction plate to rebuilding the bone surface obtained;
The superposition of the steel plate three-dimensional model of generation is plotted on the video image of Real-time Collection, and the attitude of steel plate three-dimensional model is controlled with augmented reality optical markers, then user's adjustment model attitude, observes real steel panel and the degree that overlaps of virtual steel plate, completes the moulding of steel plate.
Further, symmetrical plane is chosen the method for rebuilding with fracture site and is comprised the following steps:
First bone three-dimensional model is constructed;
The mapping function of structure from density to brightness;
Volume drawing is carried out to the three-dimensional data of subjects bones;
According to rotation and translation vector adjustment plane polygon 3 d pose.
Further, the implementation method constructing bone three-dimensional model is:
By the perspective image data of patient as input, with the voxel value of the density value corresponding to the pixel in several fluoroscopy images as its corresponding spatial three-dimensional position, the bone three-dimensional model of the patients with fractures position that structure is expressed by volume data and offside thereof;
Further, the mapping function from density to brightness is constructed
Wherein x is volume data density, y is transparency, the span of y is 0 or 1,0 represents transparent invisible, 1 represents opaque as seen, because skeleton density is greater than soft-tissue density, choose x ' and make all soft-tissue density x≤x ' of this patient, and all skeleton density x > x '.
Further, carrying out object plotting method to subjects bones's three-dimensional data is:
With the transparency mapping function of second step structure, use ray cast (raymarching) method, volume drawing is carried out to subjects bones's three-dimensional data, bone drawing result superposes drafting translucent plane polygon, after relatively this plane polygon and bone project to viewpoint respectively, two three-dimensional point of corresponding same pixel, to the distance of viewpoint, carry out alpha mixing to both.
Further, according to rotation and translation vector adjustment plane polygon 3 d pose implementation method be:
User rotates in selection or makes a choice in translation, system accepts the drag operation of user's mouse or touch-screen, the screen coordinate that calculating mouse pointer or finger moved, if user selects to rotate, is then converted to the hypercomplex number representing rotation by screen coordinate variable quantity by Arcball method; If user selects translation, then screen coordinate variable quantity is converted to the vector representing translation on the direction parallel with projection plane.
Further, the method for steel plate track and reconstructing three-dimensional model, the method comprises:
The bone surface obtained in reconstruction delineates design reconstruction plate track, in user's rolling mouse pointer process, the ray of structure three-dimensional point from user's viewpoint and corresponding to the mouse pointer, then solve these rays separately with the intersection point of bone surface in patient body data, intersection point is connected to form broken line, finally use the smoothing filtering of three-dimensional coordinate of each intersection point on low-pass filter doubling line segment, obtain steel plate track.
According to the triangle gridding three-dimensional model of reconstruction plate Track Pick-up reconstruction plate, track is subdivided into equidistant multiple homogeneous section, respectively centered by each end points of line segment, along vectorial perpendicular to end points place place bone surface local approach, and the direction of the resultant vector of two line segments connected perpendicular to end points, make straight-line segment, and make line segment length equal reconstruction plate width, then the end points of adjacent straight line segment is connected, obtains the triangle gridding geometric model of virtual steel plate.
Further, the method for steel plate moulding, the method comprises:
The superposition of the steel plate three-dimensional model of generation is plotted on the video image of Real-time Collection, and the attitude of steel plate three-dimensional model is controlled with augmented reality optical markers, the 3-D geometric model Translucent overlay of reconstruction plate is plotted on video, the relative dimensional attitude of real-time calculating augmented reality optical markers and video camera, by the attitude of the gesture stability reconstruction plate three-dimensional model of marker.
User's adjustment model attitude, observes real steel panel and the degree that overlaps of virtual steel plate, completes the moulding of steel plate, user's bending distortion reconstruction plate, and make it to overlap with three-dimensional model under each attitude, complete steel plate moulding.
Internal fixation steel plate Design based on augmented reality provided by the invention and method for prefabricating, plane is adjusted by user-interactive, the instruction human body plane of symmetry, the three-dimensional skeleton model of patient and translucent flat board are drawn out in real-time superposition, user is pulled by touch control devices such as mouses and rotates this translucent flat board, adjust its position and towards, make it by the bilateral symmetry plane of subjects bones; With the plane indicated by this transparent plate for symmetrical plane, by the three-dimensional data specular of healthy side to injured side, substitute injured lateral body data, simulation is carried out to fracture site and rebuilds.The bone surface obtained in reconstruction delineates design reconstruction plate track, by user's rolling mouse pointer, the ray of structure three-dimensional point from user's viewpoint and corresponding to the mouse pointer, solve these rays separately with the intersection point of bone surface in patient body data, intersection point is connected to form broken line, use the smoothing filtering of three-dimensional coordinate of each intersection point on low-pass filter doubling line segment, steel plate track can be obtained; Then track is subdivided into equidistant multiple homogeneous section, respectively centered by each end points of line segment, along vectorial perpendicular to end points place place bone surface local approach, and the direction of the resultant vector of two line segments connected perpendicular to end points, make straight-line segment, and make line segment length equal reconstruction plate width, the end points of adjacent straight line segment is connected, obtains the triangle gridding geometric model of virtual steel plate.The superposition of the steel plate three-dimensional model of generation is plotted on the video image of Real-time Collection, calculates the relative dimensional attitude of augmented reality optical markers and video camera in real time, by the attitude of the gesture stability reconstruction plate three-dimensional model of marker; User's bending distortion reconstruction plate, and make it to overlap with three-dimensional model under each attitude, observe real steel panel and the degree that overlaps of virtual steel plate, complete the moulding of steel plate.
Accompanying drawing explanation
Fig. 1 be the embodiment of the present invention provide based on the internal fixation steel plate Design of augmented reality and the process flow diagram of method for prefabricating;
Fig. 2 is that the symmetrical plane that the embodiment of the present invention provides chooses the process flow diagram rebuild with fracture site;
Fig. 3 is the process flow diagram of the steel plate track that provides of the embodiment of the present invention and reconstructing three-dimensional model;
Fig. 4 is the process flow diagram of the steel plate moulding that the embodiment of the present invention provides;
Fig. 5 is the method schematic diagram from broken line structure triangle gridding geometric model that the embodiment of the present invention provides.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Fig. 1 shows a kind of internal fixation steel plate Design based on augmented reality and method for prefabricating that the invention process case provides, and the method comprises:
In step S101, user-interactive adjustment plane, the instruction human body plane of symmetry, and replace injured lateral body data by the volume data of not injured side, simulation is carried out to fracture site and rebuilds;
In step s 102, design reconstruction plate track is delineated, then according to the triangle gridding three-dimensional model of reconstruction plate Track Pick-up reconstruction plate to rebuilding the bone surface obtained;
In step s 103, the superposition of the steel plate three-dimensional model of generation is plotted on the video image of Real-time Collection, and controls the attitude of steel plate three-dimensional model with augmented reality optical markers, then user's adjustment model attitude, observe real steel panel and the degree that overlaps of virtual steel plate, complete the moulding of steel plate.
The symmetrical plane that Fig. 2 shows the invention process case to be provided chooses the method for rebuilding with fracture site, and the method comprises:
In step S1011, first construct bone three-dimensional model;
By the perspective image data of patient as input, with the voxel value of the density value corresponding to the pixel in several fluoroscopy images as its corresponding spatial three-dimensional position, the bone three-dimensional model of the patients with fractures position that structure is expressed by volume data and offside thereof.
In step S1012, construct the mapping function from density to brightness;
Wherein x is volume data density, y is transparency, the span of y is 0 or 1,0 represents transparent invisible, 1 represents opaque as seen, because skeleton density is greater than soft-tissue density, choose x ' and make all soft-tissue density x≤x ' of this patient, and all skeleton density x > x '.Arranging functional value makes the value of y as follows:
In step S1013, volume drawing is carried out to subjects bones's three-dimensional data;
With the transparency mapping function of second step structure, use ray cast (raymarching) method, volume drawing is carried out to subjects bones's three-dimensional data, bone drawing result superposes drafting translucent plane polygon, after relatively this plane polygon and bone project to viewpoint respectively, two three-dimensional point of corresponding same pixel, to the distance of viewpoint, carry out alpha mixing to both.
In step S1014, according to rotation and translation vector adjustment plane polygon 3 d pose;
User rotates in selection or makes a choice in translation, system accepts the drag operation of user's mouse or touch-screen, the screen coordinate that calculating mouse pointer or finger moved, if user selects to rotate, is then converted to the hypercomplex number representing rotation by screen coordinate variable quantity by Arcball method; If user selects translation, then screen coordinate variable quantity is converted to the vector representing translation on the direction parallel with projection plane.According to this rotation and translation vector, plane polygon 3 d pose is rotated, translation adjustment.User, by adjustment plane polygon 3 d pose, makes it by the unique point of more than three on human body symmetrical plane, the such as position such as multiple spinal crest of Rauber, pubic symphysis portion.Now plane polygon overlaps with human body three-dimensional symmetrical plane, and three dimensions is divided into both sides by this symmetrical plane, is respectively V
0with V
1.
In step S1015, replace injured lateral body data by the volume data of the not injured side of patient;
User is from V
0with V
1the side at middle selection fracture site place, without loss of generality, supposes that it is V
0; With the plane of symmetry M determined in step S1014, for injured side V
1in each voxel x, ask it about the symmetric space position x ' of plane of symmetry M, to the distance of x ', linear interpolation is carried out according to voxel center to 8 voxel values of x ' surrounding, interpolation result is replaced the value of x, realize the volume data of replacing injured side by the volume data of not injured side.
Fig. 3 shows the method for steel plate track that the invention process case provides and reconstructing three-dimensional model, and the method comprises:
In step S1021, the bone surface obtained in reconstruction delineates design reconstruction plate track;
In user's rolling mouse pointer process, the ray of continuous structure three-dimensional point from user's viewpoint and corresponding to the mouse pointer; With the half length a of the voxel length of side for sampling step length, to away from viewpoint one end, sequential sampling is carried out to volume data near viewpoint one end along this directions of rays; By the density value obtained of sampling, become transparence value according to the mapping function that user constructs in S1012 step; Return in sequential sampling process sampled three-dimensional locus p when to run into first be not the value of 0; Take p as reference position, initial samples step-length is set to a
0=-a/2, iteration is repeatedly sampled, if each sampled value is 1 after being converted to transparency, then next sampling step length
otherwise
until sampling step length is less than user's given accuracy threshold value t; Record the sampled three-dimensional position p ' during iteration ends, as the position of intersecting point of ray and bone surface; All position of intersecting point in user's mouse moving process are connected successively, form broken line; Use gauss low frequency filter, put as window with the 3-8 closed on, the smoothing filtering of three-dimensional coordinate of each intersection point on doubling line segment successively, obtains level and smooth broken line L, represents reconstruction plate track.
In step S1022, generate the triangle gridding three-dimensional model of reconstruction plate according to the level and smooth broken line obtained in S1021;
As shown in Figure 5, be every segment length with the distance of about 5 to 30 times of voxel length of sides, broken line L section is segmented, obtain the broken line L ' be made up of equidistant multiple homogeneous section; Each flex point of note broken line L ' is x
i, (i=0 ... n); To each flex point x
i, get direction m
i, make m
isimultaneously perpendicular to flex point place place bone surface local approach vector n
ithe resultant vector v of two line segments be connected with end points
i; With each flex point x
icentered by make straight-line segment e
ie '
i, wherein e
iwith e '
irepresent two end points of i-th line segment, and make line segment length equal reconstruction plate width; By the end points e of adjacent straight line segment
iwith e '
i, e
iwith e
i-1, e '
iwith e '
i-1be connected respectively, between every two adjacent segments, construct two triangles; These all triangles form the triangle gridding geometric model f of the laminating bone surface side of virtual steel plate
0; With each corner position x of L '
ifor starting point structure vector d
i, its direction is flex point place place bone surface local approach vector N
i, length is for rebuilding steel plate thickness; By each flex point x
icorresponding vector d
iterminal be connected successively, form broken line L '
1; Use from L ' structure f
0same procedure, from L '
1structure deviates from the triangle gridding geometric model f of bone surface side
1.By f
0with f
1corresponding triangular apex is connected, and obtains the triangle gridding geometric model of reconstruction plate.
Fig. 4 shows the method for the steel plate moulding that the invention process case provides, and the method comprises:
In step S1031, the superposition of the steel plate three-dimensional model of generation is plotted on the video image of Real-time Collection, and controls the attitude of steel plate three-dimensional model with augmented reality optical markers;
With the video image of video camera shooting working environment, and real-time rendering is on screen; Use the softwares such as ARToolkitPlus from every frame video image, identify optical markers, and solve the relative dimensional attitude of marker and camera; In same screen window region, using the viewpoint position of real camera, observation direction, visual angle, length breadth ratio, visual field size etc. as the inside and outside parameter of virtual video camera, draw translucent reconstruction plate model, i.e. Virtual Reconstruction steel plate; Calculate the OBB bounding box of reconstruction plate triangle grid model; Calculate the initial rotation and translation conversion from reconstruction plate model space coordinate position to world coordinates, the maximum plane of the area of OBB bounding box is overlapped with optical markers place plane D, and surround box body at D near viewpoint side, thus make the initial attitude of Virtual Reconstruction steel plate for lying on plane D; In every two field picture, follow the tracks of the attitudes vibration of marker, upgrade the 3 d pose of Virtual Reconstruction steel plate.
In step S1032, user's adjustment model attitude, observes real steel panel and the degree that overlaps of virtual steel plate, completes the moulding of steel plate;
Optical markers and Virtual Reconstruction steel plate are placed within the scope of camera coverage by user, are controlled the attitude of Virtual Reconstruction steel plate by adjustment optical markers; , by observing the image drawn, align in one end with Virtual Reconstruction steel plate, one end of reconstruction plate entity by user; By bending and distortion, change the shape of reconstruction plate entity, make it overlap with the Virtual Reconstruction steel plate in image; User changes the attitude of Virtual Reconstruction steel plate and the viewpoint position of video camera and viewing angle, from different directions, apart from observing the overlap degree of entity steel plate with virtual steel plate, and entity plate profile is modified adjustment, make it to overlap with three-dimensional model under each attitude, complete steel plate moulding.
The internal fixation steel plate Design based on augmented reality of this programme invention and method for prefabricating, first plane is adjusted by user-interactive, the instruction human body plane of symmetry, the three-dimensional skeleton model of patient and translucent flat board are drawn out in real-time superposition, user is pulled by touch control devices such as mouses and rotates this translucent flat board, adjust its position and towards, make it by the bilateral symmetry plane of subjects bones, and by the three-dimensional data specular of healthy side to injured side, substitute injured lateral body data, simulation is carried out to fracture site and rebuilds, the bone surface obtained in reconstruction delineates design reconstruction plate track, by user's rolling mouse pointer, the ray of structure three-dimensional point from user's viewpoint and corresponding to the mouse pointer, solve these rays separately with the intersection point of bone surface in patient body data, intersection point is connected to form broken line, use the smoothing filtering of three-dimensional coordinate of each intersection point on low-pass filter doubling line segment, steel plate track can be obtained, then track is subdivided into equidistant multiple homogeneous section, respectively centered by each end points of line segment, along vectorial perpendicular to end points place place bone surface local approach, and the direction of the resultant vector of two line segments connected perpendicular to end points, make straight-line segment, and make line segment length equal reconstruction plate width, the end points of adjacent straight line segment is connected, obtain the triangle gridding geometric model of virtual steel plate, finally the superposition of the steel plate three-dimensional model of generation is plotted on the video image of Real-time Collection, the relative dimensional attitude of real-time calculating augmented reality optical markers and video camera, by the attitude of the gesture stability reconstruction plate three-dimensional model of marker, and user's bending distortion reconstruction plate, and make it to overlap with three-dimensional model under each attitude, observe real steel panel and the degree that overlaps of virtual steel plate, complete the moulding of steel plate.The method has saved operating time, Shorten the Treatment Process, reduces the generation of complication, improves cure rate.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1., based on internal fixation steel plate Design and the method for prefabricating of augmented reality, it is characterized in that, the method comprises:
Step one, user-interactive adjustment plane, the instruction human body plane of symmetry, and replace injured lateral body data by the volume data of not injured side, simulation is carried out to fracture site and rebuilds; Symmetrical plane is chosen the method for rebuilding with fracture site and is comprised the following steps:
The first step, first constructs bone three-dimensional model; Implementation method is: use the perspective image data of patient as input, with the voxel value of the density value corresponding to the pixel in several fluoroscopy images as its corresponding spatial three-dimensional position, the bone three-dimensional model of the patients with fractures position that structure is expressed by volume data and offside thereof; According to rotation and translation vector adjustment plane polygon 3 d pose;
Second step, constructs the mapping function from density to brightness
Wherein x is volume data density, y is transparency, the span of y is 0 or 1,0 represents transparent invisible, 1 represents opaque as seen, because skeleton density is greater than soft-tissue density, choose x ' and make all soft-tissue density x≤x ' of this patient, and all skeleton density x > x ';
3rd step, volume drawing is carried out to subjects bones's three-dimensional data:
The method of subjects bones's three-dimensional data being carried out to volume drawing is: with the mapping function of structure from density to brightness, use light projection method, volume drawing is carried out to subjects bones's three-dimensional data, bone drawing result superposes drafting translucent plane polygon, after relatively this plane polygon and bone project to viewpoint respectively, two three-dimensional point of corresponding same pixel, to the distance of viewpoint, carry out alpha mixing to both;
4th step, according to rotation and translation vector adjustment plane polygon 3 d pose, implementation method is:
User makes a choice in rotation or translation, system accepts the drag operation of user's mouse or touch-screen, the screen coordinate that calculating mouse pointer or finger moved, if user selects to rotate, is then converted to the hypercomplex number representing rotation by screen coordinate variable quantity by Arcball method; If user selects translation, then screen coordinate variable quantity is converted to the vector representing translation on the direction parallel with projection plane;
Step 2, delineates design reconstruction plate track, then according to the triangle gridding three-dimensional model of reconstruction plate Track Pick-up reconstruction plate to rebuilding the bone surface obtained;
Step 3, the superposition of the steel plate three-dimensional model of generation is plotted on the video image of Real-time Collection, and controls the attitude of steel plate three-dimensional model with augmented reality optical markers, then user's adjustment model attitude, observe real steel panel and the degree that overlaps of virtual steel plate, complete the moulding of steel plate.
2. internal fixation steel plate Design as claimed in claim 1 and method for prefabricating, it is characterized in that, the method for steel plate track and reconstructing three-dimensional model comprises:
The bone surface obtained in reconstruction delineates design reconstruction plate track, in user's rolling mouse pointer process, the ray of structure three-dimensional point from user's viewpoint and corresponding to the mouse pointer, then solve these rays separately with the intersection point of bone surface in patient body data, intersection point is connected to form broken line, finally use the smoothing filtering of three-dimensional coordinate of each intersection point on low-pass filter doubling line segment, obtain steel plate track;
According to the triangle gridding three-dimensional model of reconstruction plate Track Pick-up reconstruction plate, track is subdivided into equidistant multiple homogeneous section, respectively centered by each end points of line segment, along vectorial perpendicular to end points place place bone surface local approach, and the direction of the resultant vector of two line segments connected perpendicular to end points, make straight-line segment, and make line segment length equal reconstruction plate width, then the end points of adjacent straight line segment is connected, obtains the triangle gridding geometric model of virtual steel plate.
3. internal fixation steel plate Design as claimed in claim 1 and method for prefabricating, it is characterized in that, the method for steel plate moulding comprises:
The superposition of the steel plate three-dimensional model of generation is plotted on the video image of Real-time Collection, and the attitude of steel plate three-dimensional model is controlled with augmented reality optical markers, the 3-D geometric model Translucent overlay of reconstruction plate is plotted on video, the relative dimensional attitude of real-time calculating augmented reality optical markers and video camera, by the attitude of the gesture stability reconstruction plate three-dimensional model of marker;
User's adjustment model attitude, observes the degree that overlaps of real steel panel and virtual steel plate, user's bending distortion reconstruction plate, and makes it to overlap with three-dimensional model under each attitude, complete steel plate moulding.
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| CN102945127B (en) * | 2012-11-05 | 2016-04-27 | 深圳市旭东数字医学影像技术有限公司 | The exchange method of volume drawing display and system thereof |
| CN103903220A (en) * | 2012-12-27 | 2014-07-02 | 中国辐射防护研究院 | Hybrid neighborhood adjustment method for human body voxel model |
| CN105997209A (en) * | 2015-03-14 | 2016-10-12 | 鲁洋 | Individual customized orthopaedics equipment |
| CN106031641A (en) * | 2015-03-14 | 2016-10-19 | 鲁洋 | Mirroring reduction three-dimensional reconstruction reset method |
| CN104783884B (en) * | 2015-05-06 | 2017-06-30 | 重庆医科大学附属第一医院 | Dissect locking steel plate and its method for designing in a kind of preceding road of articulatio sacroiliaca |
| CN106057067B (en) * | 2016-06-01 | 2019-04-09 | 浙江工业大学 | A kind of translucent identification method for augmented reality |
| CN106420030B (en) * | 2016-10-14 | 2023-05-16 | 重庆医科大学附属第一医院 | Design method and device for internal fixation system of acetabular quadrilateral fracture |
| US11337761B2 (en) | 2019-02-07 | 2022-05-24 | Stryker European Operations Limited | Surgical systems and methods for facilitating tissue treatment |
| CN110399689B (en) * | 2019-07-31 | 2023-05-09 | 中铁十一局集团桥梁有限公司 | Method and device for adjusting capping beam edge shell model, computer equipment and storage medium |
| CN111000626B (en) * | 2019-10-17 | 2021-06-22 | 中南大学湘雅医院 | Method for shaping medical titanium alloy inner fixing plate |
| CN112967374B (en) * | 2021-02-20 | 2022-12-09 | 济南大学 | Method and system for obtaining digital pre-bending model of orthopedic operation steel plate |
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