Method for the automated and assisted acquisition of anatomical surfaces

摘要

The method for the automated and assisted acquisition of anatomical surfaces includes a first acquisition of the surfaces undertaken in order to create a first numerical model and a perioperative second acquisition undertaken by scanning the surfaces in order to create a second numerical model for identifying the coordinates of the surfaces. The surfaces are supported by a robotic arm; and then the models are brought into correspondence by resetting. The scanning in the second acquisition includes making a preliminary identification of the coordinates of noteworthy points on the surfaces manually, assisted by the robotic arm, and the identifying parts a the points, in order to construct a reference frame and to determine a scanning region; creating an intermediate model from the reference frame and at least one of the points; preliminary resetting the first model with the second model; and automatically scanning the determined zone.

主权项

1. Method for automated and assisted acquisition of anatomical surfaces, said method comprising the steps of:
creating a first three-dimensional representation in a form of a first digital model by a first acquisition of anatomical surfaces; creating a second three-dimensional representation in a form of a second digital model by a second perioperative acquisition by scanning said surfaces, wherein a means for identifying coordinates of said surfaces performs said scanning, said means for identifying being supported by a robotized arm; resetting said first digital model and said second digital model for bringing into correspondence; wherein said scanning comprises:
performing a preliminary identification of coordinates of noteworthy points of said anatomical surfaces by manual displacement, assisted by said robotized arm, and identification of said means for identifying at a level of said noteworthy points, so as to construct a reference frame and to determine a scanning zone for said anatomical surfaces;creating an intermediate model from said reference frame and at least one of said noteworthy points;performing a preliminary resetting of said first digital model with said second digital model; performing an automatic scanning of said scanning zone; performing an identification of coordinates of at least three noteworthy points; determining a fourth noteworthy point from one of said three noteworthy points by symmetry according to an axis passing through the other two of said noteworthy points; and determining said reference frame for calculating a path of said automatic scanning, said reference frame being formed of at least two axes, each axes comprising a pair of said four noteworthy points.