基于三维点云处理的髋臼锉锉齿尺寸分析

doi:10.11772/j.issn.1001-9081.2023010033

《计算机应用》唯一官方网站 ›› 2024, Vol. 44 ›› Issue (1): 285-291.DOI: 10.11772/j.issn.1001-9081.2023010033

• 多媒体计算与计算机仿真 • 上一篇

基于三维点云处理的髋臼锉锉齿尺寸分析

杨国威(), 陈绮帆, 刘新月, 王校阳

天津科技大学电子信息与自动化学院，天津 300222

收稿日期:2023-01-15 修回日期:2023-04-14 接受日期:2023-04-17 发布日期:2023-06-06 出版日期:2024-01-10
通讯作者: 杨国威
作者简介:陈绮帆（1999—），女，广西贺州人，硕士研究生，主要研究方向：光学测量、三维点云处理；
刘新月（1998—），女，天津人，硕士研究生，主要研究方向：光学测量、三维点云处理；
王校阳（1995—），男，河南漯河人，硕士研究生，主要研究方向：光学测量、三维点云处理。
第一联系人：杨国威（1988—），男，湖北宜城人，副教授，博士，主要研究方向：光学测量、三维点云处理；
基金资助:
国家自然科学基金资助项目(51805370);天津市自然科学基金资助项目(20JCQNJC00120)

Dimensional analysis of cutting edges of acetabular reamer based on 3D point cloud processing

Guowei YANG(), Qifan CHEN, Xinyue LIU, Xiaoyang WANG

College of Electronic Information and Automation，Tianjin University of Science and Technology，Tianjin 300222，China

Received:2023-01-15 Revised:2023-04-14 Accepted:2023-04-17 Online:2023-06-06 Published:2024-01-10
Contact: Guowei YANG
About author:CHEN Qifan， born in 1999， M. S. candidate. Her research interests include optical measurement， 3D point cloud processing.
LIU Xinyue， born in 1998， M. S. candidate. Her research interests include optical measurement， 3D point cloud processing.
WANG Xiaoyang， born in 1995， M. S. candidate. His research interests include optical measurement， 3D point cloud processing.
Supported by:
National Natural Science Foundation of China(51805370);Natural Science Foundation of Tianjin(20JCQNJC00120)

摘要/Abstract

摘要：

髋臼锉是髋关节置换手术中最重要的手术刀具之一，髋臼锉锉齿的尺寸变化会影响髋臼锉对髋臼的铣削质量。通过处理髋臼锉三维点云可以检验髋臼锉的磨损情况，为此提出基于三维点云处理的髋臼锉锉齿尺寸分析的算法。首先结合锉齿孔洞具有点云的边界特征引入微切面法，利用最大夹角准则获取髋臼锉点云的边界；然后通过K-means聚类算法分割点云边界以标记不同齿孔位置，并对分割出的各个齿孔边界点云进行半径最近邻搜索获取隶属不同的锉齿孔的齿刃点云；最后通过RANSAC（RANandom SAample Consensus）算法对髋臼锉三维点云进行球面拟合，计算各齿孔上的齿刃点云到拟合球心的欧氏距离来分析髋臼锉的切削齿尺寸。以PCL（Point Cloud Library）为框架，实现了对髋臼锉锉齿点云的处理，其中髋臼锉点云的齿孔分割准确度达到100%，髋臼锉点云球面拟合半径精度达到0.004 mm；并对各个锉齿点云尺寸范围进行了分析。实验结果表明，所提算法对髋臼锉点云处理效果好，能有效地实现髋臼锉锉齿尺寸分析。

关键词: 三维点云, 髋臼锉, 点云边界提取, 点云分割, 点云曲面拟合

Abstract:

Acetabular reamer is one of the most important surgical tools in hip replacement surgery. The milling quality of acetabular reamer on acetabulum is affected by the dimension change of cutting edges. The wear of acetabular reamer can be examined by processing 3D point cloud of acetabular reamer， so a dimensional analysis algorithm for the cutting edges of acetabular reamer based on 3D point cloud processing was proposed. Frist， an algorithm with tangency plane and maximum angle criterion were introduced in the proposed algorithm to obtain the boundary point cloud of acetabular reamer based on boundary characteristics of the tooth holes. Second， the boundary point cloud was partitioned into individual tooth hole point clouds by K-means clustering algorithm， and then the point cloud of each tooth hole boundary was searched by radius nearest neighbor search algorithm to obtain the point cloud of cutting edges belonging to different tooth holes. Finally， RANSAC （RANdom SAmple Consensus） algorithm was used to fit the point cloud of acetabular reamer to a sphere， and Euclidean distance from the point cloud of cutting edges to the center of the fitted sphere was calculated to analyze cutting edge dimensions of acetabular reamer. PCL （Point Cloud Library） was used as a development framework to process the point cloud of acetabular reamer. The accuracy of hole segmentation of the point cloud of acetabular reamer is 100%， and the accuracy of spherical fitting radius of the point cloud of the acetabular reamer is 0.004 mm. Experimental results show that the proposed algorithm has a good effect on the point cloud processing of acetabular reamer， and can effectively realize the dimensional analysis of the cutting edges of acetabular reamer.

Key words: 3D point cloud, acetabular reamer, point cloud boundary extraction, point cloud segmentation, point cloud surface fitting

中图分类号:

TH741

杨国威, 陈绮帆, 刘新月, 王校阳. 基于三维点云处理的髋臼锉锉齿尺寸分析[J]. 计算机应用, 2024, 44(1): 285-291.

Guowei YANG, Qifan CHEN, Xinyue LIU, Xiaoyang WANG. Dimensional analysis of cutting edges of acetabular reamer based on 3D point cloud processing[J]. Journal of Computer Applications, 2024, 44(1): 285-291.

图/表 12

图1 髋臼锉

Fig. 1 Acetabular reamer

图2 不同视角的髋臼锉三维点云

Fig. 2 3D point clouds of acetabular reamer with different angles

图3 髋臼锉三维点云尺寸分析算法流程

Fig. 3 Flow of dimensional analysis algorithm for 3D point cloud of acetabular reamer

图4 点在微切面上的投影

Fig. 4 Projection of point on tangency plane

图5 相邻向量夹角计算

Fig. 5 Calculation of angle between adjacent vectors

图6 K-means聚类分割算法流程

Fig. 6 Flow of K-means clustering segmentation algorithm

图7 髋臼锉点云的齿孔分割

Fig. 7 Tooth hole segmentation of acetabular reamer point cloud

图8 髋臼锉三维点云边界

Fig. 8 3D point cloud boundary of acetabular reamer

图9 各齿孔边界点云

Fig. 9 Point cloud of each tooth hole boundary

图10 各齿孔边界点云半径最近邻搜索

Fig. 10 Radius nearest neighbor search for point cloud of each tooth hole boundary

图11 髋臼锉点云的拟合球面

Fig. 11 Fitted spherical surface of point cloud of acetabular reamer

表1 齿刃点云到拟合球心欧氏距离的最小值与最大值 ( mm)

Tab. 1 Minimum and maximum values of Euclidean distance from each point cloud of cutting edge to fitted spherical center

髋臼锉齿孔标号	$L m i n$	$L m a x$
1	19.130 24	21.031 25
2	19.249 40	21.018 36
3	19.397 07	21.062 49
4	19.212 29	21.101 09
5	19.335 95	21.153 58
6	19.337 36	21.070 34
7	19.322 94	21.082 44
8	19.386 39	21.048 12
9	19.201 76	21.203 97
10	19.468 33	21.045 20
11	19.457 13	21.156 80
12	19.614 38	21.218 07
13	19.488 56	21.170 39
14	19.516 31	21.104 00
15	19.241 52	21.269 68
16	19.631 92	21.129 58
17	19.614 50	21.122 36
18	19.484 29	21.092 28
19	19.435 36	21.107 91
20	19.337 48	21.173 53

表1 齿刃点云到拟合球心欧氏距离的最小值与最大值 ( mm)

Tab. 1 Minimum and maximum values of Euclidean distance from each point cloud of cutting edge to fitted spherical center

髋臼锉齿孔标号	$L m i n$	$L m a x$
1	19.130 24	21.031 25
2	19.249 40	21.018 36
3	19.397 07	21.062 49
4	19.212 29	21.101 09
5	19.335 95	21.153 58
6	19.337 36	21.070 34
7	19.322 94	21.082 44
8	19.386 39	21.048 12
9	19.201 76	21.203 97
10	19.468 33	21.045 20
11	19.457 13	21.156 80
12	19.614 38	21.218 07
13	19.488 56	21.170 39
14	19.516 31	21.104 00
15	19.241 52	21.269 68
16	19.631 92	21.129 58
17	19.614 50	21.122 36
18	19.484 29	21.092 28
19	19.435 36	21.107 91
20	19.337 48	21.173 53

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基于三维点云处理的髋臼锉锉齿尺寸分析

Dimensional analysis of cutting edges of acetabular reamer based on 3D point cloud processing

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