A method of grinding simulation

Abstract

The application relates to the technical field of medical instrument processing, in particular to a grinding simulation method, which comprises the following steps: generating a three-dimensional bone model and a three-dimensional grinding instrument model; based on action information of the grinding instrument fed back by a sensor, updating the coordinate position change of the three-dimensional grinding instrument model in a virtual scene in real time; based on the position information of the three-dimensional grinding instrument model obtained after the updating and the data point information of the three-dimensional bone model, obtaining the position relationship between the three-dimensional grinding instrument model and each data point; based on the position relationship between the three-dimensional grinding instrument model and each data point, correcting the target position of each data point; based on the different states of the data points, correcting the state of each triangular facet of the three-dimensional bone model; processing all the data points, filling the triangular facets, and obtaining the updated three-dimensional bone model. The method provided by the application improves the updating efficiency of the grinding simulation and guarantees the real-time performance of the grinding simulation.

Description

Technical Field

[0001] This invention relates to the field of medical device processing technology, and more specifically to a grinding simulation method. Background Technology

[0002] With the development of computer technology, surgical navigation systems are widely used in clinical fields such as neurosurgery, orthopedics, and dentistry. A surgical navigation system connects a patient's preoperative imaging data with the specific location of the lesion during surgery via a high-performance computer. It accurately displays the three-dimensional spatial location of the lesion and adjacent important tissues and organs, allowing surgeons to formulate the optimal surgical plan on the computer before surgery using relevant processing software. Furthermore, the surgical navigation system can track the position of surgical instruments during surgery and update the display on the images in real time. Surgeons can use the real-time navigation system to avoid important tissue structures and reach the target location directly, effectively protecting important tissues and organs around the lesion during lesion removal based on real-time navigation information.

[0003] In orthopedic procedures involving grinding or drilling, real-time simulation of the grinding process on a virtual navigation image is crucial for accurately removing the cut portion from the model. During surgery, if the bone model of the affected area cannot be updated in real-time based on the actual grinding movements, the surgical situation cannot be accurately reflected, affecting the surgeon's judgment. However, most current simulation methods use Boolean operations to simulate the operation of grinding instruments on bone. Limited by the accuracy of physical Boolean operation algorithms, graphics display efficiency, and computational methods, these methods struggle to accurately reflect the real-time surgical situation, directly impacting the real-time performance and accuracy of navigation-guided surgery. Summary of the Invention

[0004] To address the shortcomings of existing bone grinding simulation methods described in the background section, this invention provides a grinding simulation method that achieves real-time feedback on grinding operations by modifying the coordinates and topological relationships of some points, thereby improving the update efficiency of grinding simulation and ensuring its real-time performance.

[0005] This invention provides a grinding simulation method, the method comprising:

[0006] Generate 3D models of bones and grinding instruments;

[0007] Based on the motion information of the grinding machine fed back by sensors, the coordinate position changes of the three-dimensional model of the grinding machine are updated in real time in a virtual scene.

[0008] Based on the position information of the updated three-dimensional model of the grinding instrument and the data point information of the three-dimensional model of the skeleton, the positional relationship between the three-dimensional model of the grinding instrument and each data point is obtained;

[0009] The target position of each data point is corrected based on the positional relationship between the three-dimensional model of the grinding machine and each data point;

[0010] Based on the different states of the data points, the state of each triangular facet of the skeletal 3D model is corrected.

[0011] Process all data points, fill in triangular patches, and obtain the updated 3D skeletal model.

[0012] Furthermore, the generation of the 3D bone model and the 3D grinding instrument model includes:

[0013] Based on the pre-acquired skeletal CT images, the 3D model of the skeleton is segmented and generated;

[0014] A three-dimensional model of the grinding instrument is constructed based on its mechanical structure.

[0015] Furthermore, the surface of the skeletal 3D model is composed of triangular facets, the basic element of which is a data point.

[0016] Further, the step of obtaining the positional relationship between the three-dimensional model of the grinding instrument and each data point based on the updated positional information of the three-dimensional model of the bone includes:

[0017] Based on the position information of the updated three-dimensional model of the grinding machine, the center and dimensional parameters of the three-dimensional model of the grinding machine are determined;

[0018] The positional information between the data points of the grinding instrument 3D model and the bone 3D model is determined by the distance between the center of the grinding instrument 3D model and the data points of the bone 3D model.

[0019] Optionally, the grinding instrument is a ball drill, and the dimensional parameter of the three-dimensional model of the grinding instrument is the radius of the ball drill.

[0020] Further, determining the positional information between the data points of the grinding instrument 3D model and the bone 3D model by the distance between the center of the grinding instrument 3D model and the data points of the bone 3D model includes:

[0021] If the distance between the three-dimensional model of the grinding machine and the data point is greater than or equal to the radius, then the data point is determined to be located outside the grinding machine;

[0022] If the distance between the three-dimensional model of the grinding machine and the data point is less than the radius, then the data point is determined to be located inside the grinding machine.

[0023] Furthermore, the step of correcting the target position of each data point based on the positional relationship between the three-dimensional model of the grinding machine and each data point includes:

[0024] Data points located outside the grinding machine are kept as they were; data points located inside the grinding machine are changed accordingly based on the direction of movement and distance of the grinding machine, while the vector change that maintains the direction of movement and the vector change that characterizes the orientation of the object are recorded.

[0025] The state of the modified data points is checked using the 3D skeletal model data, i.e., whether the target position of the data points has moved outside the original 3D skeletal model.

[0026] Furthermore, the step of using the skeletal 3D model data to check the state of the modified data points, i.e. whether the target position of the data points has moved outside the original skeletal 3D model, includes:

[0027] By moving the data points before the change a small distance in the opposite direction of the vector representing the object's orientation, it is ensured that the data points are now located inside the skeletal 3D model;

[0028] Establish a line connecting the generated data points and the target location of the data points, and check whether the line intersects with the 3D skeletal model;

[0029] If the data points do not intersect, it means that the target position of the data points is still inside the 3D skeleton model. Therefore, the target position is considered reasonable and no further correction is needed.

[0030] If the intersection indicates that the target position of the data point is outside the 3D skeletal model, then the target position needs to be corrected using the intersection point and the triangular facet where the intersection point is located.

[0031] Furthermore, the step of correcting the target position using the intersection point and the triangular facet containing the intersection point includes:

[0032] Examine the relationship between the data points in the triangular facet and the three-dimensional model of the grinding machine to determine the number of data points inside the grinding machine;

[0033] If all three points of the triangular facet are inside or outside the grinding machine, then these three points cannot be located in a reasonable position and are marked as to be deleted; if one or two points are inside the grinding machine, then find the two edges that intersect with the three-dimensional model of the grinding machine and calculate the intersection points respectively, and take the point that is closer to the intersection point of the three-dimensional model of the skeleton as the target position of the data point.

[0034] Furthermore, the correction of the state of each triangular facet of the skeletal 3D model based on different states of data points includes:

[0035] Examine all data points marked as to be deleted and establish a mapping relationship between the data points and the triangular patches formed by them;

[0036] Each triangular facet is examined individually, and processed according to the number of data points marked as to be deleted: if all data points constituting a triangular facet are marked as to be deleted, the triangular facet is deleted; if two data points are marked as to be deleted, these two points are recorded as a set to be filled; if only one data point is marked as to be deleted, the two valid data points are recorded as an edge and added to the edge set.

[0037] Further, the process of processing all data points and filling triangular patches to obtain the updated skeletal 3D model includes:

[0038] Process all data points defined as to be deleted by traversing the set of edges and finding the point closest to it;

[0039] Merge the data points to be deleted with the data points in the edge set, and establish a correspondence between the nearest point and the data point to be deleted;

[0040] Examine the set to be filled to determine that the location information of each data point is different;

[0041] Using the set to be filled as the boundary, fill the triangular facets to complete the update of the state of the skeletal 3D model.

[0042] Furthermore, to avoid meaningless calculations caused by minor vibrations of the grinding machine that could affect the real-time performance of the simulation, this invention pre-sets a distance threshold. Based on the position information of the three-dimensional model of the grinding machine before and after the update, the movement distance of the three-dimensional model of the grinding machine is calculated. The magnitude of the movement distance is compared with the preset distance threshold to determine whether it belongs to minor vibrations of the grinding machine.

[0043] If the moving distance is greater than the preset distance threshold, the skeletal 3D model is updated based on the position information of the updated grinding instrument 3D model; if the moving distance is less than or equal to the preset distance threshold, the current action is determined to be a meaningless micro-vibration, and the skeletal 3D model is not updated.

[0044] Compared with existing technologies, the grinding simulation method provided by this invention achieves real-time feedback on grinding operations by modifying the coordinates and topological relationships of some points, avoiding complex and inefficient Boolean operations, improving the update efficiency of grinding simulation, and ensuring the real-time performance of grinding simulation. Furthermore, this invention uses a highly accurate three-dimensional model to characterize the grinding instrument, effectively improving the accuracy of navigation surgery. Attached Figure Description

[0045] The features, advantages and technical effects of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings.

[0046] Figure 1 This is a flowchart of the grinding simulation method provided in the embodiments of the present invention;

[0047] Figure 2 This is a schematic diagram of a three-dimensional model of a grinding instrument provided in an embodiment of the present invention;

[0048] Figure 3 These are schematic diagrams of a three-dimensional model of a grinding instrument and a three-dimensional model of a skeleton provided in an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram provided by an embodiment of the present invention for verifying whether the target position of the skeletal data point has moved to the 3D skeletal model;

[0050] Figure 5 This is a schematic diagram of a triangular facet provided in an embodiment of the present invention, in which one point is located inside the grinding machine;

[0051] Figure 6 This is a schematic diagram showing that the triangular facet provided in this embodiment of the invention has two points located inside the grinding machine;

[0052] Figure labeling: 1. Three-dimensional model of grinding instrument; 2. Three-dimensional model of skeleton; 3. Triangular facet. Detailed Implementation

[0053] The features and exemplary embodiments of various aspects of this disclosure will now be described in detail. To make the objectives, technical solutions, and advantages of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to explain this disclosure only and not to limit it. For those skilled in the art, this disclosure can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this disclosure by illustrating examples.

[0054] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0055] To better understand the present invention, the grinding simulation method provided by the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0056] Figure 1 This is a flowchart of the grinding simulation method provided in the embodiments of the present invention.

[0057] like Figure 1 As shown, the present invention provides a grinding simulation method, the method comprising:

[0058] S101, Generate three-dimensional model 1 of the grinding instrument and three-dimensional model 2 of the skeleton;

[0059] S102, Based on the motion information of the grinding machine fed back by the sensor, the coordinate position change of the three-dimensional model 1 of the grinding machine is updated in real time in the virtual scene;

[0060] S103, based on the position information of the updated grinding instrument three-dimensional model 1 and the data point information of the bone three-dimensional model 2, the positional relationship between the grinding instrument three-dimensional model 1 and each data point is obtained;

[0061] S104, Based on the positional relationship between the three-dimensional model 1 of the grinding machine and each data point, the target position of each data point is corrected;

[0062] S105, Based on the different states of the data points, the state of each triangular facet of the skeletal 3D model 2 is corrected;

[0063] S106, process all data points, fill in the triangular facets, and obtain the updated 3D skeletal model 2.

[0064] Furthermore, the generation of the three-dimensional model 1 of the grinding instrument and the three-dimensional model 2 of the skeleton in S101 includes:

[0065] Based on the pre-acquired skeletal CT images, the 3D model 2 of the skeleton is segmented and generated;

[0066] A three-dimensional model 1 of the grinding instrument is constructed based on its mechanical structure.

[0067] Furthermore, the surface of the skeletal 3D model 2 is composed of triangular facets, the basic element of which is a data point.

[0068] Further, in S103, based on the positional information of the updated grinding instrument 3D model 1 and the data point information of the bone 3D model 2, the positional relationship between the grinding instrument 3D model 1 and each data point is obtained, including:

[0069] Based on the position information of the updated three-dimensional model 1 of the grinding machine, the center and dimensional parameters of the three-dimensional model 1 of the grinding machine are determined;

[0070] The positional information between the data points of the grinding instrument 3D model 1 and the bone 3D model 2 is determined by the distance between the center of the grinding instrument 3D model 1 and the data points of the bone 3D model 2.

[0071] Figure 2 This is a schematic diagram of a three-dimensional model of the grinding instrument provided in an embodiment of the present invention.

[0072] like Figure 2 As shown, the grinding instrument is a ball drill, and the dimensional parameter of the three-dimensional model 1 of the grinding instrument is the radius of the ball drill.

[0073] Figure 3 This is a schematic diagram of the three-dimensional model of the grinding instrument and the three-dimensional model of the skeleton provided in the embodiment of the present invention.

[0074] like Figure 3 As shown, determining the positional information between the data points of the grinding instrument 3D model 1 and the bone 3D model 2 by the distance between the center of the grinding instrument 3D model 1 and the data points of the bone 3D model 2 includes:

[0075] If the distance between the three-dimensional model 1 of the grinding machine and the data point is greater than or equal to the radius, then the data point is determined to be located outside the grinding machine;

[0076] If the distance between the three-dimensional model 1 of the grinding machine and the data point is less than the radius, then the data point is determined to be located inside the grinding machine.

[0077] Furthermore, the step S104, which involves correcting the target position of each data point based on the positional relationship between the three-dimensional model 1 of the grinding machine and each data point, includes:

[0078] The data points located outside the grinding machine are kept as they were; the data points located inside the grinding machine are changed accordingly according to the direction of movement and distance of the grinding machine, and the vector change S1 for maintaining the direction of movement and the vector change S2 for representing the orientation of the object are recorded.

[0079] The data from the 3D skeletal model 2 is used to check the state of the changed data points, i.e., whether the target position of the data points has moved outside the original 3D skeletal model.

[0080] Figure 4 This is a schematic diagram provided by an embodiment of the present invention for verifying whether the target position of the skeletal data point has moved to the 3D skeletal model.

[0081] like Figure 4 As shown, the step of checking the state of the changed data points using the data from the 3D skeletal model 2, i.e., whether the target position of the data points has moved outside the original 3D skeletal model, includes:

[0082] By moving the data points before the change a small distance in the opposite direction of the vector representing the object toward S2, it is ensured that the data points are now located inside the skeletal 3D model 2.

[0083] Establish a line connecting the generated data points and the target positions of the data points, and check whether the line intersects with the 3D skeleton model 2;

[0084] If the data points do not intersect, it means that the target position of the data points is still inside the 3D skeleton model 2. Therefore, the target position is considered reasonable and no further correction is needed.

[0085] If the intersection indicates that the target position of the data point is outside the 3D skeletal model 2, then the target position needs to be corrected using the intersection point and the triangular facet where the intersection point is located.

[0086] Furthermore, the step of correcting the target position using the intersection point and the triangular facet containing the intersection point includes:

[0087] Check the relationship between the data points in the triangular facet and the three-dimensional model 1 of the grinding machine to determine the number of data points inside the grinding machine;

[0088] If all three points of the triangular facet are either inside or outside the grinding machine, then these three points cannot be located in a reasonable position and are marked as to be deleted; if one or two points are located inside the grinding machine, such as Figure 5 and Figure 6 As shown, the two edges that intersect with the three-dimensional model 1 of the grinding machine are found, and the intersection points are calculated. The point that is closer to the intersection point of the three-dimensional model 2 of the skeleton is taken as the target position of the data point.

[0089] Furthermore, the correction of the state of each triangular facet of the skeletal 3D model 2 based on different states of data points, as described in S105, includes:

[0090] Examine all data points marked as to be deleted and establish a mapping relationship between the data points and the triangular patches formed by them;

[0091] Each triangular facet is examined individually, and processed according to the number of data points marked as to be deleted: if all data points constituting a triangular facet are marked as to be deleted, the triangular facet is deleted; if two data points are marked as to be deleted, these two points are recorded as a set to be filled; if only one data point is marked as to be deleted, the two valid data points are recorded as an edge and added to the edge set.

[0092] Further, the process described in S106, which involves processing all data points and filling triangular patches to obtain the updated skeletal 3D model, includes:

[0093] Process all data points defined as to be deleted by traversing the set of edges and finding the point closest to it;

[0094] Merge the data points to be deleted with the data points in the edge set, and establish a correspondence between the nearest point and the data point to be deleted;

[0095] Examine the set to be filled to determine that the location information of each data point is different;

[0096] Using the set to be filled as the boundary, fill the triangular facets to complete the state update of the 3D skeletal model 2.

[0097] Furthermore, to avoid meaningless calculations caused by minor vibrations of the grinding machine affecting the real-time performance of the simulation, the present invention pre-sets a distance threshold. Based on the position information of the three-dimensional model 1 of the grinding machine before and after the update, the movement distance of the three-dimensional model 1 of the grinding machine is calculated. The magnitude of the movement distance and the preset distance threshold is compared to determine whether it belongs to minor vibrations of the grinding machine.

[0098] If the moving distance is greater than the preset distance threshold, the skeletal 3D model 2 is updated based on the position information of the updated grinding instrument 3D model 1; if the moving distance is less than or equal to the preset distance threshold, the current action is determined to be a meaningless micro-vibration, and the skeletal 3D model 2 is not updated.

[0099] Compared with existing technologies, the grinding simulation method provided by this invention achieves real-time feedback on grinding operations by modifying the coordinates and topological relationships of some points, avoiding complex and inefficient Boolean operations, improving the update efficiency of grinding simulation, and ensuring the real-time performance of grinding simulation. Furthermore, this invention uses a highly accurate three-dimensional model to characterize the grinding instrument, effectively improving the accuracy of navigation surgery.

[0100] The above description is merely a specific embodiment of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this disclosure is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this disclosure, and these modifications or substitutions should all be covered within the protection scope of this disclosure.

Claims

1. A grinding simulation method characterized by, The method comprises the following steps: generating a three-dimensional model of a bone and a three-dimensional model of a grinding instrument; updating the coordinate position of the three-dimensional model of the grinding instrument in a virtual scene in real time based on the action information of the grinding instrument fed back by a sensor; obtaining the position relationship between the three-dimensional model of the grinding instrument and each data point based on the position information of the three-dimensional model of the grinding instrument obtained after the updating and the data point information of the three-dimensional model of the bone; correcting the target position of each data point based on the position relationship between the three-dimensional model of the grinding instrument and each data point; correcting the state of each triangular facet of the three-dimensional model of the bone based on the different states of the data points; processing all data points, filling the triangular facets, and obtaining the updated three-dimensional model of the bone; the step of correcting the state of each triangular facet of the three-dimensional model of the bone based on the different states of the data points comprises the following steps: checking all data points marked as to be deleted, and establishing the mapping relationship between the data points and the triangular facets formed by the data points; checking the triangular facets one by one, and processing them according to the number of data points marked as to be deleted: if all the data points forming a triangular facet are marked as to be deleted, the triangular facet is deleted; if two data points are marked as to be deleted, the two points are recorded as a set to be filled; if only one data point is marked as to be deleted, two valid data points are recorded as an edge, and the edge is added to an edge set.

2. A grinding simulation method according to claim 1, characterized in that the step of generating the three-dimensional model of the bone and the three-dimensional model of the grinding instrument comprises the following steps: segmenting the three-dimensional model of the bone according to a pre-acquired CT image of the bone; constructing the three-dimensional model of the grinding instrument according to the mechanical structure of the grinding instrument.

3. A grinding simulation method according to claim 1, characterized in that, the surface of the three-dimensional model of the bone is formed by triangular facets, and the basic element of the triangular facets is a data point.

4. A grinding simulation method according to claim 1, characterized in that, the step of obtaining the position relationship between the three-dimensional model of the grinding instrument and each data point based on the position information of the three-dimensional model of the grinding instrument obtained after the updating and the data point information of the three-dimensional model of the bone comprises the following steps: determining the center and the size parameter of the three-dimensional model of the grinding instrument based on the position information of the three-dimensional model of the grinding instrument obtained after the updating; judging the position information between the three-dimensional model of the grinding instrument and the data points of the three-dimensional model of the bone by the distance between the center of the three-dimensional model of the grinding instrument and the data points.

5. A grinding simulation method according to claim 4, characterized in that, the grinding instrument is a ball drill, and the size parameter of the three-dimensional model of the grinding instrument is the radius of the ball drill.

6. A grinding simulation method according to claim 4, characterized in that, the step of judging the position information between the three-dimensional model of the grinding instrument and the data points of the three-dimensional model of the bone by the distance between the center of the three-dimensional model of the grinding instrument and the data points comprises the following steps: if the distance between the three-dimensional model of the grinding instrument and the data points is greater than or equal to the radius, it is determined that the data points are located outside the grinding instrument; if the distance between the three-dimensional model of the grinding instrument and the data points is less than the radius, it is determined that the data points are located inside the grinding instrument.

7. A method of grinding simulation according to claim 1, wherein the step of correcting the target position of each data point based on the position relationship between the three-dimensional model of the grinding instrument and each data point comprises the following steps: The data points outside the grinding machine are maintained as they are, and the data points inside the grinding machine are changed according to the movement direction and distance of the grinding machine, and the vector change of the movement direction and the vector change of the object orientation are recorded; The state of the changed data points is checked by using the three-dimensional model data of the bone, i.e. whether the target position of the data points has moved outside the original three-dimensional model of the bone.

8. A grinding simulation method according to claim 7, characterized in that The state of the changed data points is checked by using the three-dimensional model data of the bone, i.e. whether the target position of the data points has moved outside the original three-dimensional model of the bone, including: By moving the data points before the change in the opposite direction of the vector representing the object orientation by a small distance, it is ensured that the data points are located inside the three-dimensional model of the bone at this time; A line is established between the generated data points and the target position of the data points, and it is checked whether the line intersects with the three-dimensional model of the bone; If the line does not intersect with the three-dimensional model of the bone, it is considered that the target position is reasonable and no further correction operation is needed; If the line intersects with the three-dimensional model of the bone, it is considered that the target position is located outside the three-dimensional model of the bone, and the intersection point and the triangular facet where the intersection point is located are used to correct the target position.

9. A grinding simulation method according to claim 8, characterized in that, The state of the changed data points is checked by using the three-dimensional model data of the bone, i.e. whether the target position of the data points has moved outside the original three-dimensional model of the bone, including: The relationship between the data points in the triangular facet and the three-dimensional model of the grinding machine is checked to determine the number of data points inside the grinding machine; If all the three points of the triangular facet are inside or outside the grinding machine, it is considered that the three points cannot be positioned to a reasonable position and are marked as to be deleted; if one or two points are inside the grinding machine, the intersection points of the two edges intersecting with the three-dimensional model of the grinding machine are found, and the point closer to the intersection point of the three-dimensional model of the bone is taken as the target position of the data point.

10. The method of claim 1, wherein, The state of the changed data points is checked by using the three-dimensional model data of the bone, i.e. whether the target position of the data points has moved outside the original three-dimensional model of the bone, including: All data points defined as to be deleted are processed, the edge set is traversed, and the closest point is found; The data points to be deleted and the data points in the edge set are merged, and the corresponding relationship between the closest point and the data points to be deleted is established; The set to be filled is checked to determine that the position information of each data point inside is different; The triangular facet is filled with the set to be filled as the boundary, and the update of the state of the three-dimensional model of the bone is completed.

11. A grinding simulation method according to claim 1, characterized in that, Further including: In order to avoid meaningless calculation caused by the slight jitter of the grinding machine and affect the real-time performance of the simulation, a distance threshold is set in advance, the moving distance of the three-dimensional model of the grinding machine is calculated based on the position information of the three-dimensional model of the grinding machine before and after the update, and whether it belongs to the slight jitter of the grinding machine is judged by comparing the moving distance and the preset distance threshold: If the moving distance is greater than the preset distance threshold, the bone three-dimensional model is updated based on the position information of the updated grinding instrument three-dimensional model; if the moving distance is less than or equal to the preset distance threshold, it is determined that the current action belongs to meaningless slight shaking, and the bone three-dimensional model is not updated.

Images