# US 11,439,508 B2 · 3D modeling systems and methods

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- Number: US 11,439,508 B2
- Document ID: US11439508B2
- Status: Granted
- Kind: B2
- Application number: 15/828,430
- Filed: 2017-11-30
- Published: 2018-05-31
- Granted: 2022-09-13
- Earliest claimed: 2016-11-30
- Applicants: Fited, Inc.
- Inventors: Mehmet Erdem Ay; Akanksha Vyas
- Web page: https://patentgrep.com/patent/US11439508B2

## CPC

- A61F 2/30942: {for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques}
- G06F 30/00: Computer-aided design [CAD]
- G06F 30/10: Geometric CAD
- G06T 17/00: Three-dimensional [3D] modelling for computer graphics
- G06T 17/10: Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
- G06T 19/20: Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts
- A61F 2002/30943: {using mathematical models}
- G06F 2111/04: Constraint-based CAD
- G06T 2210/41: Medical
- G06T 2219/2004: Aligning objects, relative positioning of parts
- G06T 2219/2021: Shape modification
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

Systems and methods for creating a geometric design definition for 3D models designed to fit physical or digital template objects is disclosed. The 3D models can transform to fit specific physical or digital objects which are different from but topologically isomorphic to the original template objects based on visual or mathematical inputs. To validate the fit, the generated 3D model can be compared with the specific physical or digital objects for which the 3D model is generated to fit, and the geometry of generated 3D model can be adjusted to improve the fit if the generated 3D model is not validated. The accuracy of the fit of the generated 3D models can be improved iteratively.

## Claims

### Claim 1

A method of creating a 3D model of a device, the method comprising:
acquiring a digital representation of a first object;
determining a geometric design definition that defines a first device 3D model configured to fit the first object, where the geometric design definition comprises geometric relationships between the first device 3D model and the first object;
acquiring a digital representation of a second object different from the first object;
morphing the first device 3D model to fit the second object to generate a second device 3D model configured to fit the second object;
determining geometric relationships between the second device 3D model and the second object;
validating the second device 3D model if the geometric relationships between the second device 3D model and the second object are proportional to the geometric relationships between the first device 3D model and the first object;
adjusting a 3D coordinate map of the second device 3D model if the geometric relationships between the second device 3D model and the second object are not proportional to the geometric relationships between the first device 3D model and the first object;
morphing the second device 3D model to generate a third device 3D model using the adjusted 3D coordinate map, where the third device 3D model is configured to fit the second object better than the second device 3D model based on a fit accuracy requirement;
determining geometric relationships between the third device 3D model and the second object; and
validating the third device 3D model if the geometric relationships between the third device 3D model and the second object are proportional to the geometric relationships between the first device 3D model and the first object.

### Claim 2 (depends on 1)

The method of claim 1, where the geometric relationships between the first device 3D model and the first object comprise geometric fit accuracy parameters between the first device 3D model and the first object, and where the geometric relationships between the second device 3D model and the second object comprise geometric fit accuracy parameters between the second device 3D model and the second object.

### Claim 3 (depends on 2)

The method of claim 2, where the geometric fit accuracy parameters between the first device 3D model and the first object comprise one or more maximum distances between the first device 3D model and the first object and/or one or more minimum distances between the first device 3D model and the first object.

### Claim 4 (depends on 2)

The method of claim 2, where the geometric design definition further comprises non-geometric relationships between the first device 3D model and the first object, and where the method further comprises:
determining non-geometric relationships between the second device 3D model and the second object; and
validating the second device 3D model if the non-geometric relationships between the second device 3D model and the second object are proportional to the non-geometric relationships between the first device 3D model and the first object.

### Claim 5 (depends on 4)

The method of claim 4, where the non-geometric relationships between the first device 3D model and the first object comprise non-geometric fit accuracy parameters between the first device 3D model and the first object, and where the non-geometric fit accuracy parameters between the first device 3D model and the first object comprise one or more maximum pressures applied by the first device 3D model to the first object and/or one or more minimum pressures applied by the first device 3D model to the first object.

### Claim 6 (depends on 1)

The method of claim 1, where determining the geometric design definition comprises creating a 3D coordinate map of the first device 3D model comprising multiple points, where each point defines a point of the first device 3D model, and where the multiple points of the 3D coordinate map are created based at least partly on the geometric relationships between the first device 3D model and the first object.

### Claim 7 (depends on 1)

The method of claim 1, where the device is at least one of an orthosis, prosthesis, implant, and non-medical device, and where the second object different from the first object comprises the second object being a modified first object or a different object altogether.

### Claim 8 (depends on 1)

The method of claim 1, where morphing the first device 3D model to fit the second object comprises computing the geometric design definition with parameters associated with the second object.

### Claim 9 (depends on 8)

The method of claim 8, where the parameters associated with the second object comprise coordinates of the second object and/or data representative of differences between the first object and the second object.

### Claim 10 (depends on 8)

The method of claim 8, where the parameters associated with the second object comprise dimensions of the second object.

### Claim 11 (depends on 1)

The method of claim 1, where morphing the first device 3D model to fit the second object comprises changing inputs of the geometric design to have parameters associated with the second object, and where the parameters associated with the second object comprise coordinates of the second object and/or data representative of differences between the first object and the second object.

### Claim 12 (depends on 1)

The method of claim 1, where morphing the first device 3D model to fit the second object comprises using a geometric difference between the first object and the second object.

### Claim 13 (depends on 1)

The method of claim 1, where morphing the first device 3D model to fit the second object comprises using a measurement of the first object and a measurement of the second object.

### Claim 14 (depends on 13)

The method of claim 13, where morphing the first device 3D model to fit the second object comprises using a detected feature of the first object and a detected feature of the second object.

### Claim 15 (depends on 14)

The method of claim 14, where morphing the first device 3D model to fit the second object comprises using an image of the first object and an image of the second object.

### Claim 16 (depends on 1)

The method of claim 1, where morphing the first device 3D model to fit the second object comprises identifying a difference between a first object boundary and a second object boundary.

### Claim 17 (depends on 16)

The method of claim 16, where morphing the first device 3D model to fit the second object comprises identifying a difference between a first device 3D model boundary and the second object boundary.

### Claim 18 (depends on 1)

The method of claim 1, where morphing the first device 3D model to fit the second object comprises identifying a difference between a first device 3D model boundary and a second object boundary.

### Claim 19 (depends on 1)

The method of claim 1, where morphing the first device 3D model to fit the second object comprises graphically modifying a visual representation of the first device 3D model to fit the second object.

### Claim 20 (depends on 1)

The method of claim 1, where the first object is a first physical object, and where the second object is a second physical object.

### Claim 21

A method of creating a 3D model, the method comprising:
acquiring a digital representation of a reference object;
determining a first geometric design definition that defines a 3D reference device model configured to fit the reference object, where the first geometric design definition comprises a fit accuracy requirement that defines the fit between the 3D reference device model and the reference object, a 3D reference coordinate map of the 3D reference device model based at least partly on the fit accuracy requirement, and geometric constructs of the 3D reference device model;
acquiring a digital representation of a target object different from the reference object;
mapping the 3D reference device model to the target object by modifying the 3D reference coordinate map of the 3D reference device model to fit the target object;
changing the first geometric design definition to create a second geometric design definition that defines a first 3D target device model designed to fit the target object by substituting the 3D reference coordinate map of the first geometric design definition with the modified 3D reference coordinate map;
validating the first 3D target device model if the fit between the first 3D target device model and the target object is the same as the fit between the 3D reference device model and the reference object as defined by the fit accuracy requirement;
adjusting the modified 3D reference coordinate map if the fit between the first 3D target device model and the target object is not the same as the fit between the 3D reference device model and the reference object as defined by the fit accuracy requirement;
changing the second geometric design definition to create a third geometric design definition that defines a second 3D target device model configured to fit the target object by substituting the modified 3D reference coordinate map of the second geometric design definition with the adjusted 3D reference coordinate map, where the second 3D target device model is configured to fit the target object better than the first 3D target device model based on the fit accuracy requirement;
validating the second 3D target device model if the fit between the second 3D target device model and the target object is the same as the fit between the 3D reference device model and the reference object as defined by the fit accuracy requirement; and
improving the determination of the first geometric design definition using one or more learning modules, where the one or more learning modules are configured to reference one or more validated 3D target device models, where a different geometric design definition is associated with each of the one or more validated 3D target device models, and where the one or more learning modules are configured to reference one or more of the different geometric design definitions associated with the one or more validated 3D target device models.

### Claim 22 (depends on 21)

The method of claim 21, where the one or more learning modules are configured to reference one or more 3D reference device models, where a different geometric design definition is associated with each of the one or more 3D reference device models, and where the one or more learning modules are configured to reference one or more of the different geometric design definitions associated with the one or more 3D reference device models.

### Claim 23 (depends on 21)

The method of claim 21, where validating the first 3D target device model comprises overlaying the 3D target device model on the digital representation of the target object and comparing one or more geometric measurements between the 3D target device model and the target object against the fit accuracy requirement.

### Claim 24 (depends on 21)

The method of claim 21, where the fit accuracy requirement comprises a geometric fit accuracy requirement that defines one or more geometric relationships between the 3D reference device model and the reference object.

### Claim 25 (depends on 24)

The method of claim 24, where the geometric fit accuracy requirement comprises a maximum distance between the 3D reference device model and the reference object or a minimum distance between the 3D reference device model and the reference object.

### Claim 26 (depends on 21)

The method of claim 21, where the fit accuracy requirement comprises a non-geometric fit accuracy requirement that defines one or more non-geometric relationships between the 3D reference device model and the reference object.

### Claim 27 (depends on 26)

The method of claim 26, where the non-geometric fit accuracy requirement comprises a maximum pressure applied by the 3D reference device model to the reference object or a minimum pressure applied by the 3D reference device model to the reference object.

### Claim 28 (depends on 21)

The method of claim 21, where the 3D reference device model is at least one of an orthosis, prosthesis, implant, and non-medical device, where the first 3D target device model and the second 3D target device model are at least one of an orthosis, prosthesis, implant, and non-medical device, and where the target object different from the reference object comprises the target object being an altered version of the reference object or a different object altogether.

### Claim 29 (depends on 21)

The method of claim 21, where modifying the 3D reference coordinate map of the 3D reference device model to fit the target object comprises determining dimensions between points of the 3D reference coordinate map and the target object.

### Claim 30 (depends on 29)

The method of claim 29, where modifying the 3D reference coordinate map of the 3D reference device model to fit the target object comprises determining dimensions between points of the geometric constructs of the 3D reference device model and the target object.

### Claim 31 (depends on 21)

The method of claim 21, where the geometric design definition comprises a computational model having inputs, and where the method further comprises morphing the 3D reference device model to fit the target object to generate the first 3D target device model by changing one or more of the inputs and computing the computational model with the one or more changed inputs.

### Claim 32 (depends on 31)

The method of claim 31, where changing one or more inputs comprises substituting the 3D reference coordinate map of the first geometric design definition with the modified 3D reference coordinate map.

### Claim 33 (depends on 31)

The method of claim 31, further comprising changing the one or more inputs of the computational model to have parameters associated with the target object.

### Claim 34 (depends on 21)

The method of claim 21, where the reference and target objects are different people.

### Claim 35 (depends on 21)

The method of claim 21, where the target object is isomorphically the same as the reference object.

### Claim 36

A 3D modeling system, comprising:
one or more data acquisition devices; and
a modeling unit, wherein the modeling unit is configured to:
process a reference object and a target object acquired from the one or more data acquisition devices, where the target object is topologically isomorphic to the reference object;
design a 3D reference device model to fit the reference object by determining fit accuracy parameters, where the fit accuracy parameters comprise first relationships between the 3D reference device model and the reference object, and where the first relationships between the 3D reference device model and the reference object comprise a 3D reference coordinate map of the 3D reference device model;
compare the 3D reference device model to the target object;
determine, based on the comparison between the 3D reference device model and the target object, second relationships between the 3D reference device model and the target object;
compare the first relationships between the 3D reference device model and the reference object with the second relationships between the 3D reference device model and the target object;
generate a first 3D target device model by modifying the 3D reference device model based on the comparison between the first relationships and the second relationships, where modifying the 3D reference device model comprises generating a 3D target coordinate map of the first 3D target device model by morphing the 3D reference coordinate map to fit the target object;
compare the first 3D target device model to the target object;
determine, based on the comparison between the first 3D target device model and the target object, third relationships between the first 3D target device model and the target object;
validate the first 3D target device model if the third relationships between the first 3D target device model and the target object are within a threshold tolerance of the first relationships between the 3D reference device model and the reference object;
adjust the 3D target coordinate map of the first 3D target device model if the third relationships between the first 3D target device model and the target object are not within the threshold tolerance of the first relationships between the 3D reference device model and the reference object;
generate a second 3D target device model based at least partly on the adjusted 3D target coordinate map, where the second 3D target device model is configured to fit the target object better than the first 3D target device model based on a fit accuracy requirement;
validate the second 3D target device model if the adjusted relationships between the second 3D target device model and the target object are within the threshold tolerance of the first relationships between the 3D reference device model and the reference object; and
improve the generation of the first 3D target device model using one or more learning modules, where the one or more learning modules are configured to reference one or more validated 3D target device models and the third relationships associated therewith.

### Claim 37 (depends on 36)

The 3D modeling system of claim 36, where the 3D reference device model is at least one of an orthosis, prosthesis, implant, and non-medical device, and where the first 3D target device model and the second 3D target device model are at least one of an orthosis, prosthesis, implant, and non-medical device.

### Claim 38 (depends on 36)

The 3D modeling system of claim 36, where modifying the 3D reference device model comprises morphing the 3D reference coordinate map of the 3D reference device model into a 3D target coordinate map that fits the target object.

### Claim 39 (depends on 36)

The 3D modeling system of claim 36, where the reference object and the 3D reference device model are stored in a database, where if the first 3D target device model is validated, the first 3D target device model is added to the database as another 3D reference device model and the target object is added to the database as another reference object, and where if the second 3D target device model is validated, the second 3D target device model is added to the database as another 3D reference device model and the target object is added to the database as another reference object.