CN103961197B - Special insole production system for spinal rehabilitation adjustment - Google Patents

Abstract

A special insole production system for spine state detection and rehabilitation adjustment, characterized in that the system includes a series of marker points pasted on the human body, a binocular camera, a tripod supporting the camera, and a foot balance closed-loop adjustment system; Paste two marker points on the muscle point, paste the marker points on the tip of the tail vertebrae and the legs, and the binocular camera collects the three-dimensional coordinates of the above marker points to provide analysis data for the leg shape analysis system; the sole balance closed-loop adjustment system includes plantar pressure The sensor array layer, the sole height adjustment lifting rod array, the height adjustment screw array, and the height adjustment motor array; finally, the height of the soles stepped on will change, resulting in the height balance of the legs. Adjust the height value of the screw array, which is the height of different positions of the insoles that need to be placed on the left and right feet. Send this value into the insole to make the three-coordinate CNC milling machine tool, and use the three-coordinate milling machine to mill out the left and right insoles. This insole is the personalized adjustment insole.

Description

Special insole production system for spinal rehabilitation adjustment

Technical field:

The invention relates to a production system of rehabilitation equipment, in particular to the field of special insole production system for spinal rehabilitation.

Background technique:

Scoliosis often manifests itself as a difference in the length of the two legs. In the process of manipulatively adjusting the shape of the spine, it is often necessary to make use of the height difference between the left and right feet of the shoes and the difference between the front and back of the feet to forcefully adjust the state of the two legs. After a period of forced correction, the skeletal muscles are gradually strengthened, and then the height of the two feet is removed Different therapeutic shoes. At present, most of these professional therapeutic shoes are divided into several grades according to the height difference. According to the doctor's experience, evaluate how thick the insole should be, and then choose the shoes in the corresponding height difference grade to make the legs roughly balanced. Obviously, the insoles that can be placed on the patient in this way can only roughly match the insoles, and the more gears, the better the accuracy, but the more types of shoes need to be made. On the contrary, if the gears are divided roughly, although the types of shoes Less, but the degree of compliance with the patient's condition is poor. With the development of information technology, the present invention provides an accurate personalized insole production system, which can customize personalized therapeutic insoles according to the curvature of the patient's spine.

Invention content:

Aiming at the deficiencies in the prior art, the present invention provides a detection system capable of accurately measuring the height difference between two legs and the difference between the front and rear feet, and automatically manufactures the insole numerical control processing system of the corresponding shape according to the detection data.

A special insole production system for spinal rehabilitation and adjustment, characterized in that the system includes a series of marking points pasted on the back of the human body, a binocular camera, a tripod supporting the camera, and a foot balance closed-loop adjustment system;

The method of pasting the marker points on the tested human body is as follows: firstly, two marker points are pasted on the iliacus muscle points on both sides of the human spine, and the marker points are pasted on the tip of the tail vertebrae. Below the intersection of the spine, paste auxiliary marker points along the spine; respectively paste marker points on the Huantiao points of the left and right legs; respectively paste marker points on the left and right knee fossa; respectively paste marker points on the upper parts of the left and right heels;

The tripod is used to support the binocular camera;

to provide analysis data for the leg shape analysis system;

The sole balance closed-loop adjustment system 16 includes a sole pressure sensor array layer 21, a sole height adjustment lifting rod array 18, a height adjustment screw array 20, and a height adjustment motor array 19; the sole pressure sensor array layer 21 obtains the pressure of different positions on the sole Signal: After the height adjustment motor array receives the height adjustment signal, it is converted into the rotor rotation angle and drives the height adjustment screw array 20 to rotate, and the height adjustment screw array 20 rotation will drive the height adjustment lifting rod array 18 to move up and down; The plantar height of the foot changes, resulting in a balanced leg height.

The method of detecting the imbalance of the two legs is as follows: the height difference between the two marker points pasted on the iliacus muscles on both sides and the ground is the unbalanced height difference between the left and right feet; Two straight lines are formed between them; the angle between a certain iliac muscle point and the tip of the tail vertebra in normal people is basically a definite value; when the height of the front and rear of the soles of the human feet is unbalanced, the angle will be different from the normal state; the difference That is, the height difference between the front and back of the sole of the foot.

The steps to calculate the height difference between the left and right feet and the height difference between the front and rear feet are as follows:

(1) Read the three-dimensional coordinates of the marker points

(2) Construct the plane triangle of the iliacus muscle by pasting the two marker points on both sides of the iliacus muscle point and the marker point of the caudal vertebra; calculate the normal vector of the plane triangle;

(3) Calculate the height difference between the two marking points pasted on the iliacus muscles on both sides and the ground, and obtain the height difference between the left and right foot insoles;

(4) Calculate the angle between the normal vector of the iliacus muscle plane triangle and the horizontal plane, and subtract it from the normal value to obtain the difference angle;

(5) According to the difference angle and foot length obtained in (4), calculate the height difference between the front and back of the sole of the foot. The calculation formula is: height difference = foot length * difference angle, the unit is radian;

(6) Output the height difference between the left and right feet and the height difference between the front and back feet.

The height of the adjustment pad is obtained through a series of beat closed-loop servo control adjustments, the pressure balance of the plantar pressure sensor array of the plantar balance closed-loop adjustment system at different positions, and the height of the two marker points pasted on the iliacus muscles on both sides from the ground will also be increased. Gradually balance, the normal vector of the triangular plane of the iliacus muscle will also approach the normal value; at this time, the height value of the adjusting screw array in the closed-loop adjustment system of the sole balance is the height of the different positions of the insoles that need to be placed on the left and right feet; The value is sent into the insole to make the three-coordinate CNC milling machine tool, and the left and right insoles are milled out by the three-coordinate milling machine; the insole is the personalized adjustment insole.

Description of drawings:

Figure 1 shows the pasting method of the measured human body marker points

In Fig. 1: Marking points 1 and 2 are marking points pasted on the iliacus muscle points on both sides of the back spine of the human body. Paste marker point 3 at the tip of the caudal vertebra, and paste auxiliary marker points 4 and 5 along the spine below the intersection of the line connecting points 1 and 2 above marker point 3 and the spine. Spine paste. Paste mark points 6 and 9 on the Huantiao acupoints on the left and right legs respectively. Paste mark points 7 and 10 on the left and right knee fossa respectively. Paste mark points 11, 8, and 12 on the left and right heel tops respectively to be the midline of the human body.

Figure 2 is a schematic diagram of the entire system structure. The system includes a human body to be measured 13, a binocular stereo measuring camera 14, a tripod 15 supporting the camera, left and right foot height analysis system software, and a sole balance closed-loop adjustment system 16.

FIG. 3 is a schematic front view of the structure of the sole balance closed-loop adjustment system 16 .

FIG. 4 is a schematic side view of the structure of the sole balance closed-loop adjustment system 16 .

The sole balance closed-loop adjustment system 16 is composed of a sole pressure sensor array layer 21, a sole height adjustment lifting rod array 18, a height adjustment screw array 20, and a height adjustment motor array 19.

detailed description:

Referring to Figs. 1 to 4, one embodiment of the present invention is that the system is composed of a human body to be measured 13, a binocular stereo measuring camera 14, a tripod 15 supporting the camera, left and right foot height analysis system software, and a sole balance closed-loop adjustment system 16. As shown in Figure 1, under the method of pasting marker points on the tested human body: first, marker points 1 and 2 are pasted on the iliacus muscle points on both sides of the back and spine of the human body; Below the intersection point between the 2-point line and the spine, paste auxiliary marker points 4 and 5 along the spine. The position requirements for 4 and 5 are not strict, but they need to be pasted along the spine. Paste mark points 6 and 9 on the Huantiao acupoints on the left and right legs respectively. Paste mark points 7 and 10 on the left and right knee fossa respectively. Paste mark points 11 and 8 on the left and right heel tops respectively.

The binocular stereo measurement camera is placed at a certain distance from the back of the human body to collect the three-dimensional space coordinates of the landmark points. The tripod 15 is used to support the binocular camera 14 . The binocular camera can collect the three-dimensional coordinates of the above-mentioned back marker points and send them to the leg shape analysis system.

In normal people, the heights of the iliacus muscle landmarks 1 and 2 from the ground should be basically the same. When the pelvis rotates laterally, the height of the landmarks 1 and 2 will be different from the ground. This difference is the height of the left and right feet that need to be padded Difference. Lines 1-3, 2-3 are formed between corner points 1, 2 and 3 of the iliacus plane. The angle between the straight line 1-3 and the horizontal plane is basically a definite value for normal people. When the front and rear heights of the soles of the human feet are unbalanced, the angle will be different from the normal state. This difference is the difference in height between the front and rear of the soles of the feet.

The leg shape analysis system is a system software used to calculate the height difference between the two legs (including the height difference between the front and back of the sole of the foot). The software process of leg height difference detection is as follows:

(1) Read the three-dimensional coordinates of the marker points

(2) Construct the plane triangle of the iliacus muscle with the marker points 1, 2, and 3. Computes the normal vector of the plane triangle.

(3) Calculate the height difference between the marker points 1 and 2 and the ground, and obtain the height difference of the insoles required for the left and right feet.

(4) Calculate the angle between the normal vector of the iliacus muscle plane triangle and the horizontal plane, and subtract it from the normal value to obtain the difference angle.

(5) According to the difference angle and foot length obtained in (4), calculate the height difference between the front and back of the sole of the foot, and calculate

The calculation formula is: height difference = foot length * difference angle (unit is radian)

(6) Output the height difference between the left and right feet and the height difference between the front and back feet.

The composition of the plantar balance closed-loop adjustment system 16 is shown in FIG. 3 . The sole balance closed-loop adjustment system 16 consists of a plantar pressure sensor array layer 21, a sole height adjustment lifting rod array 18, a height adjustment screw array 20, and a height adjustment motor array 19. After the height adjustment motor array receives the height adjustment signal, it is converted into the rotor rotation angle and drives the height adjustment screw array 20 to rotate, and the rotation of the height adjustment screw array 20 will drive the lifting motion of the height adjustment lifting rod array 18. Finally, the height of the sole of the foot on which it is stepped on changes, resulting in a balanced height of the leg.

The difference in the height of the legs of the human body will lead to pressure differences in different parts of the sole. When the human foot steps on the sole balance closed-loop adjustment system 16, the plantar pressure sensor on the 16 will obtain pressure signals from different positions of the sole, and the different parts of the sole will be adjusted. The pressure difference of the position is sent to the height adjustment arrays 18, 19, 20 in the sole balance closed-loop adjustment system 16 as the adjustment amount to control the height of different positions of the sole. The closed-loop adjustment of the height of different positions of the sole will lead to the height difference between the vertices 1 and 2 of the iliacus plane triangle from the ground gradually approaching the same, and will also cause the iliacus plane normal vector to gradually approach the normal value.

After a series of beat closed-loop servo control adjustments, the pressures at different positions of the plantar pressure sensor array of the plantar balance closed-loop adjustment system 16 will be roughly balanced, and the distance between the two corner points 1 and 2 of the iliacus triangular plane will be gradually balanced. The normal vector of the muscle triangle plane will also approach the normal value to sufficient accuracy. At this time, the height values of the adjustment screw array 20 in the sole balance closed-loop adjustment system 16 are the heights of different positions of the insoles that need to be placed on the left and right feet. Send this value into the insole to make the three-coordinate CNC milling machine tool, and use the three-coordinate milling machine to mill out the left and right insoles. The insole is the personalized adjustment insole.

Claims (4)

1. A special insole manufacturing system for spinal rehabilitation adjustment, including a sole balance closed-loop adjustment system. The sole balance closed-loop adjustment system includes a plantar pressure sensor array layer, a sole height adjustment lifting rod array, a height adjustment screw array, and a height adjustment motor array; The plantar pressure sensor array layer obtains pressure signals from different positions on the sole; the height adjustment motor array receives the height adjustment signal, converts it into the rotor rotation angle and drives the height adjustment screw array to rotate, and the height adjustment screw array rotation will drive the height adjustment lifting rod The up-and-down movement of the array; finally, the height of the soles of the feet stepped on will change, resulting in the height balance of the legs; It is characterized in that the system includes a series of marking points pasted below the waist of the human body, a binocular camera, a tripod supporting the camera, and a foot balance closed-loop adjustment system; The method of pasting the marker points on the tested human body is as follows: first, paste two marker points on the iliac muscle point of the human body, paste the marker point on the tip of the tail vertebra, and paste the marker point above the marker point of the tip of the tail vertebra and below the intersection of the two iliacus muscle points and the spine. , paste auxiliary marker points along the spine; paste marker points on the Huantiao point of the left and right legs; paste marker points on the left and right knee fossa respectively; paste marker points on the upper part of the left and right heels; The tripod is used to support the binocular camera; the binocular camera collects the three-dimensional coordinates of the above-mentioned marker points and provides analysis data for the leg shape analysis system. 2. The method of applying the special insole manufacturing system for spinal rehabilitation adjustment as claimed in claim 1, wherein the method for detecting the imbalance of the two legs is as follows: the height difference between the two marker points pasted on the iliacus muscle points on both sides and the ground is the difference between the height of the left and right feet Unbalanced height difference; two straight lines are formed between the two marker points pasted on the iliacus muscle points on both sides and the marker point of the tail vertebra point; the angle between a certain iliacus muscle point and the marker point of the tail vertebra point in normal people is basically 1 Determine the value; when the front and rear heights of the soles of the feet are unbalanced, the angle will be different from the normal state; the difference is the height difference between the front and rear of the soles of the feet. 3. The method of applying the special insole manufacturing system for spinal rehabilitation adjustment as claimed in claim 1, wherein the steps of calculating the height difference between the left and right feet and the front and rear soles are as follows: (1) Read the three-dimensional coordinates of the marker points (2) construct the plane triangle of the iliacus muscle with the two mark points pasted on both sides of the iliacus muscle point and the mark point of the caudal vertebra; calculate the normal vector of the plane triangle; (3) Calculate the height difference between the two marker points pasted on the iliacus muscle points on both sides and the ground, and obtain the height difference of the insoles required for the left and right feet; (4) Calculate the included angle between the normal vector of the iliacus muscle plane triangle and the horizontal plane, and subtract it from the normal value to obtain the difference angle; (5) According to the difference angle and pin length obtained in (4), calculate the height difference before and after the sole of the foot, the calculation formula is: height difference=foot length*difference angle, the unit is radian; (6) Output the height difference between the left and right feet and the height difference between the front and back feet. 4. The method of applying the special insole manufacturing system for spinal rehabilitation adjustment as claimed in claim 1, wherein the method for obtaining the height of the adjustment pad is through a series of beat closed-loop servo control adjustments, the plantar pressure of the plantar balance closed-loop adjustment system The pressure at different positions of the sensor array is balanced, the height of the two marker points pasted on the iliacus muscles on both sides will gradually balance, and the normal vector of the iliacus muscle triangular plane will also approach the normal value; at this time, the sole balance closed-loop adjustment system The height value of the adjustment screw array inside is the height of different positions of the insoles that need to be placed on the left and right feet; send this value into the insole to make a three-coordinate CNC milling machine, and use the three-coordinate milling machine to mill out the left and right insoles; the insoles are personalized. Adjust the insole.