CN100363848C - Artificial limb receiving cavity rapid forming apparatus - Google Patents
Artificial limb receiving cavity rapid forming apparatus Download PDFInfo
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- CN100363848C CN100363848C CNB200410009190XA CN200410009190A CN100363848C CN 100363848 C CN100363848 C CN 100363848C CN B200410009190X A CNB200410009190X A CN B200410009190XA CN 200410009190 A CN200410009190 A CN 200410009190A CN 100363848 C CN100363848 C CN 100363848C
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Abstract
The present invention discloses a rapid forming device of an artificial limb socket, which comprises a data measuring device of limb stumps, a computer and a male mold processing device of a socket. Firstly, the information of the limb stumps of an amputee is measured or scanned by the data measuring device of limb stumps; measured or scanned three-dimensional model information of the stumps is input to the computer, computer-aided design software of the socket is used for establishing models of a socket according to a stump shape, patients' comfortable degrees and the biomechanics characteristics of the stumps in human-computer interaction, and then the model data of the socket is input to the auxiliary manufacturing software of the socket for driving male mold processing devices of the socket to produce the male molds of the artificial limb socket. The present invention comprehensively uses the computer-aided design (CAD) technology, an advanced manufacturing technology and a biomedical technology, and sufficiently considers amputee's wearing comfortable degrees and the biomechanics characteristics of the stumps. The present invention overcomes the defects that meromelia shape information is easy to lose or twist when the artificial limb socket is produced according to the traditional method, prepared repeatability is bad and has measuring errors, etc., enhances the once successful rate of the artificial limb socket, reduces the cost, and improves the use of the computer-aided socket design (CASD) and the computer-aided socket manufacture (CASM) in China.
Description
Technical field
The present invention relates to a kind of Medical Devices, is a kind of method for making of making the rapid shaping of prosthetic socket by means of computer-aided design (CAD) (CAD) and computer-aided manufacturing (CAM) technology, specifically is meant a kind of prosthetic socket rapid molding device.
Background technology
The making of tradition receptive cavity is to adopt plaster bandage to get shape, the manual modification, and manufacture craft is quite complicated, and residual limb shape information is easily lost or is twisted, and there are shortcomings such as measuring error in the poor repeatability of preparation.
The application that computer-aided design (CAD) (CAD) and area of computer aided are made (CAM) can produce better design at the shape of deformed limb, Production Time and utilization computing machine are set up reusable model as model storage center faster, improve the success ratio that prosthetic socket is produced once, reduced cost.
Summary of the invention
The objective of the invention is to disclose a kind of medical processing unit (plant) that utilizes computer aided design cad and computer auxiliaring manufacturing CAM fabrication techniques prosthetic socket, i.e. the receptive cavity rapid molding device.The present invention has effectively improved the prosthetic socket moulding of producing once, and solved stump information and easily lost or twist, the preparation poor repeatability, shortcomings such as measuring error make artificial limb be made into power and are improved, and cost reduces.
Prosthetic socket rapid molding device of the present invention, comprise limbs stump data measurement unit, computing machine, receptive cavity formpiston processing unit (plant), computing machine is installed on the receptive cavity formpiston processing unit (plant), and limbs stump data measurement unit is connected with the exchange of computer realization stump three-dimensional modeling data.Receptive cavity computer-aided design system and computer-aided manufacturing program are installed in the computing machine, the receptive cavity computer-aided design system is realized and will be reconstructed into three-dimensional modeling data by the limbs stump information that limbs stump data measurement unit is measured or scanned, and it is designed to meet the model to be processed of biomechanical characterization; The computer-aided manufacturing program is accepted above-mentioned model data to be processed, and utilizes receptive cavity formpiston processing unit (plant) control process according to the three-dimensional modeling data of receptive cavity.The stump three-dimensional modeling data is input in the computing machine, the shape of utilization receptive cavity computer-aided design system design receptive cavity, stump three-dimensional modeling data with receptive cavity is input in the receptive cavity computer-aided manufacturing program then, after the wherethrough reason, drive receptive cavity formpiston processing unit (plant) processing prosthetic socket formpiston by motion control card.
Prosthetic socket rapid molding device of the present invention takes into full account the comfort level and the biomechanical characterization of patient's wearing artificial limb, sets up the model of receptive cavity by the receptive cavity computer-aided design system.
The prosthetic socket rapid molding device of the present invention database of building together has been avoided the conversion of data file, has guaranteed consistance, security and the confidentiality of data.
The machining path of prosthetic socket rapid molding device unified planning receptive cavity formpiston of the present invention carries out emulation to process, has shortened the trial-production time of product.
Prosthetic socket rapid molding device of the present invention has fully utilized multi-door subject technologies such as computer-aided design (CAD) (CAD) technology, curve and surface moulding, biomedicine and advanced manufacturing technology, amputee's wearing level of comfort and stump biomechanics characteristic have been taken into full account, having overcome traditional fabrication prosthetic socket residual limb shape information easily loses or twists, the poor repeatability of preparation, there are shortcomings such as measuring error, improve the prosthetic socket one-time success rate, reduced cost.
Description of drawings
Fig. 1 is an one-piece construction synoptic diagram of the present invention.
Fig. 2 is work spindle assembled figure of the present invention.
Fig. 3 is a cutter holder assembly wiring layout of the present invention.
Fig. 4 is a base assembly wiring layout of the present invention.
Fig. 5 is the flow process chart of receptive cavity computer-aided manufacturing program.
： 1. 2.3. 4. 101. 102. 103.104. 105.A 106.B 107.C 108.D109.E 110. 111.201.A 202.A 203. 204. 205.206.A 207.A 208. 209.B301.B 302.B 303.A 304.B 305.A306.A 307.C 308.A 309.A 310.A311.A 312.A 313.A 314.C 315.C316.B 317.C 318.B 319.B 320.D321.B 322.B 323.B 324.B325.B 326.B 327.E401.D 402.D 403. 404.D 405.C406.C 407.F 408.C 409.C 410.C411.C 412.C 413.C 414.415. 416. 417.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The rapid molding device of prosthetic socket of the present invention is according to the stump shape of amputee's limbs, foundation conforms with physiological receptive cavity model, take into full account the comfort level and the biomechanics characteristic of patient's wearing artificial limb, utilize computer-aided design (CAD) (CAD) technology to set up the model of receptive cavity computer-aided design (CAD) (CASD).The present invention's database of building together all adopts this unified database in Aided Design and auxiliary manufacturing course, so just avoided the conversion of data file, and the data of each several part are integrated to heavens and shared, guaranteed the consistance and the security of data.The prosthetic socket rapid molding device adopts the OpenGL storehouse to carry out the simulation of process under the VC++6.0 environment, thereby judge whether machining locus is correct, the rationality of cutter location correctness and machined parameters is processed in checking like this, has shortened the trial-production time of product, has saved human and material resources.The programs of installing in the computing machine 101 have friendly INTERFACE DESIGN, and the hommization of system operation INTERFACE DESIGN has taken into full account people's physiologic habit.Native system has improved the success ratio of producing once of prosthetic socket, has reduced cost, and price is low, is fit to China's national situation.
See also shown in Fig. 1～4, the present invention is a kind of artificial limb prosthetic socket rapid molding device that is used to process, constitute by three-dimensional laser measuring instrument, computing machine 101, receptive cavity formpiston processing unit (plant) 1, computing machine 101 is installed on framework 110 left halfs of receptive cavity formpiston processing unit (plant) 1, the stump information that three-dimensional laser measuring instrument and computing machine 101 will be gathered in real time by data line inputs to computing machine 101, realizes work of stump reconstructing three-dimensional model and the process of controlling prosthetic socket by the CASD and the CASM program of installing in the computing machine 101.
In the present invention, receptive cavity computer-aided design (CAD) (CASD Computer AidedSocket Design) program and receptive cavity computer-aided manufacturing (CASM Computer Aided SocketManufacturing) program are installed in the computing machine 101.Receptive cavity computer-aided design (CAD) (CASD) program realizes limbs stump data measurement unit is measured or the limbs stump information of scanning is reconstructed into three-dimensional modeling data, and it is designed to meet the model to be processed of biomechanical characterization; Receptive cavity computer-aided manufacturing (CASM) program is accepted above-mentioned model data to be processed, and according to the three-dimensional modeling data of accepting receptive cavity formpiston processing unit (plant) 1 is controlled process.
In the present invention, receptive cavity formpiston processing unit (plant) 1 is made of framework 110, work spindle assembly 2, cutter holder assembly 3, base assembly 4.This framework 110 can be designed to aluminum alloy frame, be provided with dividing plate 104 in it, guide rail, work spindle assembly 2 is installed in the dividing plate 104, be in the left half of framework 110, its spindle carrier 204 is fixed on the base 403, and computing machine 101 is set in framework 110 upper left sides, also establishes on its framework 110 to stud with power switch, power light button, cutter spindle 416 buttons and scram button etc.The front plate of framework 110 is provided with the view window 102 of glass material, and view window 102 is supported by air spring 103, and the other end of air spring 103 is fixed on the framework 110.
In the present invention, the motor A 201 of work spindle assembly 2 is fixed on the spindle carrier 204 by motor cabinet A 202, work spindle cover 203, bracing strut 204 is fixed on the base 403, be connected with bearing A 206, bearing B 209 between main shaft 205 and the work spindle cover 203, work spindle cover 203 is fixed on the spindle carrier 204, main shaft 205 1 ends are connected with motor shaft A 207, and the other end is connected with scroll chuck 208, and scroll chuck 208 passes dividing plate 104 and is connected with artificial limb blank 111.Motor A 201 just rotates and can drive scroll chuck 208 rotations by main shaft 205 like this, and the 111 also rotations of artificial limb blank help artificial limb blank 111 is processed under the control of computing machine 101 like this in the time of scroll chuck 208 rotations.
In the present invention, the motor B 301 of cutter holder assembly 3 is fixed on the base plate A 303 by motor cabinet B 302, base plate A 303 slides on guide rail A105 and guide rail B106, motor shaft B 304 is connected by shaft coupling A306 with leading screw A 305, leading screw A 305 is by bearing C 307, bearing E 327 is by leading screw support A 308, leading screw support D 328 supports, leading screw support A 308, leading screw support D 328 is fixed on the base plate A 303, feed screw nut A 309 and nut support A 310, planker A 311 is fixed together, be fixed with cutter spindle 416 on the planker B 324, be fixed with cutter 417 on the cutter spindle 416, driven by motor feed screw nut A 309 moves like this, and then planker A 311 moves, and planker A 311 moves cutter 417 and just moves.The end of leading screw A 305 is equipped with null pick-up A 312, and the other end is equipped with limit switch A 313.When planker A 311 return-to-zero positions, null pick-up A 312 is input to control system with signal, carries out back zero.When planker A 311 excess of stroke occurred because of some reason, limit switch A 313 passed to control system with excess of stroke signal, and execution stops.Motor C 314 is fixed on the base plate B 316 by motor cabinet C 315, motor shaft C 317 is connected by shaft coupling B 319 with leading screw B 318, leading screw B 318 is supported by leading screw support B 321 by bearings D 320, bearing G 329, leading screw support B 321 is fixed on the base plate B 316, feed screw nut B 322 and nut support B 323, planker B 324 are fixed together, motor C 314 drive feed screw nut B 322 move like this, and then planker B 324 moves.The end of leading screw B 318 is equipped with null pick-up B 325, and the other end is equipped with limit switch B 326.When planker B 324 return-to-zero positions, null pick-up B 325 is input to control system with signal, carries out back zero.When the excess of stroke appearred in planker B 324, limit switch B 326 passed to control system with excess of stroke signal, and execution stops.
In the present invention, the motor D 401 of base assembly 4 is fixed on the base 403 by motor cabinet D 402, motor shaft D 404 is connected by shaft coupling C 405 with leading screw C 406, leading screw C 406 is supported by leading screw support C 408 by bearing E 407, leading screw support C 408 is fixed on the base 403, feed screw nut C 409 and nut support C 410, planker C 411 are fixed together, and motor D 401 drive feed screw nut C 409 move like this, and then planker C 411 moves.The end of leading screw C 406 is equipped with null pick-up C 412, and the other end is equipped with limit switch C 413.When planker C 411 return-to-zero positions, null pick-up C 412 is input to control system with signal, carries out back zero.When planker C 411 excess of stroke occurred because of some reason, limit switch C 413 passed to control system with excess of stroke signal, and execution stops.Blank bracing frame 414 is fixed on one side of the base 403 relative with spindle carrier 204, and base 403 slides on guide rail C107.
In the present invention, cutter holder assembly 3 moves up and down on guide rail D 108 and guide rail E 109, seesaws on guide rail A 105 and guide rail B 106, uses side-to-side movement by guide rail A 105 and guide rail B 106 on guide rail C 107.
In the present invention, the limbs stump data message of 101 pairs of receptions of computing machine carries out routine processes, the basic procedure of its receptive cavity computer-aided design (CAD) and computer-aided manufacturing (CASD/CASM) program: set up the case archives-→ gather the stump model data-→ the receptive cavity three-dimensional model sets up-→ determine machining path-→ machining simulation-→ processing module.Wherein, two big Core Features are: the planning of machining path is set up and determined to the receptive cavity three-dimensional model.
To describe operating process with example below, example can not be used for limiting the content that claim is protected.
Limbs stump data measurement unit is chosen three-dimensional laser measuring instrument (IDEA335 type measuring instrument, the digital technology company limited of Guangzhou Chinese mugwort produces).Gather the model data of stump by the three-dimensional laser measuring instrument, (possess that data are moved the instrument that is transformed in the computing machine is all passable by circuit or network, as floppy disk, USB flash disk, portable hard drive etc.) be input in the computing machine 101, in the model reference coordinate system, obtain the cross section profile at differing heights place respectively and enclose long grade for characteristic parameter, be used for subsequent reconstruction.The rotary body matrix-style is adopted in 101 pairs of data model storages of computing machine.According to the characteristic dimension and the receptive cavity type of patient's stump, from system unit model DB, select the most approaching master pattern.At receptive cavity each several part (shape of the mouth as one speaks circle and receptive cavity main body), set up the model transferring matrix according to the sampled data of actual patient, finish three-dimensional modeling.Model is carried out interactive modifying, set up the receptive cavity model.After the receptive cavity three-dimensional model is set up, read receptive cavity Computer Aided Design Model data by receptive cavity computer-aided manufacturing program, the planning machining path is determined working process parameter, by carrying out receptive cavity computer-aided manufacturing program, obtain processing the node data file.Model data is analyzed, handled,, the processing node speed is handled the formation speed file for reducing departure.Adopt OpenGL that process is carried out emulation, judge whether machining locus is correct, the rationality of cutter location correctness and machined parameters is processed in checking like this, has shortened the trial-production time of product, has saved human and material resources.After can meeting the demands after the emulation, just can carry out the processing of receptive cavity.
In the present invention, at different collecting devices, as hand dipping, laser measurement, CT scan etc., its data processing is to the shape data of typing patient deformed limb:
Hand dipping: long data is enclosed in the stump cross section that obtains.Be directly used in subsequent reconstruction after the simple modifications.
Laser measurement: obtain the stump surface data.In the model reference coordinate system, obtain the cross section profile at differing heights place respectively and enclose long grade for characteristic parameter, be used for subsequent reconstruction.
CT scan: obtain the stump slice of data.Carries out image registration and profile extract, and obtain the cross section profile in every section and enclose length, utilize and set up initial surface based on the three-dimensional reconstruction algorithm of outline line, are used for subsequent reconstruction.
The characteristics of receptive cavity computer-aided design system in the present invention are: (1) Data Source wide adaptability: hand dipping, laser measurement, CT scan; (2) be easy to archive management: utilize DB to realize the repeatability of patient information, receptive cavity information; (3) improve the preparation automaticity: automatic modeling, interactive modifying.
Receptive cavity computer-aided manufacturing program general structure in the present invention can be divided into the next two parts, and wherein upper software is realized human-computer interaction function, and the next software is realized control and the motion of PCI1240.Wherein, upper strata PC software adopts WINDOW2000 operating system, C Plus Plus, and lower floor's motion control software uses PCI1240 control card specific language.Its basic procedure is: (1) input machined parameters comprises process time, the amount of feeding, processing node number etc.(2) according to the cad model data, the calculating processing cutter location.(3) input blank dimension parameter is selected blank.(4) blank is carried out the pardon inspection,, then reselect blank if blank can not female member; Otherwise carry out next step.(5) enter the machining simulation module and carry out Simulation of machining,, carry out next step, otherwise re-enter machined parameters, repeated for 1～4 step if meet the demands.(6) carry out job sequence.See also shown in Figure 5.
Claims (6)
1. one kind is used to process artificial limb prosthetic socket rapid molding device, comprise limbs stump data measurement unit, computing machine, it is characterized in that: also comprise receptive cavity formpiston processing unit (plant) (1), computing machine (101) is installed on the framework (110) of receptive cavity formpiston processing unit (plant) (1), and limbs stump data measurement unit and computing machine (101) are realized the input of stump three-dimensional modeling data;
Receptive cavity computer-aided design system (CASD) and receptive cavity computer-aided manufacturing program (CASM) are installed in the described computing machine, the receptive cavity computer-aided design system is realized and will be reconstructed into three-dimensional modeling data by the limbs stump information that limbs stump data measurement unit is measured or scanned, and it is designed to meet the model to be processed of biomechanical characterization; Receptive cavity computer-aided manufacturing program is accepted above-mentioned model data to be processed, and according to the three-dimensional modeling data of accepting receptive cavity formpiston processing unit (plant) (1) is controlled process;
Described receptive cavity formpiston processing unit (plant) (1), constitute by framework (110), work spindle assembly (2), cutter holder assembly (3), base assembly (4), be provided with dividing plate (104) in the framework (110) and supply cutter holder assembly (3) and the guide rail of base assembly (4) slip, framework (1 10) is provided with view window (102), view window (102) is supported by air spring (103), and the other end of air spring (103) is fixed on the framework (110);
The motor A (201) of described work spindle assembly (2) is by motor cabinet A (202), work spindle cover (203) is fixed on the spindle carrier (204), spindle carrier (204) is fixed on the base (403), use bearing A (206) between main shaft (205) and the work spindle cover (203), bearing B (209) connects, work spindle cover (203) is fixed on the spindle carrier (204), main shaft (205) one ends are connected with motor shaft A (207), main shaft (205) other end connects scroll chuck (208), and scroll chuck (208) passes dividing plate (104) and is connected with artificial limb blank (111);
The motor B (301) of described cutter holder assembly (3) is fixed on the base plate A (303) by motor cabinet B (302), base plate A (303) goes up slip at guide rail A (105) and guide rail B (106), motor shaft B (304) is connected by shaft coupling A (306) with leading screw A (305), leading screw A (305) is by bearing C (307), bearing E (327) is by leading screw support A (308), leading screw support D (328) supports, leading screw support A (308), leading screw support D (328) is fixed on the base plate A (303), feed screw nut A (309) and nut support A (310), planker A (311) is fixed together, the end of leading screw A (305) is equipped with null pick-up A (312), the other end is equipped with limit switch A (313), motor C (314) is fixed on the base plate B (316) by motor cabinet C (315), motor shaft C (317) is connected by shaft coupling B (319) with leading screw B (318), leading screw B (318) is by bearings D (320), bearing G (329) is supported by leading screw support B (321), leading screw support B (321) is fixed on the base plate B (316), feed screw nut B (322) and nut support B (323), planker B (324) is fixed together, be fixed with cutter spindle (416) on the planker B (324), be fixed with cutter (417) on the cutter spindle (416), the end of leading screw B (318) is equipped with null pick-up B (325), and the other end is equipped with limit switch B (326);
The motor D (401) of described base assembly (4) is fixed on the base (403) by motor cabinet D (402), motor shaft D (404) is connected by shaft coupling C (405) with leading screw C (406), leading screw C (406) is supported by leading screw support C (408) by bearing F (407), leading screw support C (408) is fixed on the base (403), feed screw nut C (409) and nut support C (410), planker C (411) is fixed together, the end of leading screw C (406) is equipped with null pick-up C (412), the other end is equipped with limit switch C (413), blank bracing frame (414) is fixed on one side of the base (403) relative with spindle carrier (204), and base (403) is gone up at guide rail C (107) and slided.
2. prosthetic socket rapid molding device as claimed in claim 1, it is characterized in that: cutter holder assembly (3) moves up and down on guide rail D (108) and guide rail E (109), upward seesaw at guide rail A (105) and guide rail B (106), go up at guide rail C (107) and use side-to-side movement by guide rail A (105) and guide rail B (106).
3. prosthetic socket rapid molding device as claimed in claim 1 is characterized in that: receptive cavity computer-aided design system and the receptive cavity computer-aided manufacturing program database of building together.
4. prosthetic socket rapid molding device as claimed in claim 1 is characterized in that: limbs stump data measurement unit is three-dimensional laser measuring instrument or CT scan equipment or hand dipping instrument.
5. prosthetic socket rapid molding device as claimed in claim 4 is characterized in that: three-dimensional laser measuring instrument or CT scan are connected with computing machine (101) by data line, realize the input of stump three-dimensional modeling data.
6. prosthetic socket rapid molding device as claimed in claim 1 is characterized in that: limbs stump data measurement unit and computing machine (101) are realized limbs stump information data is imported by network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410009190XA CN100363848C (en) | 2004-06-09 | 2004-06-09 | Artificial limb receiving cavity rapid forming apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410009190XA CN100363848C (en) | 2004-06-09 | 2004-06-09 | Artificial limb receiving cavity rapid forming apparatus |
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| CN1584761A CN1584761A (en) | 2005-02-23 |
| CN100363848C true CN100363848C (en) | 2008-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB200410009190XA Expired - Fee Related CN100363848C (en) | 2004-06-09 | 2004-06-09 | Artificial limb receiving cavity rapid forming apparatus |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105196551A (en) * | 2015-11-03 | 2015-12-30 | 上海昕健医疗技术有限公司 | 3D printing equipment applicable to individualized medical model |
| CN107260370A (en) * | 2017-07-26 | 2017-10-20 | 济南乐创信息技术有限公司 | Prosthetic socket threedimensional model preparation method and system based on 3-D scanning technology |
| CN112006819A (en) * | 2020-09-09 | 2020-12-01 | 四川省八一康复中心（四川省康复医院） | Digital manufacturing process of lower limb artificial limb receiving cavity |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5539649A (en) * | 1993-02-10 | 1996-07-23 | Southwest Research Institute | Automated design and manufacture of artificial limbs |
| DE19853965A1 (en) * | 1998-11-23 | 2000-05-31 | Siemens Ag | Bone contour and bone structure determination |
| CN1364444A (en) * | 2002-01-25 | 2002-08-21 | 战永安 | Forming method for arficial limb receiving chamber and inner lining tube |
| JP2003299679A (en) * | 2002-04-11 | 2003-10-21 | Yamanashi Prefecture | Artificial limb socket manufacturing system and method of manufacturing artificial limb socket |
| WO2004016158A2 (en) * | 2002-08-17 | 2004-02-26 | Greg Pratt | A medical socket contour scanning system |
-
2004
- 2004-06-09 CN CNB200410009190XA patent/CN100363848C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5539649A (en) * | 1993-02-10 | 1996-07-23 | Southwest Research Institute | Automated design and manufacture of artificial limbs |
| DE19853965A1 (en) * | 1998-11-23 | 2000-05-31 | Siemens Ag | Bone contour and bone structure determination |
| CN1364444A (en) * | 2002-01-25 | 2002-08-21 | 战永安 | Forming method for arficial limb receiving chamber and inner lining tube |
| JP2003299679A (en) * | 2002-04-11 | 2003-10-21 | Yamanashi Prefecture | Artificial limb socket manufacturing system and method of manufacturing artificial limb socket |
| WO2004016158A2 (en) * | 2002-08-17 | 2004-02-26 | Greg Pratt | A medical socket contour scanning system |
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| CN1584761A (en) | 2005-02-23 |
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