CN103961197B - Spine recovering adjustment Special shoe pad manufacturing system - Google Patents

Abstract

A kind of spinal conditions detects and rehabilitation adjustment Special shoe pad manufacturing system, it is characterized in that system comprises series of flags point, binocular camera, the spider of support camera and the sole balance closed loop adjustment system being pasted onto human body; In human body back spinal column both sides, iliacus point pastes two index points, and at caudal vertebra cusp and leg sticking sign point, binocular camera gathers the three-dimensional coordinate of above-mentioned index point, for leg morphological analysis system provides analytical data; Sole balance closed loop adjustment system comprises plantar pressure sensor array layer, vola height adjustment is elevated excellent array, height adjusting screw rod array, height adjustment motor array; Finally make to step on superincumbent vola height to change, cause leg high balance.The height value of adjusting screw(rod) array, is the height that left and right foot needs the shoe pad diverse location of pad.This value is sent into shoe pad and makes three coordinate numerical control milling machine lathe, utilize three-dimensional milling machine to mill out left and right shoe pad.This shoe pad is personalized adjustment shoe pad.

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 spine recovering adjustment Special shoe pad manufacturing system, comprise sole balance closed loop adjustment system, sole balance closed loop adjustment system comprises plantar pressure sensor array layer, vola height adjustment is elevated excellent array, height adjusting screw rod array, height adjustment motor array; Plantar pressure sensor array layer obtains the pressure signal of vola diverse location; After height adjustment motor array received to altitude mixture control signal, be converted to the rotor anglec of rotation and drive height adjusting screw rod array to rotate, the elevating movement that height adjusting screw rod array rotation will drive altitude mixture control to be elevated excellent array; Finally make to step on superincumbent vola height to change, cause leg high balance;

It is characterized in that system comprises series of flags point, binocular camera, the spider of support camera and the sole balance closed loop adjustment system being pasted onto below human body waist;

Tested human body sticking sign point methods is: first paste two index points at human body iliacus point, at caudal vertebra cusp sticking sign point, above the index point of caudal vertebra cusp below two iliacus point lines and spinal column intersection point, pastes auxiliary sign point again along spinal column; At leg HUANTIAO acupoint position, left and right difference sticking sign point; Left and right poples is sticking sign point respectively; At heel top, left and right difference sticking sign point;

Spider is for supporting binocular camera; Binocular camera gathers the three-dimensional coordinate of above-mentioned index point, for leg morphological analysis system provides analytical data.

2. the method for application spine recovering adjustment as claimed in claim 1 Special shoe pad manufacturing system, it is characterized in that, two lower limb unbalance detections are as follows: two index points that iliacus point in both sides is pasted and ground level difference are the uneven difference in height of left and right foot; Two straight lines are formed between two index points that both sides iliacus point is pasted and the index point of caudal vertebra cusp; The index point angle of a certain iliacus point of normal person and caudal vertebra cusp is a determined value substantially; When people's sole anterior and posterior height is unbalanced time, this angle will produce difference with normal condition; This difference is the difference in height before and after sole.

3. the method for application spine recovering as claimed in claim 1 adjustment Special shoe pad manufacturing system, is characterized in that, calculate left and right foot difference in height and front and back sole difference in height step as follows:

(1) index point three-dimensional coordinate is read

(2) two index points pasted by iliacus point in both sides and the index point of caudal vertebra cusp build iliacus plane triangle; The method calculating this plane triangle is vowed;

(3) two index points and the ground level that calculate both sides iliacus point stickup are poor, obtain the difference in height of left and right foot required pad shoe pad;

(4) calculate the angle between iliacus plane triangle method arrow with horizontal plane, after subtracting each other with normal value, obtain difference angle;

(5) according to the difference angle obtained in (4) and foot long, the difference in height before and after calculating sole, computing formula is: difference in height=foot long * difference angle, and unit is radian;

(6) left and right foot difference in height and front and back sole difference in height is exported.

4. the method for application spine recovering adjustment as claimed in claim 1 Special shoe pad manufacturing system, it is characterized in that, the height preparation method of adjusting pad is after a series of beat Close loop servo control adjustment, the pressure balance of the plantar pressure sensor array diverse location of sole balance closed loop adjustment system, two index points distance ground levels that both sides iliacus points is pasted also will balance gradually, the method for iliacus planar delta vow also will with normal value convergence; Now, the height value of the adjusting screw(rod) array in sole balance closed loop adjustment system, is the height that left and right foot needs the shoe pad diverse location of pad; This value is sent into shoe pad and makes three coordinate numerical control milling machine lathe, utilize three-dimensional milling machine to mill out left and right shoe pad; This shoe pad is personalized adjustment shoe pad.