CN111494071A - Method and system applied to weight-bearing model taking of artificial leg socket - Google Patents
Method and system applied to weight-bearing model taking of artificial leg socket Download PDFInfo
- Publication number
- CN111494071A CN111494071A CN202010332169.2A CN202010332169A CN111494071A CN 111494071 A CN111494071 A CN 111494071A CN 202010332169 A CN202010332169 A CN 202010332169A CN 111494071 A CN111494071 A CN 111494071A
- Authority
- CN
- China
- Prior art keywords
- receiving cavity
- socket
- pressure
- lower leg
- channel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
- A61F2/80—Sockets, e.g. of suction type
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7685—Measuring means located on natural or sound-site limbs, e.g. comparison measuring means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61F2240/00—Manufacturing or designing of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
- A61F2240/001—Designing or manufacturing processes
- A61F2240/002—Designing or making customized prostheses
Landscapes
- Health & Medical Sciences (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention relates to a method and a system for load taking of a socket of a lower leg prosthesis, wherein the method comprises the steps of obtaining the geometric form of the socket of a residual limb in a load state by using a negative pressure type taking system and correcting the geometric form of a supporting interface of the socket; acquiring the corrected geometric form of the supporting interface of the receiving cavity by using a three-dimensional scanning system of the receiving cavity; combining the geometrical form of the supporting interface of the receiving cavity with a calf receiving cavity database, automatically generating a supporting interface geometrical model of the receiving cavity, and generating a final digital model of the calf receiving cavity in a mode of building an entity with a specific thickness through translation. The invention can quantitatively control the geometric form of the supporting interface according to the biomechanical property of the stump and the bearing capacity of each area, realizes the geometric shape taking of the lower leg receiving cavity at the weight bearing position, finally realizes the digital reconstruction of the receiving cavity by a three-dimensional scanning method, and is applied to the digital design of the lower leg receiving cavity.
Description
Technical Field
The invention relates to the field of residual limb load-bearing model taking and three-dimensional scanning geometric reconstruction of a lower leg amputation patient, in particular to a method and a system for load-bearing model taking of a lower leg artificial limb socket.
Background
The artificial limb socket is an important contact interface for connecting the artificial limb and the stump, the function of the artificial limb socket is not only to comfortably accommodate the stump, but also to effectively transmit the supporting force to the far end of the artificial limb, and the design rationality of the artificial limb socket directly influences the comfort and the convenience degree of the artificial limb. Due to the significant individualization of the stump of amputees, there is a need for individualizing the prosthetic socket.
The traditional receiving cavity customization is subjected to the operation processes of gypsum bandage mold taking, gypsum slurry filling male mold, manual mold repairing, vacuum resin pumping filling forming and the like, and the processes are required to be repeated for many times, so that the problems of long time consumption, high labor intensity, serious environmental pollution and the like exist, and the production efficiency and the industrial development of the artificial limb are seriously limited. In addition, the traditional socket manufacturing, shaping, adapting and the like seriously depend on the personal experience of an artificial limb orthopedic technician, and have poor repeatability and low forming precision.
In recent years, many domestic and foreign research institutes have attempted to apply advanced manufacturing techniques such as Computer Aided Manufacturing (CAM) and Additive Manufacturing (AM) techniques to socket production. However, the primary factor that limits the widespread clinical use of CAM and AM is the design of the prosthetic socket support interface.
The current design method of the prosthetic socket mainly comprises two methods. First, the socket design based on three-dimensional scanning technology, as described in patent application No. 201710619765.7, only considers the geometry of the residual limb, and still relies on the experience of the technician to perform the three-dimensional reconstruction of the socket support interface, which cannot fully embody the biomechanical properties of the residual limb and the bearing capacity of each region, and the manufactured socket cannot provide comfortable support for the patient. Second, numerical simulation-based prosthetic socket designs, while attempting to take into account the biomechanical characteristics of the residual limb, are still frustrating in the face of complex residual limb mechanics characteristics.
Therefore, in addition to the restriction factors such as equipment and material cost, the digital design of the prosthetic socket meeting the requirement of biomechanical personalized clinical adaptation becomes a key basic problem restricting the CAM and 3D printing technology from being applied to the design and production of the socket, so that the CAM and AM are not widely applied clinically.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method and a system for weight-bearing model taking of a lower leg artificial limb receiving cavity, which can realize the geometric model taking of the lower leg receiving cavity in a weight-bearing position, realize quantitative regulation and control in different pressure bearing areas or sensitive areas of a residual limb, finally realize the digital reconstruction of the receiving cavity by a three-dimensional scanning method and are applied to the digital design of the lower leg receiving cavity.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for weight-based typing of a socket of a lower leg prosthesis, the method comprising the steps of:
s1, acquiring the geometric form of the receiving cavity of the residual limb in a load state by using a negative pressure model taking system and correcting the geometric form of a supporting interface of the receiving cavity;
s2, acquiring the corrected geometric form of the supporting interface of the receiving cavity by using a three-dimensional receiving cavity scanning system;
s3, combining the geometrical form of the socket support interface with the calf socket database, automatically generating a support interface geometrical model of the socket, and generating a final digital model of the calf socket in a mode of building an entity with a specific thickness through translation.
Further, in step S1, the negative pressure model-taking system is first used to obtain the preliminary model-taking of the receiving cavity when the patient stands, and then the patient wears the whole set of the preliminary model-taking negative pressure model-taking system to perform normal walking activities, so as to obtain the dynamic stress state of the stump, and the geometric form of the preliminary model-taking receiving cavity support interface is corrected by combining the tolerance capacity data of the relevant pressure bearing area of the stump.
Further, in step S3, the translation thickness is 3-4 mm.
The invention also provides a system for load-bearing model taking of the socket of the artificial leg, which is characterized by comprising a negative pressure model taking system, a three-dimensional socket scanning system and a PC (personal computer) operating end; the PC operation end is respectively connected with the negative pressure model taking system and the receiving cavity three-dimensional scanning system;
the negative pressure type taking system comprises a resin outer wall, a latex sleeve, flowable particles, an air bag and a pressure sensor; the outer wall of the resin is of a concave structure, and the top end of the resin is provided with an opening; the latex sleeve is arranged in the outer wall of the resin, and after the flowable particles are filled into the latex sleeve, the latex sleeve is adjusted to be in a vacuum state; the air bags are arranged between the outer wall of the resin and the latex sleeve and respectively correspond to the pressure bearing areas of the residual limb, and the air bags can change the shape of the latex sleeve through pressure regulation until the residual limb is supported comfortably; the plurality of pressure sensors are arranged on the surface of the latex sleeve close to the residual limb and correspond to the plurality of pressure bearing areas respectively, and the pressure sensors are used for acquiring the dynamic stress state of each pressure bearing area of the residual limb and transmitting the dynamic stress state to the PC operation end;
the receiving cavity three-dimensional scanning system comprises a laser ranging sensor, wherein the laser ranging sensor extends into the receiving cavity to carry out three-dimensional scanning on the receiving cavity supporting interface and transmits scanning information to the PC operation end.
Furthermore, 7 air bags are arranged between the outer wall of the resin and the latex sleeve and respectively correspond to a patellar ligament of the stump, the inner side and the outer side of the tibia, the popliteal fossa, the tibial crest, the middle and rear part of the crus and a pressure bearing area at the tail end of the stump.
Further, the three-dimensional recipient cavity scanning system further comprises a moving rotating shaft and a controller; the laser ranging sensor is mounted at the bottom end of the movable rotating shaft and can rotate 360 degrees around the movable rotating shaft; the movable rotating shaft drives the laser ranging sensor to move up and down; the controller is connected with the movable rotating shaft and the laser ranging sensor respectively and used for controlling the movable rotating shaft to extend into the receiving cavity and controlling the laser ranging sensor to rotate 360 degrees to carry out three-dimensional scanning on a supporting interface of the receiving cavity, and the controller transmits scanning information to the PC operating end.
Furthermore, the negative pressure type taking system also comprises a gasbag pressure adjusting gas guide tube, a gasbag gas guide channel and a multi-channel pressure adjusting system; the multiple air bags are communicated with the air bag air guide channels through the air bag pressure adjusting air guide tubes respectively, and the multichannel pressure regulating system regulates the pressure of each air bag through the air bag air guide channels and the air bag pressure adjusting air guide tubes.
Further, the negative pressure molding system also comprises a particle filling channel, a particle discharging channel and a particle filling and recovering system; the particle filling and recycling system is respectively communicated with the top end and the bottom end of the latex sleeve through the particle filling channel and the particle discharging channel; the particle filling and recycling system fills the flowable particles into the latex sleeve from the top end of the latex sleeve through the particle filling channel; the particle filling and recycling system recycles the flowable particles from the bottom end of the latex sleeve to the particle filling and recycling system through the particle discharge passage.
Further, the negative pressure type-taking system also comprises an air pumping channel and a vacuum pump; the bottom end of the latex sleeve is connected with the vacuum pump through the air pumping channel.
Furthermore, the negative pressure type taking system further comprises a shank connecting rod and a prosthetic foot, and the bottom end of the outer wall of the resin is connected with the prosthetic foot through the shank connecting rod.
The invention has the beneficial effects that:
the invention meets the biomechanical personalized clinical adaptation requirement, and the digital design of the prosthetic socket not only considers the geometric form of the residual limb, but also completely reflects the soft mechanical property of the residual limb with remarkable personalized characteristics and the bearing capacity of each area of the residual limb, thereby greatly improving the comfort of the socket support. The invention obtains the geometric form of the receiving cavity under the loading state, and corrects the receiving cavity by utilizing the dynamic stress state obtained by the pressure sensor, so that the shape of the receiving cavity has more comfortable applicability; therefore, the invention can directly scan by using the three-dimensional scanning system of the receiving cavity to obtain the three-dimensional curved surface data of the supporting interface of the receiving cavity, and then automatically generate the geometric model of the supporting interface of the receiving cavity by combining the crus receiving cavity database, so that the geometric model is not required to be repeatedly trial-manufactured and modified, the manufacturing procedure of the receiving cavity is greatly simplified, and the manufacturing efficiency is improved.
Drawings
FIG. 1 is a system for socket interface sculpting according to the present invention;
fig. 2 is a three-dimensional scanning system of an acceptor of the present invention.
Wherein: 1. the artificial foot comprises a resin outer wall, 2, a latex sleeve, 3, flowable particles, 4, an air bag, 5, an air bag pressure adjusting air guide pipe, 6, a particle filling channel, 7, a particle discharging channel, 8, an air pumping channel, 9, an air bag air guide channel, 10, a shank connecting rod, 11, a shank length adjuster, 12, an artificial foot, 13, a particle filling and recycling system, 14, a vacuum pump, 15, a multi-channel pressure adjusting and controlling system, 16, a pressure sensor, 17, a PC (personal computer) operating end, 18, a support frame, 19, a cross beam, 20, a longitudinal guide rail, 21, a moving rotating shaft, 22, a laser ranging sensor, 23 and a controller.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the present specification, terms of orientation or positional relationship such as up, down, left, right, inside, outside, front, rear, head, and tail are established based on the orientation or positional relationship shown in the drawings. The corresponding positional relationship may also vary depending on the drawings, and therefore, should not be construed as limiting the scope of protection.
In the present invention, the terms "mounted," "connected," "fixed," and the like are to be understood in a broad sense, and for example, may be fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected or capable of communicating with each other, directly connected, indirectly connected through an intermediate medium, or communicated between two components, or interacting between two components. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The embodiment describes a method and a system for weight-bearing model taking of an accepting cavity of a lower leg artificial limb, wherein a negative pressure model taking system is used for obtaining the geometric form of the accepting cavity of a residual limb in a weight-bearing state, then a three-dimensional accepting cavity scanning system is used for obtaining the corrected geometric form of an accepting cavity supporting interface, the geometric form of the accepting cavity supporting interface is combined with a lower leg accepting cavity database to automatically generate a geometric model of the accepting cavity supporting interface, and a final digital model of the lower leg accepting cavity is generated in a mode of building an entity with a specific thickness in a translation mode.
As shown in fig. 1, the negative pressure model-taking system comprises a resin outer wall 1, a latex sleeve 2, flowable particles 3, an air bag 4, an air bag pressure adjusting air duct 5, a particle filling channel 6, a particle discharging channel 7, an air pumping channel 8, an air bag air duct 9, a shank connecting rod 10, a prosthetic foot 12, a particle filling and recovering system 13, a vacuum pump 14 and a multi-channel pressure regulating and controlling system 15.
Wherein, resin outer wall 1 is the indent type structure, and the top has the opening, gets the type in-process under a burden, can bear certain pressure and indeformable, supports the effect of exerting pressure to the residual limb.
The latex sleeve 2 is arranged in the resin outer wall 1, and a cavity is formed inside the latex sleeve. Particle filling and recovery system 13 fills flowable particles 3 into condom 2 from the top of condom 2 through particle filling passage 6. Particle filling recovery system 13 recovers flowable particles 3 within latex sleeve 2 from the bottom end of latex sleeve 2 through particle discharge passage 7 into particle filling recovery system 13. One side of the bottom end of the latex sleeve 2 is also connected with a vacuum pump 14 through an air pumping channel 8, the latex sleeve 2 is vacuumized by the vacuum pump 14, the flowing particles 3 are prevented from flowing randomly, and the latex sleeve 2 is convenient to mold.
A plurality of air bags 4 are arranged between the resin outer wall 1 and the latex sleeve 2 and respectively correspond to each pressure bearing area of the residual limb, and the latex sleeve 2 can change the shape corresponding to the stress condition of the residual limb by adjusting the pressure in the air bags 4, so that each area of the residual limb is supported comfortably. In the embodiment, a total of 7 air bags 4 are arranged and respectively correspond to 7 pressure bearing areas on the patellar ligament, the inner side and the outer side of the tibia, the popliteal fossa, the tibial crest, the middle and rear part of the lower leg and the tail end of the stump.
The air bags 4 are respectively communicated with the air bag air guide channels 9 through the air bag pressure adjusting air guide tubes 5, and the multi-channel pressure adjusting and controlling system 15 adjusts the pressure of each air bag 4 through the air bag air guide channels 9 through the air bag pressure adjusting air guide tubes 5. This embodiment is with a plurality of gasbag pressure regulation air ducts 5 setting in emulsion cover 2 to concentrate on 2 bottom one sides of emulsion cover and be linked together with gasbag air guide channel 9, can avoid taking place the winding between gasbag pressure regulation air duct 5, thereby influence 4 pressure regulations of gasbag, still can keep whole negative pressure to get clean and tidy, pleasing to the eye of type system.
In this embodiment, a plurality of pressure sensors 16 are further disposed on the surface of the latex sleeve 2 close to the residual limb, and the pressure sensors 16 are opposite to the air bags 4, so as to obtain the stress state of each pressure bearing area of the residual limb under the dynamic condition, so that the pressure of each air bag 4 can be dynamically adjusted according to the interface pressure.
The bottom end of the resin outer wall 1 is connected with a prosthetic foot 12 through a shank connecting rod 10, and in order to adjust the height of the negative pressure molding system according to the height of a patient conveniently, the height of the shank connecting rod 10 can be adjusted, so that the patient can obtain an accurate receiving cavity in a body balance state conveniently. In this embodiment, the shank link rod 10 is divided into an upper section and a lower section, the upper section and the lower section are connected by a shank length adjuster 11, and the shank length adjuster 11 can be used to adjust the length of the shank link rod 10.
In addition, the load-bearing model-taking system of the embodiment further includes a PC operation terminal 17, the particle filling and recovering system 13, the vacuum pump 14, the multi-channel pressure regulating and controlling system 15 and the pressure sensor 16 in the negative pressure model-taking system are respectively connected to the PC operation terminal 17, and the PC operation terminal 17 has control and data acquisition software for acquiring the residual limb pressure-bearing information, the pressure information of the latex sleeve 2 and the air bag 4, and controlling the particle filling and recovering system 13, the vacuum pump 14 and the multi-channel pressure regulating and controlling system 15 to execute corresponding actions.
After the negative pressure model taking system acquires the receiving cavity, the three-dimensional scanning system of the receiving cavity is utilized to perform three-dimensional scanning on the receiving cavity in the embodiment. As shown in fig. 2, the three-dimensional scanning system for the socket includes a support frame 18, a cross beam 19, a longitudinal rail 20, a moving rotation shaft 21, a laser ranging sensor 22, and a controller 23.
The cross beam 19 is horizontally arranged on the supporting frame 18, and the longitudinal guide rail 20 is vertically arranged on the cross beam 19 in the longitudinal direction. The moving rotary shaft 21 is installed on the longitudinal rail 20 and can move up and down along the longitudinal rail 20. The laser ranging sensor 22 is installed at the bottom end of the movable rotating shaft 21, can move up and down along with the movable rotating shaft 21, can rotate around the movable rotating shaft 21360 degrees, is used for three-dimensional scanning of the receiving cavity, and can also drive the laser ranging sensor 22 to rotate 360 degrees together through the movable rotating shaft 21 to realize three-dimensional scanning. The controller 23 is installed on the cross beam 19, the controller 23 is connected with the movable rotating shaft 21 and the laser ranging sensor 22 respectively and used for controlling the movable rotating shaft 21 to extend into the receiving cavity and controlling the laser ranging sensor 22 to carry out three-dimensional scanning on the receiving cavity supporting interface in 360-degree rotation so as to obtain the geometric form of the receiving cavity supporting interface, the controller 23 also transmits scanning information to the PC operating end 17, the PC operating end 17 directly and automatically generates a supporting interface geometric model of the receiving cavity by utilizing the scanning information and a calf receiving cavity database, a final digital model of the calf receiving cavity is generated in a mode of planar movement with a preset threshold, and then a calf artificial limb is manufactured according to the digital model.
The load-bearing model-taking method for the artificial leg socket comprises the following steps:
firstly, acquiring the geometric form of a receiving cavity of a residual limb in a load bearing state by using a negative pressure model taking system;
after the negative pressure type taking system is connected, filling flowable particles 3 into the latex sleeve 2, vacuumizing the interior of the latex sleeve 2 by using a vacuum pump 14 after the latex sleeve is filled with the flowable particles, putting the residual limb into the latex sleeve 2 by a patient, keeping the patient in a standing position, and adjusting the pressure of each air bag 4 by using a multi-channel pressure adjusting and controlling system 15 until the patient feels comfortable to support, so as to finish primary type taking of the accepting cavity;
the patient wears the whole set of the initially-shaped negative pressure shaping system to carry out normal walking activities, obtains the dynamic stress state of the residual limb through the pressure sensor 16, combines the tolerance capability data of the relevant bearing area of the residual limb, and then adjusts the pressure of each air bag 4 by using the multichannel pressure regulating and controlling system 15 to correct the geometric shape of the supporting interface of the receiving cavity.
Secondly, acquiring the corrected geometric form of the supporting interface of the receiving cavity by using a three-dimensional scanning system of the receiving cavity;
the receiving cavity is placed on a receiving cavity three-dimensional scanning system, the controller 23 controls the movable rotating shaft 21 to gradually extend into the receiving cavity, the laser ranging sensor 22 is driven to obtain three-dimensional data of a receiving cavity supporting interface through 360-degree rotary scanning, and the controller 23 transmits the three-dimensional data obtained through scanning to the PC operation end 17.
Thirdly, the control and data acquisition software of the PC operation end 17 combines the geometric form of the socket support interface with the calf socket database (which can be established according to the existing parameters and can be supplemented with the manufacture of the artificial limb), automatically generates the support interface geometric model of the socket, and generates the final digital model of the calf socket in a mode of translating a preset threshold to construct an entity with a specific thickness. Typically the translation thickness may be 3-4 mm.
While the principles of the invention have been described in detail in connection with the preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing embodiments are merely illustrative of exemplary implementations of the invention and are not limiting of the scope of the invention. The details of the embodiments are not to be interpreted as limiting the scope of the invention, and any obvious changes, such as equivalent alterations, simple substitutions and the like, based on the technical solution of the invention, can be interpreted without departing from the spirit and scope of the invention.
Claims (10)
1. A method for weight-based typing of a socket of a lower leg prosthesis, the method comprising the steps of:
s1, acquiring the geometric form of the receiving cavity of the residual limb in a load state by using a negative pressure model taking system and correcting the geometric form of a supporting interface of the receiving cavity;
s2, acquiring the corrected geometric form of the supporting interface of the receiving cavity by using a three-dimensional receiving cavity scanning system;
s3, combining the geometrical form of the socket support interface with the calf socket database, automatically generating a support interface geometrical model of the socket, and generating a final digital model of the calf socket in a mode of building an entity with a specific thickness through translation.
2. The method according to claim 1, wherein in step S1, the negative pressure model system is used to obtain the preliminary model of the socket when the patient stands, and then the patient wears the whole set of the preliminary model system to perform normal walking activities, so as to obtain the dynamic stress status of the stump, and modify the geometry of the preliminary model socket support interface in combination with the tolerance data of the relevant pressure bearing area of the stump.
3. The method of claim 1, wherein in step S3, the translation thickness is 3-4 mm.
4. The system is applied to weight-bearing model taking of a lower leg artificial limb socket and is characterized by comprising a negative pressure model taking system, a socket three-dimensional scanning system and a PC (personal computer) operation end (17); the PC operation end (17) is respectively connected with the negative pressure model taking system and the receiving cavity three-dimensional scanning system;
the negative pressure type taking system comprises a resin outer wall (1), a latex sleeve (2), flowable particles (3), an air bag (4) and a pressure sensor (16); the resin outer wall (1) is of a concave structure, and the top end of the resin outer wall is provided with an opening; the latex sleeve (2) is arranged in the resin outer wall (1), and after the flowable particles (3) are filled into the latex sleeve (2), the latex sleeve (2) is adjusted to be in a vacuum state; the air bags (4) are arranged between the resin outer wall (1) and the latex sleeve (2) and respectively correspond to the bearing areas of the residual limb, and the shaping of the latex sleeve (2) can be changed by the air bags (4) through pressure regulation until the residual limb is supported comfortably; the plurality of pressure sensors (16) are arranged on the surface, close to the residual limb, of the latex sleeve (2) and correspond to the plurality of pressure bearing areas respectively, and the pressure sensors (16) are used for acquiring the dynamic stress state of each pressure bearing area of the residual limb and transmitting the dynamic stress state to the PC operation end (17);
the three-dimensional scanning system of the receiving cavity comprises a laser ranging sensor (22), wherein the laser ranging sensor (22) extends into the receiving cavity to carry out three-dimensional scanning on a supporting interface of the receiving cavity and transmits scanning information to the PC operating end (17).
5. The system applied to weight extraction of a prosthetic socket of lower leg according to claim 4, wherein a total of 7 air bags (4) are arranged between the outer resin wall (1) and the latex sleeve (2), and are respectively a patellar ligament, the inner and outer sides of tibia, a popliteal fossa, a tibial crest, the middle and rear part of lower leg and a pressure bearing area at the tail end of the residual limb.
6. The system for weight extraction of a lower leg prosthetic socket according to claim 4, wherein the socket three-dimensional scanning system further comprises a moving axis of rotation (21) and a controller (23); the laser ranging sensor (22) is installed at the bottom end of the moving rotating shaft (21) and can rotate around the moving rotating shaft (21) for 360 degrees; the movable rotating shaft (21) drives the laser ranging sensor (22) to move up and down; the controller (23) is connected with the movable rotating shaft (21) and the laser ranging sensor (22) respectively and used for controlling the movable rotating shaft (21) to stretch into the receiving cavity and controlling the laser ranging sensor (22) to rotate 360 degrees to conduct three-dimensional scanning on a supporting interface of the receiving cavity, and the controller (23) transmits scanning information to the PC operating end (17).
7. The system for weight extraction on a lower leg prosthetic socket according to claim 4, wherein the system further comprises a balloon pressure regulating airway (5), a balloon airway channel (9), and a multi-channel pressure regulating system (15); the air bags (4) are communicated with the air bag air guide channel (9) through the air bag pressure adjusting air guide tube (5), and the multi-channel pressure adjusting and controlling system (15) adjusts the pressure of each air bag (4) through the air bag air guide channel (9) and the air bag pressure adjusting air guide tube (5).
8. The system for weight extraction for a lower leg prosthetic socket according to claim 4, wherein the negative pressure extraction system further comprises a particulate filling channel (6), a particulate discharge channel (7), and a particulate filling recovery system (13); the particle filling and recycling system (13) is respectively communicated with the top end and the bottom end of the latex sleeve (2) through the particle filling channel (6) and the particle discharging channel (7); the particle filling and recycling system (13) fills the flowable particles (3) into the latex sleeve (2) from the top end of the latex sleeve (2) through the particle filling channel (6); the particle filling and recycling system (13) recycles the flowable particles (3) from the lower end of the latex sleeve (2) through the particle discharge passage (7) into the particle filling and recycling system (13).
9. The system for weight extraction on a lower leg prosthetic socket according to claim 4, wherein the negative pressure extraction system further comprises an air extraction channel (8) and a vacuum pump (14); the bottom end of the latex sleeve (2) is connected with the vacuum pump (14) through the air pumping channel (8).
10. The system for weight extraction of a lower leg prosthetic socket according to claim 4, wherein the negative pressure extraction system further comprises a lower leg connecting rod (10) and a prosthetic foot (12), and the bottom end of the outer resin wall (1) is connected to the prosthetic foot (12) through the lower leg connecting rod (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010332169.2A CN111494071A (en) | 2020-04-24 | 2020-04-24 | Method and system applied to weight-bearing model taking of artificial leg socket |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010332169.2A CN111494071A (en) | 2020-04-24 | 2020-04-24 | Method and system applied to weight-bearing model taking of artificial leg socket |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111494071A true CN111494071A (en) | 2020-08-07 |
Family
ID=71866126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010332169.2A Pending CN111494071A (en) | 2020-04-24 | 2020-04-24 | Method and system applied to weight-bearing model taking of artificial leg socket |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111494071A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113256792A (en) * | 2021-05-25 | 2021-08-13 | 湘潭大学 | Limb information reconstruction method, system, device and storage medium |
| CN117771031A (en) * | 2024-02-27 | 2024-03-29 | 国家康复辅具研究中心 | Design method and system of artificial leg receiving cavity |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1416453A (en) * | 1971-12-01 | 1975-12-03 | Landstingens Inkopscentral | Method of producing castings or other mouldings by means of flexible containers holding granular material |
| GB8429708D0 (en) * | 1982-03-02 | 1985-01-03 | Blatchford & Sons Ltd Chas | Manufacturing artificial limb |
| US20030078674A1 (en) * | 2001-07-26 | 2003-04-24 | Phillips Van L. | Socket insert having a bladder system |
| US20080147204A1 (en) * | 2006-12-18 | 2008-06-19 | Bertram Ezenwa | Prosthetic socket with real-time dynamic control of pressure points |
| CN103017679A (en) * | 2012-11-23 | 2013-04-03 | 北京航空航天大学 | Lumen scanning system based on laser ranging sensor |
| WO2015103506A1 (en) * | 2014-01-03 | 2015-07-09 | Easyfit Orthopedics Ltd. | Dynamic adjustable socket for prosthetics |
| WO2017221019A1 (en) * | 2016-06-22 | 2017-12-28 | Creoto Limited | Prosthetic system and method |
| US20180020973A1 (en) * | 2016-07-21 | 2018-01-25 | Lim Innovations, Inc. | Prosthetic sockets with sensors |
| CN110478093A (en) * | 2019-08-15 | 2019-11-22 | 广州市康义博假肢矫形技术有限公司 | Below-knee prosthesis takes type frame and below-knee prosthesis production method |
-
2020
- 2020-04-24 CN CN202010332169.2A patent/CN111494071A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1416453A (en) * | 1971-12-01 | 1975-12-03 | Landstingens Inkopscentral | Method of producing castings or other mouldings by means of flexible containers holding granular material |
| GB8429708D0 (en) * | 1982-03-02 | 1985-01-03 | Blatchford & Sons Ltd Chas | Manufacturing artificial limb |
| US20030078674A1 (en) * | 2001-07-26 | 2003-04-24 | Phillips Van L. | Socket insert having a bladder system |
| US20080147204A1 (en) * | 2006-12-18 | 2008-06-19 | Bertram Ezenwa | Prosthetic socket with real-time dynamic control of pressure points |
| CN103017679A (en) * | 2012-11-23 | 2013-04-03 | 北京航空航天大学 | Lumen scanning system based on laser ranging sensor |
| WO2015103506A1 (en) * | 2014-01-03 | 2015-07-09 | Easyfit Orthopedics Ltd. | Dynamic adjustable socket for prosthetics |
| WO2017221019A1 (en) * | 2016-06-22 | 2017-12-28 | Creoto Limited | Prosthetic system and method |
| US20180020973A1 (en) * | 2016-07-21 | 2018-01-25 | Lim Innovations, Inc. | Prosthetic sockets with sensors |
| CN110478093A (en) * | 2019-08-15 | 2019-11-22 | 广州市康义博假肢矫形技术有限公司 | Below-knee prosthesis takes type frame and below-knee prosthesis production method |
Non-Patent Citations (2)
| Title |
|---|
| KOUHEI NAKAMURA,KAZUHIKO SASAKI AND KINYA FUJITA: "Development of Automatic Immediate Fitting Socket System for Artificial Leg Socket Modeling using Fuzzy Control", 《THE 26TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY》 * |
| 魏晨婧,曹学军,宋佳佳,王林: "小腿残肢负重压力取型***的设计及应用", 《中国康复理论与实践》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113256792A (en) * | 2021-05-25 | 2021-08-13 | 湘潭大学 | Limb information reconstruction method, system, device and storage medium |
| CN113256792B (en) * | 2021-05-25 | 2022-06-17 | 湘潭大学 | Limb information reconstruction method, system, device and storage medium |
| CN117771031A (en) * | 2024-02-27 | 2024-03-29 | 国家康复辅具研究中心 | Design method and system of artificial leg receiving cavity |
| CN117771031B (en) * | 2024-02-27 | 2024-04-26 | 国家康复辅具研究中心 | Design method and system of artificial leg receiving cavity |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111494071A (en) | Method and system applied to weight-bearing model taking of artificial leg socket | |
| CN112168448B (en) | Artificial intelligence-based scoliosis orthosis and control method thereof | |
| Cheah et al. | Integration of laser surface digitizing with CAD/CAM techniques for developing facial prostheses. Part 1: Design and fabrication of prosthesis replicas. | |
| CN109567316B (en) | Adjustable-rigidity orthopedic insole and 4D printing forming method thereof | |
| US7147667B2 (en) | Control system and method for controlling an actuated prosthesis | |
| CN105662681B (en) | Orthoses production method with macro microcosmic integrated feature | |
| ZA200608619B (en) | A method for the production of a biologically active prosthetic device for the reconstruction of bone tissue and the prosthetic device itself | |
| CN105740523A (en) | Host bone stress environment based custom prosthesis optimization design method | |
| CN109717991B (en) | Artificial limb socket with deformation regulation function and 4D printing forming method thereof | |
| CN110074904B (en) | 3D printing liner in lower limb prosthesis receiving cavity and manufacturing method thereof | |
| CN104622559B (en) | A kind of construction method of parametrization femur template | |
| CN108959761A (en) | A kind of novel prosthetic socket manufacturing method | |
| CN110478093A (en) | Below-knee prosthesis takes type frame and below-knee prosthesis production method | |
| CN102920538B (en) | Production method and system for prosthetic socket | |
| CN112515824A (en) | Active and passive combined knee joint of lower limb prosthesis | |
| CN110251275B (en) | Design method of personalized condylar prosthesis | |
| CN102451048B (en) | Complex-shaped gel-metal composite prosthesis and manufacturing method thereof | |
| CN207224392U (en) | A kind of knee joint bone cement based on 3D printing is spacious to put mould | |
| CN210749670U (en) | Individualized condylar prosthesis | |
| Aherwar et al. | A review paper on rapid prototyping and rapid tooling techniques for fabrication of prosthetic socket | |
| CN206264219U (en) | A kind of hip joint bone cement spacer mould of adjustable size | |
| CN112754736A (en) | Personalized semi-pelvic prosthesis and manufacturing method thereof | |
| CN205073222U (en) | Face that can relieve head compression situation in operation of intervertebral bone grafting automatically holds in palm | |
| Zhang et al. | 3D Model Construction System for Personalized Rehabilitation Prosthetics Based on Machine Vision | |
| US20230233340A1 (en) | Unibody endoskeletal transtibial prosthetic devices and digital fabrication workflow |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |