Visualized intelligent teaching aid for human-like foot and ankle and preparation method thereof

Abstract

The application provides a visual human-imitating ankle intelligent teaching aid and a preparation method thereof, and relates to the technical field of teaching aids.The visual human-imitating ankle intelligent teaching aid comprises a human-imitating ankle body, human-imitating muscles, a position sensor, a force sensor and a controller.The human-imitating ankle body comprises human-imitating phalanges, human-imitating metatarsal bones, human-imitating cuboid bones, human-imitating wedge bones, human-imitating navicular bones, human-imitating fibula bones, human-imitating anterior tibiofibular ligaments, human-imitating calcaneus bones, human-imitating talus bones, human-imitating calcaneofibular ligaments and human-imitating tibia bones arranged according to human body structure.The position sensor and the force sensor are connected with the controller.The human-imitating muscles wrap the human-imitating ankle body, the position sensor and the force sensor.The acceleration sensor and the angular velocity sensor are arranged on the human-imitating talus near the human-imitating anterior tibiofibular ligaments.The force sensor is arranged on the human-imitating talus near the human-imitating calcaneus bone.The application can quantize the data of bone-setting methods of experts and trainers, so that the deviation of the bone-setting methods of the trainers can be obtained, and the trainers can learn better.

Description

Technical Field

[0001] This invention relates to the field of teaching aids technology, and in particular to a visual, humanoid ankle-shaped intelligent teaching aid and its preparation method. Background Technology

[0002] The key to learning bone-setting techniques lies in mastering the application of force and maintaining the correct posture. Expert physicians utilize the strength of their fingers, wrists, and arms, employing various experiences and techniques to apply force to the tendons and bones, ensuring sustained movement and strength for a sufficient duration. This force is a skill-based force, requiring continuous adjustment based on different situations and the physician's experience. Currently, traditional orthopedic teaching employs a one-on-one mentorship model, typically with expert physicians providing subjective instruction. Each orthopedic surgeon's learning process involves a degree of subjectivity and passivity. Furthermore, the specific implementation of each technique requires extensive clinical trials for accumulation and improvement, resulting in a long learning cycle and limited effectiveness in traditional Chinese medicine. While video animations are created to record techniques, they often fail to capture the implementation process from multiple angles, failing to accurately reflect the bone's condition during treatment, significantly hindering the transmission of renowned physicians' experience. The transformation from an ordinary doctor to an expert physician requires extensive learning, understanding, and practical experience, leading to a shortage of expert physicians, a prolonged learning period, and an imbalance in medical development.

[0003] Currently, methods for teaching and training doctors in foot and ankle manipulation techniques primarily use rigid foot bones to demonstrate skeletal structure. These methods cannot perform human-like movements such as internal rotation and stretching, and lack biomechanical properties. Furthermore, existing medical prosthetic teaching aids do not allow for direct observation of internal skeletal displacement and postural changes, nor the application of force and the maintenance of movement. This leads to difficulties for expert physicians in specifically explaining the magnitude and variation of applied force and the movement trajectory of the human foot and ankle. Consequently, there are challenges in physician description, quantification of techniques, repetition, student comprehension, and knowledge transfer. Summary of the Invention

[0004] The purpose of this invention is to provide a visual, humanoid foot and ankle intelligent teaching aid and its preparation method, which quantifies the parameters of bone setting techniques, can accurately obtain the force and posture errors of the trainee during the bone setting process, and quantify the parameters that the trainee needs to adjust.

[0005] A visualized humanoid foot and ankle intelligent teaching aid with quantified parameters of bone setting techniques, comprising: a humanoid foot and ankle body, humanoid muscles, a posture sensor, a force sensor, and a controller;

[0006] The humanoid foot and ankle body includes humanoid phalanges, metatarsals, cuboids, cuneiformes, navicular bones, fibula, anterior tibiofibular ligament, calcaneus, talus, calcaneofibular ligament, and tibia, all designed according to human anatomy.

[0007] The posture sensor includes an accelerometer and an angular velocity sensor; the accelerometer, the angular velocity sensor, and the force sensor are all connected to the controller.

[0008] The humanoid muscles enclose the humanoid ankle body, the posture sensor, and the force sensor;

[0009] The accelerometer and the angular velocity sensor are located on the humanoid talus near the humanoid anterior tibiofibular ligament; the force sensor is located on the humanoid talus near the humanoid calcaneus; the x-axis of the carrier coordinate system of the force sensor is perpendicular to the cross-section of the humanoid foot and ankle body.

[0010] The accelerometer acquires acceleration data from expert bone setting and acceleration data from trainee bone setting; the angular velocity sensor acquires angular velocity data from expert bone setting and angular velocity data from trainee bone setting.

[0011] The force sensor acquires expert bone-setting force data, expert bone-setting torque data, trainee bone-setting force data, and trainee bone-setting torque data;

[0012] The controller preprocesses the expert bone setting acceleration data, the expert bone setting angular velocity data, the trainee bone setting acceleration data, and the trainee bone setting angular velocity data to obtain expert bone setting acceleration correction data, expert bone setting angle correction data, trainee bone setting acceleration correction data, and trainee bone setting angle correction data.

[0013] The controller constructs an expert bone-setting stretching force curve based on the expert bone-setting force data and the expert bone-setting torque data, and obtains a trainee bone-setting stretching force curve based on the trainee bone-setting force data and the trainee bone-setting torque data;

[0014] The controller constructs a displacement curve of the expert bone-setting tensile force based on the expert bone-setting acceleration correction data and the bone-setting motion model, combined with the expert bone-setting torque data; the controller also constructs a displacement curve of the trainee bone-setting tensile force based on the trainee bone-setting acceleration correction data and the bone-setting motion model, combined with the trainee bone-setting torque data.

[0015] The controller constructs an expert bone-setting angle curve based on the expert bone-setting angle correction data and the expert bone-setting torque data; the controller constructs a trainee bone-setting angle curve based on the trainee bone-setting angle correction data and the trainee bone-setting torque data.

[0016] The controller obtains the displacement error curve of the trainee's bone-setting stretching force based on the displacement curve of the expert bone-setting stretching force and the displacement curve of the trainee's bone-setting stretching force, obtains the trainee's bone-setting angle error curve based on the expert bone-setting angle curve and the trainee's bone-setting angle curve, and obtains the trainee's bone-setting stretching force error curve based on the expert bone-setting stretching force curve and the trainee's bone-setting stretching force curve.

[0017] Optionally, the preprocessing includes error elimination and coordinate system transformation, wherein the coordinate system is transformed from the vehicle coordinate system to the navigation coordinate system;

[0018] The controller performs error elimination on the expert bone setting acceleration data, the expert bone setting angular velocity data, the trainee bone setting acceleration data, and the trainee bone setting angular velocity data to obtain initial expert bone setting acceleration correction data, initial expert bone setting angular velocity correction data, initial trainee bone setting acceleration correction data, and initial trainee bone setting angular velocity correction data.

[0019] The error elimination formula is as follows:

[0020]

[0021] In the formula: Let ω be the measured angular velocity in the carrier coordinate system at time t. b (t) represents the initial angular velocity correction value in the carrier coordinate system at time t, b ω For the bias of the angular velocity sensor, n ω To measure noise for angular velocity sensors, Let a be the acceleration measurement value in the carrier coordinate system at time t. b (t) represents the initial acceleration correction value in the carrier coordinate system at time t, b a For accelerometer bias, g w Let n be the gravitational acceleration in the world coordinate system. a For measuring noise with an accelerometer, C w (t) is the attitude matrix when the world coordinate system is transformed into the vehicle coordinate system at time t;

[0022] The controller transforms the initial expert bone setting acceleration correction data, the initial expert bone setting angular velocity correction data, the initial trainee bone setting acceleration correction data, and the initial trainee bone setting angular velocity correction data from the carrier coordinate system to the navigation coordinate system, thereby obtaining the expert bone setting acceleration correction data, the expert bone setting angle correction data, the trainee bone setting acceleration correction data, and the trainee bone setting angle correction data.

[0023] Optionally, the transformation from the vehicle coordinate system to the navigation coordinate system is based on the rotation sequence of z-axis-y-x-axis. The transformation matrix from the vehicle coordinate system to the navigation coordinate system at time t is as follows:

[0024]

[0025] In the formula: Let φ(t) be the transformation matrix at time t, ψ(t) be the yaw angle at time t, θ(t) be the pitch angle at time t, and φ(t) be the roll angle at time t.

[0026] The quaternion matrix at time t is obtained based on the initial angular velocity correction value in the carrier coordinate system at time t, as shown in the following formula:

[0027]

[0028] In the formula: q(t) is the quaternion matrix at time t, q(t) = q0(t) + q1(t)i + q2(t)j + q3(t)k, q0(t), q1(t), q2(t), and q3(t) are real quaternions at time t, i, j, and k are three mutually orthogonal unit vectors, and · is the derivative;

[0029] Based on the quaternion matrix at time t, we obtain:

[0030]

[0031] Will Recorded as:

[0032]

[0033] Solving for these values, we obtain the yaw angle, pitch angle, and roll angle at time t in the navigation coordinate system.

[0034]

[0035] θ(t)=arcsinc 13 (t);

[0036]

[0037] The angle correction value at time t includes the yaw angle, pitch angle, and roll angle at time t in the navigation coordinate system;

[0038] Based on formula The initial acceleration correction value in the vehicle coordinate system at time t is transformed from the vehicle coordinate system to the navigation coordinate system to obtain the acceleration correction value at time t; a n (t) represents the acceleration correction value at time t.

[0039] Optionally, the bone-setting movement model is as follows:

[0040]

[0041] In the formula: v(t) is the velocity at time t. Let be the displacement at time t, and · be the derivative. n (t) represents the acceleration correction value at time t.

[0042] Optionally, the controller constructs an expert stretching time set from the times when the value of the expert orthopedic torque data is 0;

[0043] The controller extracts the value of the expert bone-setting force data located at the expert stretching time set to obtain the expert bone-setting stretching force data;

[0044] The controller constructs the expert bone-setting tensile force curve based on the expert bone-setting tensile force data;

[0045] The controller extracts the value of the expert bone setting acceleration correction data located at the expert stretching time set, and constructs the displacement curve of the expert bone setting stretching force based on the bone setting motion model.

[0046] Optionally, the controller constructs a set of stretching times for the trainee from the time values ​​of 0 in the trainee's orthopedic torque data;

[0047] The controller extracts the value of the trainee's bone-setting force data located at the trainee's stretching time set to obtain the trainee's bone-setting stretching force data;

[0048] The controller constructs the trainee's bone-setting stretching force curve based on the trainee's bone-setting stretching force data;

[0049] The controller extracts the value of the trainee's bone-setting acceleration correction data located at the trainee's stretching time set, and constructs the displacement curve of the trainee's bone-setting stretching force based on the bone-setting motion model.

[0050] Optionally, the controller constructs an expert rotation time set from the times when the values ​​in the expert orthopedic torque data are not zero;

[0051] The controller extracts the values ​​of the expert bone setting angle correction data located at the expert rotation time set and constructs the expert bone setting angle curve.

[0052] Optionally, the controller constructs a set of trainee rotation times from the non-zero values ​​in the trainee's orthopedic torque data.

[0053] The controller extracts the values ​​of the trainee's bone setting angle correction data located at the trainee's rotation time set and constructs the trainee's bone setting angle curve.

[0054] The present invention also provides a method for preparing the above-mentioned visual anthropomorphic foot and ankle intelligent teaching aid, which includes:

[0055] S1. Based on human anatomy, the information of skin, fat and other tissues of the human foot is simplified to obtain a three-dimensional printed model of the human foot and ankle; the three-dimensional printed model includes a human toe bone model, a human metatarsal bone model, a human cuboid bone model, a human cuneiform bone model, a human navicular bone model, a human fibula model, a human calcaneus model, a human talus model, a human tibia model, a human anterior tibiofibular ligament model and a human calcaneofibular ligament model;

[0056] S2, Based on 3D printing technology, the artificial human toe bone model, the artificial human metatarsal bone model, the artificial human cuboid bone model, the artificial human cuneiform bone model, the artificial human navicular bone model, the artificial human fibula model, the artificial human calcaneus model, the artificial human talus model, and the artificial human tibia model are hard printed, while the artificial human anterior tibiofibular ligament model and the artificial human calcaneofibular ligament model are soft printed to obtain the artificial human foot and ankle body;

[0057] S3, Based on human anatomy and the aforementioned 3D printing model, construct a skin outline model, and construct a solid shell model based on the skin outline model; the skin outline model is matched with the 3D printing model;

[0058] S4, Print the solid shell model to obtain a solid shell, the solid shell including a first shell and a second shell, the first shell and the second shell are connected by a mortise and tenon structure;

[0059] S5, after setting the accelerometer and angular velocity sensor on the humanoid talus near the humanoid anterior tibiofibular ligament and setting the force sensor on the humanoid talus near the humanoid calcaneus, place them in the solid shell.

[0060] S6, add a transparent liquid material to the solid shell, and use an air removal method to remove the air from the transparent liquid material. After the transparent liquid material solidifies, peel off the solid shell material to obtain the visualized humanoid ankle intelligent teaching aid.

[0061] Optionally, the transparent material liquid is made of any one of 0-degree AB silicone, hydrogel, and biopolymer.

[0062] The effects of this invention are as follows:

[0063] This invention provides a visualized, humanoid foot and ankle intelligent teaching aid with quantifiable parameters of bone-setting techniques. It can perform humanoid movements such as internal rotation, external rotation, and stretching traction, meeting the requirements of human kinematics.

[0064] This invention provides a visualized, humanoid foot and ankle intelligent teaching aid that quantifies the parameters of bone setting techniques. When external force is applied, the movement changes of the bones can be directly observed through muscle tissue without the need for radiation, clarifying the alignment of the fracture ends and confirming the fracture reduction.

[0065] This invention provides a visualized, humanoid foot and ankle intelligent teaching aid with quantifiable parameters of bone-setting techniques. It possesses the mechanical properties of a humanoid foot and ankle and the ability to perform multiple measurements. After the applied external force disappears, the displacement can be corrected, and data can be recorded multiple times, making it repeatable.

[0066] This invention provides a visualized, humanoid foot and ankle intelligent teaching tool that quantifies the parameters of bone setting techniques. It obtains the changes in bone end force and posture during bone setting, quantifies the techniques, and characterizes the bone setting techniques, thus solving the problems of difficulty in describing and passing on expert techniques.

[0067] This invention provides a visualized, humanoid foot and ankle intelligent teaching aid that quantifies the parameters of bone-setting techniques. By comparing the technique data of experts and trainees, the trainee's learning of bone-setting techniques can be evaluated. Attached Figure Description

[0068] Figure 1 This is the left view of the visualized humanoid foot and ankle intelligent teaching aid with quantified parameters of bone setting techniques of the present invention;

[0069] Figure 2 This is the right view of the visualized humanoid foot and ankle intelligent teaching aid of the present invention, which features quantified parameters of bone setting techniques;

[0070] Figure 3 This is a schematic diagram of the first outer casing of the present invention;

[0071] Figure 4 This is a schematic diagram of the second outer casing of the present invention;

[0072] Figure 5 A schematic diagram of the shape of the humanoid foot and ankle intelligent teaching aid when an inward flipping force is applied to the present invention;

[0073] Figure 6 A schematic diagram of the shape of the humanoid foot and ankle intelligent teaching aid when an outward flipping force is applied to the present invention;

[0074] Figure 7 This is a schematic diagram of the trainee's and expert's bone-setting yaw angle curves for this invention.

[0075] Figure 8 This is a schematic diagram of the yaw angle error curve for the trainee's bone setting in this invention;

[0076] Figure 9 This is a schematic diagram of the stretching force curves for both trainees and experts in bone setting according to the present invention.

[0077] Figure 10 This is a schematic diagram of the error curve of the bone-setting stretching force of the trainee in this invention;

[0078] Figure 11 This is a schematic diagram showing the displacement curves of the bone-setting stretching force for trainees and the expert bone-setting stretching force according to the present invention.

[0079] Figure 12 A schematic diagram of the displacement error curve of the bone-setting stretching force of the trainee in this invention.

[0080] In the image: 1. Human-like phalanx; 2. Human-like metatarsal; 3. Human-like cuboid; 4. Human-like cuneiform; 5. Human-like navicular; 6. Human-like fibula; 7. Human-like anterior tibiofibular ligament; 8. Posture sensor; 9. Human-like calcaneus; 10. Human-like talus; 11. Human-like calcaneofibular ligament; 12. Force sensor; 13. Data connection cable; 14. Human-like tibia. Detailed Implementation

[0081] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0082] Figure 1 This is the left view of the visualized humanoid foot and ankle intelligent teaching aid with quantified parameters of bone setting techniques of the present invention; Figure 2 This is the right view of the intelligent, visualized, humanoid foot and ankle teaching aid of the present invention, which features quantified parameters of bone-setting manipulation. (See image below.) Figure 1 and Figure 2 As shown, the present invention provides a visualized humanoid foot and ankle intelligent teaching aid with quantified parameters of bone setting techniques, which includes: a humanoid foot and ankle body, humanoid muscles, a posture sensor 8, a force sensor 12, and a controller.

[0083] The humanoid foot and ankle body includes humanoid phalanges 1, humanoid metatarsals 2, humanoid cuboids 3, humanoid cuneiformes 4, humanoid navicular bones 5, humanoid fibulas 6, humanoid anterior tibiofibular ligaments 7, humanoid calcaneus 9, humanoid talus 10, humanoid calcaneofibular ligaments 11, and humanoid tibia 14, all designed according to human anatomy.

[0084] The pose sensor 8 includes an accelerometer and an angular velocity sensor; the accelerometer, angular velocity sensor, and force sensor 12 are all connected to the controller. Specifically, the force sensor 12 is connected to the controller via a data connection cable 13.

[0085] The anthropomorphic muscle wraps around the anthropomorphic foot and ankle body, posture sensor 8, and force sensor 12.

[0086] Accelerometer and angular velocity sensor are positioned on the talus bone 10 near the anterior tibiofibular ligament 7; force sensor 12 is positioned on the talus bone 10 near the calcaneus 9. The x-axis of the carrier coordinate system of force sensor 12 is perpendicular to the cross-section of the human foot and ankle body.

[0087] Accelerometers acquire acceleration data from expert bone setting and trainee bone setting; angular velocity sensors acquire angular velocity data from expert bone setting and trainee bone setting.

[0088] The expert bone-setting acceleration data includes expert bone-setting x-axis acceleration data, expert bone-setting y-axis acceleration data, and expert bone-setting z-axis acceleration data. The trainee bone-setting acceleration data includes trainee bone-setting x-axis acceleration data, trainee bone-setting y-axis acceleration data, and trainee bone-setting z-axis acceleration data.

[0089] Force sensors acquire expert bone-setting force data, expert bone-setting torque data, trainee bone-setting force data, and trainee bone-setting torque data.

[0090] Expert bone-setting torque data includes expert bone-setting x-axis torque data, expert bone-setting y-axis torque data, and expert bone-setting z-axis torque data. Trainee bone-setting torque data includes trainee bone-setting x-axis torque data, trainee bone-setting y-axis torque data, and trainee bone-setting z-axis torque data.

[0091] After preprocessing the expert bone setting acceleration data, expert bone setting angular velocity data, trainee bone setting acceleration data, and trainee bone setting angular velocity data, the controller obtains expert bone setting acceleration correction data, expert bone setting angle correction data, trainee bone setting acceleration correction data, and trainee bone setting angle correction data.

[0092] Preprocessing includes error elimination and coordinate system transformation, which involves transforming the coordinate system from the vehicle coordinate system to the navigation coordinate system.

[0093] Errors are eliminated from the controller expert bone setting acceleration data, expert bone setting angular velocity data, trainee bone setting acceleration data, and trainee bone setting angular velocity data to obtain initial expert bone setting acceleration correction data, initial expert bone setting angular velocity correction data, initial trainee bone setting acceleration correction data, and initial trainee bone setting angular velocity correction data.

[0094] The error elimination formula is as follows:

[0095]

[0096] In the formula: Let ω be the measured angular velocity in the carrier coordinate system at time t. b (t) represents the initial angular velocity correction value in the carrier coordinate system at time t, b ωFor the bias of the angular velocity sensor, n ω To measure noise for angular velocity sensors, Let a be the acceleration measurement value in the carrier coordinate system at time t. b (t) represents the initial acceleration correction value in the carrier coordinate system at time t, b a For accelerometer bias, g w Let n be the gravitational acceleration in the world coordinate system. a For measuring noise with an accelerometer, C w (t) is the attitude matrix of the world coordinate system transformed into the carrier coordinate system at time t.

[0097] The controller transforms the initial expert bone setting acceleration correction data, initial expert bone setting angular velocity correction data, initial trainee bone setting acceleration correction data, and initial trainee bone setting angular velocity correction data from the carrier coordinate system to the navigation coordinate system, thus obtaining expert bone setting acceleration correction data, expert bone setting angle correction data, trainee bone setting acceleration correction data, and trainee bone setting angle correction data.

[0098] Based on the rotation sequence of z-axis-y-x-axis, the transformation matrix from the vehicle coordinate system to the navigation coordinate system at time t is as follows:

[0099]

[0100] In the formula: Let be the transformation matrix at time t, ψ(t) be the yaw angle at time t, θ(t) be the pitch angle at time t, and φ(t) be the roll angle at time t.

[0101] The quaternion matrix at time t is obtained based on the initial angular velocity correction value in the carrier coordinate system at time t, as shown in the following formula:

[0102]

[0103] In the formula: q(t) is the quaternion matrix at time t, q(t)=q0(t)+q1(t)i+q2(t)j+q3(t)k, q0(t), q1(t), q2(t), q3(t) are real quaternions at time t, i, j and k are three mutually orthogonal unit vectors, and · is the derivative.

[0104] Based on the quaternion matrix at time t, we obtain:

[0105]

[0106] Will Recorded as:

[0107]

[0108] Solving for these values, we obtain the yaw angle, pitch angle, and roll angle at time t in the navigation coordinate system.

[0109]

[0110] θ(t)=arcsinc 13 (t).

[0111]

[0112] The angle correction value at time t includes the yaw angle, pitch angle, and roll angle at time t in the navigation coordinate system.

[0113] Based on formula The initial acceleration correction value in the vehicle coordinate system at time t is transformed from the vehicle coordinate system to the navigation coordinate system to obtain the acceleration correction value at time t; a n (t) represents the acceleration correction value at time t.

[0114] The controller constructs the expert bone-setting stretching force curve based on the expert bone-setting force data and the expert bone-setting torque data, and obtains the trainee bone-setting stretching force curve based on the trainee bone-setting force data and the trainee bone-setting torque data.

[0115] The controller constructs the displacement curve of the expert bone-setting tensile force based on the expert bone-setting acceleration correction data and bone-setting motion model, combined with the expert bone-setting torque data; the controller constructs the displacement curve of the trainee's bone-setting tensile force based on the trainee's bone-setting acceleration correction data and bone-setting motion model, combined with the trainee's bone-setting torque data.

[0116] The model for bone setting exercise is as follows:

[0117]

[0118] In the formula: v(t) is the velocity at time t. Let be the displacement at time t, and · be the derivative. n (t) represents the acceleration correction value at time t.

[0119] The controller constructs an expert bone-setting angle curve based on expert bone-setting angle correction data and expert bone-setting torque data; the controller constructs a trainee bone-setting angle curve based on trainee bone-setting angle correction data and trainee bone-setting torque data.

[0120] The controller obtains the displacement error curve of the trainee's bone setting stretching force based on the displacement curve of the expert bone setting stretching force and the displacement curve of the trainee's bone setting stretching force; it obtains the trainee's bone setting angle error curve based on the expert bone setting angle curve and the trainee's bone setting angle curve; and it obtains the trainee's bone setting stretching force error curve based on the expert bone setting stretching force curve and the trainee's bone setting stretching force curve.

[0121] Specifically, the controller constructs an expert stretching time set from the times when the value of the expert orthopedic torque data is 0.

[0122] The controller extracts the values ​​of the expert bone-setting force data located at the expert stretching time set to obtain the expert bone-setting stretching force data.

[0123] The controller constructs an expert bone-setting tension force curve based on expert bone-setting tension force data.

[0124] The controller extracts the values ​​of the expert bone setting acceleration correction data located at the expert stretching time set, and constructs the displacement curve of the expert bone setting stretching force based on the bone setting motion model.

[0125] The controller constructs a set of stretching times for the trainee from the time values ​​of 0 in the trainee's orthopedic torque data.

[0126] The controller extracts the values ​​of the trainee's bone-setting force data located at the trainee's stretching time set to obtain the trainee's bone-setting stretching force data.

[0127] The controller constructs a bone-setting stretching force curve based on the trainee's bone-setting stretching force data.

[0128] The controller extracts the values ​​of the trainee's bone-setting acceleration correction data located at the trainee's stretching time set, and constructs the displacement curve of the trainee's bone-setting stretching force based on the bone-setting motion model.

[0129] The controller constructs an expert rotation time set from the non-zero values ​​in the expert orthopedic torque data.

[0130] The controller extracts the values ​​of the expert bone setting angle correction data located at the expert rotation time set and constructs the expert bone setting angle curve.

[0131] The controller constructs a set of trainee rotation time sets from the non-zero values ​​in the trainee's orthopedic torque data.

[0132] The controller extracts the values ​​of the trainee's bone setting angle correction data located at the trainee's rotation time set and constructs the trainee's bone setting angle curve.

[0133] Expert's bone setting yaw angle curve and trainee's bone setting yaw angle curve are as follows Figure 7As shown, the trainee's yaw angle error curve is obtained based on the expert's yaw angle curve and the trainee's yaw angle curve. Figure 8 As shown.

[0134] The displacement curves of expert bone-setting stretching force and the displacement curves of trainee bone-setting stretching force are as follows: Figure 11 As shown in the figure. The controller obtains the displacement error curve of the trainee's bone-setting stretching force based on the displacement curves of the expert's bone-setting stretching force and the trainee's bone-setting stretching force, as shown in the figure. Figure 12 As shown.

[0135] The stretching force curves of the trainee's chiropractic and those of the expert's chiropractic are as follows: Figure 9 As shown. The controller obtains the trainee's osteopathic stretching force error curve based on the expert's osteopathic stretching force curve and the trainee's osteopathic stretching force curve, as shown. Figure 10 As shown.

[0136] from Figure 7 and Figure 8 The angle change can be observed within 60-78 seconds, and there is a significant difference within 63-72 seconds. The trainee should reach the maximum angle of the technique at around 64 seconds, which is about 5 degrees.

[0137] from Figure 9 , Figure 10 , Figure 11 , Figure 12 During the observation period of 16-34 seconds, the trainee's force is 5-35N less than that of the expert. Using the expert's bone-setting stretching force curve and displacement curve as reference curves, the trainee should increase the force by 5-35N while increasing the displacement.

[0138] This invention features a visualized, humanoid foot and ankle intelligent teaching aid with quantified parameters of bone-setting manipulation. After the applied external force disappears, the aid can return to its original position. When an inward rotational force is applied, the visualized humanoid foot and ankle intelligent teaching aid takes the shape shown below. Figure 5 As shown; the shape of the visualized humanoid ankle intelligent teaching aid when an outward flipping force is applied is as follows. Figure 6 As shown.

[0139] This invention also provides a method for preparing a visualized, humanoid foot and ankle intelligent teaching aid with quantified parameters of bone-setting manipulation, comprising:

[0140] S1, based on human anatomy, simplifies the information of the skin, fat, and other tissues of the human foot to obtain a three-dimensional printed model of the human foot and ankle. The three-dimensional printed model includes models of human toe bones, metatarsals, cuboid bones, cuneiform bones, navicular bones, fibulas, calcaneus, talus, tibia, anterior tibiofibular ligament, and calcaneofibular ligament.

[0141] S2, based on 3D printing technology, hard prints the humanoid toe bone model, humanoid metatarsal bone model, humanoid cuboid bone model, humanoid cuneiform bone model, humanoid navicular bone model, humanoid fibula model, humanoid calcaneus model, humanoid talus model, and humanoid tibia model, and soft prints the humanoid anterior tibiofibular ligament model and the humanoid calcaneofibular ligament model, to obtain the humanoid foot and ankle body.

[0142] S3, based on human anatomy and combined with a 3D printing model, constructs a skin outline model, and then constructs a solid shell model based on the skin outline model; the skin outline model is matched with the 3D printing model.

[0143] S4, Print the solid shell model to obtain the solid shell, which includes a first shell and a second shell. The first shell and the second shell are connected by a mortise and tenon structure, such as... Figure 3 and Figure 4 As shown.

[0144] S5, with the accelerometer and angular velocity sensor placed near the anterior tibiofibular ligament of the humanoid talus, and the force sensor placed near the calcaneus of the humanoid talus, is then placed inside the solid shell.

[0145] S6. Add a transparent liquid material to the solid shell and use the air removal method to remove the air from the transparent liquid material. After the transparent liquid material solidifies, peel off the solid shell material to obtain a visual humanoid ankle intelligent teaching aid.

[0146] The transparent liquid material is made of any one of 0-degree AB silicone, hydrogel, and biopolymer.

[0147] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A visualized, humanoid foot and ankle intelligent teaching aid with quantifiable parameters of bone-setting techniques, characterized in that, It includes: imitation Human foot and ankle prosthesis, humanoid muscles, posture sensor, force sensor and controller; The humanoid foot and ankle body includes humanoid phalanges, metatarsals, cuboids, cuneiformes, navicular bones, fibula, anterior tibiofibular ligament, calcaneus, talus, calcaneofibular ligament, and tibia, all designed according to human anatomy. The posture sensor includes an accelerometer and an angular velocity sensor; the accelerometer, the angular velocity sensor, and the force sensor are all connected to the controller. The humanoid muscle is obtained by adding a transparent liquid material to a solid shell, removing the air from the transparent liquid material using an air displacement method, and peeling off the solid shell after the transparent liquid material solidifies. The transparent liquid material is any one of 0-degree AB silicone, hydrogel, and biopolymer. The humanoid muscle encapsulates the humanoid ankle body, the posture sensor, and the force sensor. The accelerometer and the angular velocity sensor are located on the humanoid talus near the humanoid anterior tibiofibular ligament; the force sensor is located on the humanoid talus near the humanoid calcaneus; the x-axis of the carrier coordinate system of the force sensor is perpendicular to the cross-section of the humanoid foot and ankle body. The accelerometer acquires acceleration data from expert bone setting and acceleration data from trainee bone setting; the angular velocity sensor acquires angular velocity data from expert bone setting and angular velocity data from trainee bone setting. The force sensor acquires expert bone-setting force data, expert bone-setting torque data, trainee bone-setting force data, and trainee bone-setting torque data; The controller preprocesses the expert bone setting acceleration data, the expert bone setting angular velocity data, the trainee bone setting acceleration data, and the trainee bone setting angular velocity data to obtain expert bone setting acceleration correction data, expert bone setting angle correction data, trainee bone setting acceleration correction data, and trainee bone setting angle correction data. The controller constructs an expert bone-setting stretching force curve based on the expert bone-setting force data and the expert bone-setting torque data, and obtains a trainee bone-setting stretching force curve based on the trainee bone-setting force data and the trainee bone-setting torque data; The controller constructs a displacement curve of the expert bone setting tensile force based on the expert bone setting acceleration correction data and bone setting motion model, combined with the expert bone setting torque data. The controller constructs a displacement curve of the trainee's bone-setting tensile force based on the trainee's bone-setting acceleration correction data and the bone-setting motion model, combined with the trainee's bone-setting torque data. The controller constructs an expert bone-setting angle curve based on the expert bone-setting angle correction data and the expert bone-setting torque data. The controller constructs a bone setting angle curve based on the trainee's bone setting angle correction data and the trainee's bone setting torque data. The controller obtains the displacement error curve of the trainee's bone-setting stretching force based on the displacement curve of the expert bone-setting stretching force and the displacement curve of the trainee's bone-setting stretching force, obtains the trainee's bone-setting angle error curve based on the expert bone-setting angle curve and the trainee's bone-setting angle curve, and obtains the trainee's bone-setting stretching force error curve based on the expert bone-setting stretching force curve and the trainee's bone-setting stretching force curve.

2. The visualized anthropomorphic foot and ankle intelligent teaching aid with quantified parameters of bone-setting manipulation as described in claim 1, characterized in that, The preprocessing includes error elimination and coordinate system transformation, wherein the coordinate system is transformed from the vehicle coordinate system to the navigation coordinate system; The controller performs error elimination on the expert bone setting acceleration data, the expert bone setting angular velocity data, the trainee bone setting acceleration data, and the trainee bone setting angular velocity data to obtain initial expert bone setting acceleration correction data, initial expert bone setting angular velocity correction data, initial trainee bone setting acceleration correction data, and initial trainee bone setting angular velocity correction data. The error elimination formula is as follows: ； In the formula: The angular velocity measured in the carrier coordinate system at time t is... This represents the initial angular velocity correction value in the carrier coordinate system at time t. For the bias of the angular velocity sensor, To measure noise for angular velocity sensors, The acceleration measurement value in the carrier coordinate system at time t. This represents the initial acceleration correction value in the carrier coordinate system at time t. For accelerometer bias, The acceleration due to gravity in the world coordinate system. To measure noise for the accelerometer, Let be the attitude matrix at time t, which is the transformation from the world coordinate system to the vehicle coordinate system. The controller transforms the initial expert bone setting acceleration correction data, the initial expert bone setting angular velocity correction data, the initial trainee bone setting acceleration correction data, and the initial trainee bone setting angular velocity correction data from the carrier coordinate system to the navigation coordinate system, thereby obtaining the expert bone setting acceleration correction data, the expert bone setting angle correction data, the trainee bone setting acceleration correction data, and the trainee bone setting angle correction data.

3. The visualized anthropomorphic foot and ankle intelligent teaching aid with quantified parameters of bone-setting manipulation as described in claim 2, characterized in that, Based on the rotation sequence of z-axis-y-x-axis, the transformation matrix from the vehicle coordinate system to the navigation coordinate system at time t is as follows: ； In the formula: Let be the transformation matrix at time t. Let yaw angle be the yaw angle at time t. Let be the pitch angle at time t. Let be the roll angle at time t; The quaternion matrix at time t is obtained based on the initial angular velocity correction value in the carrier coordinate system at time t, as shown in the following formula: ； In the formula: Let be a quaternion matrix at time t. , Let be a real quaternion at time t. , and Let them be three mutually orthogonal unit vectors. To find the derivative; Based on the quaternion matrix at time t, we obtain: ； Will Recorded as: ； Solving for these values, we obtain the yaw angle, pitch angle, and roll angle at time t in the navigation coordinate system. ； ； ； The angle correction value at time t includes the yaw angle, pitch angle, and roll angle at time t in the navigation coordinate system; Based on formula The initial acceleration correction value in the vehicle coordinate system at time t is transformed from the vehicle coordinate system to the navigation coordinate system to obtain the acceleration correction value at time t. This is the acceleration correction value at time t.

4. The visualized anthropomorphic foot and ankle intelligent teaching aid with quantified parameters of bone-setting manipulation as described in claim 1, characterized in that, The bone-setting exercise model is as follows: ； In the formula: Let be the velocity at time t. Let be the displacement at time t. To find the derivative, This is the acceleration correction value at time t.

5. The visualized anthropomorphic foot and ankle intelligent teaching aid with quantified parameters of bone-setting manipulation as described in claim 1, characterized in that, The controller constructs an expert stretching time set from the times when the value of 0 in the expert orthopedic torque data. The controller extracts the value of the expert bone-setting force data located at the expert stretching time set to obtain the expert bone-setting stretching force data; The controller constructs the expert bone-setting tensile force curve based on the expert bone-setting tensile force data; The controller extracts the value of the expert bone setting acceleration correction data located at the expert stretching time set, and constructs the displacement curve of the expert bone setting stretching force based on the bone setting motion model.

6. The visualized anthropomorphic foot and ankle intelligent teaching aid with quantified parameters of bone-setting manipulation as described in claim 1, characterized in that, The controller constructs a set of trainee stretching times from the time values ​​of 0 in the trainee's bone-setting torque data. The controller extracts the value of the trainee's bone-setting force data located at the trainee's stretching time set to obtain the trainee's bone-setting stretching force data; The controller constructs the trainee's bone-setting stretching force curve based on the trainee's bone-setting stretching force data; The controller extracts the value of the trainee's bone-setting acceleration correction data located at the trainee's stretching time set, and constructs the displacement curve of the trainee's bone-setting stretching force based on the bone-setting motion model.

7. The visualized anthropomorphic foot and ankle intelligent teaching aid with quantified parameters of bone-setting manipulation as described in claim 1, characterized in that, The controller constructs an expert rotation time set from the non-zero values ​​in the expert orthopedic torque data. The controller extracts the values ​​of the expert bone setting angle correction data located at the expert rotation time set and constructs the expert bone setting angle curve.

8. The visualized anthropomorphic foot and ankle intelligent teaching aid with quantified parameters of bone-setting manipulation as described in claim 1, characterized in that, The controller constructs a set of trainee rotation times from the non-zero values ​​in the trainee's bone-setting torque data. The controller extracts the values ​​of the trainee's bone setting angle correction data located at the trainee's rotation time set and constructs the trainee's bone setting angle curve.

9. A method for preparing a visual, anthropomorphic foot and ankle intelligent teaching aid according to any one of claims 1-8, characterized in that, It includes: S1, based on human anatomy, simplifies the information of the skin, fat and other tissues of the human foot to obtain a three-dimensional printed model of the human foot and ankle; The three-dimensional printed models include human-like toe bone models, human-like metatarsal bone models, human-like cuboid bone models, human-like cuneiform bone models, human-like navicular bone models, human-like fibula models, human-like calcaneus models, human-like talus models, human-like tibia models, human-like anterior tibiofibular ligament models, and human-like calcaneofibular ligament models. S2, Based on 3D printing technology, the artificial human toe bone model, the artificial human metatarsal bone model, the artificial human cuboid bone model, the artificial human cuneiform bone model, the artificial human navicular bone model, the artificial human fibula model, the artificial human calcaneus model, the artificial human talus model, and the artificial human tibia model are hard printed, while the artificial human anterior tibiofibular ligament model and the artificial human calcaneofibular ligament model are soft printed to obtain the artificial human foot and ankle body; S3, Based on human anatomy and the aforementioned 3D printing model, construct a skin outline model, and construct a solid shell model based on the skin outline model; the skin outline model is matched with the 3D printing model; S4, Print the solid shell model to obtain a solid shell, the solid shell including a first shell and a second shell, the first shell and the second shell are connected by a mortise and tenon structure; S5, after setting the accelerometer and angular velocity sensor on the humanoid talus near the humanoid anterior tibiofibular ligament and setting the force sensor on the humanoid talus near the humanoid calcaneus, place them in the solid shell. S6, add a transparent liquid material to the solid shell, and use an air removal method to remove the air from the transparent liquid material. After the transparent liquid material solidifies, peel off the solid shell material to obtain the visualized humanoid ankle intelligent teaching aid.

10. The method for preparing the visualized humanoid foot and ankle intelligent teaching aid according to claim 9, characterized in that, The transparent material liquid is made of any one of 0-degree AB silicone, hydrogel, and biopolymer.

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