Six-degree-of-freedom foot correction equipment

Abstract

The invention discloses six-degree-of-freedom foot correction equipment, and relates to the technical field of foot correction, and the six-degree-of-freedom foot correction equipment comprises the following steps: carrying out shape matching on a target foot, generating target foot shape information, and setting initial equipment adjustment form data; performing multi-direction angle analysis according to the initial equipment adjustment form data, and determining to-be-adjusted six-degree-of-freedom parameters; predicting according to the to-be-adjusted six-degree-of-freedom parameters in combination with historical correction data, and generating correction progress prediction information; determining an adjustment control strategy in combination with the correction progress prediction information, performing real-time monitoring on the adjustment control strategy executed by the foot correction equipment, and generating monitoring feedback information; updating the to-be-adjusted six-degree-of-freedom parameters according to the monitoring feedback information, and synchronizing the to-be-adjusted six-degree-of-freedom parameters to the foot correction equipment to automatically correct the target foot. The technical problems that in the prior art, effective adjustment is difficult to conduct according to the real-time foot condition of the user, and the correction accuracy is low are solved, and the technical effect of improving the correction accuracy is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of foot correction, and in particular to a six-degree-of-freedom foot correction device. Background Art

[0002] Traditional foot correction methods mainly rely on manual devices and the doctor's experience, and it is usually difficult to achieve precise adjustment and personalized treatment. These methods have limitations when dealing with complex foot deformities and foot dysfunctions, lack real-time feedback and automation functions, patients need frequent follow-up visits during treatment, and it is difficult for doctors to make effective adjustments based on the user's real-time foot condition. Summary of the invention

[0003] The present application provides a six-degree-of-freedom foot correction device, which is used to solve the technical problems that the existing technology is difficult to make effective adjustments according to the user's real-time foot condition and has low correction accuracy.

[0004] In view of the above problems, the present application provides a six-degree-of-freedom foot correction device.

[0005] The present application provides a six-degree-of-freedom foot correction device, the device comprising: A shape matching module, which performs shape matching on a target foot, generates target foot shape information, and sets initial device adjustment morphological data according to the target foot shape information; a multi-directional angle analysis module, which performs multi-directional angle analysis according to the initial device adjustment morphological data, and determines six-degree-of-freedom parameters to be adjusted; a correction prediction module, which performs prediction based on the six-degree-of-freedom parameters to be adjusted in combination with historical correction data, and generates correction progress prediction information; a real-time monitoring module, which determines an adjustment control strategy in combination with the correction progress prediction information, performs real-time monitoring on the execution of the adjustment control strategy by a foot correction device, and generates monitoring feedback information; an automatic correction module, which updates the six-degree-of-freedom parameters to be adjusted according to the monitoring feedback information, and synchronizes them to the foot correction device to automatically correct the target foot.

[0006] One or more technical solutions provided in this application have at least the following technical effects or advantages: The present application performs shape matching on the target foot, generates target foot shape information, sets initial device adjustment morphology data according to the target foot shape information; performs multi-directional angle analysis according to the initial device adjustment morphology data, determines the six degrees of freedom parameters to be adjusted; predicts the six degrees of freedom parameters to be adjusted in combination with historical correction data, generates correction progress prediction information; determines the adjustment control strategy in combination with the correction progress prediction information, monitors the foot correction device in real time to execute the adjustment control strategy, and generates monitoring feedback information; updates the six degrees of freedom parameters to be adjusted according to the monitoring feedback information, and synchronizes them to the foot correction device to automatically correct the target foot. The present invention solves the technical problem that the prior art is difficult to make effective adjustments according to the user's real-time foot condition and has low correction accuracy. It generates foot shape information through shape matching, sets initial device adjustment morphology data, performs multi-directional angle analysis and prediction in combination with historical correction data, determines six degrees of freedom parameters and formulates adjustment control strategies, updates parameters through real-time monitoring and feedback, and performs foot correction, thereby achieving the technical effect of improving correction accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0008] Figure 1 A schematic diagram of a six-degree-of-freedom foot correction device module provided in an embodiment of the present application; Figure 2 A front view of the structure of a six-degree-of-freedom foot correction device provided in an embodiment of the present application; Figure 3 A top view of the structure of a six-degree-of-freedom foot correction device provided in an embodiment of the present application.

[0009] Explanation of the accompanying drawings: shape matching module 100, multi-directional angle analysis module 200, correction prediction module 300, real-time monitoring module 400, automatic correction module 500, calf plate 1, heel seat 2, sole plate 3, sleeve 4, clamp 5, knob 6, sleeve 7, adjustment nut 8, adjustment screw 9, universal ball base 10, knob 11, heel plate 12, heel plate 13, front and rear hinges 14, left and right hinges 15, adjustment rod 16, clamp 17, knob rod 18. DETAILED DESCRIPTION

[0010] The present application provides a six-degree-of-freedom foot correction device to solve the technical problem that the existing technology is difficult to make effective adjustments according to the user's real-time foot condition and has low correction accuracy. It generates foot shape information through shape matching, sets initial device adjustment morphological data, performs multi-directional angle analysis and prediction based on historical correction data, determines six-degree-of-freedom parameters and formulates an adjustment control strategy, updates parameters through real-time monitoring and feedback, and performs foot correction, thereby achieving the technical effect of improving correction accuracy.

[0011] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0012] It should be noted that any variations of the terms "include" and "have" are intended to cover non-exclusive inclusions. For example, a process, device, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or modules that are not explicitly listed or inherent to these processes, devices, products or devices.

[0013] Embodiment 1, as Figure 1 As shown, the present application provides a six-degree-of-freedom foot correction device for Figure 2 A six-degree-of-freedom foot correction device is shown, the device comprising: The shape matching module 100 performs shape matching on a target foot to generate target foot shape information, and sets initial device adjustment morphology data according to the target foot shape information.

[0014] In the embodiment of the present application, the target foot is first scanned using 3D scanning technology to capture the three-dimensional morphological information of the foot. This process obtains data such as the external shape, size, contour, joint angle, etc. of the foot from multiple angles to form a complete three-dimensional foot model. Through scanning, key data such as the three-dimensional coordinates of each part of the foot, the arch curvature, the width of the sole, and the angle of the ankle joint are obtained. Next, based on the foot morphological data obtained by scanning, the target foot shape information is generated. This information not only includes the three-dimensional morphology of the foot, but also includes key parameters extracted according to the geometric features of different areas of the foot. For example, the joint position of the foot, the height of the arch, the degree of inversion and inversion of the ankle joint, etc.

[0015] Then, the initial device adjustment morphological data is set according to the generated target foot shape information. Specifically, the key geometric parameters in the target foot shape information are first extracted, including the joint position of the foot, the ankle joint angle, the arch height, the sole width, etc. Next, the foot shape information is compared with the device model through reverse engineering technology, and the adjustment parameters of the device are reversely calculated. Next, a geometric adaptation algorithm is used for more refined morphological matching. The algorithm calculates how to adjust the various adjustment components of the device based on the three-dimensional data of the foot. For example, the rotation joint of the device needs to be adjusted according to the angle of the ankle joint of the foot, and the contact surface of the support part is matched according to the bottom shape of the foot to ensure that the device fits tightly with the foot. Through reverse engineering and geometric adaptation algorithms, the initial position and angle of each key component of the device are calculated, including the initial angle of the key joint, the position and angle of the rotation axis, and the initial position of the connection point. In order to avoid excessive pressure on the foot during the initial correction of the device, the initial pressure value of the device is set based on data such as the shape, size and arch curvature of the foot. Finite element analysis technology is used to simulate the contact parts of the device and the shape of the foot to ensure that the pressure applied by the device at the beginning is less than the preset threshold. Finally, all the calculated joint angles, rotation axis positions, connection point positions, initial pressure and correction force data are summarized into the initial device adjustment shape data.

[0016] The multi-directional angle analysis module 200 performs multi-directional angle analysis according to the initial device adjustment shape data to determine the six-degree-of-freedom parameters to be adjusted.

[0017] In the embodiment of the present application, based on the initial device adjustment morphological data, the foot is subjected to multi-directional angle analysis to determine the six degrees of freedom parameters that the device needs to adjust. The six degrees of freedom refer to the translational freedom of the foot in space, front and back, left and right, up and down, and the rotational freedom around these axes, including pitch, yaw and roll.

[0018] Specifically, firstly, based on the initial device adjustment morphological data and the device's geometric state information, the foot is analyzed in three dimensions to determine the foot's position data, including the angles of the foot joints. Then, based on these joint angles and foot shape information, multi-directional angle analysis is performed to extract the foot's translational freedom parameters and rotational freedom parameters. Finally, these translational and rotational parameters are adjusted and analyzed to determine the six degrees of freedom parameters to be adjusted.

[0019] Furthermore, in the device provided in the embodiment of the application, multi-directional angle analysis is performed according to the initial device adjustment shape data to determine the six-degree-of-freedom parameters to be adjusted, and further includes: Based on the initial device adjustment morphological data combined with the device initial geometric state information, a three-dimensional analysis is performed on the target foot to determine the foot position data, wherein the foot position data includes the foot joint angles; a multi-directional angle analysis is performed according to the foot joint angles combined with the target foot shape information to determine the translational degree of freedom parameters and the rotational degree of freedom parameters; the translational degree of freedom parameters and the rotational degree of freedom parameters are adjusted and analyzed to determine the six degree of freedom parameters to be adjusted.

[0020] In the embodiment of the present application, the target foot is firstly subjected to a three-dimensional analysis based on the initial device adjustment morphological data combined with the initial geometric state information of the device, and a geometric relationship between the device and the foot morphology is established through the known initial position and shape of the device. Specifically, the foot position data, i.e., the joint angle and position information of the foot in space at present, is obtained by using a geometric coordinate extraction algorithm, and these data include the three-dimensional coordinates of the foot and the angle position of each joint.

[0021] Next, based on the extracted foot joint angles, a dynamic analysis is performed in combination with the target foot shape information. Through multi-body dynamics analysis, the movement of the foot in different directions is simulated to calculate how the foot can move or rotate freely in the front-back, left-right, and up-down directions. The translation and rotation decomposition algorithms are then used to calculate the translation and rotational degrees of freedom, respectively. Specifically, first, based on the results of the dynamic analysis, the translational degree of freedom parameters of the foot are calculated, including the displacement in the X-axis (front-back), Y-axis (left-right), and Z-axis (up-down) directions. Then, the rotational analysis algorithm is used to calculate the rotational degree of freedom parameters of the foot, including the pitch around the X-axis, the roll around the Y-axis, and the yaw angle around the Z-axis.

[0022] The translational and rotational freedom parameters are then compared with the preset correction targets, and the translational and rotational deviations between the current position of the foot and the target position are calculated using the deviation calculation algorithm. Based on the deviation analysis in the previous step, the six degrees of freedom parameters to be adjusted are generated, including three translational degrees of freedom and three rotational degrees of freedom.

[0023] Furthermore, in the device provided in the embodiment of the application, the translational degree of freedom parameter and the rotational degree of freedom parameter are adjusted and analyzed to determine the six degree of freedom parameters to be adjusted, and further includes: Based on the initial device adjustment morphology data, deviation calculation is performed on the translational degree of freedom parameters to obtain position deviation values; based on the initial device adjustment morphology data, deviation calculation is performed on the rotational degree of freedom parameters to obtain angle deviation values; according to the position deviation values, multi-directional analysis is performed on the translational degree of freedom parameters to be adjusted to obtain translational degree of freedom parameters; according to the angle deviation values, rotational analysis is performed on the rotational degree of freedom parameters to be adjusted to obtain rotational degree of freedom parameters to be adjusted; the translational degree of freedom parameters to be adjusted are integrated with the rotational degree of freedom parameters to be adjusted to determine the six degree of freedom parameters to be adjusted.

[0024] In the embodiment of the present application, the initial device is first used to adjust the morphological data, and the deviation of the translational freedom parameter of the foot is calculated. The translational freedom parameter refers to the three-dimensional position of the foot in space (displacement in the X-axis, Y-axis, and Z-axis directions). The deviation calculation compares the current foot position data with the ideal correction position to calculate the position deviation value in each direction, such as the distance the foot is offset in the front-to-back direction (X-axis), or the amount of movement in the left-to-right direction (Y-axis).

[0025] Next, based on the initial device adjustment morphological data, the deviation of the rotational freedom parameters of the foot is calculated. The rotational freedom parameters refer to the angles of rotation of the foot around three axes (X-axis, Y-axis, and Z-axis), namely pitch (around the X-axis), roll (around the Y-axis), and yaw (around the Z-axis). By comparing with the target rotation angle, the angle deviation value of each rotational degree of freedom is calculated. For example, whether the foot needs to increase or decrease the flexion angle to achieve the ideal correction state.

[0026] After obtaining the position deviation value, the deviation in each direction is analyzed using multi-directional analysis technology. Multi-directional analysis decomposes the deviations on the X, Y, and Z axes to determine the amount of translation that needs to be adjusted and generate the translational freedom parameters to be adjusted. These parameters indicate how the device needs to move the foot in the front-back, left-right, and up-down directions to reduce the deviation from the target position. For example, if the foot deviates too much in the X-axis direction, an adjustment distance is generated to restore it to the correct position. Similarly, the rotational freedom is analyzed based on the angular deviation value. This step uses rotational analysis technology to determine how the rotation of the foot around each axis needs to be adjusted and generate rotational freedom parameters to be adjusted. For example, the pitch angle of the foot may be adjusted to reduce flexion, or the roll angle of the foot may be adjusted to correct the inversion or eversion of the foot.

[0027] Finally, the translational freedom parameters and the rotational freedom parameters are integrated to generate the six degrees of freedom parameters to be adjusted. The six degrees of freedom parameters cover the translation adjustment of the foot in the front and back, left and right, up and down directions (X, Y, Z axis directions), as well as the rotation adjustment of the foot in pitch, roll, and yaw angles.

[0028] In summary, this process combines deviation calculation methods, multi-directional analysis, and rotation analysis techniques to gradually calculate the deviation between the foot and the ideal position and angle, generate translation and rotational freedom parameters to be adjusted, and finally integrate them into six-degree-of-freedom adjustment parameters to ensure that the device can accurately adjust the foot posture in multiple directions to achieve comprehensive correction.

[0029] The correction prediction module 300 performs prediction based on the six-degree-of-freedom parameters to be adjusted in combination with historical correction data to generate correction progress prediction information.

[0030] In an embodiment of the present application, the historical correction data of the target foot is first retrieved from the device, including the correction status information of the foot and the previous six-degree-of-freedom adjustment information. Then, based on the correction status of the foot, features are extracted from these historical data to identify multiple key correction features. Next, these features are used to analyze the current six-degree-of-freedom parameters to be adjusted, and a correction trend graph is drawn using these features. The trend graph shows the possible change path of the foot in the future correction process. Finally, regression prediction is performed based on the correction trend graph to infer the future correction progress of the foot and generate correction progress prediction information.

[0031] Furthermore, the device provided in the embodiment of the application generates correction progress prediction information by predicting the six degrees of freedom parameters to be adjusted in combination with historical correction data, and further includes: The historical correction data of the target foot is retrieved through a foot correction device, wherein the historical correction data includes foot correction status information and historical six-degree-of-freedom adjustment information; feature extraction is performed on the historical six-degree-of-freedom adjustment information based on the foot correction status information to determine a plurality of correction features; correction analysis is performed on the six-degree-of-freedom parameters to be adjusted according to the plurality of correction features, and a correction trend graph is drawn; regression prediction is performed on the target foot according to the correction trend graph to generate the correction progress prediction information.

[0032] In the embodiment of the present application, historical correction data are first retrieved from the historical database of the foot correction device. These data record the previous foot correction process, including foot correction state information and historical six-degree-of-freedom adjustment information. The foot correction state information describes the posture, position, angle and other parameters of the foot at different time points. The historical six-degree-of-freedom adjustment information includes specific adjustment information of the foot in six degrees of freedom, such as the displacement of the foot in the front and back, left and right, and up and down directions, and the rotation angle around three axes.

[0033] Then, feature extraction algorithms such as principal component analysis (PCA) are used to conduct in-depth analysis of the historical six-degree-of-freedom adjustment information to identify the correction features. These features can reflect the impact of different adjustment parameters on foot recovery during the correction process. For example, whether certain specific translation adjustments play a key role in the stability of the foot position, or whether the adjustment of the rotation angle has a greater impact on the correction effect. Then the current six-degree-of-freedom parameters to be adjusted are compared and correlated with the historical feature data. Through regression analysis technology, it is inferred how the current six-degree-of-freedom adjustment affects future foot recovery. For example, the regression model can analyze whether the current translation or rotation adjustment will bring about a recovery effect similar to that in the historical data.

[0034] After the analysis is completed, a correction trend chart is drawn through time series analysis combined with data visualization technology. The trend chart shows the change path of the foot in future adjustments, including the displacement trends of front and back, left and right, and up and down in the translation direction, as well as the changes in pitch, roll, and yaw angles in the rotation direction. Finally, based on the trend chart, a regression model is used to generate detailed correction progress prediction information.

[0035] Furthermore, the device provided in the embodiment of the application performs regression prediction on the target foot according to the correction trend diagram to generate the correction progress prediction information, and further includes: A training data set is defined based on historical correction data, and a regression model is trained based on the training data set; the target foot shape information is combined with the correction trend chart and synchronized to the regression model for regression calculation to obtain regression correction parameters; based on the correction trend chart, time series identification is performed according to the correction progress to generate a time series; correction prediction is performed according to the time series based on the regression correction parameters to generate the correction progress prediction information.

[0036] In an embodiment of the present application, historical correction data and historical correction records are first obtained from a historical database. These data include the posture and position changes of the foot at different correction stages, and the specific adjustment parameters when the device adjusts the foot in six degrees of freedom. The acquired historical correction data is then defined as a training data set. Next, based on the defined training data set, regression analysis techniques such as linear regression or polynomial regression are used to perform model training. Through training, a mapping between input (six-degree-of-freedom parameters) and output (foot recovery state) is established, so that a regression model can be applied to current and future correction predictions.

[0037] The current target foot shape information is then combined with the previously generated correction trend map as the input for the regression calculation. Through data fusion technology, this information is synchronized to the regression model for regression calculation. Through calculation, regression correction parameters are obtained, which reflect the specific translation and rotation adjustments that need to be made when the device is adjusted in the future.

[0038] Next, based on the generated correction trend graph and regression correction parameters, each time point is marked according to the correction progress to generate a time series. Specifically, through time series analysis, the key nodes in the future adjustment of the foot are marked to generate a timeline showing the correction process. The time series shows the possible recovery of the foot in different time periods in the future, such as at which moments a larger translation adjustment or rotation correction is needed.

[0039] Finally, correction prediction is performed by combining the regression correction parameters and the generated time series to generate complete correction progress prediction information. Through the calculation of the regression model and the time series analysis, the expected recovery state of the foot at different time points in the future is displayed. The prediction information includes the posture changes of the foot in the future adjustment, possible adjustment difficulties, and the time required to recover to the target state.

[0040] The real-time monitoring module 400 determines the adjustment control strategy in combination with the correction progress prediction information, performs real-time monitoring on the foot correction device to execute the adjustment control strategy, and generates monitoring feedback information.

[0041] In an embodiment of the present application, first, a correction risk analysis is performed on the target foot based on the correction progress prediction information to generate multi-level correction risks of different levels. Then, specific correction adjustment goals are set based on these risks and prediction information, and the direction and intensity of adjustments to be made are clarified. Next, an adjustment control strategy is generated based on the adjustment goals and the six-degree-of-freedom parameters to be adjusted, and the strategy is synchronized to the device for execution. During the execution process, the operation of the device is dynamically monitored, and the actual effect of the adjustment is tracked in real time. Based on the monitoring results, monitoring feedback information is generated to evaluate whether the adjustment has achieved the expected effect, and the strategy is adjusted in time according to the feedback to ensure the accuracy of the correction process.

[0042] Furthermore, the device provided in the embodiment of the application determines the adjustment control strategy in combination with the correction progress prediction information, performs real-time monitoring on the foot correction device to execute the adjustment control strategy, and generates monitoring feedback information, and further includes: Based on the correction progress prediction information, a correction risk analysis is performed on the target foot to generate a multi-level correction risk; a correction adjustment target is set according to the multi-level correction risk in combination with the correction progress prediction information; based on the correction adjustment target, an adjustment control strategy is generated according to the six-degree-of-freedom parameters to be adjusted; the adjustment control strategy is synchronized to the foot correction device for correction control, dynamic monitoring is performed according to the correction control result, and the monitoring feedback information is generated.

[0043] In the embodiment of the present application, when the correction risk analysis of the target foot is performed based on the correction progress prediction information, the current state and future adjustment of the target foot are first evaluated based on the correction progress prediction information, and the risk is identified according to key parameters such as adjustment amplitude, speed, and strength by using fuzzy logic analysis methods, and these parameters are converted into fuzzy variables, such as "small", "medium", and "large". Through fuzzy inference rules, the potential risks in the adjustment process are identified and multi-level correction risks are generated.

[0044] Next, based on the generated multi-level correction risk and combined with the correction progress prediction information of the foot, an optimization algorithm, such as the gradient descent algorithm, is used to set the specific correction adjustment target for each degree of freedom. In this step, the most suitable adjustment target is calculated based on the current state of the foot, the current value of the six-degree-of-freedom parameters, and the predicted posture changes in the future. For example, if the risk in a certain direction is high, a smaller translation step size or rotation angle is set to reduce the risk; in low-risk areas, a larger adjustment range is set.

[0045] After setting the adjustment target, the PID control algorithm is used to generate a detailed adjustment control strategy. The PID control algorithm controls the output of the device through three parts: proportional (P), integral (I), and differential (D). First, the proportional control part generates a preliminary adjustment action based on the error between the current foot state and the target state. Larger errors will result in larger adjustments, while smaller errors only require slight adjustments. The integral control part gradually corrects long-standing deviations by accumulating past errors to ensure that the foot can continue to approach the target state. Finally, the differential control ensures that the adjustment is not too fast or too slow by calculating the rate of error change to avoid over-adjustment or under-adjustment. Through the above process, the adjustment control strategy is generated.

[0046] Finally, the adjustment control strategy is synchronized to the foot correction device for correction control, and dynamic monitoring is performed according to the correction control results to generate monitoring feedback information.

[0047] Furthermore, in the device provided in the embodiment of the application, the adjustment control strategy is synchronized to the foot correction device for correction control, dynamic monitoring is performed according to the correction control result, and the monitoring feedback information is generated, which also includes: Dynamic changes of the target foot are monitored according to the correction control result to generate real-time change data of the foot; the real-time change data of the foot is compared with the expected adjustment threshold to determine whether the real-time change data of the foot reaches the expected adjustment threshold; if the real-time change data of the foot does not reach the expected adjustment threshold, the real-time change data of the foot is subtracted from the expected adjustment threshold to obtain an adjustment difference; when the adjustment difference is greater than or equal to a preset deviation interval, a warning signal is generated, and the correction control result is abnormally marked according to the warning signal to generate multiple abnormal marks, and the multiple abnormal marks are added to the monitoring feedback information.

[0048] In an embodiment of the present application, during the operation of the foot correction device, the dynamic changes of the target foot are monitored according to the correction control results. Specifically, first, while the device executes the correction control strategy, the dynamic changes of the target foot are monitored through a sensor network. These sensors include position sensors, angle sensors, and force sensors, which are used to detect the adjustment action of the device on the foot in real time and generate real-time foot change data. These data include the position, angle, and force state changes of the foot in six degrees of freedom (forward and backward, left and right, up and down translation, and pitch, roll, and yaw rotation).

[0049] Next, the generated real-time change data of the foot is compared with the pre-set expected adjustment threshold. The expected adjustment threshold is a standard range pre-set by technical experts based on the correction target, which is used to evaluate whether the adjustment action of the device has achieved the expected effect. For example, before correction, the specific values ​​of the joint angle, rotation range or displacement distance that the foot needs to achieve are set. When the device performs the correction operation, the real-time change data is compared with these thresholds to determine whether the current adjustment meets the set target. If the real-time change data of the foot is within the threshold range, it means that the adjustment is up to standard; if it exceeds or does not reach it, further analysis of the adjustment error is required. If the real-time change data of the foot does not reach the expected adjustment threshold, the difference between the actual adjustment and the target is measured by difference calculation. The adjustment difference is obtained by subtracting the real-time data of the foot from the expected value. For example, if the expected rotation angle is 10 degrees, but the foot actually rotates only 8 degrees, then the adjustment difference is 2 degrees. This adjustment difference reflects the specific error between the actual operation of the device and the ideal state, providing a quantitative basis for the subsequent adjustment correction.

[0050] The adjustment difference is then compared with a preset deviation interval that has been set in advance. The preset deviation interval is the allowable adjustment error range, which defines the error size that can be tolerated during the adjustment process. For example, an error of ±1 mm is allowed as a safety margin. If the calculated adjustment difference is within this deviation interval, it means that the adjustment error is within the acceptable range and no further processing is required; however, if the adjustment difference exceeds the preset deviation interval, it indicates that there is a large error in the adjustment process and corrective measures need to be taken.

[0051] When the adjustment difference is found to be greater than or equal to the preset deviation range, a warning signal is generated to indicate that there may be a problem with the current adjustment. Based on the warning signal, the current correction control result is marked as abnormal to clearly mark which specific adjustment steps have deviations. For example, if the translation of the foot in a certain direction exceeds the set range, the translation action is marked as abnormal.

[0052] Finally, multiple abnormal identifications are generated through the above process and added to the monitoring feedback information.

[0053] The automatic correction module 500 updates the six-degree-of-freedom parameters to be adjusted according to the monitoring feedback information, and synchronizes with the foot correction device to automatically correct the target foot.

[0054] In an embodiment of the present application, the six degrees of freedom parameters to be adjusted are first traversed according to multiple abnormal identifications to perform parameter matching, and multiple abnormal parameters related to the abnormality are determined. Then, the previous adjustment difference is combined with these abnormal parameters to perform calculations to determine the update parameters that need to be updated. Based on these updated parameters, the six degrees of freedom parameters to be adjusted are adjusted to generate new six degrees of freedom update parameters to be adjusted. These updated parameters are then transmitted to the foot correction device through a synchronization mechanism, and correction instructions are generated so that the device automatically corrects the foot according to these instructions.

[0055] Furthermore, the device provided in the embodiment of the application updates the six-degree-of-freedom parameters to be adjusted according to the monitoring feedback information, and synchronizes the six-degree-of-freedom parameters to the foot correction device to automatically correct the target foot, and further includes: According to the multiple abnormal identifiers, the six-degree-of-freedom parameters to be adjusted are traversed to perform parameter matching and determine multiple abnormal parameters; according to the adjustment difference combined with the multiple abnormal parameters, calculation is performed to determine update parameters; based on the update parameters, the six-degree-of-freedom parameters to be adjusted are updated to generate six-degree-of-freedom update parameters to be adjusted; the six-degree-of-freedom update parameters to be adjusted are synchronized to the foot correction device, and a correction instruction is generated to automatically correct the target foot.

[0056] In an embodiment of the present application, the six degrees of freedom parameters to be adjusted are first traversed through an abnormal detection algorithm. According to multiple abnormal identifications in the monitoring feedback, the current six degrees of freedom parameters are detected and matched one by one. These parameters include three translation directions (displacement of the X, Y, and Z axes) and three rotation directions (angle changes of pitch, roll, and yaw). The parameters corresponding to these abnormal identifications are accurately located through the abnormal detection algorithm, and they are marked as abnormal parameters. In this way, the specific degree of freedom parameters that cause errors in the correction process are found, and multiple abnormal parameters are determined.

[0057] Each abnormal parameter is then corrected by combining the previously calculated adjustment difference through the direct difference correction method. The adjustment difference refers to the difference between the actual adjustment result of the device and the set target. For example, if the expected Z-axis translation is 5 mm, but the actual translation of the device is only 3 mm, then the adjustment difference is 2 mm. Based on this difference, the value of the abnormal parameter is directly corrected to bring it closer to the target. For each degree of freedom marked as abnormal, a new updated parameter is generated in this way.

[0058] Next, the calculated update parameters are applied to the six-degree-of-freedom parameters through the real-time dynamic update mechanism to determine the six-degree-of-freedom update parameters to be adjusted. Finally, the generated six-degree-of-freedom update parameters to be adjusted are transmitted to the foot correction device through real-time synchronization technology to generate new correction instructions. According to these instructions, the device automatically adjusts the operation of each degree of freedom, including translation and rotation, so as to perform automated and precise correction operations on the target foot.

[0059] In the embodiments of the present application, in summary, the embodiments of the present application have at least the following technical effects: The present application performs shape matching on the target foot, generates target foot shape information, sets initial device adjustment morphology data according to the target foot shape information; performs multi-directional angle analysis according to the initial device adjustment morphology data, determines the six degrees of freedom parameters to be adjusted; predicts the six degrees of freedom parameters to be adjusted in combination with historical correction data, generates correction progress prediction information; determines the adjustment control strategy in combination with the correction progress prediction information, monitors the foot correction device in real time to execute the adjustment control strategy, and generates monitoring feedback information; updates the six degrees of freedom parameters to be adjusted according to the monitoring feedback information, and synchronizes them to the foot correction device to automatically correct the target foot. The present invention solves the technical problem that the prior art is difficult to make effective adjustments according to the user's real-time foot condition and has low correction accuracy. It generates foot shape information through shape matching, sets initial device adjustment morphology data, performs multi-directional angle analysis and prediction in combination with historical correction data, determines six degrees of freedom parameters and formulates adjustment control strategies, updates parameters through real-time monitoring and feedback, and performs foot correction, thereby achieving the technical effect of improving correction accuracy.

[0060] Embodiment 2, as Figure 2 and Figure 3 As shown, the present application provides a six-degree-of-freedom foot correction device for performing the following Figure 1 A six-degree-of-freedom foot correction device is shown, and the device includes: a calf plate 1, a heel seat 2, a sole plate 3, a sleeve 4, a clamp 5, a knob 6, a sleeve 7, an adjustment nut 8, an adjustment screw 9, a universal ball base 10, a knob 11, a heel plate 12, a heel plate 13, a front and rear hinge 14, a left and right hinge 15, an adjustment rod 16, a clamp 17, and a knob rod 18.

[0061] Among them, the calf plate 1 is used to fix the patient's calf and provide upper support to ensure the stable connection between the patient's calf and the device. The heel seat 2 is the base part of the device, which is used to support the patient's heel and provide fixed support for the foot. The sole plate 3 is used to support the sole of the patient's foot and fix the foot position together with the heel seat to ensure that the device fits the patient's foot firmly during use. The sleeve 4 is one of the adjustable components of the device, connecting the calf plate with other adjustment components, so that the device can be fine-tuned in position and angle in all directions. The hoop 5 is used to be inserted into the sleeve 4 to form an adjustable fastening structure, which can fix the various components of the device and provide a basis for foot adjustment. The knob 6 is used to control the tightness of the hoop 5. When the knob 6 is loosened, the hoop 5 is in a loose state, and the device can be adjusted; when the knob 6 is tightened, the hoop 5 is locked, thereby fixing the relevant components. The sleeve 7 is the core connection structure of the device adjustment component, which provides the basis for adjusting each degree of freedom of the device, so that the device can be flexibly adjusted according to user needs. The adjusting nut 8 is used to fix the position of the sleeve 7. The height and angle of the device can be adjusted by rotating the adjusting nut to meet different correction requirements. The adjusting screw 9 is used in conjunction with the adjusting nut 8. By rotating the adjusting screw 9, the position and angle of the device can be accurately adjusted. The universal ball base 10 is connected to the heel seat 2, providing a multi-directional rotation function, so that the device can flexibly adapt to the position changes of the patient's foot in all directions, increasing the adaptability of the device. The knob 11 controls the tightness of the clamp 17. When loosened, the clamp 17 is in a loose state, and the tightness of the device can be adjusted; when tightened, the clamp 17 is locked to ensure the stability of the device. The heel plate 12 is connected to the heel seat 2 to provide additional support for the device and help fix the patient's heel. The heel plate 13 is used in conjunction with the heel plate 12 to enhance the support and fixation of the heel. The two heel plates are connected by screws to provide stable support. The front and rear hinges 14 are used to connect the calf plate 1 and the sleeve 4, providing a front and rear adjustment function, so that the device can be finely adjusted in the front and rear position. The left and right hinges 15 are connected to the calf plate 1 and the sleeve 4, providing left and right adjustment functions to meet the patient's correction needs in left and right angles. The adjustment rod 16 is used to further adjust the position and angle of the sole plate 3. The adjustment rod is inserted into the clamp 17 to help the device achieve fine angle and position control. The clamp 17 connects the adjustment rod 16 with other parts of the device to ensure that the position of the adjustment rod is stable and provide reliable support for the correction operation. The knob rod 18 is connected to the knob 11 to control the tightness of the clamp 17 so that the device maintains the required tightness during the adjustment process.

[0062] During use, the calf plate 1 is first connected to the sleeve 4 through the front and rear hinges 14 and the left and right hinges 15. The hoop 5 is inserted into the sleeve 4, and the sleeve 4 is then inserted into the sleeve 7, which is fixed to the flange by the adjusting nut 8. The adjusting screw 9 is further connected to the universal ball base 10, so that the relative position between the heel seat 2 and the calf plate 1 is fixed. At the foot position, the adjusting rod 16 is inserted into the hoop 17, and the adjusting rod 16 and the hoop 17 are placed in the groove of the heel plate 12. The heel plate 12 and the heel plate 13 are combined and fixed by screw connection. The knob 11 is connected to the knob rod 18, and the knob rod 18 is screwed into the hoop 17. Finally, the adjusting rod 16 is screwed into the sole plate 3, so that the heel plates 12, 13 and the heel seat 2 are further fixed with screws. Through this process, the equipment is installed and fixed.

[0063] When adjusting and adapting the device, first enter the free state, loosen knob 6 and knob 11, loosen clamp 5 and clamp 17, and the device enters the free state, which is convenient for the patient to put the leg into the device. Then make preliminary adjustments to adjust the device to the angle, height, internal and external rotation angle and length of the patient's ankle joint to ensure that the device is compatible with the patient's foot and ankle joint. Tighten knob 6 and knob 11 to lock clamp 5 and clamp 17 to fix the foot. When fixing with straps, use straps to pass through the strap holes on the calf plate 1, heel plate 12, heel plate 13 and sole plate 3 to firmly fix the patient's calf and sole to the device to ensure that the device does not shift during the correction process.

[0064] During the correction process, the device supports the correction of various deformities. For example, when the patient has a problem of ankle posterior inversion (backward bending), by twisting the rear adjustment nut 8, the device gradually applies pressure upward to gradually restore the ankle joint to a normal state. Another situation is right inversion (tilting to the right) of the ankle joint. This can be achieved by adjusting the adjustment nuts 8 on both sides: the right adjustment nut is upward and the left adjustment nut is downward, so that the ankle joint can be restored to a normal balance state during the adjustment process.

[0065] In summary, the six-degree-of-freedom foot correction device includes multiple key components, and realizes multi-degree-of-freedom adjustment and fixation of the patient's foot through the coordination of components such as the clamp, the adjustment nut, the hinge, and the knob.

[0066] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of this specification are described. The processes depicted in the accompanying drawings do not necessarily require the specific order and continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0067] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0068] This specification and drawings are merely exemplary illustrations of the present application and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application intends to include these modifications and variations.

Claims

1. A six-degree-of-freedom foot correction device, characterized in that: The device comprises: a shape matching module, wherein the shape matching module performs shape matching on a target foot to generate target foot shape information, and sets initial device adjustment morphology data according to the target foot shape information; A multi-directional angle analysis module, wherein the multi-directional angle analysis module performs multi-directional angle analysis according to the initial device adjustment form data to determine the six-degree-of-freedom parameters to be adjusted; A correction prediction module, which performs prediction based on the six-degree-of-freedom parameters to be adjusted in combination with historical correction data to generate correction progress prediction information; A real-time monitoring module, which determines an adjustment control strategy based on the correction progress prediction information, performs real-time monitoring on the foot correction device to execute the adjustment control strategy, and generates monitoring feedback information; An automatic correction module is used to update the six-degree-of-freedom parameters to be adjusted according to the monitoring feedback information, and synchronize the parameters to the foot correction device to automatically correct the target foot.

2. A six-degree-of-freedom foot correction device as claimed in claim 1, characterized in that: According to the initial device adjustment morphological data, multi-directional angle analysis is performed to determine the six-degree-of-freedom parameters to be adjusted. The device includes: Performing a three-dimensional analysis on the target foot based on the initial device adjustment morphology data combined with the device initial geometric state information to determine foot position data, wherein the foot position data includes foot joint angles; Performing multi-directional angle analysis according to the foot joint angles combined with the target foot shape information to determine translational degree of freedom parameters and rotational degree of freedom parameters; The translational degree of freedom parameters and the rotational degree of freedom parameters are adjusted and analyzed to determine the six degree of freedom parameters to be adjusted.

3. A six-degree-of-freedom foot correction device as claimed in claim 2, characterized in that: The translational degree of freedom parameter and the rotational degree of freedom parameter are adjusted and analyzed to determine the six degrees of freedom parameters to be adjusted, and the device includes: Performing deviation calculation on the translational degree of freedom parameter based on the initial device adjustment form data to obtain a position deviation value; Performing deviation calculation on the rotational degree of freedom parameter based on the initial device adjustment form data to obtain an angle deviation value; Perform multi-directional analysis on the translational degree of freedom parameter according to the position deviation value to obtain the translational degree of freedom parameter to be adjusted; Performing rotation analysis on the rotational degree of freedom parameter according to the angle deviation value to obtain the rotational degree of freedom parameter to be adjusted; The translational degree of freedom parameter to be adjusted and the rotational degree of freedom parameter to be adjusted are integrated to determine the six degree of freedom parameters to be adjusted.

4. The six-degree-of-freedom foot correction device according to claim 1, characterized in that: According to the six degrees of freedom parameters to be adjusted and combined with historical correction data, prediction is performed to generate correction progress prediction information, and the device includes: Retrieving historical correction data of the target foot through a foot correction device, wherein the historical correction data includes foot correction state information and historical six-degree-of-freedom adjustment information; Extracting features from the historical six-degree-of-freedom adjustment information based on the foot correction state information to determine a plurality of correction features; Performing correction analysis on the six-degree-of-freedom parameters to be adjusted according to the multiple correction features, and drawing a correction trend graph; The target foot is subjected to regression prediction according to the correction trend diagram to generate the correction progress prediction information.

5. A six-degree-of-freedom foot correction device as claimed in claim 4, characterized in that: The device performs regression prediction on the target foot according to the correction trend graph to generate the correction progress prediction information, and includes: Defining a training data set based on historical correction data, and training a regression model based on the training data set; Synchronizing the target foot shape information in combination with the correction trend graph to the regression model for regression calculation to obtain regression correction parameters; Based on the correction trend graph, time series marking is performed according to the correction progress to generate a time series; Correction prediction is performed according to the time series based on the regression correction parameters to generate the correction progress prediction information.

6. The six-degree-of-freedom foot correction device according to claim 1, characterized in that: Determine the adjustment control strategy in combination with the correction progress prediction information, monitor the foot correction device in real time to execute the adjustment control strategy, and generate monitoring feedback information, the device includes: performing correction risk analysis on the target foot based on the correction progress prediction information to generate multi-level correction risks; Setting correction adjustment goals according to the multi-level correction risks and the correction progress prediction information; Generate an adjustment control strategy based on the correction adjustment target and the six-degree-of-freedom parameter to be adjusted; The adjustment control strategy is synchronized to the foot correction device for correction control, and dynamic monitoring is performed according to the correction control result to generate the monitoring feedback information.

7. A six-degree-of-freedom foot correction device as claimed in claim 6, characterized in that: The adjustment control strategy is synchronized to the foot correction device for correction control, dynamic monitoring is performed according to the correction control result, and the monitoring feedback information is generated. The device includes: Dynamically monitor the target foot according to the correction control result to generate real-time foot change data; Compare the real-time foot change data with the expected adjustment threshold, and determine whether the real-time foot change data reaches the expected adjustment threshold; If the real-time foot change data does not reach the expected adjustment threshold, subtracting the real-time foot change data from the expected adjustment threshold to obtain an adjustment difference; When the adjustment difference is greater than or equal to a preset deviation interval, a warning signal is generated, and the correction control result is marked as abnormal according to the warning signal, generating multiple abnormal marks, and adding the multiple abnormal marks to the monitoring feedback information.

8. The six-degree-of-freedom foot correction device according to claim 7, characterized in that: The six-degree-of-freedom parameters to be adjusted are updated according to the monitoring feedback information, and synchronized to the foot correction device to automatically correct the target foot, the device comprising: According to the multiple abnormal identifications, the six-degree-of-freedom parameters to be adjusted are traversed to perform parameter matching to determine multiple abnormal parameters; Calculate according to the adjustment difference and the multiple abnormal parameters to determine the update parameter; The six-degree-of-freedom parameters to be adjusted are updated based on the update parameters to generate the six-degree-of-freedom update parameters to be adjusted; The updated six-degree-of-freedom parameters to be adjusted are synchronized to a foot correction device, and a correction instruction is generated to automatically correct the target foot.

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