Traditional Chinese medicine acupoint massage insole 3D printing system based on digital intelligent plantar scanning

Abstract

The invention discloses a traditional Chinese medicine acupoint massage insole 3D printing system based on digital intelligent plantar scanning, and relates to the technical field of acupoint massage. The system comprises a processing unit, a motion monitoring module, a scanning module, a physiotherapy module, a pressure module and a printing module, output ends of the motion monitoring module, the scanning module and the pressure module are connected with an input end of the processing unit, and a port of the physiotherapy module establishes data communication with a port of the processing unit. The output end of the processing unit is connected with the input end of the printing module, the motion monitoring module is an intelligent terminal of a patient, and the motion monitoring module is used for acquiring motion data of the patient and transmitting the motion data to the processing unit. The insole is customized and designed according to the foot sign data and the pressure distribution condition of the patient, so that the insole obtained through 3D printing can be attached to the foot sole of the patient, and the massage effect of the insole protrusions is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of acupoint massage, and in particular to a 3D printing system for traditional Chinese medicine acupoint massage insoles based on digital sole scanning. Background Art

[0002] According to TCM theory, the foot is an important reflexology area of ​​the human body's meridians. Massaging the acupuncture points on the foot can regulate the flow of qi and blood throughout the body and achieve the effect of health care. For example, acupuncture points such as Yongquan and Taixi are closely related to the functions of organs such as the kidney and liver. Traditional TCM massage insoles simulate acupuncture point massage on the soles of the feet by setting ridges on the insoles to promote blood circulation and metabolism.

[0003] Traditional massage insoles have the following limitations: 1. Massage insoles usually adopt standardized designs and cannot fully fit the individual foot shape, resulting in poor massage effects; 2. The degree of pressure on the acupoints on the soles of the feet cannot be adjusted according to the physical conditions of different patients; 3. Customized designs cannot be made based on the patient's foot physical signs and pressure distribution. Therefore, using 3D printing technology to customize acupoint massage insoles that suit the patient is a technical problem that technical personnel in this field need to solve. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning, which solves the problems raised in the above-mentioned background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning, comprising a processing unit, a motion monitoring module, a scanning module, a physical therapy module, a pressure module and a printing module, wherein the output ends of the motion monitoring module, the scanning module and the pressure module are all connected to the input end of the processing unit, the port of the physical therapy module establishes data communication with the port of the processing unit, and the output end of the processing unit is connected to the input end of the printing module; The motion monitoring module is specifically the patient's smart terminal, and is used to obtain the patient's motion data and transmit it to the processing unit. The motion data includes the number of steps St, motion trajectory, static time t1 and dynamic time t2. The scanning module is specifically a 3D foot meter, and is used to obtain the patient's foot vital sign data and transmit it to the processing unit. The pressure module is specifically an M1616L model pressure sensor matrix, and the pressure sensor matrix includes N sampling points. The pressure module obtains the pressure information p1, pressure information p2 and pressure information p3 of the patient's sole surface and transmits them to the processing unit. The processing unit transmits the patient's foot vital sign data and the pressure information p1 of the sole surface to the physical therapy module; The physiotherapy module is specifically a server running the ShenNong-TCM-LLM medical model. ShenNong-TCM-LLM is a large language model trained based on the traditional Chinese medicine knowledge graph and instruction data set. The physiotherapy module outputs a massage plan to the processing unit. The massage plan includes foot massage points and massage times F1. The processing unit generates an insole model and rigidity requirements according to the massage plan and foot physical sign data and transmits them to the printing module. The printing module prints the corresponding massage insole according to the adapted insole model and rigidity requirements. The printing module is specifically a CoreXY structure 3D printer dedicated to TPU consumables. The printing consumables used by the printing module are TPU consumables of various rigidities. The printing module automatically matches the corresponding TPU consumables according to the rigidity requirements. After the printing module matches the TPU consumables, it automatically slices the adapted insole model, and then executes the massage insole printing task; The processing unit executes a force analysis program to obtain a static pressure mean value , Static pressure fluctuation , Dynamic pressure fluctuation and directional pressure difference D, the processing unit executes a motion trajectory analysis program to obtain a motion trajectory complexity C, and the processing unit executes a static and dynamic analysis program to obtain a static index k1 and a dynamic index k2.

[0006] Furthermore, the static and dynamic analysis procedure is divided into two stages: static analysis process and dynamic analysis process; When the processing unit executes the static analysis process, the processing unit presets and initializes the static proportional coefficient w1 and the static proportional coefficient w2. The static proportional coefficient w1 and the static proportional coefficient w2 satisfy the condition w1+w2=1. According to the formula Calculate the static index k1; When the processing unit performs the dynamic analysis process, the processing unit presets and initializes the dynamic proportional coefficients w3, w4 and w5. The dynamic proportional coefficients w3, w4 and w5 satisfy the condition w3+w4+w5=1. According to the formula Calculate the dynamic index k2.

[0007] Furthermore, when the scanning module acquires the patient's foot vital sign data, the scanning module first sends a vertical laser scan to the sole of the patient's foot to obtain the contour of the patient's foot; The scanning module uses the patient's foot sole outline as the baseline, and uses 2 cm inside and outside the baseline as the refinement area. The scanning module uses the deflection laser to scan the refinement area multiple times. The deflection angle of the deflection laser accumulates 1 degree each time the refinement area is scanned until the maximum angle is reached. The deflection angle range of the deflection laser is 1 degree to 15 degrees, and the maximum angle of the deflection laser is 15 degrees. The scanning module uses an angled laser to scan the sole of the patient's foot each time to obtain a scanning layer. The scanning module transmits the contour of the sole of the patient's foot and the plurality of scanning layers to the processing unit. The processing unit aligns and unfolds the plurality of scanning layers with the contour of the sole of the foot to obtain a rough model of the patient's foot. The processing unit performs bilateral filtering on the rough model of the patient's foot based on the open source 3D reconstruction software Blender to obtain a smooth model. The smooth modifier component in Blender can be used to achieve a smooth transition of the rough model surface. The smooth model is simplified to obtain the patient's foot model. Processing unit Centimeters are used as the layer height benchmark to generate an insole model that matches the bottom surface of the foot model in the software blender; The processing unit aligns and expands the massage points in the massage plan in the insole model.

[0008] Furthermore, when the processing unit executes the force analysis program, according to the formula Calculate the mean static pressure , N is the number of sampling points in the pressure sensor matrix when the patient is standing statically, i represents the i-th sampling point in the pressure sensor matrix, The value of the pressure information p1 obtained by the pressure sensor matrix of the i-th sampling point when the patient is standing, the static pressure mean Reflects the intensity of the patient's foot pressure in a static state; Processing units according to the formula Calculation of static pressure fluctuations , i represents the i-th sampling point in the pressure sensor matrix, static pressure fluctuation Reflects the stability of the patient's foot pressure in a static state; Processing units according to the formula The standard deviation of the pressure difference between the unidirectional tilt and bidirectional tilt directions is calculated and labeled as the directional pressure difference D, is the average pressure value in the mth direction when tilted in one direction, is the average pressure value in the nth direction when tilted in both directions, and the directional pressure difference D is the accumulation of the squares of the pressure deviations in eight directions; Processing units according to the formula Calculation of dynamic pressure fluctuations , M is the total number of pressure sampling points of the patient in the dynamic state, M≤N, N is the number of sampling points of the pressure sensor matrix, is the pressure value of the i-th sampling point among the M pressure sampling points when the patient is tilted in one direction, The pressure value of the jth sampling point among the M pressure sampling points when the patient is in bidirectional tilt is accumulated, the square of the pressure deviation of all sampling points is calculated, the average variance of all sampling points is calculated, and the variance is converted into standard deviation to reflect the degree of fluctuation of dynamic pressure.

[0009] Furthermore, when the motion trajectory analysis program is executed, the processing unit disassembles the acquired motion trajectory in the following manner: The processing unit sets a dynamic filtering threshold value ψ, and the processing unit counts the total length L of the motion trajectory, marks the turning angles in the motion trajectory greater than 360°xψ as turning nodes, and splits the motion trajectory into several trajectory lines with the turning nodes as cutting points, and marks the trajectory lines with a length greater than Lxψ as linear displacements dis. By setting the dynamic filtering threshold value, some invalid features of small-range continuous rotation in the motion trajectory can be filtered out, thereby simply quantifying the patient's motion trajectory and splitting it into simple turning nodes and linear displacements, which is convenient for subsequent disassembly and analysis of the motion trajectory; The processing unit counts the turning angles of all steering nodes and sums them up to get the total steering angle Tc. According to the formula The complexity C of the motion trajectory is calculated, where g is an adjustment parameter and satisfies the condition 1<g≤2. The adjustment parameter g enhances the weight of linear displacement and effectively shields the interference of continuous rotation in a small range.

[0010] Furthermore, the medical staff inputs the patient's physical examination information into the processing unit through input devices such as keyboard and mouse, and the processing unit forwards the patient's physical examination information to the physical therapy module. The physical therapy module outputs a massage plan based on the patient's physical examination information, foot physical sign data and pressure information p1 on the sole of the foot. The massage plan is as follows: The physical examination information is input into the physical therapy module, which determines the patient's symptoms and the severity of the disease, and then matches the acupoints according to the symptoms. The size of the patient's foot is obtained from the foot physical sign data, and the acupoints are aligned in proportion to the size of the foot to obtain the foot massage acupoints. The physiotherapy module outputs the massage degree of each foot massage point according to the severity of the disease, and quantifies the massage degree of each foot massage point into the number of massages F1 according to the distribution of the pressure information p1 on the sole of the foot; The physiotherapy module feeds back the foot massage points and massage times F1 to the processing unit.

[0011] Furthermore, the processing unit generates a rigidity requirement which is obtained by: The processing unit calculates the absolute value of the difference between the static index k1 and the dynamic index k2. If |k1-k2|≤250, it means that the dynamic and static pressure distribution of the sole of the patient's foot is relatively balanced, and the standard rigid matching strategy is adopted. If |k1-k2|>250, it means that the pressure distribution of the front and back of the sole of the patient's foot is uneven, and the pressure distribution information between the forefoot area, arch area and heel area is quite different, and the partition rigid matching strategy is adopted; When the processing unit executes the standard rigidity matching strategy, the processing unit determines the rigidity requirement of the TPU consumables according to the value of the static index k1. When k1<500, a TPU consumable with a hardness of 70A-80A is used, which has high elasticity and provides uniform cushioning for the entire sole. When 500≤k1≤1500, a TPU consumable with a hardness of 85A-90A is used, the forefoot is used for cushioning, and the arch provides support. When k1>1500, a TPU consumable with a hardness of 90A-95A is used, which is more stable and improves the anti-torsion performance of the insole. When the processing unit executes the partition rigidity matching strategy, the processing unit divides the insole model into the forefoot area, the arch area and the heel area. The forefoot area adopts TPU consumables with a hardness of 70A-85A. The high elasticity can fully absorb the impact force. The arch area adopts TPU consumables with a hardness of 85A-90A. The medium and high hardness can provide sufficient support. The heel area adopts TPU consumables with a hardness of 90A-95A. The high hardness can enhance the stability of the insole.

[0012] Furthermore, the pressure data includes pressure information p1 of the entire sole of the foot when the patient is standing, pressure information p2 of the entire sole of the foot when the patient is leaning in one direction, and pressure information p3 of the entire sole of the foot when the patient is leaning in two directions. The patient's unidirectional leaning includes four directions: leaning forward, leaning backward, leaning to the left, and leaning to the right. The patient's two-way leaning includes four directions: 45° tilting to the left front, 45° tilting to the right front, 45° tilting to the left rear, and 45° tilting to the right rear.

[0013] Furthermore, when the processing unit analyzes the massage points on the insole model, according to the formula Calculate the height h of the massage point on the insole model, F1 is the number of massages F1 in the massage plan, k1 is the static index, k2 is the dynamic index, t1 is the static time, t2 is the dynamic time, Hr is the hardness index of the TPU consumable, and the value of Hr changes according to the hardness of the TPU consumable of the insole model where the massage point is located. The initial value of Hr is 5, corresponding to a TPU consumable with a hardness of 80A. For every 5A increase in the hardness of the TPU consumable, the value of Hr increases by 1; The processing unit calculates the height h of each massage point on the insole model through a formula, integrates the massage points into the insole model and transmits it to the printing module.

[0014] Furthermore, when the motion monitoring module records the number of steps St of the patient, the static time t1 and the dynamic time t2 are recorded synchronously. The static time t1 and the dynamic time t2 are recorded according to the interval time of the increase of the number of steps St of the patient. The motion monitoring module presets a time threshold. When the number of steps St of the patient does not increase at the time threshold, the motion monitoring module starts timing. When the number of steps St of the patient increases again, the motion monitoring module stops timing and adds the recorded time to the time threshold to obtain the static period. All static periods are accumulated to obtain the static time t1. At the same time, the motion monitoring module starts timing again. When the number of steps St of the patient does not increase again at the time threshold, the motion monitoring module starts timing again. The motion monitoring module subtracts the time recorded again from the time threshold to obtain the dynamic period. All dynamic periods are accumulated to obtain the dynamic time t2. The number of walking steps St is obtained through the built-in accelerometer of the motion monitoring module. The number of walking steps St is counted by recording the number of hand swings. The motion trajectory is obtained through the built-in GPS of the motion monitoring module in combination with the accelerometer. GPS is used for signal positioning outdoors, and the accelerometer is used for inertial positioning indoors.

[0015] The present invention has the following beneficial effects: 1. By recording each patient's movement data, the pressure information of the sole of the foot is quantified, and the insole is customized according to the patient's foot physical data and pressure distribution, so that the 3D printed insole can fully fit the patient's foot and improve the massage effect of the insole bulge.

[0016] 2. Refer to the health status of each patient to get a targeted massage plan, and then match the appropriate rigidity of the printing consumables according to the pressure distribution of the patient's soles, adjust the height of each massage point on the insole, and automatically massage the acupoints on the soles of the feet when the patient puts on the insole to implement the massage plan.

[0017] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0019] Figure 1 This is a block diagram of the 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning of the present invention; Figure 2 The figure is a schematic diagram of the printing process of the massage insole of the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1-2 The present invention provides a technical solution: a 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning, comprising a processing unit, a motion monitoring module, a scanning module, a physical therapy module, a pressure module and a printing module, wherein the output ends of the motion monitoring module, the scanning module and the pressure module are all connected to the input end of the processing unit, the port of the physical therapy module establishes data communication with the port of the processing unit, and the output end of the processing unit is connected to the input end of the printing module; The motion monitoring module is specifically the patient's smart terminal, including a worn motion monitoring bracelet, watch, mobile phone or tablet, etc. The motion monitoring module is used to obtain the patient's motion data and transmit it to the processing unit. The motion data includes the number of steps St, motion trajectory, static time t1 and dynamic time t2. The scanning module is specifically a 3D foot meter. The scanning module is used to obtain the patient's foot vital sign data and transmit it to the processing unit. The pressure module is specifically an M1616L model pressure sensor matrix. The pressure sensor matrix includes N sampling points. The pressure module obtains the pressure information p1, pressure information p2 and pressure information p3 of the patient's sole surface and transmits them to the processing unit. The processing unit transmits the patient's foot vital sign data and the pressure information p1 of the sole surface to the physical therapy module; The physiotherapy module is specifically a server running the ShenNong-TCM-LLM medical model. ShenNong-TCM-LLM is a large language model trained based on the knowledge graph of traditional Chinese medicine and the instruction data set. The physiotherapy module outputs a massage plan to the processing unit. The massage plan includes foot massage points and massage times F1. The processing unit generates an insole model and rigidity requirements according to the massage plan and foot physical sign data and transmits them to the printing module. The printing module prints the corresponding massage insole according to the adapted insole model and rigidity requirements. The printing module is specifically a CoreXY structure 3D printer dedicated to TPU consumables. The printing consumables used by the printing module are TPU consumables of various rigidities. The printing module automatically matches the corresponding TPU consumables according to the rigidity requirements. After the printing module matches the TPU consumables, it automatically slices the adapted insole model, and then executes the massage insole printing task; The processing unit executes the force analysis program to obtain the static pressure mean value , Static pressure fluctuation , Dynamic pressure fluctuation and directional pressure difference D, the processing unit executes a motion trajectory analysis program to obtain a motion trajectory complexity C, and the processing unit executes a static and dynamic analysis program to obtain a static index k1 and a dynamic index k2.

[0022] Among them, the static and dynamic analysis procedures are divided into two stages: static analysis process and dynamic analysis process; When the processing unit executes the static analysis process, the processing unit presets and initializes the static proportional coefficient w1 and the static proportional coefficient w2. The value of the static proportional coefficient w1 after initialization is 0.7, and the value of the static proportional coefficient w2 after initialization is 0.3. The static proportional coefficient w1 and the static proportional coefficient w2 meet the condition w1+w2=1. According to the formula Calculate the static index k1; When the processing unit executes the dynamic analysis process, the processing unit presets and initializes the dynamic proportional coefficients w3, w4 and w5. The dynamic proportional coefficient w3 is initialized to 0.5, the dynamic proportional coefficient w4 is initialized to 0.3, and the dynamic proportional coefficient w5 is initialized to 0.2. The dynamic proportional coefficients w3, w4 and w5 meet the condition w3+w4+w5=1. According to the formula Calculate the dynamic index k2.

[0023] When the scanning module acquires the patient's foot physical sign data, the scanning module first sends a vertical laser scan to the sole of the patient's foot to obtain the contour of the patient's sole; The scanning module uses the patient's foot sole outline as the baseline, and uses 2 cm inside and outside the baseline as the refinement area. The scanning module uses the deflection laser to scan the refinement area multiple times. The deflection angle of the deflection laser accumulates 1 degree each time the refinement area is scanned until the maximum angle is reached. The deflection angle range of the deflection laser is 1 degree to 15 degrees, and the maximum angle of the deflection laser is 15 degrees. The scanning module uses an angled laser to scan the sole of the patient's foot each time to obtain a point cloud, uses an ICP algorithm to align the layers, and removes noise through filtering to obtain a scanning layer. The scanning module uniformly transmits the contour of the sole of the patient's foot and several scanning layers to the processing unit, and the processing unit aligns and unfolds the several scanning layers with the sole of the foot to obtain a rough model of the patient's foot; The processing unit performs bilateral filtering on the rough model of the patient's foot based on the open source 3D reconstruction software Blender to obtain a smooth model. The bilateral filtering is iterated 3 times, the spatial domain weight is 1.0, and the gray domain weight is 0.5. The smooth modifier component in Blender can be used to achieve a smooth transition of the rough model surface. The smooth model is simplified to obtain the patient's foot model. Processing unit Centimeters are used as the layer height benchmark to generate an insole model that matches the bottom surface of the foot model in the software blender. The higher the value of the static index k1, the thinner the layer height benchmark of the generated insole model, the more layers of the insole model, the higher the fineness of the insole model, and the stronger the support after printing; The processing unit aligns and expands the massage points in the massage plan in the insole model.

[0024] Among them, when the processing unit executes the force analysis program, according to the formula Calculate the static pressure mean , N is the number of sampling points in the pressure sensor matrix when the patient is standing statically, i represents the i-th sampling point in the pressure sensor matrix, The value of the pressure information p1 obtained by the pressure sensor matrix of the i-th sampling point when the patient is standing, the static pressure mean Reflects the intensity of the patient's foot pressure in a static state; Processing units according to the formula Calculation of static pressure fluctuations , i represents the i-th sampling point in the pressure sensor matrix, static pressure fluctuation Reflects the stability of the patient's foot pressure in a static state; Processing units according to the formula The standard deviation of the pressure difference between the unidirectional tilt and bidirectional tilt directions is calculated and labeled as the directional pressure difference D, is the average pressure value in the mth direction when tilted in one direction, is the average pressure value in the nth direction during bidirectional tilting. The directional pressure difference D is the accumulation of the squares of the pressure deviations in eight directions, reflecting the discrete degree of the pressure distribution on the sole of the foot of the patient in a dynamic state. Processing units according to the formula Calculation of dynamic pressure fluctuations , M is the total number of pressure sampling points of the patient in the dynamic state, M≤N, N is the number of sampling points of the pressure sensor matrix, the number of pressure points on the sole of the foot of the patient in the tilted state is generally less than the number of pressure points on the sole of the foot in the standing state, is the pressure value of the i-th sampling point among the M pressure sampling points when the patient is tilted in one direction, The pressure value of the jth sampling point among the M pressure sampling points when the patient is in bidirectional tilt is calculated by summing the squares of the pressure deviations of all sampling points, and then converting the variance into standard deviation to reflect the degree of dynamic pressure fluctuation. It reflects the variation of the pressure on the sole of the foot under the patient's dynamic state. The formula quantifies the degree of pressure fluctuation by calculating the standard deviation of the dynamic pressure value. The larger the value, the more drastic the dynamic pressure change, and vice versa. The smaller the value, the smoother the pressure change.

[0025] When the motion trajectory analysis program is executed, the processing unit disassembles the acquired motion trajectory in the following manner: The processing unit sets a dynamic filtering threshold value ψ5%. The processing unit counts the total length L of the motion trajectory, marks the turning angles in the motion trajectory greater than 360°xψ as turning nodes, splits the motion trajectory into several trajectory lines with the turning nodes as cutting points, and marks the trajectory lines with a length greater than Lxψ as linear displacements dis. By setting the dynamic filtering threshold value, some invalid features of small-range continuous rotation in the motion trajectory can be filtered out, thereby simply quantifying the patient's motion trajectory and splitting it into simple turning nodes and linear displacements, which is convenient for subsequent disassembly and analysis of the motion trajectory; The processing unit counts the turning angles of all steering nodes and sums them up to get the total steering angle Tc. According to the formula The complexity C of the motion trajectory is calculated, where g is an adjustment parameter and satisfies the condition 1<g≤2. The adjustment parameter g enhances the weight of linear displacement and effectively shields the interference of continuous rotation in a small range.

[0026] Among them, the medical staff inputs the patient's physical examination information into the processing unit through input devices such as keyboard and mouse, and the processing unit forwards the patient's physical examination information to the physical therapy module. The physical therapy module outputs a massage plan based on the patient's physical examination information, foot physical sign data and pressure information p1 on the sole of the foot. The massage plan is as follows: The physical examination information is input into the physical therapy module, which determines the patient's symptoms and the severity of the disease, and then matches the acupoints according to the symptoms. The size of the patient's foot is obtained from the foot physical sign data, and the acupoints are aligned in proportion to the size of the foot to obtain the foot massage acupoints. The physiotherapy module outputs the massage degree of each foot massage point according to the severity of the disease, and quantifies the massage degree of each foot massage point into the number of massages F1 according to the distribution of the pressure information p1 on the sole of the foot; The physiotherapy module feeds back the foot massage points and massage times F1 to the processing unit.

[0027] Among them, the processing unit generates rigidity requirements through the following methods: The processing unit calculates the absolute value of the difference between the static index k1 and the dynamic index k2. If |k1-k2|≤250, it means that the dynamic and static pressure distribution of the sole of the patient's foot is relatively balanced, and the standard rigid matching strategy is adopted. If |k1-k2|>250, it means that the pressure distribution of the front and back of the sole of the patient's foot is uneven, and the pressure distribution information between the forefoot area, arch area and heel area is quite different, and the partition rigid matching strategy is adopted; When the processing unit executes the standard rigidity matching strategy, the processing unit determines the rigidity requirement of the TPU consumables according to the value of the static index k1. When k1<500, a TPU consumable with a hardness of 70A-80A is used, which has high elasticity and provides uniform cushioning for the entire sole. When 500≤k1≤1500, a TPU consumable with a hardness of 85A-90A is used, the forefoot is used for cushioning, and the arch provides support. When k1>1500, a TPU consumable with a hardness of 90A-95A is used, which is more stable and improves the anti-torsion performance of the insole. When the processing unit executes the partition rigidity matching strategy, the processing unit divides the insole model into the forefoot area, the arch area and the heel area. The forefoot area adopts TPU consumables with a hardness of 70A-85A. The high elasticity can fully absorb the impact force. The arch area adopts TPU consumables with a hardness of 85A-90A. The medium and high hardness can provide sufficient support. The heel area adopts TPU consumables with a hardness of 90A-95A. The high hardness can enhance the stability of the insole.

[0028] Among them, the pressure data includes the pressure information p1 of the entire sole of the foot when the patient is standing, the pressure information p2 of the entire sole of the foot when the patient is tilted in one direction, and the pressure information p3 of the entire sole of the foot when the patient is tilted in two directions. The patient's unidirectional tilt includes four directions: tilting forward, tilting backward, tilting on the left side, and tilting on the right side. The patient's two-way tilt includes four directions: tilting 45° to the left front, tilting 45° to the right front, tilting 45° to the left back, and tilting 45° to the right back.

[0029] Among them, when the processing unit analyzes the massage points on the insole model, according to the formula Calculate the height h of the massage point on the insole model, F1 is the number of massages F1 in the massage plan, k1 is the static index, k2 is the dynamic index, t1 is the static time, t2 is the dynamic time, Hr is the hardness index of the TPU consumable, and the value of Hr changes according to the hardness of the TPU consumable of the insole model where the massage point is located. The initial value of Hr is 5, corresponding to a TPU consumable with a hardness of 80A. For every 5A increase in the hardness of the TPU consumable, the value of Hr increases by 1; The processing unit calculates the height h of each massage point on the insole model through a formula, integrates the massage points into the insole model and transmits it to the printing module.

[0030] Among them, when the motion monitoring module records the patient's walking steps St, it synchronously records the static time t1 and the dynamic time t2. The static time t1 and the dynamic time t2 are recorded according to the interval time of the increase of the patient's walking steps St. The motion monitoring module presets a time threshold of 30 seconds. The patient's walking steps St do not increase at the time threshold, and the motion monitoring module starts timing. When the walking steps St increase again, the motion monitoring module stops timing and adds the recorded time to the time threshold to obtain the static period. All static periods are accumulated to obtain the static time t1. At the same time, the motion monitoring module starts timing again. When the patient's walking steps St do not increase again at the time threshold, the motion monitoring module starts timing again. The motion monitoring module subtracts the time recorded again from the time threshold to obtain the dynamic period. All dynamic periods are accumulated to obtain the dynamic time t2. The number of walking steps St is obtained through the built-in accelerometer of the motion monitoring module. The number of walking steps St is counted by recording the number of hand swings. The motion trajectory is obtained through the built-in GPS of the motion monitoring module in combination with the accelerometer. GPS is used for signal positioning outdoors, and the accelerometer is used for inertial positioning indoors.

[0031] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning, characterized by: It includes a processing unit, a motion monitoring module, a scanning module, a physical therapy module, a pressure module and a printing module, wherein the output ends of the motion monitoring module, the scanning module and the pressure module are all connected to the input end of the processing unit, the port of the physical therapy module establishes data communication with the port of the processing unit, and the output end of the processing unit is connected to the input end of the printing module; The motion monitoring module is the patient's smart terminal, and is used to obtain the patient's motion data and transmit it to the processing unit. The motion data includes the number of steps St, motion trajectory, static time t1 and dynamic time t2. The scanning module is a 3D foot meter, and is used to obtain the patient's foot vital sign data and transmit it to the processing unit. The pressure module is a pressure sensor matrix, and the pressure sensor matrix includes N sampling points. The pressure module obtains the pressure information p1, pressure information p2 and pressure information p3 of the patient's sole surface and transmits them to the processing unit. The processing unit transmits the patient's foot vital sign data and the pressure information p1 of the sole surface to the physical therapy module; The physiotherapy module is a server running a medical model. The physiotherapy module outputs a massage plan to a processing unit. The massage plan includes foot massage points and massage times F1. The processing unit generates an insole model and rigidity requirements according to the massage plan and foot physical sign data and transmits them to a printing module. The printing module prints the corresponding massage insole according to the adapted insole model and the rigidity requirements. The printing module is a 3D printer. The printing module automatically matches the corresponding TPU consumables according to the rigidity requirements. After the printing module matches the TPU consumables, it automatically slices the adapted insole model, and then executes the massage insole printing task. The processing unit executes a force analysis program to obtain a static pressure mean value , Static pressure fluctuation , Dynamic pressure fluctuation and directional pressure difference D, the processing unit executes a motion trajectory analysis program to obtain a motion trajectory complexity C, and the processing unit executes a static and dynamic analysis program to obtain a static index k1 and a dynamic index k2.

2. The 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning according to claim 1 is characterized in that: The static and dynamic analysis procedures are divided into two stages: static analysis process and dynamic analysis process; When the processing unit executes the static analysis process, the static proportional coefficients w1 and w2 are preset and initialized. The static proportional coefficients w1 and w2 satisfy the condition w1+w2=1. According to the formula Calculate the static index k1; When the processing unit executes the dynamic analysis process, the dynamic proportional coefficients w3, w4 and w5 are preset and initialized. The dynamic proportional coefficients w3, w4 and w5 satisfy the condition w3+w4+w5=1. According to the formula Calculate the dynamic index k2.

3. The 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning according to claim 1 is characterized in that: When the scanning module acquires the patient's foot vital sign data, the scanning module first sends a vertical laser scan to the sole of the patient's foot to obtain the contour of the patient's sole; The scanning module uses the patient's foot sole outline as the baseline and 2 cm inside and outside the baseline as the refinement area. The scanning module uses the deflection angle laser to scan the refinement area multiple times. The deflection angle of the deflection angle laser accumulates 1 degree each time the refinement area is scanned until the maximum angle is reached. The deflection angle range of the deflection angle laser is 1 degree to 15 degrees. The scanning module uses an angled laser to scan the sole of the patient's foot each time to obtain a scanning layer. The scanning module uniformly transmits the sole contour of the patient's foot and the plurality of scanning layers to the processing unit, aligns and unfolds the plurality of scanning layers with the sole contour of the foot to obtain a rough model of the patient's foot. Perform bilateral filtering on the rough model of the patient's foot to obtain a smooth model, and perform mesh simplification on the smooth model to obtain the patient's foot model; by Centimeters are used as the layer height benchmark to generate an insole model that matches the bottom surface of the foot model; Align and expand the massage points in the massage plan on the insole model.

4. The 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning according to claim 1 is characterized in that: When the processing unit executes the force analysis program, according to the formula Calculate the static pressure mean , N is the number of sampling points in the pressure sensor matrix when the patient is standing statically, i represents the i-th sampling point in the pressure sensor matrix, The value of the pressure information p1 obtained by the pressure sensor matrix at the i-th sampling point, the static pressure mean Reflects the intensity of the patient's foot pressure in a static state; According to the formula Calculation of static pressure fluctuations , i represents the i-th sampling point in the pressure sensor matrix, static pressure fluctuation Reflects the stability of the patient's foot pressure in a static state; According to the formula The standard deviation of the pressure difference between the unidirectional tilt and bidirectional tilt directions is calculated and labeled as the directional pressure difference D, is the average pressure value in the mth direction when tilted in one direction, is the average pressure value in the nth direction when tilted in both directions, and the directional pressure difference D is the accumulation of the squares of the pressure deviations in eight directions; According to the formula Calculation of dynamic pressure fluctuations , M is the total number of pressure sampling points of the patient in the dynamic state, M≤N, N is the number of sampling points of the pressure sensor matrix, is the pressure value of the i-th sampling point among the M pressure sampling points when the patient is tilted in one direction, The pressure value of the jth sampling point among the M pressure sampling points when the patient is in bidirectional tilt is accumulated, the square of the pressure deviation of all sampling points is calculated, the average variance of all sampling points is calculated, and the variance is converted into standard deviation to reflect the degree of fluctuation of dynamic pressure.

5. The 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning according to claim 1 is characterized in that: When the motion trajectory analysis program is executed, the processing unit disassembles the acquired motion trajectory in the following way: Set the dynamic filtering threshold ψ, count the total length L of the motion trajectory, mark the turning angles in the motion trajectory greater than 360°xψ as turning nodes, split the motion trajectory into several trajectory lines with the turning nodes as cutting points, and mark the trajectory lines with a length greater than Lxψ as linear displacement dis; Count the turning angles of all steering nodes and sum them up to get the total steering angle Tc. According to the formula Calculate the motion trajectory complexity C, where g is an adjustment parameter and satisfies the condition 1<g≤2.

6. The 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning according to claim 1 is characterized in that: The medical staff inputs the patient's physical examination information into the processing unit through the input device, and forwards the patient's physical examination information to the physical therapy module. The physical therapy module outputs a massage plan based on the patient's physical examination information, foot physical sign data, and pressure information p1 on the sole of the foot. The massage plan is as follows: The physical examination information is input into the physical therapy module, which determines the patient's symptoms and the severity of the disease, and then matches the acupoints according to the symptoms. The size of the patient's foot is obtained from the foot physical sign data, and the acupoints are aligned in proportion to the size of the foot to obtain the foot massage acupoints. The physiotherapy module outputs the massage degree of each foot massage point according to the severity of the disease, and quantifies the massage degree of each foot massage point into the number of massages F1 according to the distribution of the pressure information p1 on the sole of the foot; The physiotherapy module feeds back the foot massage points and massage times F1 to the processing unit.

7. The 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning according to claim 1 is characterized in that: The rigidity requirements for processing unit generation are obtained in the following way: Calculate the absolute value of the difference between the static index k1 and the dynamic index k2. If |k1-k2|≤250, use the standard rigid matching strategy. If |k1-k2|>250, the pressure distribution of the front and back of the patient's foot is uneven, and use the partitioned rigid matching strategy. When the standard rigidity matching strategy is implemented, the rigidity requirements of the TPU consumables are determined according to the value of the static index k1. When k1<500, TPU consumables with a hardness of 70A-80A are used. When 500≤k1≤1500, TPU consumables with a hardness of 85A-90A are used. When k1>1500, TPU consumables with a hardness of 90A-95A are used. When executing the partitioned rigidity matching strategy, the insole model is divided into the forefoot area, the arch area and the heel area. The forefoot area uses TPU consumables with a hardness of 70A-85A, the arch area uses TPU consumables with a hardness of 85A-90A, and the heel area uses TPU consumables with a hardness of 90A-95A.

8. The 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning according to claim 1 is characterized in that: The pressure data includes the pressure information p1 of the entire sole of the foot when the patient is standing, the pressure information p2 of the entire sole of the foot when the patient is tilted in one direction, and the pressure information p3 of the entire sole of the foot when the patient is tilted in two directions. The patient's unidirectional tilt includes four directions: tilting forward, tilting backward, tilting on the left side, and tilting on the right side. The patient's two-way tilt includes four directions: tilting 45° to the left front, tilting 45° to the right front, tilting 45° to the left back, and tilting 45° to the right back.

9. The 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning according to claim 1 is characterized in that: When the processing unit analyzes the massage points on the insole model, according to the formula Calculate the height h of the massage point on the insole model, F1 is the number of massages F1 in the massage plan, k1 is the static index, k2 is the dynamic index, t1 is the static time, t2 is the dynamic time, Hr is the hardness index of the TPU consumable, and the value of Hr changes according to the hardness of the TPU consumable of the insole model where the massage point is located. The initial value of Hr is 5, corresponding to a TPU consumable with a hardness of 80A. For every 5A increase in the hardness of the TPU consumable, the value of Hr increases by 1; The height h of each massage point on the insole model is calculated by a formula, and the massage points are integrated into the insole model and transmitted to the printing module.

10. The 3D printing system for Chinese medicine acupoint massage insoles based on digital sole scanning according to claim 1 is characterized in that: When the motion monitoring module records the patient's walking steps St, it synchronously records the static time t1 and the dynamic time t2. The static time t1 and the dynamic time t2 are recorded according to the interval time of the increase in the patient's walking steps St. The motion monitoring module presets a time threshold. When the patient's walking steps St do not increase at the time threshold, the motion monitoring module starts timing. When the walking steps St increase again, the motion monitoring module stops timing and adds the recorded time to the time threshold to obtain the static period. All static periods are accumulated to obtain the static time t1. At the same time, the motion monitoring module starts timing again. When the patient's walking steps St do not increase again at the time threshold, the motion monitoring module starts timing again. The motion monitoring module subtracts the time recorded again from the time threshold to obtain the dynamic period. All dynamic periods are accumulated to obtain the dynamic time t2. The number of walking steps St is obtained through the built-in accelerometer of the motion monitoring module. The number of walking steps St is counted by recording the number of hand swings. The motion trajectory is obtained through the built-in GPS of the motion monitoring module in combination with the accelerometer. GPS is used for signal positioning outdoors, and the accelerometer is used for inertial positioning indoors.

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