3D Printing System for Traditional Chinese Medicine Acupoint Massage Insole Based on Digital Foot Scan

Abstract

The present invention discloses a 3D printing system for traditional Chinese medicine acupoint massage insoles based on digital intelligent plantar scanning, which relates to the technical field of acupoint massage. The present invention includes a processing unit, a motion monitoring module, a scanning module, a physiotherapy module, a pressure module and a printing module. 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 physiotherapy module establishes data communication with the port of the processing unit. The output end of the processing unit is connected to the input end of the printing module. The motion monitoring module is the intelligent terminal of the patient. The motion monitoring module is used to obtain the motion data of the patient and transmit it to the processing unit. The present invention records the motion data of each patient, quantifies the foot sole pressure information, and conducts customized design of the insoles according to the foot physical sign data and pressure distribution of the patient, so that the 3D printed insoles can fit the patient's foot sole and improve the massage effect of the insole protrusions.

Description

Technical Field

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

[0002] In traditional Chinese medicine theory, the foot is an important reflex area of the human body meridians. By massaging the foot acupoints, the qi and blood circulation of the whole body can be regulated to achieve the effect of health preservation. For example, acupoints such as Yongquan acupoint and Taixi acupoint are closely related to the functions of organs such as the kidney and liver. Traditional Chinese medicine massage insoles promote blood circulation and metabolism by setting protrusions on the insoles to simulate the acupoint massage of the sole of the foot.

[0003] Traditional massage insoles have the following limitations: 1. Massage insoles usually adopt a standardized design and cannot fully fit the individual foot shape, resulting in poor massage effects; 2. It is impossible to adjust the pressing degree of the foot sole acupoints according to the physical conditions of different patients; 3. It is impossible to carry out customized design according to the foot sign data and pressure distribution of patients. Therefore, using 3D printing technology to customize acupoint massage insoles that meet patients is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

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

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A 3D printing system for traditional Chinese medicine acupoint massage insoles based on digital intelligent plantar scanning, including a processing unit, a motion monitoring module, a scanning module, a physiotherapy module, a pressure module, and a printing module. 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 physiotherapy module establishes data communication with the port of the processing unit. The output end of the processing unit is connected to the input end of the printing module;

[0006] The motion monitoring module is specifically the intelligent terminal of the patient. The motion monitoring module is used to obtain the motion data of the patient and transmit it to the processing unit. The motion data includes the number of walking steps St, the motion trajectory, the static time t1, and the dynamic time t2. The scanning module is specifically a 3D foot measurer. The scanning module is used to obtain the foot sign data of the patient and transmit it to the processing unit. The pressure module is specifically a pressure sensor matrix of the M1616L model. The pressure sensor matrix includes N sampling points. The pressure module obtains the pressure information p1, p2, and p3 on the sole of the patient's foot and transmits it to the processing unit. The processing unit transmits the foot sign data of the patient and the pressure information p1 on the sole of the foot to the physiotherapy module;

[0007] 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 a traditional Chinese medicine knowledge graph and an instruction dataset. The physiotherapy module outputs a massage plan to the processing unit. The massage plan includes foot massage acupoints and the number of massage times F1. The processing unit generates an insole model and a rigidity requirement based on the massage plan and the 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 the rigidity requirement. 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 with various different rigidities. The printing module automatically matches the corresponding TPU consumables according to the rigidity requirement. After the printing module matches the TPU consumables, it automatically slices the adapted insole model and then executes the massage insole printing task;

[0008] The processing unit executes a stress analysis program to obtain the static pressure mean value and the static pressure volatility and the dynamic pressure volatility and the direction pressure difference D. The processing unit executes a motion trajectory analysis program to obtain the motion trajectory complexity C. The processing unit executes a static-dynamic analysis program to obtain the static index k1 and the dynamic index k2.

[0009] Furthermore, the static-dynamic analysis program is divided into two stages: a static analysis process and a dynamic analysis process;

[0010] When the processing unit executes the static analysis process, the processing unit presets and initializes the static proportionality coefficient w1 and the static proportionality coefficient w2. The static proportionality coefficient w1 and the static proportionality coefficient w2 satisfy the condition w1 + w2 = 1. According to the formula calculate the static index k1;

[0011] When the processing unit executes the dynamic analysis process, the processing unit presets and initializes the dynamic proportionality coefficients w3, w4, and w5. The dynamic proportionality coefficients w3, w4, and w5 satisfy the condition w3 + w4 + w5 = 1. According to the formula calculate the dynamic index k2.

[0012] Furthermore, when the scanning module obtains the foot physical sign data of the patient, the scanning module first sends a vertical laser scan to the sole of the patient's foot to obtain the contour of the sole of the patient's foot;

[0013] The scanning module uses the contour of the patient's foot sole as the reference line, and takes the area 2 cm inside and outside the reference line as the refinement area. The scanning module uses a laser with an offset angle to scan the refinement area multiple times. Each time the refinement area is scanned, the deflection angle of the laser with an offset angle is accumulated by 1 degree until the maximum angle is reached. The deflection angle range of the laser with an offset angle is from 1 degree to 15 degrees, and the maximum angle of the laser with an offset angle is 15 degrees;

[0014] Each time the scanning module uses the laser with an offset angle to scan the patient's foot sole, a scanned layer is obtained. The scanning module transmits the contour of the patient's foot sole and several scanned layers to the processing unit uniformly. The processing unit aligns and unfolds several scanned layers with the contour of the foot sole to obtain a rough model of the patient's foot;

[0015] 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. Using the smooth modifier component in blender, the rough model can achieve a smooth transition on the surface of the rough model. Simplifying the mesh operation on the smooth model obtains the foot model of the patient;

[0016] The processing unit takes centimeters as the layer height reference to generate an insole model adapted to the bottom surface of the foot model in the software blender;

[0017] The processing unit aligns and unfolds the massage acupoints in the massage plan in the insole model.

[0018] Further, when the processing unit executes the force analysis program, according to the formula calculate the static pressure mean value , N is the number of sampling points of the pressure sensor matrix when the patient stands statically, i represents the i-th sampling point in the pressure sensor matrix, is the value of the pressure information p1 obtained by the pressure sensor matrix at the i-th sampling point when the patient stands. The static pressure mean value reflects the intensity of the foot sole pressure of the patient in the static state;

[0019] The processing unit calculates the static pressure volatility according to the formula , i represents the i-th sampling point in the pressure sensor matrix. The static pressure volatility reflects the stability of the foot sole pressure of the patient in the static state;

[0020] The processing unit calculates the standard deviation of the pressure difference between the unidirectional tilt and the bidirectional tilt directions according to the formula and marks it as the directional pressure difference D, is the average pressure value in the m-th direction during unidirectional tilt, ​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;

[0021] 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.

[0022] Furthermore, when the motion trajectory analysis program is executed, the processing unit disassembles the acquired motion trajectory in the following manner:

[0023] 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;

[0024] 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.

[0025] 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:

[0026] 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.

[0027] The physiotherapy module outputs the massage intensity of each foot massage acupoint according to the severity of the disease, and quantifies the massage intensity of each foot massage acupoint into the number of massages F1 according to the distribution of the pressure information p1 on the sole of the foot.

[0028] The physiotherapy module feeds back the foot massage acupoints and the number of massages F1 to the processing unit.

[0029] Furthermore, the processing unit generates the rigidity requirement in the following way:

[0030] The processing unit calculates the absolute value of the subtraction of the static index k1 and the dynamic index k2. If |k1 - k2| ≤ 250, it means that the dynamic and static pressure distributions of the patient's foot sole are relatively balanced, and a standard rigidity matching strategy is adopted. If |k1 - k2| > 250, it means that the front-back pressure distribution of the patient's foot sole is unbalanced, and the pressure distribution information between the forefoot area, the arch area and the heel area is quite different, and a partitioned rigidity matching strategy is adopted;

[0031] 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, TPU consumables with a hardness of 70A - 80A are used, with high elasticity to provide uniform cushioning for the whole sole. When 500 ≤ k1 ≤ 1500, TPU consumables with a hardness of 85A - 90A are used, with the forefoot for cushioning and the arch providing support. When k1 > 1500, TPU consumables with a hardness of 90A - 95A are used, which are more stable and improve the anti-torsion performance of the insole;

[0032] When the processing unit executes the partitioned rigidity matching strategy, the processing unit divides the insole model into the forefoot area, the arch area and the heel area. The forefoot area uses TPU consumables with a hardness of 70A - 85A, with high elasticity to fully absorb the impact force. The arch area uses TPU consumables with a hardness of 85A - 90A, with medium-high hardness to provide sufficient support force. The heel area uses TPU consumables with a hardness of 90A - 95A, with high hardness to enhance the stability of the insole.

[0033] Furthermore, the pressure data includes the pressure information p1 of the whole sole of the foot when the patient stands, the pressure information p2 of the whole sole of the foot when the patient tilts unidirectionally, and the pressure information p3 of the whole sole of the foot when the patient tilts bidirectionally. The patient's unidirectional tilt includes four directions: forward tilt, backward tilt, left tilt and right tilt. The patient's bidirectional tilt includes four directions: 45° forward left tilt, 45° forward right tilt, 45° backward left tilt and 45° backward right tilt.

[0034] Furthermore, when the processing unit analyzes the massage acupoints on the insole model, according to the formula Calculate the height h of the massage acupoints on the insole model. F1 is the number of massage times 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, and Hr is the hardness index of the TPU consumable. The value of Hr changes according to the hardness of the TPU consumable where the massage acupoint is located on the insole model. The initial value of Hr is 5, corresponding to the 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;

[0035] The processing unit calculates the height h of each massage acupoint on the insole model through a formula, integrates the massage acupoints into the insole model, and transmits it to the printing module.

[0036] Furthermore, when the motion monitoring module records the walking steps St of the patient, it synchronously records the static time t1 and the dynamic time t2. The static time t1 and the dynamic time t2 are recorded at intervals of the increase in the walking steps St of the patient. The motion monitoring module presets a time threshold. When the walking steps St of the patient 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. The sum of all static periods is the static time t1. At the same time, the motion monitoring module starts timing again. When the walking steps St of the patient 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. The sum of all dynamic periods is the dynamic time t2;

[0037] The walking steps St are obtained through the acceleration sensor built in the motion monitoring module. The walking steps St are counted by recording the number of arm swings. The motion trajectory is obtained through the GPS built in the motion monitoring module in cooperation with the acceleration sensor. GPS is used for signal positioning outdoors, and the acceleration sensor is used for inertial positioning indoors.

[0038] The present invention has the following beneficial effects:

[0039] 1. By recording the motion data of each patient, quantifying the foot sole pressure information, and customizing the insole according to the foot physical sign data and pressure distribution of the patient, the 3D printed insole can fully fit the patient's foot sole, improving the massage effect of the insole protrusions.

[0040] 2. Referring to the health status of each patient, obtaining a targeted massage plan, and then matching the appropriate rigid printing consumables according to the pressure distribution of the patient's foot sole, adjusting the height of each massage acupoint on the insole, and automatically massaging the acupoints on the foot sole when the patient wears the insole, realizing the massage plan.

[0041] Of course, it is not necessary for any product implementing the present invention to achieve all the above-mentioned advantages simultaneously. Brief Description of the Drawings

[0042] 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 in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0043] Figure 1 It is a block diagram of a 3D printing system for a traditional Chinese medicine acupoint massage insole based on digitalized plantar scanning according to the present invention;

[0044] Figure 2 It is a schematic diagram of the printing process of the massage insole according to the present invention. Detailed Embodiments

[0045] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0046] Please refer to Figure 1-2 , the present invention provides a technical solution: a 3D printing system for a traditional Chinese medicine acupoint massage insole based on digitalized plantar scanning, including a processing unit, a motion monitoring module, a scanning module, a physiotherapy module, a pressure module, and a printing module. 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 physiotherapy module establishes data communication with the port of the processing unit. The output end of the processing unit is connected to the input end of the printing module;

[0047] The motion monitoring module is specifically the intelligent terminal of the patient, including a worn motion monitoring bracelet, watch, mobile phone, tablet, etc. The motion monitoring module is used to obtain the motion data of the patient and transmit it to the processing unit. The motion data includes the number of walking steps St, the motion trajectory, the static time t1, and the dynamic time t2. The scanning module is specifically a 3D foot scanner. The scanning module is used to obtain the foot sign data of the patient and transmit it to the processing unit. The pressure module is specifically an M1616L type 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 on the sole of the patient's foot and transmits it to the processing unit. The processing unit transmits the foot sign data of the patient and the pressure information p1 on the sole of the foot to the physiotherapy module;

[0048] 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 datasets. The physiotherapy module outputs a massage plan to the processing unit. The massage plan includes the foot massage acupoints and the number of massage times F1. The processing unit generates an insole model and rigidity requirements based on the massage plan and the foot physical sign data and transmits them to the printing module. The printing module prints the corresponding massage insoles 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 with various different 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;

[0049] The processing unit executes a force analysis program to obtain the static pressure mean value and the static pressure volatility and the dynamic pressure volatility and the directional pressure difference D. The processing unit executes a motion trajectory analysis program to obtain the motion trajectory complexity C. The processing unit executes a static-dynamic analysis program to obtain the static index k1 and the dynamic index k2.

[0050] Among them, the static-dynamic analysis program is divided into two stages: a static analysis process and a dynamic analysis process;

[0051] When the processing unit executes the static analysis process, the processing unit presets and initializes the static proportionality coefficient w1 and the static proportionality coefficient w2. After initialization, the value of the static proportionality coefficient w1 is 0.7, and the value of the static proportionality coefficient w2 after initialization is 0.3. The static proportionality coefficient w1 and the static proportionality coefficient w2 satisfy the condition w1 + w2 = 1. According to the formula calculate the static index k1;

[0052] When the processing unit executes the dynamic analysis process, the processing unit presets and initializes the dynamic proportionality coefficients w3, w4, and w5. After initialization, the value of the dynamic proportionality coefficient w3 is 0.5, the value of the dynamic proportionality coefficient w4 after initialization is 0.3, and the value of the dynamic proportionality coefficient w5 after initialization is 0.2. The dynamic proportionality coefficient w3, the dynamic proportionality coefficient w4, and the dynamic proportionality coefficient w5 satisfy the condition w3 + w4 + w5 = 1. According to the formula calculate the dynamic index k2.

[0053] Among them, when the scanning module obtains the foot physical sign data of the patient, the scanning module first sends a vertical laser scan to the patient's foot sole to obtain the contour of the patient's foot sole;

[0054] The scanning module uses the contour of the patient's foot sole as the reference line, and takes the area 2 cm inside and outside the reference line as the refinement area. The scanning module uses a laser with an offset angle to scan the refinement area multiple times. Each time the refinement area is scanned, the deflection angle of the laser with an offset angle is incremented by 1 degree until the maximum angle is reached. The deflection angle range of the laser with an offset angle is from 1 degree to 15 degrees, and the maximum angle of the laser with an offset angle is 15 degrees;

[0055] Each time the scanning module uses the laser with an offset angle to scan the patient's foot sole, it obtains a point cloud, aligns the layers using the ICP algorithm, and removes noise through filtering to obtain a scanned layer. The scanning module transfers the contour of the patient's foot sole and several scanned layers to the processing unit. The processing unit aligns and unfolds several scanned layers with the contour of the foot sole to obtain a rough model of the patient's foot;

[0056] 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. Using the smooth modifier component in blender, the surface of the rough model can be smoothly transitioned, and the mesh of the smooth model is simplified to obtain the foot model of the patient;

[0057] The processing unit takes centimeters as the layer height reference to generate an insole model adapted to 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 reference of the generated insole model, the more layers the insole model has, the higher the fineness of the insole model, and the stronger the support force after printing;

[0058] The processing unit aligns and unfolds the massage acupoints in the massage plan in the insole model.

[0059] 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 of the pressure sensor matrix when the patient stands statically, i represents the i-th sampling point in the pressure sensor matrix, is the value of the pressure information p1 obtained by the pressure sensor matrix at the i-th sampling point when the patient stands, and the static pressure mean reflects the intensity of the foot sole pressure of the patient in the static state;

[0060] The processing unit calculates the static pressure volatility according to the formula , i represents the i-th sampling point in the pressure sensor matrix, and the static pressure volatility reflects the stability of the foot sole pressure of the patient in the static state;

[0061] The processing unit 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.

[0062] 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.

[0063] When the motion trajectory analysis program is executed, the processing unit disassembles the acquired motion trajectory in the following manner:

[0064] 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;

[0065] 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.

[0066] Among them, medical staff input the physical examination information of the patient into the processing unit through input devices such as keyboards and mice. The processing unit forwards the physical examination information of the patient to the physiotherapy module. The physiotherapy module outputs a massage plan according to the physical examination information of the patient, the foot sign data, and the pressure information p1 on the sole of the foot. The massage plan is as follows:

[0067] The physical examination information is input into the physiotherapy module. The physiotherapy module judges the patient's symptoms and the severity of the disease, then matches the acupoints according to the symptoms, obtains the size of the patient's foot from the foot sign data, and expands and aligns the acupoints in proportion to the size of the foot to obtain the foot massage acupoints;

[0068] The physiotherapy module outputs the massage degree of each foot massage acupoint according to the severity of the disease, and quantifies the massage degree of each foot massage acupoint into the massage times F1 according to the distribution of the pressure information p1 on the sole of the foot;

[0069] The physiotherapy module feeds back the foot massage acupoints and the massage times F1 to the processing unit.

[0070] Among them, the processing unit obtains the rigid requirement through the following method:

[0071] The processing unit calculates the absolute value of the subtraction of the static index k1 and the dynamic index k2. If |k1 - k2| ≤ 250, it means that the dynamic and static pressure distributions of the patient's foot sole are relatively balanced, and the standard rigid matching strategy is adopted. If |k1 - k2| > 250, it means that the front-back pressure distribution of the patient's foot sole is unbalanced, and the pressure distribution information between the forefoot area, the arch area, and the heel area is quite different, and the zoning rigid matching strategy is adopted;

[0072] When the processing unit executes the standard rigid matching strategy, the processing unit determines the rigid requirement of the TPU consumable according to the value of the static index k1. When k1 < 500, the TPU consumable with a hardness of 70A - 80A is adopted, with high elasticity to provide uniform cushioning for the whole foot sole. When 500 ≤ k1 ≤ 1500, the TPU consumable with a hardness of 85A - 90A is adopted, with the forefoot for cushioning and the arch providing support. When k1 > 1500, the TPU consumable with a hardness of 90A - 95A is adopted, which is more stable and improves the anti-torsion performance of the insole;

[0073] When the processing unit executes the zoning rigid matching strategy, the processing unit divides the insole model into the forefoot area, the arch area, and the heel area. The forefoot area adopts the TPU consumable with a hardness of 70A - 85A, with high elasticity to fully absorb the impact force. The arch area adopts the TPU consumable with a hardness of 85A - 90A, with medium-high hardness to provide sufficient support force. The heel area adopts the TPU consumable with a hardness of 90A - 95A, with high hardness to enhance the stability of the insole.

[0074] Among them, the pressure data includes the pressure information p1 of the entire sole surface when the patient stands, the pressure information p2 of the entire sole surface when the patient tilts unidirectionally, and the pressure information p3 of the entire sole surface when the patient tilts bidirectionally. The patient's unidirectional tilt includes four directions: forward tilt, backward tilt, leftward tilt, and rightward tilt. The patient's bidirectional tilt includes four directions: 45° forward left tilt, 45° forward right tilt, 45° backward left tilt, and 45° backward right tilt.

[0075] Among them, when the processing unit analyzes the massage acupoints on the insole model, according to the formula calculate the height h of the massage acupoints on the insole model. F1 is the number of massage times 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. The value of Hr changes according to the hardness of the TPU consumable where the massage acupoint is located on the insole model. The initial value of Hr is 5, corresponding to the 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;

[0076] The processing unit calculates the height h of each massage acupoint on the insole model through the formula, integrates the massage acupoints into the insole model and transmits them to the printing module.

[0077] Among them, when the motion monitoring module records the walking steps St of the patient, it synchronously records the static time t1 and the dynamic time t2. The static time t1 and the dynamic time t2 are recorded at intervals of the increase in the walking steps St of the patient. The motion monitoring module presets a time threshold of 30 seconds. When the walking steps St of the patient 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. The sum of all static periods is the static time t1. At the same time, the motion monitoring module starts timing again. When the walking steps St of the patient 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. The sum of all dynamic periods is the dynamic time t2;

[0078] The walking steps St are obtained through the acceleration sensor built in the motion monitoring module. The walking steps St are counted by recording the number of arm swings. The motion trajectory is obtained through the GPS built in the motion monitoring module in cooperation with the acceleration sensor. GPS is used for signal positioning outdoors, and the acceleration sensor is used for inertial positioning indoors.

[0079] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, shall be covered by the protection scope of the present invention.

Claims

1. A 3D printing system for traditional Chinese medicine acupoint massage insoles based on digital intelligent plantar scanning, characterized in that: It includes a processing unit, a motion monitoring module, a scanning module, a physiotherapy module, a pressure module, and a printing module. 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 physiotherapy module establishes data communication with the port of the processing unit. 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. 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 walking steps St, the motion trajectory, the static time t1, and the dynamic time t2. The scanning module is a 3D foot measurer. The scanning module is used to obtain the patient's foot physical sign data and transmit it to the processing unit. The pressure module is a pressure sensor matrix. The pressure sensor matrix includes N sampling points. The pressure module obtains the pressure information p1, p2, and p3 on the patient's sole and transmits it to the processing unit. The processing unit transmits the patient's foot physical sign data and the pressure information p1 on the sole to the physiotherapy module; The physiotherapy module is a server running a medical model. The physiotherapy module outputs a massage plan to the processing unit. The massage plan includes the foot massage acupoints and the number of massages F1. The processing unit generates an insole model and a rigidity requirement according to the massage plan and the foot physical sign data and transmits it to the printing module. The printing module prints the corresponding massage insole according to the adapted insole model and the rigidity requirement. The printing module is a 3D printer. The printing module automatically matches the corresponding TPU consumables according to the rigidity requirement. 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 the mean static pressure , the static pressure volatility , the dynamic pressure volatility and the directional pressure difference D. The processing unit executes a motion trajectory analysis program to obtain the motion trajectory complexity C, and the processing unit executes a static-dynamic analysis program to obtain the static index k1 and the dynamic index k2; When the processing unit executes the force analysis program, according to the formula Calculate the mean static pressure , where N is the number of sampling points of the pressure sensor matrix when the patient stands statically, and i represents the i-th sampling point in the pressure sensor matrix. is the value of the pressure information p1 obtained by the pressure sensor matrix at the i-th sampling point. The mean static pressure reflects the intensity of the foot sole pressure of the patient in the static state. According to the formula calculate the static pressure fluctuation , where i represents the i-th sampling point in the pressure sensor matrix, and the static pressure fluctuation reflects the stability of the foot sole pressure of the patient in the static state; According to the formula Calculate the standard deviation of the pressure difference between the unidirectional tilt and the bidirectional tilt directions and label it as the directional pressure difference D. is the average pressure value in the m-th direction during unidirectional tilt. is the average pressure value in the n-th direction during bidirectional tilt. The directional pressure difference D is the sum of the squared pressure deviations in eight directions. According to the formula Calculate the dynamic pressure volatility , where M is the total number of pressure sampling points of the patient in the dynamic state, M ≤ N, and 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 unidirectionally, is the pressure value of the j-th sampling point among the M pressure sampling points when the patient is tilted bidirectionally. The sum of the squares of the pressure deviations of all sampling points is accumulated, the average variance of all sampling points is calculated, and the variance is converted into a standard deviation to reflect the fluctuation degree of the dynamic pressure; When the motion trajectory analysis program is executed, the processing unit disassembles the obtained motion trajectory. The disassembly method is as follows: Set a dynamic filtering threshold ψ, calculate the total length L of the motion trajectory, mark the turning angles greater than 360°×ψ in the motion trajectory as turning nodes, use the turning nodes as cutting points to disassemble the motion trajectory into several trajectory lines, and mark the trajectory lines with a length greater than L×ψ as linear displacements dis; Sum up the turning angles of all turning nodes to obtain the total turning angle Tc, and calculate the motion trajectory complexity C according to the formula where g is a tuning parameter and satisfies the condition 1 < g ≤ 2; The rigidity requirement generated by the processing unit is obtained through the following method: Calculate the absolute value of the subtraction of the static index k1 and the dynamic index k2. If |k1 - k2| ≤ 250, adopt the standard rigidity matching strategy. If |k1 - k2| > 250, the pressure distribution on the front and back of the patient's foot sole is uneven, and adopt the partitioned rigidity matching strategy; When implementing the standard rigidity matching strategy, determine the rigidity requirement of the TPU consumables according to the value of the static index k1. When k1 < 500, use TPU consumables with a hardness of 70A - 80A. When 500 ≤ k1 ≤ 1500, use TPU consumables with a hardness of 85A - 90A. When k1 > 1500, use TPU consumables with a hardness of 90A - 95A; When implementing the partitioned rigidity matching strategy, divide the insole model 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; When the processing unit analyzes the massage acupoints on the insole model, according to the formula calculate the height h of the massage acupoints on the insole model, F1 is the number of massages in the massage plan F1, 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 where the massage acupoint is located on the insole model. The initial value of Hr is 5, corresponding to the 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; Calculate the height h of each massage acupoint on the insole model through the formula, integrate the massage acupoints into the insole model and transmit them to the printing module.

2. The 3D printing system of traditional Chinese medicine acupoint massage insoles based on digital intelligent plantar scanning according to claim 1, characterized in that The static and dynamic analysis program is divided into two stages: the static analysis process and the dynamic analysis process; When the processing unit executes the static analysis process, preset static proportionality coefficients w1 and w2 and initialize them. The static proportionality coefficient w1 and the static proportionality coefficient w2 satisfy the condition w1 + w2 = 1. According to the formula calculate the static exponent k1; When the processing unit executes the dynamic analysis process, preset the dynamic proportionality coefficients w3, w4, and w5 and initialize them. The dynamic proportionality 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 of traditional Chinese medicine acupoint massage insoles based on digitalized plantar scanning according to claim 1, characterized in that When the scanning module obtains the foot sign data of the patient, the scanning module first sends a vertical laser scan to the patient's foot sole to obtain the contour of the patient's foot sole; Taking the contour of the patient's foot sole as the reference line by the scanning module, the area within 2 cm inside and outside the reference line is taken as the refinement area. The scanning module uses a laser with a deviation angle to scan the refinement area multiple times. The deflection angle of the laser with a deviation angle accumulates 1 degree each time until the maximum angle is reached. The deflection angle range of the laser with a deviation angle is from 1 degree to 15 degrees; Each time the scanning module uses a laser with a deviation angle to scan the patient's foot sole to obtain a scanned layer. The scanning module uniformly transmits the contour of the patient's foot sole and several scanned layers to the processing unit, aligns and unfolds the several scanned layers with the contour of the foot sole 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 a simplified mesh operation on the smooth model to obtain the foot model of the patient; Taking centimeters as the floor height reference, an insole model adapted to the bottom surface of the foot model is generated; Align and unfold the massage acupoints in the massage plan in the insole model.

4. The 3D printing system for traditional Chinese medicine acupoint massage insoles based on digitalized plantar scanning according to claim 1, characterized in that Medical staff input the physical examination information of the patient into the processing unit through the input device, forward the physical examination information of the patient to the physiotherapy module, and the physiotherapy module outputs a massage plan according to the physical examination information of the patient, the foot sign data and the pressure information p1 on the sole surface. The massage plan is as follows: The physical examination information is input into the physiotherapy module. The physiotherapy module judges the patient's symptoms and the severity of the disease, then matches the acupoints according to the symptoms, obtains the size of the patient's foot from the foot sign data, and expands and aligns the acupoints proportionally in the size of the patient's foot to obtain the foot massage acupoints; The physiotherapy module outputs the massage degree of each foot massage acupoint according to the severity of the disease, and quantifies the massage degree of each foot massage acupoint into the massage times F1 according to the distribution of the pressure information p1 on the sole surface; The physiotherapy module feeds back the foot massage acupoints and the massage times F1 to the processing unit.

5. The 3D printing system of traditional Chinese medicine acupoint massage insoles based on digital intelligent plantar scanning according to claim 1, characterized in that, The pressure data includes the pressure information p1 on the entire sole surface when the patient stands, the pressure information p2 on the entire sole surface when the patient tilts unidirectionally, and the pressure information p3 on the entire sole surface when the patient tilts bidirectionally. The patient's unidirectional tilt includes four directions: forward tilt, backward tilt, leftward tilt and rightward tilt. The patient's bidirectional tilt includes four directions: 45° forward left tilt, 45° forward right tilt, 45° backward left tilt and 45° backward right tilt.

6. The 3D printing system of traditional Chinese medicine acupoint massage insoles based on digitalized plantar scanning according to claim 1, wherein When the motion monitoring module records the number of walking steps St of the patient, it synchronously records the static time t1 and the dynamic time t2. The static time t1 and the dynamic time t2 are recorded at intervals as the number of walking steps St of the patient increases. The motion monitoring module presets a time threshold. When the number of walking steps St of the patient does not increase at the time threshold, the motion monitoring module starts timing. When the number of walking steps St increases again, the motion monitoring module stops timing and adds the recorded time to the time threshold to obtain the static period. The sum of all static periods is the static time t1. At the same time, the motion monitoring module starts timing again. When the number of walking 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 threshold from the time recorded again to obtain the dynamic period. The sum of all dynamic periods is the dynamic time t2; The number of walking steps St is obtained through the acceleration sensor built in the motion monitoring module. The number of walking steps St is counted by recording the number of arm swings. The motion trajectory is obtained through the GPS built in the motion monitoring module in cooperation with the acceleration sensor. GPS is used for signal positioning outdoors, and the acceleration sensor is used for inertial positioning indoors.

Images