Personalized orthopedic insole manufacturing method, device and equipment and storage medium

Abstract

The invention discloses a personalized orthopedic insole manufacturing method and device, equipment and a storage medium. The method comprises the steps that foot shape geometric data of a patient and a foot reference model of a flatfoot are obtained; constructing a scaling function based on the foot shape geometric data and the foot reference model, and scaling reference data in the foot reference model according to the scaling function to construct a foot complex finite element model of the patient; constructing an initial orthopedic insole model based on foot shape geometric data, importing the foot complex finite element model into the initial orthopedic insole model, and determining a final orthopedic insole finite element model in combination with model parameters input by a user; and manufacturing the orthopedic insole according to the final orthopedic insole finite element model. According to the method, the ankle internal skeleton structure of the patient can be obtained by scaling the foot reference model of the flatfoot, and then the orthopedic insole model is constructed, so that the acquisition of a large amount of foot MRI data of the patient is not needed, and the manufacturing of the orthopedic insole is more convenient and rapid.

Description

Technical Field

[0001] The present application relates to the technical field of personalized orthotic insole manufacturing, and particularly to a method, device, equipment and storage medium for manufacturing personalized orthotic insoles. Background Art

[0002] The ankle-foot complex structure is one of the most complex structures in the human musculoskeletal system, which includes 28 bones, 33 joints, complex ligaments, tendons, intrinsic foot muscles and extrinsic foot muscles. The delicate foot structure can provide the stability and shock absorption required for upright walking, while minimizing energy consumption. An abnormal foot arch, such as flat feet, will cause hindfoot valgus and forefoot abduction during gait walking. Due to the mutual coupling of the lower limb joint system, the collapse of the foot arch will lead to changes in the kinematics and dynamics of the lower limb joints, causing diseases such as knee arthritis and plantar fasciitis, and problems such as knee, hip, and even lumbar pain. Personalized orthotic insoles can correct the ankle-foot alignment and reduce the plantar pressure, thereby alleviating regional foot pain. Personalized orthotic insoles are considered one of the means of conservative intervention for foot pain. However, due to the individual differences of the subjects and the differences in the shapes and materials of the orthotic insoles, there is currently no consensus on the design standards and functional effects of flat orthotic insoles. The optimized design based on the foot shape and the internal biomechanics of the ankle-foot can provide a theoretical reference for the rapid optimized design of orthotic insoles, thereby reducing the trial-and-error cost of manufacturing 3D correction insoles. Although there are many personalized design methods for foot orthotic insoles at present, there are still deficiencies in the personalized optimized design method of orthotic insoles in China.

[0003] Currently, the design of orthotic insoles is mainly based on the surface shape of the foot and the experience of orthotists, but it cannot predict the impact of orthotic insoles on the internal biomechanics of the ankle-foot, resulting in poor effects of the designed orthotic insoles. To address this problem, currently, the internal biomechanics of the ankle-foot is modeled to reduce the impact brought by the internal biomechanics of the ankle-foot. However, this modeling method requires collecting the MRI data of the patient, and the collection of MRI data depends on nuclear magnetic resonance equipment, making the data collection process complex and with large side effects, and the modeling time is long and the cost is high, making it difficult to be popularized and applied clinically. Summary of the Invention

[0004] In view of this, the present application provides a method, device, equipment and storage medium for manufacturing personalized orthotic insoles to solve the problems of complex and long data collection process in the existing orthotic insole manufacturing methods.

[0005] To solve the above technical problems, a technical solution adopted in this application is: to provide a method for manufacturing a personalized orthotic insole, which includes: obtaining the foot shape geometric data of a patient, and obtaining a pre-constructed foot reference model for flat feet, the foot reference model including reference bone geometric data and reference muscle attachment point data; constructing a scaling function based on the foot shape geometric data and the foot reference model, and scaling the reference bone geometric data and the reference muscle attachment point data according to the scaling function to obtain target bone geometric data and target muscle attachment point data; constructing a foot complex finite element model according to the target bone geometric data and the target muscle attachment point data; constructing an initial orthotic insole model based on the foot shape geometric data, importing the foot complex finite element model into the initial orthotic insole model, and then determining the final orthotic insole finite element model in combination with the model parameters input by the user; manufacturing an orthotic insole according to the final orthotic insole finite element model.

[0006] As a further improvement of this application, the constructing a scaling function based on the foot shape geometric data and the foot reference model includes: respectively extracting the reference bone landmark points on the foot surface in the foot reference model and the target bone landmark points in the foot shape geometric data, and determining the correspondence between the reference bone landmark points and the target bone landmark points; constructing a scaling function according to the scaling change relationship between the coordinates of the reference bone landmark points and the coordinates of the target bone landmark points.

[0007] As a further improvement of this application, the bone landmark points include at least one of the heel, the middle position of the sole of the foot, the medial malleolus, the lateral malleolus, the tuberosity of the navicular bone, the distal end of the navicular bone, the base of the first / second / third / fourth / fifth metatarsal bone, and the first / second / third / fourth / fifth toe.

[0008] As a further improvement of this application, after constructing the foot complex finite element model according to the target bone geometric data and the target muscle attachment point data, it further includes: obtaining the gait data of the patient; extracting the foot muscle force data and joint force data from the gait data based on the musculoskeletal dynamics model; using the foot muscle force data and the joint force data as the boundary conditions of the foot complex finite element model.

[0009] As a further improvement of the present application, the method for constructing an initial orthotic insole model based on the foot shape geometric data, importing the finite element model of the foot complex into the initial orthotic insole model, and then determining the final finite element model of the orthotic insole in combination with the model parameters input by the user includes: constructing an initial orthotic insole model based on the foot shape geometric data, importing the finite element model of the foot complex into the initial orthotic insole model, and determining the parameters of the finite element model according to the data input by the user to obtain the finite element model of the orthotic insole; substituting multiple pre-constructed groups of insole parameter sets into the finite element model of the orthotic insole respectively and performing analysis to determine the target insole parameter set when the plantar pressure distribution and the load on the internal soft tissues of the foot are optimal; and determining the final finite element model of the orthotic insole according to the finite element model of the orthotic insole and the target insole parameter set.

[0010] As a further improvement of the present application, the foot reference model is constructed based on the foot MRI data of a large number of flat-foot patients, and the foot MRI data includes the reference bone geometric data and the reference muscle attachment point data.

[0011] As a further improvement of the present application, the obtaining of the foot shape geometric data of the patient includes: obtaining the foot shape geometric data of the patient when the foot bears 50% of the body weight.

[0012] To solve the above technical problems, another technical solution adopted by the present application is: to provide a personalized orthotic insole manufacturing device, which includes: an acquisition module for acquiring the foot shape geometric data of the patient and acquiring a pre-constructed foot reference model of flat feet, where the foot reference model includes reference bone geometric data and reference muscle attachment point data; a function construction module for constructing a scaling function based on the foot shape geometric data and the foot reference model, and scaling the reference bone geometric data and the reference muscle attachment point data according to the scaling function to obtain target bone geometric data and target muscle attachment point data; a model construction module for constructing a finite element model of the foot complex according to the target bone geometric data and the target muscle attachment point data; a determination module for constructing an initial orthotic insole model based on the foot shape geometric data, importing the finite element model of the foot complex into the initial orthotic insole model, and then determining the final finite element model of the orthotic insole in combination with the model parameters input by the user; and a manufacturing module for manufacturing an orthotic insole according to the final finite element model of the orthotic insole.

[0013] To solve the above technical problems, another technical solution adopted by the present application is: to provide a computer device, which includes a processor and a memory coupled to the processor. Program instructions are stored in the memory, and when the program instructions are executed by the processor, the processor executes the steps of the personalized orthotic insole manufacturing method as described in any one of the above.

[0014] To solve the above technical problems, another technical solution adopted in this application is: to provide a storage medium storing program instructions capable of implementing the personalized orthotic insole manufacturing method described in any one of the above.

[0015] The beneficial effects of this application are as follows: The personalized orthotic insole manufacturing method of this application obtains the foot shape geometric data of the patient and the foot reference model pre-constructed based on a large number of flat-foot patients. Then, a scaling function is constructed using the foot shape geometric data and the foot reference model. The scaling function is used to scale the bone geometric data and muscle attachment point data of the foot reference model to obtain the bone geometric data and muscle attachment point data of the patient. Then, a finite element model of the patient's foot complex is constructed using the bone geometric data and muscle attachment point data of the patient. Finally, the final orthotic insole finite element model is constructed by combining the finite element model of the foot complex, the foot shape geometric data, and the finite element model parameters input by the user. When constructing the finite element model of the foot complex including the foot shape characteristics and foot bone characteristics, only the foot shape geometric data of the patient needs to be collected, and the foot MRI data of the patient does not need to be collected, which makes the data collection process more convenient and fast, and there is no need to model according to the MRI data, making the construction process of the orthotic insole model faster, thus improving the manufacturing process of the orthotic insole. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flowchart of the personalized orthotic insole manufacturing method according to an embodiment of the present invention;

[0017] Figure 2 is a structural schematic diagram of the foot reference model and foot shape geometry of the personalized orthotic insole manufacturing method according to an embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of the functional modules of the personalized orthotic insole manufacturing device according to an embodiment of the present invention;

[0019] Figure 4 is a structural schematic diagram of the computer device according to an embodiment of the present invention;

[0020] Figure 5 is a structural schematic diagram of the storage medium according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the protection scope of this application.

[0022] The terms "first", "second", and "third" in this application are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", and "third" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and explicitly defined. In the embodiments of this application, all directional indications (such as up, down, left, right, front, back...) are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the drawings). If the specific posture changes, then the directional indications will also change accordingly. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0023] Referring to "embodiments" herein means that specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appearing at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0024] Figure 1 is a schematic flowchart of a method for manufacturing a personalized orthotic insole according to an embodiment of the present invention. It should be noted that if there are substantially the same results, the method of the present invention is not limited to Figure 1 the process sequence shown. As Figure 1 shown, the method for manufacturing the personalized orthotic insole includes the steps:

[0025] Step S101: Obtain the foot shape geometric data of the patient, and obtain a pre-constructed foot reference model for flat feet, where the foot reference model includes reference bone geometric data and reference muscle attachment point data.

[0026] Specifically, before manufacturing the personalized orthotic insole in this embodiment, a handheld foot shape scanning device can be used to scan the patient's foot to quickly obtain the foot shape geometric data of the patient. The foot reference model is constructed based on the imaging data of a large number of flat-foot patients, so the foot reference model includes reference bone geometric data and reference muscle attachment point data.

[0027] Further, in order to more reasonably imitate the geometric data of the foot shape when a human body stands, in this embodiment, the steps of obtaining the geometric data of the foot shape of a patient specifically include: obtaining the geometric data of the foot shape when the patient's foot bears 50% of the body weight.

[0028] Specifically, when a human body stands, the body weight is borne by two legs. Therefore, for a single foot, in this embodiment, the geometric data of the foot shape when it bears 50% of the body weight is collected.

[0029] Further, the foot reference model is constructed based on the foot MRI data of a large number of flat-foot patients. The foot MRI data includes reference bone geometric data and reference muscle attachment point data.

[0030] Specifically, after obtaining a large amount of foot MRI data, data such as the internal bones, muscles, ligaments, foot surface, and muscle attachment points of the foot are extracted from it. Then, a statistical shape model of the ankle complex is constructed based on these data and used as the foot reference model. This foot reference model is established using the MRI data of a large number of flat-foot patients and can accurately reflect the foot shape characteristics of flat feet and the internal bone characteristics of the ankle.

[0031] Step S102: Construct a scaling function based on the foot shape geometric data and the foot reference model, and scale the reference bone geometric data and the reference muscle attachment point data according to the scaling function to obtain the target bone geometric data and the target muscle attachment point data.

[0032] Specifically, after obtaining the geometric data of the foot shape of the patient and the foot reference model, the landmark point data are respectively extracted from the geometric data of the foot shape and the foot reference model. Then, a scaling function between the geometric data of the foot shape and the foot reference model is constructed using the landmark point data. Finally, the reference bone geometric data and the reference muscle attachment point data in the foot reference model are scaled using the scaling function to obtain the target bone geometric data and the target muscle attachment point data of the patient.

[0033] It should be noted that if the patient has flat feet, the bone structure inside the ankle also has the characteristics of the flat-foot bone structure. Therefore, in this embodiment, a scaling function between the geometric data of the foot shape of the patient and the foot reference model is constructed, and then the scaling function is used to scale the foot bone geometric data and the foot muscle attachment point data of the foot reference model to obtain the target bone geometric data and the target muscle attachment point data of the patient, so that the target bone geometric data reflecting the characteristics of the internal bone data of the patient's ankle can be obtained without collecting the patient's MRI data.

[0034] Further, the steps of constructing a scaling function based on the foot shape geometric data and the foot reference model specifically include:

[0035] 1. Extract the reference bone landmark points on the foot surface in the foot reference model and the target bone landmark points in the foot shape geometric data respectively, and determine the corresponding relationship between the reference bone landmark points and the target bone landmark points.

[0036] Specifically, as Figure 2 shown, extract the reference bone landmark points from the foot reference model respectively, and extract the target bone landmark points from the foot shape geometric data of the scanned patient, and make the reference bone landmark points and the target bone landmark points correspond one by one according to the positional relationship.

[0037] 2. Construct a scaling function according to the scaling change relationship between the coordinates of the reference bone landmark points and the coordinates of the target bone landmark points.

[0038] Specifically, obtain the coordinates of the reference bone landmark points and the coordinates of the target bone landmark points, and then determine the scaling transformation relationship between the two according to the coordinates of the corresponding reference bone landmark points and the target bone landmark points to obtain the scaling function.

[0039] In this embodiment, the scaling transformation includes affine transformation and built-in radial basis function scaling, where the radial basis equation interpolation function is as follows:

[0040]

[0041] where i represents the three coordinate axes of the X-axis, Y-axis, and Z-axis, which are 1, 2, and 3 in sequence; x is the interpolation point; x j is the coordinate of the reference bone landmark point; f i (x) is the coordinate of the target bone landmark point; is the interpolation constant of the jth reference bone landmark point on different coordinate axes; is the musculoskeletal dynamics model radial basis kernel function.

[0042] Furthermore, the bone landmark points include at least one of the heel, the middle position of the sole of the foot, the medial malleolus, the lateral malleolus, the tuberosity of the navicular bone, the distal end of the navicular bone, the base of the first / second / third / fourth / fifth metatarsal bone, and the first / second / third / fourth / fifth toe.

[0043] Specifically, both the reference bone landmark points and the target bone landmark points include at least one of the heel, the middle position of the sole of the foot, the medial malleolus, the lateral malleolus, the tuberosity of the navicular bone, the distal end of the navicular bone, the base of the first / second / third / fourth / fifth metatarsal bone, and the first / second / third / fourth / fifth toe.

[0044] Step S103: Construct a finite element model of the foot complex according to the target bone geometric data and the target muscle attachment point data.

[0045] Specifically, after obtaining the target bone geometric data and the target muscle attachment point data, a finite element model of the patient's foot complex is assembled according to the target bone geometric data and the target muscle attachment point data. The finite element model of the foot complex includes the bone structure characteristics inside the foot.

[0046] Furthermore, it should be noted that the current analysis of orthotic insoles mainly focuses on static standing and cannot reflect the impact of orthotic insoles on the internal biomechanics of the patient's foot and ankle during gait walking. Therefore, in order to adapt to the impact brought by the internal biomechanics of the patient's foot and ankle during gait walking, after step S103, the following steps are also included:

[0047] 1. Obtain the gait data of the patient.

[0048] Specifically, collect the gait data of the patient during walking.

[0049] 2. Based on the musculoskeletal dynamics model, extract the foot muscle force data and joint force data from the gait data.

[0050] Specifically, based on the musculoskeletal dynamics model and combined with the patient's gait data, calculate the foot muscle force data and joint force data of the patient during walking.

[0051] 3. Use the foot muscle force data and joint force data as the boundary conditions of the finite element model of the foot complex.

[0052] Specifically, after obtaining the foot muscle force data and joint force data, use them as the boundary conditions of the finite element model of the foot complex, so as to attach the internal biomechanical information of the foot and ankle complex during walking to the finite element model of the foot complex, enabling the finite element model of the foot complex to comprehensively record the characteristic information during static standing and gait walking, and making the subsequent orthotic insoles produced more in line with the actual use situation of the patient.

[0053] Step S104: Construct an initial orthotic insole model based on the foot shape geometric data, import the finite element model of the foot complex into the initial orthotic insole model, and then determine the final finite element model of the orthotic insole in combination with the model parameters input by the user.

[0054] Specifically, according to the foot shape geometric data of the patient, initially design a personalized orthotic insole model for the patient, then assemble the initial orthotic insole model and the finite element model of the foot complex, and finally determine the final finite element model of the orthotic insole according to the model parameters input by the user. The model parameters include: setting hyperelastic material properties for the skin and large soft tissues of the foot, the elastic modulus of the bone is 7300 MPa, the Poisson's ratio is 0.3, and the insole material is a 3D printing material, and its material properties are obtained from material testing experiments. The inner side of the large soft tissue is fixed to the bone, and the contact property is defined between the outer surface and the upper surface of the insole.

[0055] In addition, the model parameters also include parameters such as the arch of the orthotic insole, the heel cup, the forefoot wedge angle of the insole, and the different softness and hardness of the insole. The parameters such as the arch of the insole, the heel cup, the forefoot wedge angle of the insole, and the different softness and hardness of the insole are determined by selecting the optimal parameter group from multiple parameter groups preset by the user.

[0056] Further, step S104 specifically includes:

[0057] 1. Construct an initial orthotic insole model based on the foot shape geometric data, import the foot complex finite element model into the initial orthotic insole model, and determine the parameters of the finite element model according to the data input by the user to obtain an orthotic insole finite element model.

[0058] 2. Substitute multiple pre-constructed insole parameter groups into the orthotic insole finite element model respectively and perform analysis to determine the target insole parameter group when the plantar pressure distribution and the load on the internal soft tissues of the foot are optimal.

[0059] 3. Determine the final orthotic insole finite element model according to the orthotic insole finite element model and the target insole parameter group.

[0060] Specifically, the insole parameter group includes the arch height of the insole, the forefoot wedge angle of the insole, and the different softness and hardness of the insole. Three values are set for each parameter. To balance comfort and functionality, the arch height is selected as normal arch, low arch, and ultra-low arch. Among them, the normal arch height is determined according to the distance from the navicular bone height to the ground when standing statically on both feet. The low arch is 5 mm less than the normal arch height, and the ultra-low arch is 10 mm less than the normal arch height. The forefoot wedge angle of the insole is selected as 0°, 2°, and 4°. The softness and hardness of the insole are determined according to the filling rate of the 3D printing insole material, and are divided into soft, medium, and hard. The printing material is TPU. A 40% filling rate is defined as soft, 70% as medium, and 100% as hard. For the three parameters, with three values for each parameter, a total of 27 insole design combinations are designed. By analyzing parameters such as the plantar fascia strain and plantar pressure under different combinations, comparing and analyzing the minimum plantar fascia strain and the peak plantar pressure, the insole design parameter combination with the minimum plantar fascia strain and plantar pressure is selected as the target insole parameter group.

[0061] Step S105: Manufacture an orthotic insole according to the final orthotic insole finite element model.

[0062] The method for manufacturing a personalized orthotic insole in this embodiment obtains the geometric data of the patient's foot shape and the foot reference model pre-constructed based on a large number of flat-foot patients. Then, a scaling function is constructed using the geometric data of the foot shape and the foot reference model. The scaling function is used to scale the bone geometric data and muscle attachment point data of the foot reference model to obtain the patient's bone geometric data and muscle attachment point data. Then, a finite element model of the patient's foot complex is constructed using the patient's bone geometric data and muscle attachment point data. Finally, the final finite element model of the orthotic insole is constructed by combining the finite element model of the foot complex, the geometric data of the foot shape, and the finite element model parameters input by the user. When constructing a finite element model of the foot complex including the foot shape characteristics and foot bone characteristics, only the geometric data of the patient's foot shape needs to be collected, and the patient's foot MRI data does not need to be collected. This enables the data collection process to be executed more conveniently and quickly, and there is no need to model based on MRI data anymore, making the construction process of the orthotic insole model faster, thereby improving the manufacturing process of the orthotic insole.

[0063] Figure 3 It is a schematic diagram of the functional modules of the personalized orthotic insole manufacturing device according to an embodiment of the present invention. As Figure 3 shown, the personalized orthotic insole manufacturing device 20 includes an acquisition module 21, a function construction module 22, a model construction module 23, a determination module 24, and a manufacturing module 25.

[0064] The acquisition module 21 is configured to acquire the geometric data of the patient's foot shape and obtain the pre-constructed foot reference model of flat feet, where the foot reference model includes reference bone geometric data and reference muscle attachment point data;

[0065] The function construction module 22 is configured to construct a scaling function based on the geometric data of the foot shape and the foot reference model, and scale the reference bone geometric data and reference muscle attachment point data according to the scaling function to obtain target bone geometric data and target muscle attachment point data;

[0066] The model construction module 23 is configured to construct a finite element model of the foot complex according to the target bone geometric data and target muscle attachment point data;

[0067] The determination module 24 is configured to construct an initial orthotic insole model based on the geometric data of the foot shape, import the finite element model of the foot complex into the initial orthotic insole model, and determine the final finite element model of the orthotic insole in combination with the model parameters input by the user;

[0068] The manufacturing module 25 is configured to manufacture an orthotic insole according to the final finite element model of the orthotic insole.

[0069] Optionally, the function construction module 22 performs operations of constructing a scaling function based on the foot shape geometric data and the foot reference model, specifically including: respectively extracting the reference bone landmark points on the foot surface in the foot reference model and the target bone landmark points in the foot shape geometric data, and determining the correspondence between the reference bone landmark points and the target bone landmark points; constructing a scaling function according to the scaling change relationship between the coordinates of the reference bone landmark points and the coordinates of the target bone landmark points.

[0070] Optionally, the bone landmark points include at least one of the heel, the middle position of the sole, the medial malleolus, the lateral malleolus, the tuberosity of the navicular bone, the distal end of the navicular bone, the base of the first / second / third / fourth / fifth metatarsal bone, and the first / second / third / fourth / fifth toe.

[0071] Optionally, after the model construction module 23 performs the operation of constructing a finite element model of the foot complex according to the target bone geometric data and the target muscle attachment point data, it is further used for: obtaining the gait data of the patient; extracting the foot muscle force data and joint force data from the gait data based on the musculoskeletal dynamics model; using the foot muscle force data and joint force data as the boundary conditions of the finite element model of the foot complex.

[0072] Optionally, the determination module 24 performs operations of constructing an initial orthotic insole model based on the foot shape geometric data, importing the finite element model of the foot complex into the initial orthotic insole model, and then determining the final finite element model of the orthotic insole in combination with the model parameters input by the user, specifically including: constructing an initial orthotic insole model based on the foot shape geometric data, importing the finite element model of the foot complex into the initial orthotic insole model, and determining the parameters of the finite element model according to the data input by the user to obtain a finite element model of the orthotic insole; substituting multiple pre-constructed groups of insole parameter groups into the finite element model of the orthotic insole respectively and performing analysis to determine the target insole parameter group when the plantar pressure distribution and the load on the internal soft tissues of the foot are optimal; determining the final finite element model of the orthotic insole according to the finite element model of the orthotic insole and the target insole parameter group.

[0073] Optionally, the foot reference model is constructed based on the foot MRI data of a large number of flat-foot patients, and the foot MRI data includes reference bone geometric data and reference muscle attachment point data.

[0074] Optionally, the obtaining module 21 performs the operation of obtaining the foot shape geometric data of the patient, specifically including: obtaining the foot shape geometric data when the patient's foot bears 50% of the body weight.

[0075] Regarding other details of the technical solutions implemented by each module in the above-mentioned personalized orthotic insole manufacturing device of the embodiment, reference can be made to the description in the personalized orthotic insole manufacturing method in the above-mentioned embodiment, and details are not described here again.

[0076] It should be noted that the embodiments in this specification are all described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For device embodiments, since they are basically similar to method embodiments, they are described relatively simply. For related parts, reference can be made to the partial description of the method embodiments.

[0077] Please refer to Figure 4 , Figure 4 which is a schematic structural diagram of a computer device according to an embodiment of the present invention. As Figure 4 shown, the computer device 30 includes a processor 31 and a memory 32 coupled to the processor 31. Program instructions are stored in the memory 32. When the program instructions are executed by the processor 31, the processor 31 is caused to execute the steps of the personalized orthotic insole manufacturing method described in any of the above embodiments.

[0078] Among them, the processor 31 can also be referred to as a resource (Central Processing Unit). The processor 31 may be an integrated circuit chip with signal processing capabilities. The processor 31 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0079] Refer to Figure 5 , Figure 5 which is a schematic structural diagram of a storage medium according to an embodiment of the present invention. The storage medium according to the embodiment of the present invention stores program instructions 41 capable of implementing the above-mentioned personalized orthotic insole manufacturing method. Among them, the program instructions 41 can be stored in the above storage medium in the form of a software product, including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes, or computer devices such as a computer, a server, a mobile phone, or a tablet.

[0080] In several embodiments provided by the present application, it should be understood that the disclosed computer devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms.

[0081] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units. The above is only the implementation manner of the present application, and does not limit the patent scope of the present application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A method for manufacturing a personalized orthotic insole, characterized in that, It includes: Obtaining the geometric data of the patient's foot shape, and obtaining a pre-constructed foot reference model for flat feet, the foot reference model including reference bone geometric data and reference muscle attachment point data; Constructing a scaling function based on the foot shape geometric data and the foot reference model, and scaling the reference bone geometric data and the reference muscle attachment point data according to the scaling function to obtain target bone geometric data and target muscle attachment point data; Constructing a foot complex finite element model according to the target bone geometric data and the target muscle attachment point data; Constructing an initial orthotic insole model based on the foot shape geometric data, importing the foot complex finite element model into the initial orthotic insole model, and then determining the final orthotic insole finite element model in combination with the model parameters input by the user; Manufacturing an orthotic insole according to the final orthotic insole finite element model.

2. The method for manufacturing a personalized orthotic insole according to claim 1, characterized in that, The constructing the scaling function based on the foot shape geometric data and the foot reference model includes: Respectively extracting the reference bone landmark points on the foot surface in the foot reference model and the target bone landmark points in the foot shape geometric data, and determining the corresponding relationship between the reference bone landmark points and the target bone landmark points; Constructing a scaling function according to the scaling change relationship between the coordinates of the reference bone landmark points and the coordinates of the target bone landmark points.

3. The method for manufacturing a personalized orthotic insole according to claim 2, characterized in that, The bone landmark points include at least one of the heel, the middle position of the sole, the medial malleolus, the lateral malleolus, the tuberosity of the navicular bone, the distal end of the navicular bone, the base of the first / second / third / fourth / fifth metatarsal bone, and the first / second / third / fourth / fifth toe.

4. The method for manufacturing a personalized orthotic insole according to claim 1, characterized in that, After constructing the foot complex finite element model according to the target bone geometric data and the target muscle attachment point data, it further includes: Obtaining the gait data of the patient; Extracting foot muscle force data and joint force data from the gait data based on a musculoskeletal dynamics model; Taking the foot muscle force data and the joint force data as the boundary conditions of the foot complex finite element model.

5. The method for manufacturing a personalized orthotic insole according to claim 1, characterized in that, The constructing the initial orthotic insole model based on the foot shape geometric data, importing the foot complex finite element model into the initial orthotic insole model, and then determining the final orthotic insole finite element model in combination with the model parameters input by the user includes; Constructing an initial orthotic insole model based on the foot shape geometric data, importing the foot complex finite element model into the initial orthotic insole model, and determining the parameters of the finite element model according to the data input by the user to obtain an orthotic insole finite element model; Respectively substituting multiple pre-constructed insole parameter groups into the orthotic insole finite element model and performing analysis to determine the target insole parameter group when the plantar pressure distribution and the load on the internal soft tissues of the foot are optimal; Determining the final orthotic insole finite element model according to the orthotic insole finite element model and the target insole parameter group.

6. The method for manufacturing a personalized orthotic insole according to claim 1, characterized in that, The foot reference model is constructed based on the foot MRI data of a large number of flat foot patients, and the foot MRI data includes the reference bone geometric data and the reference muscle attachment point data.

7. The method for manufacturing a personalized orthotic insole according to claim 1, characterized in that, The obtaining the geometric data of the patient's foot shape includes: Obtaining the geometric data of the patient's foot shape when the foot bears 50% of the body weight.

8. A device for manufacturing a personalized orthotic insole, characterized in that, It includes: An acquisition module, configured to acquire the foot shape geometric data of a patient and acquire a pre-constructed foot reference model of flat feet, where the foot reference model includes reference bone geometric data and reference muscle attachment point data; A function construction module, configured to construct a scaling function based on the foot shape geometric data and the foot reference model, and scale the reference bone geometric data and the reference muscle attachment point data according to the scaling function to obtain target bone geometric data and target muscle attachment point data; A model construction module, configured to construct a foot complex finite element model according to the target bone geometric data and the target muscle attachment point data; A determination module, configured to construct an initial orthotic insole model based on the foot shape geometric data, import the foot complex finite element model into the initial orthotic insole model, and then determine a final orthotic insole finite element model in combination with model parameters input by a user; A production module, configured to produce an orthotic insole according to the final orthotic insole finite element model.

9. A computer device, characterized in that, The computer device includes a processor and a memory coupled to the processor. Program instructions are stored in the memory. When the program instructions are executed by the processor, the processor executes the steps of the personalized orthotic insole production method according to any one of claims 1-7.

10. A storage medium, characterized in that, Program instructions are stored that can implement the personalized orthotic insole production method according to any one of claims 1-7.

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