A method of controlling an arch-repositioning device for a navicular cuboid collapse

Abstract

This invention discloses a control method for a foot arch reduction device for navicular and cuboid bone collapse, comprising: acquiring image data of the patient's foot and performing three-dimensional reconstruction to construct a three-dimensional model of the patient's foot; determining the location of the reduction area using a morphological matching algorithm based on the collapse morphology of the navicular and cuboid bones; adjusting and fixing the patient's foot to its dorsiflexion or dorsiflexion limit position according to the location of the reduction area; establishing a fitting relationship model using a fitting algorithm based on historical navicular and cuboid bone reduction cases to determine the applied force angle and force intensity; performing foot arch reduction on the patient's foot using the foot arch reduction device according to the location of the reduction area and the determined applied force angle and force intensity, and adjusting the applied force angle and force intensity in real time during the reduction process using an adaptive control algorithm. This method achieves individualized determination and dynamic adjustment of the applied force parameters during the navicular and cuboid bone reduction process, improving the accuracy, safety, and stability of the reduction operation.

Description

Technical Field

[0001] This invention belongs to the field of medical device control technology, specifically relating to a control method for a foot arch reduction device for foot arch collapse of the navicular and cuboid bones. Background Technology

[0002] The navicular and cuboid bones, located in the midfoot region, are crucial bony structures for maintaining the stability of the longitudinal and transverse arches. When the navicular or cuboid bones collapse, shift downward, or rotate due to trauma, prolonged weight-bearing, degenerative changes, or pathological factors, it can easily lead to decreased arch height, abnormal foot alignment, and gait alterations. In severe cases, it can cause increased pain, walking difficulties, and even secondary biomechanical abnormalities of the ankle and knee joints. Therefore, effective reduction of navicular and cuboid bone collapse and arch reconstruction are important aspects of clinical treatment.

[0003] Current treatments for navicular and cuboid collapse mainly fall into two categories: conservative treatment and surgical treatment. Conservative treatment typically involves manual reduction, orthotic bracing, or traction devices to apply external force to the foot in an attempt to improve the positional relationship between the navicular and cuboid bones. However, this type of treatment relies heavily on the physician's experience and judgment, lacking quantitative guidelines for the location, direction, and magnitude of force application. The reduction effectiveness varies significantly from person to person, and precise control during the reduction process is difficult.

[0004] With the development of medical imaging technology, imaging techniques such as CT scans have been widely applied to the observation and evaluation of foot skeletal structures. For example, in existing technology, CN120876565A discloses a dynamic evaluation system for calcaneal fracture reduction effect based on three-dimensional imaging. This system obtains the fragment shape characteristics of each bone fragment based on the Gaussian curvature information of the bone fragment surface. Through classification and directional correlation analysis, it identifies the fragments corresponding to the fractured main bone, quantifies the fragment index, and obtains the skeletal region. Using damage feature values, the skeletal region is divided into a registration region and a damaged region. Combining the information in the damaged region, the direction of force influence in the registration region is determined. The compression and displacement characteristics of the bone fragments are obtained in the direction of force influence. Based on the damage feature values, the initial registration points of the bone fragments are selected for registration and the reduction effect is evaluated.

[0005] However, in existing technologies, imaging data is mostly used for preoperative diagnosis or postoperative evaluation. There is a lack of systematic methods to combine imaging data with the control process of the repositioning device, making it difficult to achieve targeted repositioning control based on the individual bone morphology differences of patients.

[0006] Furthermore, existing foot arch reduction devices primarily rely on simple mechanical adjustments in structure and control, typically only enabling coarse adjustments or fixation of the foot angle. They lack the ability to identify and locate specific collapsed areas of the navicular and cuboid bones. During force application, the angle and intensity are often set using fixed parameters or manual adjustments, failing to adapt to the patient's specific collapse morphology. This can easily lead to insufficient reduction or excessive force, thus affecting treatment efficacy and safety.

[0007] Therefore, there is an urgent need for a foot arch reduction device control method that can combine imaging data to accurately identify the collapsed areas of the navicular and cuboid bones, and on this basis, rationally determine the foot posture and reduction force parameters, so as to improve the pertinence, controllability and consistency of the reduction process. Summary of the Invention

[0008] The purpose of this invention is to overcome the defects of the prior art and provide a control method for a foot arch reduction device for navicular and cuboid bone collapse.

[0009] The objective of this invention can be achieved through the following technical solutions: This invention provides a method for controlling a foot arch reduction device for navicular and cuboid bone collapse, comprising the following steps: Image data of the patient's foot is obtained through imaging examinations, and a three-dimensional model of the foot is constructed based on the image data using three-dimensional reconstruction technology; Based on the aforementioned three-dimensional model, according to the collapse morphology of the navicular and cuboid bones, a morphological matching algorithm is used to calculate and determine the regions in the three-dimensional model that are similar to the collapse morphology of the navicular and cuboid bones, and to determine the location of the repositioning region. According to the position of the reset area, adjust the dorsiflexion or dorsiflexion angle of the patient's foot to the limit position, and fix the patient's foot with a fixation device; After stabilizing the patient's foot, based on the force angle and force data of historical cases of navicular and cuboid reduction, a model of the relationship between the force angle and force and the position of the reduction area is established by fitting algorithm to determine the force angle and force. Based on the location of the reduction area and the determined force angle and intensity, the arch reduction device is used to reduce the arch of the patient's foot. During the reduction process, the force angle and intensity are adjusted through an adaptive control algorithm to achieve adaptive adjustment.

[0010] Furthermore, the process of acquiring image data of the patient's foot through imaging examinations, and constructing a three-dimensional model of the foot based on the image data using three-dimensional reconstruction technology, specifically includes: Two-dimensional slice image data of the patient's foot was obtained using CT scans; the two-dimensional slice image data included multiple two-dimensional slice images of the patient's foot, which were tomographic images along the longitudinal direction of the foot, showing the navicular bone, cuboid bone and surrounding bone tissue structures; Based on the aforementioned two-dimensional slice image data, a multi-plane reconstruction technique is used to synthesize multiple two-dimensional slice images into three-dimensional data to obtain a three-dimensional model of the foot, specifically including: Spatial alignment is performed on each 2D slice image through image registration; Interpolation is performed on the spatially aligned image data to fill the gaps between slices and obtain smooth three-dimensional data; Surface reconstruction was performed on the smoothed 3D data to extract the 3D surface contours of the navicular and cuboid bones, thus obtaining a 3D model of the patient's foot.

[0011] Furthermore, based on the three-dimensional model, and according to the collapse morphology of the navicular and cuboid bones, a morphological matching algorithm is used to calculate and determine the regions in the three-dimensional model that are similar to the collapse morphology of the navicular and cuboid bones, and to determine the location of the repositioning region. Specifically, this includes: Extracting surface point cloud data belonging to the navicular and cuboid bones from the 3D model. , denoted as: in, The first bone on the surface of the navicular or cuboid bone The three-dimensional coordinates of a point cloud. This represents the total number of point clouds belonging to the navicular and cuboid bones in the 3D model. Based on the morphological characteristics of navicular bone collapse, including internal rotation angle, downward collapse depth, cuboid external rotation angle, and downward displacement, a standard collapse morphology model was established. , denoted as: in, The first in the standard collapse morphology model A surface point, The total number of point clouds in the standard collapse morphology model; Surface point cloud data of the navicular and cuboid bones Compared with standard collapse morphology model Rigid registration is performed, and an optimization objective function is constructed to minimize the squared distance from the surface point cloud data to the standard collapse morphology model. By solving the optimization objective function, the rotation matrix is ​​determined. Translation vector ; Based on the determined rotation matrix Translation vector Surface point cloud data of the navicular and cuboid bones Each point cloud Calculate morphological deviation : in, Point cloud Morphological deviations; Represents the standard collapse morphology model Center and point cloud The nearest point; Based on the preset morphological deviation threshold The deviation will be less than the morphological deviation threshold. The point cloud set is determined as the reset region: in, This is the point cloud set of the reset region, i.e., the location of the determined reset region.

[0012] Furthermore, the optimization objective function is expressed as: in, To optimize the objective function; express In the standard collapse morphology model The nearest neighbor in the network.

[0013] Furthermore, the step of adjusting the dorsiflexion or dorsiflexion angle of the patient's foot to its limit position according to the position of the reset area, and fixing the patient's foot with a fixation device, specifically includes: Based on the point cloud set of the reset area Calculate the initial tilt angle of the navicular bone relative to the ankle joint in the sagittal plane. ; Calculate the dorsiflexion or extension limit angles based on the spatial location of the repositioning area and the morphology of the three-dimensional model. : in, This refers to the increment of dorsiflexion or dorsiflexion angle calculated based on the location of the reduction area and the depth of navicular bone collapse. This represents the depth of the downward collapse of the navicular bone. This refers to the internal rotation angle of the navicular bone. , These are empirical coefficients used to convert collapse depth and internal rotation angle into dorsiflexion or extension angle increments; Adjust the dorsiflexion / dorsiflexion adjustment components of the arch support device to achieve the desired alignment of the patient's foot in the sagittal plane. And remain stable; The patient's lower leg and dorsum of the foot are fixed to the device by a fixation device, so that the foot does not shift under the limit angle of dorsiflexion or dorsiflexion.

[0014] Furthermore, the dorsiflexion / dorsiflexion adjustment assembly includes a semi-circular calf support component and an upwardly or downwardly raised dorsiflexion support component. The semi-circular calf support component and the dorsiflexion support component are connected by a hinge, allowing the foot to be adjusted along the sagittal plane at the dorsiflexion or dorsiflexion angle. The semi-circular calf support component supports the patient's calf and restricts the movement of the calf in the sagittal plane, keeping the calf stable during foot adjustment. The dorsiflexion support component supports the patient's dorsum of the foot and, by adjusting its relative angle with the semi-circular calf support component, keeps the foot stable at the limit of dorsiflexion or dorsiflexion.

[0015] Furthermore, the fixation device includes an adjustable calf fixation strap, a foot fixation strap, and a base support assembly. The calf fixation strap is used to fix the patient's calf to the semi-circular calf support component, restricting calf movement. The foot fixation strap is used to fix the patient's dorsum to the foot support component, keeping the foot stable at its dorsiflexion or dorsiflexion limit position. The base support assembly is used to support the entire arch reduction device and bear the tension of the fixation strap, so that the patient's foot and calf are firmly fixed to the support platform.

[0016] Furthermore, based on the force angle and intensity data of historical navicular and cuboid reduction cases, a model relating the force angle and intensity to the reduction area is established using a fitting algorithm to determine the force angle and intensity. Specifically, this includes: Dataset of historical reset cases , where the dataset Each case in the dataset includes a set of point clouds representing the location of the reset region. Corresponding force application angle and the force applied , denoted as: in, This represents the total number of historical reset cases. Feature extraction is performed on dataset D to obtain the set of point clouds of the reset region. Convert to feature vector The eigenvectors are obtained by including the centroid coordinates of the reset region, the mean of the surface normal vectors of the reset region, and the region size. in, The three-dimensional coordinates of the centroid of the point cloud in the reset region; The mean value of the surface normal vector of the point cloud in the reset region represents the spatial orientation of the reset region; The volume or number of point clouds representing the reset region indicates the size of the reset region. A fitting algorithm is used to establish a model of the fitting relationship between the applied force angle, the applied force intensity, and the feature vector of the reset area; Set the point cloud of the current patient reset area Substitute into the fitted relationship model to calculate the applied force angle. and the force applied .

[0017] Furthermore, the arch reduction device includes a dorsiflexion / dorsiflexion adjustment assembly, a fixation device, a force application assembly, and a control unit; the force application assembly includes an adjustable push rod and a force sensor, used to apply a controllable reduction force to the patient's foot based on the location of the reduction area and the fitted force angle and force; wherein, the push rod is used to apply a force along the force angle... Apply force to the patient's foot. The force sensor is used to collect the magnitude of the applied force in real time, which is the reset force. The control unit is connected to the force application component and adjusts the direction and force of the push rod in real time through an adaptive control algorithm to achieve dynamic control during the arch reduction process.

[0018] Furthermore, based on the location of the reduction area and the determined force angle and intensity, the arch reduction device performs arch reduction on the patient's foot. During the reduction process, an adaptive control algorithm adjusts the force angle and intensity to achieve adaptive adjustment. Specifically, this includes: The arch restoration device is fixed on the support platform, and the patient's foot and lower leg are securely fixed to the dorsiflexion / dorsiflexion adjustment component by the fixing device. Align the push rod of the arch support device with the center of the support area, and set the initial force angle and initial force magnitude along the fitted force direction according to the determined force angle and force. The spatial position change of the reset area is measured in real time using a three-dimensional displacement sensor, including the offset in the sagittal, coronal and horizontal planes; The control unit calculates the deviation between the current position of the reset area and the preset target position based on the change in spatial position, and automatically adjusts the direction and magnitude of the force applied by the push rod so that the reset area moves to the target position along the target path; Repeat the cycle of measuring displacement, adjusting the direction and magnitude of applied force, until the reset area reaches the target position and remains stable; The current position of the reset area includes three-dimensional coordinates, the target position is the preset final reset position, the force direction is the spatial direction of the force applied by the push rod, the force magnitude is the magnitude of the force applied by the push rod, and the deviation is the spatial distance between the current position and the target position.

[0019] Compared with the prior art, the present invention has the following advantages: (1) In the prior art, the reduction treatment for the collapse of the navicular and cuboid bones usually relies on manual techniques or simple mechanical devices. The location, direction, and magnitude of the force are mainly judged based on the operator's experience, lacking quantitative basis and objective reference standards. This can easily lead to inconsistent reduction effects among different patients, and even problems such as insufficient reduction or excessive force. This invention acquires the patient's foot imaging data and constructs a three-dimensional model of the foot. It analyzes the collapse morphology of the navicular and cuboid bones in three-dimensional space and determines the specific reduction area location by combining morphological matching algorithms. This transforms the reduction process from experience-based judgment to a model-based calculation method, thereby achieving precise determination of the reduction target area and improving the pertinence and consistency of the reduction operation.

[0020] (2) In the prior art, imaging examinations are mostly used for preoperative diagnosis or postoperative assessment. There is no effective correlation between imaging data and the actual reduction process, and it is impossible to directly guide the control and force application decisions of the reduction device. This invention reconstructs imaging data in three dimensions and extracts the surface point cloud information of the navicular and cuboid bones in the three-dimensional model. Using rigid registration and morphological deviation calculation methods, the actual bone morphology of the patient is quantitatively compared with the standard collapse morphology. Then, the location of the reduction area is determined at the model level, realizing the direct conversion of imaging data into reduction control parameters and enhancing the actual guiding role of imaging information in the reduction process.

[0021] (3) In existing foot arch reduction processes, foot posture adjustment usually relies on manual adjustment or fixed angle settings, making it difficult to reasonably determine the limit angle of dorsiflexion or extension based on the patient's specific degree of collapse. This can easily lead to insufficient posture adjustment or excessive traction. Based on the spatial location of the reduction area and the depth and internal rotation angle of the navicular bone, this invention calculates the initial tilt angle of the navicular bone in the sagittal plane and converts the collapse characteristics into dorsiflexion or extension angle increments through empirical parameters. This determines the limit angle that suits the individual patient's morphology, realizing the quantification and individualization of the foot posture adjustment process and effectively improving the safety and rationality of posture adjustment.

[0022] (4) In the prior art, the angle and force of application are usually fixed parameters or manually adjusted, which makes it difficult to fully consider the impact of the different collapse area positions of different patients on the reduction force requirements, and the reduction process lacks individualized basis. This invention collects data on the angle, force of application and the corresponding reduction area position in historical cases of navicular and cuboid bone reduction, and uses a fitting algorithm to establish a relationship model between the force parameters and the characteristics of the reduction area, so that the angle and force of application can be automatically determined according to the current reduction area position of the patient, realizing the empirical data and individualized matching of reduction force parameters, and improving the rationality of reduction parameter setting.

[0023] (5) In existing repositioning methods, the repositioning process is mostly a one-time force application or intermittent manual adjustment, making it difficult to make real-time corrections based on changes in bone position during the repositioning process, and the repositioning path and final effect are not easy to control. Based on the initial force angle and intensity, the present invention uses a control unit to control the force application component in real time, and dynamically adjusts the force direction and magnitude in combination with position changes during the repositioning process, so that the repositioning process can gradually approach the target position, thereby improving the stability and success rate of the repositioning process. Attached Figure Description

[0024] Figure 1 This is a flowchart of the control method for the foot arch reset device according to an embodiment of the present invention; Figure 2 This is a flowchart of the method for determining the position of the reset area according to an embodiment of the present invention. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] Example 1: This embodiment specifically provides a method for controlling a foot arch reduction device for navicular and cuboid bone collapse, such as... Figure 1 As shown, it includes the following steps: Step S1: Obtain image data of the patient's foot through imaging examination, and construct a three-dimensional model of the foot based on the image data using three-dimensional reconstruction technology, specifically including: In this embodiment, the patient's foot is first scanned using imaging examinations, preferably CT scans, to obtain high-resolution image data of the internal skeletal structure of the foot. During the CT scan, multiple two-dimensional slice images are continuously acquired with the longitudinal direction of the patient's foot as the scanning direction. The two-dimensional slice images clearly show the navicular bone, cuboid bone, and adjacent bone and joint structures, providing a reliable data foundation for subsequent three-dimensional modeling.

[0027] After obtaining the two-dimensional slice image data, all slice images are preprocessed. During preprocessing, to address spatial offsets between different slices caused by changes in patient positioning or equipment errors, image registration is performed on each two-dimensional slice image to ensure accurate alignment of all slices in the same spatial coordinate system. Image registration effectively eliminates misalignment between slices, improving the accuracy of subsequent three-dimensional reconstruction.

[0028] After spatial alignment, interpolation is performed on the registered 2D slice image data. Interpolation fills the spatial gaps between adjacent slices, ensuring the image data remains continuous and smooth in the depth direction, thus avoiding step-like or discontinuous structures in the 3D model. Linear interpolation, spline interpolation, or voxel-based interpolation methods can be used to guarantee the smoothness and integrity of the 3D data.

[0029] After obtaining smooth 3D volume data, surface reconstruction processing is performed on the 3D data. During surface reconstruction, the bone tissue regions corresponding to the navicular and cuboid bones are separated from the 3D volume data by combining threshold segmentation and contour extraction, and their 3D surface contour information is further extracted. Through surface reconstruction, a 3D model containing the true geometric shape of the navicular and cuboid bones is generated. This 3D model can accurately reflect the spatial structure and collapse state of the patient's current foot bones.

[0030] The three-dimensional foot model constructed through step S1 provides an intuitive and accurate geometric basis for subsequent collapse morphology analysis, repositioning area determination, and repositioning parameter calculation, which is beneficial to improving the accuracy and reliability of the foot arch repositioning control process.

[0031] Step S2: Based on the 3D model, and according to the collapse morphology of the navicular and cuboid bones, a morphological matching algorithm is used to calculate and determine the regions in the 3D model that are similar to the collapse morphology of the navicular and cuboid bones, thus determining the location of the repositioning area. Figure 2 As shown, it specifically includes: In this embodiment, the bone tissue is further segmented in the three-dimensional foot model constructed in step S1, and surface point cloud data belonging to the navicular and cuboid bones are extracted from the three-dimensional model. The extracted surface point cloud data... Recorded as: in, The first bone on the surface of the navicular or cuboid bone The three-dimensional coordinates of a point cloud. This represents the total number of point clouds belonging to the navicular and cuboid bones in the 3D model. After obtaining surface point cloud data of the navicular and cuboid bones, a standard collapse morphology model was constructed for comparison based on the typical morphological characteristics of navicular-cuboid collapse in clinical practice. This collapse morphology model comprehensively considers multiple morphological parameters, including the internal rotation angle of the navicular bone, the downward collapse depth, the external rotation angle of the cuboid bone, and the downward displacement of the cuboid bone relative to its normal position, thus reflecting the typical spatial structural characteristics of navicular-cuboid collapse. Standard Collapse Morphology Model Recorded as: in, The first in the standard collapse morphology model A surface point, The total number of point clouds in the standard collapse morphology model; Subsequently, rigid registration was performed on the surface point cloud data of the navicular and cuboid bones with the standard collapse morphology model. During registration, an optimization problem was constructed with the objective of minimizing the sum of squared distances between the point cloud data and the standard collapse morphology model. This optimization problem was solved iteratively to obtain the rotation matrix used to describe the spatial relationship between the two sets of point clouds. Translation vector Rotation matrix Translation vector used to describe the posture changes of the navicular and cuboid bones in space. Used to describe its overall spatial displacement, the two can be used to map the patient's foot point cloud to the spatial coordinate system of the standard collapse morphology model.

[0032] The objective function is optimized as follows: in, To optimize the objective function; express In the standard collapse morphology model The nearest neighbor in the network.

[0033] After completing rigid registration, based on the obtained rotation matrix Translation vector The morphological deviation of each point in the point cloud data of the navicular and cuboid bones is calculated. The morphological deviation is calculated as follows: in, Point cloud Morphological deviations; Represents the standard collapse morphology model Center and point cloud The nearest point; in this way, the similarity between the local areas of the navicular and cuboid bones of the patient and the standard collapse morphology can be quantitatively reflected.

[0034] Based on the preset morphological deviation threshold The deviation will be less than the morphological deviation threshold. The point cloud set is determined as the reset region: in, The point cloud set representing the repositioning area indicates a region that closely matches the standard collapse morphology and exhibits clear collapse characteristics. This region serves as the target area for force application and adjustment during subsequent arch repositioning. Determining the location of the repositioning area in this way avoids applying unnecessary repositioning force to non-collapsed areas, improving the targeted nature and safety of the repositioning process.

[0035] Step S3: Based on the location of the reduction area, adjust the dorsiflexion or dorsiflexion angle of the patient's foot to its limit position, and fix the patient's foot with a fixation device, specifically including: In this embodiment, the initial orientation of the navicular bone in the sagittal plane is first calculated based on the point cloud set of the repositioning region determined in step S2. Specifically, based on the point cloud set of the repositioning region... Key surface points of the navicular bone were extracted, and combined with the spatial position of the ankle joint in the 3D model, the initial tilt angle of the navicular bone relative to the ankle joint in the sagittal plane was calculated. This initial tilt angle is used to characterize the dorsiflexion or dorsiflexion posture of the navicular bone in its natural state, providing a benchmark for subsequent angle adjustments.

[0036] Obtain the initial tilt angle Then, combining the spatial distribution characteristics of the repositioning area and the overall morphology of the three-dimensional foot model, the limiting angles of dorsiflexion or dorsiflexion are further calculated. The limiting angles of dorsiflexion or dorsiflexion are determined by the following formula: in, This refers to the increment of dorsiflexion or dorsiflexion angle calculated based on the location of the reduction area and the depth of navicular bone collapse. The depth of the downward collapse of the navicular bone is calculated by the relative positional relationship between the point cloud of the repositioning area and the reference plane of the three-dimensional model. This indicates the internal rotation angle of the navicular bone relative to the normal foot posture when it is in a collapsed state; , This is an empirical coefficient used to convert the collapse depth and internal rotation angle into incremental dorsiflexion or extension angles. Its value can be set based on clinical statistics or historical reduction cases. By simultaneously incorporating collapse depth and rotation angle factors, the calculated dorsiflexion or extension limit angles can better reflect the actual morphological characteristics of navicular-cuboid bone collapse.

[0037] Determining the limit angles of dorsiflexion or dorsiextension Subsequently, the dorsiflexion / dorsiflexion adjustment component in the arch reduction device is used to adjust the patient's foot posture, gradually aligning the patient's foot in the sagittal plane. And remain stable at that angle. This adjustment process is based on... As a control objective, the navicular and cuboid bones are positioned in space in a manner conducive to subsequent force reduction, thereby reducing reduction resistance and lowering the risk of soft tissue injury.

[0038] After foot posture adjustment, the patient's lower leg and dorsum of the foot are fixed using a fixation device to keep the foot stable and prevent displacement at its limit angles of dorsiflexion or dorsiflexion. Simultaneous fixation of the lower leg and dorsum of the foot effectively limits unintended foot movements during the pre-reduction preparation phase, providing a stable biomechanical basis for applying reduction force during subsequent arch reduction.

[0039] Step S4: After stabilizing the patient's foot, based on the force angle and intensity data from historical cases of navicular and cuboid reduction, a model relating the force angle and intensity to the location of the reduction area is established using a fitting algorithm. This determines the force angle and intensity, specifically including: In this embodiment, a historical reset case dataset is first constructed for fitting analysis. This dataset consists of multiple clinical or experimental cases where reduction of the navicular and cuboid bones of the foot has been successfully performed. Each case includes the spatial location features of the reduction area and the corresponding force parameters. Specifically, the dataset... Recorded as: in, This represents the total number of historical reset cases. Indicates the first A set of point clouds of the reset area determined in a number of historical reset cases; This indicates the actual angle of force application used in this case; This indicates the magnitude of the resetting force applied in this case. By introducing multiple historical resetting data, the variation law of the applied force parameters under different collapse morphology conditions can be reflected, thereby improving the generalization ability of the model.

[0040] Feature extraction is performed on dataset D to obtain the set of point clouds of the reset region. Convert to feature vector The eigenvectors are obtained by including the centroid coordinates of the reset region, the mean of the surface normal vectors of the reset region, and the region size. in, The three-dimensional coordinates of the centroid of the point cloud in the reset region; The mean value of the surface normal vector of the point cloud in the reset region represents the spatial orientation of the reset region; The volume or number of point clouds representing the reset region indicates the size of the reset region. After feature extraction, a fitting algorithm is used to establish a model relating the applied force angle and intensity to the feature vector of the reset area. The fitting algorithm can employ multiple regression, nonlinear regression, or machine learning-based regression methods. By training on historical reset case data, the relationship between the reset area features and the applied force angle is obtained. Force application FThe mapping relationship between them. This fitting relationship model can reflect the changing trend of reasonable force angle and force magnitude under different reset region positions and shapes.

[0041] In practical applications, the point cloud set of the repositioning area determined by the current patient in step S2 will be used. Perform the same feature extraction to obtain the corresponding feature vector. X The feature vector is then substituted into the established fitting relationship model to calculate the current patient's force angle and force intensity. The force parameters determined in this way can comprehensively consider the spatial location, directional characteristics, and size of the reduction area, making the reduction force applied during subsequent arch reduction more consistent with individual differences in navicular and cuboid bone collapse, thereby improving the accuracy and safety of reduction.

[0042] Step S5: Based on the location of the reduction area and the determined force angle and intensity, the arch of the patient's foot is reduced using the arch reduction device. During the reduction process, the force angle and intensity are adjusted using an adaptive control algorithm to achieve adaptive adjustment. Specifically, this includes: In this embodiment, the arch reduction device is first fixed to the support platform to ensure stability and prevent displacement during the reduction process. Then, the patient's lower leg and foot are respectively fixed to the dorsiflexion / dorsiflexion adjustment assembly using a fixing device, maintaining a stable posture of the patient's foot at predetermined dorsiflexion or dorsiflexion limit angles, thus providing a stable mechanical basis for subsequent force reduction.

[0043] After stabilizing the patient's foot posture, adjust the push rod in the arch reduction device to the position corresponding to the reduction area, aligning the actuating end of the push rod with the center of the reduction area or its vicinity. Based on the applied force angle and force determined in step S4, set the initial applied force direction and magnitude of the push rod, so that the push rod applies reduction force to the patient's foot along the fitted applied force direction, thereby initiating the reduction process of the navicular and cuboid bones.

[0044] During the reset process, a displacement detection unit installed on the device monitors the spatial position changes of the reset area in real time. The displacement detection unit acquires the displacement changes of the reset area in the sagittal, coronal, and horizontal planes, thus reflecting the movement trend of the reset area in three-dimensional space. By continuously acquiring the spatial position data of the reset area, the difference between the current reset state and the expected reset target can be determined.

[0045] The control unit compares the real-time acquired spatial position of the reset area with the pre-set reset target position to calculate the deviation between the current position and the target position. When the deviation is large, the control unit adjusts the direction or magnitude of the force applied to the push rod according to the trend of the deviation change; when the deviation gradually decreases, the control unit reduces the adjustment range to make the reset process smoother. Through this feedback adjustment method based on position deviation, the reset area gradually moves towards the target position under continuous force.

[0046] The process of measuring displacement, calculating deviation, and adjusting force parameters is carried out in a cyclical manner until the repositioning area reaches the preset target position and remains stable for a certain period of time without significant regression or displacement, thereby completing the repositioning operation of the navicular and cuboid bones.

[0047] In this embodiment, the current position of the reset area is represented by its three-dimensional spatial coordinates, and the target position is the final reset position preset according to the three-dimensional model and normal arch shape; the force direction is the spatial direction in which the push rod applies the reset force, and the force magnitude is the magnitude of the reset force output by the push rod; the deviation is the spatial distance between the current position of the reset area and the target position. By using an adaptive adjustment method based on spatial position deviation, stable control of the reset process can be achieved without relying on complex mechanical modeling, thereby improving the safety and success rate of reset.

[0048] Example 2: This embodiment provides a foot arch reduction device for navicular and cuboid bone collapse, including a support platform, a dorsiflexion / dorsiflexion adjustment component, a fixation device, a force application component, and a control unit.

[0049] The support platform is set next to the treatment bed or on the ground. The platform has a planar structure and is basically parallel to the bed surface when the patient is in a prone position. Multiple pillars are set under the support platform to contact the ground, which are used to support the overall weight of the foot arch reduction device and maintain the stability of the device during the reduction process. The bottom of the support platform is equipped with an anti-slip structure to prevent displacement during the application of force, thereby ensuring the safety and reliability of the reduction operation.

[0050] The dorsiflexion / dorsiflexion adjustment assembly is mounted on a support platform to stabilize the patient's affected foot in a predetermined posture before reduction, simulating the physiological state of the foot being suspended in the air when the patient is prone. This assembly includes a semi-circular lower leg support component and a dorsiflexion support component arranged sequentially, connected by a hinge structure, allowing the foot to be adjusted for dorsiflexion or dorsiflexion in the sagittal plane around the coronal axis. The curvature of the semi-circular lower leg support component matches the posterior contour of the lower leg, supporting and restricting lower leg movement during reduction. The dorsiflexion support component has a downwardly convex arc structure to conform to the dorsum of the foot. By adjusting the relative angle between the dorsiflexion and lower leg support components, the affected foot can be adjusted to its dorsiflexion limit, thereby placing the tibialis posterior muscle connecting the navicular bone in a relatively relaxed state, creating favorable mechanical conditions for subsequent reduction of the navicular and cuboid bones.

[0051] The fixation device, mounted on the dorsiflexion / dorsiflexion adjustment assembly, provides stable restraint to the patient's lower leg and foot during reduction. The device includes a lower leg fixation strap and a dorsiflexion foot fixation strap. The lower leg fixation strap secures the patient's lower leg to the semi-circular lower leg support component, preventing forward / backward or lateral movement during force application. The dorsiflexion foot fixation strap presses the patient's dorsum of the foot firmly against the dorsiflexion foot support component, maintaining a stable posture for the affected foot at its dorsiflexion or dorsiflexion limits. Through the synergistic action of the fixation device and the support platform, a stable force-bearing system is formed on the patient's lower limb throughout the reduction process.

[0052] The force application actuator is located below or to the side of the dorsiflexion / dorsiflexion adjustment assembly, in the intermediate region between the lateral aspect of the fifth metatarsal and the medial aspect of the navicular bone, and is used to apply targeted reduction force to the navicular and cuboid bones. The force application actuator includes at least one set of adjustable-direction push rods and force sensors connected to the push rods. The push rods are used to apply reduction force to the affected foot according to a determined force angle and force intensity. The force sensors are used to collect the force value applied to the foot by the push rods in real time and feed the collected force information back to the control unit.

[0053] In this embodiment, the force application component preferably adopts a pair of oppositely arranged reduction push head structures, wherein the inner push head is used to apply an inward rotational force and a downward pressing force to the navicular bone, and the outer push head is used to apply a lateral direction reverse constraint force to the cuboid bone. The two push heads work together to form a reduction force application method similar to artificial "double thumb stacking", so that the navicular bone and cuboid bone gradually return to the normal anatomical position under controlled conditions.

[0054] The force application component may also include an instantaneous impact force generating component, which may employ a spring release structure, a pneumatic impact structure, or a mechanical energy storage and firing structure. After the affected foot is fixed in the dorsiflexion limit position, the control unit triggers an instantaneous release to generate a short-term impact force in the opposite direction of the collapse of the navicular and cuboid bones, in order to help overcome soft tissue resistance and improve reduction efficiency.

[0055] The control unit is electrically connected to the force actuation component to receive real-time force data collected by the force sensor and adjust the direction and magnitude of the force applied by the push rod according to the preset control strategy, thereby realizing dynamic control of the reset force during the reset process and improving the safety, stability and repeatability of the reset process.

[0056] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0057] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling a foot arch reduction device for navicular and cuboid bone collapse, characterized in that, Includes the following steps: Image data of the patient's foot is obtained through imaging examinations, and a three-dimensional model of the foot is constructed based on the image data using three-dimensional reconstruction technology; Based on the aforementioned three-dimensional model, according to the collapse morphology of the navicular and cuboid bones, a morphological matching algorithm is used to calculate and determine the regions in the three-dimensional model that are similar to the collapse morphology of the navicular and cuboid bones, and to determine the location of the repositioning region. According to the position of the reset area, adjust the dorsiflexion or dorsiflexion angle of the patient's foot to the limit position, and fix the patient's foot with a fixation device; After stabilizing the patient's foot, based on the force angle and force data of historical cases of navicular and cuboid reduction, a model of the relationship between the force angle and force and the position of the reduction area is established by fitting algorithm to determine the force angle and force. Based on the location of the reduction area and the determined force angle and intensity, the arch reduction device is used to reduce the arch of the patient's foot. During the reduction process, the force angle and intensity are adjusted through an adaptive control algorithm to achieve adaptive adjustment.

2. The method for controlling the arch reduction device for foot arch collapse according to claim 1, characterized in that, The process of acquiring image data of the patient's foot through imaging examinations and constructing a three-dimensional model of the foot based on the image data using three-dimensional reconstruction technology specifically includes: Two-dimensional slice image data of the patient's foot was obtained using CT scans; the two-dimensional slice image data included multiple two-dimensional slice images of the patient's foot, which were tomographic images along the longitudinal direction of the foot, showing the navicular bone, cuboid bone and surrounding bone tissue structures; Based on the aforementioned two-dimensional slice image data, a multi-plane reconstruction technique is used to synthesize multiple two-dimensional slice images into three-dimensional data to obtain a three-dimensional model of the foot, specifically including: Spatial alignment is performed on each 2D slice image through image registration; Interpolation is performed on the spatially aligned image data to fill the gaps between slices and obtain smooth three-dimensional data; Surface reconstruction was performed on the smoothed 3D data to extract the 3D surface contours of the navicular and cuboid bones, thus obtaining a 3D model of the patient's foot.

3. The method for controlling the arch reduction device for foot arch collapse according to claim 1, characterized in that, Based on the three-dimensional model, and according to the collapse morphology of the navicular and cuboid bones, a morphological matching algorithm is used to calculate and determine the regions in the three-dimensional model that are similar to the collapse morphology of the navicular and cuboid bones, and to determine the location of the repositioning region. Specifically, this includes: Extracting surface point cloud data belonging to the navicular and cuboid bones from the 3D model. , denoted as: in, The first bone on the surface of the navicular or cuboid bone The three-dimensional coordinates of a point cloud. This represents the total number of point clouds belonging to the navicular and cuboid bones in the 3D model. Based on the morphological characteristics of navicular bone collapse, including internal rotation angle, downward collapse depth, cuboid external rotation angle, and downward displacement, a standard collapse morphology model was established. , denoted as: in, The first in the standard collapse morphology model A surface point, The total number of point clouds in the standard collapse morphology model; Surface point cloud data of the navicular and cuboid bones Compared with standard collapse morphology model Rigid registration is performed, and an optimization objective function is constructed to minimize the squared distance from the surface point cloud data to the standard collapse morphology model. By solving the optimization objective function, the rotation matrix is ​​determined. Translation vector ; Based on the determined rotation matrix Translation vector Surface point cloud data of the navicular and cuboid bones Each point cloud Calculate morphological deviation : in, Point cloud Morphological deviations; Represents the standard collapse morphology model Center and point cloud The nearest point; Based on the preset morphological deviation threshold The deviation will be less than the morphological deviation threshold. The point cloud set is determined as the reset region: in, This is the point cloud set of the reset region, i.e., the location of the determined reset region.

4. A method for controlling the arch reduction device for foot arch collapse according to claim 3, characterized in that, The optimization objective function is expressed as: in, To optimize the objective function; express In the standard collapse morphology model The nearest neighbor in the network.

5. A method for controlling a foot arch reduction device for navicular and cuboid bone collapse according to claim 1, characterized in that, The step of adjusting the dorsiflexion or dorsiflexion angle of the patient's foot to its limit position according to the position of the reset area, and fixing the patient's foot with a fixation device, specifically includes: Based on the point cloud set of the reset area Calculate the initial tilt angle of the navicular bone relative to the ankle joint in the sagittal plane. ; Calculate the dorsiflexion or extension limit angles based on the spatial location of the repositioning area and the morphology of the three-dimensional model. : in, This refers to the increment of dorsiflexion or dorsiflexion angle calculated based on the location of the reduction area and the depth of navicular bone collapse. This represents the depth of the downward collapse of the navicular bone. This refers to the internal rotation angle of the navicular bone. , These are empirical coefficients used to convert collapse depth and internal rotation angle into dorsiflexion or extension angle increments; Adjust the dorsiflexion / dorsiflexion adjustment components of the arch support device to achieve the desired alignment of the patient's foot in the sagittal plane. And remain stable; The patient's lower leg and dorsum of the foot are fixed to the device by a fixation device, so that the foot does not shift under the limit angle of dorsiflexion or dorsiflexion.

6. A method for controlling a foot arch reduction device for navicular and cuboid bone collapse according to claim 5, characterized in that, The dorsiflexion / dorsiflexion adjustment assembly includes a semi-circular lower leg support component and an upwardly or downwardly raised dorsiflexion support component. The semi-circular lower leg support component and the dorsiflexion support component are connected by a hinge, allowing the foot to be adjusted along the sagittal plane to change the dorsiflexion or dorsiflexion angle. The semi-circular lower leg support component supports the patient's lower leg and restricts the movement of the lower leg in the sagittal plane, keeping the lower leg stable during foot adjustment. The dorsiflexion support component supports the patient's dorsum of the foot and, by adjusting its relative angle with the semi-circular lower leg support component, keeps the foot stable at the limit of dorsiflexion or dorsiflexion.

7. A method for controlling the arch reduction device for foot arch collapse according to claim 1, characterized in that, The fixation device includes an adjustable calf fixation strap, a foot fixation strap, and a base support assembly. The calf fixation strap is used to fix the patient's calf to the semi-circular calf support component, restricting calf movement. The foot fixation strap is used to fix the patient's dorsum to the foot support component, keeping the foot stable in the extreme position of dorsiflexion or dorsiflexion. The base support assembly is used to support the entire arch reduction device and bear the tension of the fixation strap, so that the patient's foot and calf are firmly fixed to the support platform.

8. A method for controlling a foot arch reduction device for navicular and cuboid bone collapse according to claim 1, characterized in that, Based on historical cases of navicular and cuboid reduction, a model is established using a fitting algorithm to model the relationship between the force angle, force, and the location of the reduction area, thereby determining the force angle and force. Specifically, this includes: Dataset of historical reset cases , where the dataset Each case in the dataset includes a set of point clouds representing the location of the reset region. Corresponding force application angle and the force applied , denoted as: in, This represents the total number of historical reset cases. Feature extraction is performed on dataset D to obtain the set of point clouds of the reset region. Convert to feature vector The eigenvectors are obtained by including the centroid coordinates of the reset region, the mean of the surface normal vectors of the reset region, and the region size. in, The three-dimensional coordinates of the centroid of the point cloud in the reset region; The mean value of the surface normal vector of the point cloud in the reset region represents the spatial orientation of the reset region; The volume or number of point clouds representing the reset region indicates the size of the reset region. A fitting algorithm is used to establish a model of the fitting relationship between the applied force angle, the applied force intensity, and the feature vector of the reset area; Set the point cloud of the current patient reset area Substitute into the fitted relationship model to calculate the applied force angle. and the force applied .

9. A method for controlling a foot arch reduction device for navicular and cuboid bone collapse according to claim 1, characterized in that, The foot arch reduction device includes a dorsiflexion / dorsiflexion adjustment assembly, a fixation device, a force application assembly, and a control unit. The force application assembly includes an adjustable-direction push rod and a force sensor, used to apply a controllable reduction force to the patient's foot based on the location of the reduction area and the fitted force angle and force. The push rod is used to apply force along the force angle... Apply force to the patient's foot. The force sensor is used to collect the magnitude of the applied force in real time, which is the reset force. The control unit is connected to the force application component and adjusts the direction and force of the push rod in real time through an adaptive control algorithm to achieve dynamic control during the arch reduction process.

10. A method for controlling a foot arch reduction device for navicular and cuboid bone collapse according to claim 1, characterized in that, The process involves using a foot arch reduction device to reposition the patient's foot arch based on the location of the reduction area and the determined force angle and intensity. During the reduction process, an adaptive control algorithm adjusts the force angle and intensity to achieve adaptive adjustment. Specifically, this includes: The arch restoration device is fixed on the support platform, and the patient's foot and lower leg are securely fixed to the dorsiflexion / dorsiflexion adjustment component by the fixing device. Align the push rod of the arch support device with the center of the support area, and set the initial force angle and initial force magnitude along the fitted force direction according to the determined force angle and force. The spatial position change of the reset area is measured in real time using a three-dimensional displacement sensor, including the offset in the sagittal, coronal and horizontal planes; The control unit calculates the deviation between the current position of the reset area and the preset target position based on the change in spatial position, and automatically adjusts the direction and magnitude of the force applied by the push rod so that the reset area moves to the target position along the target path; Repeat the cycle of measuring displacement, adjusting the direction and magnitude of applied force, until the reset area reaches the target position and remains stable; The current position of the reset area includes three-dimensional coordinates, the target position is the preset final reset position, the force direction is the spatial direction of the force applied by the push rod, the force magnitude is the magnitude of the force applied by the push rod, and the deviation is the spatial distance between the current position and the target position.

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