Three-dimensional model generation system, method, and program

Abstract

Provided is a three-dimensional model generation system comprising: a molding jig for molding the shape of a part of a body to which an object is to be attached; and an information processing device. The molding jig is provided with a contact part that is configured so as to be capable of adjusting a position so as to come into contact with the part of the body. The information processing device is provided with: a scan data acquisition unit that acquires three-dimensional scan data obtained by three-dimensionally scanning the molding jig in a state in which the part of the body is in contact with the contact part; and a scan model generation unit that, on the basis of the three-dimensional scan data, generates a three-dimensional scan model including the molding jig in a state in which the part of the body is in contact with the contact part and the part of the body.

Description

3D model generation system, method, and program

[0001] The present invention relates to a system for three-dimensionally scanning a part of a human body or the like.

[0002] In recent years, there have been efforts to manufacture objects that fit a human or animal body part based on data obtained by three-dimensional (3D) scanning the body part.

[0003] For example, efforts are being made to manufacture prosthetic limbs that fit the stump of a prosthetic limb user based on data obtained by three-dimensionally scanning the stump (for example, Patent Document 1).

[0004] Utility Model Registration No. 3089376

[0005] In the past, this type of approach involved creating a model of a body part by 3D scanning the body part in its natural state, and then designing an object to be worn on that body part. However, this method did not allow for an accurate grasp of the body shape when the object is worn, making it impossible to accurately design an object that fits the body.

[0006] For example, when manufacturing a prosthesis that fits the stump of a prosthetic limb user, a 3D model of the stump was previously obtained by scanning the stump in its natural state using a 3D scanner. However, the data obtained using this method could not determine the state of the stump when the prosthesis was worn. Therefore, it was not possible to obtain information about reference parts of the body that would be useful for design, such as the position of the ischium in the case of a prosthetic limb. This made it difficult to manufacture a prosthetic socket that accurately fits the stump.

[0007] In order to grasp the body shape when wearing an object, it is conceivable to perform a predetermined procedure on a part of the body to recreate the body shape when wearing the object and then perform a 3D scan in that state. However, in this case, the hands of the person performing the procedure can interfere with the 3D scan, making it difficult to perform an accurate 3D scan and ultimately generate an accurate body model.

[0008] The present invention has been made in consideration of the above-mentioned technical background, and its purpose is to generate a 3D scan model that reproduces a part of the body in a state where an object to be worn on the part of the body is worn.

[0009] The above-mentioned technical problems can be solved by a three-dimensional model generation system, method, program, etc. having the following configuration.

[0010] In other words, the three-dimensional model generation system of the present invention is a three-dimensional model generation system comprising a mold-taking jig that takes a mold of a part of the body to which an object is to be attached, and an information processing device, wherein the mold-taking jig has a contact part that is configured so that its position can be adjusted to contact the part of the body, and the information processing device comprises a scan data acquisition unit that acquires three-dimensional scan data obtained by three-dimensionally scanning the mold-taking jig with the part of the body in contact with the contact part, and a scan model generation unit that generates a three-dimensional scan model including the mold-taking jig with the part of the body in contact with the contact part and the part of the body based on the three-dimensional scan data.

[0011] This configuration allows for the creation of a 3D scanned model of a body part that replicates the state of the body part when fitted with an object, thereby providing an object that precisely fits the body part, including any object that can be worn on the body, such as a prosthetic limb, prosthetic socket, or prosthetic device.

[0012] The body part may be a body stump and the object may be a prosthetic limb.

[0013] With this configuration, it is possible to obtain a three-dimensional scanned model of the stump that reproduces the state when the prosthesis is worn.

[0014] The contact portion may include a reference portion support portion that supports a portion corresponding to a reference portion of the body or a part thereof.

[0015] With this configuration, since the contact portion includes the reference portion support portion, the position of the reference portion of the body can be grasped in the 3D scan model, and thus a 3D scan model that reproduces the stump with the prosthesis attached can be generated in a manner that allows the position of the reference portion of the body to be grasped.

[0016] The device may further include a socket shape generation unit that generates a prosthetic socket shape that fits the stump based on the 3D scan model.

[0017] With this configuration, the shape of the prosthetic socket can be automatically generated based on the three-dimensional scan model.

[0018] The socket shape generating unit may further generate the prosthetic socket shape based on three-dimensional jig shape data including three-dimensional shape data of the abutment portion.

[0019] With this configuration, the shape of the prosthetic socket can be generated using the 3D scan model and a known 3D jig shape.

[0020] The socket shape generation unit further generates a first socket shape including a proximal end shape of the prosthetic socket based on the 3D scan model and the 3D jig shape data. A first socket shape generation unit; a second socket shape generation unit that generates a second socket shape including a distal end shape of the prosthetic socket based on the shape of a portion of the stump model related to the 3D scan model that is distal to the abutment portion; and an integration processing unit that generates the prosthetic socket shape based on the first socket shape and the second socket shape.

[0021] With this configuration, the shape of the prosthetic socket can be generated using the shape of the mold-taking jig and the shape of the stump contained in the 3D scan model.

[0022] The prosthetic limb may be a prosthetic leg, and the mold-taking tool may further include a contact portion support that supports the contact portion against a floor surface, thereby enabling mold-taking in a standing position.

[0023] With this configuration, it is possible to obtain information about the stump when the prosthesis user is standing, i.e., when the user is putting their weight on it. At this time, since the contact portion includes a reference portion support portion, it is possible to grasp the position of the reference portion of the body as well. In other words, it is possible to easily obtain the stump when the prosthesis is worn while also grasping the reference portion of the body. This makes it possible to provide, for example, a prosthetic socket that precisely fits the stump.

[0024] The abutment portion support body further fixes each abutment portion in a predetermined position and accommodates the stump, a support body, a support pillar, and an upper end of the support pillar. A connecting means for connecting the upper end of the support pillar and the lower end of the support pillar so as to be angle adjustable may be provided, and a foot portion connected to the lower end of the support pillar and in contact with the floor surface.

[0025] This configuration allows the prosthetic limb to be molded in a standing position using a mold-taking tool equipped with a structure related to the skeletal structure of the prosthetic limb. It also makes it possible to adjust the alignment of the prosthetic limb socket.

[0026] The support may be made of a frame.

[0027] According to this configuration, even when the stump is brought into contact with the contact portion, the stump is not completely covered by the support, which makes it easy to take the mold.

[0028] The abutment portion may include one outer abutment portion that abuts the outside of the stump, and a front abutment portion and a rear abutment portion that are provided one each in the front-to-rear direction on the inside of the stump.

[0029] With this configuration, the front-to-rear and inside-outside dimensions can be easily adjusted with a simple structure.

[0030] The contact surface of the outer abutment portion with the stump, the contact surface of the front abutment portion with the stump, and the contact surface of the rear abutment portion with the stump may be configured to have the same or substantially the same shape as the inner surface shape of the reference prosthetic socket.

[0031] With this configuration, it is possible to take a mold based on the actual prosthetic socket, thereby providing a highly adaptable prosthetic socket.

[0032] The prosthetic limb may be a thigh prosthesis, and the reference site may be an ischium.

[0033] With this configuration, the position of the ischial bones can be accurately determined by adjusting the contact portion.

[0034] The prosthetic limb may be a below-knee prosthetic limb, and the reference site may be the patellar tendon.

[0035] With this configuration, the position of the patellar tendon can be accurately determined by adjusting the contact portion.

[0036] The contact portion may include an inner peripheral surface shape of the ischium-accommodating socket.

[0037] With this configuration, it is possible to take a mold assuming an ischial bone-accommodating socket.

[0038] The abutment portion may include an inner peripheral surface shape of a quadrilateral socket.

[0039] With this configuration, it is possible to take a mold assuming an ischial bone-accommodating socket.

[0040] One or more auxiliary abutment portions may be further provided between the outer abutment portion and the front abutment portion, and between the outer abutment portion and the rear abutment portion, respectively, to prevent part of the body from protruding in the front-to-rear direction.

[0041] This configuration can prevent a part of the body from protruding in the front-to-rear direction.

[0042] The information processing device may further include an initial setting position output unit that outputs an initial setting position of the contact portion based on shape information of the body part.

[0043] According to this configuration, fitting can be performed using the initial position generated by the information processing device, which makes it possible to reduce the work time and improve the accuracy.

[0044] The information processing device may further include a contact part position information acquisition unit that acquires and stores position information of the contact part on the mold-taking jig when the body part is properly attached to the mold-taking jig.

[0045] With this configuration, the positions of the contact points on the casting jig when the body part is properly fitted to the casting jig are stored in an information processing device, and this information can be used in a variety of ways. For example, the accurate position information of the contact points can be referred to by an operator as a reference for design, and can also be used for correcting and aligning the three-dimensional model.

[0046] Viewed from another angle, the present invention is a three-dimensional model generation method for a three-dimensional model generation system comprising a casting jig that casts a part of a body to which an object is to be attached, and an information processing device, wherein the casting jig has a contact part configured so that its position can be adjusted to contact the part of the body, and the information processing device executes a scan data acquisition step of acquiring three-dimensional scan data obtained by three-dimensionally scanning the casting jig with the part of the body in contact with the contact part, and a scan model generation step of generating a three-dimensional scan model including the casting jig with the part of the body in contact with the contact part and the part of the body based on the three-dimensional scan data.

[0047] Viewed from another angle, the present invention is a three-dimensional model generation program for a three-dimensional model generation system comprising a casting jig for casting a mold of a part of a body to which an object is to be attached, and an information processing device, wherein the casting jig has a contact part configured so that its position can be adjusted to contact the part of the body, and the information processing device is caused to execute a scan data acquisition step of acquiring three-dimensional scan data obtained by three-dimensionally scanning the casting jig with the part of the body in contact with the contact part, and a scan model generation step of generating a three-dimensional scan model including the casting jig with the part of the body in contact with the contact part and the part of the body based on the three-dimensional scan data.

[0048] According to the present invention, it is possible to generate a 3D scanned model of a body part that reproduces the body part when an object is attached to the body part, thereby providing, for example, an object that fits precisely to the body part.

[0049] FIG. 1 is a schematic diagram of a prosthetic socket shape generation system. FIG. 2 is an explanatory diagram illustrating the detailed configuration of a casting jig. FIG. 3 is a configuration diagram of an information processing device. FIG. 4 is a flowchart illustrating the process of generating a prosthetic socket shape. FIG. 5 is an explanatory diagram showing an example of a bone M-L diameter measurement tool. FIG. 6 is a conceptual diagram showing how a measurement tool is used to measure the distance between the inner wall of the ischial ramus and the femur. FIG. 7 is an explanatory diagram illustrating how the circumference of the femur is measured. FIG. 8 is a front view showing a casting jig attached to the stump of a patient's left leg. FIG. 9 is an explanatory diagram illustrating the appropriate position of the ischium. FIG. 10 is an explanatory diagram illustrating the stump length. FIG. 11 is an explanatory diagram showing an example of a three-dimensional model obtained by performing a three-dimensional scan. FIG. 12 is an explanatory diagram showing an example of a three-dimensional model after trimming. FIG. 13 is an explanatory diagram illustrating a first socket shape and a second socket shape. FIG. 14 is an explanatory diagram illustrating the final shape of the prosthetic socket. Fig. 15 is an explanatory diagram showing the configuration of the abutment when a quadrilateral socket is to be generated. Fig. 16 is an explanatory diagram showing a case where a tie rod is used as the interlocking mechanism. Fig. 17 is an explanatory diagram showing a modified example in which two auxiliary abutment portions are provided at the front and rear. Fig. 18 is an explanatory diagram showing a modified example in which three auxiliary abutment portions are provided at the front and rear.

[0050] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0051] (1. First Embodiment) In the first embodiment, the present invention is applied to a body stump as a part of the body, and to a prosthetic limb as an object attached to that part of the body, and in particular, an example of application to a socket generation system for a femoral prosthesis with a skeletal structure will be described. Note that in this embodiment, a prosthetic limb is described as an example of an object attached to a part of the body, but the present invention can be applied to any object that can be attached to the body. Therefore, it may also be applied to other prosthetic limbs such as a below-knee prosthesis or a prosthetic arm. It may also be applied to an orthosis (for example, an ischial support-type load-relieving orthosis or an ischial support-type long leg orthosis) as an object attached to the body.

[0052] (1.1 System Configuration) Fig. 1 is a schematic diagram of a prosthetic socket shape generation system 100 according to this embodiment. As is clear from the figure, the prosthetic socket shape generation system 100 comprises an information processing device 10, a 3D scanner 20, a display device 30 such as a display, an input device 40 such as a keyboard or a mouse, and a mold-taking jig 50.

[0053] In the example shown in the figure, a patient (or a prosthetic limb user) is supported in an upright position by the casting jig 50 by inserting the stump of one leg 62 (left leg) into the casting jig 50. The 3D scanner 20 obtains 3D scan data by 3D scanning the stump supported by the casting jig 50 together with the casting jig 50. The obtained 3D scan data is acquired by the information processing device 10. The information processing device 10 generates the shape of a prosthetic limb socket that fits the stump based on the 3D scan data.

[0054] 2A and 2B are explanatory diagrams relating to the detailed configuration of the casting jig 50. Fig. 2A is a diagram showing the overall configuration of the casting jig 50, and Fig. 2B is a perspective view of the casting jig 50 as seen from above.

[0055] As is clear from FIG. 1A, the mold-taking jig 50 receives the stump from above in the vertical direction and supports the abutment portions (561, 562, 571) in predetermined positions. An aluminum support 51 consisting of a frame body having a plurality of elongated rod-shaped members, a connector 52 (for example, an angle-adjustable coupling adapter) that connects the lower end of the support 51 and the upper end of the support 53, a support 53, and a foot 54 attached to the lower end of the support 53.

[0056] With this configuration, a mold can be taken of the leg stump in a standing position using the mold-taking tool 50 having a structure related to the skeletal structure prosthesis, thereby reducing the burden of taking the mold.

[0057] Moreover, with this configuration, even if the stump is brought into contact with the abutment portion, the stump is not completely covered by the support body 51. Therefore, it is easy to take a mold, and three-dimensional scanning can be easily performed from outside the abutment portion support structure.

[0058] The configuration of the casting jig 50 is not limited to this. For example, a connector may be provided between the support 53 and the foot 54. This connector may also have an angle adjustment function.

[0059] The term "contact" does not simply mean contact, but also includes pressing against something.

[0060] As is clear from FIG. 1B, the vertical upper end of the support 51 is provided with a frame body (511-514) in which the normal to the imaginary plane formed by the four sides is approximately aligned with the vertical direction. One outer side (514) of the frame body is provided with a front abutment portion 562 that is arranged on the front side of the patient and abuts against the inner front of the stump to support that part, and a rear abutment portion 561 that is arranged on the rear side of the patient and abuts against the inner rear of the stump to support that part. A spacer 563 for adjusting the distance is attached between the front abutment portion 562 and the rear abutment portion 561 on the same side.

[0061] The spacer 563 is provided to adjust the distance between the front contact portion 562 and the rear contact portion 561. Therefore, spacers of a plurality of lengths may be prepared in advance for replacement.

[0062] With this configuration, the distance between the front contact portion 562 and the rear contact portion 561 can be easily adjusted by the detachable spacer 563 .

[0063] A beam 515 is stretched in the front-to-rear direction in the hollow region of the top frame (511 to 514). The beam 515 is configured so that its position can be adjusted in the inward and outward directions. An outer abutment portion 571 that abuts against the outside of the stump is provided near the center of the beam 515.

[0064] The shape of the inner surface, which is the surface that receives the stump of the front abutment portion 562, the rear abutment portion 561, and the outer abutment portion 571, is configured to be identical or approximately identical to the shape near the proximal end (or opening end) of the inner surface of the prosthetic socket to be generated or the reference prosthetic socket, i.e., the shape of the part that comes into contact with the stump.

[0065] According to this configuration, the front-to-back and inside-outside dimensions can be easily adjusted with a simple configuration of three abutment members (561, 562, 571), and as described later, when a three-dimensional scan is performed, the modeling of the stump or prosthetic socket can be simplified and the adaptability of the prosthetic socket can be improved.

[0066] In addition, in this embodiment, a configuration including three abutment members (561, 562, 571) is described for the sake of simplicity of configuration and ease of adjustment. However, other configurations may be used as long as the distance in the front-to-rear and inside-out directions can be adjusted, and other numbers of abutment members may be used. For example, two abutment members may be provided on the outside, front and rear, so that four abutment members that support the stumps on the support body 51 may be provided.

[0067] A support shape portion, which is a portion shaped to be placed on and support a portion corresponding to a reference part or part thereof of the patient, in this embodiment, a support shape portion, which is a portion shaped to be placed on or to rest a hard part corresponding to the patient's ischium or part thereof, is provided near the proximal end of the inner circumferential surface of the rear abutment portion 561. As will be described later, when the patient is able to rest on the mold-taking jig 50 as expected, the hard part corresponding to the patient's ischium or part thereof will rest on this support shape portion (see FIG. 9 ).

[0068] With this configuration, it is possible to generate with high accuracy the shape of a prosthetic socket of the type that rests on a portion corresponding to the ischium or a part thereof.

[0069] In this embodiment relating to a femoral prosthesis, the ischium is the reference site, but the present invention is not limited to this configuration. Therefore, for example, in a below-knee prosthesis, the patellar tendon may be the reference site.

[0070] In addition, in this embodiment, as an example, the prosthetic socket to be generated is an ischial bone housing (IRC) socket (also called an IC socket), and therefore the shape of each abutment portion (561, 562, 571) is configured to be identical to the inner surface shape near the proximal end (or opening end) of the reference ischial bone housing socket.

[0071] According to the above configuration, information on the stump when the prosthesis user is standing, i.e., when weight is applied, can be obtained in the medial-lateral and front-back directions. At this time, since the abutment portion (561, 562, 571) includes a support shape portion, the position of the reference part of the body can also be grasped. In other words, the stump when wearing the prosthesis can be easily molded while also grasping the reference part of the body. This makes it possible to provide, for example, a prosthetic socket that precisely fits the stump.

[0072] 3 is a configuration diagram of the information processing device 10. As is clear from the diagram, the information processing device 10 includes a control unit 11, a storage unit 12, a communication unit 13, a display control unit 15, and an I / O processing unit 16.

[0073] The control unit 11 is a computing device such as a CPU, and executes various programs, which will be described later. For example, the control unit 11 acquires 3D scan data, which will be described later, and performs various calculations. The storage unit 12 is composed of a ROM / RAM, a flash memory, etc., and stores programs and data for executing various processes, which will be described later. For example, the storage unit 12 stores 3D shape data of the casting jig 50.

[0074] The communication unit 13 is a communication unit that performs wired or wireless communication with an external device. The display control unit 15 controls the display of images and the like displayed on a display device 30 such as a connected display. The I / O processing unit 16 serves as an interface with the external device and inputs and outputs information. For example, in this embodiment, the display device 30 and an input device 40 are connected, and input and output of information is performed between them.

[0075] (1.2 Flow of Generating Prosthetic Socket Shape) FIG. 4 is a flowchart illustrating the flow of generating the shape of a prosthetic socket using the prosthetic socket shape generation system 100 according to this embodiment.

[0076] As is clear from the figure, first, the creator of the prosthetic socket measures the dimensions of the patient's body, i.e., the leg stump (S10). More specifically, the creator uses a predetermined measuring instrument to measure the AP (Anterior-Posterior) diameter (anterior-posterior diameter) of the patient's thigh, the M-L (Medial-Lateral) diameter (internal-external diameter) of the bone, and the circumference value of the thigh related to the stump. The AP diameter is the distance from the ischial tuberosity to the adductor longus muscle. The M-L diameter is the distance between the inner wall of the ischial ramus and the femur. The thigh circumference value is the thigh circumference value at 50 mm intervals.

[0077] 5 is an explanatory diagram showing an example of a bone M-L diameter measurement instrument 70. As is clear from the figure, the measurement instrument 70 includes a pair of gripping pieces having parallel surfaces, namely, a first gripping piece 71 and a second gripping piece 72. The user can measure the distance between the first gripping piece 71 and the second gripping piece 72 by adjusting the distance between the first gripping piece 71 and the second gripping piece 72. The second gripping piece 72 has a recess (see FIG. 6) that is suitable for contacting the inner wall of the ischial ramus.

[0078] 6 is a conceptual diagram showing how the distance between the inner wall of the ischial ramus and the femur is measured using a measuring instrument 70. In this figure, an ischium 731 and a femur 732 are depicted. Note that for ease of understanding, tissues such as fat, muscle, and skin are omitted.

[0079] As is clear from the figure, the position and orientation of the second gripping piece 72 can be determined by abutting the hard portion corresponding to the inner wall of the ischial ramus against the back vertical wall surface 721, inner vertical wall surface 722, and bottom surface 723 of the recess of the measurement instrument 70. After the second gripping piece 72 on the ischium 731 side is appropriately positioned, the other gripping piece, the first gripping piece 71, is abutted against the side surface of the femur 732 while maintaining a horizontal position. This makes it possible to measure the distance between the inner wall of the ischial ramus of the ischium 731 and the femur 732, i.e., the bone M-L diameter.

[0080] 7 is an explanatory diagram of how the thigh circumference is measured. As is clear from the figure, in this embodiment, the thigh circumference is measured with a tape measure at 50 mm intervals (see the scale drawn on the leg 62 in the figure) based on the level of the ischial tuberosities. However, the intervals may be other values.

[0081] Returning to Figure 4, once the body dimension measurements are completed, the creator of the prosthetic socket initially sets or adjusts the positions of each contact portion of the mold-taking jig 50, namely, the front contact portion 561, the rear contact portion 562, and the outer contact portion 571 (S11). More specifically, the position (medial-lateral distance) of the outer contact portion 571 (or beam 515) is adjusted to match the bone M-L diameter, and the distance (anteroposterior distance) between the front contact portion 562 and the rear contact portion 561 is adjusted to match the AP diameter. This allows the contact portions (561, 562, 571) to fit the stump, and the state of the stump when the prosthesis is worn can be partially reproduced.

[0082] Thereafter, the patient wears the mold-taking jig 50 having the pre-adjusted contact portions (561, 562, 571). At this time, it is confirmed that the ischium is positioned appropriately (S12).

[0083] 8 is a front view showing the state in which the casting jig 50 is attached to the stump of the patient's leg 62 (left leg). As is clear from the figure, the patient's right leg 61 is extended and on the ground, and the left leg 62 is inserted into the support 51 of the casting jig 50 and supported by the abutment parts (561, 562, 571). At this time, the stump may be covered with a stockinette.

[0084] This configuration allows the patient to take a cast of the leg stump while standing, reducing the burden on the patient. Furthermore, the angle adjustment also makes it possible to adjust the alignment of the prosthetic socket.

[0085] 9 is a plan view of the casting jig 50 seen from above, illustrating the appropriate positioning of the ischial bones. If the measurements of the AP diameter and the M-L diameter of the bone are appropriate and the contact portions (561, 562, 571) are also positioned appropriately based on those measurements, the hard part of the body corresponding to the ischial ramus will be positioned on the anterior contact portion 561, in the support shape portion around the region indicated by S in the figure. Therefore, by checking whether the hard part corresponding to the patient's ischial ramus is positioned in region S, the operator can confirm whether the ischial bones are in the appropriate position.

[0086] For the purpose of checking, for example, a through hole may be provided in the region S of the front contact portion 561 .

[0087] With this configuration, the worker can check through the through-hole whether the (hard) part corresponding to the ischium or a part thereof is resting on the support shape part, which makes it easier to check whether the ischium is resting in the expected position, improving workability.

[0088] Returning to Figure 4, after checking the position of the ischial bones, the worker measures the length of the patient's stump using a predetermined measuring instrument (S13). The stump length is the distance from the ischial tuberosity to the tip of the stump.

[0089] 10 is an explanatory diagram of the stump length. L in the figure corresponds to the distance from the ischial tuberosity to the tip of the stump, that is, the stump length.

[0090] After measuring the stump length, the worker uses the 3D scanner 20 to scan the stump supported by the casting jig 50 together with the casting jig 50 (S15). As a result, 3D scan data including the stump and the casting jig 50 supporting the stump is generated and provided to the information processing device 10. The information processing device 10 generates a 3D model including the stump and the casting jig 50 based on the received 3D scan data using an application program or the like, and displays it on the display device 30. At this time, alignment is performed based on the 3D scan data and the 3D shape data of the casting jig 50 stored in advance in the information processing device 10. This alignment may be performed automatically by the information processing device 10 as in this embodiment, or the worker may perform part or all of the work using an application program such as CAD.

[0091] FIG. 11 is an explanatory diagram showing an example of a three-dimensional model 801 obtained by performing three-dimensional scanning. As is clear from the figure, the three-dimensional model 801 includes not only the stump model but also part of the trunk and part of the configuration of the casting jig 50, for example, part of the support 51. Note that this three-dimensional model 801 includes model parts (8011, 8012) corresponding to the abutment parts, and alignment is performed using these parts. Note that other shapes of the casting jig 50 may be used for alignment; for example, alignment may be performed using the frame body related to the support 51 as an additional clue.

[0092] Returning to FIG. 4, once the 3D scan is completed, the information processing device 10 executes a trimming process (S16). In the trimming process, a process is performed to remove parts of the model that are unnecessary for creating the prosthetic socket. Specifically, the information processing device 10 performs a process to remove the remaining parts, leaving only the model parts corresponding to the three contact parts (561, 562, 571) and the parts of the model corresponding to the stump distal to the contact parts (561, 562, 571). Note that this trimming process may be performed automatically by the information processing device 10 as in this embodiment, or an operator may perform part or all of the work using an application program such as CAD.

[0093] 12 is an explanatory diagram showing an example of a three-dimensional model 802 after trimming. In the figure, the three-dimensional model 802 after trimming includes a model portion 8021 corresponding to the three contact portions (561, 562, 571) and a model portion 8022 corresponding to the stump distal to the contact portion.

[0094] Returning to FIG. 4, after the trimming process, the worker performs a process to check the circumference value and stump length for the portion corresponding to the stump of the 3D model after the trimming process. That is, it is confirmed whether the circumference value and stump length of the portion corresponding to the stump of the 3D model match the physically measured circumference value and stump length. If these do not match, there may be some problem with the 3D scan, so the 3D scan may be performed again.

[0095] After confirming the circumference value and stump length, the information processing device 10 performs a prosthetic socket shape generation process (S18). More specifically, the information processing device 10 first generates a first socket shape including the proximal end shape of the prosthetic socket from the shape of the model portion 8021 corresponding to the three contact portions (561, 562, 571). Furthermore, the information processing device 10 generates a second socket shape including the distal end shape of the prosthetic socket from the shape of the model portion corresponding to the stump distal to the contact portions (561, 562, 571). In this embodiment, the first socket shape and the second socket shape have no thickness.

[0096] The information processing device 10 then combines the first socket shape with the second socket shape and adds thickness to the combined shape to create the desired final prosthetic socket shape. This completes the process. This prosthetic socket shape generation process may be performed automatically by the information processing device 10, as in this embodiment, or a worker may perform part or all of the process using an application program such as CAD. After generating the prosthetic socket shape, the shape may be three-dimensionally printed and combined with other structural components to manufacture a prosthetic leg, such as a skeletal prosthesis.

[0097] 13 is an explanatory diagram illustrating an example of the first socket shape and the second socket shape. As is clear from the figure, a first socket shape 8031 ​​including an inner circumferential surface shape near the proximal end of the prosthetic socket is generated from the inner circumferential surface shape of the model portion 8021 corresponding to the three abutment portions (561, 562, 571). Also, a second socket shape 8032 including an inner circumferential surface shape near the distal end of the prosthetic socket is generated from the outer circumferential surface shape of the model portion 8022 corresponding to the stump distal to the abutment portions (561, 562, 571). As is clear from the figure, at this time, no thickness is imparted to the first socket shape and the second socket shape.

[0098] FIG. 14 is an explanatory diagram of the final shape of the prosthetic socket. As is clear from the figure, the final model 805 of the prosthetic socket is formed by combining a first socket shape 8031 ​​and a second socket shape 8032, each of which is given a thickness. A part of the final model 805 is provided with an ischial support portion 8051 that supports a hard portion corresponding to the ischial ramus. Note that the timing of adding thickness is not limited to that of this embodiment. For example, the first socket shape and the second socket shape may be combined after adding thickness.

[0099] The order of the steps in the flowchart shown in Fig. 4 can be changed as appropriate within the scope of not causing any contradiction. In addition, the steps (S15, S17, S18) of the transition to 3D scanning performed by the information processing device 10 may be executed in series, or only the start instruction of each step may be left to the operator.

[0100] According to the above configuration, the shape of the prosthetic socket can be generated based on data obtained by 3D scanning the stump supported by the contact portions (561, 562, 571) of the casting jig 50 together with the casting jig 50. As a result, even when manufacturing a prosthetic socket by 3D scanning the stump, it is possible to generate a shape of the prosthetic socket that fits the stump when the prosthesis is worn.

[0101] (2. Modifications) The present invention can be implemented in various modifications.

[0102] In the above-described embodiment, the prosthetic socket to be generated is an ischial containment (IRC) socket, but the present invention is not limited to such a configuration. For example, a quadrilateral (QL) socket may also be generated.

[0103] 15 is an explanatory diagram showing the configuration of the abutment portion of the mold-taking jig 50 when a quadrilateral socket is to be generated. In the same figure, as in the above-described embodiment, three abutment portions are provided: a front abutment portion 901, a rear abutment portion 902, and an outer abutment portion 903. The inner surface shape (surface on the stump receiving side) of each abutment portion (901, 902, 903) is the shape near the proximal end of the inner surface of the quadrilateral socket to be generated, that is, the shape of the contact portion with the stump. It is configured to be the same or substantially the same as the shape.

[0104] In the above embodiment, the distance between the front contact portion 561 and the rear contact portion 561 is described as being adjusted using the spacer 563, but the present invention is not limited to such a configuration. Therefore, for example, a mechanism may be provided that moves the front contact portion 561 and the rear contact portion 561 in directions toward or away from each other.

[0105] With this configuration, the front-to-rear width can be easily adjusted, improving workability.

[0106] FIG. 16 is an explanatory diagram illustrating a case where a tie rod is used as the interlocking mechanism. FIG. 16(a) is a perspective view of the support body 51 as viewed from above, and FIG. 16(b) is a plan view of the support body 51. As is clear from these figures, both ends of an operating rod 581 of the tie rod are provided with elongated link members (582, 583) that connect the front contact portion 562 and the rear contact portion 561, respectively. By moving the operating rod 581 inward or outward, the front contact portion 562 and the rear contact portion 561 can be moved the same distance in the forward or rearward direction, either toward or away from each other. For example, in the example shown in FIG. 16, when the operating rod 581 is moved outward, the front contact portion 562 and the rear contact portion 561 move the same distance toward each other (see the arrows in FIG. 16(b)).

[0107] According to this configuration, the front contact portion 562 and the rear contact portion 561 can be linked with one operation, so that the front-to-rear width can be easily adjusted, improving workability.

[0108] Alternatively, all of the contact portions may be linked together. For example, a wire or belt may be passed through the three contact portions, and the positions of the three contact portions may be simultaneously adjusted from the circumferential direction toward the center by adjusting the wire or belt.

[0109] In the above embodiment, a configuration in which a through-hole is provided is exemplified as a method for checking whether a portion corresponding to a reference portion such as the ischial ramus is positioned in the support shape portion (near area S) on the anterior contact portion 562. However, the present invention is not limited to such a configuration. Therefore, for example, a sensor may be provided to detect whether a portion corresponding to the reference portion is in contact with or resting on area S.

[0110] Such sensors may be, for example, strain sensors or pressure sensors. The sensors may be arranged in a single or multiple form. Furthermore, the sensors may be arranged in a planar or sheet form. Additionally, the detection may be performed based on information obtained from a single sensor, or by identifying peak positions or relatively large detected values ​​from the distribution or relative relationship of detected values ​​from sensors arranged in a planar form.

[0111] With this configuration, it is possible to more reliably determine whether the reference portion or a portion corresponding to a part thereof is placed on the support shape portion of the abutment portion, thereby making it easy to confirm whether the mold has been taken properly.

[0112] Furthermore, for example, by using a method for identifying the peak position from a distribution composed of the detection values ​​of multiple sensors arranged in a sheet or plane, it is possible to accurately distinguish between hard parts corresponding to the ischial ramus, etc. and other fat, etc.

[0113] When a body part corresponding to the reference part is properly placed on the support shape part near the region S, or conversely, when it is not properly placed, a signal may be output to notify the worker of this. Such an output may be in any form as long as it can be confirmed by the worker through the five senses. For example, the output may be displayed on the display device 30 using characters, colors, flashing, or predetermined graphics, or a speaker or the like may be further provided to notify by sound. Also, a lamp or the like may be attached to the casting jig 50 and the lamp may be illuminated.

[0114] According to this configuration, whether the ischial bones or a part thereof is resting on the support shape portion can be indicated through the five senses, thereby improving workability.

[0115] In the above embodiment, a configuration has been described in which only the proximal end of the stump is fixed to the abutment portion of the casting jig 50, but the present invention is not limited to such a configuration. Therefore, the distal end (or tip) of the stump may also be fixed to the casting jig 50. For example, the tip of the stump may be fixed to the support 51 by a fixing means such as a belt.

[0116] In this manner, by fixing both the proximal end and the distal end of the stump to the support 51, it becomes possible to measure the initial bending angle, etc., and to walk while wearing the mold-taking jig 50.

[0117] In the above-described embodiments, the casting jig has been described as having two contact portions on the inside (see FIG. 9, FIG. 15, or FIG. 16) and one contact portion on the outside. However, when these designs are adopted, there is a risk that fat or the like from the leg may protrude from the front and rear when the leg is inserted into the support of the casting jig. Therefore, a configuration may be provided in which an auxiliary contact portion is further provided in the space between the inside contact portion and the outside contact portion.

[0118] FIG. 17 is an explanatory diagram showing a modified example in which two auxiliary abutment portions (1021 and 1022, 1031 and 1032) are provided at the front and rear. FIG. 17(a) is a perspective view of the support body seen from above, and FIG. 17(b) is a plan view of the support body. In the example shown in FIG. 17, similar to the above-described embodiment, two inner abutment portions (1001 and 1003) and a spacer 1002 are fixed to one side of the support body at the top end corresponding to the inner side of the leg. Furthermore, one outer abutment portion 1010 is fixed to one side corresponding to the outer side of the leg in an adjustable position. There is a space between the front abutment portion 1001 and the front end of the outer abutment portion 1010, and between the rear abutment portion 1003 and the rear end of the outer abutment portion 1010. In these spaces, the first front auxiliary abutment portion 1021, the second front auxiliary abutment portion 1022, the first rear auxiliary abutment portion 1031 and the second rear auxiliary abutment portion 1032 are arranged, respectively.

[0119] In this modification, the contact surfaces of the auxiliary contact portions (1021 and 1022, 1031 and 1032) with the body are all designed to be smaller than the contact surfaces of the other contact portions (1001, 1003, 1010). As is clear from Fig. 1(b), the auxiliary contact portions (1021 and 1022, 1031 and 1032) are arranged approximately evenly in an arc shape that follows the cross-sectional shape of the body, such as the leg, to be inserted.

[0120] The first front auxiliary abutment portion 1021 and the second front auxiliary abutment portion 1022 are fixed to the upper end of the support body in a manner that allows their positions to be adjusted in the left-right (inner-outer) and front-rear directions, respectively. More specifically, the first front auxiliary abutment portion 1021 and the second front auxiliary abutment portion 1022 are arranged at the inner ends of long, plate-shaped connecting plates 1023 and 1025, and are connected to the upper end of the support body via the connecting plates 1023 and 1025. Long holes are formed in the longitudinal direction near the centers of the connecting plates 1023 and 1025, and fastening fasteners 10231 and 10251 through these long holes enables the first front auxiliary abutment portion 1021 and the second front auxiliary abutment portion 1022 to be positioned relative to the support body in the front-rear direction. The left-right positions of the first front auxiliary abutment portion 1021 and the second front auxiliary abutment portion 1022 can be adjusted by changing the attachment positions of the connecting plates 1023, 1025 and fasteners 10231, 10251 to the beam at the upper end of the support body.

[0121] The first front auxiliary abutment portion 1021 and the second front auxiliary abutment portion 1022 are attached to the tips of the connecting plates 1023 and 1025 so as to be rotatable around an axis normal to the connecting plates 1023 and 1025 (a vertical axis in the example shown in the figure). With this configuration, the first front auxiliary abutment portion 1021 and the second front auxiliary abutment portion 1022 move in response to a contact object, so that when the leg is inserted into the support, the abutment surfaces of the first front auxiliary abutment portion 1021 and the second front auxiliary abutment portion 1022 follow the surface of the leg.

[0122] Meanwhile, the first rear auxiliary abutment portion 1031 and the second rear auxiliary abutment portion 1032 are also fixed to the upper part of the support body in a manner that allows their positions to be adjusted in the left-right (inner-outer) and front-rear directions, respectively. That is, the first rear auxiliary abutment portion 1031 and the second rear auxiliary abutment portion 1032 are disposed at the tips of long, plate-shaped connecting plates 1033 and 1035, and are connected to the upper end of the support body via the connecting plates 1033 and 1035. Long holes are formed in the longitudinal direction near the centers of the connecting plates 1033 and 1035, and the first rear auxiliary abutment portion 1031 and the second rear auxiliary abutment portion 1032 can be positioned by passing fasteners 10331 and 10351 through these long holes and tightening them.

[0123] The first rear auxiliary abutment part 1031 and the second rear auxiliary abutment part 1032 are attached to the tips of the connecting plates 1033 and 1035 so as to be rotatable around an axis normal to the connecting plates 1033 and 1035 (a vertical axis in the example shown in the figure). With this configuration, the first rear auxiliary abutment part 1031 and the second rear auxiliary abutment part 1032 move in response to a contact object, so that when the leg is inserted into the support body, the contact surfaces of the first rear auxiliary abutment part 1031 and the second rear auxiliary abutment part 1032 with the body conform to the rounded surface of the leg.

[0124] With this configuration, the auxiliary contact portions (1021 and 1022, 1031 and 1032) can be used to smoothly guide the part of the body that comes into contact between the inner contact portions (1001 to 1003) and the outer contact portion 1010. In addition, it is possible to reduce the risk of leg fat or the like spilling out in the front-to-back direction.

[0125] 18A and 18B are explanatory diagrams showing a modified example in which three auxiliary contact portions (1120 to 1122, 1130 to 1132) are provided at the front and rear, respectively. Fig. 18A is a perspective view of the support body seen from above, and Fig. 18B is a plan view of the support body.

[0126] This modified example is substantially the same as the example in Fig. 17 except that there are three auxiliary contact parts in the front and three in the rear. That is, similar to the example in Fig. 17, each auxiliary contact part (1120-1122, 1130-1132) is fixed to the upper part of the support body in a manner that allows its position to be adjusted in the left-right (inside-outside) direction and the front-back direction.

[0127] Furthermore, each auxiliary contact portion (1120-1122, 1130-1132) is attached to the tip of the connecting plate (1123-1125, 1133-1135) so as to be rotatable around the normal axis (vertical axis in the example shown in the figure) of the connecting plate (1123-1125, 1133-1135). With this configuration, each auxiliary contact portion (1120-1122, 1130-1132) rotates, so that when the leg is inserted into the support, the contact surface of each auxiliary contact portion (1120-1122, 1130-1132) with the body conforms to the rounded surface of the leg.

[0128] With this configuration, the auxiliary contact portions (1120-1122, 1130-1132) can be used to smoothly guide the body part that comes into contact between the inner contact portions (1101-1103) and the outer contact portion 1110. This also reduces the risk of leg fat or the like spilling out in the front-to-back direction. Furthermore, providing three auxiliary contact portions allows for even smoother guiding.

[0129] In the above-described embodiment, the initial positions of each contact portion are determined using the body dimension measurement results (e.g., AP diameter, M-L diameter) (S11). However, the present invention is not limited to such a configuration. For example, by inputting the patient's physical information, such as body shape information (e.g., leg circumference), to the information processing device 10 via the input device 40, the information processing device 10 may output the initial position of the contact portion and / or auxiliary contact portion in the anterior-posterior and lateral (medial-lateral) directions. This output value may be generated by reading the initial position corresponding to the physical information from a pre-stored table, or may be generated by calculation based on predetermined rules, statistical models, machine-learned models, etc. The operator adjusts the position of the contact portion and / or auxiliary contact portion according to this output value. At this time, the frame of the support 51 may be provided with indicators or scales indicating reference positions to ensure reliable and easy positioning of the contact portion and / or auxiliary contact portion.

[0130] According to this configuration, fitting can be performed using the initial position generated by the information processing device 10, which can reduce the work time and improve the accuracy.

[0131] Note that when the contact portions and / or auxiliary contact portions are adjusted by fitting, the information processing device 10 may be configured to input post-adjustment position information (e.g., the amount read from the scale). In other words, in this case, the information processing device 10 may store the post-adjustment position information acquired via the contact portion position information acquisition unit as accurate position information of each contact portion and / or auxiliary contact portion, and may allow the worker to refer to or use the information. For example, the accurate position information of the contact portions may be used to correct or align a three-dimensional model of the leg or prosthetic socket.

[0132] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and the technical scope of the present invention is not intended to be limited to the specific configurations of the above embodiments. Furthermore, the above embodiments can be combined as appropriate within the scope of not causing any contradiction.

[0133] The present invention can be used in industries such as the prosthetic limb manufacturing industry.

[0134] REFERENCE SIGNS LIST 10 Information processing device 20 Three-dimensional scanner 30 Display device 40 Input device 50 Casting jig 51 Support 52 Connector 53 Support 55 Foot 561 Rear contact portion 562 Front contact portion 563 Spacer 571 Outer contact portion

Claims

1. A three-dimensional model generation system comprising: a casting jig that casts a mold of a part of a body to which an object is to be attached; and an information processing device, wherein the casting jig has a contact part configured so that its position can be adjusted to contact the part of the body, and the information processing device has: a scan data acquisition part that acquires three-dimensional scan data obtained by three-dimensionally scanning the casting jig with the part of the body in contact with the contact part, and a scan model generation part that generates a three-dimensional scan model including the casting jig with the part of the body in contact with the contact part and the part of the body based on the three-dimensional scan data.

2. The three-dimensional model generation system according to claim 1, wherein the body part is a body stump, and the object is a prosthetic limb.

3. The three-dimensional model generation system according to claim 2, wherein the abutment portion includes a reference portion support portion that supports a portion corresponding to a reference portion of the body or a part thereof.

4. The three-dimensional model generation system according to claim 2, further comprising a socket shape generation unit that generates a prosthetic socket shape that fits the residual limb based on the three-dimensional scan model.

5. A three-dimensional model generation system according to claim 4, wherein the socket shape generation unit further generates the prosthetic socket shape based on three-dimensional jig shape data including three-dimensional shape data of the abutment portion.

6. The three-dimensional model generation system according to claim 5, wherein the socket shape generation unit further comprises: a first socket shape generation unit that generates a first socket shape including a proximal end shape of the prosthetic socket based on the three-dimensional scan model and the three-dimensional jig shape data; a second socket shape generation unit that generates a second socket shape including a distal end shape of the prosthetic socket based on the shape of a portion of the stump model related to the three-dimensional scan model that is distal to the abutment portion; and an integration processing unit that generates the prosthetic socket shape based on the first socket shape and the second socket shape.

7. The three-dimensional model generation system according to claim 3, wherein the prosthetic limb is a prosthetic leg, and the mold-taking jig further comprises a contact portion support that supports the contact portion against a floor surface, thereby enabling mold-taking in a standing position.

8. The three-dimensional model generation system described in claim 7, wherein the abutment portion support further comprises: a support that fixes each of the abutment portions in a predetermined position and accommodates the stump; a support pole; connection means that connects the upper end of the support pole to the lower end of the support so that the angle can be adjusted; and a foot that is connected to the lower end of the support pole and comes into contact with the floor surface.

9. The three-dimensional model generation system according to claim 8, wherein the support comprises a frame.

10. A three-dimensional model generation system as described in claim 7, wherein the abutment portion includes one outer abutment portion that abuts the outside of the stump, and one front abutment portion and one rear abutment portion that are each located in the front-to-rear direction on the inside of the stump.

11. A three-dimensional model generation system as described in claim 10, wherein the contact surface of the outer abutment portion with the stump, the contact surface of the front abutment portion with the stump, and the contact surface of the rear abutment portion with the stump are configured to have the same or approximately the same shape as the inner surface shape of the reference prosthetic socket.

12. The three-dimensional model generation system according to claim 3, wherein the prosthesis is a thigh prosthesis, and the reference part is an ischium.

13. The three-dimensional model generation system according to claim 3, wherein the prosthetic limb is a below-knee prosthesis, and the reference site is a patellar tendon.

14. The three-dimensional model generation system according to claim 12, wherein the abutment portion includes an inner peripheral surface shape of an ischium-accommodating socket.

15. The three-dimensional model generation system according to claim 12, wherein the abutment portion includes an inner peripheral surface shape of a quadrilateral socket.

16. A three-dimensional model generation system as described in claim 10, wherein one or more auxiliary abutment portions are further provided between the outer abutment portion and the front abutment portion, and between the outer abutment portion and the rear abutment portion, respectively, to prevent part of the body from protruding in the front-to-rear direction.

17. The three-dimensional model generation system according to claim 1, wherein the information processing device further comprises an initial setting position output unit that outputs an initial setting position of the contact part based on shape information of the part of the body.

18. The three-dimensional model generation system of claim 1, wherein the information processing device further comprises a contact part position information acquisition unit that acquires and stores position information of the contact part on the casting jig when the body part is properly attached to the casting jig.

19. A three-dimensional model generation method for a three-dimensional model generation system comprising a casting jig that casts a part of a body to which an object is to be attached, and an information processing device, wherein the casting jig has a contact part configured so that its position can be adjusted to contact the part of the body, and the information processing device executes the following steps: a scan data acquisition step of acquiring three-dimensional scan data obtained by 3D scanning the casting jig with the part of the body in contact with the contact part; and a scan model generation step of generating a three-dimensional scan model including the casting jig with the part of the body in contact with the contact part and the part of the body based on the three-dimensional scan data.

20. A three-dimensional model generation program for a three-dimensional model generation system comprising a casting jig that casts a part of a body to which an object is to be attached, and an information processing device, wherein the casting jig has a contact part configured so that its position can be adjusted to contact the part of the body, and the program causes the information processing device to execute the following steps: a scan data acquisition step of acquiring three-dimensional scan data obtained by three-dimensionally scanning the casting jig with the part of the body in contact with the contact part; and a scan model generation step of generating a three-dimensional scan model including the casting jig with the part of the body in contact with the contact part and the part of the body based on the three-dimensional scan data.

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