CN113288383A - Foot deformity correction robot and preparation method thereof - Google Patents

Abstract

One or more embodiments of the present specification provide a foot deformity correction robot and a method of manufacturing the same, the correction robot including a foot orthotic and an external fixator for cooperative correction of soft tissues and hard tissues of a foot; the outer fixator comprises a fixing ring, a driving unit and at least one adjusting part, wherein the adjusting part is movably connected with the fixing ring, and the driving unit drives the adjusting part to act and is used for adjusting the correction force applied to a diseased part by a spicule connected with the fixing ring. The correction robot of the embodiment can realize synchronous and cooperative correction of soft tissues and hard tissues of the foot, adjust correction force and correction speed according to different people and is beneficial to reconstruction and repair of integrated physiological functions of musculoskeletal deformity of the foot.

Description

Foot deformity correction robot and preparation method thereof

Technical Field

One or more embodiments of the present disclosure relate to the field of rehabilitation aids, and more particularly, to a robot for correcting foot deformities and a method for manufacturing the same.

Background

The feet are important components of the human body, have physiological functions of supporting weight, coordinating movement, keeping balance and the like, and play a vital role in daily life. The soft tissues of the foot, which contain numerous nerve endings and are tightly connected to the brain, are called the "second heart of the human body" and are of great importance in maintaining and ensuring the health and physiological functions of the foot.

Foot deformities seriously affect quality of life. Foot deformities include varus, valgus, introversion, and flatfoot. The external image of the patient is relatively slightly influenced by hallux valgus, hallux varus, flat feet and the like because the hallux valgus, the flat feet and the like are wrapped in the shoe, and the internal inversion and the valgus of the feet not only seriously influence the external image of the patient, but also have great influence on normal wearing and taking off of the shoe, gait and body balance. Especially for children in the growth period, the varus and valgus deformity of feet can cause the pathological changes of other parts, such as knee joints and hip joints, and seriously damage the body health.

At present, conservative treatment or surgical treatment can be performed according to the foot deformity degree. The conservative treatment is suitable for mild patients, generally, an orthopedic device can be used for gradually applying force to soft tissues, and acupuncture, electrical stimulation, medicines and other modes are matched for auxiliary correction; the operation treatment is suitable for severe patients, generally needs to be corrected by an external fixator drawing osteogenesis mode or an internal fixation bone grafting mode, however, the internal fixation bone grafting treatment has the problems of high treatment cost, large-area open operation and the like, the external fixator corrects the deformity correction of the bones with much attention, the accompanying soft tissue deformity correction intervention is insufficient, especially the attention of the soft tissue in the drawing side direction is less, and the reconstruction of the integrated physiological function of the foot musculoskeletal and the postoperative effect are influenced.

Disclosure of Invention

In view of the above, an object of one or more embodiments of the present disclosure is to provide a robot for correcting foot deformity and a method for manufacturing the same, so as to solve the problem of reconstruction and restoration of integrated physiological functions of foot musculoskeletal tissues.

In view of the above, one or more embodiments of the present disclosure provide a foot deformity correction robot including:

a foot orthotic and an external fixator for the co-operative correction of soft and hard tissues of the foot.

Optionally, the external fixator includes a fixing ring, a driving unit and at least one adjusting member, the adjusting member is movably connected to the fixing ring, and the driving unit drives the adjusting member to move, so as to adjust a corrective force applied to a diseased part by a spicule connected to the fixing ring.

Optionally, the fixing ring comprises an upper fixing ring and a lower fixing ring, the foot is inserted into one end of the spicule, the other end of the spicule is fixedly connected with the upper fixing ring through a spicule fixing part, the adjusting part is movably connected with the upper fixing ring and the lower fixing ring, the driving unit drives the adjusting part to act, and the adjusting part acts and adjusts the traction force and/or the correction angle of the foot by the outer fixing device.

Optionally, the adjusting part is a connecting rod, an elastic part or an inflation part.

Optionally, the spicule, the adjusting part and the fixing ring are detachably connected.

Optionally, the external fixator further includes a control unit, configured to control the driving unit to drive the adjusting component to act according to preset parameters of the external fixator; the parameters of the external fixator comprise angle adjustment and stress adjustment.

Optionally, the foot orthotic is formed by connecting a plurality of rod structures, and a pore is formed between the rod structures; the apertures may be of different densities in different regions of the foot orthotic.

The embodiment of the present specification further provides a method for manufacturing a foot deformity correction robot, including:

acquiring foot image data;

inputting the foot image data into a pre-trained foot corrector design model to obtain orthosis parameters and external fixator parameters;

preparing a foot orthotic for correcting soft tissue of a foot according to the orthotic parameters;

and adjusting the correction parameters of an external fixator for correcting the hard tissues of the foot bones according to the parameters of the external fixator so as to perform cooperative correction on the foot by using the foot orthosis and the external fixator.

As can be seen from the above description, in one or more embodiments of the present disclosure, a robot for correcting foot deformity and a method for manufacturing the same are provided, where the robot for correcting foot deformity includes a foot orthotic and an external fixator, and is capable of performing synchronous and cooperative correction of soft foot tissues and hard bone tissues, adjusting a correction force and a correction speed according to different people, and facilitating musculoskeletal integrated physiological function reconstruction and repair of foot deformity.

Drawings

In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.

Fig. 1 is a schematic diagram of an overall structure of a correction robot according to one or more embodiments of the present disclosure;

FIG. 2 is a schematic representation of a foot orthotic of one or more embodiments of the present description;

fig. 3 is a schematic structural view of an external fixator according to one or more embodiments of the present disclosure;

FIG. 4 is a schematic diagram illustrating a use state of a orthotic robot according to one or more embodiments of the present disclosure;

FIG. 5 is a schematic flow chart of a method according to one or more embodiments of the present disclosure.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

As shown in fig. 1 to 4, one or more embodiments of the present disclosure provide a robot for correcting foot deformities, which includes a foot orthosis 1 and an external fixator 2 that are designed in synchronization. The external fixator 2 comprises a fixing ring, a driving unit and at least one adjusting part, wherein the adjusting part is movably connected with the fixing ring, and the driving unit drives the adjusting part to act and is used for adjusting the correction force applied to the affected part by the spicules connected with the fixing ring.

The external fixator 2 is fixed on the foot, the external fixator 2 comprises an upper fixing ring 21, a lower fixing ring 22, at least one adjusting part 23 and at least one spicule 24, one end of the spicule 24 is inserted into the foot, the other end of the spicule 24 is fixedly connected with the upper fixing ring 21 through a spicule fixing part 4, the adjusting part 23 is movably connected with the upper fixing ring 21 and the lower fixing ring 22, the driving unit drives the adjusting part 23 to act, and the adjusting part 23 acts to adjust the traction force and/or the correction angle of the external fixator on the foot.

In some embodiments, the adjusting member is a connecting rod, one end of the connecting rod is movably connected to the upper fixing ring 21, and the other end of the connecting rod is movably connected to the lower fixing ring 22, and the connecting rod can move relative to the upper fixing ring and the lower fixing ring to change the distance between the upper fixing ring and the lower fixing ring, thereby changing the traction force and/or the correction angle of the affected part. The adjusting component can also be an inflatable component, and the distance between the upper fixing ring and the lower fixing ring can be adjusted by inflating or deflating the inflatable component; the adjusting component can also be an elastic component, and the distance between the upper fixing ring and the lower fixing ring can be adjusted by providing different elastic forces through the elastic component. The number, structural form and arrangement position of the regulating members are not particularly limited.

In some embodiments, the external fixator further comprises a control unit, and the control unit controls the driving unit to drive the adjusting component to act according to the parameters of the external fixator, so that the external fixator is automatically adjusted. The external fixator can also comprise a configuration unit, the parameters of the external fixator are configured by the configuration unit, or the parameters of the external fixator sent remotely can be received, and the correction parameters of the external fixator can be adjusted according to the received parameters. Optionally, the configuration unit can be used for configuring a preset traction force, and applying a static constant traction force to the whole area or a local area of the foot to perform deformity correction; traction forces with predetermined frequency and amplitude may also be configured to apply dynamically varying traction forces to all or a localized area of the foot to correct deformities, and the specific configuration and manner of correction are not limited.

Optionally, the fixing ring is circular or semicircular and can be sleeved on the shank, and the spicule, the adjusting part and the fixing ring are detachably connected. In some scenes, during the operation, the deformed foot bones are firstly cut, and then holes are punched to penetrate bone pins; after the operation, the foot orthosis is worn, then the spicules, the adjusting parts and the fixing rings are quickly assembled, the correction parameters of the external fixator are adjusted, the soft tissue orthosis and the external fixator are used for cooperatively correcting the foot, different correction forces are applied to different areas of soft tissue through the foot orthosis, the proliferation of soft tissue cells is promoted, the orthodontics and the rehabilitation of the soft tissue are realized, the traction force and/or the correction angle applied to the hard bone tissue through the external fixator are used for promoting the proliferation of the bone cells, and the orthodontics and the rehabilitation of the hard bone tissue of the foot are realized.

With reference to fig. 2, the foot orthosis 1 is worn on the foot through the foot fixing band 12 and the leg fixing band 13, the foot orthosis is formed by connecting a plurality of rod structures 11, pores are formed between the rod structures, the pore density formed in different regions of the foot orthosis is different, the pores with higher density have good air permeability, the pore rigidity with lower density is higher, good mechanical support can be provided, and lightening holes 14 are formed in the rear side part region of the lower leg, so that wearing comfort is improved. Because different areas of the foot have different air permeability and mechanical properties, different corrective forces can be provided for different areas of soft tissues, the air permeability requirements of the soft tissues can be met, the typical problems of force, dampness, heat and the like of the contact surface of a foot orthosis are obviously improved, the treatment comfort level is improved, the mechanical support and function recovery of the soft tissues can be met, the mechanical biological stimulation is provided, the proliferation and the shaping of fibroblasts are promoted, the conditions of pressure, blood circulation and the like of local soft tissue deformity in the correction process are improved, and adverse reactions such as pressure sore, necrosis and the like are prevented.

As shown in fig. 5, one or more embodiments of the present disclosure also provide a method of manufacturing a robot for correcting a foot deformity, including:

s501: acquiring foot image data;

in this embodiment, the foot image data of the foot malformed patient is acquired by a computer tomography scanner, or the foot image data is acquired by a magnetic resonance imaging device.

S502: inputting foot image data into a pre-trained foot corrector design model to obtain orthosis parameters and external fixator parameters;

in this embodiment, after obtaining the foot image data of the patient, the foot image data is input into the foot orthotic design model, and orthotic parameters for designing the foot orthotic and external fixator parameters for adjusting the external fixator to correct the hard bone tissue are output by using the foot orthotic design model.

S503: preparing a foot orthotic for correcting soft tissue of the foot according to the orthotic parameters;

s504: and adjusting the correction parameters of the external fixator for correcting the hard tissues of the foot bones according to the parameters of the external fixator so as to perform cooperative correction on the foot by using the foot orthosis and the external fixator.

In this embodiment, after the parameters of the orthosis and the parameters of the external fixator are determined, a foot orthosis for correcting soft tissues of the foot is prepared according to the parameters of the orthosis, the correction parameters of the external fixator are adjusted according to the parameters of the external fixator, then the foot orthosis is worn on the foot, the soft tissues of the foot are corrected by the foot orthosis, the external fixator is fixed on the foot, and the hard skeletal tissues of the foot are corrected by the external fixator, so that the soft tissues and the hard skeletal tissues of the foot can be synchronously and cooperatively corrected, the correction force and the correction speed can be adjusted according to different people, and the reconstruction and the repair of the integrated physiological functions of the musculoskeletal system of the foot deformity are facilitated.

In some embodiments, before acquiring the foot image data, the method further comprises:

acquiring foot case sample data;

constructing a training sample according to the foot case sample data;

acquiring orthosis parameters and external fixator parameters corresponding to foot case sample data;

and training the machine learning model by using the corresponding orthosis parameters and the corresponding external fixator parameters as output and using the training samples to obtain the foot orthosis design model.

In this embodiment, the method for constructing the foot orthotic design model includes: acquiring a certain amount of foot case sample data, wherein the foot case sample data comprises foot case data of different patients, and acquiring orthosis parameters and external fixator parameters corresponding to the foot case data of each patient according to the foot case data of different patients, for example, acquiring orthosis parameters and external fixator parameters corresponding to the patient, which are input by an expert, according to different patients. Then, constructing a training sample for training a model based on the obtained foot case sample data, taking orthosis parameters and external fixator parameters corresponding to the foot case data of each patient as output, training a machine learning model to obtain a foot orthosis design model, outputting orthosis parameters and external fixator parameters suitable for the patient by using the foot orthosis design model according to the input foot case data of the patient, and enabling the patient to wear the foot orthosis designed according to the orthosis parameters and the external fixator adjusted according to the external fixator parameters to cooperatively correct soft tissues and hard tissues of the foot. Optionally, the machine learning model may be a deep learning neural network model or other models, and the structure and principle of the model are not specifically described.

In some approaches, the case sample data acquired during the training phase includes, but is not limited to, patient baseline data, clinical diagnostic data, exam results data, and the like. The basic data includes, but is not limited to, the basic information of the patient, such as name, age, and sex, and the examination result data includes, but is not limited to, foot image data, blood test result data, and physical examination result data. The above data types are only illustrative and are not limiting

In some embodiments, obtaining foot case sample data is: acquiring foot image data at different time stages; then the process of the first step is carried out,

the parameters of the orthosis and the parameters of the external fixator corresponding to the case sample data are obtained as follows: and acquiring the parameters of the orthotics and the parameters of the external fixator, which are input and correspond to the foot image data at different time stages, so as to realize continuous optimization of the deformity correction scheme for the same patient.

In this embodiment, for a foot deformity patient in the stage of correction treatment, the correction effect is different at different time stages, and different foot correction robots should be further designed at different time stages to perform effective and targeted correction treatment on the patient. Therefore, when a foot orthotic design model is trained, for each patient, foot case sample data at different time stages, orthotic parameters and external fixator parameters corresponding to the foot case sample data at different time stages are obtained, the foot orthotic design model is trained by using the foot case sample data at different time stages, and the foot orthotic design model capable of outputting corresponding orthotic parameters and external fixator parameters according to foot image data at different time stages is obtained.

In some embodiments, in order to obtain case sample data at different time stages, foot image data may be acquired periodically (e.g., every 1 day or other time intervals) to determine the degree of correction of soft tissues and bones of the foot; in order to obtain the inputted orthosis parameters and external fixator parameters corresponding to case sample data at different time stages, pressure sensors, temperature sensors, humidity sensors and the like can be arranged in different areas of the foot orthosis, tension sensors, moment sensors and other measuring units for monitoring stress and movement changes of different areas of the foot can be arranged at different positions of the external fixator, and the orthosis parameters and the external fixator parameters for the next stage of correction treatment are set by experts according to the measured data of the measuring units.

In some embodiments, the acquiring the foot image data comprises: acquiring foot image data of a current time stage; then the process of the first step is carried out,

inputting foot image data into a pre-trained foot orthotic design model, and obtaining orthotic parameters and external fixator parameters as follows:

and inputting the foot image data of the current time stage into a foot orthotic design model to obtain orthotic parameters and external fixator parameters of the current time stage.

In this embodiment, in the process of recovering the foot correction, in order to achieve a good correction effect, a foot orthosis and an external fixator suitable for the current stage of the correction should be designed according to different time stages of the recovery process. For example, for a patient with severe foot deformity, acquiring foot image data of the patient before an operation, determining orthotic parameters and external fixator parameters in a first stage according to foot case data, wearing a foot orthotic prepared according to the orthotic parameters in the first stage on the foot after the operation, fixing an external fixator on the foot, and configuring the external fixator according to the external fixator parameters in the first stage; after the first-stage correction period, the patient rechecks to obtain the foot image data of the patient at the current time stage, the parameters of the orthosis and the parameters of the external fixator at the second stage are determined according to the foot image data at the current time stage, the foot orthosis is prepared again according to the parameters of the orthosis at the second stage and is worn on the foot, and the external fixator is reconfigured according to the parameters of the external fixator at the second stage; according to the above treatment process, at different time stages, an orthotic robot suitable for the next stage of orthotic treatment is prepared for the patient, and the appropriate orthotic robot is used to perform effective orthotic treatment on the foot.

In some embodiments, preparing a foot orthotic for correcting soft tissue of a foot based on orthotic parameters includes:

generating a solid foot orthotic model;

performing gridding processing on the solid foot orthotic model to obtain a grid foot orthotic model;

adjusting the grid density of the grid foot orthotic model according to the orthotic parameters to obtain an adjusted grid foot orthotic model;

and performing lofting operation according to a specific cross-sectional graph on the basis of the grid lines of the adjusted grid foot orthotic model to generate a foot orthotic model with a rod structure shape.

In this embodiment, after determining the orthotic parameters, a method of making a foot orthotic is: firstly, scanning the bottom surface form of a foot, the peripheral outline form of the foot and the outline form of a lower leg of a human body in a standing position by using a foot scanner to obtain point cloud data of the outline of the foot of the human body, fitting the point cloud data by using specific software to generate a complete foot model, and then designing a solid foot model with completely matched forms by taking the bottom surface of the foot and the rear side of the lower leg of the foot model as a fitting curved surface. And then, carrying out gridding processing on the entity foot model by using preset software, and quickly generating a grid foot model with consistent grid density at one time. And then, adjusting the grid density of the grid foot model according to the orthosis parameters to obtain the adjusted grid foot model. After adjustment, extracting grid lines from the grid foot model, taking the extracted grid lines as a part of a specific sectional graph, performing lofting operation on the basis of the specific sectional graph, and obtaining a foot orthotic model with a rod structure form after the operation is finished; and finally, processing a foot orthosis by using 3D printing, and wearing the foot orthosis on the foot.

In some embodiments, the orthotic parameters include ventilation, mechanical parameters, and weight parameters for different areas of the foot;

according to the orthotic parameters, the mesh density of the mesh foot orthotic model is adjusted to:

and adjusting the grid density of the corresponding area of the grid foot orthotic model according to the air permeability, the mechanical parameters and the weight parameters of different areas of the foot.

In this embodiment, considering that the stress points of the foot are distributed differently and the ventilation requirement is different, the orthotic parameters output by the foot orthotic design model should include design parameters for different areas of the foot. Based on the determined orthotic parameters, when the foot orthotic is designed, the network density is adjusted according to the air permeability, mechanical parameters and weight parameters of the corresponding areas for different areas of the foot, so that the foot orthotic suitable for being worn by the foot is obtained. For example, in a first area contacting with the human forefoot, the density of the grid is less than or equal to a first density threshold value, so that the forefoot area has good air permeability; in a second area contacted with the arch part of the human body, the density of the grids is greater than a first density threshold value, so that the arch part area has good mechanical property and can effectively support feet; the third area contacted with the back side of the lower leg of the human body has a supporting function and needs to reduce the weight as much as possible, so that dense grids can be arranged in a local stressed area, and lightening holes are arranged in a non-stressed area, so that the ventilation and the lightening are realized. The number and specific value of the density threshold may be specifically set according to the foot region and the wearing performance requirement, and this embodiment is not particularly limited.

In some embodiments, after obtaining the adjusted mesh foot orthotic model, the method further comprises: extracting grid lines and connection points between the grid lines;

after generating the foot orthotic model with the rod structure shape, the method further comprises the following steps:

according to the distribution of stress points of the foot, reinforcing structures are arranged at all connecting points or part of the connecting points, and the reinforcing structures arranged at different connecting points are the same or different.

In this embodiment, considering that the foot plays a role in supporting the weight, after the grid density is adjusted, the connection points between the grid lines and the grid lines are extracted from the grid foot orthotic model, and according to the distribution of the stress points of the foot, the reinforcement structures are arranged at all the connection points or at part of the connection points, and the same reinforcement structure or different reinforcement structures can be arranged at all the connection points or at part of the connection points, so that the designed foot orthotic not only can meet the requirement on mechanical performance, but also is comfortable to wear, and is not easy to damage and deform. Meanwhile, different reinforcing structures have different force biological effects, and can massage local acupuncture points and promote rehabilitation.

In some embodiments, the external fixator parameters include angular adjustment and force adjustment;

adjusting the correction parameters of an external fixator for correcting the hard tissues of the foot bones according to the parameters of the external fixator, comprising the following steps:

adjusting the rotation angle of an adjusting part of the external fixator according to the angle adjustment amount;

and adjusting the traction force of the adjusting part according to the stress adjusting amount.

In this embodiment, the external fixator adjusts the hard bone tissue by using the external fixator parameters, which may include traction adjustment of the external fixator on the hard bone tissue, and correction angle adjustment of the external fixator on the hard bone tissue. The external fixator is provided with an adjusting part, on one hand, the adjusting part can adjust the traction force applied to the hard bone tissue according to the stress adjustment amount to promote the growth of new bones; on the other hand, the adjusting member can adjust the rotation angle applied to the hard bone tissue according to the angle adjustment amount to gradually correct the bone to the normal position.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.

In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.

While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.

It is intended that the one or more embodiments of the present specification embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.

Claims (8)

1. A foot deformity correction robot, comprising:

a foot orthotic and an external fixator for the co-operative correction of soft and hard tissues of the foot.

2. The orthotic robot of claim 1,

the external fixator comprises a fixing ring, a driving unit and at least one adjusting part, wherein the adjusting part is movably connected with the fixing ring, and the driving unit drives the adjusting part to act and is used for adjusting the correction force applied to a diseased part by a spicule connected with the fixing ring.

3. The orthotic robot of claim 2,

the fixing ring comprises an upper fixing ring and a lower fixing ring, the foot is inserted into one end of the spicule, the other end of the spicule is fixedly connected with the upper fixing ring through a spicule fixing portion, the adjusting part is movably connected with the upper fixing ring and the lower fixing ring, the driving unit drives the adjusting part to act, and the adjusting part acts and adjusts the traction force and/or the correction angle of the foot by the outer fixing device.

4. The orthotic robot of claim 2, wherein the adjustment member is a connecting rod, an elastic member, or an inflatable member.

5. The orthotic robot of claim 2, wherein the spicules, adjustment member, and fixation ring are removably coupled.

6. The orthotic robot of claim 2,

the external fixator further comprises a control unit, and the control unit is used for controlling the driving unit to drive the adjusting part to act according to preset parameters of the external fixator; the parameters of the external fixator comprise angle adjustment and stress adjustment.

7. The orthotic robot of claim 1,

the foot orthosis is formed by connecting a plurality of rod structures, and pores are formed among the rod structures; the apertures may be of different densities in different regions of the foot orthotic.

8. A method of manufacturing a robot for correcting foot deformities, comprising:

acquiring foot image data;

inputting the foot image data into a pre-trained foot corrector design model to obtain orthosis parameters and external fixator parameters;

preparing a foot orthotic for correcting soft tissue of a foot according to the orthotic parameters;

and adjusting the correction parameters of an external fixator for correcting the hard tissues of the foot bones according to the parameters of the external fixator so as to perform cooperative correction on the foot by using the foot orthosis and the external fixator.

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