DE102018104386A1 - A method of creating a model of a tool from an existing tool or negative print, means for digitizing a tool, and unit for performing the method - Google Patents

Abstract

Disclosed is a method for creating a model of a hollow orthopedic appliance from an existing hollow tool or its negative impression with steps of digitizing an external geometry and digitizing an internal geometry of the existing appliance or negative impression intended for contact with the patient; Aligning and scaling the inner geometry with respect to the outer geometry; and creating the model depending on the outer geometry and inner geometry. Also disclosed are each a device for detecting and digitizing the internal and external geometry of the test tool. Furthermore, a unit for carrying out the method with the devices is disclosed.

Description

The invention relates to a method for producing a model of a particular orthopedic aid, for example a prosthesis, an orthosis or a prosthesis stem, from an existing aid or negative impression, a device for digitizing an internal geometry of the existing aid or negative impression, a device for digitizing its outer geometry and a unit for carrying out the method.

In orthopedic technology, there is a problem in transferring the geometry of an orthopedic trial tool or a replacement tool, such as a test shaft in a shank stocking, to the definitive shaft. In the following, the term "test aid" is understood to mean any orthopedic aid whose geometry / statics is to be transferred to a definitive aid by means of the method according to the invention.

The actual stem supply begins with an impression of the amputation stump. From this impression, a positive model is then created and modeled according to certain medical, orthopedic and biomechanical criteria. From this, a thermoplastic test shaft is then produced, so that the prosthesis structure and the fit on the patient can be optimized, whereupon a definitive prosthesis shaft, for example by the casting resin process, is produced. Particular care must be taken that the position of an adapter for other prosthetic components is transferred as precisely as possible from the test shaft to the definitive prosthesis shaft. Conventionally, a transmission device is used, in which the poured test shaft is clamped, wherein the adapter of the test shaft is attached to the transmission device. After removing the test shaft, the positive remains on the transmission device. The definitive prosthesis stem is then manufactured using this positive model, with the adapter position being transmitted with sufficient accuracy in all planes.

In addition to this largely manual modeling of the test shaft, methods are also known in which the amputation stump is measured by 3D scanners. Such solutions are for example in the DE 10 2004 007 455 A1 , the DE 10 2007 014 747 A1 or the EP 0 555 207 B1 shown.

In the EP 1 044 648 B1 a method is disclosed in which the measurement of an amputation stump takes place with the aid of reference objects attached thereto, which are then recorded from different viewing directions by means of a camera or the like, the reference line then being used to determine the contour line of the stump.

In the US Pat. No. 6,463,351 B1 a method is described in which first a model of the amputation stump is created and this model is then measured via a 3D scanner. The scan may then be suitably modified to allow for customization to the patient.

The DE 42 32 606 A1 finally shows a method in which the inner contour of an orthopedic aid is scanned and detected by means of a scanner.

The DE 10 2014 102 997 A1 The applicant shows a method in which the inner and outer contour of the orthopedic aid are scanned together with a respective supernatant. The scaling and positioning of the inner geometry to the outer geometry is then based on the overlapping projections. From the aligned and scaled geometry, a CAD model is created by reverse engineering from the point clouds of the scans in a patient coordinate system.

Although it has been found that with these known methods a static transfer of an existing orthopedic aid, referred to below as a test aid, can be carried out on an aid, for example a definitive shaft. However, it may happen that a fit of the orthopedic device so created does not yet meet the real-life, biomechanical conditions of the patient.

In contrast, the invention has for its object to provide a method and a unit for performing the method, and devices for this unit over which a model of the orthopedic aid can be created, which has a fit that better meets the real-occurring biomechanical requirements ,

This object is achieved in view of the method with the features of claim 1, with regard to the devices for this unit with the respective features of the independent claims 9 and 15 and with regard to the unit for performing the method by the features of the independent claim 16 solved.

Advantageous developments of the invention are the subject of the dependent claims.

A method for creating a model, in particular a CAD model, of a hollow orthopedic aid starting from an existing hollow aid, hereinafter test aid, and / or its negative impression, has steps of digitizing an outer geometry and an internal geometry of the test auxiliary provided for contact with the patient or negative impression; Aligning and scaling the inner geometry with respect to the outer geometry; Creating the model depending on the external geometry and internal geometry; According to the invention, prior to creating the model, steps are performed analyzing the internal geometry and / or external geometry on anatomical zones and modifying or leaving the internal geometry and / or external geometry in a region of a determined anatomical zone.

In this way, the test tool can be used to create a model or model proposal for the orthopedic appliance that has a fit that better meets the biomechanical requirements that actually occur.

With such a method, it is possible in particular to carry out a static transmission from the testing aid, for example a test shaft, to a definitive auxiliary, for example a prosthesis shaft.

An anatomical zone in the sense of this document is an important area for the fit of the definitive orthopedic aid used on the patient - in particular an area of internal geometry - in which, for example, relatively high forces must be transmitted to the patient when using the definitive auxiliary device or a comparatively strong one given curved surface. For the human-perceived fit of the aid these zones thus have a great importance and should be designed for an optimal, areal distribution of pressure and / or shear forces.

A provision of the digital model is preferably carried out in a coordinate system, in particular in a patient coordinate system.

In a further development, the step "digitizing the outer geometry" preferably takes place with reference to a coordinate system, in particular a patient coordinate system. For this purpose, the test tool is already arranged in its position in the patient coordinate system, for example, in a necessary for the digitization detection of the outer geometry.

The patient coordinate system in the sense of this document is arranged in a variant with its origin in a sagittal plane and / or frontal plane and / or transversal plane of the patient. The transverse plane can be, for example, a standing plane of the patient. Alternatively, the origin and the coordinate system may be located outside of said planes and may be placed, for example, at an end point of a stump or other characteristic point of the patient.

In a further development, at least one registration mark linking the outer geometry and inner geometry is also digitized with the step "digitizing". Alternatively or additionally, at least one overlap of the outer geometry with the inner geometry, which does not belong to the orthopedic-functional geometry of the testing aid, is digitized with the step "digitizing".

In a preferred development, the step "aligning and scaling" takes place by means of the registration marks and / or the overlap. In this case, the use of the registration marks can be particularly helpful if the step "aligning and scaling" alone by means of overlapping is not possible with sufficient accuracy.

In an alternative of the method, the step "aligning and scaling" also takes place with reference to the coordinate system, in particular the patient coordinate system.

The step of "digitizing" is preferably carried out by means of an image-based method, based on a capture of photos of the outer geometry and the inner geometry. The photos of the respective geometry have sufficient overlap, so that they carry recurring optical features, from which the respective 3D geometry can be derived. The photos of the outer geometry also include the representation of the visible from the outside end portions of the registration marks, those of the inner geometry include the representation of the visible from the inside end portions of the registration marks.

The detection preferably takes place segment by segment. For this purpose, in a further development, a respective segment of the geometry, at least one respective segment of the outer geometry, is assigned a respective group of arranged detection devices-for example cameras.

The photos are registered with each other and thus each form a composite image of the inner geometry and the outer geometry. However, with each additional photo registered in the image composite, a registration error increases, so that, after a certain number of registrations, a true-to-life detection of the geometry, in particular the internal geometry, is no longer possible satisfactorily. This problem is solved by using the above-mentioned registration marks. Each photo, which contains one of the registration marks, thus has a clearly defined, spatial reference point which, in consequence, supports the image composite. In this way, a stability of the digitization of the respective geometry, in particular the internal geometry, is ensured.

The step "Analyze" is preferably based on experience. This can be done manually depending on the experience of a human, or preferably automatically, on the basis of a stored database or a stored characteristic map in which anatomical zones are stored as a function of predetermined coordinates and / or topologies of the internal and / or external geometry.

In a further development, the step "analyzing" takes place as a function of at least one contour curve or at least one sectional curve of the internal geometry.

In a further development, the step "analyze" takes place as a function of a curvature and / or a vertex of the cut curve or contour curve.

The step "modify" is carried out in a development by adding or subtracting a constant or variable distance or offset in the region of the anatomical zone.

In a development, after at least one of the steps, a model based on a result of this step, in particular a CAD model, can be discharged.

In the further course of the method, a step is then carried out to manufacture the orthopedic aid, or at least a portion thereof, according to the model, in particular the CAD model.

In a development, the method has a step of calibrating, in particular internal calibration, of at least one or all detection devices which are provided for detecting the external and / or internal geometry. In the course of the internal calibration, internal parameters of the detection devices, such as, for example, distortion and focal length, can be determined, which are necessary in order to be able to use the data acquired by the detection devices for the purpose of metrology.

In one development, the method has a step of external calibration or spatial orientation of at least one or all detection devices which are provided for detecting the external and / or internal geometry. In the course of the external calibration, a position and angular position of the detection devices can be determined. This information is also necessary in order to be able to use the data acquired by the detection devices for the purpose of metrological measurement.

The steps of internal and external calibration can be performed again at the beginning of the process and again at any time, for example at a noticeable change in temperature, which influences the internal parameters or the spatial orientation.

In order to detect an internal geometry of the test aid intended for contact with the patient or of its negative impression, a device is proposed according to the invention which has a series of articulated vertebrae. In this case, a detection device for 2D and / or 3D detection of the internal geometry is arranged at a distal end section or at an end section of the row, in particular at a last one of the vertebral bodies.

Preferably, the detection device is photographic, in particular a camera. Alternatively, it may be, for example, a 3D scanner for directly generating a 3D point cloud.

In order to be able to support the detection device on the internal geometry with a minimum distance or at a defined distance, in particular to be able to center with respect to the internal geometry, the device has in a development at least one radially outwardly extending from the row, in particular a radially elastic and / or adaptive support device. This can be formed self-centering with at least two diametrically arranged or with three preferably spaced apart from each 120 ° spaced support portions. The support portions are preferably resilient, or elastically deformable. In a further development, the support sections have a radially outer sliding or rolling element for sliding or rolling on the inner geometry.

In a development, the device has an adjusting device, in particular a motor or servo motor, via which the distal end section or the end piece can be brought into an angled position to the proximal remainder of the row.

To illuminate a detection field of the detection device, a lighting device is provided in a development of the device at the distal end portion thereof.

At the proximal end portion of the device, a handle for manual and / or mechanical handling of the device is arranged in a development of the device.

At least one of the articulated connections has a cardan joint or an elastomer joint in a development of the device.

Preferably, the device has a torsion joint, by means of which the detection device or the end piece carrying it is rotatable about a longitudinal axis of the device.

Preferably, a respective motor for driving the bending of the tail and / or for rotation of the tail about the longitudinal axis of the row in the tail or in the tail adjacent vertebral body is housed.

In a development, a movement orbit of the articulated connection, in particular a rotational or pivoting orbit or orbit, is restricted, in particular by a stop device. The restriction preferably reaches a value of 5 ° - 15 °. Alternatively or additionally, the movement orbit of the articulated connection can be controlled, in particular by controlling the motor driving the articulated connection.

In a development, a control device is arranged at a proximal end portion of the device. About this is or are preferably a joint movement and / or its limitation and / or the detection device and / or the illumination device controllable.

For detecting the outer geometry of the test auxiliary or negative impression, a device is proposed according to the invention, which has a frame on which a positioning device for positioning the auxiliary device is arranged, and on which a plurality of detection devices for sectionally 2D or 3D detection of the outer geometry distributed, in particular firmly, are arranged.

In a further development, the last-mentioned device has two bases arranged at a distance from the frame, between which the test aid can be arranged at least for detecting the outer geometry.

In a further development, the frame has at least three, preferably four vertical columns, on which detection devices and / or illumination devices directed or orientable on the aid are arranged.

In a development, the device has an adjusting device for the defined positional positioning of the test tool in a specific, preferably a patient coordinate system or a patient-oriented coordinate system, in particular taking into account load conditions.

The adjusting device preferably has a turntable as a support for the test aids and a rotatably mounted attachment for a remote from the turntable end portion of the test tool.

For imaging auxiliary lines on the test tool, the latter device has at least one light source in a further development. In this case, the auxiliary lines are in particular vertical to a patient footprint with or without load and / or action lines of ground reaction forces or the course of forces when loading the aid and / or body reference lines.

In a development of the device for detecting the external geometry and / or the device for detecting the internal geometry, the device in question has a patient coordinate system in the sense of this publication, as has already been described in the course of the description of the method.

Important prerequisites for the fact that the outer and inner geometry of the test tool can be correctly detected and digitized via the detection devices of the two devices mentioned are precise internal calibration and determination of the spatial orientation of each individual detection device. A development of one or both devices therefore has a calibration device for, in particular internal, calibrating and / or for determining the, in particular outer, spatial orientations of the detection devices. The calibration device can then be used to secure a specified accuracy of the acquisition and digitization and thus of the resulting definitive aid at a desired time of the method or during maintenance breaks.

In the case of the device for detecting the external geometry, the calibration device is preferably positionable, in particular positioned, on its positioning or adjusting device.

In a further development, the calibration device has detectable references from the detection devices. The references may, for example, cubes, cylinders or spheres arranged at a distance from each other or bodies with a different geometry, in particular a control geometry.

In a further development, the references are arranged in only one plane, in particular in a planar grid. Alternatively or additionally, the references are arranged in several, in particular parallel planes, in particular in the form of a space grid. This may have the shape of a cube or cuboid. The plane or the grating are in particular suitable for determining internal parameters of the detection devices which are necessary in order to be able to use the detection devices for the correct digitization of the geometries, ie for their correct measurement. In this case, for example, the real distortion and the real focal length of the respective detection device are determined. The space grid is particularly suitable for determining the spatial position and orientation - ie the three spatial coordinates and the three rotations - the respective detection device.

In a refinement of the calibration device, its volume covers at least one volume of the existing hollow auxiliary means or negative impression, so that high quality calibration and orientation can take place.

Preferably, axes of the patient coordinate system with axes along which the references are arranged are identical or at least parallel, or said axes have a transformation to one another.

A unit according to the invention for carrying out the above-described method according to the invention has at least the device for detecting the internal geometry according to the preceding description, a device for detecting the external geometry according to the preceding description, a memory device for storing the data acquired by the devices. Furthermore, it has an evaluation device which is designed so that it can generate from the acquired data, in particular according to an image-based method, a respective 3D model, in particular a point cloud, the inner geometry and the outer geometry, and that they relate the inner geometry align and scale to the outer geometry, and that it can analyze the inner geometry and / or outer geometry for anatomical zones. In addition, it is preferably designed so that it can perform the above-described internal and / or external calibration of said detection devices. In addition, the unit has a means for generating CAD data that is adapted to generate a CAD model of the hollow orthopedic device, in particular a parametric surface and / or block model, from the 3D models, and the Internal geometry and / or the outer geometry in the region of the determined anatomical zone can modify.

• 1 ein vereinfachtes Ablaufschema eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens zur Erstellung eines Modells eines orthopädischen Hilfsmittels;
• 2 eine Vorrichtung zum Erfassen einer Innengeometrie eines Testhilfsmittels, in einer Seitenansicht;
• 3 eine Detailansicht der Vorrichtung gemäß 2 im Bereich einer Erfassungseinrichtung zur Erfassung der Innengeometrie;
• 4 eine Vorrichtung zum Erfassen einer Außengeometrie des Testhilfsmittels mit Bezug zu einem Koordinatensystem, in einer perspektivischen Ansicht; und
• 5 die Vorrichtung gemäß 4 mit einer montierten Kalibriereinrichtung.

A preferred embodiment of the invention will be explained in more detail below with reference to schematic drawings. Show it:

• 1 a simplified flow diagram of an embodiment of a method according to the invention for creating a model of an orthopedic aid;
• 2 a device for detecting an internal geometry of a test tool, in a side view;
• 3 a detailed view of the device according to 2 in the region of a detection device for detecting the internal geometry;
• 4 a device for detecting an outer geometry of the test tool with respect to a coordinate system, in a perspective view; and
• 5 the device according to 4 with a mounted calibration device.

According to 1 For example, a method by which a model, in particular a CAD model, a hollow, existing tool, in particular a test tool or a negative print of the test tool, can be generated, has several steps. An initial geometry acquisition occurs in two steps 2 and 4 , In step 2 First, the detection and digitization of the outer geometry of the test tool by means of a device 6 (see. 4 ). In addition, the internal geometry of the test tool is recorded. This is done in step 4 and with a device 8th as they explained later 2 and 3 demonstrate. The acquisition and digitization of the outer geometry according to the step 2 using the device 6 can already be related to a patient coordinate system x . y . z done by the test tool in the device 6 is positioned on the patient in his later, real position before detection. The outer geometry acquired and digitized in this way subsequently offers the possibility of spatially aligning the hitherto unitless recorded internal geometry and of scaling it to the real scale of the acquired and digitized external geometry.

The alignment and scaling is done in step 6 according to 1 , For this step 6 In principle, two solutions are possible. On the one hand signal or registration marks can be attached to the test tool, which enforce the wall of the existing aid, so that they each have a visible end portion on the outside and inside. With knowledge of the geometry, orientation and identification of these signal or registration marks, these are each clearly identifiable in the digitized internal and external geometry. Starting from the outer geometry assigned portion of the registration mark can then the spatial position of the inner geometry assigned portion of the registration mark are calculated. From this, a necessary transformation and / or scaling of the inner geometry relative to the outer geometry can be calculated. Alternatively or additionally, it is possible to align and scale the inner geometry to the space-oriented outer geometry by using a method as described in the published patent application DE 10 2014 102 997 A1 the applicant is described. This step is based on sufficient overlaps of the digitized external and internal geometries. In this case, scale-accurate external detections, for example external images, are first assembled. Then a unitless internal geometry is created and ultimately scaled and aligned based on the overlaps with the outer geometry.

In principle, for example, a scan of the respective geometry can take place for the detection and digitization of the internal and external geometry, thereby directly producing a 3D point cloud. Alternatively or additionally, an image-based method can be used. For this purpose, a variety of photographic images are generated and stored by the outer geometry and the inner geometry. The images overlap so strongly that recurring features can be used to automatically generate a 3D point cloud. In this, the respectively visible from the outside or inside sections of the registration marks also occur. As already mentioned above, the use of the registration marks supports both image or recording composites, that of the outer geometry and that of the inner geometry, and the stability of the digitization of the respective geometry, in particular the inner geometry, is ensured. The conversion of the recordings by the image-based method into the respective 3D model takes place via an evaluation device of a unit according to the invention for carrying out the method.

Likewise, the next step takes place via the evaluation device 12 of the method, in which in particular the internal geometry is analyzed on the basis of surface curvatures and / or vertices of sectional or circumferential curves on anatomical features and / or anatomical zones. This analysis is designed to locate anatomical features such as ankles, heels, or tibial edges based on curvatures on the 3D model of internal geometry and / or external geometry, as well as vertexes of the circumferential or intersecting curves. These key-fit areas, particularly important anatomical zones, will then be in step 14 used to generate a model proposal based in particular on parameters gained through experience. Thus, first of all, the internal geometry and / or external geometry is analyzed on anatomical zones, and in the following a modification of at least the internal geometry in a region of the determined anatomical zone. The said step of the analysis is likewise carried out via the evaluation device already mentioned.

At the latest for the generation of a model proposal on the basis of gained experience parameters 14 For example, the aligned and scaled 3D models (which may already be linked or "merged" into a 3D model) may have been returned to a surface and / or block model (Solid) in a CAD data generation facility. On this CAD model, the determined anatomical zones, ie areas that are important for the fit, can then be provided with a distance or offset in a model proposal, for example. The distance or offset can be dimensioned positive or negative. Contact surfaces and the resulting soft tissue displacements on the patient are set, for example, over the patient's impression.

In a last step 16 the creation of a component construction of the definitely usable on the patient, hollow orthopedic aid.

The procedure sets in particular due to the steps 12 and 14 (Analyzing the internal geometry to anatomical zones and modifying at least the internal geometry in a region of a determined anatomical zone) provides a largely automated method of orthopedic device construction. A further step of the method (not illustrated) is the possibility of being able to derive a 3D model at any time after the detection, before or after each of the steps, and to manufacture it, for example, at any time. In addition, the from the step 14 generated model proposal can be changed using other design tools.

A device 8th for detecting an intended for contact with the patient internal geometry of the test aid show the 2 and 3 , According to 2 is the device 8th elongated and therefore suitable for a "picture flight" or "Scanflug" in particular by an elongated cavity, for example, closed on one side and extending as a long drawn substantially cylindrical or conical body. It is irrelevant whether the body extends symmetrically or asymmetrically. Preferably, the device is 8th can be used in restricted work areas or work spaces of, for example, 5 cm to 40 cm depth. Deviating from this, however, larger, hollow areas or rooms can also be detected. The device 8th extends from a configured as a handle, proximal handle 20 via a control device 22 and one row each through joints 26 articulated vertebral body 24 to a distal end piece 29 at which a photographic detection device 32 is arranged. As an alternative to this camera, a laser scanner can be arranged there. About the joints 26 are each adjacent vertebral bodies 24 in a swivel angle range of 10 ° in the embodiment against each other. Deviating from this, a pivot angle range of 5 ° to 15 ° may be provided. Limited is the tilt angle of the joints 26 while on the vertebral bodies 24 Trained attacks (not shown). The tail 29 with the photographic detection device 32 is on the other hand, one between the tail 29 and the distal last vertebral body 24 arranged engine 28 targeted against the row of vertebral bodies 24 bendable. This allows, for example, an angled geometry, such. B. that of a foot to capture the inside. The motor 28 and the photographic detector 32 can via the control unit 22 be synchronized, so that single shots can be made in a hibernation and thus are sufficiently sharp. In addition, the tail has the photographic detection device 32 Lighting a lighting device 34 according to 3 on. These are circumferentially around an optical aperture of the photographic detector 32 arranged and serve the illumination of a detection image field.

In 3 is a distal end portion 30 the device 8th shown enlarged. As already mentioned, the photographic detection device 32 over the engine 28 active against the row of vertebral bodies 24 bendable. In addition, the photographic detection device 32 a hinged connection 36 about which they are against the tail 29 is rotatable, up. The motor for this rotational movement is in the tail 29 arranged. Distal from the engine 28 is removed at the proximal end of the tail 29 a torsion joint 38 , also motor-driven, arranged. About the torsion joint 38 can the tail 29 and the photographic detecting means disposed thereon 32 around the length of the vertebral body 24 extending longitudinal axis of the device 8th be rotated.

At the last vertebral body 24 the row are radially outside two diametrically opposed support means 40 arranged. Each support device 40 has a radially outwardly open, O-shaped bracket 42 on. At their opposite spring legs 44 is radially outside each a rolling means 46 arranged. About the rolling means 46 passing over the spring legs 44 are elastically mounted, thus the distal last vertebral body 24 be radially supported / unrolled at the inner geometry to be detected. In this way, by the support means 40 a substantially central positioning of the photographic detection device 32 inside the test tool, even with changing cross-sections.

An apparatus for detecting an outer geometry of a particular hollow test aid has a substantially cuboidal frame, the four vertical columns 48 that is between a floor 50 and a decking 52 extend. The columns 48 have at their respective diagonally into the cuboid inside facing a plurality of vertically stacked lighting devices 54 and photographic capture devices 56 on. These are arranged alternately or alternately in the vertical direction to image fields of the detection devices 56 each light well. Also on the ground 50 and decking 52 are on the respectively pointing into the cuboid inside a variety of photographic detection devices 56 and lighting equipment 54 arranged. Central on the floor 50 is an adjustment device 58 for defined positional positioning of the test tool and a calibration device (cf. 5 ) intended. In this case, for example, an origin of a patient-oriented coordinate system x . y . z exactly in the middle of the adjusting device 58 specified. The columns 48 are preferably vertical, circumferentially equally spaced and arranged at the same radial distance from the origin. Notwithstanding the embodiment according to 4 can also have fewer columns 48 , For example, be provided in order to reduce the device complexity. Alternatively, more than four pillars, for example five, six or more, may be provided to provide a smaller angle of view per detector circumferentially to the z-axis 56 to enable. All about the photographic capture devices 56 recorded and digitized spatial points of the outer geometry then refer to the said coordinate system, so are already in the patient coordinate system x . y . z positioned correctly. The adjustment device 58 also includes a measuring unit for aid positioning. About the lighting devices 54 is ensured sufficient illumination of the positioned test tool. In sum, the device points 6 in the illustrated embodiment 36 Cameras as photographic capture devices 56 on. These are used to take a variety of photos of the outer geometry, which then serve as the basis for the following image-based process. The outward-facing end sections of the registration marks are also taken into account in the recordings. In order to be able to use the detection devices for digitizing the test tool, ie in the sense of a precise 3D measurement, and for accelerating a computing operation of the image-based method, the cameras can 56 using a calibration device (see. 5 ) exactly be pre-oriented and calibrated. This also increases the accuracy of the calculation process.

The merging of the device 6 recorded external geometry with the on the device 8th detected internal geometry of the test aid takes place, as already mentioned, via suitable, in particular pin-shaped, signaling or registration marks or passport objects. It is important to know at least the geometry of the pass marks used, as well as the distance of their respective outer and inner visible end sections. For pin-shaped or linear registration marks, for example, via the device 6 and a downstream evaluation device, the outside end portion of the registration mark to be assigned to a coordinate. By determining a 3D ellipse or a 3D circle and thus a point normal, an orthogonal transfer of this outer 3D coordinate to the inside can then take place. Also on the side arranged in the area of the inner geometry, an end portion of the registration mark is prominent and thus on the device 8th according to 2 and 3 detectable, for example in the form of a tip or a cross formed. An assignment of the outer end portion of a respective registration mark to the inner end portion of this registration mark can be done manually or automatically. A correct assignment can be made for example by a previously defined detection sequence of the outer geometry and the inner geometry.

5 shows the device 6 according to 4 with an additionally mounted calibration device 60 for internal and external calibration of the detectors 56 and the detection device 32 according to the 2 and 3 , The calibration device 60 is cube-shaped as a space grid. For this purpose, in the exemplary embodiment, it has nine each in all three coordinate system directions x . y . z extending axes or struts 62 . 64 . 66 on. These intersect each other in three parallel, equidistant horizontal planes 68 . 70 . 72 the calibration device 60 , At the crossroads, and halfway between them, there is a cube-shaped reference 74 required for registration by the detection devices 56 (or. 32 ) of the device 6 (or. 8th ) is provided arranged. Positioned is the calibration device 60 at one on the ground 50 arranged adjusting or positioning of the device 6 by placing a central one of the struts / axes 66 exactly with the z -Axis of the patient coordinate system x . y . z coincides. In addition, the fall z -Axis crossing, central struts / axes 62 . 64 with the zx Level or with the Y Z Level together. In the embodiment shown, the nine vertical struts / axes 66 below the bottom 68 of the levels 68 . 70 . 72 extended with the distance between two crossing points, in which area the struts / axes 66 no more references are arranged.

A largely automated generation of the models is possible if the test tool is already positioned during scanning via an adjusting device in the patient-oriented coordinate system, so that this positioning can be automatically incorporated into the design program.

It should be noted that the method, devices and unit are not limited to hollow orthopedic aids. In principle, the method and the said devices and the unit are also useful in modeling in other areas of technology where models of hollow test models are derived.

Disclosed is a method of creating a final patient-deployable hollow orthopedic tool from a hollow test tool by detecting the internal and external geometry of the test tool; a scaling and alignment of the inner geometry on the outer geometry; an automated, experience-based analysis of at least the internal geometry on relevant anatomical zones; an automated, experience-based modification or omission of at least the inner geometry; and finally deriving a model proposal for the final patient-deployable hollow orthopedic device.

Also disclosed are each a device for detecting and digitizing the internal and external geometry of the test tool.

Disclosed is still a unit with the devices for carrying out the method.

LIST OF REFERENCE NUMBERS

1

method

2

Capture and digitize exterior geometry

4

Capture and digitize interior geometry

6

Device for detecting an external geometry

8th

Device for detecting an internal geometry

10

Aligning and scaling the inside geometry to outside geometry

12

Analyze the geometries

14

Generate a model proposal

16

Create a part design

20

handle

22

control unit

24

vertebra

26

articulated connection

28

engine

29

tail

30

distal end portion

32

photographic detection device

34

lighting device

36

articulated connection

38

torsion

40

support means

42

clip

44

spring leg

46

rolling means

48

pillar

50

ground

52

deck floor

54

lighting device

56

photographic detection device

58

adjusting

60

calibration

62, 64, 66

axis

68, 70, 72

level

74

reference

x, y, z

patient-oriented coordinate system / patient coordinate system

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102004007455 A1 [0004]
• DE 102007014747 A1 [0004]
• EP 0555207 B1 [0004]
• EP 1044648 B1 [0005]
• US 6463351 B1 [0006]
• DE 4232606 A1 [0007]
• DE 102014102997 A1 [0008, 0062]

Claims (22)

Method for creating a model, in particular a CAD model, of a hollow orthopedic aid from an existing hollow aid and / or its negative impression, with steps - digitizing an outer geometry (2) and digitizing an existing internal geometry (4) for contact with the patient Auxiliary or negative impression; - Aligning and scaling the internal geometry with respect to the outer geometry (10); and - creating the model as a function of the outer geometry and inner geometry (16); characterized in that prior to the step of creating the model (16) steps - analyzing the internal geometry and / or external geometry on anatomical zones (12); and - modifying or leaving the internal geometry and / or external geometry in a region of a determined anatomical zone (14). Method according to Claim 1 wherein the step digitizing the outer geometry (2) with respect to a coordinate system (x, y, z), in particular a patient coordinate system, takes place. Method according to Claim 1 or 2 wherein at least one registration mark associating the outer geometry and inner geometry is digitized with the steps "digitizing" (2, 4) and / or wherein at least one overlap of the outer geometry and inner geometry is digitized with the step "digitizing". Method according to Claim 3 in which the step "aligning and scaling" (10) takes place by means of the registration marks and / or the overlap. Method according to one of the preceding claims, wherein at least one of the steps "digitizing" (2, 4) takes place by means of an image-based method based on photos of the outer geometry and the inner geometry. Method according to one of the preceding claims, wherein the step "analyzing" (12) takes place as a function of at least one sectional curve of the internal geometry. Method according to Claim 6 , wherein the step "Analyze" (12) takes place as a function of a curvature and / or a vertex of the cut curve. Method according to one of the preceding claims, wherein the step "modify or leave" (14) takes place by means of adding or subtracting a constant or variable offset in the range. Device for detecting an internal geometry intended for contact with a patient from an existing hollow aid, in particular test aid, or from its negative impression, with a series of articulated vertebral bodies (24), wherein a detection device (32) is provided at a distal end portion or end piece (29) ) is arranged for 2D or 3D detection of the internal geometry. Device after Claim 9 with a support device (40) extending transversely to the row, in particular radially outwardly, elastic or adaptive, by means of which the detection device (32) can be centered on the internal geometry, in particular with respect to the internal geometry. Device after Claim 9 or 10 with an adjusting device (28), in particular a servo motor, via which the distal end section or the distal end section (29) can be brought into an angled position relative to the proximal remainder of the row. Device according to one of Claims 9 to 11 , wherein at the distal end portion (30), in particular at the end piece (29), a lighting device (34) for illuminating a detection field of the detection device (32) is provided. Device according to one of Claims 9 to 12 , wherein a Bewegungsorbit the articulated connection (26), in particular a rotary or orbital, passive, in particular by a stop means is limited, or wherein a movement orbit of the articulated connection, in particular a rotary or orbiting, controlled, in particular by a controlled adjusting device , is limited. Device according to one of Claims 9 to 13 , wherein at a proximal end portion, a control device (22) is arranged, via which a joint movement and / or the restriction and / or the detection device (32) and / or the illumination device (34) is controllable or are. Device for detecting an external geometry of an existing, in particular hollow, auxiliary, in particular test auxiliary, and / or its negative impression, with a frame (48, 50, 52) on which a positioning device (58) for positioning the auxiliary device is arranged, and on which a plurality of detection devices (56) for at least partially 2D or 3D detection of the outer geometry distributed, in particular fixed, are arranged. Device after Claim 15 with a patient coordinate system (x, y, z) having an origin in a sagittal plane and / or a frontal plane and / or transverse plane of the patient is arranged. Device after Claim 15 or 16 with a calibration device (60) for calibrating and / or spatially orienting the detection devices (32, 56). Device after Claim 17 wherein the calibrating device (60) can be positioned, in particular positioned, on the positioning device (58). Device after Claim 17 or 18 wherein references of the calibration device are arranged in only one plane, in particular in a plane grid, or wherein references (74) of the calibration device (60) are arranged in planes (68, 70, 72), in particular in a space lattice. Device according to one of Claims 17 to 19 wherein a volume of the calibrator (60) includes at least a volume of the existing hollow tool or negative print. Device at least after Claim 16 and 19 wherein axes (x, y, z) of the patient coordinate system (x, y, z) and axes (62, 64, 66) along which the references (74) are disposed are identical or at least parallel or have a transformation. Unit for carrying out the method according to one of the Claims 1 to 8th with - a device (8) for detecting the internal geometry according to one of Claims 9 to 14 , - a device (6) for detecting the outer geometry according to one of Claims 15 to 21 - a memory device for storing the acquired data, - an evaluation device which is designed to generate ◯ from the acquired data, in particular according to an image-based method, a respective 3D model, in particular a point cloud, the inner geometry and the outer geometry Align and scale internal geometry with respect to the external geometry, analysieren analyze the internal geometry and / or external geometry on anatomical zones, and - with a device for generating CAD data that is designed, ◯ a CAD model of the hollow orthopedic device, in particular a parameterized surface and / or block model, to generate from the 3D models, and mod to modify the internal geometry and / or the outer geometry in the region of the determined anatomical zone.

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