JP2018057532A - Prosthetic wearing unit shape acquisition method and prosthetic wearing unit shape acquisition system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a prosthetic wearing unit shape acquisition method in which a burden is not given to a patient and a three-dimensional shape model with high accuracy is acquired when generating the three-dimensional shape model as a positive mold of a region for wearing the prosthetic.SOLUTION: A prosthetic wearing unit shape acquisition method of the present invention comprises: a wearing step of covering a range of a physical wearing unit for wearing the prosthetic and wearing measurement clothing 2 adhering to the wearing unit provided with irregular patterns on the surface to reflect a shape of the wearing unit; an imaging step of imaging multiple captured images comprising the whole of the measurement clothing visually recognized from the imaging direction by a monocular imaging device 3 in each of different positions on a circular arc centering on the wearing unit along an outer circumferential surface of the measurement clothing; and a generation step of generating the three dimensional shape of the wearing unit by matching the associated pixels between the multiple captured images using the patterns.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a prosthesis mounting part shape acquisition method for acquiring a three-dimensional shape of a mounting part when creating a prosthesis to be mounted on a part having a functional disorder in order to compensate for a functional disorder of a predetermined part on the body, The present invention relates to a prosthesis mounting part shape acquisition system.

In order to compensate for a functional disorder on the body, a prosthetic device is used that is worn on a part having a motor function disorder and supplements the function of the part. When the motor function of the site of injury or injured site is not sufficient, this prosthesis assists the motor function of the site, relieves pain caused by the exercise, or fixes the site for treatment.
When creating this prosthetic device, in order to improve the wearing feeling by reducing the uncomfortable feeling or rubbing of the human being used, the prosthetic device to be created in the shape of the part where the prosthetic device is worn for each human being wearing It is necessary to correspond (fit) the shape of.
For this reason, usually, the shape (positive model) of the shape of the part where the prosthetic device is mounted is taken, and the prosthetic device is created corresponding to this positive model (see, for example, Non-Patent Document 1 and Non-Patent Document 2). ).

Keiai Prosthetics Materials Sales Office website, [online], production of plastic short leg braces [searched on September 12, 2016], Internet <http://www.po.kioa.co.jp/ about / pura_tankashi_sougu.html ＞ Hayakawa Prosthesis Manufacturing Co., Ltd. website [online], until plastic short leg orthosis is made [search September 12, 2016], Internet <http://www4.plala.or.jp/hpomf/link2.html >

However, in the method for acquiring the shape of the part to which the prosthesis is attached described in Non-Patent Document 1 and Non-Patent Document 2, it is necessary to generate a negative model of the part before generating a positive model of the part. This negative model is created by winding a cast on the site where the prosthesis is to be worn and solidifying the cast. For this reason, until the cast is solidified, the corresponding part cannot be moved, and depending on the solidification situation, the restraint time becomes long, and the patient is burdened physically and mentally. In particular, in an injured part, where it should be rested, the burden for maintaining the posture for wearing a cast is large.
In addition, since the negative model is cut when the cast is removed from the site after the cast is solidified, it has an actual site shape and an error, and an accurate positive model may not be generated.

  The present invention has been made in view of such a situation, and reduces the burden on a patient when generating a positive model (hereinafter referred to as a three-dimensional shape model) of a mounting portion in a body on which a prosthesis is mounted, and An object of the present invention is to provide a prosthesis mounting part shape acquisition method and a prosthesis mounting part shape acquisition system that acquire a highly accurate three-dimensional shape model.

  In order to solve the above-described problem, the method for acquiring the shape of the prosthetic device mounting part according to the present invention covers the range of the mounting part of the body on which the prosthetic device is mounted, and is in close contact with the mounting part on which an irregular pattern is provided Then, an imaging process in which a measurement garment that reflects the shape of the mounting part is mounted, and an imaging direction that is imaged at each of different positions on the arc around the mounting part along the outer peripheral surface of the measurement garment A plurality of the captured images including the entire measurement clothing visually recognized from the imaging process of capturing a plurality of images with a monocular imaging device, and matching the corresponding pixels between the captured images using the pattern And a generating process for generating a three-dimensional shape of the mounting portion.

  The prosthesis mounting part shape acquisition method of the present invention is characterized in that in the imaging process, imaging is performed with an imaging interval of each of the captured images being constant.

  The prosthetic device mounting part shape acquisition method of the present invention further includes a scale process in which a marker for scale estimation is provided on the measurement garment, and the dimension of the three-dimensional shape is matched with the dimension of the mounting unit by the marker. It is characterized by that.

  The prosthetic device mounting part shape acquisition method according to the present invention includes an obstacle between the mounting unit and the imaging device on a circumference centered on the mounting unit including the arc in the imaging process. In this case, the obstacle is not imaged in an arc range included in the captured image, the obstacle is imaged in an arc range not included in the captured image, and the generation process is performed at a constant imaging interval. A divided three-dimensional shape is generated from each of the picked-up images of each arc that are continuously picked up, and the divided three-dimensional shape is synthesized to generate the three-dimensional shape.

  The prosthetic device mounting portion shape acquisition method of the present invention further includes a step of performing a preview display for reducing the resolution of the captured image and confirming the three-dimensional shape.

  The prosthetic device mounting part shape acquisition system of the present invention covers the range of the mounting unit of the body on which the prosthetic device is to be mounted, and is in close contact with the mounting unit provided with an irregular pattern on the surface to reflect the shape of the mounting unit. The entire measurement garment that is imaged at each of different positions on the arc around the mounting portion along the outer peripheral surface of the mounting portion on which the measurement garment is mounted is visible from the imaging direction. A matching processing unit that generates a point group in a three-dimensional space indicating the shape of the mounting unit using the pattern for matching of corresponding pixels between a plurality of captured images captured by a monocular imaging device in a captured image; And a three-dimensional shape generation unit that converts a point cloud generated by the matching processing unit into a polygon mesh and generates a three-dimensional shape of the mounting unit.

  As described above, according to the present invention, when generating a three-dimensional shape model of a wearing part in a body on which a prosthesis is to be worn, the burden on the patient is reduced and a high-accuracy three-dimensional shape model is acquired. It is possible to provide a device mounting part shape acquisition method and a device mounting part shape acquisition system.

It is a block diagram which shows the structural example of the auxiliary equipment mounting part shape acquisition system which is the 1st Embodiment of this invention. In the accessory mounting part shape acquisition system, an example of the measurement clothing worn on the mounting part that is the imaging target of the imaging device 3 is shown. It is a figure explaining the imaging of the captured image of the clothing for measurement 2 with which the mounting part was mounted | worn. It is a flowchart which shows the operation example which images the picked-up image used for the auxiliary equipment mounting part shape acquisition system by the 1st Embodiment of this invention. It is a flowchart which shows the operation example of the production | generation process of the three-dimensional shape of the mounting part of the accessory mounting part shape acquisition system by the 1st Embodiment of this invention. It is a block diagram which shows the structural example of the auxiliary equipment mounting part shape acquisition system which is the 2nd Embodiment of this invention. 14 is a flowchart illustrating an operation example of a captured image confirmation process using a preview three-dimensional shape according to the second embodiment. It is a block diagram which shows the structural example of the auxiliary equipment mounting part shape acquisition system which is the 3rd Embodiment of this invention. 3 shows an example of a measurement garment to be attached to a mounting part that is an imaging target of the imaging device 3 in the accessory mounting part shape acquisition system. It is a figure explaining imaging of the picked-up image of the measurement clothing 2 with which the mounting part in case there exists an obstruction. It is a flowchart which shows the operation example which images the picked-up image used for the auxiliary equipment mounting part shape acquisition system by the 3rd Embodiment of this invention. It is a figure explaining attachment of the scale setting marker 2A and the positioning marker 2B when the clothing for measurement 2 is imaged separately on each of the arc 451 and the arc 452 due to the presence of the obstacle 800. It is a flowchart which shows the operation example of the production | generation process of the three-dimensional shape of the mounting part of the accessory mounting part shape acquisition system by the 3rd Embodiment of this invention. It is a figure explaining the marker for alignment used for each synthesis | combination of a 1st division | segmentation point group and a 2nd division | segmentation point group. It is a block diagram which shows the structural example of the auxiliary equipment mounting part shape acquisition system which is the 4th Embodiment of this invention. 16 is a flowchart illustrating an operation example of a captured image confirmation process using a preview three-dimensional shape according to the fourth embodiment. It is description of the position detection marker 2C which shows the position of ASIS added to the clothing 2 for measurement.

<First Embodiment>
Hereinafter, an embodiment of a prosthesis mounting part shape acquisition system according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration example of a prosthetic device mounting part shape acquisition system according to an embodiment of the present invention. In FIG. 1, a prosthetic device mounting part shape acquisition system 1 includes a prosthetic device mounting part shape acquisition device 10 and a measurement garment 2.
The accessory mounting part shape acquisition device 10 includes a control unit 11, a camera parameter estimation unit 12, a matching processing unit 13, a scale setting unit 14, a three-dimensional shape generation unit 15, and a storage unit 16.

The measurement garment 2 is a garment worn on a prosthetic device mounting part (hereinafter referred to as a mounting unit) in the body of a patient who wears the prosthetic device. The measurement clothing 2 will be described later. The scale setting marker 2A is added to the measurement garment 2 and is used to adjust the scale of the dimension of the three-dimensional shape to the scale of the actual dimension.
The control unit 11 inputs data of a captured image captured by the imaging device 3 from the imaging device 3, and writes and stores the data in the storage unit 16. The imaging device 3 is a portable terminal having a camera function including a smartphone or the like, or a monocular digital camera.

  In addition, the control unit 11 does not read a captured image from the imaging device 3, but the imaging device 3 is connected to the control unit 11 by wire or wirelessly, and is transmitted to the control unit 11 in time series every time a captured image is captured. It is also possible to adopt a configuration in which an application to be installed is installed. In the case of a digital camera, the captured image may be once read into a terminal device such as a personal computer and transmitted to the control unit 11 in time series. In this case, the combination of the digital camera and the terminal device is the configuration of the imaging device 3 in the present embodiment. In addition, an application that transmits to the control unit 11 in time series is installed in the terminal device in advance.

  FIG. 2 shows an example of a measurement garment worn on a mounting part that is an imaging target of the imaging device 3 in the accessory mounting part shape acquisition system. In FIG. 2, as an example of the measurement garment, the measurement garment 2 is shown when creating a corset as a prosthesis with the lumbar region as the attachment portion 250. The measurement garment 2 is irregular (in the present embodiment, the measurement garment 2 has a size that enables matching processing between captured images for generating a point cloud indicating a three-dimensional shape in a three-dimensional space). The pattern 101 is not repeated on the entire surface), and the projections and depressions 102 are high and low enough to not affect the three-dimensional shape to be acquired. When a point group indicating a three-dimensional shape in the three-dimensional space is generated by the pattern 101 and the projections and depressions 102, pixels (pixels) between a plurality of captured images for obtaining a coordinate value in the three-dimensional space of each point. A matching process is performed. The fine pattern 101 of the measurement clothing 2 is used for the purpose of facilitating matching when matching between captured images, and is used for forming feature points together with the unevenness 102 in the captured image.

As shown in FIG. 2, the measurement garment 2 is made of a material that is as thin as possible so that the shape of the mounting portion 250 of the patient 200 can be clearly imaged, and is closely attached to the mounting portion 250 to reflect the shape of the mounting portion. It becomes the composition which is done.
In addition, the scale setting marker 2A is visually recognized using a color complementary to the color used for the pattern of the measurement clothing 2 so that it can be easily extracted from the point cloud added to the measurement clothing 2. Easy to create. Here, the dimension of the pitch of the marker serving as the feature point in the scale setting marker 2A is set to several centimeters, for example, 5 cm (shown as a known value), and during this time, between the point groups in the three-dimensional space. Used to scale the distance scale to the actual dimensional scale.

  FIG. 3 is a diagram illustrating the imaging of the captured image of the measurement clothing 2 attached to the attachment unit. FIG. 3 shows a cross-sectional view taken along line AA in FIG. While moving the imaging device 3 on a circle 400 that is perpendicular to the cross section of the wearing part 250 of the patient 200 and that has an axis 500 passing through the center of the cross section as a central axis, along the outer peripheral surface of the clothing for measurement. The captured image is captured. In addition, imaging is performed so that the entire measurement clothing 2 that can be visually recognized from the imaging direction of each imaging position on the imaging circle 400 is included in the captured image. This imaging is performed using a single monocular imaging device 3.

  At this time, imaging by the imaging device 3 is performed on the circle 400 at as constant intervals as possible (imaging intervals separated by a certain distance). For example, by moving the imaging device 3 on the circle 400 at a constant speed and performing continuous shooting or moving image capturing so that the number of images to be captured or the capturing time is constant, each captured image is captured at regular intervals. Take an image. Here, in the case of a moving image, it is necessary to experimentally determine the moving speed at which motion blur does not occur in each captured image.

Returning to FIG. 1, the control unit 11 reads each captured image captured by the imaging device 3 from the imaging device 3, writes it in the storage unit 16, and stores it.
The camera parameter estimation unit 12 reads each captured image stored in the storage unit 16 and uses the SFM (Structure from Motion) technique to perform camera parameters (including external parameters and internal parameters) of the imaging device 3. And the position before and behind the movement of the imaging device 3 in which each captured image was imaged, and an imaging direction are estimated. The camera parameter estimation unit 12 extracts, for example, feature points in the corresponding patterns and unevenness between the captured images, and associates the feature points with the respective feature amounts, thereby performing relative movement before and after movement in the three-dimensional space. The position and imaging direction are estimated.

  The matching processing unit 13 performs template matching of pixels between the captured images based on the position and the imaging direction in which each captured image is captured, and determines the three-dimensional shape of the clothing 2 for measurement, that is, the three-dimensional shape of the mounting portion. A point cloud in the three-dimensional space shown is generated. The matching is performed using SAD (sum of absolute difference), SSD (sum of squared difference), NCC (normalized cross-correlation), or ZNCC (zero-means normalized cross-correlation).

The scale setting unit 14 extracts a point group corresponding to the scale setting marker 2A from the point group in the three-dimensional space, and each of the point groups indicating the three-dimensional shape according to the known dimension indicated by the scale setting marker 2A. The scale of the coordinate value of the point is made to correspond to the scale of the actual dimension.
The three-dimensional shape generation unit 15 generates a three-dimensional shape of the mounting unit by converting the point group according to the scale of the actual size by the scale setting unit 14 into a polygon mesh. The three-dimensional shape generation unit 15 writes and stores the generated three-dimensional shape (positive model) of the mounting unit in the storage unit 16.

In addition, the control unit 11 thins out the captured images read from the imaging device 3 and reduces the load for generating a three-dimensional shape (particularly, the load on the matching processing unit 13) when the number of captured images is large. A configuration may be adopted in which the data is input every other time and is written and stored in the storage unit 16. For example, when 40 captured images are input in chronological order, the control unit 11 thins out one image at a time and writes 40 images to the storage unit 16 as 20 images.
Further, the control unit 11 may be configured to reduce the resolution of each captured image stored in the storage unit 16 in order to reduce the load for generating a three-dimensional shape (particularly the load on the matching processing unit 13). Here, the reduction in resolution is realized by, for example, averaging the pixel values of four pixels and newly performing one pixel.

FIG. 4 is a flowchart illustrating an operation example of capturing a captured image used in the prosthetic device mounting part shape acquisition system according to the first embodiment of the present invention.
Step S101:
The measurer wrinkles the measurement garment 2 so that the entire area where the prosthetic device is mounted is covered with the mounting unit on which the prosthetic device is mounted, and the patient is in close contact with the covered mounting unit. Let them wear without stopping.

Step S102:
The measurer adds the scale setting marker 2 </ b> A to the measurement garment 2 worn on the wearing part in a state where the whole is exposed.

Step S103:
As shown in FIG. 3, the measurer performs continuous shooting while moving on the circle 400 at a predetermined speed, so that a captured image of the clothing 2 for measurement worn on the patient's wearing part by the imaging device 3 is obtained. Images are taken from different imaging positions and imaging directions. For example, the measurer moves the camera on the circle 400 and captures 40 captured images at predetermined intervals.

FIG. 5 is a flowchart showing an operation example of a three-dimensional shape generation process of the mounting portion of the prosthetic device mounting portion shape acquisition system according to the first embodiment of the present invention.
Step S201:
The control unit 11 sequentially reads captured images obtained by capturing the clothing for measurement 2 in time series from the imaging device 3, and writes and stores the captured images in the storage unit 16. At this time, the control unit 11 may thin out the captured images supplied from the imaging device 3 to reduce the number of captured images and write and store them in the storage unit 16 in time series.

Step S202:
The camera parameter estimation unit 12 reads the captured images stored in the storage unit 16 in chronological order, and uses the SFM technique to capture the camera parameters of the imaging device 3 and the respective captured images. The imaging position and imaging direction before and after the movement of the imaging device 3 are estimated.
Then, the camera parameter estimation unit 12 writes and stores the camera parameters of the imaging device 3 estimated by the camera parameter estimation unit 12 and the imaging position and imaging direction in which each captured image is captured in the storage unit 16.

Step S203:
The matching processing unit 13 sequentially reads out the captured images captured in time series, the camera parameters of the imaging apparatus 3, the imaging position and the imaging direction in which each captured image is captured, from the storage unit 16.
The matching processing unit 13 indicates the three-dimensional shape of the entire mounting unit in the three-dimensional space by template matching between captured images using the camera parameters of the imaging device 3 and the imaging position and imaging direction in which each captured image is captured. Generate a point cloud.
Then, the matching processing unit 13 writes and stores the generated point group in the storage unit 16.

Step S204:
The scale setting unit 14 reads the point group generated by the matching processing unit 13 from the storage unit 16, extracts a point group corresponding to the scale setting marker 2A from the point group, and corresponds to a known dimension between the marks. The distance between the points of the point group indicating the three-dimensional shape in the three-dimensional space is adjusted to the actual scale.
Then, the scale setting unit 14 writes and stores the point group in which the scale is set in the storage unit 16.

Step S205:
The three-dimensional shape generation unit 15 reads the point group with the scale set from the storage unit 16 and forms a polygon mesh using each point of the point group.
Then, the three-dimensional shape generation unit 15 generates a smooth three-dimensional shape of the mounting portion by generating a polygon mesh from the point cloud. The generated three-dimensional shape is used as a positive model used when creating a prosthesis.
Thereafter, for example, by supplying this three-dimensional shape data to a three-dimensional printer or the like, a prosthesis is created.

As described above, according to the present embodiment, a wearable part for wearing a prosthetic device is worn with a measurement garment to capture a captured image, and a positive model of the mounting unit is acquired from the captured captured image. Therefore, when acquiring a positive model of the attachment part of the patient's prosthesis as in the past, it is not necessary to attach the cast to the attachment part and restrain the patient for a long time until it solidifies, so that the physical to give to the patient In addition, the mental burden (load) can be greatly reduced.
In addition, according to the present embodiment, since a positive model is generated from the captured image of the clothing for measurement in the wearing part, the Gibbs (negative model) for generating the positive model is solidified, as in the past, from the site. It is possible to suppress the actual shape of the part and the occurrence of errors due to cutting the cast when removing, and an accurate positive model of the mounting portion can be generated.

In the present embodiment, the control unit 11 thins out the captured image supplied from the imaging device 3, but the application installed in the imaging device 3 applies to the accessory mounting unit shape acquisition device 10. The image may be thinned out for output. Thereby, the transfer speed which transfers the captured image in this embodiment to the control part 11 from the imaging device 3 can be improved, and the time concerning transfer can be reduced.
Furthermore, in the present embodiment, the control unit 11 averages each pixel of the captured image supplied from the imaging device 3 to reduce the resolution, but the application installed in the imaging device 3 has a resolution. It may be configured to function as a resolution reduction processing unit for reducing the above. In the case of this configuration, when a control signal for transmitting a captured image is supplied from the control unit 11, the resolution reduction processing unit averages the pixels of the captured image to reduce the resolution and supplies it to the control unit 11. .

<Second Embodiment>
Hereinafter, an embodiment of a prosthesis mounting portion shape acquisition system according to a second embodiment of the present invention will be described with reference to the drawings. FIG. 6 is a block diagram illustrating a configuration example of a prosthetic device mounting part shape acquisition system according to an embodiment of the present invention. In FIG. 6, a prosthetic device mounting part shape acquisition system 1 </ b> A includes a prosthetic device mounting part shape acquisition device 10 </ b> A and a measurement garment 2.
The accessory mounting part shape acquisition device 10A includes a control unit 11, a camera parameter estimation unit 12, a matching processing unit 13, a scale setting unit 14, a three-dimensional shape generation unit 15, a storage unit 16, and a preview confirmation processing unit 17. ing. In FIG. 6, the same code | symbol is attached | subjected with respect to the structure similar to 1st Embodiment. Hereinafter, configurations and operations different from those of the first embodiment will be described.

In the prosthetic device mounting part shape acquisition device 10A, a preview confirmation processing unit 17 is added to the prosthetic device mounting part shape acquisition device 10 of the first embodiment.
The preview confirmation processing unit 17 performs confirmation processing as to whether or not a captured image for creating a three-dimensional shape as a positive model is obtained. In particular, if the scale cannot be set, the positive model is not completed. Therefore, it is confirmed whether or not an image corresponding to the scale setting marker 2A is included in the captured image.
FIG. 7 is a flowchart illustrating an operation example of the captured image confirmation process using the preview three-dimensional shape according to the second embodiment.

Step S301:
The preview confirmation processing unit 17 instructs the control unit 11 to reduce the resolution of the captured image stored in the storage unit 16. As a result, the control unit 11 reads the captured image from the storage unit 16, acquires an average value of 16 pixels of 4 × 4, for example, reduces the resolution of each captured image to 1/16, and reduces the resolution Generate an image.
The control unit 11 uses the generated low-resolution image in the storage unit 16 in correspondence with the time-series order when the captured image that generated the low-resolution image is read out, in order to use the three-dimensional shape for preview. Write and memorize it.

Step S302:
The preview confirmation processing unit 17 instructs the camera parameter estimation unit 12 to estimate the camera parameters of the imaging apparatus 3 and the imaging position and imaging direction of each low resolution image using the low resolution image.
The camera parameter estimation unit 12 reads out the low resolution images from the storage unit 16 in time series order, and in the same manner as in the first embodiment, the camera parameters of the imaging device 3, the imaging positions of the low resolution images, and The imaging direction is estimated by the SFM method.

Step S303:
The preview confirmation processing unit 17 instructs the matching processing unit 13 to generate a point group indicating a preview three-dimensional shape using the low resolution image generated by the control unit 11.
The matching processing unit 13 generates a point cloud indicating the preview three-dimensional shape of the mounting unit by template matching of each pixel between low resolution images.

Step S304:
The preview confirmation processing unit 17 instructs the three-dimensional shape generation unit 15 to generate a preview three-dimensional shape image by rendering the point group generated from each of the low-resolution images by the matching processing unit 13. .

Step S305:
Then, the preview confirmation processing unit 17 displays the preview three-dimensional shape image generated by the three-dimensional shape generation unit 15 on the display screen of the imaging device 3.
The measurer observes the image of the preview three-dimensional shape on the display screen of the imaging device 3 while changing the observation position of the preview three-dimensional shape in the three-dimensional space.
Then, the measurer determines whether or not the preview three-dimensional shape is a sufficient shape including the entire measurement garment 2 worn on the mounting portion, that is, each of the captured images is a three-dimensional shape (positive) of the mounting portion. It is determined whether or not the image is an image of a sufficient imaging range for generating a model.
At this time, if the preview three-dimensional shape is a sufficient shape including the entire measurement garment 2, the process advances to step S306. On the other hand, the measurer advances the process to step S307 when the preview three-dimensional shape is not a sufficient shape including the entire measurement clothing 2.

Step S306:
The measurer causes the prosthetic equipment mounting part shape acquisition system 1A to execute the process of generating the three-dimensional shape of the mounting part in the flowchart shown in FIG. 5 in the first embodiment. Since the description for generating the three-dimensional shape has already been performed in the first embodiment, the description thereof will be omitted.

Step S307:
The measurer performs again the process of capturing the captured image of the wearing part of the auxiliary device in the flowchart shown in FIG. 4 in the first embodiment. Since the processing for capturing the captured image of the mounting portion has already been described in step S103 in the first embodiment, the description thereof will be omitted.

  With the configuration described above, according to the present embodiment, each of the captured images is sufficient to generate the three-dimensional shape (positive model) of the mounting portion by the preview three-dimensional shape generated from the low-resolution image with reduced resolution. It is determined whether or not the image is a captured image of an appropriate imaging range. For this reason, it is not necessary to determine whether the positive model corresponds to the shape of the entire mounting part after generating a positive model with heavy processing, reducing the time to generate the positive model of the optimal mounting part can do.

  In the present embodiment, the control unit 11 generates a low-resolution image from a captured image. However, an application installed in the imaging device 3 may function as a low-resolution image generation unit. In the case of this configuration, when a control signal for transmitting a captured image at a low resolution is supplied from the control unit 11, the low resolution image generation unit generates a low resolution image from the captured image and supplies it to the control unit 11. . Thereby, the transfer speed which transfers the picked-up image for the preview three-dimensional shape in this embodiment to the control part 11 from the imaging device 3 can be improved, and the time concerning transfer can be reduced.

<Third Embodiment>
Hereinafter, an embodiment of a prosthesis mounting portion shape acquisition system according to a third embodiment of the present invention will be described with reference to the drawings. FIG. 8 is a block diagram illustrating a configuration example of a prosthetic device mounting part shape acquisition system according to an embodiment of the present invention. In FIG. 8, a prosthetic device mounting part shape acquisition system 1 </ b> B includes a prosthetic device mounting part shape acquisition device 10 </ b> B and a measurement garment 2.
The accessory mounting part shape acquisition device 10B includes a control unit 11, a camera parameter estimation unit 12, a matching processing unit 13, a scale setting unit 14, a three-dimensional shape generation unit 15, a storage unit 16, and a point group synthesis unit 18. ing. In FIG. 8, the same components as those in the first embodiment are denoted by the same reference numerals. Hereinafter, configurations and operations different from those of the first embodiment will be described.

FIG. 9 shows an example of a measurement garment to be attached to a mounting part that is an imaging target of the imaging device 3 in the accessory mounting part shape acquisition system. In FIG. 9, as an example of the measurement garment, the measurement garment 2 when creating a corset as a prosthetic device having the waist as the attachment portion 250 is shown as in FIG. 2. In 3rd Embodiment, it has shown about the clothing for a measurement when there exists an obstruction between the imaging device 3 and a mounting part.
As in the first embodiment, the measurement garment 2 is provided with a fine irregular pattern and irregularities having a level that does not affect the acquired three-dimensional shape.

  Further, the measurement clothing 2 is provided with a positioning marker 2B in addition to the scale setting marker 2A. As will be described later, since a point group indicating the three-dimensional shape of the entire mounting portion cannot be generated, it is necessary to synthesize a plurality of point groups. The alignment marker 2B is used for alignment of the point group to be combined when the point group is combined. As with the scale setting marker 2A, the alignment marker 2B is visually recognized using a color that is complementary to the color used in the pattern of the measurement clothing 2 so that it can be easily extracted from the point cloud. Easy to create.

  FIG. 10 is a diagram for explaining the capturing of a captured image of the measurement garment 2 attached to the attachment portion when there is an obstacle. FIG. 10 shows a cross-sectional view taken along line BB in FIG. Imaging is performed while moving the imaging device 3 on an arc 451 and an arc 452 that are perpendicular to the cross section of the mounting portion 250 of the patient 200 and that have an axis 500 passing through the center of the cross section as a central axis. Further, the imaging is performed so that the entire measurement clothing 2 that can be visually recognized from the imaging direction of each imaging position on the arc 451 and the arc 452 to be imaged is included in the captured image. In FIG. 10, in an area 461 and an area 462, an obstacle 800 (for example, a stick attached to support the body due to poor waist) is included in the captured image, and thus the captured image cannot be captured.

For this reason, when imaging is performed while moving the imaging device 3 on the arc 451, the alignment marker 2B is included in the captured image at the imaging positions near both ends of the arc 451. Similarly, when imaging is performed while moving the imaging device 3 on the arc 452, the alignment marker 2B is included in the captured image at the imaging positions near both ends of the arc 452.
Then, as will be described later, the point group synthesis unit 18 includes a partial point group generated from a captured image captured at a position on the arc 451 and a portion generated from a captured image captured at a position on the arc 452. The point cloud is aligned by the alignment marker 2B and synthesized to generate a point cloud that indicates the three-dimensional shape of the entire mounting portion.

  Similarly to the first embodiment, imaging by the imaging device 3 is performed on the arc 451 and the arc 452 at as constant intervals as possible (imaging intervals separated by a certain distance). For example, by moving the imaging device 3 on the arc 451 and the arc 452 at a constant speed, imaging is performed by continuous shooting or moving images so that the number of images to be captured or the imaging time is constant. Take images at regular intervals. Here, in the case of a moving image, it is necessary to experimentally determine the moving speed at which motion blur does not occur in each captured image.

FIG. 11 is a flowchart illustrating an operation example of capturing a captured image used in the prosthetic device mounting part shape acquisition system according to the third embodiment of the present invention.
Step S401:
The measurer wrinkles the measurement garment 2 so that the entire area where the prosthetic device is mounted is covered with the mounting unit on which the prosthetic device is mounted, and the patient is in close contact with the covered mounting unit. Let them wear without stopping.

Step S402:
The measurer adds the scale setting marker 2 </ b> A to the measurement garment 2 worn on the wearing part in a state where the whole is exposed.
In FIG. 10, when the images are taken on each of the arc 451 and the arc 452, the coordinate system of the point group to be created is different, so that the dimension scale is set to the actual dimension scale in each coordinate system. Scale setting markers 2 </ b> A corresponding to the respective coordinate systems on 451 and arc 452 are added to measurement clothing 2.

FIG. 12 is a diagram illustrating attachment of the scale setting marker 2A and the alignment marker 2B when the measurement clothing 2 is imaged separately on the arc 451 and the arc 452 due to the presence of the obstacle 800. It is.
As shown in FIG. 10, in order to image the measurement garment 2 separately on the arc 451 and the arc 452, the front surface (the surface on which the patient 200 is faced) and the rear surface (the surface of the patient 200). The scale setting marker 2A is added to each of the patient 200 and the back surface of the patient 200.

  FIG. 12A shows that the scale setting marker 2 </ b> A_ <b> 1 is attached to the front surface of the measurement clothing 2 in correspondence with the front surface of the mounting portion 250 of the patient 200 imaged by the imaging device 3 on the arc 451. Yes. FIG. 12B shows that the scale setting marker 2 </ b> A_ <b> 2 is attached to the front surface of the measurement clothing 2 corresponding to the rear surface of the mounting portion 250 of the patient 200 imaged by the imaging device 3 on the arc 452. Yes. Each of the scale setting marker 2A_1 and the scale setting marker 2A_2 is shown with a cycle having the same scale dimension.

Step S403:
When the measurer captures the captured image of the wearing part, the measuring marker 2B is added to the position of the measurement clothing 2 worn on the wearing part corresponding to the range in which the obstacle cannot be imaged. To do.
That is, in FIG. 10, when imaging is performed on each of the arc 451 and the arc 452, since the coordinate system of the point group to be created is different, the arc group 451 and the arc are used to align the point group in each coordinate system. The alignment marker 2B is added to the position of the clothing 2 for measurement facing each of the region 461 and the region 462 between the region 452 and the region 452.
As shown in FIG. 12A, as a position facing each of the region 461 and the region 462 on the front surface of the mounting portion 250 of the patient 200, for example, with respect to the position of the measurement clothing 2 corresponding to the flank portion. The alignment marker 2B is added. The same applies to FIG.

Step S404:
The measurer captures a captured image of the mounting portion 250 on which the measurement clothing 2 is worn while moving the imaging device 3 on each of the arc 451 and the arc 452 while avoiding an obstacle. Further, the measurer performs imaging on each of the arc 451 and the arc 452 so that the imaging positions are at a predetermined constant interval, as in the imaging of the first embodiment. For example, as shown in FIG. 10, the measurement person wears the patient's wearing part with the imaging device 3 by performing continuous shooting while moving at a predetermined speed on each of the arc 451 and the arc 452. The captured image of the clothing 2 is captured from different imaging positions and imaging directions.
Here, the captured images captured on the arc 451 and the arc 452 are respectively divided into a first captured image group captured on the arc 451 and a second captured image group captured on the arc 452. Divided and grouped. For example, the measurer moves the imaging device 3 on the arc 451 to capture 20 captured images (first captured image group) at a predetermined fixed interval, and moves the imaging device 3 on the arc 452. Then, 20 captured images (second captured image group) are captured at a predetermined constant interval.

FIG. 13: is a flowchart which shows the operation example of the production | generation process of the three-dimensional shape of the mounting part of the accessory mounting part shape acquisition system by the 3rd Embodiment of this invention.
Step S501:
The control unit 11 reads from the imaging device 3 a first captured image group and a second captured image group in which the imaging device 3 images the measurement clothing 2 on each of the arc 451 and the arc 452. At this time, the control unit 11 reads each of the captured images of the first captured image group in the order of capturing in the time series, and then each of the captured images of the second captured image group in the order of capturing in the time series. Is read.
At this time, the control unit 11 may thin out the captured images supplied from the imaging device 3 to reduce the number of captured images and write and store them in the storage unit 16 in time series.

Step S502:
The camera parameter estimation unit 12 reads the captured images of the first captured image group stored in the storage unit 16 in chronological order, and uses the SFM technique to capture the camera parameters of the imaging device 3 for imaging on the arc 451. And the imaging position and imaging direction before and after the movement of the imaging device 3 when each captured image is captured are estimated.
The camera parameter estimation unit 12 then uses the first captured image group to estimate the camera parameters of the imaging apparatus 3 on the arc 451 estimated by the camera parameter estimation unit 12, the imaging position and the imaging direction for capturing each captured image. Are stored in the storage unit 16 in association with the first captured image group.

Similarly, the camera parameter estimation unit 12 reads the captured images of the second captured image group stored in the storage unit 16 in chronological order, and uses the SFM technique to capture the image on the arc 452. And the imaging position and imaging direction before and after the movement of the imaging device 3 when each captured image is captured are estimated.
Then, the camera parameter estimation unit 12 uses the second captured image group to estimate the camera parameters of the imaging device 3 on the arc 452 estimated by the camera parameter estimation unit 12, the imaging position and the imaging direction for capturing each captured image. Are written and stored in the storage unit 16 in association with the second captured image group.

Step S503:
The matching processing unit 13 includes a captured image captured in time series in the first captured image group, camera parameters of the imaging device 3 corresponding to the first captured image group, an imaging position and an imaging direction in which each captured image is captured. Are sequentially read from the storage unit 16.
And the matching process part 13 uses the camera parameter of the imaging device 3 corresponding to a 1st captured image group, the imaging position and imaging direction which imaged each captured image, and the template between the captured images in a 1st captured image group. By matching, a first divided point group in a three-dimensional space (first three-dimensional coordinate system) indicating the three-dimensional shape of the mounting portion captured by the captured image of the first captured image group is generated.

Similarly, the matching processing unit 13 captures captured images captured in time series in the second captured image group, the camera parameters of the image capturing apparatus 3 corresponding to the second captured image group, the capturing position where each captured image is captured, and The imaging direction is sequentially read from the storage unit 16.
And the matching process part 13 uses the camera parameter of the imaging device 3 corresponding to a 2nd captured image group, the imaging position and imaging direction which imaged each captured image, and the template between the captured images in a 2nd captured image group. By matching, a second divided point group in a three-dimensional space (second three-dimensional coordinate system) indicating the three-dimensional shape of the mounting portion captured by the captured image of the second captured image group is generated.
In addition, the matching processing unit 13 sets the first divided point group and the second divided point group generated from the first captured image group and the second captured image group captured on the arc 451 and the arc 452 to the first segment point, respectively. The information is written and stored in the storage unit 16 in association with each of the captured image group and the second captured image group.

Step S504:
The scale setting unit 14 reads the first divided point group generated by the matching processing unit 13 from the storage unit 16, extracts the point group corresponding to the scale setting marker 2A_1 from the first divided point group, and is known between the marks. The distance between each point of the first divided point group indicating the three-dimensional shape in the three-dimensional space (first three-dimensional coordinate system) is matched with the actual size scale.
In addition, the scale setting unit 14 reads the second division point group generated by the matching processing unit 13 from the storage unit 16, extracts the point group corresponding to the scale setting marker 2A_2 from the second division point group, Corresponding to the known dimensions, the distance between the points of the second divided point group indicating the three-dimensional shape in the three-dimensional space (second three-dimensional coordinate system) is adjusted to the scale of the actual dimensions.
Then, the scale setting unit 14 writes and stores (overwrites) each of the first division point group and the second division point group for which the scale is set in the storage unit 16.

Step S505:
The point group combining unit 18 reads each of the first divided point group and the second divided point group from the storage unit 16. Then, the point group synthesizing unit 18 synthesizes the read first divided point group and second divided point group using an ICP (iterative closest point) algorithm, and generates a point group indicating the three-dimensional shape of the entire mounting unit. Generate. At this time, the point group synthesizing unit 18 rotates and translates the second divided point group with respect to the first divided point group in the first three-dimensional coordinate system of the first divided point group (the second divided point group). The coordinate conversion of the division point group is performed), and the first division point group and the second division point group are aligned.

  Further, when performing alignment, the point group synthesizing unit 18 extracts a point corresponding to the alignment marker 2B from the first divided point group, and selects a point corresponding to the alignment marker 2B from the second divided point group. Extract. This alignment marker 2B exists at the same coordinate point in the first three-dimensional coordinate system. For this reason, for example, the point group synthesizing unit 18 minimizes the distance between the coordinate values of the coordinate points corresponding to the alignment markers 2B of the first divided point group and the second divided point group. In addition, by rotating and translating the second divided point group with respect to the first divided point group, each of the first divided point group and the second divided point group is synthesized, and the three-dimensional shape of the entire mounting portion A point cloud indicating is generated. Then, the point group combining unit 18 writes the generated point group in the storage unit 16 and stores it.

FIG. 14 is a diagram for explaining an alignment marker used for combining each of the first divided point group and the second divided point group. FIG. 14A shows the first divided point group, and the first divided point group constituted by the first captured image group corresponding to the front surface of the mounting part 250 of the patient 200 (the face on which the patient 200 is faced). Shows the group. Corresponding to each of the alignment marker 2B added to the flank, the scale setting marker 2A_1, and the position detection marker 2C indicating the position of ASIS (Anterior superior iliac spine: described below). A dot is shown.
On the other hand, FIG. 14B shows a second divided point group, and a second group of captured images corresponding to the rear surface of the mounting part 250 of the patient 200 (the surface with the back of the patient 200). A division point group is shown. Points corresponding to the alignment marker 2B added to the flank and the scale setting marker 2A_2 are shown.

Step S506:
The three-dimensional shape generation unit 15 reads the point group with the scale set from the storage unit 16 and forms a polygon mesh using each point of the point group.
Then, the three-dimensional shape generation unit 15 generates a smooth three-dimensional shape of the mounting portion by generating a polygon mesh from the point cloud. The generated three-dimensional shape is used as a positive model used when creating a prosthesis.
Thereafter, for example, by supplying this three-dimensional shape data to a three-dimensional printer or the like, a prosthesis is created.

  As described above, according to the present embodiment, a cane is provided between the imaging device 3 and the measurement garment 2 when the measurement garment 2 is worn on the mounting portion on which the prosthesis is mounted and a captured image is captured. Even if there is an obstacle such as, the captured image is divided into a plurality of captured image groups so that the obstacle is not imaged, and a matching process is performed on each captured image group to obtain a divided point group The 3D shape of the wearing part is obtained from the point cloud that is generated by combining the divided point cloud, and a positive model is obtained. The physical and mental burden (load) on the patient can be greatly reduced.

  Further, in the present embodiment, when there is no obstacle between the imaging device 3 and the measurement garment 2, the center of the cross section is perpendicular to the cross section of the wearing part 250 of the patient 200 shown in FIG. It is possible to obtain a three-dimensional shape of the mounting portion by using the picked-up images that are continuously picked up by moving on a circle with the passing axis 500 as the central axis. At this time, since there is no division point group, the point group synthesis unit 18 does not perform the process of synthesizing the division point group. Therefore, the accessory mounting part shape acquisition system 1B according to the third embodiment is configured so that there is an obstacle between the imaging device 3 and the measurement clothing 2, and an obstacle between the imaging device 3 and the measurement clothing 2. A positive model of the patient's wearing part can be generated both in the absence of an object.

<Fourth Embodiment>
Hereinafter, an embodiment of a prosthesis mounting portion shape acquisition system according to a fourth embodiment of the present invention will be described with reference to the drawings. FIG. 15 is a block diagram illustrating a configuration example of a prosthetic device mounting part shape acquisition system according to an embodiment of the present invention. In FIG. 15, a prosthetic device mounting part shape acquisition system 1 </ b> C includes a prosthetic device mounting part shape acquisition device 10 </ b> C and a measurement garment 2.
The accessory mounting unit shape acquisition device 10C includes a control unit 11, a camera parameter estimation unit 12, a matching processing unit 13, a scale setting unit 14, a three-dimensional shape generation unit 15, a storage unit 16, a preview confirmation processing unit 17, and a point group synthesis. Each part 18 is provided. In FIG. 15, the same components as those in the third embodiment are denoted by the same reference numerals. Hereinafter, configurations and operations different from those of the third embodiment will be described.

In the accessory mounting part shape acquisition device 10C, a preview confirmation processing unit 17 is added to the accessory mounting part shape acquisition device 10 of the third embodiment.
As already described in the second embodiment, the preview confirmation processing unit 17 performs confirmation processing as to whether or not a captured image for creating a three-dimensional shape as a positive model has been obtained. In the present embodiment, since the positive model is not completed if the scale cannot be set, it is confirmed whether or not an image corresponding to the scale setting marker 2A is included in the captured image. In addition, since it is necessary for alignment for synthesizing the divided point group, it is also confirmed whether or not the alignment marker 2B is included in the captured image.
FIG. 16 is a flowchart illustrating an operation example of a captured image confirmation process using a preview three-dimensional shape according to the fourth embodiment.

Step S601:
The preview confirmation processing unit 17 instructs the control unit 11 to reduce the resolution of the captured image in each of the first captured image group and the second captured image group stored in the storage unit 16. Thereby, the control unit 11 reads out the captured images in each of the first captured image group and the second captured image group from the storage unit 16, acquires an average value of 16 pixels of 4 × 4, for example, The resolution of the captured image is reduced to 1/16 to generate a low resolution image.
Then, the control unit 11 uses the generated low-resolution image corresponding to each of the first captured image group and the second captured image group to generate the low-resolution image for use in creating the preview three-dimensional shape. Each is written and stored in the storage unit 16 so as to correspond to the time-series order when reading the images.

Step S602:
The preview confirmation processing unit 17 instructs the camera parameter estimation unit 12 to estimate the camera parameters of the imaging apparatus 3 and the imaging position and imaging direction of each low resolution image using the low resolution image.
The camera parameter estimation unit 12 reads low resolution images from the storage unit 16 for each of the first captured image group and the second captured image group in chronological order. Then, as in the case of the third embodiment, the camera parameter estimation unit 12 captures each of the camera parameters of the imaging device 3 and the low-resolution image for each of the first captured image group and the second captured image group degree. The position and the imaging direction are estimated by the SFM method.

Step S603:
The preview confirmation processing unit 17 instructs the matching processing unit 13 to generate a point group indicating a preview three-dimensional shape using the low resolution image generated by the control unit 11.
The matching processing unit 13 performs a template matching of each pixel between the low-resolution images for each of the first captured image group and the second captured image group, thereby forming a point group indicating the preview three-dimensional shape of the mounting unit. Each of the preview first divided point group and the preview second divided point group is generated.

Step S604:
The preview confirmation processing unit 17 renders each of the preview first divided point group and the preview second divided point group generated by the point group synthesizing unit 18 to the three-dimensional shape generating unit 15, so that the preview three-dimensional point group is rendered. Instructs the generation of a shape image.

Step S605:
Then, the preview confirmation processing unit 17 displays the preview three-dimensional shape image generated by the three-dimensional shape generation unit 15 on the display screen of the imaging device 3.
The measurer observes the image of the preview three-dimensional shape on the display screen of the imaging device 3 while changing the observation position of the preview three-dimensional shape in the three-dimensional space.
Then, the measurer determines whether or not the preview three-dimensional shape is a sufficient shape including the entire measurement garment 2 worn on the mounting portion, that is, each of the captured images is a three-dimensional shape (positive) of the mounting portion. It is determined whether or not the image is an image of a sufficient imaging range for generating a model.
At this time, the measurer advances the process to step S606 if the preview three-dimensional shape is a sufficient shape including the entire measurement clothing 2. On the other hand, when the preview three-dimensional shape is not a sufficient shape including the entire measurement clothing 2, the measurer advances the process to step S607.

Step S606:
The measurer causes the prosthetic device mounting part shape acquisition system 1C to execute the process of generating the three-dimensional shape of the mounting part in the flowchart shown in FIG. 13 in the third embodiment. Since the description for generating the three-dimensional shape has already been made in the third embodiment, the description thereof will be omitted.

Step S607:
The measurer performs again the process of capturing the captured image of the attachment portion of the prosthetic device in the flowchart shown in FIG. 11 in the first embodiment. Since the process for capturing the captured image of the mounting portion has already been described in the third embodiment, the description thereof will be omitted.

  With the configuration described above, according to the present embodiment, each of the captured images is sufficient to generate the three-dimensional shape (positive model) of the mounting portion by the preview three-dimensional shape generated from the low-resolution image with reduced resolution. It is determined whether or not the image is a captured image of a wide range. For this reason, it is not necessary to determine whether the positive model corresponds to the shape of the entire mounting part after generating a positive model with heavy processing, reducing the time to generate the positive model of the optimal mounting part can do.

  In the present embodiment, as in the second embodiment, the control unit 11 generates a low-resolution image from the captured image. However, an application installed in the imaging device 3 is used as the low-resolution image generation unit. It may be configured to function. In the case of this configuration, when a control signal for transmitting a captured image at a low resolution is supplied from the control unit 11, the low resolution image generation unit generates a low resolution image from the captured image and supplies it to the control unit 11. . Thereby, the transfer speed which transfers the picked-up image for the preview three-dimensional shape in this embodiment to the control part 11 from the imaging device 3 can be improved, and the time concerning transfer can be reduced.

<Fifth Embodiment>
Hereinafter, an embodiment of a prosthesis mounting portion shape acquisition system according to a fifth embodiment of the present invention will be described with reference to the drawings. As a configuration for generating a three-dimensional shape from a point group, any configuration of the first embodiment to the fourth embodiment may be used. In the present embodiment, the mounting portion is the waist, and the auxiliary device to be mounted is a corset. In this case, if the position of the ASIS (upper anterior iliac spine) is not clarified, the corset does not fit to the waist, and the corset rubs the convex portion of the ASIS, causing a load on the patient.
Therefore, the position detection marker 2C is added to a portion corresponding to the position of the ASIS in the measurement clothing worn on the mounting portion. Like the scale setting marker 2A and the alignment marker 2B, the position detection marker 2C is used for the pattern of the measurement clothing 2 so that it can be easily extracted from the point cloud added to the measurement clothing 2. Using a color that is complementary to the existing color, it is created so that it can be easily seen.

  FIG. 17 illustrates the position detection marker 2 </ b> C indicating the position of the ASIS added to the measurement clothing 2. As shown in FIG. 17A, a position detection marker 2 </ b> C is added to the measurement garment 2 worn on the mounting portion 250 together with the scale setting marker 2 </ b> A and the alignment marker 2 </ b> B. The addition of the position detection marker 2C is performed by a measurer palpating the patient's waist, confirming the position corresponding to the ASIS in the measurement clothing 2, and attaching the position detection marker 2C to the position. Append.

FIG. 17B illustrates a three-dimensional shape 820 generated from a captured image obtained by capturing the measurement clothing 2 worn on the mounting portion 250 illustrated in FIG. The three-dimensional shape 820 is configured in a data format that cannot display colors, such as an STL (standard triangulated language) format. For this reason, the three-dimensional shape 820 is shown in gray scale, and each of the region 850 corresponding to the scale setting marker 2A and the region 860 corresponding to the position detection marker 2C is difficult to confirm. The scale setting marker 2A does not need to be clarified because the scale has already been estimated and set. The STL format is used when supplying data to a 3D (three-dimensional) printer. For this reason, in order to create a prosthesis using a 3D printer, it is particularly necessary to clarify the position of the ASIS.
However, for the position detection marker 2C, since the corset corresponding to the patient cannot be generated if the position of the ASIS is unknown as a positive model, the position of the ASIS is clarified even in a data format that cannot display colors such as the STL format. There is a need.

FIG. 17C shows that the prosthetic device mounting part shape acquisition system 5 adds a hemisphere 870 (sphere) to the region 860 in the three-dimensional shape 820 to clarify the position of the ASIS even in the STL format. Can do.
At this time, the matching processing unit 13 detects a pixel corresponding to the position detection marker 2C in each captured image, and when performing matching processing on this pixel, the coordinate value in the point group is stored in the storage unit 16 as the position marker coordinate. Write and memorize it.
When generating the three-dimensional shape 820 from the point group, the three-dimensional shape generation unit 15 reads the position marker coordinates together with the point group data. Then, when generating the three-dimensional shape 820, the three-dimensional shape generation unit 15 adds a hemisphere 870 indicating the position of the ASIS to the coordinate value indicated by the position marker coordinates to obtain a three-dimensional shape 820 (positive model). .

  According to this embodiment, since a three-dimensional shape to which a hemisphere 870 indicating the position of ASIS is added is obtained, the position of ASIS becomes clear as a positive model, and the corset based on the position of ASIS corresponding to each patient Creation is possible, and it is possible to reduce the burden on the patient that the ASIS is rubbed by the corset.

1 according to the present invention, the device mounting shape acquisition device 10A shown in FIG. 6, the device mounting shape acquisition device 10B shown in FIG. 8, and the device mounting shape acquisition device shown in FIG. A program for realizing each function of 10C is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed, thereby executing 3 of the attachment part of the patient's prosthesis. You may perform the process which acquires a dimensional shape. Here, the “computer system” includes an OS and hardware such as peripheral devices.
The “computer system” includes a WWW system having a homepage providing environment (or display environment). The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Further, the “computer-readable recording medium” refers to a volatile memory (RAM) in a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included.

  The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

The embodiment of the present invention has been described so far. However, the above embodiment is merely an example, and the present invention is not limited to the above-described embodiment, and may be implemented in various forms within the scope of the technical idea. Needless to say, it is good.
In addition, the scope of the present invention is not limited to the illustrated and described exemplary embodiments, and includes all embodiments that provide the same effects as those intended by the present invention. Furthermore, the scope of the invention is not limited to the combinations of features of the invention defined by the claims, but includes any desired combination of specific features among all the disclosed features.

DESCRIPTION OF SYMBOLS 1,1A, 1B, 1C ... Prosthesis mounting part shape acquisition system 2 ... Measurement clothing 2A, 2A_1, 2A_2 ... Scale setting marker 2B ... Position alignment marker 2C ... Position detection marker 3 ... Imaging device 10, 10A, DESCRIPTION OF SYMBOLS 10B, 10C ... Prosthesis mounting part shape acquisition apparatus 11 ... Control part 12 ... Camera parameter estimation part 13 ... Matching processing part 14 ... Scale setting part 15 ... Three-dimensional shape generation part 16 ... Memory | storage part 17 ... Preview confirmation process part 18 ... Point cloud synthesis unit 200 ... Patient 250 ... Wearing part 400 ... Circle 451, 452 ... Arc 500 ... Axis 800 ... Obstacle 820 ... Three-dimensional shape 850, 860 ... Region 870 ... Hemisphere

Claims (7)

A wearing process of covering the range of the wearing part of the body on which the auxiliary device is worn, and wearing a measurement garment that closely adheres to the wearing part provided with an irregular pattern on the surface and reflects the shape of the wearing part;
A plurality of captured images including the entirety of the measurement clothing viewed from the imaging direction at each of different positions on the arc centering on the mounting portion along the outer peripheral surface of the measurement clothing are captured by a monocular imaging device. An imaging process for capturing images,
A prosthesis mounting part shape acquisition method comprising: generating a three-dimensional shape of the mounting part by performing matching of corresponding pixels between the plurality of captured images using the pattern. The method for acquiring a shape of a prosthetic device mounting part according to claim 1, wherein, in the imaging process, imaging is performed with an imaging interval of each of the captured images being constant. The scale garment is further provided with the marker for scale estimation with respect to the said clothing for measurement, and the dimension of the said three-dimensional shape is made to correspond with the dimension of the said mounting part by the said marker. The method for obtaining the shape of a prosthetic device mounting part according to claim 1. In the imaging process,
When there is an obstacle between the mounting unit and the imaging device on the circumference including the arc and the mounting unit is centered, imaging is performed in a range of the arc in which the obstacle is included in the captured image. Without performing the imaging, in the range of the arc that the obstacle is not included in the captured image,
In the generation process,
The divided three-dimensional shape is generated from each captured image of each arc continuously captured at a constant imaging interval, and the divided three-dimensional shape is synthesized to generate the three-dimensional shape. The method for acquiring a shape of a prosthetic device mounting part according to claim 3. In the imaging process,
The position of the clothing for measurement corresponding to the region where each of the divided three-dimensional shapes generated from the captured images captured on the respective arcs overlaps when the obstacle is captured in the range of the arc not included in the captured image An alignment marker for alignment is provided for
In the generation process,
The prosthesis mounting part shape according to claim 4, wherein the three-dimensional shape is generated by synthesizing each of the divided three-dimensional shapes using the alignment markers in each of the divided three-dimensional shapes. Acquisition method. The prosthesis mounting part shape acquisition according to any one of claims 1 to 5, further comprising a preview display for reducing the resolution of the captured image and confirming the three-dimensional shape. Method. The outer circumference of the wearing part that covers the range of the wearing part of the body on which the accessory is to be worn and that is fitted with the measurement clothing that closely adheres to the wearing part provided with an irregular pattern on the surface and reflects the shape of the wearing part A plurality of images captured by a monocular imaging device in a captured image including the whole of the measurement garment viewed from the imaging direction, captured at different positions on a circular arc centered on the mounting portion along the surface. A matching processing unit that generates a point group in a three-dimensional space indicating the shape of the mounting unit using the pattern for matching of corresponding pixels between the captured images;
A three-dimensional shape generation unit that converts a point cloud generated by the matching processing unit into a polygon mesh and generates a three-dimensional shape of the mounting unit.