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研究生：	簡志緯 Chien, Chih-Wei
論文名稱：	殘肢曲面模型形狀變更自動化系統設計 Automated System Design to Modify the CAD Models of Residual Limbs
指導教授：	許來興 Hsu, Lai-Hsing
學位類別：	碩士 Master
系所名稱：	工學院 - 機械工程學系 Department of Mechanical Engineering
論文出版年：	2002
畢業學年度：	90
語文別：	英文
論文頁數：	100
中文關鍵詞：	殘肢、義肢承筒、NURBS曲面、曲面修改、承筒設計自動化系統
外文關鍵詞：	residual limb, socket design automated system., prosthetic socket, NURBS surface, surface modification
相關次數：	點閱：187 下載：4
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傳統義肢承筒製作過程，包括受壓區與非受壓區的標示，製作石膏陰模，製作殘肢陽模，製作義肢承筒等。此步驟不但費時、昂貴、繁雜而且陽模不可重複使用等缺點。所以本研究提出一套義肢承筒設計自動化系統，運用逆向工程技術，並且改善目前電腦輔助軟體編修不易等問題，用以取代傳統義肢承筒製作的方法。此系統的程序目前包括3D量測系統擷取殘肢外形、受壓區與非受壓區域的辨識、殘肢曲面的建立和殘肢曲面變更等。
為了使接觸壓力能平均分佈在殘肢上，必須依賴義肢師高度的專業知識標示並修改出受壓區與非受壓區域。本研究使用NURBS 曲面、應用程式技術及電腦繪圖的函式進行殘肢曲面模型的形狀變更。藉由NURBS 曲面理論中，移動控制點與調整權重方式，修改殘肢曲面。又利用應用程式技術及電腦繪圖的函式提供使用者輸入必要訊息或直接從螢幕上拖拉控制點的方式，使修改的結果能及時顯示，進而達到容易使用的介面。
最後再以應用實例驗證修改方法的可行性。並且提供曲面輸出IGES 格式，以便進行接觸應力分析等。

The traditional fabricating procedure of the prosthetic socket for a specific amputee includes marking pressure-tolerant (PT) and pressure-relief (PR) areas, wrapping plaster cast, duplicating plaster model, rectifying plaster model, and fabricating socket etc. This procedure is time-consuming, complicated, labor-intensive, and non-reproductive. Consequently, this thesis presents a novel procedure that employs reverse engineering techniques and improves computer-aided systems to develop an automated system that intends to replace the traditional method for producing prosthetic socket. This prototype system includes scanning amputee stump, PT/PR areas recognition, surface model construction of stump, and surface model modification etc.
In order that contact pressure transformed amputee weight via socket would be uniformly distributed, an experienced prosthetist has to mark the PT/PR areas on an amputee stump and rectify them. The proposed algorithm in the automated system aims to modify the PT/PR areas of stump using the theory of NURBS surface, techniques of application programming, and functions of computer graphic. NURBS surface is used to reposition the control points and change the weights to modify the surface model. Using techniques of application programming and functions of computer graphic would allow the user either manipulating the dialog box to input required information or dragging the control points. The “user-friendly” interface therefore helps display the modified results immediately.
The demonstrated case study has verified the prototype system for modifying surface model of stump. Difference analysis indicates that the proposed algorithm can adjust the PT/PR areas within a desired accuracy. Additionally, the modified surface model can be converted into IGES format for further research such as contact stress evaluation.

Abstract		I
Abstract in Chinese	III
Acknowledgements	IV
Table of Contents	V
List of Tables	IX
List of Figures	X
Notation		XII

Chapter 1  Introduction	1
1.1	Preface	1
1.2	Related Works Survey	2
1.3	Thesis Objective	4
1.4	Thesis Organization	5

Chapter 2  Related Fundamental Principles	8
2.1	Reverse Engineering Techniques	8
2.2	Prosthetic Socket Design	11
	2.2.1  The Pressure-Tolerant and Pressure-Relief Areas	12
	2.2.2  The Conventional Process	15
	2.2.3  The Reverse Engineering Process	17
	2.2.4  Comparison between Conventional and RE Processes	18
2.3	Curve and Surface Construction	20
	2.3.1  B-Spline Curves and Surfaces	20
	2.3.2  Rational B-Spline (NURBS) Curves and Surfaces	22
	2.3.3  Interpolation of Curves and Surfaces	23
	2.3.4  Lofted Surface Construction	26

Chapter 3  An Algorithm for Surface Modification	29
3.1	Surface Modification	29
	3.1.1  Control Point Repositioning	32
	3.1.2  Weight Modification	33
	3.1.3  Surface Normal Vector	35
3.2	Automated System Architecture	37
	3.2.1  Application Programmer’s Interface	38
	3.2.2  System Software	39
3.3	An Automated System for Prosthetic Socket Design	39
	3.3.1  Organization of the System	41
	3.3.2  Interface Modules	42
	3.3.3  User Interface	43

Chapter 4  An Automated Process for Designing the Surface Model of Residual Limbs	46
4.1	Data Preprocess	47
4.2	Data Separation	50
4.3	Surface Patch Creation	52
4.4	Surface Patch Modification	54
	4.4.1  Pick Operation	55
	4.4.2  Surface Point Repositioning Method	56
	4.4.3  Control Point Repositioning Method	57
4.5	Data Combination	60
4.6	Lofted Surface Construction	62

Chapter 5  Case Study	64
5.1	Case 1	64
5.2	Case 2	75
5.3	Discussion	80

Chapter 6  Conclusions and Future Work	83
6.1	Summary	83
6.2	Contributions of the Research	84
6.3	Recommendations for Future Work	85

References		87
Appendix A  Organization of the System	93
Appendix B  The Menu Functions of the System	95
Appendix C  The File Format of Scanned Points after Data Preprocess	96
Appendix D  The Flow Diagram of Surface Patch Creation	97
D.1  Curve Interpolation	97
D.2  Curve Points Recalculation	98
D.3  Surface Interpolation	99
Appendix E  The Steps of Surface Patch Modification	100
Autobiography	101
                                    

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