Two dynamic foot scanners, able to capture the foot geometry during one gait cycle, were developed in SMARTPIF project, a more sophisticated one (version A, based on 3 ToF cameras) and a more simple and cheaper one (version B, based on a single 3D camera):

 

4D Foot Scanner - Version A (ToF)

The 4D Foot Scanner, ToF version, is a dynamic foot scanner based on three Time of Flight cameras camera, able to record the full foot geometry during a gait phase, obtaining the digitalization of foot anatomic changes during a patient normal walk.

The 4D Foot Scanner is comprised by a capture device, a single scanning module with two additional catwalk modules, and the scanning software, used to capture, reconstruct, and even measure the foot 3D geometry.

 

 4D Foot Scanner (ToF)

 

The 4D Foot Scanner, ToF version, provide practitioners with a sophisticated tool able to capture their patients’ full foot geometry during a whole gait cycle, offering the opportunity to detect the anatomic modifications and foot real behavior that happen during the different phases of the gait.

The captured geometry can be visualized in movement, as an animation of the different samples captured during the patients’ walking, can be exported to standard STL file format, and can also be measured inside the same software tool, without requiring external software applications.

Providing the podiatrist with a sequence of the complete gait cycle, the 4D Foot Scanner offers a unique opportunity for the clinician to analyze the structural changes that are produced on the different anatomical structures of the foot, in contrast with the classical approach of static 3D scanners, that only capture a single stance of the foot in a static condition, and not under load during a gait cycle.

The observation, by the practitioners, of the time related changes on the whole foot, allows them to better design and adjust their therapeutic prescriptions (for both, insoles and footwear) to the dynamic changes of the foot during the gait cycle.

The 4D Foot Scanner is comprised by a software application that runs in a PC, a scanning module containing the 3 ToF cameras, and two optional walking ramp modules:

PC:

  • Processor: Intel Core 2 Duo or higher.
  • Operating System: Windows 7 or Windows XP 32 bit.
  • PC RAM: Minimum 3 GB.
  • GPU: Required CUDA capable GPU, minimum 1GB of RAM.

Sensing module:

  • Sensor: 3 Time of Flight Cameras.
  • Frame rate: 30 frames per second.           
  • Connection to PC:LAN cable.
  • Power supply:100-230V, 50-60Hz.
  • Glass point load: 150kg/cm2
  • Weight: 38kg
  • 3D export format: STL

Walking modules:

  • Structure: 2 walking modules + 2 in-out stairs.
  • Total dimensions: 64 (L) x 47 (W) x 45 (H) cm

 

 

4D Foot Scanner - Version B (single 3D camera)

The 4D Foot Scanner, single 3DCam, is a dynamic foot scanner based on one single 3D camera, able to record the foot plantar geometry during a gait phase, obtaining the digitalization of plant anatomic changes during a patient normal walk.

The 4D Foot Scanner is comprised by a capture device, a single 3D camera sensor and up to two optional IR illuminators, a walking catwalk and a capture and reconstruction software.

At the catwalk, a gait sensor is able to automatically start the recording process and the foot digitalization when the patients enter the recording area.

 

4D Foot Scanner (single 3D Cam)

 

The 4D Foot Scanner, single 3DCam, provide practitioners with an easy to use, low cost, tool able to capture their patients’ foot plant geometry during a whole gait cycle, offering the clinician the opportunity to detect the anatomic modifications that happen during the different phases of the gait, in contrast with the static capture offered by traditional 3D scanners.

The scanner captures up to 10 seconds of foot movement, and can export the captured geometry in standard STL file format, making able the use of these geometries not only for examining the anatomical changes of the foot of the patient, but also to help to better adapt the insole, and eventually footwear, prescription to the particular geometry characteristics of the patient.

The reconstructed 3D foot plant files can also be used to obtain precise plant measures, and to analyze these changes in the different gait phase, using this data to improve the insole prescription.

The 4D Foot scanner is comprised by a software application that runs in a PC, and a 3D sensing device integrated in a walking ramp.

PC:

  • Processor: Intel i7 CPU.
  • Operating System: Minimum Windows 7 (64 bit).
  • PC RAM: Minimum 4Gb, recommended 8Gb.
  • GPU: Required CUDA capable GPU, with 2GB dedicated RAM.

Sensing device:

  • 3D sensor: Ensenso nearIR stereo camera.
  • Frame rate: 15 images per second maximum.      
  • Connection to PC:4xUSB cable.
  • Power supply:100-230V, 50-60Hz.
  • IR illumination (optional): Kinect.
  • 3D export format: STL

Walking ramp:

  • Structure: Modular system with 4 walking modules + 1 scanning module + 2 in-out stairs.
  • Total dimensions: 560 (L) x 67 (W) x 54 (H) cm
  • Weight of the hardware platform: 96kg
  • Glass point load: 100kg/cm2