CN104856686B - A kind of thoracolunbar spine or so lateral bending motions are in real time in bulk measurement method - Google Patents
A kind of thoracolunbar spine or so lateral bending motions are in real time in bulk measurement method Download PDFInfo
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Abstract
The invention discloses a kind of the real-time in bulk measurement method of left and right lateral bending motions of the thoracolunbar spine based on Kinect somatosensory interaction technique, backbone Thoracolumbar disk section attitude measurement and supposition during lateral bending motions is realized, and export each centrum Centroid coordinate.During measurement, using body-sensing man-machine interaction mode, by Kinect sensor to the posture of trunk and the real-time capture of action, with reference to Multibody Kinematics, the position and posture of each centrum of backbone are calculated, centrum center point coordinate and attitude angle are obtained in real time, and simple and convenient, its backbone posture is shown on system interaction interface in real time with centrum Centroid.
Description
Technical field
The present invention relates to a kind of measuring method, more particularly, to thoracolunbar spine or so lateral bending motions in real time in bulk measurement side
Method.
Background technology
Spinal motion is three-dimensional motion, the most complicated in each joint motions of human body.Understand the range of movement of patient's vertebra
For instructing, doctor carries out backbone physical treatment and rehabilitation is significant.
At present there are many difficulties in the research to spinal kinematics, because the motion of backbone is the coupling in three dimensions
Motion and unspecific plane motion are, it is necessary to accurate e measurement technology and computational methods.The three-dimensional motion of vertebra have it is anteflexion/after
Stretch, the angular freedom in three directions of left/right lateral bending and left/right rotation.The present invention is dedicated for left in measurement backbone coronal-plane
The lateral bending motions of right direction.
Spinal motion measuring method can be divided into bulk measurement and in vitro measurement.So-called in vitro measurement, be exactly to the mankind or
The backbone sample taken out on spoil is measured.In vitro range of movement measurement includes contact measurement and untouchable measurement
(plane survey, stereoptics measurement, photoelectric measurement, laser measurement).Current e measurement technology is typically only capable to measure the fortune of vertebra
Dynamic scope, the current athletic posture of backbone generally can not be obtained in real time.
It is exactly that directly human body is measured in bulk measurement, it is typically lossless.Current includes x-ray in bulk measurement method
Measurement, CT measurements, MRI measurements, sensor measurement, ultrasonic measurement and Moire method measurement etc..
The content of the invention
The technical problems to be solved by the invention are to provide a kind of thoracolunbar spine based on Kinect somatosensory interaction technique
Lateral bending motions it is real-time in bulk measurement method, realize backbone Thoracolumbar disk section attitude measurement and supposition during lateral bending motions,
And export each centrum Centroid coordinate.During measurement, the measured is made uprightly and in coronal-plane towards Kinect sensor
The action of left and right directions lateral bending trunk.By Kinect sensor to the posture of trunk and the real-time capture of action, according to
The trunk athletic posture of measured, with reference to Multibody Kinematics, is calculated the position and posture of each centrum of backbone, in real time
Centrum center point coordinate and attitude angle are obtained, simple and convenient, its backbone posture is shown in real time with centrum Centroid
On system interaction interface.
The present invention is in order to solve the above technical problems, the technical scheme used is as follows：
A kind of thoracolunbar spine or so lateral bending motions comprise the following steps in real time in bulk measurement method：
Step 1：The skeleton data of the thoracolunbar spine of measurand is measured using Kinect sensor；
Step 2：Each centrum Centroid data is calculated according to skeleton data, specifically included：
Step 2-1：Skeleton data is inputted, includes shoulder Centroid T1 coordinate and sacrum portion Centroid S coordinate, it is fixed
Adopted thoracic vertebrae section is T, L1, L2, L3, L4, L5 is segmented into lumbar vertebrae, and set the value of its centrum centre distance；
Step 2-2：Calculate the x between shoulder Centroid and sacrum portion Centroid, y is to distance；
Step 2-3：When scoliosis, shoulder Centroid T1 and sacrum portion Centroid S lines T1-S remembers with X-axis angle
For α；
Step 2-4：Interverbebral disc is deformed during lateral bending, and adjacent lumbar vertebrae section produces relative rotation, and defines L5 relative
In S corner be θL5, corners of the L4 relative to L5 is θL4, corners of the L3 relative to L4 is θL3, corners of the L2 relative to L3 be
θL2, corners of the L1 relative to L2 is θL1, corners of the T1 relative to L1 is θT, and calculate θT、θL1、θL2、θL3、θL4And θL5；
Step 2-5：Calculate thoracic vertebrae section T, lumbar segment L1, L2, L3, L4, L5 component length T', L'L1、L'L2、L'L3、L
'L4、L'L5And component overall length Z；
Step 2-6：Define L1', L2', L3', L4', L5' be respectively L1, L2, L3, L4, L5 shoulder Centroid T1 with
Projection on sacrum portion Centroid S line T1-S lines, and L1', L2', L3', L4', L5' x, y-axis coordinate are calculated respectively；
Step 2-7：L1, L2, L3, L4, L5 x, y-axis coordinate are calculated respectively；
Step 3：Export each centrum Centroid data.
Further, in step 2-1, the skeleton data of input includes shoulder Centroid T1 coordinates T1 (Tx, Ty) and sacrum
Portion Centroid S coordinates S (Sx, Sy)；According to《Chinese adult human dimension》Standard is segmented to lumbar vertebrae and sets lumbar vertebrae
L1-L2 sections, L2-L3 sections, L3-L4 sections, L4-L5 sections and L4-S sections of centrum centre distance LL1、LL2、LL3、LL4、LL5Value.
Further, in step 2-2, shoulder Centroid is calculated with x, y of sacrum portion Centroid to apart from Lx、LyTool
Body formula is：
Lx=| Tx-Sx|
Ly=| Ty-Sy|。
Further, in step 2-3, shoulder Centroid T1 and sacrum portion Centroid S lines T1-S and X-axis angle are calculated
α specific formula is：
Further, in step 2-4, θ is calculatedT、θL1、θL2、θL3、θL4And θL5Specific formula be：
θL4=2 θL5
θL2=2 θL5
θL1=2 θL5
Further, in step 2-5, thoracic vertebrae section T, lumbar segment L1, L2, L3, L4, L5 component length T', L' are calculatedL1、
L'L2、L'L3、L'L4、L'L5And component overall length Z specific formula is：
Z=T'+L'L1+L'L2+L'L3+L'L4+L'L5。
Further, in step 2-6, x, the specific formula of y-axis coordinate for calculating L1', L2', L3', L4', L5' are：
Further, in step 2-7, x, the specific formula of y-axis coordinate for calculating L1, L2, L3, L4 and L5 are：
L5x=L'5x-hL5×sinα
L5y=L'5y-hL5×cosα
L4x=L'4x-(hL5+hL4)×sinα
L4y=L'4y-(hL5+hL4)×cosα
L3x=L'3x-(hL5+hL4+hL3)×sinα
L3y=L'3y-(hL5+hL4+hL3)×cosα
L2x=L'2x-(hL5+hL4+hL3+hL2)×sinα
L2y=L'2y-(hL5+hL4+hL3+hL2)×cosα
L1x=L'1x-(hL5+hL4+hL3+hL2+hL1)×sinα
L1y=L'1y-(hL5+hL4+hL3+hL2+hL1)×cosα。
Wherein, the continuous light that the Kinect sensor is sent using RF transmitter is radiated at user and compiled
Code, and received by infrared C MOS cameras and record the speckle data on the measured body, and solved by Kinect
Code, generates the skeleton geological information of measured.
The present invention uses above technical scheme compared with prior art, with following technique effect：
1st, the present invention is a kind of in bulk measurement technology, and corresponding in bulk measurement is in vitro measurement, and in vitro e measurement technology is only
Sample can be measured, this e measurement technology is, in bulk measurement technology, to can be used for the motion for measuring patient.
2nd, the present invention is measurement in real time, and the athletic posture of backbone is obtained in real time, without waiting for.
3rd, the present invention can measure and record simultaneously much information, measure position, appearance that obtained information is not singly backbone
State information, in addition to movement velocity.Velocity information can be used for further analyzing sufferer spinal motion.
Brief description of the drawings
Fig. 1 is the operation principle flow chart of the present invention；
The lumbar vertebra Centroid that Fig. 2 is the present invention speculates；
Fig. 3 is the vertebral bodies of lumbar spine central motion relation of the present invention；
Walk around the pass of angle and shoulder Centroid-between sacrum portion Centroid line and x-axis angle the side that Fig. 4 is the present invention
System.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As shown in figure 1, the present invention proposes a kind of thoracolunbar spine or so lateral bending motions in real time in bulk measurement method, including with
Lower step：
Step 1：The skeleton data of the thoracolunbar spine of measurand is measured using Kinect sensor；
Step 2：Each centrum Centroid data is calculated according to skeleton data；
Step 3：Export each centrum Centroid data.
The present invention is further described with reference to specific embodiment：
Embodiment 1
According to《Chinese adult human dimension》(GB/T 10000-1988) related data is referred to and Kinect skeleton nodes
The principle of setting, head center node can approximately be considered as cervical vertebra C1 centrums center, and shoulder Centroid is approximately considered as thoracic vertebrae T1
Centrum center, sacrum portion Centroid is then approximately considered as rumpbone S centrums center.Backbone has been divided into cervical vertebra section, chest by these three nodes
Vertebra section and lumbar segment.
So that lumbar vertebra speculates as an example, shoulder Centroid (vertebra T1 centrums center) and sacrum portion can be obtained using Kinect
Centroid (rumpbone S centrums center).In the case of known this 2 points, lumbar vertebra L1 to L5 central point can be derived.
The hardware of this method mainly includes Kinect sensor and computer.The effect of Kinect sensor is using infrared
The continuous illumination that line transmitter is sent is penetrated to be encoded in user, then is received by infrared C MOS cameras and recorded measured
Speckle data on body.Inductor in Kinect sensor reads speckle data, transfers to chip then to be decoded, and generates institute
The skeleton data needed.The skeleton data of acquisition is passed to computer application program by USB interface and compiled by Kinect sensor
Journey interface (Application Program Interface, API).According to Descartes's kinematical theory and backbone biology doctor
Feature is learned, related algorithm is studied, human body spinal motion estimating program is developed, so as to speculate the movement position and backbone of each centrum
Motion morphology.
The movement relation at vertebral bodies of lumbar spine center is as shown in Fig. 2 whole lateral bending motions are in hat in scoliosis motion process
Completed in shape face.At original neutral position, T1-S sections of centrum centre distances are LTL, the length of thoracic vertebrae section backbone is LT, and L1-L2
Section, L2-L3 sections, L3-L4 sections, the centrum centre distance of L4-L5 sections and L4-S sections be respectively LL1、LL2、LL3、LL4And LL5。
Human body is under the nature without axial heavy load, and Minor articulus deformation and interverbebral disc axial deformation are the centre-to-centre spacing adjacent vertebral
Influence from generation can be ignored, i.e. LL1、LL2、LL3、LL4And LL5Value it is constant.Due to can not accurately obtain each centrum center
Distance, can basis《Chinese adult human dimension》(GB/T10000-1988) L is setL1、LL2、LL3、LL4And LL5's
Value.
As shown in Fig. 3 combinations Fig. 4, when scoliosis, T1 changes with S centrums centre distance, is designated as LTL', with X-axis angle
It is designated as α.Due to intervertebral disc deformations during lateral bending, adjacent segment produces relative rotation, and corners of the wherein L5 relative to S is θL5,
Corners of the L4 relative to L5 is θL4, corners of the L3 relative to L4 is θL3, corners of the L2 relative to L3 is θL2, L1 is relative to L2's
Corner is θL1, corners of the T1 relative to L1 is θT.L1', L2', L3', L4' and L5' are respectively that L1, L2, L3, L4 and L5 exist
T1 is with the projection on S lines, and the distance between these subpoints are adjacent is respectively
By obtain these subpoints it is adjacent between distance, it is possible to by S point coordinates derive subpoint position, it is possible to
Derive the position of each centrum central point.
Thus, the lateral bending corner (θ between lumbar vertebrae adjacent vertebral how is determinedT、θL1、θL2、θL3、θL4And θL5) and these turns
Relation between angle and angle α is particularly important.The relation between corner except determining adjacent interspinous, also needs to derive these corners
With the relation between α angles.And θT、θL1、θL2、θL3、θL4And θL5Between relativeness can be obtained by document.Such as Fig. 3 institutes
Show, backbone in unit interval dt by original neutral position lateral bending to shown position, relative rotation is respectively d θ between each centrumT、d
θL1、dθL2、dθL3、dθL4With d θL5, its corresponding radius of gyration size is respectively：
rT=LTL-LL5-LL4-LL3-LL2-LL1 (6)
rL1=LTL-LL5-LL4-LL3-LL2 (7)
rL2=LTL-LL5-LL4-LL3 (8)
rL3=LTL-LL5-LL4 (9)
rL4=LTL-LL5 (10)
rL5=LTL (11)。
It is possible thereby to push away the velocities of rotation of T1 centrums is：
And the centre distance of T1 centrums now and S centrums is rT1=LTL'.Due in unit interval dt, T1 centrums with
The centre distance of S centrums is continually changing, only using the method for approximate solution, solves VT1With angle α relation.And VT1's
Approximate solution is designated as
Then have：
The kinematics that this completes each centrum central point of human body lateral bending motions waist is derived.
Spinal kinematics speculate that algorithm is expressed as follows with false code.The input quantity of this section of program is Kinect acquisition shoulder
The coordinate of Centroid (vertebra T1 centrums center) and sacrum portion Centroid (rumpbone S centrums center), thus derives adjacent vertebral
Between lateral bending corner (θT、θL1、θL2、θL3、θL4And θL5), the coordinate of L1', L2', L3', L4' and L5' point is calculated, is finally asked
Obtain L1, L2, L3, L4 and L5 coordinate data and output.
LumbarCurveEstimation()
{
Read skeleton.Joints (JointType.HipCenter) // read Center of Coxa point from kinect
Read skeleton.Joints (JointType.ShoulderCenter) // read shoulder center from kinect
Point
JointSAC ← skeleton.Joints (JointType.HipCenter) // Center of Coxa point is assigned to
jointSAC
JointT1 ← skeleton.Joints (JointType.ShoulderCenter) // shoulder central point is assigned to
jointT1
Lx←Abs(SkeletonPointx(jointT1.Position)-SkeletonPointx
(jointSAC.Position)) //between jointT1 and jointSAC distance X-direction
Ly←Abs(SkeletonPointy(jointT1.Position)-SkeletonPointy
(jointSAC.Position)) //between jointT1 and jointSAC distance Y-direction
Ang α ← Atan (Abs (Ly/Lx)) // α angles
Ang θ L5 ← (PI/2-Ang α)/10//acquisition θT、θL1、θL2、θL3、θL4And θL5
AngθL4←AngθL5*2
AngθL3←AngθL5*(8/3)
AngθL2←AngθL5*2
AngθL1←AngθL5*2
AngθT←AngθL5*(8/3)
// thoracic vertebrae section, lumbar vertebrae L1, L2, L3, L4, L5 component length
fenT←LT*Abs(Cos(PI/2-Angα-AngθL5-AngθL4-AngθL3-AngθL2-AngθL1-AngθT))
fenL1←LL1*Abs(Cos(PI/2-Angα-AngθL5-AngθL4-AngθL3-AngθL2-AngθL1))
fenL2←LL2*Abs(Cos(PI/2-Angα-AngθL5-AngθL4-AngθL3-AngθL2))
fenL3←LL3*Abs(Cos(PI/2-Angα-AngθL5-AngθL4-AngθL3))
fenL4←LL4*Abs(Cos(PI/2–Angα-AngθL5-AngθL4))
fenL5←LL5*Abs(Cos(PI/2-Angα-AngθL5))
// total length
Zong←fenL5+fenL4+fenL3+fenL2+fenL1+fenT
// calculate L1 ', L2 ', L3 ', L4 ' and L5 ' XY axial coordinates
If SkeletonPointx(jointT1.Position)>=SkeletonPointx
(jointSAC.Position)And SkeletonPointy(jointT1.Position)<SkeletonPointy
(jointSAC.Position)Then
Lx←Lx
ElseIf SkeletonPointx(jointT1.Position)<SkeletonPointx
(jointSAC.Position)And SkeletonPointy(jointT1.Position)<SkeletonPointy
(jointSAC.Position)Then
Lx←-Lx
End If
XL1←SkeletonPointx(jointSAC.Position)+Lx*((fenL5+fenL4+fenL3+fenL2+
fenL1)/Zong)
YL1←SkeletonPointy(jointSAC.Position)-Ly*((fenL5+fenL4+fenL3+fenL2+
fenL1)/Zong)
XL2←SkeletonPointx(jointSAC.Position)+Lx*((fenL5+fenL4+fenL3+fenL2)/
Zong)
YL2←SkeletonPointy(jointSAC.Position)-Ly*((fenL5+fenL4+fenL3+fenL2)/
Zong)
XL3←SkeletonPointx(jointSAC.Position)+Lx*((fenL5+fenL4+fenL3)/Zong)
YL3←SkeletonPointy(jointSAC.Position)-Ly*((fenL5+fenL4+fenL3)/Zong)
XL4←SkeletonPointx(jointSAC.Position)+Lx*((fenL5+fenL4)/Zong)
YL4←SkeletonPointy(jointSAC.Position)-Ly*((fenL5+fenL4)/Zong)
XL5←SkeletonPointx(jointSAC.Position)+Lx*(fenL5/Zong)
YL5←SkeletonPointy(jointSAC.Position)-Ly*(fenL5/Zong)
// acquisition L1, L2, L3, L4 and L5 coordinate
hL5←Sqrt((XL5-SkeletonPointx(jointSAC.Position))^
2+(YL5-SkeletonPointy(jointSAC.Position))^2)*Tan(PI/2-Angα-AngθL5)
XL5S←XL5-hL5*Sin(Angα)
YL5S←YL5-hL5*Cos(Angα)
hL4←Sqrt((XL4-XL5)^2+(YL4-YL5)^2)*Tan(PI/2-Angα¨-AngθL5-AngθL4)
XL4S←XL4-(hL5+hL4)*Sin(Angα)
YL4S←YL4-(hL5+hL4)*Cos(Angα)
hL3←Sqrt((XL3-XL4)^2+(YL3-YL4)^2)*Tan(PI/2-Angα¨-AngθL5-AngθL4-Angθ
L3)
XL3S←XL3-(hL5+hL4+hL3)*Sin(Angα)
YL3S←YL3-(hL5+hL4+hL3)*Cos(Angα)
hL2←Sqrt((XL2-XL3)^2+(YL2-YL3)^
2)*Tan(PI/2-Angα¨-AngθL5-AngθL4-AngθL3-AngθL2)
XL2S←XL2-(hL5+hL4+hL3+hL2)*Sin(Angα)
YL2S←YL2-(hL5+hL4+hL3+hL2)*Cos(Angα)
hL1←Sqrt((XL3-XL4)^2+(YL3-YL4)^
2)*Tan(PI/2-Angα¨-AngθL5-AngθL4-AngθL3-AngθL2-AngθL1)
XL1S←XL1-(hL5+hL4+hL3+hL2+hL1)*Sin(Angα)
YL1S←YL1-(hL5+hL4+hL3+hL2+hL1)*Cos(Angα)
}。
Specific case is applied to the embodiment of the present invention above to be set forth the principle and embodiment of the present invention, with
The explanation of upper embodiment is only intended to the method and its core concept for helping to understand the present invention；Simultaneously for the general of this area
Technical staff, according to the thought of the present invention, will change in specific embodiments and applications, in summary,
This specification content should not be construed as limiting the invention.
Claims (9)
1. a kind of thoracolunbar spine or so lateral bending motions are in real time in bulk measurement method, it is characterised in that comprise the following steps：
Step 1：The skeleton data of the thoracolunbar spine of measurand is measured using Kinect sensor；
Step 2：Each centrum Centroid data is calculated according to skeleton data, specifically included：
Step 2-1：During measurement, subject personnel face somatosensory device KINECT, are tested the coronal-plane of personnel and the XY of somatosensory device
Plane is parallel, and the sagittal plane for being tested personnel is parallel with the YZ planes of somatosensory device；
Skeleton data is inputted, includes shoulder Centroid T1 coordinate and sacrum portion Centroid S coordinate, it is T to define thoracic vertebrae section,
Lumbar portion has five centrums, is respectively：L1, L2, L3, L4, L5, and set the value of its centrum centre distance；
Step 2-2：Define Tx、TyFor coordinates of the shoulder Centroid T1 in X-axis and Y-axis, S is definedx, SyFor sacrum portion Centroid
Coordinates of the S in X-axis and Y-axis, calculates the x between shoulder Centroid T1 and sacrum portion Centroid S, y is to apart from Lx、Ly；
Step 2-3：When scoliosis, the line T1-S and X-axis for calculating shoulder Centroid T1 and sacrum portion Centroid S are pressed from both sides
Angle, is designated as α；
Step 2-4：Interverbebral disc is deformed during lateral bending, and adjacent lumbar vertebrae section produces relative rotation, and defines L5 relative to S's
Corner is θL5, corners of the L4 relative to L5 is θL4, corners of the L3 relative to L4 is θL3, corners of the L2 relative to L3 is θL2, L1 phases
Corner for L2 is θL1, corners of the T1 relative to L1 is θT, and calculate θT、θL1、θL2、θL3、θL4And θL5；
Step 2-5：Define shoulder Centroid T1 and sacrum portion Centroid S line vectors LTL', define L1', L2', L3', L4',
L5' is respectively L1, L2, L3, L4, L5 in vector LTL' on projection, it is distance, length L' between T1 and L1' to define length T'L1
For distance, L' between L1' and L2'L2For distance, L' between L2' and L3'L3For distance, L' between L3' and L4'L4For L4' and L5'
Between distance, L'L5For distance between L5' and sacrum portion Centroid S, overall length Z is T', L1', L2', L3', L4', L5' sum；Meter
Calculate T', L'L1、L'L2、L'L3、L'L4、L'L5And overall length Z；
Step 2-6：Calculate L1', L2', L3', L4', L5' x, y-axis coordinate；
Step 2-7：L1, L2, L3, L4, L5 x, y-axis coordinate L ' are calculated respectively1X、L’1y、L’2x、L’2y、L’3x、L’3y、L’4x、
L’4y、L’5x、L’5y；
Step 3：Export each centrum Centroid data.
2. a kind of thoracolunbar spine according to claim 1 or so lateral bending motions are in real time in bulk measurement method, its feature exists
In in step 2-1, the skeleton data of input includes shoulder Centroid T1 coordinates T1 (Tx, Ty) and sacrum portion Centroid S coordinates
S(Sx, Sy)；According to《Chinese adult human dimension》Standard come lumbar vertebrae is segmented and set lumbar vertebrae L1-L2 sections, L2-L3 sections,
L3-L4 sections, L4-L5 sections and L5-S sections of centrum centre distance LL1、LL2、LL3、LL4、LL5Value.
3. a kind of thoracolunbar spine according to claim 1 or 2 or so lateral bending motions are in real time in bulk measurement method, its feature
It is, in step 2-2, calculates shoulder Centroid T1 and sacrum portion Centroid S x, y to apart from Lx、LySpecific formula be：
Lx=| Tx-Sx|
Ly=| Ty-Sy|。
4. a kind of thoracolunbar spine according to claim 1 or so lateral bending motions are in real time in bulk measurement method, its feature exists
In in step 2-3, the specific formula for calculating shoulder Centroid T1 and sacrum portion Centroid S lines T1-S and X-axis angle α is：
5. a kind of thoracolunbar spine according to claim 1 or so lateral bending motions are in real time in bulk measurement method, its feature exists
In, in step 2-4, calculating θT、θL1、θL2、θL3、θL4And θL5Specific formula be：
θL4=2 θL5
θL2=2 θL5
θL1=2 θL5
6. a kind of thoracolunbar spine according to claim 1 or so lateral bending motions are in real time in bulk measurement method, its feature exists
In, in step 2-5, calculating thoracic vertebrae section T, length T', L'L1、L'L2、L'L3、L'L4、L'L5And overall length Z specific formula is：
Z=T'+L'L1+L'L2+L'L3+L'L4+L'L5。
7. a kind of thoracolunbar spine according to claim 1 or so lateral bending motions are in real time in bulk measurement method, its feature exists
In in step 2-6, x, the specific formula of y-axis coordinate for calculating L1', L2', L3', L4', L5' are：
8. a kind of thoracolunbar spine according to claim 1 or 7 or so lateral bending motions are in real time in bulk measurement method, its feature
It is, in step 2-7, x, the specific formula of y-axis coordinate for calculating L1, L2, L3, L4 and L5 are：
L5x=L '5x-hL5×sinα
L5y=L '5y-hL5×cosα
L4x=L '4x-(hL5+hL4)×sinα
L4y=L '4y-(hL5+hL4)×cosα
L3x=L '3x-(hL5+hL4+hL3)×sinα
L3y=L '3y-(hL5+hL4+hL3)×cosα
L2x=L '2x-(hL5+hL4+hL3+hL2)×sinα
L2y=L '2y-(hL5+hL4+hL3+hL2)×cosα
L1x=L '1x-(hL5+hL4+hL3+hL2+hL1)×sinα
L1y=L '1y-(hL5+hL4+hL3+hL2+hL1)×cosα。
9. a kind of thoracolunbar spine according to claim 1 or so lateral bending motions are in real time in bulk measurement method, its feature exists
In, the continuous light that the Kinect sensor is sent using RF transmitter is radiated at user and encoded, and by red
Outside line CMOS camera receives and records the human body speckle data of user, and human body speckle data is read using inductor, and by core
Piece is decoded, and generates skeleton data.
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