CN112380891A - Wearable device for assisting rehabilitation of Parkinson's disease patient and rehabilitation method thereof - Google Patents
Wearable device for assisting rehabilitation of Parkinson's disease patient and rehabilitation method thereof Download PDFInfo
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Abstract
Provided are a wearable device for assisting rehabilitation of a Parkinson's disease patient and a rehabilitation method thereof, the wearable device including: augmented reality glasses, comprising: an image source for providing a visual cue; the display unit is used for guiding a first light ray of a solid object in a real environment and a second light ray of a visual cue into human eyes; the camera module is arranged on the augmented reality glasses; the camera module is used for shooting image information of a real environment where a user wearing the augmented reality glasses is located; the processing module acquires an optimal rehabilitation route from the image information; the gait acquisition and analysis module is used for acquiring gait information of a user; and the control module controls the display unit to display the second light on the optimal rehabilitation route. The user performs rehabilitation training in a real environment, so that the sense of reality of the training is enhanced, the training effect is improved, and the user is prevented from excessively depending on the rehabilitation training environment.
Description
Technical Field
The invention relates to the field of health care, in particular to wearable equipment for assisting rehabilitation of a Parkinson patient and a rehabilitation method thereof
Background
Parkinson's Disease (PD) is a common degenerative disease of the nervous system, and the most prominent pathological change of Parkinson's disease is degenerative death of mesencephalic nigral Dopamine (DA) neurons, thereby causing a significant decrease in striatal DA content. The exact etiology of this pathological change is still unclear, and genetic factors, environmental factors, aging, oxidative stress, etc. may all be involved in the degenerative death process of PD dopaminergic neurons.
Parkinson's disease is common in the elderly, with the average age of onset being around 60 years, and the onset of juvenile Parkinson's disease below 40 years is less common. The Parkinson has an insidious onset and slow progress, and as the disease progresses, the postural reflex disappears in the middle and late stages of the disease, so that the patient is not easy to maintain the balance of the body, and the patient may fall down on a slightly uneven road. The Parkinson patients often walk faster and faster, and are difficult to stop walking, so that the patients become a panicle gait. Patients with advanced Parkinson may experience a freezing event, which is characterized by a sudden and brief inability to take a step while walking, and the feet appear to stick to the ground, requiring a pause of several seconds to resume or fail to start.
Studies have shown that a frozen gait condition is effectively avoided if the patient is preceded by a "visual cue" such as a floor grid or zebra crossing. In the gait training tool disclosed in the prior art, usually, a paper strip attached to the ground is used to form a zebra crossing or other shapes as a visual cue for a patient to perform gait training, or a three-dimensional barrier such as a wood board, a step or the like is arranged in front of the patient to assist the patient in performing stride training.
When the prior art carries out the training of taking a step, there is the problem:
1. the visual cue is arranged on a specific training field, which consumes manpower, material resources and financial resources,
when the patient carries out rehabilitation training, psychologically rely on the training place, auxiliary equipment and auxiliary personnel, leave the training place and get into the real life environment, the patient still can not take a step.
2. The form of the visual prompting object is fixed, and the visual prompting object cannot be adjusted according to the actual conditions of different patients or different disease stages of the patients, so that the applicability is poor;
3. when the patient uses the visual prompting object, the risk of stumbling exists;
therefore, how to provide a wearable device capable of being used in real life and having wide applicability for assisting the rehabilitation of the parkinson patient and a rehabilitation method thereof are technical problems to be solved urgently by technical personnel in the field.
Disclosure of Invention
In order to solve the above-mentioned problems, the present invention provides a wearable device for assisting rehabilitation of a parkinson's disease patient, the wearable device comprising:
augmented reality glasses, comprising:
an image source for providing a visual cue;
the display unit is used for guiding a first light ray of a physical object in a real environment and a second light ray of the visual cue object into human eyes;
the camera module is arranged on the augmented reality glasses; the camera module is used for shooting the image information of the real environment where the user wearing the augmented reality glasses is located;
the processing module acquires an optimal rehabilitation route from the image information;
the gait acquisition and analysis module is used for acquiring gait information of a user;
a control module which controls the display unit to display the second light on the optimal rehabilitation route.
In some embodiments, in the wearable device for assisting the rehabilitation of the parkinson's disease patient, the camera module includes 2 micro cameras, one micro camera is disposed at the left end of the augmented reality glasses, and the other micro camera is disposed at the right end of the augmented reality glasses.
In some embodiments, the wearable device for assisting the rehabilitation of the parkinson's disease patient further comprises a distance measuring sensor for detecting a distance value between the physical object and the user;
the processing module establishes a plane rectangular coordinate system by taking the position of the user as a center, and the processing module determines the position information of the entity object on the plane rectangular coordinate system according to the distance value.
In some embodiments, in the wearable device for assisting rehabilitation of parkinson's disease patient, the specific steps of the processing module obtaining the optimal rehabilitation route are as follows:
selecting a maximum distance value from the distance values;
determining a first entity object corresponding to the maximum distance value, and determining first coordinate information of the first entity object on the plane rectangular coordinate system;
the processing module determines an angle value between the first entity object and the y axis of the plane rectangular coordinate system according to the first coordinate information, and a route from the position of the user to the position of the first entity object according to the angle value is the optimal rehabilitation route.
In some embodiments, in the wearable device for assisting rehabilitation of a parkinson's disease patient, the visual cue comprises a footprint, an arrow, and a step;
the gait information comprises step length, step frequency, step speed and leg lifting height of the user in the movement process.
In some embodiments, in the wearable device for assisting the rehabilitation of the parkinson's disease patient, the processing module presets a custom step length;
the control module controls the display unit to display the second light ray corresponding to the user-defined step length on the optimal rehabilitation route;
the gait acquisition and analysis module acquires the actual step length of the walking of the user;
when the actual step length is not equal to the user-defined step length, the control module controls the display unit to display the second light ray corresponding to the actual step length on the optimal rehabilitation route;
wherein the visual cue corresponding to the second light is a footprint.
In some embodiments, in the wearable device for assisting the rehabilitation of the parkinson's disease patient, the processing module presets a custom leg lifting height;
the control module controls the display unit to display a second light ray corresponding to the user-defined leg lifting height on the optimal rehabilitation route;
the gait acquisition and analysis module acquires the actual leg lifting height of the user during walking;
when the actual leg lifting height is not equal to the custom leg lifting height, the control module controls the display unit to display the second light ray corresponding to the actual leg lifting height on the optimal rehabilitation route;
wherein the visual cue corresponding to the second light is a step.
In some embodiments, in the wearable device for assisting rehabilitation of a parkinson's disease patient, the processing module obtains the height of the solid object from the image information, and the processor marks the solid object with a height lower than the actual leg-lifting height as a non-solid object.
In some embodiments, in the wearable device for assisting the rehabilitation of the parkinson's disease patient, the wearable device further comprises a voice prompt module:
the processing module obtains first movement information of a moving object in a real environment from the image in the image information; the processing module acquires second movement information of the user according to the gait information; the processing module judges whether the moving object and the user intersect on the optimal rehabilitation route or not according to the first movement information and the second movement information, if the moving object and the user intersect, the voice prompt module prompts the user to stop moving when the distance between the moving object and the user and the intersection position is a preset distance, and meanwhile, the control module controls the display unit to stop displaying the visual prompt object;
wherein the first movement information includes a movement trajectory and a movement speed of a moving object, and the second movement information includes a step size, a stride frequency, and a pace speed of the user.
In another aspect, the present invention provides a method for rehabilitation training using a wearable device for assisting rehabilitation of a parkinson's disease patient, wherein the method comprises the following steps:
the camera module collects image information of a real environment where a user is located;
the processing module acquires an optimal rehabilitation route from the image information;
the control module controls the augmented reality glasses to enable the visual cue objects to be on the optimal rehabilitation route;
and the gait acquisition and analysis module acquires the gait information of the user during training according to the visual cue.
Has the advantages that:
1. according to the wearable device for assisting the rehabilitation of the Parkinson's disease patient, in the using process, the user carries out rehabilitation training in a real environment, the sense of reality of the training is enhanced, the training effect is improved, and the user is prevented from excessively depending on the rehabilitation training environment.
2. The wearable equipment for assisting the rehabilitation of the Parkinson disease patient can adjust the interval length, the height and the like of the visual prompting object according to the conditions of different users, and is suitable for the rehabilitation requirements of different users.
3. The wearable device for assisting the rehabilitation of the Parkinson's disease patient has safe and reliable rehabilitation training, avoids danger in time, does not need accompanying personnel, improves the use experience of a user,
drawings
Fig. 1 is a flow chart of the wearable device for assisting rehabilitation of a parkinson's disease patient according to the invention.
Detailed Description
Reference will now be made in detail to various exemplary embodiments of the invention, the detailed description should not be construed as limiting the invention but as a more detailed description of certain aspects, features and embodiments of the invention.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Further, for numerical ranges in this disclosure, it is understood that the upper and lower limits of the range, and each intervening value therebetween, is specifically disclosed. Every smaller range between any stated value or intervening value in a stated range and any other stated or intervening value in a stated range is encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included or excluded in the range.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Although only preferred methods and materials are described herein, any methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention. All documents mentioned in this specification are incorporated by reference herein for the purpose of disclosing and describing the methods and/or materials associated with the documents. In case of conflict with any incorporated document, the present specification will control.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to. As used herein, "and/or" includes any and all combinations of the stated items. Unless otherwise specified,% refers to mass volume percent.
The invention provides a wearable device for assisting rehabilitation of a patient with Parkinson's disease, comprising: augmented reality glasses, comprising: an image source for providing a visual cue; the display unit is used for guiding a first light ray of a physical object in a real environment and a second light ray of the visual cue object into human eyes; the camera module is arranged on the augmented reality glasses; the camera module is used for shooting the image information of the real environment where the user wearing the augmented reality glasses is located; the processing module acquires an optimal rehabilitation route from the image information; the gait acquisition and analysis module is used for acquiring gait information of a user; a control module which controls the display unit to display the second light on the optimal rehabilitation route.
When the wearable device for assisting the rehabilitation of the Parkinson's disease patient is used, the image information of the real environment where the user is located is shot by the camera module, the image information comprises three-dimensional information of the real environment, the image information is sent to the processing module by the camera module, the position information and the height information of each entity substance in the real environment are obtained by the processing module from the image information, so that the distance value between the user and the entity substance is obtained, the distance value is the largest, namely the path from the user to the entity substance is the longest, the optimal rehabilitation path is the optimal rehabilitation path in the current realization environment, the user wears the augmented reality glasses to carry out rehabilitation training on the optimal rehabilitation path, the control module controls the augmented reality glasses to throw the visual cue object onto the optimal rehabilitation path, and when the user wears the augmented reality glasses, the real environment and the visual cue objects displayed on the optimal rehabilitation route can be seen through the augmented reality glasses, a user can carry out rehabilitation training according to the cue of the visual cue objects, and the gait acquisition and analysis module arranged on the user body can acquire the motion information of the user and analyze the rehabilitation training condition of the user every step taken by the user.
In the above scheme, the gait collecting and analyzing module comprises 6 attitude sensors, wherein 4 attitude sensors are installed on the left and right upper and lower legs of the user, and the other 2 attitude sensors are respectively installed on the waist back and the chest and abdomen of the user. The gait acquisition and analysis module acquires user gait information and body orientation information by utilizing the human body kinematics model and angular velocity, acceleration and geomagnetic information acquired by each sensor, wherein the gait information comprises information such as step length, step frequency, step speed, leg lifting height and the like.
In the above scheme, the camera module includes 2 miniature camera devices, one miniature camera device sets up augmented reality glasses left end, another miniature camera device sets up augmented reality glasses right-hand member. The camera module adopts binocular vision, and can obtain three-dimensional information of each entity substance in a real environment.
In the above solution, the wearable device further includes a distance measuring sensor, which is used for detecting a distance value between the physical object and the user; the processing module establishes a plane rectangular coordinate system by taking the position of the user as a center, and the processing module determines the position information of the entity object on the plane rectangular coordinate system according to the distance value.
The specific steps of the processing module for acquiring the optimal rehabilitation route are as follows: selecting a maximum distance value from the distance values; determining a first entity object corresponding to the maximum distance value, and determining first coordinate information of the first entity object on the plane rectangular coordinate system; the processing module determines an angle value between the first entity object and the y axis of the plane rectangular coordinate system according to the first coordinate information, and a route from the position of the user to the position of the first entity object according to the angle value is the optimal rehabilitation route.
The processing module establishes a plane rectangular coordinate system by taking the position of the user as the center, the right front of the body of the user is the positive direction of the x axis, and the right direction of the body of the user is the positive direction of the y axis. The camera module shoots the solid object in the image information and distributes the solid object in the first quadrant, the second quadrant, the third quadrant or the fourth quadrant of the plane rectangular coordinate system, when the solid object is positioned in the two quadrants at the same time, the x axis or the y axis is taken as a separation line, the solid object is divided into two parts, and each part independently works as the solid object. By using the distance values measured by the distance sensors, the coordinate information of each solid object in the corresponding quadrant and the angle value of the solid object with the y axis can be calculated. The processing module selects a first entity object which is farthest away from a user, obtains information of an angle value between the quadrant in which the first entity object is positioned and the y axis, and can carry out the rehabilitation training for the longest time by utilizing the information that the user can walk to the first entity object from the current position, wherein the optimal rehabilitation route is the route in which the user encounters the entity object at the latest.
In the above scheme, the visual cue comprises a footprint, an arrow and a step. Different visual cues may be selected by the user at different stages of parkinson's disease, or different rehabilitation exercises. If the user is a patient in early stage of Parkinson's disease, the visual prompt can select a footprint or a step, and the footprints appearing at preset time intervals are used for preventing the patient in early stage of Parkinson's disease from walking faster; and (4) carrying out stepping and leg lifting training on the Parkinson patient by utilizing the steps with the preset height. If the user is a patient with advanced Parkinson disease, the visual prompt can select an arrow, and the arrow is used for stimulating the user to take a step to prevent the occurrence of the freezing phenomenon.
In the above scheme, the gait information includes a step length, a step frequency, a step speed and a leg raising height of the user during the exercise process.
In the scheme, when the user selects the footprint as the visual cue, in order to ensure that the user takes a step each time and coincides with the visual cue, the training confidence of the user is enhanced. The processing module presets a user-defined step length; the control module controls the display unit to display the second light ray corresponding to the user-defined step length on the optimal rehabilitation route; the gait acquisition and analysis module acquires the actual step length of the walking of the user; and when the actual step length is not equal to the user-defined step length, the control module controls the display unit to display the second light ray corresponding to the actual step length on the optimal rehabilitation route. When the user takes a step each time during training, the step can be superposed with the footprint displayed in the augmented reality glasses, so that the confidence of the user in continuing training is enhanced. Meanwhile, as the user continuously trains, the gait of the user is better and better controlled, the actual step length can also be lengthened, and the control module controls the display unit to display the second light ray corresponding to the actual step length on the optimal rehabilitation route after the change.
In the above scheme, when a user needs to carry out leg lifting training, the steps are selected as the visual prompts. The processing module presets a user-defined leg lifting height; the control module controls the display unit to display a second light ray corresponding to the user-defined leg lifting height on the optimal rehabilitation route; the gait acquisition and analysis module acquires the actual leg lifting height of the user during walking; and when the actual leg lifting height is not equal to the custom leg lifting height, the control module controls the display unit to display the second light ray corresponding to the actual leg lifting height on the optimal rehabilitation route. The height of the steps is adjusted according to the actual leg lifting height of the user, and when the leg lifting height of the user reaches the height of the steps each time, the color of the steps is changed from grey to green, so that the training confidence of the user is enhanced.
In the above scheme, the processing module obtains the height of the solid object from the image information, and the processor marks the solid object with a height lower than the actual leg raising height as a non-solid object.
When the user carries out step training, the gait acquisition and analysis module acquires the actual leg lifting height of the user, in some embodiments, the gait collecting and analyzing module collects 10 to 20 actual leg raising height values, the processing module calculates an average value of the 10 to 20 actual leg raising height values, the processing module obtains the height value of each object from the image information of the real environment, and using the object whose height value is greater than the above-mentioned average value as solid object, using the object whose height value is less than or equal to the above-mentioned average value as non-solid object, when the distance-measuring sensor is used for detecting the distance value between user and solid object, instead of measuring the distance between the non-physical object and the user, the processing module establishes an optimal rehabilitation route through the user and the physical substance that is the farthest from the user in a straight line, the non-physical object does not affect the optimal rehabilitation route, and the non-physical object may exist on the optimal rehabilitation route. When the user carries out rehabilitation training, virtual steps and real non-entity substances can appear on the training path, the virtual steps and the real non-entity substances are alternated, the real objects are utilized for carrying out rehabilitation training, the rehabilitation confidence of the user is enhanced on the basis of ensuring safety, and when the user is separated from the device, the user can normally take a step when facing the objects.
In the above scheme, the wearable device further comprises a voice prompt module:
the processing module obtains first movement information of a moving object in a real environment from the image in the image information; the processing module acquires second movement information of the user according to the gait information; the processing module judges whether the moving object and the user intersect on the optimal rehabilitation route or not according to the first movement information and the second movement information, if the moving object and the user intersect, the voice prompt module prompts the user to stop moving when the distance between the moving object and the user and the intersection position is a preset distance, and meanwhile, the control module controls the display unit to stop displaying the visual prompt object;
wherein the first movement information includes a movement trajectory and a movement speed of a moving object, and the second movement information includes a step size, a stride frequency, and a pace speed of the user. The processing module obtains a moving object in the real environment from the image information shot by the shooting module in real time by using a background difference method, analyzes the moving track and the moving speed of the moving object, judges whether the moving object and the user are intersected in the optimal rehabilitation route, and if the moving object and the user are not intersected, the moving object does not influence the user to carry out rehabilitation training; if the visual prompting objects are intersected, when the distance between the visual prompting objects and the intersected position is 0.5-1 m, the voice prompting module prompts the user to stop moving, and meanwhile, the control module controls the display unit to stop displaying the visual prompting objects. When the moving object does not influence the user to perform rehabilitation training, the control module controls the display unit to resume displaying the visual prompting object, and the voice module prompts the user to resume rehabilitation exercise.
In another aspect, the present invention also provides a method for rehabilitation training by using the wearable device for assisting the rehabilitation of the parkinson's disease patient, which comprises the following steps:
the camera module collects image information of a real environment where a user is located;
the processing module acquires an optimal rehabilitation route from the image information;
the control module controls the augmented reality glasses to enable the visual cue objects to be on the optimal rehabilitation route;
and the gait acquisition and analysis module acquires the gait information of the user during training according to the visual cue.
It will be apparent to those skilled in the art that various modifications and variations can be made in the specific embodiments of the present disclosure without departing from the scope or spirit of the disclosure. Other embodiments will be apparent to those skilled in the art from consideration of the specification. The specification and examples are exemplary only.
Claims (10)
1. A wearable device for assisting rehabilitation of a Parkinson's disease patient, characterized in that it comprises:
augmented reality glasses, comprising:
an image source for providing a visual cue;
the display unit is used for guiding a first light ray of a physical object in a real environment and a second light ray of the visual cue object into human eyes;
the camera module is arranged on the augmented reality glasses; the camera module is used for shooting the image information of the real environment where the user wearing the augmented reality glasses is located;
the processing module acquires an optimal rehabilitation route from the image information;
the gait acquisition and analysis module is used for acquiring gait information of a user;
a control module which controls the display unit to display the second light on the optimal rehabilitation route.
2. The wearable device for assisting the rehabilitation of the patient with the Parkinson's disease according to claim 1, wherein the camera module comprises 2 micro cameras, one micro camera is arranged at the left end of the augmented reality glasses, and the other micro camera is arranged at the right end of the augmented reality glasses.
3. The wearable device for assisting rehabilitation of a parkinson's disease patient according to claim 1, characterized in that it further comprises a ranging sensor for detecting a distance value between the physical object and the user;
the processing module establishes a plane rectangular coordinate system by taking the position of the user as a center, and the processing module determines the position information of the entity object on the plane rectangular coordinate system according to the distance value.
4. The wearable device for assisting rehabilitation of parkinson's disease patient according to claim 3, wherein the specific steps of the processing module obtaining the optimal rehabilitation route are:
selecting a maximum distance value from the distance values;
determining a first entity object corresponding to the maximum distance value, and determining first coordinate information of the first entity object on the plane rectangular coordinate system;
the processing module determines an angle value between the first entity object and the y axis of the plane rectangular coordinate system according to the first coordinate information, and a route from the position of the user to the position of the first entity object according to the angle value is the optimal rehabilitation route.
5. The wearable device for assisting rehabilitation of a parkinson's disease patient according to claim 3, characterized in that the visual cues comprise footprints, arrows and steps;
the gait information comprises step length, step frequency, step speed and leg lifting height of the user in the movement process.
6. The wearable device for assisting rehabilitation of a parkinson's disease patient according to claim 5, wherein the processing module presets a custom step size;
the control module controls the display unit to display the second light ray corresponding to the user-defined step length on the optimal rehabilitation route;
the gait acquisition and analysis module acquires the actual step length of the walking of the user;
when the actual step length is not equal to the user-defined step length, the control module controls the display unit to display the second light ray corresponding to the actual step length on the optimal rehabilitation route;
wherein the visual cue corresponding to the second light is a footprint.
7. The wearable device for assisting rehabilitation of a parkinson's disease patient according to claim 5, wherein the processing module presets a custom leg-raising height;
the control module controls the display unit to display a second light ray corresponding to the user-defined leg lifting height on the optimal rehabilitation route;
the gait acquisition and analysis module acquires the actual leg lifting height of the user during walking;
when the actual leg lifting height is not equal to the custom leg lifting height, the control module controls the display unit to display the second light ray corresponding to the actual leg lifting height on the optimal rehabilitation route;
wherein the visual cue corresponding to the second light is a step.
8. The wearable device for assisting rehabilitation of a parkinson's disease patient according to claim 7, wherein the processing module obtains the height of the solid object from the image information, and the processor marks the solid object with a height less than or equal to the actual leg-lifting height as a non-solid object.
9. The wearable device for assisting rehabilitation of a parkinson's disease patient according to claim 5, characterized in that it further comprises a voice prompt module:
the processing module obtains first movement information of a moving object in a real environment from the image in the image information; the processing module acquires second movement information of the user according to the gait information; the processing module judges whether the moving object and the user intersect on the optimal rehabilitation route or not according to the first movement information and the second movement information, if the moving object and the user intersect, the voice prompt module prompts the user to stop moving when the distance between the moving object and the user and the intersection position is a preset distance, and meanwhile, the control module controls the display unit to stop displaying the visual prompt object;
wherein the first movement information includes a movement trajectory and a movement speed of a moving object, and the second movement information includes a step size, a stride frequency, and a pace speed of the user.
10. A method for rehabilitation training of a wearable device for assisting rehabilitation of parkinson's disease patients according to any of claims 1 to 9, characterized in that it comprises the following steps:
the camera module collects image information of a real environment where a user is located;
the processing module acquires an optimal rehabilitation route from the image information;
the control module controls the augmented reality glasses to display the visual prompt on the optimal rehabilitation route;
and the gait acquisition and analysis module acquires the gait information of the user during training according to the visual cue.
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