CN101716078B - Gait analysis system aiming at small animals - Google Patents
Gait analysis system aiming at small animals Download PDFInfo
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- CN101716078B CN101716078B CN2009102428376A CN200910242837A CN101716078B CN 101716078 B CN101716078 B CN 101716078B CN 2009102428376 A CN2009102428376 A CN 2009102428376A CN 200910242837 A CN200910242837 A CN 200910242837A CN 101716078 B CN101716078 B CN 101716078B
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Abstract
The invention provides a gait analysis system aiming at small animals (such as mice, cats, chickens, and the like). The gait analysis system comprises a positioning and pressure measuring device, a three-dimensional force measuring device, a track device, a signal processing part and a data analysis and display part, wherein the positioning and pressure measuring device is used for collecting footmarks and contact pressures of a test object in real time; the three-dimensional force measuring device is used for measuring parameters of three-dimensional force, and the like of the test object in still and walking processes; the track device is used for inducing and controlling creeping actions of the test object; the signal processing part is used for carrying out amplification, filtering, analog digital conversion, and the like on caught original signals; and the data analysis and display part is used for further calculating gait parameters of step lengths, step frequencies, center-of-gravity shifts, and the like according to measured data and displaying results. The gait analysis system can quantitatively evaluate the gait of the test object, comprising the gait parameters of the step frequencies, the step lengths, distances among limbs, the pressure, the center-of-gravity shift, and the like, and can measure the gait parameters of the test object in a state of a slope or touchdown only by posterior limbs through the preset track.
Description
Technical field
The present invention relates to motor function and rehabilitation field tests, more particularly relate to a kind of system that can accurately measure and analyze small animals (as Mus, cat, chicken etc.) gait feature.
Background technology
Gait is meant people, animal or machine in motor process, the rapport of limbs/assembly on time and space, and it is the important parameter that kinesiology and behavioristics analyze.Gait analysis is notion, method, means and known anatomy, a physiological knowledge of utilizing biomechanics, by The present computer technology and graph image technology, to the research method analyzed of functional status of walking.
The gait analysis range of application of human body is more extensive, after patient's nerve injury or motor system damage, can repair or compensatory by multiple means, but more how the back effect often needs estimate by patient's gait analysis.Usually, new reparation or compensatory technology be used for clinical before, must test earlier or verify through the experiment of animal, particularly rat, also need pass through rat experiment earlier for the specific drug of diseases such as treatment of arthritis.Therefore, the gait analysis of rat has very important Practical significance, not only can estimate behavioral competence, motor function and the cognitive competence of rat, mechanism, prevention, treatment for diseases such as research neurosis, cerebral palsy, diabetes are also significant, and therefore the gait analysis system at rat has been a visual plant of carrying out related science research.
At present, existing researcher (Frank Hamers) has been designed a kind of device " CatWalk " of measuring the rat gait according to the complete interior emission principle of light, but this device need use the high-speed synchronous video camera to catch the footprint of measurand, its certainty of measurement is relevant with the configuration of camera, and timing signal needs the data of a large amount of known forces that contrast is provided, and need expend the plenty of time.
The rat step pattern measuring device that other is made with the three dimensional strain sheet, except using the high-speed synchronous video camera equally, the monopodia that mainly concentrates on animal contacts in the test of counter-force, and can not test whole body's center of gravity skew.In addition, at present at the gait analysis device of rat, often ignored the activity characteristic of rat, not default track can not make its intention walking according to the people, thereby strengthen the difficulty of measuring.
Summary of the invention
The gait analysis device of rat is widely used in neurosis, cerebral palsy, diabetes, the mechanism of diseases such as arthritis, prevention, aspects such as treatment, can satisfy at kinetic system and damage, the new diagnosis and treatment means of disease and the test of novel drugs, exist measurement parameter not comprehensive at above-mentioned present rat gait analysis device, the measuring device complexity, shortcomings such as measuring method is loaded down with trivial details, the invention provides a kind of especially system of the gait feature of rat of small animals of measuring, can realize (as Mus small animals, cat, chicken etc.) a plurality of gait parameters are made quantitative assessment, comprise step-length, step frequently, the step preface, distance between limb, pressure, centre-of gravity shift etc., can induce the behavior of creeping of rat and control by default track, and measure the gait parameter of rat under slope or simple hind leg land state, when guaranteeing precision, reduce cost, reduced the device space.
The contact pressure that location and pressure gauge are used for gathering the footprint of rat in real time and measure extremity.Employing is fixed on its seamless being close on the layer of transparent glass plate based on the multi-point touch panel of the mutual capacitance contact surface as whole device pedal and rat extremity.Multi-point touch panel comprises mutual capacitance circuit and capacitance sensing circuit, and the two-layer quadrature circuit intersection that is molded has constituted Capacitance Coupled node one by one in the touch screen, and the node place can produce mutual capacitance.Contact with the touch screen node when extraneous that the mutual capacitance meeting reduces when existing, just can judge in view of the above to contact existence, the achieve a butt joint identification of contact position of the variation of capacitance sensing circuit by the mutual capacitance (coupling capacitance Cm just) of detection ranks infall node.The signal output part of multi-point touch panel connects follow-up modulate circuit, carries out Treatment Analysis.
When the node of the extremity of rat contact touch screen, the coupling capacitance at node place changes, and the variation of coupling capacitance makes the electric current that sense line carries in the mutual capacitance circuit change.Position and electric current that the capacitance sensing circuit has write down the node that the electric current variation occurs change.Change size according to detected electric current, by demarcating the size that can change into contact pressure.
Location and the follow-up signal processing of pressure gauge comprise wave filter, amplifier, A/D converter etc.Wave filter is used for eliminating the parasitic capacitance of mutual capacitance circuit.Digital signal processor can the filtering initial data noise event, calculate the border of each contact on the touch screen simultaneously, and then determine the coordinate of each contact point, and send it to controller.Operational amplification circuit is realized the amplification of signal, makes it reach the amplitude that is identified and handles.A/D converter is used for analog signal conversion is become digital signal, and transformation result is temporary in sheet external memory unit, is sent to computer by serial communication interface then and handles and show.
The active force of macroscopic vertical support power and the horizontal vertical both direction of horizontal plane and act on parameters such as three-dimensional equivalent moment on the pedal tread when three-dimensional strength measurement device is used for measuring the rat extremity in real time and contacts with the pedal of gait analysis system obtains the centre-of gravity shift parameter to be used for further analyzing.At the attached layer thickness of the multi-point touch panel lower floor transparency glass plate that is 2～4mm, constitute the pedal of whole gait system, the lower end, four angles of transparency glass plate is placed a three-dimensional force sensor respectively, and pick off is installed on the base of device for measuring force, keeps the level of pedal.After the upper strata pedal was stressed, four pick offs changed into the signal of telecommunication to the power that records respectively, and passed to next layer signal processing unit.
The stressed back of three-dimensional strength measurement pick off produces the strain signal of X, Y, three directions of Z, by three-path amplifier strain signal is amplified, adjust amplifier nonlinearity error and attenuation quotient, the change in voltage after amplifying with the assurance dependent variable is between ± 5 volts of scopes.Dependent variable amplifying signal after amplifying carries out analog digital conversion through the A/D plate, and the data that obtain after the conversion are decimal scale, can obtain needed power value by the demarcation to device for measuring force.
Be sent to the data analysis display part from the signal of multi-point touch panel and three-dimensional force sensor synchronous acquisition, finish functions such as parameter extraction analysis and pictorial display.For the signal that the three-dimensional strength measurement device is gathered, sampling routine is monitored X, Y, three passages of Z, adopts the power value of X, Y, three directions of Z successively.Wherein vertical force FZ is macroscopical support force, and braking and driving effect are played to frictional force FY in front and back, and cross force FX characterizes body-sway motion, balanced capacity.Sampling process is carried out by the C Plus Plus program, and control sample frequency and time.Final data presented can comprise the difference of extreme value, the X of Z directional pressure～time graph that device for measuring force is measured in the rat walking process, the peak value of Y directional pressure～time graph, positive negative peak and power spectrum index etc.Draw three curves of power value FX, FY, FZ and the time t of X, Y, three directions of Z, and can amplify and the compression processing, so that more careful observation curvilinear characteristic curve.Can further calculate the moment of directions X and Y direction and in the parameters such as centre-of gravity shift of X-Y plane according to formula, and show.
Rail set is used for the behavior of creeping of rat is controlled and induced.Placing opaque baffle passageway on pedal, can be craspedodrome passage, rectangular bend tunnel or S turn passage etc.Width of channel slightly is wider than the width of rat health.Track does not contact with the measuring device pedal surface, in order to avoid produce contact force, can be fixed on the frame of pedal by screw at track end at the whole story.Also can chain-wales that highly is about 6cm of unsettled placement at the rail set end, for rat with forelimb attached to top, the parameters such as barycenter trajectory skew when being used to detect the simple hind leg of rat and landing.
In addition, height that can two bases of height-regulating device one side, with whole device inclination certain angle, the gait parameter when being used to measure the rat climbing.Device after the inclination is unaffected in the measurement of location and pressure, but the data analysis process of three-dimensional force signal need be done recalibration, gets rid of the influence of the gravity of upper strata pedal self to three-dimension sensor.The realization of this part computational process is partly finished by revising data analysis.
Add information management system in the data analysis display part, for being tried the test report that the rat design comprises following information: tried rat numbering, body weight, body length, preoperative diagnosis, art Pretesting result, post operative diagnosis, postoperative test result, testDate, experiment people name etc., improve human-computer interaction function, make things convenient for experimenter's operation.
According to an aspect of the present invention, provide a kind of gait analysis system, it is characterized in that comprising at meiofauna (as Mus, cat, chicken etc.):
Locate and pressure gauge for one, the contact pressure that is used to catch the footprint of tested object and measures its sole,
A three-dimensional strength measurement device is used for the three-dimensional force data that the collecting test object is static or walk,
A signal processing is used for the data such as described three-dimensional force of gathering are handled,
A data analysis display part is used for the data after the described signal processing part divisional processing are analyzed demonstration.
The present invention has compared following beneficial effect with existing rat gait analysis device:
1, multi-point touch panel is used for extremity location and pressure measxurement, combine with the 26S Proteasome Structure and Function of three-dimensional strength measurement device, can realize a plurality of gait parameters of rat are made quantitative assessment, comprise distance, pressure, three-dimensional force, centre-of gravity shift etc. between step preface, step frequency, step-length, limb, must estimate motor function in rats more comprehensively or damage after the rehabilitation situation;
2, can induce the behavior of creeping of rat and control by default track;
3, the gait parameter of energy measurement rat under slope or simple hind leg land state;
4, the certainty of measurement height is easy to install, and equipment occupation space is little;
5, record analysis gait parameter automatically.
Description of drawings
Fig. 1 is the sketch map of meiofauna gait analysis system according to an embodiment of the invention;
Fig. 2 is a sketch map of multi-point touch panel identification footmark according to an embodiment of the invention;
Fig. 3 is the sketch map of rail set according to an embodiment of the invention.
The specific embodiment
As shown in Figure 1, small animals gait analysis system according to an embodiment of the invention comprises pedal that multi-point touch panel 1 and transparency glass plate 2 form, three-dimensional force sensor 3, base 4, track 5, signal synchronous collection part 6, signal processing 7, data analysis display part 8 etc.
According to one embodiment of present invention, the pedal of small animals gait analysis system comprises multi-point touch panel 1 and transparency glass plate 2 two parts, and multi-point touch panel 1 is attached on the transparency glass plate 2.Four footing of pedal are symmetrically installed with a three-dimensional force sensor 3 respectively; Pick off 3 is fixed on the base 4, and base 4 and pedal are horizontal.Track 5 is opaque bilateral baffle plate or cylinder channel, does not contact with multi-point touch panel 1, keeps spatial isolation, its two ends is fixed on the frame of pedal.The output signal of multi-point touch panel 1 and three-dimensional force sensor 3 by signal processing 7 after serial communication be sent in the data analysis display part 8.Program by establishment is carried out sampling processing to input signal, according to the formula of gait analysis calculate step-length, step frequently, distance, pressure, three-dimensional force, centre-of gravity shift etc. between limb, and show by modes such as curve charts.
As shown in Figure 2, according to one embodiment of present invention, realize by multi-point touch panel 1 such as the location identification of the extremity footprint of the tested object of rat and the measurement of extremity contact pressure, the specific embodiment is as follows: according to one embodiment of present invention, multi-point touch panel 1 is the multi-point touch panel based on mutual capacitance, and its in seamless mode attached on the layer of transparent glass plate 2.In mutual capacitance circuit, transparent conductive medium is over-molded on two different layers and goes up one group of isolating line in space of formation, drive wire is formed on the ground floor, sense line is formed on the second layer, drive wire and sense line direction quadrature, thereby constituted Capacitance Coupled node one by one, the node place can produce mutual capacitance (comprising: the edge capacitance between the ranks sensing unit, the coupling capacitance that ranks juxtaposition place produces).Contact with node when extraneous that the mutual capacitance meeting reduces when existing, just can judge in view of the above to contact existence, the achieve a butt joint identification of contact position of the variation of capacitance sensing circuit by the mutual capacitance (coupling capacitance Cm just) of detection ranks infall node.
The rat extremity step down on the multi-point touch panel 1, and the inner stressed node coupling capacitance of touch screen 1 changes, and the variation of coupling capacitance makes the electric current that sense line carries in the mutual capacitance circuit change.Position and electric current that the capacitance sensing circuit has write down the node that the electric current variation occurs change.After filtering by back-end circuit, amplification, A/D conversion etc. are handled, (X, Y direction are horizontal direction as a three-dimensional cartesian coordinate system with whole touch screen, the Z direction is a vertical direction), each node all has corresponding horizontal coordinate, finishes location to rat extremity contact position with this by coordinate of determining node.
According to one embodiment of present invention, according to the coordinate position of extremity can calculate between forelimb between distance (FBW), hind leg distance (HBW) and the forward and backward pawl in a left side/right side in the heart apart from (DLFHFO, DRFHFO) etc.If the area of each node representative of multi-point touch panel 1 is a,, can obtain the size and the shape of rat extremity contact area by the contact point addition that is identified.Step-length (SL) is subtracted each other by the adjacent twice location point coordinate of detected same foot and is obtained, and for example left fore steps location point that lands after the step and the difference that steps front position point and is a step-length.Step is determined by the number of times that interior same the foot of certain hour contacts with multi-point touch panel 1 frequently.Creep continuously the required time of a segment distance by the timer record rat, when rat timing when track 5 starting points begin to creep, free of discontinuities stops timing when crawling into track 5 terminal points, if rat has pause then to cancel timing midway, and test again.
According to one embodiment of present invention, electric current changing value by sense line in multi-point touch panel 1 sensing circuit is as follows to the convert method of demarcating of contact pressure: the counterweight of known quality can be placed on the touch screen, suppose that the stressed of each node place is uniform, the electric current at each contact node area and node location place is changed integration, can obtain the corresponding relation of electric current variation and pressure.
Perhaps, can directly according to the touch pressure formula, obtain touch pressure according to the data book of multi-point touch panel by the electric current variation.Like this, can realize measuring the rat extremity contact vertical force component value that pedal produced with touch screen.
According to one embodiment of present invention, gait parameters such as three-dimensional force in the rat crawling process and centre-of gravity shift are by the three-dimensional strength measurement measurement device, the specific embodiment is as follows: four jiaos of belows of device pedal are installed a three-dimensional force sensor 3 respectively, the contact force of rat extremity passes to pick off 3 by pedal, the range of pick off 3 is by the body weight decision of rat, be 0～10N, resolution is 1mN.The stressed back of pick off produces the strain signal of X, Y, three directions of Z, by three-path amplifier strain signal is carried out 0～1000 times amplification, adjust amplifier nonlinearity error and attenuation quotient, the change in voltage after amplifying with the assurance dependent variable is between ± 5 volts of scopes.Signal after amplifying carries out analog digital conversion through the A/D plate, and the data that obtain after the conversion are decimal scale, can obtain actual power value by the demarcation to device for measuring force.Sampling routine by the data analysis display part is monitored X, Y, three passages of Z, can adopt the force component value of X, Y, three directions of Z successively, needs control sample frequency and time.
According to one embodiment of present invention, the signal that will gather and handle by USB interface is sent to computer, and the analysis through data analysis display part 8 finally demonstrates corresponding data and curve.This data analysis display part 8 comprises funtion parts such as data monitoring part, gait parameter extraction and analysis part and pictorial display part.As a kind of specific embodiment, can realize this part by on processor, carrying out the C Plus Plus programming.Final data presented comprises the difference of extreme value, the X of Z direction (vertical direction) pressure～time graph of measuring such as three-dimensional strength measurement device in the rat walking process, the peak value of Y direction (horizontal direction) pressure～time graph, positive negative peak and power spectrum index etc.Can draw three curves (F-t curve) of component value FX, FY, FZ and the time t of X, Y, three directions of Z, can draw the F-t curve in any a period of time as requested, and can amplify and the compression processing, so that more careful observation curvilinear characteristic curve.Can further calculate the moment of directions X and Y direction and in the parameters such as centre-of gravity shift of X-Y plane according to formula, and show.
As shown in Figure 3, uncertain in view of rat according to one embodiment of present invention at the track route of pedal surface, can on pedal, place opaque baffle plate or cylinder track, be used for the behavior of creeping of rat is controlled and induced.Track 5 can be craspedodrome passage, rectangular bend tunnel or S turn passage.Width of channel slightly is wider than the width of rat health.Track 5 does not contact with pedal surface, but is fixed on the pedal frame all around by screw, and can laterally move in pedal surface.Track 5 can comprise that also the height of a unsettled placement is about the chain-wales 9 of 6cm, can be for rat with forelimb attached to top, parameters such as the pressure when being used to detect the simple hind leg of rat and landing, centre-of gravity shift.For guaranteeing that rat can uninterruptedly must climb to terminal point from the starting point of track, can place food as luring at the track terminal point.
As shown in Figure 1, according to one embodiment of present invention, can be with whole device inclination certain angle α, the gait parameter when being used to measure the rat climbing.The height of two bases of height-regulating device one side makes itself and the angled α in ground, and the footprint location survey of the back device that tilts is unaffected, and the force value that records is actual to be component with the pedal vertical direction.The data analysis process of three-dimensional force signal need carry out again, get rid of the influence of the gravity of upper strata pedal self to three-dimension sensor.In a specific embodiment, this part computational process can realize by the programming of the related software on the processor.
According to one embodiment of present invention, in described data analysis display part 8, add the information management part, for being tried the test report that the rat design comprises following information: numbering, body weight, body length, preoperative diagnosis, art Pretesting result, post operative diagnosis, postoperative test result, testDate etc.Information storage when making things convenient for the different time test like this improves human-computer interaction function, makes things convenient for experimenter's operation.
Should be understood that, in above narration and explanation to just explanation but not determinate of description that the present invention carried out, and do not breaking away under the prerequisite of the present invention that limits as appended claims, can carry out various changes, distortion and/or correction the foregoing description.
The drawing reference numeral explanation
1, multi-point touch panel; 2, transparency glass plate; 3, three-dimensional force sensor; 4, base; 5, track;
6, signal synchronous collection part; 7, signal processing: 8, data analysis display part;
9, chain-wales.
Claims (4)
1. one kind at gait analysis system, it is characterized in that comprising:
Locate and pressure gauge for one, the contact pressure that is used to catch the footprint of tested object and measures its sole,
Described location and pressure gauge comprise:
Multi-point touch panel based on mutual capacitance is used for the mutual capacitance variable signal of collecting test object sole contact position,
Subsequent conditioning circuit is used for described capacitance variations conversion of signals is become the contact pressure value signal,
A pedal, described pedal comprise described multi-point touch panel and the layer of transparent glass plate of being close to described multi-point touch panel below, and
The surface of described pedal is provided with rail set, is used for the behavior of creeping of tested object is implemented to induce and control,
A three-dimensional strength measurement device is used to gather the three-dimensional force data relevant with the contact of tested object, is symmetrical arranged a three-dimensional force sensor below each angle of four jiaos on described pedal, and described three-dimensional force sensor is used to gather the three-dimensional force signal,
A signal processing is used for the described three-dimensional force data of gathering are handled,
A data analysis display part is used for the data after the described signal processing part divisional processing are analyzed demonstration.
2. gait analysis system according to claim 1 is characterized in that described rail set comprises an opaque baffle passageway, and the shape of position-movable and this passage of this passage is craspedodrome, right-angled bend or S shape.
3. gait analysis system according to claim 2, it is characterized in that described tested object is a rat, and at the terminal unsettled chain-wales that exceeds described channel bottom that is placed with of described rail set, for rat with forelimb attached to top, the centre-of gravity shift when being used to detect the simple hind leg of rat and landing.
4. gait analysis system according to claim 1, it is characterized in that described signal processing carries out filtering, amplification, A/D conversion process to the three-dimensional force data, the described three-dimensional force data of process conversion process are sent to described data analysis display part by serial communication interface and analyze, and obtain the gait parameter that comprises centre-of gravity shift.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI468967B (en) * | 2012-03-16 | 2015-01-11 | Univ Nat Cheng Kung | An animal behavior detection method |
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| CN103356198A (en) * | 2012-04-09 | 2013-10-23 | 英华达（上海）科技有限公司 | Multipoint sensing measurement system and multipoint sensing measurement method |
| CN103267524B (en) * | 2013-04-24 | 2015-10-21 | 华中科技大学 | A kind of personnel's gait sensing chamber inner position system and method for Wearable |
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| CN103445788B (en) * | 2013-09-06 | 2015-07-08 | 中国科学院深圳先进技术研究院 | Behavioristics monitoring device and behavioristics monitoring system |
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| CN105374053A (en) * | 2015-11-12 | 2016-03-02 | 启安动物行为学科技股份有限公司 | Sole pressure distribution acquisition method in rat gait analysis, device and system |
| CN106228457A (en) * | 2016-07-27 | 2016-12-14 | 重庆市中药研究院 | Unhealthy larva screening system and method |
| CN108651319A (en) * | 2017-03-29 | 2018-10-16 | 锦州医科大学 | Solid step state dynamics digitized measurement instrument when experimental animal |
| CN109620246B (en) * | 2018-12-19 | 2021-08-17 | 福建师范大学 | Gait mode evaluation method for rehabilitation period of unilateral achilles tendon fracture patient |
| CN110987264A (en) * | 2019-12-07 | 2020-04-10 | 吉林大学 | Simple and easy goat's hoof foot contact test device |
| CN111539365B (en) * | 2020-04-29 | 2022-08-23 | 兰州大学 | Animal behavior analysis method and device and electronic equipment |
| CN112699783A (en) * | 2020-12-29 | 2021-04-23 | 深圳力维智联技术有限公司 | Footprint identification method, footprint identification device and computer-readable storage medium |
| CN113230640A (en) * | 2021-06-17 | 2021-08-10 | 郑州大学 | System and method for analyzing movement of bicyclist |
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