CN102908772B - Upper limb rehabilitation training system by using augmented reality technology - Google Patents
Upper limb rehabilitation training system by using augmented reality technology Download PDFInfo
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- CN102908772B CN102908772B CN201210391492.2A CN201210391492A CN102908772B CN 102908772 B CN102908772 B CN 102908772B CN 201210391492 A CN201210391492 A CN 201210391492A CN 102908772 B CN102908772 B CN 102908772B
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Abstract
Provided is an upper-limb rehabilitation training system by using augmented reality technology. A patient holds a training device with labels by hands to perform a rehabilitation training of an upper-limb movement function in a way of augmented reality game. The upper-limb rehabilitation training system by using the augmented reality technology comprises a video acquisition module, an augmented reality registering tracking module, a rehabilitation game algorithm module, a three-dimensional model module, a live-action fusion module, a user data module and a therapist module. The video acquisition module acquires live-action videos of rehabilitation training of the patient in real time, and the augmented reality registering tracking module identifies the labels and calculates parameters of the live-action videos. The rehabilitation game algorithm module provides augmented reality rehabilitation training games. The user data module saves recorded training data of the patient. The three-dimensional model module stores a three-dimensional model of a virtual object. The live-action fusion module fuses the virtual object with a reality scene to generate augmented reality rehabilitation game video information. By the aid of the upper-limb rehabilitation training system, enjoyment of the rehabilitation training of the upper-limb movement function is increased. The upper-limb rehabilitation training system is low in cost and easy to use.
Description
Technical field:
The present invention relates to augmented reality field, particularly relate to a kind of rehabilitation training of upper limbs system based on augmented reality and its implementation.
Background technology:
The time that the impaired rear general needs of motor function of human body are longer carries out rehabilitation.Traditional large manipulation mainly with therapist of human motion functional rehabilitation treatment is main, is aided with some simple exercising devices.Existing rehabilitation is undertaken by medical personnel's management guidance in recovery centre usually, larger to expending of human and material resources.Training content mostly is mechanicalness repetitive operation, and patient lacks the effective interaction with rehabilitation training system, and long-time training can allow patient produce boredom, greatly have impact on the effect of rehabilitation.
Virtual reality (Virtual Reality, VR) is a kind of emerging technology developed rapidly, and its utilize computer and sensing technology to generate virtual world that one has multiple stimulus to the sense organ, can make people produce a kind of sensation on the spot in person.Augmented reality (Augment Reality, AR) technology is a key areas in virtual reality research.The dummy object of Practical computer teaching is superimposed upon on real-world scene by augmented reality.The seamless spliced of dummy object and real world is realized by motion tracking.Augmented reality, between virtual reality and pure real world, is both combinations.Augmented reality is applied to rehabilitation medical field, the limitation of Traditional Rehabilitation therapy can be broken through.In augmented reality rehabilitation training system, user not only can touch various ways information feed back that virtual world provides but also can carry out natural interaction with real world object, and therefore augmented reality rehabilitation training has the two-fold advantage of virtual rehabilitation training and real rehabilitation training.
Summary of the invention:
Main purpose of the present invention is to provide a kind of rehabilitation training system based on augmented reality and method for human upper limb locomotion function is impaired, improves uninteresting, the low inferior problem of resource utilization of Traditional Rehabilitation training machinery.The present invention improves traditional human upper limb locomotion ability rehabilitation system, by conjunction with augmented reality, increases the interest of rehabilitation and improves the enthusiasm of patient, rehabilitation efficacy is improved.
The present invention proposes a kind of rehabilitation training of upper limbs system utilizing augmented reality, comprises video acquiring module, augmented reality registration module, rehabilitation game algorithm module, threedimensional model module, outdoor scene Fusion Module, user data module and therapist's module;
The hand-held training device with augmented reality mark of described video acquiring module Real-time Obtaining patient carries out the outdoor scene video of rehabilitation training; Outdoor scene video information described in described augmented reality registration module analysis, identifies that the augmented reality in video information identifies and calculates the parameter information of augmented reality mark; The role that described rehabilitation game algorithm module controls in augmented reality rehabilitation game according to the parameter information of the augmented reality mark on the hand-held training device of patient plays;
The production method of the video of augmented reality rehabilitation game is, by the threedimensional model of described threedimensional model module storing virtual object; The threedimensional model of the dummy object in described outdoor scene video and threedimensional model module merges by described outdoor scene Fusion Module, generates final augmented reality rehabilitation game video;
The essential information of described user data module stored record patient and training mission performance (this information is the training data of patient); The real-time training video of therapist's module receives user and training data;
Described augmented reality is designated square, is made up of outside black box and inner mark symbol two parts.
The training data of patient comprises: the essential information of patient, as the date etc. of sex, age, beginning rehabilitation training; The training mission performance of patient, the time length of training as carried out at every turn, the data such as Mission Objective number of success.
Described augmented reality registration module comprises mark recognition unit and parameter calculation unit;
201) described mark recognition unit processes described outdoor scene video, searches augmented reality marks all in video image and it is identified one by one;
202) translation that identifies identified augmented reality of parameter calculation unit and coefficient of rotary calculate, the three-dimensional six-degree-of-freedom posture information obtained.
Described step 201) in, concrete steps first process real-video image: by image binaryzation, and search for, locate the black box of augmented reality mark, and augmented reality mark is carried out template matches to identify this mark with the mark in database;
Described step 202) in, described parameter is the six-degree of freedom position and attitude information of augmented reality mark, is 3 translation coefficients and 3 coefficients of rotary respectively;
The concrete computational methods calculating the 3 d pose data of augmented reality mark are: the plane of delineation coordinate and the object dimensional coordinate opening relationships formula calculating transition matrix that are identified four angles by augmented reality; Again by transition matrix, extract concrete attitude parameter further.
Be below mathematical relationship:
Calculate the 3 d pose data of augmented reality mark, relate to the projection of three-dimensional body in plane:
m＝PM＝K[R|t]M (1)
In formula, m, M are respectively the homogeneous coordinates under image coordinate system and three-dimensional body coordinate system of any point; Wherein, under image coordinate system, image coordinate is m=[u, v, 1]
t; Under three-dimensional body coordinate system, three-dimensional body coordinate is M=[X, Y, Z, 1]
t; R is rotational transformation matrix, is the orthogonal matrix of 3 × 3; T is translation vector, and K represents the inner parameter matrix of video camera; P is projection matrix, P=K [R|t];
Because the augmented reality used is designated planar structure, therefore make Z=0, then (1) formula is written as:
R in formula
1, r
2, r
3for three column vectors of spin matrix R, K [r
1r
2t] for Z plane is to a homography matrix of the plane of delineation, writing:
λH＝[h
1h
2h
3]＝K[r
1r
2t] (3)
Wherein λ is nonzero coefficient, and H is standard homography matrix, | H|=1, h
1, h
2, h
3for three column vectors of H;
(2) formula is expressed as further:
For h
1, h
2, h
3, r
1, r
2, r
3, t, λ, have following relation:
r
1＝λK
-1h
1,r
2＝λK
-1h
2,
r
3＝r
1×r
2,t＝λK
-1h
3, （5）
λ＝1/‖K
-1h
1‖＝1/||K
-1h
2‖
The coordinate obtaining mark 4 angle points can try to achieve homography matrix H by (4) formula; R and t can be extrapolated further by relational expression (5).
Described rehabilitation game algorithm module is played by the role controlled in augmented reality game, guides patient to carry out the motion of upper limbs.The process of described rehabilitation game algorithm is that the role controlled in augmented reality game with the parameter information that the hand-held training device of patient identifies (this parameter information specifically refers to translation and coefficient of rotary) plays, and guides patient to carry out the motion of upper limbs; The training performance of patient is assessed and data record simultaneously.
The summary description of augmented reality game: augmented reality game is to train for the purpose of patient's upper extremity exercise ability, the actions such as patient needs above limb girdle to move training device to complete setting in game of task, moving, tilting by repeatedly carrying out upper limbs in gaming in gaming, articulation reach the object of rehabilitation training.
The present invention contrasts existing upper extremity exercise ability rehabilitation training system and method has the following advantages:
1. existing upper extremity exercise functional rehabilitation treatment is carried out usually in medical institutions, instructs monitoring by medical personnel.The shortage of medical resource causes difficulty to treatment patients and increases the economic pressures of patient.The present invention is a kind of Novel rehabilitation system based on augmented reality, and this system user is friendly, convenient operation, and structure only needs common camera and personal computer, and lower being easy to of cost realizes, and is convenient to that patient is daily to be used at home.
2. the content of Traditional Rehabilitation training is too dull and uninteresting, easily makes patient produce boredom, affects rehabilitation efficacy.The present invention uses augmented reality, and what strengthen between system and user is mutual, makes rehabilitation course have stronger interactivity and interest.Instruct patient to complete training better by system to the information feed back that patient applies various ways, improve the enthusiasm that patient carries out rehabilitation training.
3. the virtual world based on the rehabilitation training system Practical computer teaching of virtual reality replaces real world completely.Patient is immersed in virtual world, likely causes danger owing to having completely cut off actual environment.Augmented reality is the combination of virtual world and real world, has stopped the unsafe factor under pure reality environment.
Accompanying drawing illustrates:
Fig. 1 is the training device schematic diagram with augmented reality mark used in the embodiment of the present invention;
Fig. 2 is the structural representation of the augmented reality rehabilitation training of upper limbs system in the embodiment of the present invention;
The augmented reality rehabilitation training of upper limbs method flow diagram of Fig. 3 for providing in the embodiment of the present invention;
Reference numeral:
The square wooden unit of X01-; Augmented reality mark on the square wooden unit of X02-; X03-water tumbler; Augmented reality mark on X04-water tumbler.
Detailed description of the invention:
The invention provides a kind of augmented reality rehabilitation training of upper limbs system, comprising:
Video acquiring module, carry out the outdoor scene video of rehabilitation training for the training device of Real-time Obtaining patient hand-held attachment augmented reality mark.
Augmented reality registration module, for analyzing outdoor scene video information, identify that the mark object in video information also calculates relevant parameter information.
Rehabilitation game algorithm module, for the parameter information of the hand-held mark of patient control augmented reality game in role play.
Threedimensional model module, threedimensional model for storing virtual object.
Outdoor scene Fusion Module, fusion for outdoor scene video and dummy object, generate final augmented reality rehabilitation game video.
User data module, training data for stored record user.
Therapist's module, for receiving the real-time training video of user and training data so that medical worker grasp patient training and the training of patient is managed and instructs.
Augmented reality rehabilitation training of upper limbs system as above, wherein said augmented reality is designated square, is made up of outside black box and inner mark symbol two parts.The hand-held training device of patient can be selected voluntarily according to the upper limbs force of patient and concrete training content, and augmented reality mark is attached to its surface.
Augmented reality rehabilitation training of upper limbs system as above, wherein said augmented reality registration module comprises:
Mark recognition unit, for processing described outdoor scene video, searching marks all in video image and it being identified one by one.
Parameter calculation unit, for calculating the parameter of described mark, obtains its three-dimensional six-degree-of-freedom posture information.
Training method based on the rehabilitation training of upper limbs system of this augmented reality is, the upper extremity exercise function of mode to patient of carrying out augmented reality game by the hand-held training device with augmented reality mark of patient carries out rehabilitation training, and concrete steps comprise:
System environment initialization;
Video acquisition, the hand-held training device with augmented reality mark of Real-time Obtaining patient carries out the outdoor scene video of rehabilitation training;
Augmented reality registration, identifies according to the augmented reality in the realtime graphic identification scene obtained and calculates corresponding parameter;
The process of rehabilitation game algorithm, controls the object in rehabilitation game according to the parameter information that the hand-held training device of patient identifies;
Outdoor scene merges, and the dummy object generated and outdoor scene video information is merged according to the threedimensional model of dummy object and display parameters thereof, the video information that the rehabilitation of generation augmented reality is played;
Data are transmitted, and the training data of patient and real-time training video are transferred to therapist's module, so that therapist grasps the training of patient and provides guidance;
Augmented reality rehabilitation training of upper limbs method as above, wherein said augmented reality is designated square, is made up of outside black box and inner mark symbol two parts.The hand-held training device of patient can be selected voluntarily according to the upper limbs force of patient and concrete training content, and augmented reality mark is attached to its surface.
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
The present invention uses the mark with dark border to realize registration and the tracking of dummy object in augmented reality.Before starting rehabilitation training, select suitable object as training device according to the kind of training and the concrete condition of patient, augmented reality mark is attached to its surface.Fig. 1 is the training device schematic diagram that attached to mark.As shown in Figure 1, respectively mark X02 and mark X04 is attached to the surface of the square wooden unit of equipment X01 and equipment X03 water tumbler.
A kind of rehabilitation training of upper limbs system architecture schematic diagram based on augmented reality that Fig. 2 provides for this example.As shown in Figure 2, this augmented reality upper limb healing system comprises video acquiring module, augmented reality registration module, rehabilitation game algorithm module, threedimensional model module, outdoor scene Fusion Module, user data module and therapist's module.Wherein video acquiring module is used for the outdoor scene video that the hand-held training device with augmented reality mark of Real-time Obtaining patient carries out rehabilitation training.Augmented reality registration module is connected with video acquiring module, for analyzing outdoor scene video information, finding the mark in video, being identified, and calculate relevant parameter information.Rehabilitation game algorithm module provides augmented reality rehabilitation training to play, the information such as attitude, displacement of the mark utilizing augmented reality registration module to obtain, and controls the role in game, and generates the feedback to patient.User data module is used for preserving the record of patient's training.The threedimensional model of dummy object is stored in threedimensional model module.The real world image that video camera obtains by outdoor scene Fusion Module and virtual world information combine, and generate final augmented reality rehabilitation gaming video infonnation.This rehabilitation gaming video infonnation will feed back to user by the display device such as display or video eyeglasses.Therapist's module, for receiving training data and the video of patient, is convenient to medical worker and is grasped the training of patient and provide corresponding guidance.
The augmented reality upper limb healing method flow diagram that Fig. 3 provides for the embodiment of the present invention.As shown in Figure 3, this augmented reality upper extremity exercise functional rehabilitation method comprises:
Step 10, system environment initialization
Step 20, video acquisition, video acquiring module Real-time Obtaining patient uses the training device with augmented reality mark to carry out the outdoor scene video of rehabilitation training;
Step 30, augmented reality registration, augmented reality registration module identifies according to the augmented reality in the realtime graphic identification scene obtained and calculates corresponding parameter;
Step 40, the process of rehabilitation game algorithm, control the object in game according to the parameter information that training device identifies and generate feedback information;
Step 50, outdoor scene merge, and the dummy object generated and outdoor scene video information merge according to the threedimensional model of dummy object and display parameters thereof by outdoor scene Fusion Module, generate the video of augmented reality rehabilitation game;
Step 60, data are transmitted, the training data of patient and real-time training video are transferred to therapist's module, and therapist grasps the training of patient and provides guidance;
In the present embodiment, step 10, system environment initialization, specifically can comprise: the initialization of Video Capture, the file of identification document are read in, the reading in of camera internal parameter.
In the present embodiment, step 30, augmented reality registration module identify according to the augmented reality in the realtime graphic identification scene obtained and calculate corresponding parameter, parameter is the six-degree of freedom position and attitude information of mark, comprises 3 translation coefficients and 3 coefficients of rotary.Step specifically comprises:
Step 301, video image to be processed, image binaryzation is searched for the black box of augmented reality mark;
Mark in itself and database is carried out template matches by step 302, the tag mark inner according to mark, identifies this mark;
The 3 d pose data of step 303, calculating mark;
The present invention is directed to the colony because wound or disease cause upper extremity exercise function impaired, be used for the rehabilitation training of the locomotivity, joint mobility, action stability etc. of patient being carried out to upper limbs.Rehabilitation training is a lasting process, and must keep higher intensity.Participate in the enthusiasm of rehabilitation training to increase patient, rehabilitation training have employed the form of game.
By carrying out survey to arbitrary object, draw several game form welcome by patient.Augmented reality rehabilitation training of the present invention comprises three kinds: ArcaLands game, moving of car game and pouring game.Below will describe in detail to each rehabilitation game.
Rehabilitation game comprises ArcaLands game.System generates the virtual color fragment of brick of some, the hand-held training device with mark of patient, represents a virtual reflecting plate.By the movement to training device, control virtual reflecting plate in game, the virtual bead of the motion that rebounds, make bead impact dummy brick by its cancellation.That plays carries out needs one at desktop platform environment.First, we, by the identification card one put at desktop, determine the position that dummy brick generates.After game starts, the hand-held training device with mark two of patient, the plank of simulation bounce-back bead.The information of system analytical calculation mark two from the real scene image of camera collection, determines the position of virtual reflecting plate in playing, and judges whether to rebound virtual marble.If successfully rebounded, then virtual marble rebound according to bounce-back route, and the corresponding fragment of brick that cancellation is collided with it.When the then bout game over of the whole fragment of brick of patient's cancellation, successfully to rebound bead, then failure game if midway patient does not have to move " reflecting plate ".Consider that the locomitivity of patient is different, the speed of this training game can regulate, and is divided into three ranks, to adapt to the patient of different condition.Patient oneself also can select different hand-held objects, and change size, weight are practised.This training can improve locomotivity and the grippage of patient.
Rehabilitation game also comprises moving of car game.This game generates a virtual road on the table, and patient need control virtual dolly and travel along this virtual road.Game point two kinds of patterns, the tape identification object that in the first pattern, patient rotational is hand-held, controls the direction of advance of a virtual dolly and makes it remain within road scope.This pattern mainly trained the flexibility of patient articular.The second mode virtual road keeps maintaining static, and patient's mobile object directly controls virtual dolly and moves according to the virtual routes set.This pattern mainly trained the locomotivity of patient's upper limbs.
Rehabilitation game also comprises pouring game.In this training program, we are by generating virtual scene, and instruction patient moving target is to the position of specifying.Patient can select shape and the weight of hand-held object according to the condition of self.In training process, judge whether patient moves to assigned address by target by the information of mark.In virtual scene, assigned address shows an empty cup, and the hand-held object of patient is then shown as a teapot.When " teapot " moves near assigned address by patient, then user is pointed out to tilt, " teapot " if patient is successfully completed action, water in the virtual teapot of display is injected virtual empty cup by system, after maintenance a period of time, virtual cup will be filled with, and this training mission declares to be finished.This training mission defines the shift position of patient hand, and the time that patient completes assignment of mission will be recorded, to be successfully completed quantity and the score of corresponding time of task, the level of training of evaluate patient.
Claims (2)
1. one kind utilizes the rehabilitation training of upper limbs system of augmented reality, it is characterized in that, comprise video acquiring module, augmented reality registration module, rehabilitation game algorithm module, threedimensional model module, outdoor scene Fusion Module, user data module and therapist's module;
The hand-held training device with augmented reality mark of described video acquiring module Real-time Obtaining patient carries out the outdoor scene video of rehabilitation training; Outdoor scene video information described in described augmented reality registration module analysis, identifies that the augmented reality in video information identifies and calculates the parameter information of augmented reality mark; The role that described rehabilitation game algorithm module controls in augmented reality rehabilitation game according to the parameter information of the augmented reality mark on the hand-held training device of patient plays;
The production method of the video of augmented reality rehabilitation game is, by the threedimensional model of described threedimensional model module storing virtual object; The threedimensional model of the dummy object in described outdoor scene video and threedimensional model module merges by described outdoor scene Fusion Module, generates final augmented reality rehabilitation game video;
Described user data module stored record patient training data, specifically comprises the performance of patient basis and training mission; The real-time training video of therapist's module receives user and training data;
Described augmented reality is designated square, is made up of outside black box and inner mark symbol two parts;
Described augmented reality registration module comprises mark recognition unit and parameter calculation unit;
201) described mark recognition unit processes described outdoor scene video, searches augmented reality marks all in video image and it is identified one by one;
202) translation that identifies identified augmented reality of parameter calculation unit and coefficient of rotary calculate, the three-dimensional six-degree-of-freedom posture information obtained;
Described step 201) in, concrete steps first process real-video image: by image binaryzation, and search for, locate the black box of augmented reality mark, and augmented reality mark is carried out template matches to identify this mark with the mark in database;
Described step 202) in, described parameter is the six-degree of freedom position and attitude information of augmented reality mark, is 3 translation coefficients and 3 coefficients of rotary respectively;
The concrete computational methods calculating the 3 d pose data of augmented reality mark are: the plane of delineation coordinate and the object dimensional coordinate opening relationships formula calculating transition matrix that are identified four angles by augmented reality; Again by transition matrix, extract concrete attitude parameter further.
2. the rehabilitation training of upper limbs system utilizing augmented reality according to claim 1, is characterized in that: described rehabilitation game algorithm module is played by the role controlled in augmented reality game, guides patient to carry out the motion of upper limbs.
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| CN113284254A (en) * | 2021-05-12 | 2021-08-20 | 苗步林 | Thing media educates teaching system based on AR recognition technology |
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