CN104856686A - Real-time in-vivo measuring method for right and left lateral flexion of thoracic and lumbar vertebrae - Google Patents

Abstract

The invention discloses a real-time in-vivo measuring method for right and left lateral flexion of thoracic and lumbar vertebrae based on Kinect somatosensory interaction technology with the purpose of realizing posture determination and speculation during the motion process of lateral flexion of thoracic and lumbar vertebrae and outputting coordinates of center nodes of all centrums. During measurement, a somatosensory man-machine interaction mode is adopted and a Kinect sensor is utilized for real-time capture of postures and motion of a human torso. In combination with multi-body system kinemics, positions and postures of all centrums of a vertebral column are calculated in order to real-time acquisition of coordinates of center nodes of all centrums and posture angles. Operation is performed easily and conveniently. The postures of the vertebral column and the center nodes of all centrums are displayed on an interactive interface of a system in a real-time mode.

Description

A kind of thoracolunbar spine left and right lateral bending motions is in real time in bulk measurement method

Technical field

The present invention relates to a kind of measuring method, especially relate to thoracolunbar spine left and right lateral bending motions in real time in bulk measurement method.

Background technology

Spinal motion is three-dimensional motion, the most complicated in each joint motions of human body.The range of movement understanding patient vertebra for instruct doctor to carry out spinal column naturopathy and rehabilitation significant.

At present many difficulties are existed to the research of spinal kinematics, because the motion of spinal column is coupled motions in three dimensions and unspecific plane motion, need accurate measuring technique and computational methods.The three-dimensional motion of vertebra have anteflexion/after stretch, left/right lateral bending and left/right rotate the angular freedom in three directions.The present invention is specifically designed to the lateral bending motions measuring left and right directions in spinal column coronalplane.

Spinal motion measuring method can be divided in bulk measurement and in vitro measurement.So-called in vitro measurement, measures the mankind or the upper spinal column specimen of taking out of spoil exactly.In vitro range of movement measurement comprises contact and measures and untouchable measurement (plane survey, stereoptics measurement, photoelectric measurement, laser measurement).Current measuring technique can only measure the range of movement of vertebra usually, usually can not obtain the current athletic posture of spinal column in real time.

Be exactly direct human body to be measured in bulk measurement, normally harmless.Current comprises x-ray measurement, CT measurement, MRI measurement, sensor measurement, ultrasonic measurement and Moire method measurement etc. in bulk measurement method.

Summary of the invention

Technical problem to be solved by this invention is to provide the real-time in bulk measurement method of a kind of lateral bending motions of the thoracolunbar spine based on Kinect somatosensory interaction technique, realize spinal column Thoracolumbar disk section attitude measurement and supposition in lateral bending motions process, and export each vertebral body Centroid coordinate.During measurement, the measured is upright and in coronalplane, make the action of left and right directions lateral bending trunk towards Kinect sensor.By the real-time seizure of Kinect sensor to the attitude of trunk and action, according to the trunk athletic posture of measured, in conjunction with Multibody Kinematics, the position of each vertebral body of spinal column and attitude are calculated, real-time acquisition vertebral body center point coordinate and attitude angle, simple and convenient, its spinal column attitude and vertebral body Centroid are presented on system interaction interface in real time.

The present invention is for solving the problems of the technologies described above, and the technical scheme of employing is as follows:

A kind of thoracolunbar spine left and right lateral bending motions, in real time in bulk measurement method, comprises the following steps:

Step 1: adopt Kinect sensor to record the skeleton data of the thoracolunbar spine of measurand;

Step 2: calculate each vertebral body Centroid data according to skeleton data, specifically comprise:

Step 2-1: input skeleton data, comprises the coordinate of shoulder Centroid T1 and the coordinate of sacrum portion Centroid S, definition thoracic vertebra section is T, is segmented into L1, L2, L3, L4, L5, and sets the value of its vertebral body centre distance to lumbar vertebra;

Step 2-2: calculate the x between shoulder Centroid and sacrum portion Centroid, y is to distance;

Step 2-3: when scoliosis, shoulder Centroid T1 and sacrum portion Centroid S line T1-S and X-axis angle are designated as α;

Step 2-4: in lateral bending process, intervertebral disc produces distortion, and adjacent lumbar vertebrae sections produces relative rotation, definition L5 is θ relative to the corner of S _l5, L4 is θ relative to the corner of L5 _l4, L3 is θ relative to the corner of L4 _l3, L2 is θ relative to the corner of L3 _l2, L1 is θ relative to the corner of L2 _l1, T1 is θ relative to the corner of L1 _t, and calculate θ _t, θ _l1, θ _l2, θ _l3, θ _l4and θ _l5;

Step 2-5: calculate thoracic vertebra section T, lumbar segment L1, the component length T' of L2, L3, L4, L5, L' _l1, L' _l2, L' _l3, L' _l4, L' _l5and component overall length Z;

Step 2-6: definition L1', L2', L3', L4', L5' are respectively L1, L2, L3, L4, L5 projection on shoulder Centroid T1 and sacrum portion Centroid S line T1-S line, and calculate x, the y-axis coordinate of L1', L2', L3', L4', L5' respectively;

Step 2-7: calculate the x of L1, L2, L3, L4, L5, y-axis coordinate respectively;

Step 3: export each vertebral body Centroid data.

Further, in step 2-1, the skeleton data of input comprises shoulder Centroid T1 coordinate T1 (Tx, Ty) and sacrum portion Centroid S coordinate S (Sx, Sy); According to " Chinese adult body dimension " standard, the vertebral body centre distance L of the L1-L2 section of lumbar vertebra, L2-L3 section, L3-L4 section, L4-L5 section and L4-S section sets to lumbar vertebra segmentation _l1, L _l2, L _l3, L _l4, L _l5value.

Further, in step 2-2, calculate x, y of shoulder Centroid and sacrum portion Centroid to distance L _x, L _yconcrete formula be:

L _x＝|T _x-S _x|

L _y＝|T _y-S _y|。

Further, in step 2-3, the concrete formula calculating shoulder Centroid T1 and sacrum portion Centroid S line T1-S and X-axis angle α is:

$\mathrm{\α}=\arctan \left|\frac{L_y}{L_X}\right|.$

Further, in step 2-4, calculate θ _t, θ _l1, θ _l2, θ _l3, θ _l4and θ _l5concrete formula be:

${\mathrm{\θ}}_{L5}=\frac{\frac{\mathrm{\π}}{2}-\mathrm{\α}}{10}$

θ _L4＝2θ _L5

${\mathrm{\θ}}_{L3}=\frac{8}{3}{\mathrm{\θ}}_{L5}$

θ _L2＝2θ _L5

θ _L1＝2θ _L5

${\mathrm{\θ}}_T=\frac{8}{3}{\mathrm{\θ}}_{L5}.$

Further, in step 2-5, calculate thoracic vertebra section T, lumbar segment L1, the component length T' of L2, L3, L4, L5, L' _l1, L' _l2, L' _l3, L' _l4, L' _l5and the concrete formula of component overall length Z is:

$T^{\′}=L_T\×\left|\cos (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4}-{\mathrm{\θ}}_{L3}-{\mathrm{\θ}}_{L2}-{\mathrm{\θ}}_{L1}-{\mathrm{\θ}}_T)\right|$

$L_{L1}^{\′}=L_{L1}\×\left|\cos (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4}-{\mathrm{\θ}}_{L3}-{\mathrm{\θ}}_{L2}-{\mathrm{\θ}}_{L1})\right|$

$L_{L2}^{\′}=L_{L2}\×\left|\cos (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4}-{\mathrm{\θ}}_{L3}-{\mathrm{\θ}}_{L2})\right|$

$L_{L3}^{\′}=L_{L3}\×\left|\cos (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4}-{\mathrm{\θ}}_{L3})\right|$

$L_{L4}^{\′}=L_{L4}\×\left|\cos (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4})\right|$

$L_{L5}^{\′}=L_{L5}\×\left|\cos (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5})\right|$

Z＝T'+L' _L1+L' _L2+L' _L3+L' _L4+L' _L5。

Further, in step 2-6, the calculating x of L1', L2', L3', L4', L5', the concrete formula of y-axis coordinate are:

$L_{1x}^{\′}=S_x+L_x\×\frac{L_{L5}^{\′}+L_{L4}^{\′}+L_{L3}^{\′}+L_{L2}^{\′}+L_{L1}^{\′}}{Z}$

$L_{1y}^{\′}=S_y-L_y\×\frac{L_{L5}^{\′}+L_{L4}^{\′}+L_{L3}^{\′}+L_{L2}^{\′}+L_{L1}^{\′}}{Z}$

$L_{2x}^{\′}=S_x+L_x\×\frac{L_{L5}^{\′}+L_{L4}^{\′}+L_{L3}^{\′}+L_{L2}^{\′}}{Z}$

$L_{2y}^{\′}=S_y-L_y\×\frac{L_{L5}^{\′}+L_{L4}^{\′}+L_{L3}^{\′}+L_{L2}^{\′}}{Z}$

$L_{3x}^{\′}=S_x+L_x\×\frac{L_{L5}^{\′}+L_{L4}^{\′}+L_{L3}^{\′}}{Z}$

$L_{3y}^{\′}=S_y-L_y\×\frac{L_{L5}^{\′}+L_{L4}^{\′}+L_{L3}^{\′}}{Z}$

$L_{4x}^{\′}=S_x+L_x\×\frac{L_{L5}^{\′}+L_{L4}^{\′}}{Z}$

$L_{4y}^{\′}=S_y-L_y\×\frac{L_{L5}^{\′}+L_{L4}^{\′}}{Z}$

$L_{5x}^{\′}=S_x+L_x\×\frac{L_{L5}^{\′}}{Z}$

$L_{5y}^{\′}=S_y-L_y\×\frac{L_{L5}^{\′}}{Z}.$

Further, in step 2-7, the calculating x of L1, L2, L3, L4 and L5, the concrete formula of y-axis coordinate are:

$h_{L5}=\sqrt{{(L_{5x}^{\′}-S_x)}^2+{(L_{5y}^{\′}-S_y)}^2}\×\tan (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5})$

L _5x＝L' _5x-h _L5×sinα

L _5y＝L' _5y-h _L5×cosα

$h_{L4}=\sqrt{{(L_{4x}^{\′}-L_{5x}^{\′})}^2+{(L_{4y}^{\′}-L_{5y}^{\′})}^2}\×\tan (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4})$

L _4x＝L' _4x-(h _L5+h _L4)×sinα

L _4y＝L' _4y-(h _L5+h _L4)×cosα

$h_{L3}=\sqrt{{(L_{3x}^{\′}-L_{4x}^{\′})}^2+{(L_{3y}^{\′}-L_{4y}^{\′})}^2}\×\tan (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4}-{\mathrm{\θ}}_{L3})$

L _3x＝L' _3x-(h _L5+h _L4+h _L3)×sinα

L _3y＝L' _3y-(h _L5+h _L4+h _L3)×cosα

$h_{L2}=\sqrt{{(L_{2x}^{\′}-L_{3x}^{\′})}^2+{(L_{2y}^{\′}-L_{3y}^{\′})}^2}\×\tan (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4}-{\mathrm{\θ}}_{L3}-{\mathrm{\θ}}_{L2})$

L _2x＝L' _2x-(h _L5+h _L4+h _L3+h _L2)×sinα

L _2y＝L' _2y-(h _L5+h _L4+h _L3+h _L2)×cosα

$h_{L1}=\sqrt{{(L_{1x}^{\′}-L_{2x}^{\′})}^2+{(L_{1y}^{\′}-L_{2y}^{\′})}^2}\×\tan (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4}-{\mathrm{\θ}}_{L3}-{\mathrm{\θ}}_{L2}-{\mathrm{\θ}}_{L1})$

L _1x＝L' _1x-(h _L5+h _L4+h _L3+h _L2+h _L1)×sinα

L _1y＝L' _1y-(h _L5+h _L4+h _L3+h _L2+h _L1)×cosα。

Wherein, the continuous light that described Kinect sensor utilizes RF transmitter to send is radiated at user and encodes, and accepted by infrared C MOS photographic head and record the speckle data on the measured health, and decoded by Kinect, generate the skeleton geological information of measured.

The present invention adopts above technical scheme compared with prior art, has following technique effect:

1, the present invention is a kind of in bulk measurement technology, and bulk measurement corresponding be in vitro measurement, in vitro measuring technique can only measure specimen, and this measuring technique is in bulk measurement technology, may be used for the motion of measuring patient.

2, the present invention measures in real time, and the athletic posture of spinal column obtains in real time, without the need to waiting for.

3, the present invention can measure simultaneously and record much information, measures position, attitude information that the information obtained is not singly spinal column, also comprises movement velocity.Velocity information may be used for analyzing further sufferer spinal motion.

Accompanying drawing explanation

Fig. 1 is operation principle flow chart of the present invention;

Fig. 2 is that lumbar vertebra Centroid of the present invention is inferred;

Fig. 3 is vertebral bodies of lumbar spine central motion relation of the present invention;

Fig. 4 walks around the relation of angle and shoulder Centroid-between sacrum portion Centroid line and x-axis angle in side of the present invention.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.

As shown in Figure 1, the present invention proposes a kind of thoracolunbar spine left and right lateral bending motions in real time in bulk measurement method, comprises the following steps:

Step 1: adopt Kinect sensor to record the skeleton data of the thoracolunbar spine of measurand;

Step 2: calculate each vertebral body Centroid data according to skeleton data;

Step 3: export each vertebral body Centroid data.

The present invention is introduced further below in conjunction with specific embodiment:

Embodiment 1

According to " Chinese adult body dimension " (GB/T 10000-1988) related data with reference to the principle with Kinect skeleton node sets, head center node can be similar to and be considered as cervical vertebra C1 vertebral body center, shoulder Centroid is approximate is considered as thoracic vertebra T1 vertebral body center, and sacrum portion Centroid is then approximate is considered as rumpbone S vertebral body center.Spinal column divides in order to cervical vertebra section, thoracic vertebra section and lumbar segment by these three nodes.

Be speculated as example with lumbar vertebra, utilize Kinect can obtain shoulder Centroid (vertebra T1 vertebral body center) and sacrum portion Centroid (rumpbone S vertebral body center).When known these 2, the central point of the lumbar vertebra L1 to L5 that can derive.

The hardware of this method mainly comprises Kinect sensor and computer.The effect of Kinect sensor is that the continuous light utilizing RF transmitter to send is radiated at user and encodes, then is accepted by infrared C MOS photographic head and record the speckle data on measured's health.Induction apparatus in Kinect sensor reads speckle data, transfers to chip then to decode, the skeleton data needed for generation.Kinect sensor passes to computer application Program Interfaces (Application Program Interface, API) the skeleton data obtained by USB interface.According to Descartes's kinematical theory and spinal column biometrical features, research related algorithm, exploitation human body spinal motion estimating program, thus infer the movement position of each vertebral body and the motion morphology of spinal column.

In scoliosis motor process, the movement relation at vertebral bodies of lumbar spine center as shown in Figure 2, and whole lateral bending motions completes in coronalplane.When original neutral position, T1-S section vertebral body centre distance is L _tL, the length of thoracic vertebra section spinal column is L _t, and the vertebral body centre distance of L1-L2 section, L2-L3 section, L3-L4 section, L4-L5 section and L4-S section is respectively L _l1, L _l2, L _l3, L _l4and L _l5.Human body is without under the naturalness of axial heavy load, and Minor articulus distortion and intervertebral disc axial deformation can be ignored the impact that the centre distance between adjacent vertebral bodies produces, i.e. L _l1, L _l2, L _l3, L _l4and L _l5value constant.Due to each vertebral body centre distance accurately cannot be obtained, L can be set according to " Chinese adult body dimension " (GB/T10000-1988) _l1, L _l2, L _l3, L _l4and L _l5value.

As shown in Fig. 3 composition graphs 4, when scoliosis, T1 and S vertebral body centre distance changes, and is designated as L _tL', be designated as α with X-axis angle.Due to intervertebral disc deformations in lateral bending process, adjacent segment produces relative rotation, and wherein L5 is θ relative to the corner of S _l5, L4 is θ relative to the corner of L5 _l4, L3 is θ relative to the corner of L4 _l3, L2 is θ relative to the corner of L3 _l2, L1 is θ relative to the corner of L2 _l1, T1 is θ relative to the corner of L1 _t.L1', L2', L3', L4' and L5' are respectively L1, L2, L3, L4 and L5 projection on T1 and S line, and the distance between these subpoints are adjacent is respectively

${L_{L1}}^{\′}=L_{L1}\·\left|\cos (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4}-{\mathrm{\θ}}_{L3}-{\mathrm{\θ}}_{L2}-{\mathrm{\θ}}_{L1})\right|---\left(1\right)$

${L_{L2}}^{\′}=L_{L2}\·\left|\cos (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4}-{\mathrm{\θ}}_{L3}-{\mathrm{\θ}}_{L2})\right|---\left(2\right)$

${L_{L3}}^{\′}=L_{L3}\·\left|\cos (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4}-{\mathrm{\θ}}_{L3})\right|---\left(3\right)$

${L_{L4}}^{\′}=L_{L4}\·\left|\cos (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5}-{\mathrm{\θ}}_{L4})\right|---\left(4\right)$

${L_{L5}}^{\′}=L_{L5}\·\left|\cos (\frac{\mathrm{\π}}{2}-\mathrm{\α}-{\mathrm{\θ}}_{L5})\right|---\left(5\right).$

By obtain these subpoints adjacent between distance, just can by the position of S point coordinates derivation subpoint, and the position of each vertebral body central point of can deriving.

Thus, the lateral bending corner (θ between lumbar vertebra adjacent vertebral bodies how is determined _t, θ _l1, θ _l2, θ _l3, θ _l4and θ _l5) and relation between these corners and angle α seem particularly important.Except determine adjacent interspinous corner between relation, also need the relation of deriving between these corners and α angle.And θ _t, θ _l1, θ _l2, θ _l3, θ _l4and θ _l5between relativeness can be obtained by document.As shown in Figure 3, spinal column in unit interval dt by original neutral position lateral bending to shown position, between each vertebral body, relative rotation is respectively d θ _t, d θ _l1, d θ _l2, d θ _l3, d θ _l4with d θ _l5, the radius of gyration size of its correspondence is respectively:

r _T＝L _TL-L _L5-L _L4-L _L3-L _L2-L _L1(6)

r _L1＝L _TL-L _L5-L _L4-L _L3-L _L2(7)

r _L2＝L _TL-L _L5-L _L4-L _L3(8)

r _L3＝L _TL-L _L5-L _L4(9)

r _L4＝L _TL-L _L5(10)

r _L5＝L _TL(11)。

Can push away the velocity of rotation of T1 vertebral body is thus:

$V_{T1}=\frac{\underset{i=L5}{\overset{6}{\mathrm{\Σ}}}({\mathrm{d\θ}}_i\·r_i)}{\mathrm{dt}},(i=L5,L4,L3,L2,L1,T)---\left(12\right).$

And the centre distance of T1 vertebral body now and S vertebral body is r _t1=L _tL'.Due in unit interval dt, the centre distance of T1 vertebral body and S vertebral body constantly changes, and only has the method adopting approximate solution, solve V _t1with the relation of angle α.And V _t1approximate solution be designated as

Then have:

$V_{T1}^s=\frac{d(\frac{\mathrm{\π}}{d}-\mathrm{\α})\·\frac{1}{2}(L_{\mathrm{TL}}+{L_{\mathrm{TL}}}^{\′})}{\mathrm{dt}}---\left(13\right).$

The kinesiology that this completes each vertebral body central point of human body lateral bending motions waist is derived.

Spinal kinematics infers that algorithm false code is expressed as follows.The input quantity of this section of program is the acquisition shoulder Centroid (vertebra T1 vertebral body center) of Kinect and the coordinate of sacrum portion Centroid (rumpbone S vertebral body center), derives the lateral bending corner (θ between adjacent vertebral bodies thus _t, θ _l1, θ _l2, θ _l3, θ _l4and θ _l5), calculate the coordinate of L1', L2', L3', L4' and L5' point, finally try to achieve the coordinate data of L1, L2, L3, L4 and L5 and export.

LumbarCurveEstimation()

{

Read skeleton.Joints (JointType.HipCenter) // read Center of Coxa point from kinect

Read skeleton.Joints (JointType.ShoulderCenter) // read shoulder central point from kinect

JointSAC ← skeleton.Joints (JointType.HipCenter) // Center of Coxa point assignment is to jointSAC

JointT1 ← skeleton.Joints (JointType.ShoulderCenter) // shoulder central point assignment is to jointT1

The X-direction of the spacing of Lx ← Abs (SkeletonPointx (jointT1.Position)-SkeletonPointx (jointSAC.Position)) //jointT1 and jointSAC

The Y-direction of the spacing of Ly ← Abs (SkeletonPointy (jointT1.Position)-SkeletonPointy (jointSAC.Position)) //jointT1 and jointSAC

Ang α ← Atan (Abs (Ly/Lx)) // α angle

Ang θ L5 ← (PI/2-Ang α)/10//acquisition θ _t, θ _l1, θ _l2, θ _l3, θ _l4and θ _l5

AngθL4←AngθL5*2

AngθL3←AngθL5*(8/3)

AngθL2←AngθL5*2

AngθL1←AngθL5*2

AngθT←AngθL5*(8/3)

// thoracic vertebra section, lumbar vertebra L1, the component length of L2, L3, L4, L5

fenT←L _T*Abs(Cos(PI/2-Angα-AngθL5-AngθL4-AngθL3-AngθL2-AngθL1-AngθT))

fenL1←L _L1*Abs(Cos(PI/2-Angα-AngθL5-AngθL4-AngθL3-AngθL2-AngθL1))

fenL2←L _L2*Abs(Cos(PI/2-Angα-AngθL5-AngθL4-AngθL3-AngθL2))

fenL3←L _L3*Abs(Cos(PI/2-Angα-AngθL5-AngθL4-AngθL3))

fenL4←L _L4*Abs(Cos(PI/2–Angα-AngθL5-AngθL4))

fenL5←L _L5*Abs(Cos(PI/2-Angα-AngθL5))

// total length

Zong←fenL5+fenL4+fenL3+fenL2+fenL1+fenT

The XY axial coordinate of // calculating L1 ', L2 ', L3 ', L4 ' and L5 '

If SkeletonPointx(jointT1.Position)>＝SkeletonPointx(jointSAC.Position)AndSkeletonPointy(jointT1.Position)<SkeletonPointy(jointSAC.Position)Then

Lx←Lx

ElseIf SkeletonPointx(jointT1.Position)<SkeletonPointx(jointSAC.Position)AndSkeletonPointy(jointT1.Position)<SkeletonPointy(jointSAC.Position)Then

Lx←-Lx

End If

XL1←SkeletonPointx(jointSAC.Position)+Lx*((fenL5+fenL4+fenL3+fenL2+fenL1)/Zong)

YL1←SkeletonPointy(jointSAC.Position)-Ly*((fenL5+fenL4+fenL3+fenL2+fenL1)/Zong)

XL2←SkeletonPointx(jointSAC.Position)+Lx*((fenL5+fenL4+fenL3+fenL2)/Zong)

YL2←SkeletonPointy(jointSAC.Position)-Ly*((fenL5+fenL4+fenL3+fenL2)/Zong)

XL3←SkeletonPointx(jointSAC.Position)+Lx*((fenL5+fenL4+fenL3)/Zong)

YL3←SkeletonPointy(jointSAC.Position)-Ly*((fenL5+fenL4+fenL3)/Zong)

XL4←SkeletonPointx(jointSAC.Position)+Lx*((fenL5+fenL4)/Zong)

YL4←SkeletonPointy(jointSAC.Position)-Ly*((fenL5+fenL4)/Zong)

XL5←SkeletonPointx(jointSAC.Position)+Lx*(fenL5/Zong)

YL5←SkeletonPointy(jointSAC.Position)-Ly*(fenL5/Zong)

The coordinate of // acquisition L1, L2, L3, L4 and L5

hL5←Sqrt((XL5-SkeletonPointx(jointSAC.Position))^

2+(YL5-SkeletonPointy(jointSAC.Position))^2)*Tan(PI/2-Angα-AngθL5)

XL5S←XL5-hL5*Sin(Angα)

YL5S←YL5-hL5*Cos(Angα)

hL4←Sqrt((XL4-XL5)^2+(YL4-YL5)^2)*Tan(PI/2-Angα¨ -AngθL5-AngθL4)

XL4S←XL4-(hL5+hL4)*Sin(Angα)

YL4S←YL4-(hL5+hL4)*Cos(Angα)

hL3←Sqrt((XL3-XL4)^2+(YL3-YL4)^2)*Tan(PI/2-Angα¨ -AngθL5-AngθL4-AngθL3)

XL3S←XL3-(hL5+hL4+hL3)*Sin(Angα)

YL3S←YL3-(hL5+hL4+hL3)*Cos(Angα)

hL2←Sqrt((XL2-XL3)^2+(YL2-YL3)^

2)*Tan(PI/2-Angα¨ -AngθL5-AngθL4-AngθL3-AngθL2)

XL2S←XL2-(hL5+hL4+hL3+hL2)*Sin(Angα)

YL2S←YL2-(hL5+hL4+hL3+hL2)*Cos(Angα)

hL1←Sqrt((XL3-XL4)^2+(YL3-YL4)^

2)*Tan(PI/2-Angα¨ -AngθL5-AngθL4-AngθL3-AngθL2-AngθL1)

XL1S←XL1-(hL5+hL4+hL3+hL2+hL1)*Sin(Angα)

YL1S←YL1-(hL5+hL4+hL3+hL2+hL1)*Cos(Angα)

}。

Apply specific case to the embodiment of the present invention above to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.

Claims (9)

1. thoracolunbar spine left and right lateral bending motions is in real time in a bulk measurement method, it is characterized in that, comprises the following steps:

Step 1: adopt Kinect sensor to record the skeleton data of the thoracolunbar spine of measurand;

Step 2: calculate each vertebral body Centroid data according to skeleton data, specifically comprise:

Step 2-1: input skeleton data, comprises the coordinate of shoulder Centroid T1 and the coordinate of sacrum portion Centroid S, definition thoracic vertebra section is T, is divided into five sections, is respectively: L1, L2, L3, L4, L5, and set the value of its vertebral body centre distance to lumbar vertebra;

Step 2-2: calculate the x between shoulder Centroid T1 and sacrum portion Centroid S, y is to distance;

Step 2-3: when scoliosis, calculates line T1-S and the X-axis angle of shoulder Centroid T1 and sacrum portion Centroid S, is designated as α;

Step 2-4: in lateral bending process, intervertebral disc produces distortion, and adjacent lumbar vertebrae sections produces relative rotation, definition L5 is θ relative to the corner of S _l5, L4 is θ relative to the corner of L5 _l4, L3 is θ relative to the corner of L4 _l3, L2 is θ relative to the corner of L3 _l2, L1 is θ relative to the corner of L2 _l1, T1 is θ relative to the corner of L1 _t, and calculate θ _t, θ _l1, θ _l2, θ _l3, θ _l4and θ _l5;

Step 2-5: calculate thoracic vertebra section T, lumbar segment L1, the component length T' of L2, L3, L4, L5, L' _l1, L' _l2, L' _l3, L' _l4, L' _l5and component overall length Z;

Step 2-6: definition L1', L2', L3', L4', L5' are respectively L1, L2, L3, L4, L5 projection on shoulder Centroid T1 and sacrum portion Centroid S line T1-S line, and calculate x, the y-axis coordinate of L1', L2', L3', L4', L5' respectively;

Step 2-7: calculate the x of L1, L2, L3, L4, L5, y-axis coordinate respectively;

Step 3: export each vertebral body Centroid data.

2. a kind of thoracolunbar spine left and right according to claim 1 lateral bending motions is in real time in bulk measurement method, it is characterized in that, in step 2-1, the skeleton data of input comprises shoulder Centroid T1 coordinate T1 (Tx, and sacrum portion Centroid S coordinate S (Sx, Sy) Ty); According to " Chinese adult body dimension " standard, the vertebral body centre distance L of the L1-L2 section of lumbar vertebra, L2-L3 section, L3-L4 section, L4-L5 section and L4-S section sets to lumbar vertebra segmentation _l1, L _l2, L _l3, L _l4, L _l5value.

3. a kind of thoracolunbar spine left and right according to claim 1 and 2 lateral bending motions is in real time in bulk measurement method, it is characterized in that, in step 2-2, calculates x, y of shoulder Centroid T1 and sacrum portion Centroid S to distance L _x, L _yconcrete formula be:

L _x＝|T _x-S _x|

L _y＝|T _y-S _y|。

4. a kind of thoracolunbar spine left and right according to claim 1 lateral bending motions is in real time in bulk measurement method, it is characterized in that, in step 2-3, the concrete formula calculating shoulder Centroid T1 and sacrum portion Centroid S line T1-S and X-axis angle α is:

$\mathrm{\&alpha;}=\arctan \left|\frac{L_y}{L_X}\right|.$

5. a kind of thoracolunbar spine left and right according to claim 1 lateral bending motions is in real time in bulk measurement method, it is characterized in that, in step 2-4, calculates θ _t, θ _l1, θ _l2, θ _l3, θ _l4and θ _l5concrete formula be:

${\mathrm{\&theta;}}_{L5}=\frac{\frac{\mathrm{\&pi;}}{2}-\mathrm{\&alpha;}}{10}$

θ _L4＝2θ _L5

${\mathrm{\&theta;}}_{L3}=\frac{8}{3}{\mathrm{\&theta;}}_{L5}$

θ _L2＝2θ _L5

θ _L1＝2θ _L5

${\mathrm{\&theta;}}_T=\frac{8}{3}{\mathrm{\&theta;}}_{L5}.$

6. a kind of thoracolunbar spine left and right according to claim 1 lateral bending motions is in real time in bulk measurement method, it is characterized in that, in step 2-5, calculates thoracic vertebra section T, lumbar segment L1, the component length T' of L2, L3, L4, L5, L' _l1, L' _l2, L' _l3, L' _l4, L' _l5and the concrete formula of component overall length Z is:

$T^{\&prime;}=L_T\&times;\left|\cos (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&alpha;}-{\mathrm{\&theta;}}_{L5}-{\mathrm{\&theta;}}_{L4}-{\mathrm{\&theta;}}_{L3}-{\mathrm{\&theta;}}_{L2}-{\mathrm{\&theta;}}_{L1}-{\mathrm{\&theta;}}_T)\right|$

$L_{L1}^{\&prime;}=L_{L1}\&times;\left|\cos (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&alpha;}-{\mathrm{\&theta;}}_{L5}-{\mathrm{\&theta;}}_{L4}-{\mathrm{\&theta;}}_{L3}-{\mathrm{\&theta;}}_{L2}-{\mathrm{\&theta;}}_{L1})\right|$

$L_{L2}^{\&prime;}=L_{L2}\&times;\left|\cos (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&alpha;}-{\mathrm{\&theta;}}_{L5}-{\mathrm{\&theta;}}_{L4}-{\mathrm{\&theta;}}_{L3}-{\mathrm{\&theta;}}_{L2})\right|$

$L_{L3}^{\&prime;}=L_{L3}\&times;\left|\cos (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&alpha;}-{\mathrm{\&theta;}}_{L5}-{\mathrm{\&theta;}}_{L4}-{\mathrm{\&theta;}}_{L3})\right|$

$L_{L4}^{\&prime;}=L_{L4}\&times;\left|\cos (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&alpha;}-{\mathrm{\&theta;}}_{L5}-{\mathrm{\&theta;}}_{L4})\right|$

$L_{L5}^{\&prime;}=L_{L5}\&times;\left|\cos (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&alpha;}-{\mathrm{\&theta;}}_{L5})\right|$

Z＝T'+L' _L1+L' _L2+L' _L3+L' _L4+L' _L5。

7. a kind of thoracolunbar spine left and right according to claim 1 lateral bending motions is in real time in bulk measurement method, it is characterized in that, in step 2-6, the calculating x of L1', L2', L3', L4', L5', the concrete formula of y-axis coordinate are:

$L_{1x}^{\&prime;}=S_x+L_x\&times;\frac{L_{L5}^{\&prime;}+L_{L4}^{\&prime;}+L_{L3}^{\&prime;}+L_{L2}^{\&prime;}+L_{L1}^{\&prime;}}{Z}$

$L_{1y}^{\&prime;}=S_y-L_y\&times;\frac{L_{L5}^{\&prime;}+L_{L4}^{\&prime;}+L_{L3}^{\&prime;}+L_{L2}^{\&prime;}+L_{L1}^{\&prime;}}{Z}$

$L_{2x}^{\&prime;}=S_x+L_x\&times;\frac{L_{L5}^{\&prime;}+L_{L4}^{\&prime;}+L_{L3}^{\&prime;}+L_{L2}^{\&prime;}}{Z}$

$L_{2y}^{\&prime;}=S_y-L_y\&times;\frac{L_{L5}^{\&prime;}+L_{L4}^{\&prime;}+L_{L3}^{\&prime;}+L_{L2}^{\&prime;}}{Z}$

$L_{3x}^{\&prime;}=S_x+L_x\&times;\frac{L_{L5}^{\&prime;}+L_{L4}^{\&prime;}+L_{L3}^{\&prime;}}{Z}$

$L_{3y}^{\&prime;}=S_y-L_y\&times;\frac{L_{L5}^{\&prime;}+L_{L4}^{\&prime;}+L_{L3}^{\&prime;}}{Z}$

$L_{4x}^{\&prime;}=S_x+L_x\&times;\frac{L_{L5}^{\&prime;}+L_{L4}^{\&prime;}}{Z}$

$L_{4y}^{\&prime;}=S_y-L_y\&times;\frac{L_{L5}^{\&prime;}+L_{L4}^{\&prime;}}{Z}$

$L_{5x}^{\&prime;}=S_x+L_x\&times;\frac{L_{L5}^{\&prime;}}{Z}$

$L_{5y}^{\&prime;}=S_y-L_y\&times;\frac{L_{L5}^{\&prime;}}{Z}.$

8. a kind of thoracolunbar spine left and right according to claim 1 lateral bending motions is in real time in bulk measurement method, it is characterized in that, in step 2-7, the calculating x of L1, L2, L3, L4 and L5, the concrete formula of y-axis coordinate are:

$h_{L5}=\sqrt{{(L_{5x}^{\&prime;}-S_x)}^2+{(L_{5y}^{\&prime;}-S_y)}^2}\&times;\tan (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&alpha;}-{\mathrm{\&theta;}}_{L5})$

L _5x＝L' _5x-h _L5×sinα

L _5y＝L' _5y-h _L5×cosα

$h_{L4}=\sqrt{{(L_{4x}^{\&prime;}-L_{5x}^{\&prime;})}^2+{(L_{4y}^{\&prime;}-L_{5y}^{\&prime;})}^2}\&times;\tan (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&alpha;}-{\mathrm{\&theta;}}_{L5}-{\mathrm{\&theta;}}_{L4})$

L _4x＝L' _4x-(h _L5+h _L4)×sinα

L _4y＝L' _4y-(h _L5+h _L4)×cosα

$h_{L3}=\sqrt{{(L_{3x}^{\&prime;}-L_{4x}^{\&prime;})}^2+{(L_{3y}^{\&prime;}-L_{4y}^{\&prime;})}^2}\&times;\tan (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&alpha;}-{\mathrm{\&theta;}}_{L5}-{\mathrm{\&theta;}}_{L4}-{\mathrm{\&theta;}}_{L3})$

L _3x＝L' _3x-(h _L5+h _L4+h _L3)×sinα

L _3y＝L' _3y-(h _L5+h _L4+h _L3)×cosα

$h_{L2}=\sqrt{{(L_{2x}^{\&prime;}-L_{3x}^{\&prime;})}^2+{(L_{2y}^{\&prime;}-L_{3y}^{\&prime;})}^2}\&times;\tan (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&alpha;}-{\mathrm{\&theta;}}_{L5}-{\mathrm{\&theta;}}_{L4}-{\mathrm{\&theta;}}_{L3}-{\mathrm{\&theta;}}_{L2})$

L _2x＝L' _2x-(h _L5+h _L4+h _L3+h _L2)×sinα

L _2y＝L' _2y-(h _L5+h _L4+h _L3+h _L2)×cosα

$h_{L1}=\sqrt{{(L_{1x}^{\&prime;}-L_{2x}^{\&prime;})}^2+{(L_{1y}^{\&prime;}-L_{2y}^{\&prime;})}^2}\&times;\tan (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&alpha;}-{\mathrm{\&theta;}}_{L5}-{\mathrm{\&theta;}}_{L4}-{\mathrm{\&theta;}}_{L3}-{\mathrm{\&theta;}}_{L2}-{\mathrm{\&theta;}}_{L1})$

L _1x＝L' _1x-(h _L5+h _L4+h _L3+h _L2+h _L1)×sinα

L _1y＝L' _1y-(h _L5+h _L4+h _L3+h _L2+h _L1)×cosα。

9. a kind of thoracolunbar spine left and right according to claim 1 lateral bending motions is in real time in bulk measurement method, it is characterized in that, the continuous light that described Kinect sensor utilizes RF transmitter to send is radiated at user and encodes, and accepted and the human body speckle data of recording user by infrared C MOS photographic head, induction apparatus is utilized to read human body speckle data, and decoded by chip, generate skeleton data.