CN106821387A - Using the lower limb rehabilitation degree quantitative evaluating system and appraisal procedure of motion capture sensor - Google Patents
Using the lower limb rehabilitation degree quantitative evaluating system and appraisal procedure of motion capture sensor Download PDFInfo
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- CN106821387A CN106821387A CN201611259711.6A CN201611259711A CN106821387A CN 106821387 A CN106821387 A CN 106821387A CN 201611259711 A CN201611259711 A CN 201611259711A CN 106821387 A CN106821387 A CN 106821387A
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- sensor node
- motion capture
- lower limb
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4848—Monitoring or testing the effects of treatment, e.g. of medication
Abstract
The invention discloses the lower limb rehabilitation degree quantitative evaluating system and appraisal procedure of a kind of utilization motion capture sensor, comprising a set of motion capture sensor and display system, also including motion capture sensing equipment and automatic intelligent computer system.The present invention utilizes sensor actuation trap setting and method, solves current lower limb rehabilitation scale evaluation and surveys the shortcoming that parameter type is limited and precision is very poor, while verifying integrated this concept of upper and lower extremities with quantitative data.The three-dimensional (3 D) manikin that patient drives can be shown during qualitative assessment of the present invention on screen in real time, contribute to patient in this course to the self of oneself posture, health recovered and clinical medicine has great importance and is worth.
Description
Technical field
The present invention relates to a kind of human body recovery system and device and its application, more particularly to a kind of motion capture system and its
Application in the rehabilitation degree at qualitative assessment human motion position, belongs to electronic information field, and be related specifically to medical science health
Multiple field upper and lower extremities integrated conception, belongs to the strategic new industry of generation information technology.
Background technology
The research of current lower limb rehabilitation scale evaluation mainly has following two modes：Mode one is given a mark for scale, under
Limb completes the actual conditions marking of several elemental motions to assess the stage residing for its lower limb rehabilitation, this mode be qualitatively,
Subjectivity is strong, inefficiency.Mode two is manual direct measurement distance and time of measuring, and gait cycle is recorded with manual time-keeping,
With gait parameters such as the direct measurement such as meter ruler and footprinting method stride, step widths, although this mode measures simple and directly perceived, but
It is that precision is very poor and limited types of surveyed parameter.
The rehabilitation training and assessment of upper limbs and lower limb are to separate in current limb rehabilitation training assessment.But clinical line health
Multiple doctor has found that some patients use the brace for being used for correcting cacomelia in upper limbs in the assessment of cerebral apoplexy limb rehabilitation training
In the case of auxiliary, the motion function of lower limb also has some improvement, and then proposes the concept of upper and lower extremities integration, and it is main
The upper limbs and lower limb for embodying people are integrated, after the action correction of brace auxiliary is carried out at one end, the motion to the other end
Function also has certain improvement, but specifically either with or without improvement, how much improve cannot carry out effectively qualitative assessment.
Moment sensor motion capture is the attitude orientation that body part is gathered with wireless movement posture sensor, using people
Body principle recovers modelling of human body motion, while using data are presented in computer software by the way of being wirelessly transferred.With
The raising developed rapidly with cartoon making requirement of computer hardware technique, in developed country, motion capture comes into reality
With the stage is changed, many sides such as virtual reality, game, ergonomics research, simulated training, biomechanics Research are successfully used to
Face, but the current technology for being applied to human body recovery system is affected by environment larger, and current lower limb rehabilitation scale evaluation is surveyed
Parameter type is limited, and precision is very poor, it is impossible to meet the algorithm design requirement to many kinds of parameters, checking upper and lower extremities not yet occurs
The apparatus and method of integrated information.
The content of the invention
In order to solve prior art problem, it is an object of the invention to overcome the shortcomings of that prior art is present, there is provided a kind of
Using the lower limb rehabilitation degree quantitative evaluating system and appraisal procedure of motion capture sensor, system is caught using sensor actuation
And method, can realize verifying integrated this concept of upper and lower extremities with quantitative data, there is provided a kind of method is simple, low cost
Honest and clean, reliability lower limb rehabilitation degree quantitative evaluating system high and method.
Purpose is created to reach foregoing invention, the present invention uses following technical proposals：
A kind of lower limb rehabilitation degree quantitative evaluating system of utilization motion capture sensor, including movement posture sensor system
System and automatic intelligent computer system, movement posture sensing system is by hub master node device and 17 sensors
Node is constituted, and hub master node device is wearable electronic device, and each sensor node is all wearable nothing
Line motion capture sensor unit, can wear installed in the setting position of human body respectively, movement posture sensing system each
Motion capture sensor unit includes that hot nose node, back sensor node, waist sensor node, left shoulder are passed respectively
Sensor node, right shoulder sensor node, left large arm sensor node, right large arm sensor node, left forearm sensor node, the right side
Forearm sensor node, left hand palm sensor node, right hand palm sensor node, left thigh sensor node, right thigh sensing
Device node, left leg sensor node, right leg sensor node, left foot sensor node and right foot sensor node, each
Motion capture sensor unit corresponds to collection head, back, waist, left and right double shoulder, left and right big arm, left and right forearm respectively
Portion, left and right both hands metacarpus, left and right huckle, 17 kinematic parameters of human body of left and right calf and left and right one, portion of both feet,
The exercise data of the human body of each motion capture sensor unit collection of movement posture sensing system is pooled to network
On hub master node device, then hub master node device can be by data with USB is wired or Wi-Fi is wireless side
Formula is transferred to automatic intelligent computer system, and automatic intelligent computer system receives the motion that motion capture sensor is transmitted
Data, and required parameter is obtained by computing and treatment, the three-dimensional (3 D) manikin that patient drives is built, as lower limb rehabilitation degree
Quantitative evaluating system information system, calculation result data is saved in database, and aobvious in automatic intelligent computer system
Show and shown in real time on device, moreover it is possible to complete the printout of lower limb rehabilitation degree qualitative assessment report.
As currently preferred technical scheme, also as the data system of quantitative verification upper and lower extremities integration, can complete
The printout of upper and lower extremities integration relation qualitative assessment report.
Used as the further preferred technical scheme of such scheme, automatic intelligent computer system can also be by information to remote
Journey data workstation is transmitted.
A kind of present invention carries out lower limb rehabilitation journey using the lower limb rehabilitation degree quantitative evaluating system of motion capture sensor
The method for spending qualitative assessment, step is as follows：
A. the lower limb rehabilitation degree quantitative evaluating system of motion capture sensor will be utilized is used for patient, makes patient by each biography
Sensor node device correspondence is worn on the corresponding position of body, forms movement posture sensing system, and movement posture is sensed
Device system and automatic intelligent computer system are initialized, and the display of automatic intelligent computer system is shown in real time
Go out the three-dimensional (3 D) manikin of patient's driving；
B. the patient of movement posture sensing system is worn under the conditions of brace is worn or under conditions of not wearing brace, point
Lower limb rehabilitation degree qualitative assessment is not carried out, and qualitative assessment flow is as follows：
Midstance is kept at 10 meters of positions of distance of automatic intelligent computer system, as patient's setting in motion
Original state, then patient go straight to automatic intelligent computer system from original state present position, that is, complete once
Measurement, patient returns original state present position and repeats the motion process of above-mentioned patient afterwards, that is, complete second and measure,
Repeatedly by that analogy, in multiple measurement process, the patient motion data of movement posture sensing system collection has with USB for measurement
Line or Wi-Fi wirelessly, are transferred to automatic intelligent computer system, data processing are carried out, by result in display
On show, and print quantitative assessment report.
The present invention compared with prior art, substantive distinguishing features and remarkable advantage is obviously protruded with following：
1. apparatus of the present invention equipment is simple, surveys that parameter is complete, and parameters precision is higher, it is adaptable to medical spaces at different levels；This
Invention because use motion capture sensing equipment, the Kinect image procossing the most frequently used compared in the market it is affected by environment compared with
Small, more suitable for hospital environment, simultaneous transmission data precision is higher, can meet the algorithm design requirement to many kinds of parameters；
2. apparatus of the present invention are easy to use, and adaptability is good, and system is reliable and stable.The system carries out equipment needed for items
It is integrated, eliminate and use the step of building again, convenient use every time, and there is certain robustness to environmental change；
3. the three-dimensional (3 D) manikin that patient drives can be shown during qualitative assessment of the present invention on screen in real time, helped
Patient Yu is in this course to the self of oneself posture；
4. two parts of assessment reports are quantitatively demonstrated up and down when present system is by patient-worn's brace and without brace
Limb integrated conception.
Brief description of the drawings
Fig. 1 is shown for the embodiment of the present invention one using the lower limb rehabilitation degree quantitative evaluating system structure of motion capture sensor
It is intended to.
Fig. 2 is the lower limb rehabilitation degree quantitative evaluating method actual test schematic flow sheet of the embodiment of the present invention one.
Specific embodiment
Details are as follows for the preferred embodiments of the present invention：
Embodiment one：
In the present embodiment, referring to Fig. 1 and Fig. 2, a kind of lower limb rehabilitation degree of utilization motion capture sensor is quantitatively commented
Estimate system, including movement posture sensing system I and automatic intelligent computer system II, movement posture sensing system I by
Hub master node device 18 and 17 sensor nodes are constituted, and hub master node device 18 is wearable electricity
Sub- device, each sensor node is all wearable wireless motion capture sensor unit, can wear respectively installed in human body
Setting position, each motion capture sensor unit of movement posture sensing system I includes hot nose node respectively
1st, back sensor node 2, waist sensor node 3, left shoulder sensor node 4, right shoulder sensor node 5, left large arm sensing
Device node 7, right large arm sensor node 6, left forearm sensor node 9, right forearm sensor node 8, left palm sensor section
Point 11, right hand palm sensor node 10, left thigh sensor node 13, right thigh sensor node 12, left leg sensor section
Point 15, right leg sensor node 14, left foot sensor node 17 and right foot sensor node 16, each motion capture sensor
Unit correspond to respectively collection head, back, waist, left and right double shoulder, the big arm in left and right, the small arm in left and right, left and right both hands metacarpus,
Left and right huckle, 17 kinematic parameters of human body of left and right calf and left and right one, portion of both feet, movement posture sensor system
The exercise data of the human body of each motion capture sensor unit collection of system I is pooled to hub master node device
On 18, then data are transferred to automatic intelligent computer system by hub master node device 18 with USB wired modes
II, automatic intelligent computer system II receives the exercise data that motion capture sensor is transmitted, and by computing and processes
To required parameter, the three-dimensional (3 D) manikin that patient drives is built, as lower limb rehabilitation degree quantitative evaluating system information system, will
Calculation result data is saved in database, and is shown in real time on the display of automatic intelligent computer system II, moreover it is possible to complete
Into the printout of lower limb rehabilitation degree qualitative assessment report.
In the present embodiment, referring to Fig. 1 and Fig. 2, also as the data system of quantitative verification upper and lower extremities integration, moreover it is possible to complete
Into the printout of upper and lower extremities integration relation qualitative assessment report.
In the present embodiment, referring to Fig. 1 and Fig. 2, automatic intelligent computer system II can also be by information to teledata
Work station is transmitted.The present embodiment automatic intelligent computer system II is by Algorithm Analysis and processes movement posture sensor
The patient motion data that system I is transmitted, the parameter needed for obtaining can also be supplied to medical worker and trouble by remote data transmission
Person as rehabilitation training assessment foundation.
In the present embodiment, referring to Fig. 1 and Fig. 2, a kind of the present embodiment utilizes the lower limb rehabilitation journey of motion capture sensor
The method that degree quantitative evaluating system carries out lower limb rehabilitation degree qualitative assessment, step is as follows：
A. the lower limb rehabilitation degree quantitative evaluating system of motion capture sensor will be utilized is used for patient, makes patient by each biography
Sensor node device correspondence is worn on the corresponding position of body, forms movement posture sensing system, and movement posture is sensed
Device system and automatic intelligent computer system are initialized, and the display of automatic intelligent computer system is shown in real time
Go out the three-dimensional (3 D) manikin of patient's driving；
B. the patient of movement posture sensing system is worn under the conditions of brace is worn or under conditions of not wearing brace, point
Lower limb rehabilitation degree qualitative assessment is not carried out, and qualitative assessment flow is as follows：
Midstance is kept at 10 meters of positions of distance of automatic intelligent computer system, as patient's setting in motion
Original state, then patient go straight to automatic intelligent computer system from original state present position, that is, complete once
Measurement, patient returns original state present position and repeats the motion process of above-mentioned patient afterwards, that is, complete second and measure,
Repeatedly by that analogy, in multiple measurement process, the patient motion data of movement posture sensing system collection has with USB for measurement
Line or Wi-Fi wirelessly, are transferred to automatic intelligent computer system, data processing are carried out, by result in display
On show, and print quantitative assessment report.
The present embodiment automatic intelligent computer system II is by Algorithm Analysis and processes the biography of movement posture sensing system I
The patient motion data come, the parameter needed for obtaining can also be supplied to medical worker and patient to be used as health by remote data transmission
The assessment foundation that refreshment is practiced.Doctor for patient can wear brace and assessment report is analyzed during without brace.This
Embodiment is based on the lower limb rehabilitation scale evaluation system and method for sensor actuation capturing technology exploitation.Comprising a set of motion capture
Sensor and display system, also including motion capture sensing equipment and automatic intelligent computer system.The present embodiment is using biography
Sensor motion capture apparatus and method, solve current lower limb rehabilitation scale evaluation and survey that parameter type is limited and precision is very poor
Shortcoming, while verifying integrated this concept of upper and lower extremities with quantitative data, recovers to health and clinical medicine has
Important meaning and value.
Embodiment two：
The present embodiment is essentially identical with embodiment one, is particular in that：
In the present embodiment, the human body portion of each motion capture sensor unit collection of movement posture sensing system I
Position exercise data be pooled on hub master node device 18, then hub master node device 18 by data with
Wi-Fi is wirelessly transferred to automatic intelligent computer system II.Using Wi-Fi wirelessly, instead of cable data
Line, makes equipment simpler, using more convenient.
The embodiment of the present invention is illustrated above in conjunction with accompanying drawing, but the invention is not restricted to above-described embodiment, can be with
The purpose of innovation and creation of the invention makes various changes, under all Spirit Essence and principle according to technical solution of the present invention
Change, modification, replacement, the combination or simplified made, should be equivalent substitute mode, as long as meeting goal of the invention of the invention,
Without departing from the present invention using the lower limb rehabilitation degree quantitative evaluating system of motion capture sensor and the technology of appraisal procedure
Principle and inventive concept, belong to protection scope of the present invention.
Claims (4)
1. a kind of lower limb rehabilitation degree quantitative evaluating system of utilization motion capture sensor, including movement posture sensing system
And automatic intelligent computer system (II) (I), it is characterised in that：The movement posture sensing system (I) is by network line concentration
Device master node device (18) and 17 sensor nodes are constituted, and hub master node device (18) is wearable electronics device
Part, each sensor node is all wearable wireless motion capture sensor unit, can respectively wear setting installed in human body
Determine position, each motion capture sensor unit of the movement posture sensing system (I) includes hot nose section respectively
Point (1), back sensor node (2), waist sensor node (3), left shoulder sensor node (4), right shoulder sensor node
(5), left large arm sensor node (7), right large arm sensor node (6), left forearm sensor node (9), right small arm sensor
Node (8), left hand slap sensor node (11), the right hand and slap sensor node (10), left thigh sensor node (13), right thigh
Sensor node (12), left leg sensor node (15), right leg sensor node (14), left foot sensor node (17) and
Right foot sensor node (16), each motion capture sensor unit corresponds to collection head, back, waist, left and right both shoulders respectively
Portion, the big arm in left and right, the small arm in left and right, left and right both hands metacarpus, left and right huckle, left and right calf and one 17, left and right both feet portion
The kinematic parameter of individual human body, each motion capture sensor unit collection of the movement posture sensing system (I)
The exercise data of human body is pooled on hub master node device (18), then hub master node device
(18) meeting is wired with USB by data or Wi-Fi is wirelessly transferred to automatic intelligent computer system (II), automation
Intelligent computer systems (II) receive the exercise data that motion capture sensor is transmitted, and obtain required ginseng by computing and treatment
Number, builds the three-dimensional (3 D) manikin that patient drives, as lower limb rehabilitation degree quantitative evaluating system information system, by result of calculation
Data are saved in database, and are shown in real time on automatic intelligent computer system (II) display, moreover it is possible to complete lower limb
The printout of rehabilitation degree qualitative assessment report.
2., according to claim 1 using the lower limb rehabilitation degree quantitative evaluating system of motion capture sensor, its feature exists
In：Also as the data system of quantitative verification upper and lower extremities integration, upper and lower extremities integration relation qualitative assessment report can be completed
Printout.
3., according to claim 1 using the lower limb rehabilitation degree quantitative evaluating system of motion capture sensor, its feature exists
In：To teledata work station can also be transmitted information by the automatic intelligent computer system (II).
4. the lower limb rehabilitation degree quantitative evaluating system described in a kind of claim 1 using motion capture sensor carries out lower limb health
The method of multiple degree qualitative assessment, it is characterised in that step is as follows：
A. the lower limb rehabilitation degree quantitative evaluating system of motion capture sensor will be utilized is used for patient, makes patient by each sensor
Node apparatus correspondence is worn on the corresponding position of body, forms movement posture sensing system, and the movement posture is sensed
Device system and automatic intelligent computer system are initialized, and the display of automatic intelligent computer system is shown in real time
Go out the three-dimensional (3 D) manikin of patient's driving；
B. the patient for wearing movement posture sensing system is under the conditions of brace is worn or under conditions of not wearing brace, point
Lower limb rehabilitation degree qualitative assessment is not carried out, and qualitative assessment flow is as follows：
Midstance is kept at 10 meters of positions of distance of automatic intelligent computer system, as the first of patient's setting in motion
Beginning state, then patient go straight to the automatic intelligent computer system from original state present position, that is, complete once
Measurement, patient returns original state present position and repeats the motion process of above-mentioned patient afterwards, that is, complete second and measure,
Repeatedly by that analogy, in multiple measurement process, the patient motion data of movement posture sensing system collection has with USB for measurement
Line or Wi-Fi wirelessly, are transferred to automatic intelligent computer system, data processing are carried out, by result in display
On show, and print quantitative assessment report.
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| CN110047591A (en) * | 2019-04-23 | 2019-07-23 | 吉林大学 | One kind is for doctor's posture appraisal procedure in surgical procedures |
| CN110710971A (en) * | 2019-09-20 | 2020-01-21 | 广东技术师范大学 | Remote rehabilitation auxiliary system based on human body posture and myoelectricity detection |
| CN112729346A (en) * | 2021-01-05 | 2021-04-30 | 北京诺亦腾科技有限公司 | State prompting method and device for inertial motion capture sensor |
| CN112842327A (en) * | 2021-01-05 | 2021-05-28 | 北京诺亦腾科技有限公司 | Body posture generation method and device, electronic equipment and medium |
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| CN112729346A (en) * | 2021-01-05 | 2021-04-30 | 北京诺亦腾科技有限公司 | State prompting method and device for inertial motion capture sensor |
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