CN107433021A - A kind of VR rehabilitation systems based on mirror neuron - Google Patents
A kind of VR rehabilitation systems based on mirror neuron Download PDFInfo
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
- A63B2071/0636—3D visualisation
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Abstract
The invention discloses a kind of VR rehabilitation systems based on mirror neuron, including：Main control terminal, virtual scene picture can be generated；Somatosensory recognition device, the body part for catching trainer are acted, and generate body part dummy model, and body part dummy model is inputted into main control terminal, are merged with virtual scene picture；VR mirror image interactive modules, are connected with main control terminal signal, for body part dummy model to be converted to the mirror image visual pattern on the basis of trainer's axis；VR visual presentation devices, for the mirror image visual pattern to be presented into trainer.The present invention realizes the positioning in virtual reality space by VR technologies and somatosensory recognition technology and freely acted, the present invention uses VR mirror image technologies, realize the rehabilitation training based on mirror neuron, the collection that rehabilitation training to patient is digitized, the form of real-time update is formed, understands rehabilitation situation in real time for medical personnel and patient.
Description
Technical field
The invention belongs to field of medical technology, and in particular to a kind of VR rehabilitation systems based on mirror neuron.
Background technology
Virtual reality technology is a kind of computer simulation system that can be created with the experiencing virtual world.Virtual reality technology
(VR) mainly include simulated environment, perception, natural technical ability and sensing equipment etc., simulated environment be generated by computer,
Dynamic 3 D stereo photorealism in real time.Perception refers to that preferable VR should have possessed by all people and perceived, except calculating
Outside the visually-perceptible that machine graph technology is generated, also the sense of hearing, tactile, power feel, motion etc. perceive, or even also include smell and taste
Feel etc., it is also referred to as to perceive more.
In terms of VR fast-developing let us finds that VR not only can be only used in amusement in recent years, it can be applied equally to cure
Treat.Patent document such as Publication No. CN 106388793A discloses one kind based on virtual reality interaction technique and physiology sign
The senile dementia auxiliary treatment system of data monitoring, combines VR technologies and intelligent information processing method, with reference to physiology sign number
According to virtual reality technology, provide the scene once undergone for early stage senile dementia patients, assist the recovery of memory in patients, together
When presentation content changed according to physiology sign data in real time using big data technology, more accurately to wake up the memory of patient.
Cerebral apoplexy, also known as " apoplexy ", " cerebrovas-cularaccident " (cerebralvascular accident, CVA).It is under the jurisdiction of
Neurology, it is a kind of acute cerebrovascular diseases, is due to that cerebral vessels rupture or because angiemphraxis causes blood can not suddenly
Flow into brain and cause one group of disease of brain tissue impairment, including ischemic and hemorrhagic apoplexy.Wherein hemorrhagic apoplexy is dead
Die that rate is higher, the incidence of disease of Ischemic Stroke is higher than hemorrhagic apoplexy, accounts for the 60%~70% of cerebral apoplexy sum, internal carotid and
Vertebral artery occlusion and it is narrow cause cerebral arterial thrombosis, the age is more more than 40 years old, and male is more compared with women, and severe patient can cause
It is dead.
Cerebral apoplexy is the first cause that population in the world is dead and disables.The existing patients with cerebral apoplexy in China nearly 7,000,000, and often
Nian Xinfa 2000000 speed is increased sharply, wherein 70%~80% apoplexy patient is because deformity can not live on one's own life.85% brain soldier
Middle patient just has hand dysfunction in the beginning of morbidity, and about 30% patients with cerebral apoplexy still leaves hand function after falling ill 6 months
Obstacle, this has had a strong impact on the motor function of patient and ADL, and Traditional Rehabilitation training needs rehabilitation therapist's pin
To these dysfunctions, one-to-one to patient to instruct training, the training process of existing traditional rehabilitation training side is dull, uninteresting,
Patient easily loses interest to training, and easily fatigue, patient's training effectiveness are relatively low.Therefore active and effective rehabilitation is found to control
Treatment means, it is of great significance to improving cerebral apoplexy defensive position dysfunction tool.
The content of the invention
In order to solve the above problems, the invention provides a kind of VR rehabilitation systems based on mirror neuron, improve rehabilitation
Training effectiveness.
The technical scheme is that：A kind of VR rehabilitation systems based on mirror neuron, including：
Main control terminal, virtual scene picture can be generated；
Somatosensory recognition device, the body part for catching trainer act, and generate body part dummy model, and by body
Body region dummy model inputs main control terminal, is merged with virtual scene picture；
VR mirror image interactive modules, are connected with main control terminal signal, for body part dummy model to be converted to train
Mirror image visual pattern on the basis of person's axis；
VR visual presentation devices, for the mirror image visual pattern to be presented into trainer.
Mirror neuron (Mirror Neurons) is to be found in primate the beginning of the nineties.These nerve cells
Positioned at kinematic system, can be activated performing an action or observing when others does same action.Mirror neuron
System is not only excited when individual execution acts, and also excited when observing other same or analogous actions of similar execution.
Therefore mirror neuron plays an important role during action observation, action imitation, Mental imagery, motor learning etc., exactly base
In these effects, many new rehabilitation therapies are developed.For example action observation therapy learns echomotism by observing, and moves
Imagination therapy improves locomitivity by the imagination, and mirror image therapy combines observation, the imagination, imitation process, in virtual scene
The middle observation acted, the imagination, imitation and study.
Rehabilitation therapy of the present invention, establish on mirror neuron theory, pass through mirror neuron system
Activation come promote brain occur it is plastic sexually revise and function integrity, and then promote impaired motor function recovery.
Virtual scene in the present invention in main control terminal can be made up of 3D modeling+day empty packet textures, and 3D modeling details is rich
Richness, validity are higher.The present invention can establish a variety of virtual scenes, can switch different environment, to adapt to different sufferers
Need.Such as natural views and city trees and shrubs, loosen mood to be best suitable for patient, improve comfort level to consider.
The present invention is acted by somatosensory recognition device recognition training person body part, and generates the virtual mould of the body part
Type, and the body part dummy model is inputted into main control terminal, merged with virtual scene picture, VR mirror images interactive module is by body
Mirror image visual pattern of the position dummy model on the basis of trainer's axis, finally via VR visual presentation devices by mirror image vision
Image is presented to trainer, and trainer can carry out the imitation exercise of body part action according to the mirror image visual pattern of presentation.
The present invention can be as needed, sets a variety of training modes, such as by taking arm as an example, operator scheme bag of the invention
Include following several ways：
A, left hand is hidden in mirror image visual pattern, only by right hand mirror image, then the left side occurred in mirror image visual pattern
The mirror image of hand, the actually right hand, the mirror neuron of trainer is now excited, the real left hand of trainer can be with the right hand
Mirror image figure carries out action imitation, i.e., mapping true left hand action by right hand action is trained as reference.
B, the right hand is hidden in mirror image visual pattern, only by left hand mirror image, then the right side occurred in mirror image visual pattern
The mirror image of hand, actually left hand, the mirror neuron of trainer is now excited, the real right hand of trainer can be with left hand
Mirror image figure carries out action imitation, i.e., mapping true right hand action by left hand action is trained as reference.
C, left hand and the right hand are shown in mirror image visual pattern, but mirror image is only gone out one by left hand mirror image, left hand
The virtual arm models of the right hand, now excite the mirror neuron of trainer, and the real right hand of trainer can be with the mirror image of left hand
Figure carries out action imitation, i.e. double-handed exercise maps true left hand action simultaneously, and a hand controls the body of two hands as reference
Test.
D, left hand and the right hand are shown in mirror image visual pattern, but mirror image is only gone out one by right hand mirror image, the right hand
The virtual arm models of left hand, now excite the mirror neuron of trainer, and the real left hand of trainer can be with the mirror image of the right hand
Figure carries out action imitation, i.e. double-handed exercise maps true right hand action simultaneously, and a hand controls the body of two hands as reference
Test.
E, left hand and the right hand are shown in mirror image visual pattern, and by left and right and the equal mirror image of the right hand, now excited
The mirror neuron of trainer, the true left hand of trainer imitate the mirror image of the virtual right hand, and the true right hand imitates virtual left
The mirror image of hand.
The present invention is by the visual in virtual reality scenario, on the basis of user's axis, carry out left and right mirror image switch,
Replicate so that user can be by VR visual presentation devices, it was observed that the mirror image action of left and right limbs, mirror image is excited so as to realize
The effect of neuron, learn echomotism by observing, locomitivity is improved by the imagination by Mental imagery therapy.
The mirror image of VR mirror image interactive modules wherein in the present invention is according to line on the basis of user's axis, with the position of datum line
Put the mirror image switch that the virtual arm position in left and right is carried out with coordinate.It is mirrored all bones of the virtual arm of generation, skin, touches
Collision body, all according to true arm models, replicated, ensure the uniformity of experience and interaction.
Just left and right is opposite for the move mode of the move mode of mirror image arm and true arm.
The reference formula of mirror-image system is as follows：
True arm position correspond to the relative coordinate (X, Y, Z) of datum line->(conversion)
The relative coordinate (- X, Y ,-Z) of mirror image arm position correspondence datum line
Y-axis position keeps constant；
The each joint rotational value quaternary number (X, Y, Z, W) of true arm=
The each crucial local rotational value quaternary number (X, Y, Z, W) of mirror image arm
Local rotation keeps constant；
True arm position correspond to the relative scale (X, Y, Z) of datum line->(conversion)
The relative scale (- X, Y, Z) of mirror image arm position correspondence datum line
X-axis ratio is negative.
The present invention can also increase other stimulus to the sense organ in addition to the nervous system of visual stimulus trainer, as
It is preferred that in addition to for the device for force feedback to trainer's training position applying power degree.Stimulation in power feel and tactile, with more preferable
Reach real simulation, stimulate nerve effect.If such as when testing upper limbs, coordinate gesture identification, VR visions and
Device for force feedback, the dynamics that dynamic analog user grasps posture can be achieved.The grasping degree of hand is passed to master control by gesture identification
Terminal, respective value are 0 to 1, are represented respectively:Value=0 when palm shakeouts completely, value=1 when palm tightly fists；Force feedback
Device, according to this numerical value, the damping size of regulation and control device for force feedback.Device for force feedback used in the present invention can
To use existing conventional device for force feedback.
Somatosensory recognition device in the present invention have it is a variety of, such as electromagnetism somatosensory recognition device or laser somatosensory recognition dress
Put, preferably, the somatosensory recognition device is infrared somatosensory recognition device.
Because mankind's upper limbs sensitivity level and lower limb sensitivity level differ greatly, the judgement to upper extremity exercise, particularly hand
The judgement for referring to motion is very fine；Therefore in the present invention, upper limbs can be realized from lower limb using different technical schemes.This hair
The set-up mode of infrared body induction device in bright has a variety of, such as during identification upper limbs, using double infrared cameras, such as uses
The double infrared cameras of LeapMotion, are pasted in the front of the VR helmets.Double infrared cameras farthest identify that distance is public for 100
Point, i.e. patient's both hands extend to forward farthest, can also be identified position and the action of hand.Using double infrared cameras to upper
After limb is identified, 28 crucial motion states of hand, anglec of rotation etc. can be captured, and protect with the sight of user
Hold highly consistent.The hand coordinate that the identification of somatosensory recognition device obtains is relative coordinate, i.e., the hand of user is from infrared photography
The distance and bearing of head.Because infrared camera is pasted onto the front of the VR helmets, therefore in rehabilitation procedure, seat can be passed through
Mark conversion, obtains the hand coordinate recognized and orientation, generates virtual hand model, and hand model is set up to and follows VR
Move at visual angle.In this way, the perfect registration of hand dummy model and the true hand position of trainer can be achieved.When identifying lower limb,
At the ankle-joint and knee joint of patient's step, 3 and 1 white identification point are pasted respectively, use infrared camera and white
Lower limb are identified the form that identification point combines.
VR visual presentation devices can also have a variety of presentation modes in the present invention, such as can project or shield by ring curtain
Other vision presentation modes such as curtain, preferably, the VR visual presentation devices are VR glasses.
Preferably, the simple eye resolution ratio of the VR visual presentation devices is more than 1080*720, picture refreshing rate is
More than 90HZ.Image sharpness, visual experience of the patient in experience is directly influenced, and completed touching/grasping object
Accuracy rate.Median ocellus resolution ratio of the present invention can reach preferable effect in more than 1080*720.Picture refreshing rate, direct shadow
Whether when having arrived Patient Experience can produce tired, dizzy sensation, when being less than 60HZ such as picture refreshing rate, patient is often difficult if ringing
To adhere to more than 10 minutes.The picture refreshing rate of VR visual presentation devices is more than 90HZ in the present invention, and patient can be given preferable
Experience sense, to extend the training time.
For the ease of understanding and the training data of management training person, preferably, also including being used for management training person's instruction
Practice the data management Cloud Server of data, the data management Cloud Server is connected with the main control terminal signal.
Preferably, the data management Cloud Server includes being used for the identity information storage for storing trainer's identity information
Module, the main control terminal include acquisition module, and the acquisition module is used to gathering trainer's identity information, and by the instruction of collection
White silk person's identity information is delivered to identity information memory module.
The present invention can be by setting virtual scene picture, to realize the training to trainer, preferably, described virtual
Scenic picture includes at different rates that different directions occur from virtual scene picture, and is available for the trainer to be in VR visions
Existing device is in be touched or grabbed the ball taken under present condition.
Preferably, the main control terminal includes calibration training module and rehabilitation training module, the data management cloud
Server includes being used to store the calibration training data memory module that trainer calibrates training data, and for storing trainer
The rehabilitation training data memory module of rehabilitation training data.The present invention sets calibration training module, and each suffer from is weighed for setting
The calibration mode of person's basic condition.Such as in calibration mode, patient can be arranged a series of tasks, it is desirable to which sequentially touching is empty
Intend the ball that diverse location different directions occur in scene, ball disappears automatically after ball duration occurs no more than 3 seconds, 3 seconds.Example
Data below can such as be recorded：If whether patient successfully touches ball, the 3-dimensional space coordinates of ball, successfully touches ball flower
The time of expense is how many.The pathology limb part of patient and the normal limb part of patient people, can all be arranged once respectively
Calibration tasks.The performance of pathology limb part, cross validation can be carried out with the performance of normal limb part, to judge patient's
Illness degree, training index during in order to be set for rehabilitation.
Rehabilitation training module is used to adjust the training parameter in rehabilitation modality, and in rehabilitation modality, patient can be arranged to make
Touch/grasp in Virtual Space the task for the ball that flies here at a distance with pathology limbs.Illness degree according to patient is different, circle
Club from different positions, different directions, fly here at different rates, and the size of ball in itself, can also adjust.Example
Each rehabilitation training time can be such as arranged on 10~20 minutes, the touching for being required to complete/grab ball number 100~200
Between individual.The data below of patient can be collected in rehabilitation modality, to help medical personnel to analyze patients ' recovery situation：Ball
The 3D coordinates of appearance, the speed of ball flight, patient distance and speed that successfully whether touching/grasping, patient's pathology limbs move
Degree, patient's touching/time of grasping cost, patient touch/grasp success rate of ad-hoc location ball etc..
1st, the position that ball occurs：In the calibration mode, can be by with lower section such as the ball of a certain particular orientation
Formula is judged：
If success rate=0% that patient touches, judge that pathology limbs of the patient in the position do not possess touching energy
Power.The spheroid of the position is not generated in rehabilitation modality, row carries out the instruction of the position again after the further improvement of wait rehabilitation situation
Practice.
If 20%>The success rate that patient touches>0%, then judge pathology limbs of the patient in the position positioned at expection
Recovery area, the frequency that the spheroid of the position is generated in rehabilitation modality are 1.5 times of in general.
If 50%>The success rate that patient touches>20%, then judge pathology limbs of the patient in the position positioned at key
Recovery area, the frequency that the spheroid of the position is generated in rehabilitation modality are 2 times of in general.
If 100%>The success rate that patient touches>50%, then judge pathology limbs of the patient in the position positioned at just
Normal recovery area, the frequency that the spheroid of the position is generated in rehabilitation modality are normal.
2nd, the speed of ball flight：
According to the performance of patient's normal side limbs, the baseline values of formation speed：
The normal side limbs of baseline values=10/ of ball speed averagely touch the duration of ball；
In rehabilitation modality, ball speed is the baseline values of acquiescence：
If patient's touching rate is higher than 50% on some ad-hoc location, the ball speed rate of increase of the position=(touching rate-
50%)/2；
If patient's touching rate is less than 50% on some ad-hoc location, the ball speed of the position slow down ratio=√ (50%-touch
Touch rate)；
3rd, ball volume size：
According to the performance of patient's normal side limbs, the basic size of generation spheroid volume：
Baseline values=1 of ball speed, in rehabilitation modality, spheroid size for acquiescence baseline values
When patient's touching rate is less than 50% on some ad-hoc location, ball zoom ratio=1+/50% of the position；
When patient carries out rehabilitation training in rehabilitation modality, the parameter that can be manually adjusted by medical personnel, adjust manually
Section parameter is to confer to the right of medical personnel's systematic parameter, is the important means for lifting precision medical treatment.Such as doctor can be passed through
Shield personnel adjust following parameter：
Touching/grasping：Medical personnel can select patient to be carried out using pathology limbs according to the actual rehabilitation situation of patient
During training, if use the higher grasp motion of simple touch action or complexity.
Ball volume size：Medical personnel can select patient to use pathology limbs according to the actual rehabilitation situation of patient
When being trained, the underlying parameter of ball volume size is adjusted manually.
Ball velocity magnitude：Medical personnel can select patient to use pathology limbs according to the actual rehabilitation situation of patient
When being trained, the underlying parameter of ball flying speed is adjusted manually.
Ball velocity magnitude：Medical personnel can select patient to use pathology limbs according to the actual rehabilitation situation of patient
When being trained, the underlying parameter of ball flying speed is adjusted manually.
The training data trained in the present invention under calibration mode and rehabilitation modality is delivered to data management Cloud Server
Carry out data storage.
Preferably, the data management Cloud Server includes being used to that training data memory module and rehabilitation instruction will to be calibrated
Practice the chart generating module of the data storage generation chart in data memory module.Calibrate training data memory module and rehabilitation
Data storage in training data memory module generates corresponding chart via icon generation module, and rehabilitation training data can be very
The training result and validity of good reflection patient, training of the medical personnel to patient is helped adjust and improve in real time.
Using very intuitively chart appearance form, more preferable help patient and medical personnel understand the meaning of rehabilitation data.
Compared with prior art, beneficial effects of the present invention are embodied in：
It is of the invention that the positioning in virtual reality space is realized by VR technologies and somatosensory recognition technology and freely acted, and
Existing rehabilitation of stroke patients never has good method activation mirror neuron, and the present invention uses VR mirror image technologies, and realization is based on
The rehabilitation training of mirror neuron, collection that the rehabilitation training to patient is digitized, model is established, form real-time update
Form, rehabilitation situation is understood in real time for medical personnel and patient.And by the system, understand the real-time rehabilitation situation of patient
Afterwards, it is possible to achieve the accurate treatment to patient, recover weaker body part for patient, adjust automatically rehabilitation training program,
Emphasis training is carried out, coordinates the professional knowledge of medical personnel, refresh oneself significantly rehabilitation efficiency and effect.
Brief description of the drawings
Fig. 1 is present invention training flowage structure schematic diagram.
The signal that Fig. 2 is the present invention transmits schematic diagram.
Fig. 3 is mirror image visual pattern in the present invention.
Fig. 4 is that the hand skeletal joint in the present invention after mirror image corresponds to schematic diagram.
Fig. 5 is the structural representation of (use state) when device for force feedback is engaged with patient's upper limbs in the present invention.
Embodiment
As depicted in figs. 1 and 2, the present invention includes：Main control terminal 1, virtual scene picture can be generated；Somatosensory recognition device 2,
Body part for catching trainer acts, and generates body part dummy model, and body part dummy model is inputted and led
Control terminal 1, merged with virtual scene picture；VR mirror images interactive module 3, it is connected with the signal of main control terminal 1, for by body part
Dummy model is converted to the mirror image visual pattern on the basis of trainer's axis；VR visual presentation devices 4, for by mirror image vision
Image is presented to trainer.The present invention can be by setting virtual scene picture, to realize the training to trainer, such as virtually
Scenic picture includes at different rates that different directions occur from virtual scene picture, and is available for the trainer to be in VR visions
Existing device 4 is in be touched or grabbed the ball taken under present condition.
Somatosensory recognition device 2 in the present invention have it is a variety of, such as electromagnetism somatosensory recognition device or laser somatosensory recognition dress
Put, somatosensory recognition device 2 is infrared somatosensory recognition device.
Because mankind's upper limbs sensitivity level and lower limb sensitivity level differ greatly, the judgement to upper extremity exercise, particularly hand
The judgement for referring to motion is very fine；Therefore in the present invention, upper limbs can be realized from lower limb using different technical schemes.This hair
The set-up mode of infrared body induction device in bright has a variety of, such as during identification upper limbs, using double infrared cameras, such as uses
Double 10 centimetres of the infrared camera spacing of LeapMotion, are pasted in the front of the VR helmets.Double infrared cameras farthest identification away from
From for 100 centimeters, i.e. patient's both hands extend to forward farthest, can also be identified position and the action of hand.Using double infrared
After upper limbs is identified camera, 28 crucial motion states of hand, anglec of rotation etc. can be captured, and and use
The sight of person keeps highly consistent.The hand coordinate that the identification of somatosensory recognition device obtains is the hand of relative coordinate, i.e. user
From the distance and bearing of infrared camera.Because infrared camera is pasted onto the front of the VR helmets, therefore in rehabilitation procedure,
The hand coordinate recognized and orientation can be obtained by Coordinate Conversion, generate virtual hand model, and hand model is set
Stand into and follow VR visual angles to move.In this way, the perfect registration of hand dummy model and the true hand position of trainer can be achieved.Know
During other lower limb, at the ankle-joint and knee joint of patient's step, 3 and 1 white identification point are pasted respectively, use infrared photography
Lower limb are identified the form that head is combined with white indicia point.
VR visual presentation devices 4 can also have a variety of presentation modes in the present invention, for example, can be projected by ring curtain or
Other vision presentation modes such as screen, VR visual presentation devices 4 are VR glasses.The simple eye resolution ratio of VR visual presentation devices 4 is
More than 1080*720, picture refreshing rate are more than 90HZ.Image sharpness resolution ratio, directly influenced patient experience when
Visual experience, and complete the accuracy rate of touching/grasping object.Median ocellus resolution ratio of the present invention is in more than 1080*720, Ke Yida
To preferable effect.Picture refreshing rate, whether tired, dizzy sensation can be produced when having directly influenced Patient Experience, such as drawn
When face refresh rate is less than 60HZ, patient is often difficult to adhere to more than 10 minutes.The picture of VR visual presentation devices 4 in the present invention
Refresh rate is more than 90HZ, the preferable experience sense of patient can be given, to extend the training time.
Mirror neuron (Mirror Neurons) is to be found in primate the beginning of the nineties.These nerve cells
Positioned at kinematic system, can be activated performing an action or observing when others does same action.Mirror neuron
System is not only excited when individual execution acts, and also excited when observing other same or analogous actions of similar execution.
Therefore mirror neuron plays an important role during action observation, action imitation, Mental imagery, motor learning etc., exactly base
In these effects, many new rehabilitation therapies are developed.For example action observation therapy learns echomotism by observing, and moves
Imagination therapy improves locomitivity by the imagination, and mirror image therapy combines observation, the imagination, imitation process, in virtual scene
The middle observation acted, the imagination, imitation and study.
Rehabilitation therapy of the present invention, establish on mirror neuron theory, pass through mirror neuron system
Activation come promote brain occur it is plastic sexually revise and function integrity, and then promote impaired motor function recovery.
Virtual scene in the present invention in main control terminal 1 can be made up of 3D modeling+day empty packet textures, and 3D modeling details is rich
Richness, validity are higher.The present invention can establish a variety of virtual scenes, can switch different environment, to adapt to different sufferers
Need.Such as natural views and city trees and shrubs, loosen mood to be best suitable for patient, improve comfort level to consider.
As shown in figure 4, the present invention is acted by the recognition training person body part of somatosensory recognition device 2, and generate the limbs
Position dummy model, and the body part dummy model is inputted into main control terminal 1, merged with virtual scene picture, VR mirror images are handed over
Mutual mirror image visual pattern of the module 3 by body part dummy model on the basis of trainer's axis, is finally presented via VR visions
Mirror image visual pattern is presented to trainer by device 4, and trainer can carry out body part according to the mirror image visual pattern of presentation
The imitation exercise of action.
The present invention can be as needed, sets a variety of training modes, such as by taking arm as an example, operator scheme bag of the invention
Include following several ways：
A, left hand is hidden in mirror image visual pattern, only by right hand mirror image, then the left side occurred in mirror image visual pattern
The mirror image of hand, the actually right hand, the mirror neuron of trainer is now excited, the real left hand of trainer can be with the right hand
Mirror image figure carries out action imitation, i.e., mapping true left hand action by right hand action is trained as reference.
B, the right hand is hidden in mirror image visual pattern, only by left hand mirror image, then the right side occurred in mirror image visual pattern
The mirror image of hand, actually left hand, the mirror neuron of trainer is now excited, the real right hand of trainer can be with left hand
Mirror image figure carries out action imitation, i.e., mapping true right hand action by left hand action is trained as reference.
C, left hand and the right hand are shown in mirror image visual pattern, but mirror image is only gone out one by left hand mirror image, left hand
The virtual arm models of the right hand, now excite the mirror neuron of trainer, and the real right hand of trainer can be with the mirror image of left hand
Figure carries out action imitation, i.e. double-handed exercise maps true left hand action simultaneously, and a hand controls the body of two hands as reference
Test.
D, left hand and the right hand are shown in mirror image visual pattern, but mirror image is only gone out one by right hand mirror image, the right hand
The virtual arm models of left hand, now excite the mirror neuron of trainer, and the real left hand of trainer can be with the mirror image of the right hand
Figure carries out action imitation, i.e. double-handed exercise maps true right hand action simultaneously, and a hand controls the body of two hands as reference
Test.
E, left hand and the right hand are shown in mirror image visual pattern, and by left and right and the equal mirror image of the right hand, now excited
The mirror neuron of trainer, the true left hand of trainer imitate the mirror image of the virtual right hand, and the true right hand imitates virtual left
The mirror image of hand.
It is as shown in figure 3, of the invention by the visual in virtual reality scenario, on the basis of user's axis, a progress left side
Right mirror image switch, duplication so that user can by VR visual presentation devices 4, it was observed that left and right limbs mirror image action, so as to
The effect for exciting mirror neuron is realized, learns echomotism by observing, is changed by Mental imagery therapy by the imagination
Kind locomitivity.
As shown in figure 3, the mirror image of the VR mirror image interactive modules wherein in the present invention is according to line on the basis of user's axis, with
The position of datum line and coordinate carry out the mirror image switch of the virtual arm position in left and right.It is mirrored all bones of the virtual arm of generation
Bone, skin, collision body, all according to true arm models, replicated, ensure the uniformity of experience and interaction.
Just left and right is opposite for the move mode of the move mode of mirror image arm and true arm.
The reference formula of mirror-image system is as follows：
True arm position correspond to the relative coordinate (X, Y, Z) of datum line->(conversion)
The relative coordinate (- X, Y ,-Z) of mirror image arm position correspondence datum line
Y-axis position keeps constant；
The each joint rotational value quaternary number (X, Y, Z, W) of true arm=
The each crucial local rotational value quaternary number (X, Y, Z, W) of mirror image arm
Local rotation keeps constant；
True arm position correspond to the relative scale (X, Y, Z) of datum line->(conversion)
The relative scale (- X, Y, Z) of mirror image arm position correspondence datum line
X-axis ratio is negative.
The present invention can also increase other stimulus to the sense organ, such as Fig. 1 in addition to the nervous system of visual stimulus trainer
Also include being used for the device for force feedback 5 for training trainer position applying power degree shown in~Fig. 5, in the present invention.Power is felt and tactile
On stimulation, preferably to reach real simulation, stimulate nerve effect.If such as when testing upper limbs, coordinate gesture
Identification, VR visions and device for force feedback, the dynamics that dynamic analog user grasps posture can be achieved.Gesture identification is by the grasping of hand
Degree passes to main control terminal, and respective value is 0 to 1, is represented respectively:Value=0 when palm shakeouts completely, when palm tightly fists
Value=1；Device for force feedback, according to this numerical value, the damping size of regulation and control device for force feedback 5.
For the ease of understanding and the training data of management training person, also include using as depicted in figs. 1 and 2, in the present invention
In the data management Cloud Server 6 of management training person's training data, data management Cloud Server 6 is connected with the signal of main control terminal 1.
Data management Cloud Server 6 includes being used for the identity information memory module 61 for storing trainer's identity information, and main control terminal 1 includes
Acquisition module 11, acquisition module 11 is used to gather trainer's identity information, and trainer's identity information of collection is delivered into body
Part information storage module 61.
As depicted in figs. 1 and 2, the red main control terminal 1 of the present invention includes calibration training module 12 and rehabilitation training module 13,
Data management Cloud Server 6 includes being used to store the calibration training data memory module 62 that trainer calibrates training data, and
For storing the rehabilitation training data memory module 63 of trainer's rehabilitation training data.The present invention sets calibration training module, uses
To set the calibration mode for weighing each patient's basic condition.Such as in calibration mode, patient can be arranged a series of tasks,
It is required that sequentially touching the ball that diverse location different directions occur in virtual scene, there is duration no more than 3 seconds, 3 seconds in ball
Ball disappears automatically afterwards.Such as data below can be recorded：Whether patient successfully touches the 3-dimensional space coordinates, such as of ball, ball
The time that fruit successfully touches ball cost is how many.The pathology limb part of patient and the normal limb part of patient people, all
Primary calibration task can be arranged respectively.The performance of pathology limb part, cross-pair can be carried out with the performance of normal limb part
Than, to judge the illness degree of patient, training index during in order to be set for rehabilitation.
Rehabilitation training module 13 is used to adjust the training parameter in rehabilitation modality, and in rehabilitation modality, patient can be arranged
Touch/grasp in Virtual Space the task for the ball that flies here at a distance using pathology limbs.Illness degree according to patient is different,
Ball can be from different positions, different directions, fly here at different rates, and the size of ball in itself can also adjust.
Such as each rehabilitation training time can be arranged on 10~20 minutes, be required touching/the grab ball number completed 100~
Between 200.The data below of patient can be collected in rehabilitation modality, to help medical personnel to analyze patients ' recovery situation：
The 3D coordinates of ball appearance, the speed of ball flight, patient's distance successfully whether touching/grasping, patient's pathology limbs move
/ time of grasping cost, patient touch/grasps success rate of ad-hoc location ball etc. with speed, patient's touching.
1st, the position that ball occurs：In the calibration mode, can be by with lower section such as the ball of a certain particular orientation
Formula is judged：
If success rate=0% that patient a touches, judge that pathology limbs of the patient in the position do not possess touching energy
Power.The spheroid of the position is not generated in rehabilitation modality, row carries out the instruction of the position again after the further improvement of wait rehabilitation situation
Practice.
If b 20%>The success rate that patient touches>0%, then judge pathology limbs of the patient in the position positioned at expection
Recovery area, the frequency that the spheroid of the position is generated in rehabilitation modality are 1.5 times of in general.
If c 50%>The success rate that patient touches>20%, then judge pathology limbs of the patient in the position positioned at pass
Key recovery area, the frequency that the spheroid of the position is generated in rehabilitation modality are 2 times of in general.
If d 100%>The success rate that patient touches>50%, then judge pathology limbs of the patient in the position positioned at just
Normal recovery area, the frequency that the spheroid of the position is generated in rehabilitation modality are normal.
2nd, the speed of ball flight：
According to the performance of patient's normal side limbs, the baseline values of formation speed：
The normal side limbs of baseline values=10/ of ball speed averagely touch the duration of ball；
In rehabilitation modality, ball speed is the baseline values of acquiescence：
If patient's touching rate is higher than 50% on some ad-hoc location, the ball speed rate of increase of the position=(touching rate-
50%)/2；
If patient's touching rate is less than 50% on some ad-hoc location, the ball speed of the position slows down ratio=√, and (50%- is touched
Touch rate)；
3rd, ball volume size：
According to the performance of patient's normal side limbs, the basic size of generation spheroid volume：
Baseline values=1 of ball speed, in rehabilitation modality, spheroid size for acquiescence baseline values
When patient's touching rate is less than 50% on some ad-hoc location, ball zoom ratio=1+50%- touchings rate of the position/
50%；
When patient carries out rehabilitation training in rehabilitation modality, the parameter that can be manually adjusted by medical personnel, adjust manually
Section parameter is to confer to the right of medical personnel's authority covering system parameter, is the important means for lifting precision medical treatment.Such as can
To adjust following parameter by medical personnel：
Touching/grasping：Medical personnel can select patient to be carried out using pathology limbs according to the actual rehabilitation situation of patient
During training, if use the higher grasp motion of simple touch action or complexity.
Ball volume size：Medical personnel can select patient to use pathology limbs according to the actual rehabilitation situation of patient
When being trained, the underlying parameter of ball volume size is adjusted manually.
Ball velocity magnitude：Medical personnel can select patient to use pathology limbs according to the actual rehabilitation situation of patient
When being trained, the underlying parameter of ball flying speed is adjusted manually.
Ball velocity magnitude：Medical personnel can select patient to use pathology limbs according to the actual rehabilitation situation of patient
When being trained, the underlying parameter of ball flying speed is adjusted manually.
The training data trained in the present invention under calibration mode and rehabilitation modality is delivered to data management Cloud Server 6
Carry out data storage.
As depicted in figs. 1 and 2, data management Cloud Server 6 includes being used to that training data storage mould will to be calibrated in the present invention
The chart generating module 64 of data storage generation chart in block 62 and rehabilitation training data memory module 63.Calibration training number
Generated accordingly via icon generation module 64 according to the data storage in memory module 62 and rehabilitation training data memory module 63
Chart, rehabilitation training data can be very good reflect patient training result and validity, help medical personnel to patient's
Training adjust and improve in real time.Using very intuitively chart appearance form, more preferable help patient are particularly upper
The people and medical personnel at age understand the meaning of rehabilitation data.
Claims (10)
- A kind of 1. VR rehabilitation systems based on mirror neuron, it is characterised in that including：Main control terminal (1), can generate virtual scene picture；Somatosensory recognition device (2), the body part for catching trainer act, and generate body part dummy model, and by body Body region dummy model input main control terminal (1), is merged with virtual scene picture；VR mirror images interactive module (3), it is connected with main control terminal (1) signal, for body part dummy model to be converted to instruct Mirror image visual pattern on the basis of white silk person's axis；VR visual presentation devices (4), for the mirror image visual pattern to be presented into trainer.
- 2. the VR rehabilitation systems based on mirror neuron as claimed in claim 1, it is characterised in that also include being used for training Person trains the device for force feedback (5) of position applying power degree.
- 3. the VR rehabilitation systems based on mirror neuron as claimed in claim 1, it is characterised in that the somatosensory recognition device (2) it is infrared somatosensory recognition device.
- 4. the VR rehabilitation systems based on mirror neuron as claimed in claim 1, it is characterised in that dress is presented in the VR visions It is VR glasses to put (4).
- 5. the VR rehabilitation systems based on mirror neuron as claimed in claim 1, it is characterised in that dress is presented in the VR visions The simple eye resolution ratio for putting (4) is more than 1080*720, and picture refreshing rate is more than 90HZ.
- 6. the VR rehabilitation systems based on mirror neuron as described in Claims 1 to 5 is any, it is characterised in that also include using It is whole with the master control in the data management Cloud Server (6) of management training person's training data, the data management Cloud Server (6) Hold the connection of (1) signal.
- 7. the VR rehabilitation systems based on mirror neuron as claimed in claim 6, it is characterised in that the data management cloud clothes Business device (6) includes being used for the identity information memory module (61) for storing trainer's identity information, and the main control terminal (1) includes adopting Collect module (11), the acquisition module (11) is used to gather trainer's identity information, and trainer's identity information of collection is defeated Deliver to identity information memory module (61).
- 8. the VR rehabilitation systems based on mirror neuron as described in claim 1 or 7, it is characterised in that the virtual scene Picture includes the different directions appearance from virtual scene picture at different rates, and is available for trainer to be presented in VR visions and fills Put (4) is in be touched or grabbed the ball taken under present condition.
- 9. the VR rehabilitation systems based on mirror neuron as claimed in claim 8, it is characterised in that the main control terminal (1) Including calibration training module (12) and rehabilitation training module (13), the data management Cloud Server (6) includes being used to store Trainer calibrates the calibration training data memory module (62) of training data, and for storing trainer's rehabilitation training data Rehabilitation training data memory module (63).
- 10. the VR rehabilitation systems based on mirror neuron as claimed in claim 9, it is characterised in that the data management cloud Server (6) includes being used for depositing in calibration training data memory module (62) and rehabilitation training data memory module (63) Store up the chart generating module (64) of data generation chart.
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| RU2786990C1 (en) * | 2021-11-09 | 2022-12-27 | Константин Сергеевич Саранкин | Method for training, using virtual reality, in rehabilitation of patients with diseases accompanied by limb paresis |
| CN114146309A (en) * | 2021-12-07 | 2022-03-08 | 广州穗海新峰医疗设备制造股份有限公司 | Mirror neuron rehabilitation training system and method based on dynamic adjustment |
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Application publication date: 20171205 |