CN107928678B - Wearable patella instability testing device and method based on micro-inertia measurement array - Google Patents
Wearable patella instability testing device and method based on micro-inertia measurement array Download PDFInfo
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- CN107928678B CN107928678B CN201711272317.0A CN201711272317A CN107928678B CN 107928678 B CN107928678 B CN 107928678B CN 201711272317 A CN201711272317 A CN 201711272317A CN 107928678 B CN107928678 B CN 107928678B
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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
- A61B5/1118—Determining activity level
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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
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4504—Bones
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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
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4528—Joints
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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
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
Abstract
The invention discloses a wearable patella instability testing device and method based on a micro-inertia measurement array. The method is realized by the following steps: 1. after the device is worn, fixing the micro inertial measurement array on the surface of the knee joint skin; 2. establishing a coordinate system reference and carrying out coordinate system unification and registration; 3. and performing fusion and differential processing on the data of the micro-inertia measurement array, and extracting corresponding characteristics and intrinsic mode functions to analyze and judge whether the patella is stable or not or the patella instability severity by utilizing a statistical analysis method and multiple measurement data. The invention can effectively measure the unstable state of the patella of a patient in real time and assist a doctor to analyze and treat related diseases.
Description
Technical Field
The invention relates to the technical field of medical instruments and measurement, in particular to a wearable patella instability testing device and method based on a micro-inertia measurement array.
Background
The knee joint patella is unstable and is common clinically, generally, when the knee joint is bent, the patella can excessively slide towards the external femoral condyle with or without inclination on a coronal plane, and when the patella is seriously dislocated or subluxated, the patella can automatically recover to a normal position or a position close to the normal position when the knee joint is actively or passively extended. The patella is unstable, so that the patellofemoral joint is in an abnormal state for a long time, the knee joint can not play a normal role, pain and function limitation are caused, the quadriceps femoris muscle is atrophied and powerless, the patellofemoral joint is degenerated, the knee joint is unstable, and the life quality of a patient is influenced finally.
Under the existing medical technical conditions, the measurement of the patella unstable state is mainly performed in a static environment by applying an imaging mode, such as X-ray observation, CT scanning and other methods for inspection. However, the unstable knee joint state harmful to human body mainly occurs in the process of human body movement, but the imaging mode is not suitable for dynamic measurement of human body, and the mode of repeated imaging examination increases the treatment cost, is difficult to measure the biomechanical characteristics of the patellofemoral joint during human body movement, and is not beneficial to analyzing the generation mechanism of patella instability.
In addition, when the inertial sensor is used for measuring the motion condition of a human body, the traditional inertial measurement sensor is large in size and high in price because the traditional inertial measurement sensor adopts a high-precision gyroscope, an accelerometer and other sensors. The current MEMS products are called a major improvement of the traditional inertial measurement combination due to their small size, low price and low power consumption, and are increasingly applied to human body movement measurement applications.
Disclosure of Invention
Aiming at the defects of the existing measuring means, the invention provides a wearable patella instability testing device based on a micro-inertia measuring array in order to make up the defect of the dynamic measuring means of patella instability at the knee joint part in the movement process. Through data fusion processing of the micro-inertia measurement array, the relative motion state and displacement condition of the patella of the knee joint part during the motions of walking on a flat road, bending the knee joint, going upstairs and downstairs and the like of a human body are extracted, and the unstable condition of the patella of the patient is measured and analyzed in real time.
The invention is realized by adopting the following technical scheme:
a wearable patella instability testing device based on a micro-inertia measurement array comprises the micro-inertia measurement array, a data storage module, a data processing module and an information transmission module.
The micro-inertia measurement array is composed of a plurality of micro-inertia measurement units, and is a measurement array composed of double units or three units.
The data processing module carries out conversion, filtering and fusion processing on the data acquired by the micro inertial measurement array to acquire human motion data and patella instability information of the knee joint.
The data storage module comprises a related data transmission bus, a data storage chip and a peripheral circuit, and stores the acquired original data and the processed data.
The information transmission module is used for transmitting the processed sensor array information and transmitting and interacting the information of the wearable testing device and the upper computer in real time.
A wearable patella instability testing method based on a micro-inertial measurement array comprises the following steps:
(1) the micro-inertia measurement unit A is positioned on the surface of the skin above the patella of the knee joint, the displacement and the motion state of the patella are measured, and meanwhile, the motion of the leg of the human body is measured;
one or more micro-inertia measurement units B are positioned on the skin surface of the side surface of the knee joint, are not influenced by patellar displacement, and measure leg movement of a human body;
after the test device is worn, fixing the micro-inertia measurement array according to a preset scheme, simultaneously ensuring that the device does not influence the movement of the knee joint of the leg, and observing the movement condition by using data sent by the device to an upper computer;
(2) establishing a reference coordinate system according to the axial direction of the micro-inertia measurement unit; the tester respectively performs static data acquisition of a plurality of different leg postures and performs coordinate alignment of the micro-inertia measurement unit according to the static data acquisition;
(3) after the coordinates of the micro-inertia measurement unit are aligned, filtering pretreatment is carried out, and the motion states of the knee joint and the patella are analyzed and extracted;
during testing, data differential processing is carried out through the micro-inertia measurement array after coordinate alignment, common-mode acceleration signals and common-mode angular velocity signals generated in the human body movement process are eliminated, and the relative displacement and the angular velocity of the patella to the leg are further extracted by utilizing the information of an accelerometer and a gyroscope of the micro-inertia measurement unit;
after testing, obtaining the unstable severity and detailed characteristics of the patella after qualitative analysis or posture calculation; meanwhile, a database is established, the data stored in multiple tests are used for analyzing the motion mode and extracting the related intrinsic mode functions, whether the patella is stable or not, whether the patella has subluxation or dislocation and the severity of the patella are judged according to the characteristic mode conformity degree, and the generation rule and the generation condition of the patella instability can be summarized and analyzed.
According to the wearable patella instability testing device based on the micro-inertia measurement array, the knee joint patella movement track in movement is measured in real time through analysis and processing of the micro-inertia measurement array data, and the patella instability dynamic characteristics and the biomechanical characteristics are known, so that the patient's state of an illness is analyzed, a proper personalized treatment method is selected, and the patella instability treatment research is promoted.
Drawings
FIG. 1 is a schematic diagram of the test apparatus.
FIG. 2 shows a schematic view of the installation of a two-unit micro inertial measurement array.
FIG. 3 shows a schematic view of the installation of a three-unit micro inertial measurement array.
In the figure: 1-micro inertial measurement unit A, 2-micro inertial measurement unit B.
Detailed Description
The following detailed description of specific embodiments of the invention refers to the accompanying drawings.
A wearable patella instability testing device based on a micro-inertia measurement array is shown in fig. 1 and comprises the micro-inertia measurement array, a data storage module, a data processing module and an information transmission module. The test method is realized by adopting the following steps: 1. after the device is worn, fixing the micro inertial measurement array on the surface of the knee joint skin; 2. establishing a coordinate system reference and carrying out coordinate system unification and registration; 3. and performing fusion and differential processing on the data of the micro-inertia measurement array, and extracting corresponding characteristics and intrinsic mode functions to analyze and judge whether the patella is stable or not or the patella instability severity by utilizing a statistical analysis method and multiple measurement data.
The specific scheme is as follows:
the micro-inertia measurement array is composed of two or more micro-inertia measurement units. Each micro-inertial measurement unit may include, but is not limited to, a three-axis accelerometer and a three-axis gyro, which may also be part of the configuration of the micro-inertial measurement unit. In this embodiment, the micro inertial measurement unit includes a three-axis accelerometer and a three-axis gyro. As shown in fig. 2 and 3, the micro inertial measurement array can be a measurement array composed of two units, three units, etc., and can also be extended to all embodiments using the micro inertial measurement unit array for patella instability according to the precision requirement and other special conditions. The micro-inertia measurement unit A is positioned on the upper skin surface of the patella of the knee joint, and the micro-inertia measurement unit B is positioned on the lateral skin surface of the knee joint. The micro-inertia measurement unit A can measure the displacement and the movement state of the patella and the movement of the leg of the human body; and the micro-inertia measurement unit B is arranged on the side surface of the knee joint and is not influenced by patella displacement, and the measurement value is only influenced by leg movement. The embedded processor reads, processes and analyzes the data of the two micro inertial measurement units in real time through the SPI bus in a certain sampling period.
The data processing module carries out conversion, filtering and fusion processing on the data of the micro inertial measurement array to obtain human motion data and patellar dislocation information of the knee joint.
The data storage module comprises a related data transmission bus, a data storage chip and a peripheral circuit, particularly an SPI bus or an SDIO data bus, stores data into the Micro-SD card according to a frame format, and is mainly responsible for storing acquired original data and processed data so as to carry out deep analysis after testing.
The information transmission module is mainly used for processing transmission of the sensor array information, transmitting and interacting information of the wearable testing device and the upper computer in real time, and can comprise wireless receiving and transmitting modules such as Bluetooth and WiFi. The Bluetooth wireless transmission module is connected through a serial interface, and data collected after the Bluetooth of the upper computer is paired are transmitted in real time and a control instruction sent by the upper computer is received.
The testing and data processing method of the device comprises the following steps:
step 1: the testing device is worn completely, the micro-inertia measurement array is fixed according to a preset scheme, and meanwhile, the device is guaranteed not to influence the bending and other activities of the knee joint of the leg. And the device is used for transmitting data to the upper computer to observe the motion condition.
Step 2: establishing a reference coordinate system according to the sensor axial direction of the micro-inertia measurement array, wherein the reference coordinate system is respectively a coordinate system O-X of the inertia measurement unit AAYAZAAnd the coordinate system O-X of the inertial measurement unit BBYBZB. Therefore, there are:
in the formula: hAIs a measurement three-component of the inertial measurement unit A, HBFor the measurement three components of the inertial measurement unit B, the coordinate system is not uniform, so that the coordinate rotation matrix is required to pass
Coordinate axis registration is carried out, HBAnd (4) converting the coordinate system into an A unit coordinate system.
The tester respectively acquires the static data of a plurality of different leg postures, and solves the rotation matrix parameters by solving an over-determined equation (or least square fitting and the like). The solving formula is as follows:
in the formula, A is the measurement augmentation matrix of the inertial measurement unit A, and H is the measurement augmentation matrix of the inertial measurement unit B.
And calculating a rotation matrix between the two sensor coordinate systems to accurately register coordinate axes, and accurately aligning the coordinate axes of the two inertia measurement units in the axial direction.
And step 3: after the coordinates of all sensors of the micro-inertia measurement array are aligned and unified, filtering pretreatment is carried out, and the motion states of the knee joint and the patella are analyzed and extracted. During testing, acceleration impact generated by a human body in the motion process can influence the precision of the micro-inertia measurement unit positioned in front of the patella, so that data differential processing is performed on the micro-inertia measurement array after the sensor coordinates are aligned, common-mode acceleration signals and common-mode angular velocity signals generated in the motion process of the human body are eliminated, and the relative displacement and the angular velocity of the patella to the leg are further extracted by utilizing information of the accelerometer and the gyroscope. After testing, the severity and detailed characteristics of patella instability can be obtained through qualitative analysis or posture calculation. Meanwhile, a database can be established, the data stored in multiple tests are utilized to analyze the motion mode and extract the related intrinsic mode functions, whether the patella is stable, whether the patella has subluxation or dislocation and the severity of the patella are judged according to the characteristic mode conformity degree, and the generation rule and the generation condition of the patella instability are summarized and analyzed.
The invention solves the problem that the unstable state of the patella generated in the movement process is difficult to be effectively measured and analyzed in the existing medical treatment and measurement technology, can effectively measure the unstable state of the patella of a patient in real time, and assists a doctor to analyze and treat related diseases.
The above examples are intended to be illustrative only and not limiting, and it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention.
Claims (1)
1. The utility model provides a wearable unstable testing arrangement of patella based on little inertial measurement array which characterized in that: the system comprises a micro-inertia measurement array, a data storage module, a data processing module and an information transmission module;
the micro-inertia measurement array consists of a plurality of micro-inertia measurement units, and each micro-inertia measurement unit comprises a three-axis accelerometer and a three-axis gyroscope;
the micro-inertia measurement array is a measurement array consisting of two units; the method specifically comprises the following steps: positioning a micro inertial measurement unit A on the patella of the knee jointMeasuring the displacement and motion state of the patella and the motion of the leg of the human body on the skin surface above the bone; the micro-inertia measurement unit B is positioned on the skin surface of the side surface of the knee joint, is not influenced by patella displacement, and measures the leg movement of the human body; establishing a reference coordinate system according to the axial direction of the micro-inertia measurement unit, wherein the reference coordinate system is respectively a coordinate system of the micro-inertia measurement unit AO–X A Y A Z A And the coordinate system of the micro-inertial measurement unit BO–X B Y B Z B (ii) a Therefore, there are:
in the formula:H A is the measurement three components of the micro inertial measurement unit A,H B measuring three components of the micro-inertia measuring unit B;
then will beH B Converting the data into a coordinate system of a micro-inertia measurement unit A, respectively acquiring static data of a plurality of different leg postures by a tester, and solving a rotation matrix parameter by solving an over-determined equation or least square fitting; the solving formula is as follows:
in the formula (I), the compound is shown in the specification,Aan augmentation matrix for the measurement of the micro inertial measurement unit A,Ha measurement augmentation matrix for the micro inertial measurement unit B;
calculating a rotation matrix between the coordinate systems of the two micro-inertia measurement units, namely performing coordinate axis accurate registration, performing data differential processing after the coordinate axes of the two micro-inertia measurement units are accurately aligned, eliminating common-mode acceleration signals and common-mode angular velocity signals generated in the process of human motion, and further extracting the relative displacement and angular velocity of the patella to the leg by using the information of an accelerometer and a gyroscope of the micro-inertia measurement units;
the data processing module carries out conversion, filtering and fusion processing on the data acquired by the micro inertial measurement array to acquire human motion data and patellar instability information of the knee joint;
the data storage module comprises a related data transmission bus, a data storage chip and a peripheral circuit, and is used for storing the acquired original data and the processed data;
the information transmission module transmits the processed sensor array information so as to realize real-time information transmission and interaction between the wearable testing device and the upper computer.
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| CN103637807B (en) * | 2013-12-30 | 2015-04-22 | 四川大学 | Method for sensing and monitoring human body three-dimensional attitude and behavior state |
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| EP1946718B1 (en) * | 2007-01-19 | 2010-06-09 | BrainLAB AG | Registration and stability test of a knee by recording two points on the knee |
| CN104147770A (en) * | 2014-07-24 | 2014-11-19 | 燕山大学 | Inertial-sensor-based wearable hemiplegia rehabilitation apparatus and strap-down attitude algorithm |
| CN104510474A (en) * | 2014-12-22 | 2015-04-15 | 北京大学第三医院 | Three-dimensional measurement method and system for patella osteotomy |
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