CN108447563A - A kind of joint motions intelligent scoring method and motion of knee joint intelligence rank scores method - Google Patents
A kind of joint motions intelligent scoring method and motion of knee joint intelligence rank scores method Download PDFInfo
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Abstract
A kind of joint motions intelligent scoring method, including step：The three-dimensional six-degree-of-freedomovement movement data in collecting test person joint；Calculate separately the similarity score values of each degree of freedom movement in six-degree-of-freedomovement movement data：Using the similarity of every single-degree-of-freedom exercise data and the mean motion data of the corresponding degree of freedom of similar normal person in DTW algorithm comparison testers joint, to obtain the cumulative distance value of tester's joint freedom degrees exercise data；Cumulative distance value is carried out to the similarity score values of mapping calculation tester's joint freedom degrees movement；The overall score value of tester's joint six-degree-of-freedom movement is calculated according to the similarity score values of each degree of freedom movement in tester joint.By the way that the three-dimensional six-degree-of-freedomovement movement data in joint is converted to corresponding similarity score values, every single-degree-of-freedom in joint can be moved based on the score value and carry out objective, intuitive and accurate evaluation, by knowing that the score value of every single-degree-of-freedom can realize the thoroughly evaluating of joint three-dimensional motion.
Description
Technical field
The present invention relates to joint motions technical field of data processing, and in particular to a kind of joint motions intelligent scoring method and
Motion of knee joint intelligence rank scores method.
Background technology
Since human body three-dimensional motion analysis occurs, it is always to move to carry out quantitatively evaluating to patient's three-dimensional motion data
The emphasis and difficult point of medical research.Mainly there are normal index (Normalcy in foreign countries by the quantization gait index approved
Index, NI), this index is otherwise known as Gillette gait index (Gillette gait index, GGI) now.Gait deviations
Index (Gait deviation index, GDI) is the new evaluation index further developed from GGI, in addition also MDP
Equal quantizating index are used to evaluate the gait data of patient.
The above quantizating index needs to combine the multi-joints gait datas such as hip joint, knee joint, ankle-joint that could obtain
More above-described gait index, and these quantizating index only evaluate allomeric function, for the tool in specific joint
Body parameter is difficult to have more accurately to evaluate.And the gait data of multi-joint is obtained, large-scale test environment is needed, more people's
Test is assisted, takes time and effort, is not suitable for Clinical practice.
Invention content
How thoroughly evaluating intuitively being carried out to joint motions, the application provides a kind of joint motions intelligent scoring method,
And a kind of motion of knee joint intelligence rank scores method is proposed based on the methods of marking.
According in a first aspect, providing a kind of joint motions intelligent scoring method, including step in a kind of embodiment：
The three-dimensional six-degree-of-freedomovement movement data in collecting test person joint, three-dimensional six-degree-of-freedomovement movement data include but not limited to
Joint bending and stretching in space, it is interior turn up, interior outward turning, move forward and backward, interior outer displacement and upper and lower displacement；
Calculate separately the similarity score values of each degree of freedom movement in six-degree-of-freedomovement movement data：
Utilize the corresponding degree of freedom of every single-degree-of-freedom exercise data and similar normal person in DTW algorithm comparison testers joint
Mean motion data similarity, to obtain the cumulative distance value of degree of freedom exercise data described in tester joint；
Cumulative distance value is carried out to the similarity score values of mapping calculation tester's joint freedom degrees movement；
The movement of tester's joint six-degree-of-freedom is calculated according to the similarity score values of each degree of freedom movement in tester joint
Overall score value.
In a kind of embodiment, cumulative distance value is carried out to the similitude point of mapping calculation tester's joint freedom degrees movement
Value, specially：
Wherein, F represents the similarity score values of degree of freedom movement, and N represents degree of freedom fortune
The number of dynamic data decimation, e are natural constant, and α and f are the parameter of setting, and D is the cumulative distance value of degree of freedom exercise data.
Further include the steps that similarity score values are modified, specially in a kind of embodiment：
FIt corrects=δ × S × F, wherein δ indicates that the amendment weights of baseline drift, S indicate repairing for tester's joint motions speed
Positive weights.
In a kind of embodiment, overall point of tester's joint six-degree-of-freedom movement is calculated according to the score value of each degree of freedom movement
Value, specially：
Score=βFE×FFE+βAdd/Abd×FAdd/Abd+βIE×FIE+βAP×FAP+βDP×FDP+βML×FML,
Wherein, Score is six-freedom motion totality score value, βFE、βAdd/Abd、βIE、βDP、βMLRespectively tester joint
Bend and stretch in space, it is interior turn up, interior outward turning, move forward and backward, upper and lower displacement, inside and outside displacement freedom weight coefficient, FFE、
FAdd/Abd、FIE、FAP、FDP、FMLRespectively tester joint bend and stretch in space, it is interior turn up, interior outward turning, move forward and backward, upper bottom
It moves, the degree of freedom similarity score values of interior outer displacement.
According to second aspect, a kind of motion of knee joint intelligence rank scores method, including step are provided in a kind of embodiment：
The motion database of the knee joint three-dimensional six-freedom motion of normal person is established, the database includes at least level land
Gait action data, upward slope gait action data and the action data that stands up of squatting down；
Collecting test person knee joint is in level land gait, upward slope gait and the three-dimensional six-freedom motion in standing up action of squatting down
Data；
According to above-mentioned joint motions intelligent scoring method to tester's knee joint the six-freedom motion in the gait of level land
Six-freedom motion totality score value and squatting down stands up six-freedom motion totality score value in action in overall score value, upward slope gait；
It is stood up according to the overall score value and squatting down of the overall score value of level land gait motion, upward slope gait motion the totality of movement
Score value carries out rank scores to the kneed three-dimensional motion of tester, wherein using the overall score value of level land gait motion as the
Level-one score, using the overall score value of upward slope gait motion as the second level scoring, using squat down stand up movement overall score value as
The third level scores.
In a kind of embodiment, level land gait, upward slope gait and the three-dimensional freedom exercise data in standing up action point of squatting down
Not Bao Kuo the three-dimensional six-degree-of-freedomovement movement data of left side leg and the three-dimensional freedom exercise data of right side leg, the level land gait,
Upward slope gait and each six-freedom motion totality score value in standing up action of squatting down specifically are calculated as：
SCORE=k1×ScoreL+k2×ScoreR+k3× ScoreA, wherein ScoreL is that the degree of freedom of left side leg is transported
Dynamic totality score value, ScoreR are the overall score value of degree of freedom movement of right side leg, degree of freedom movements of the ScoreA between the leg of left and right
Overall score value, k1、k2And k3For clinical experience value.
Further include visualizing the classification of the kneed three-dimensional motion of tester and appraisal result in a kind of embodiment
The step of.
According to the joint intelligent scoring method of above-described embodiment, due to by by the three-dimensional six-degree-of-freedomovement movement data in joint
Corresponding similarity score values are converted to, it is objective, intuitive to move progress to every single-degree-of-freedom in joint based on the similarity score values
And accurately evaluation, with it is existing mass motion function is evaluated according to quantizating index compared with, the application passes through each freedom
The score value for spending movement can be to the three-dimensional motion in joint by integrally having carefully to each local evaluation, to realize joint three-dimensional motion
Thoroughly evaluating.
Description of the drawings
Fig. 1 is joint intelligent scoring method flow diagram；
Fig. 2 is that angular curve figure is bent and stretched in joint.
Specific implementation mode
Below by specific implementation mode combination attached drawing, invention is further described in detail.
In embodiments of the present invention, by scoring the movement of joint three-dimensional six degree of freedom, to pass through each freedom
The appraisal result of movement is spent, and realizes the thoroughly evaluating of joint three-dimensional motion.
Embodiment one：
This example provides a kind of joint motions intelligent scoring method, and flow chart is as shown in Figure 1, specifically comprise the following steps.
S1：The three-dimensional six-degree-of-freedomovement movement data in collecting test person joint.
It should be noted that in order to exercise data that is portable, rapidly obtaining joint, this example is preferably using clinical
Portable motion captures the three-dimensional motion data in system Opt i_knee acquisitions joint, and the three-dimensional motion data are with six degree of freedom
Form is presented, and the three-dimensional six-degree-of-freedomovement movement data of this example includes but not limited to joint bending and stretching in space, interior turn up, is inside and outside
It revolves, move forward and backward, interior outer displacement and upper and lower displacement.
S2：Calculate separately the similarity score values of the single degree of freedom movement in six-degree-of-freedomovement movement data.
In this example using DTW algorithms (dynamic time warping) to the three-dimensional six-freedom motion curve that is acquired in step S1 into
Row similarity analysis；Before this, it needs to capture the large batch of pass of system Opt i_knee acquisitions using clinical portable motion
Save three-dimensional motion data, and establish different age group, gender, height, weight normal person joint three-dimensional motion data number
According to library.
This step specifically comprises the following steps：
1) utilize every single-degree-of-freedom exercise data in DTW algorithm comparison testers joint corresponding with similar normal person freely
The similarity of the mean motion data of degree, to obtain the cumulative distance value of tester's joint freedom degrees exercise data.
In this example, it is root that the exercise data of tester and the exercise data of normal person, which are carried out the premise of similarity analysis,
Matched normal person is searched according to the essential information of tester, e.g., according to bases such as the age of tester, gender, height, weight
The normal person of this information searching and these information matches, then, then by the exercise data of tester and find several just
The mean motion data of the correspondence degree of freedom of ordinary person carry out similarity analysis.
Specifically, each degree of freedom is unified within the period to be planned to 100 data points again, it can be understood as when one-dimensional
Between sequence, by joint in space bend and stretch degree of freedom for illustrate, as shown in Fig. 2, for normal human articular movement week
Degree of freedom curve synoptic diagram is bent and stretched in phase.
It is searched in the database according to tester's essential information and calculates the average freedom with the matched normal person of tester
Degree, then, compares the similitude of tester's joint motions data and the mean freedom of corresponding normal person.
Assuming that the time series X=x of the degree of freedom curve of tester1,x2,x3,…,xi,…,xmIndicate, it is corresponding just
The time series of ordinary person's mean freedom is Y=y1,y2,y3,…,yj,…,yn.Under normal circumstances, between two time serieses
Difference value can be simply indicated using the difference summation between every bit.But the degree of freedom in the comparing motion period needs
Consider kinematics character, it is therefore desirable to which the characteristic point between match curve allows the shaking peroid wave crest of two curves can be opposite
It answers.
Dynamic Programming matrix is built, size is m × n；Matrix element (i, j) indicates xiAnd yjIt is European between two points
Distance d (xi,yj)=(xi-yj)2.Apart from smaller, show that the similarity between two time-serial positions is higher.
In order to calculate the similarity of snap point, W is defined, k-th of element definition of W is wk=(i, j)k, this is equivalent to definition
Mapping between sequence X and sequence Y.
W=w1,w2,…,wk；
max(m,n)≤K≤m+n-1；
Retrieve the w from matrix1It sets out to w=(1,1)2The continuous path of=(m, n), from (t, f), next matrix
Element is only (i+1, j), (i, j+1) or (i+1, j+1).
Finally seek reaching a minimum paths according to following formula：
In order to seek minimal path, accumulation distance is defined,
γ (i, j)=d (xi,yj)+min{γ(i-1,j-1),γ(i-1,j),γ(i,j-1)}；
Final accumulation distance γ can be interpreted as the similarity of two time serieses.
The distance between two sequences representated by γ are indicated with D.Bend and stretch the distance between degree of angular freedom DFETable
Show, the distance between inside turns up and to use DAdd/AbdIt indicates, D is used in the distance between interior outward turningIEIt indicates, the distance between moves forward and backward and to use
DAPIt indicates, the distance between upper and lower displacement DDPIt indicates, the distance between interior outer displacement uses DWLIt indicates.
2) cumulative distance value is carried out to the similarity score values of mapping calculation tester's joint freedom degrees movement.
Specifically, this example defines mapping equation below, and the similitude of degree of freedom movement is calculated according to the mapping equation
Score value：
Wherein, F represents the similarity score values of degree of freedom movement, and N represents degree of freedom fortune
The number of dynamic data decimation, e are natural constant, and α and ρ are according to the parameter set after high-volume data analysis, each is certainly
By degree there are different (α, ρ) combination, D is the cumulative distance value of degree of freedom exercise data.
According to mapping equation defined above, the degree of freedom similarity score values f at angle is bent and stretchedFECalculation formula it is as follows：
Also need to the degree of freedom similarity score values f to above-mentioned calculatingFEIt is modified, is repaiied with specific reference to following formula
Just：
FIt corrects=δ × S × F, wherein δ indicates that the amendment weights of baseline drift, S indicate repairing for tester's joint motions speed
Positive weights then bend and stretch the degree of freedom similarity score values f at angleFEMakeover process be： FFE=δFE×SFE×fFE。
S3：Tester's joint six-degree-of-freedom fortune is calculated according to the similarity score values of each degree of freedom movement in tester joint
Dynamic totality score value.
The similarity score values of each degree of freedom movement in tester's three-dimensional six-freedom motion can be calculated by step S2,
Then, the overall score value of tester's joint six-degree-of-freedom movement is calculated according to the score value of each degree of freedom movement, specially：
Score=βFE×FFE+βAdd/Abd×FAdd/Abd+βIE×FIE+βAP×FAP+βDP×FDP+βML×FML；Wherein,
Score is six-freedom motion totality score value, βFE、βAdd/Abd、βIE、βDP、βMLRespectively tester joint bend and stretch in space,
Inside turn up, interior outward turning, move forward and backward, upper and lower displacement, inside and outside displacement freedom weight coefficient, FFE、FAdd/Abd、FIE、FAP、FDP、
FMLIt is respectively bent and stretched in space according to the tester joint calculated step S2, interior turn up, interior outward turning, moves forward and backward, upper bottom
It moves, the degree of freedom similarity score values of interior outer displacement.
S1-S3 can calculate each degree of freedom similarity score values and six degree of freedom in the three-dimensional motion of joint through the above steps
Movement totality score value, be intuitively to evaluate joint corresponding sports situation by the corresponding score value, for the ease of looking into
See that each degree of freedom similarity score values, this example further include that each degree of freedom similarity score values and the overall score value of movement are carried out figure
Visual step, such as column diagram, cake chart utilize the figure of observation.
Embodiment two：
Based on embodiment one, this example provides a kind of motion of knee joint intelligence rank scores method, specifically comprises the following steps.
S100：Establish the motion database of the knee joint three-dimensional six-freedom motion of normal person.
According to kneed kinetic characteristic, the motion database of this example includes at least level land gait action data, going up a slope walks
State action data and the action data that stands up of squatting down.
S200：Collecting test person knee joint is in level land gait, upward slope gait and squats down the three-dimensional six in standing up action freely
Spend exercise data.
S300：Tester's knee joint is calculated in the gait of level land using the joint motions intelligent scoring method in embodiment one
Six-freedom motion totality score value and the squatting down six degree of freedom in action that stands up is transported in six-freedom motion totality score value, upward slope gait
Dynamic totality score value.
It should be noted that the level land gait of this example, upward slope gait and the fortune of the three-dimensional six degree of freedom in standing up action of squatting down
Dynamic data respectively include the three-dimensional freedom exercise data of left side leg and the three-dimensional freedom exercise data of right side leg, then level land walks
State, upward slope gait and each six-freedom motion totality score value in standing up action of squatting down specifically are calculated as：
SCORE=k1×ScoreL+k2×ScoreR+k3× ScoreA, wherein k1、k2And k3It is the clinic by expert
Empirical value, later stage can be modified by actual effect, e.g., k1Take 0.3, k2Take 0.3, k3It is left side leg to take 0.4, ScoreL
The overall score value of degree of freedom movement, ScoreR is the overall score value of degree of freedom movement of right side leg, and ScoreA is between the leg of left and right
The overall score value of degree of freedom movement, specific calculating process please refer to the step S3 in embodiment one.
S400：According to the overall score value of level land gait motion, the overall score value of upward slope gait motion and movement of standing up of squatting down
Overall score value to the kneed three-dimensional motion of tester carry out rank scores, wherein with the overall score value of level land gait motion
As the first order score, using the overall score value of upward slope gait motion as the second level score, with squat down stand up movement totality divide
Value scores as the third level.
S100-S400 through the above steps can calculate level land gait according to the kneed three-dimensional motion data of tester
Function the first order scoring, upward slope gait function the second level scoring and squat down stand up motor function the third level scoring, pass through
Three-level scoring can be to kneed three-dimensional motion function there are one than more comprehensively evaluating, and three-level scoring is more objective
Effectively, to contribute to doctor to be scored to the diagnosis of diseases of knee joint and the selection of corresponding treatment scheme according to the three-level.
In addition, viewing appraisal result for convenience, this example further include by the classification of the kneed three-dimensional motion of tester and
Appraisal result carries out the step of graph visualization, in this way, open-and-shut can see knee joint three-dimensional by visual figure
The situation of movement.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not limiting
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (7)
1. a kind of joint motions intelligent scoring method, which is characterized in that including step：
The three-dimensional six-degree-of-freedomovement movement data in collecting test person joint, the three-dimensional six-degree-of-freedomovement movement data include but not limited to
Joint bending and stretching in space, it is interior turn up, interior outward turning, move forward and backward, interior outer displacement and upper and lower displacement；
Calculate separately the similarity score values of each degree of freedom movement in the six-degree-of-freedomovement movement data：
Utilize every single-degree-of-freedom exercise data in DTW algorithm comparison testers joint and putting down for the corresponding degree of freedom of similar normal person
The similarity of equal exercise data, to obtain the cumulative distance value of degree of freedom exercise data described in tester joint；
The cumulative distance value is carried out to the similarity score values of degree of freedom movement described in mapping calculation tester joint；
It is overall that the movement of tester's joint six-degree-of-freedom is calculated according to the similarity score values of each degree of freedom movement in tester joint
Score value.
2. joint motions intelligent scoring method as described in claim 1, which is characterized in that described to reflect cumulative distance value
The similarity score values for calculating degree of freedom movement described in tester joint are penetrated, specially：
Wherein, F represents the similarity score values of degree of freedom movement, and N represents degree of freedom movement number
According to the number of selection, e is natural constant, and α and ρ are the parameter of setting, and D is the cumulative distance value of degree of freedom exercise data.
3. joint motions intelligent scoring method as claimed in claim 2, which is characterized in that further include to the similarity score values
The step of being modified, specially：
FIt corrects=δ × S × F, wherein δ indicates that the amendment weights of baseline drift, S indicate the amendment power of tester's joint motions speed
Value.
4. joint motions intelligent scoring method as claimed in claim 2 or claim 3, which is characterized in that described according to each degree of freedom
The score value of movement calculates the overall score value of tester's joint six-degree-of-freedom movement, specially：
Score=βFE×FFE+βAdd/Abd×FAdd/Abd+βIE×FIE+βAP×FAP+βDP×FDP+βML×FML,
Wherein, Score is six-freedom motion totality score value, βFE、βAdd/Abd、βIE、βDP、βMLRespectively tester joint is in sky
Between in bend and stretch, it is interior turn up, interior outward turning, move forward and backward, upper and lower displacement, inside and outside displacement freedom weight coefficient, FFE、FAdd/Abd、
FIE、FAP、FDP、FMLRespectively tester joint bends and stretches, interior turn up, interior outward turning, moves forward and backward, is upper and lower displacement, inside and outside in space
The degree of freedom similarity score values of displacement.
5. a kind of motion of knee joint intelligence rank scores method, which is characterized in that including step：
The motion database of the knee joint three-dimensional six-freedom motion of normal person is established, the motion database includes at least level land
Gait action data, upward slope gait action data and the action data that stands up of squatting down；
Collecting test person knee joint is in level land gait, upward slope gait and the three-dimensional six-freedom motion number in standing up action of squatting down
According to；
Tester's knee joint is calculated in the gait of level land using the joint motions intelligent scoring method of any one of claim 1-4
Six-freedom motion totality score value and the squatting down six degree of freedom in action that stands up is transported in six-freedom motion totality score value, upward slope gait
Dynamic totality score value；
Stand up the overall score value of movement according to the overall score value and squatting down of the overall score value of level land gait motion, upward slope gait motion
Rank scores are carried out to the kneed three-dimensional motion of tester, wherein using the overall score value of level land gait motion as the first order
Scoring, the scoring using the overall score value of upward slope gait motion as the second level, using squat down stand up movement overall score value as third
Grade scoring.
6. knee joint intelligence rank scores method as claimed in claim 5, which is characterized in that the level land gait, step of going up a slope
State and squatting down stand up the three-dimensional six-degree-of-freedomovement movement data in action respectively include left side leg three-dimensional freedom exercise data and
The three-dimensional freedom exercise data of right side leg, the level land gait, upward slope gait and each six degree of freedom in standing up action of squatting down
The overall score value of movement is specifically calculated as：
SCORE=k1×ScoreL+k2×ScoreR+k3× ScoreA, wherein ScoreL is that the degree of freedom movement of left side leg is total
Body score value, ScoreR are the overall score value of degree of freedom movement of right side leg, and degree of freedom movements of the ScoreA between the leg of left and right is overall
Score value, k1、k2And k3For clinical experience value.
7. knee joint intelligence rank scores method as claimed in claim 5, which is characterized in that further include by tester's knee joint
Three-dimensional motion classification and appraisal result carry out visual step.
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| CN112989996A (en) * | 2021-03-10 | 2021-06-18 | 上海逸动医学科技有限公司 | Dynamic identification method for knee joint movement |
| CN113049795A (en) * | 2021-03-10 | 2021-06-29 | 上海逸动医学科技有限公司 | Multi-function test method for knee joint specimen |
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