CN109009135A - Backbone 3D measuring instrument and its measurement method - Google Patents
Backbone 3D measuring instrument and its measurement method Download PDFInfo
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- CN109009135A CN109009135A CN201810878687.7A CN201810878687A CN109009135A CN 109009135 A CN109009135 A CN 109009135A CN 201810878687 A CN201810878687 A CN 201810878687A CN 109009135 A CN109009135 A CN 109009135A
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- 238000000691 measurement method Methods 0.000 title abstract description 9
- 238000005259 measurement Methods 0.000 claims abstract description 35
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000000034 method Methods 0.000 claims abstract description 17
- 238000009434 installation Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 7
- 239000011436 cob Substances 0.000 claims description 20
- 206010039722 scoliosis Diseases 0.000 claims description 18
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000035479 physiological effects, processes and functions Effects 0.000 abstract description 2
- 238000004364 calculation method Methods 0.000 description 6
- 238000005452 bending Methods 0.000 description 4
- 208000000875 Spinal Curvatures Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 206010058907 Spinal deformity Diseases 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
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- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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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
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
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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
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1075—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions by non-invasive methods, e.g. for determining thickness of tissue layer
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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
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1077—Measuring of profiles
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Abstract
The invention discloses a kind of backbone 3D measuring instrument and its measurement methods, belong to the field of medical instrument technology, the backbone 3D measuring instrument includes measurement ontology, the front end of measurement ontology is provided with longitudinal fork, it is provided with the first idler wheel and the second idler wheel moved in backbone along backbone for docile in fork, is separately provided for accommodating the first annular groove and second annular groove of spinous process in the middle part of the first idler wheel and the second idler wheel；The rear end of measurement ontology is provided with handle；It measures and is provided with gyro sensor on ontology, be respectively arranged with first pressure sensor and second pressure sensor in the installation axle of the first idler wheel and the second idler wheel；The prompt unit for being additionally provided with central processing unit on measurement ontology and being connect with the central processing unit.It can be moved along actual physiology backbone space curve using the present invention, measure the space angle of backbone, structure is simple, easy to use, measurement accuracy is high.
Description
Technical field
The present invention relates to the field of medical instrument technology, a kind of backbone 3D measuring instrument and its measurement method are particularly related to.
Background technique
Backbone is made of 24 pieces of vertebras and interverbebral disc, its normal bending provides flexible, elasticity and damping to backbone
The characteristic of property, however, scoliosis be it is a kind of there are the flesh skeletal status of backbone exception lateral bending, cause backbone curved to left or right
Song, the backbone with scoliosis is because similar S or C letter is presented in the bending of exception, at this point, when backbone cannot develop it normally
Front and back arch when so as to bear abnormal weight on interverbebral disc.Scoliosis is most commonly in puberty, wherein hunchback is
A kind of and related visible deformity of spine of scoliosis, when bow-backed, the spinal curvature angle of upper dorsal area is 45
Degree is bigger, and normal backbone is in 15 degree of upper dorsal area only about 20 to four of bending.It is convex for preventing spine side,
Or it is bow-backed, it is necessary to the spinal curvature angle of human body is measured, measure spinal curvature angle it is larger when, can in time into
Row corrective therapy.
Scoliosis is a kind of deformity of spine, and it is that assessment deformity is serious that the angle Cobb method is measured on backbone radioscopic image
The major criterion of degree.The Cobb angle of normal formula need to upper limb by the upper end vertebra in scoliosis and lower end at present
The lower edge of vertebra respectively draws a soleplate line, then draws the vertical line of soleplate line again, indirectly to measure the angle of two soleplates.It is this
Method and step is more, needs to draw lines, therefore the time-consuming that operates, and picture is just not suitable for when X-ray is shown on computer screen
The method of line measures.And normal formula Cobb measurement method measurement accuracy is by paintbrush thickness and the vertical journey of drawn vertical line
The influence of the factors such as degree, therefore the error with 2-8 degree, and it is clinical higher for the precise requirements of Cobb angular measurement.
Summary of the invention
The backbone 3D that the technical problem to be solved in the present invention is to provide a kind of structures is simple, easy to use, measurement accuracy is high
Measuring instrument and its measurement method.
In order to solve the above technical problems, present invention offer technical solution is as follows:
On the one hand, a kind of backbone 3D measuring instrument, including measurement ontology are provided, in which:
The front end of the measurement ontology is provided with longitudinal fork, is provided with for docile in the fork in backbone
The first idler wheel and the second idler wheel moved along backbone is separately provided for accommodating in the middle part of first idler wheel and the second idler wheel
The first annular groove and second annular groove of spinous process；
The rear end of the measurement ontology is provided with handle；
It is provided with gyro sensor on the measurement ontology between first idler wheel and the second idler wheel, described first
First pressure sensor and second pressure sensor are respectively arranged in the installation axle of idler wheel and the second idler wheel；
Be additionally provided with central processing unit on the measurement ontology, the gyro sensor, first pressure sensor and
The signal output end of second pressure sensor is connected to the central processing unit, and the central processing unit, which is also connected with, to be mentioned
Show unit.
Further, the angle of the longitudinal direction of the handle and the measurement ontology is 15-30 degree.
Further, the first pressure sensor is two, is separately positioned on the two of the installation axle of first idler wheel
End；And/or the second pressure sensor is two, is separately positioned on the both ends of the installation axle of second idler wheel.
Further, the diameter of first idler wheel is 2-3 times of the diameter of second idler wheel.
Further, the prompt unit is auditory tone cues unit and/or light prompt unit.
Further, the central processing unit be also connected with storage unit, and/or display unit, and/or for it is outer
The communication chip of portion's equipment communication.
On the other hand, a kind of method using the above-mentioned backbone 3D measuring instrument measurement angle backbone Cobb is provided, comprising:
Step 1: the backbone 3D measuring instrument is held, by first idler wheel and the second idler wheel docile in the neck of human spine
At vertebra；
Step 2: when the prompt unit prompts the pressure between first idler wheel, the second idler wheel and backbone to be in default
When in pressure limit, the gyro sensor starts data acquisition, holds the backbone 3D measuring instrument along backbone from top to bottom
It rolls, until lumbar vertebrae tail portion, data acquisition；
Step 3: the data acquired according to the gyro sensor calculate backbone 3D measuring instrument in space coordinates
Motion profile；
Step 4: according to the motion profile, calculating the angle Cobb of the backbone.
Further, in the step 2, in the backbone 3D measuring instrument moving process, if the prompt unit mentions
Show that the pressure between first idler wheel, the second idler wheel and backbone is not in pre-set pressure range, adjusts the backbone 3D and survey
The pressure of tilt angle and/or the hand application of amount instrument, makes the pressure between first idler wheel, the second idler wheel and backbone
It is maintained in pre-set pressure range.
Further, in the step 2, the data of acquisition include: that the gyro sensor starts data acquisition when institute
Initial spatial location, the backbone 3D measuring instrument of the backbone 3D measuring instrument in space coordinates is stated to roll from top to bottom along backbone
3-axis acceleration and quaternary number in the process；
In the step 3, the motion profile is integrated according to the initial spatial location, 3-axis acceleration and quaternary number
Operation obtains.
Further, in the step 4, the calculation formula at the angle Cobb of the backbone is as follows:
C=180-b+a
Wherein, c represents the angle Cobb of the backbone, and a is tangent line of the motion profile at the upper end vertebra of scoliosis
With the angle of space coordinates x-axis, b is tangent line of the motion profile at the lower end vertebra of scoliosis and space coordinates x
The angle of axis.
The invention has the following advantages:
It is rolled from top to bottom by idler wheel docile at the cervical vertebra of human spine in application, holding backbone 3D measuring instrument,
Until lumbar vertebrae tail portion, at the same time, the docile degree of pressure sensor measurement idler wheel and backbone is utilized, it is ensured that be constantly in docile
State acquires data using gyro sensor, the motion profile of equipment can be calculated, to go out according to moving track calculation
The angle Cobb of backbone.Backbone 3D measuring instrument of the invention and its measurement method, structure is simple, easy to use, measurement accuracy is high.
Detailed description of the invention
Fig. 1 is the overall structure diagram of backbone 3D measuring instrument of the invention；
Fig. 2 is the structure chart of the first idler wheel in backbone 3D measuring instrument shown in Fig. 1, wherein (a) is side view, it (b) is to face
Figure；
Fig. 3 is the structure chart of the second idler wheel in backbone 3D measuring instrument shown in Fig. 1, wherein (a) is side view, it (b) is to face
Figure；
Fig. 4 is the structure chart that ontology and handle portion are measured in backbone 3D measuring instrument shown in Fig. 1；
Fig. 5 is the circuit diagram of backbone 3D measuring instrument of the invention；
Fig. 6 is the flow chart of the measurement method of backbone 3D measuring instrument of the invention；
Fig. 7 is backbone Cobb angle calculation schematic diagram in measurement method shown in Fig. 6.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of backbone 3D measuring instrument, as shown in Figs. 1-5, including measurement ontology 1, in which:
The front end of measurement ontology 1 is provided with longitudinal fork 2, is provided with (on i.e. two forks) for pasting in fork 2
Take the first idler wheel 3 and the second idler wheel 4 moved in backbone along backbone, the middle part of the first idler wheel 3 and the second idler wheel 4 is respectively arranged with
For accommodating the first annular groove 31 and second annular groove 41 of spinous process；
The rear end of measurement ontology 1 is provided with handle 5；
Gyro sensor 6,3 He of the first idler wheel are provided between the first idler wheel 3 and the second idler wheel 4 on measurement ontology 1
First pressure sensor 7 and second pressure sensor 8 are respectively arranged in the installation axle of second idler wheel 4；
Central processing unit 9, gyro sensor 6, first pressure sensor 7 and second are additionally provided on measurement ontology 1
The signal output end of pressure sensor 8 is connected to central processing unit 9, and central processing unit 9 is also connected with prompt unit 10.
It is rolled from top to bottom by idler wheel docile at the cervical vertebra of human spine in application, holding backbone 3D measuring instrument,
Until lumbar vertebrae tail portion, at the same time, the docile degree of pressure sensor measurement idler wheel and backbone is utilized, it is ensured that be constantly in docile
State acquires data using gyro sensor, the motion profile of equipment can be calculated, to go out according to moving track calculation
The angle Cobb of backbone.
In the present invention, be arranged two idler wheels be advantageous in that may insure the distance between gyro sensor and backbone protect
Hold it is constant, thus according to gyro sensor acquire the calculated motion profile of data be backbone buckling curve, if
If an idler wheel only is arranged, with the inclination of handle, the distance between gyro sensor and backbone will change, according to
The calculated motion profile of data of gyro sensor acquisition will cannot represent the buckling curve of backbone.Annular on idler wheel is recessed
Slot can play positioning action, improve the accuracy of measurement.
Backbone 3D measuring instrument of the invention can be moved along actual physiology backbone space curve, measure backbone
Space angle, structure is simple, easy to use, measurement accuracy is high.
As shown in figure 4, the angle α of the longitudinal direction of handle 5 and measurement ontology 1 can be 15-30 degree, to facilitate hand-held behaviour
Make.Preferably, first pressure sensor 7 is two, is separately positioned on the both ends of the installation axle of the first idler wheel 3；And/or second
Pressure sensor 8 is two, is separately positioned on the both ends of the installation axle of the second idler wheel 4, in this way, can make at left and right sides of idler wheel all
Stable docile further increases the accuracy of measurement on backbone.
In the present invention, the diameter of the first idler wheel 3 and the second idler wheel 4 can be identical, however it is preferred that as shown in Figure 1, the first rolling
The diameter of wheel 3 is 2-3 times of the diameter of the second idler wheel 4, and the two is of different sizes, and equipment can be made to be moved through along backbone curve
It is more steady in journey.
As shown in figure 5, prompt unit 10 can be auditory tone cues unit and/or light prompt unit.It is deposited to improve data
Energy storage power, central processing unit 9 can connect storage unit 11.Central processing unit 9 can also be connected with display unit (not
Show), to be shown to related content.Also, central processing unit 9 can also be connected with for (as above with external equipment
Position machine, mobile terminal etc.) communication communication chip 12, which can be logical using WIFI or bluetooth commonly used in the art
Letter mode.
On the other hand, the present invention provides a kind of method using the above-mentioned backbone 3D measuring instrument measurement angle backbone Cobb, such as Fig. 6
It is shown, comprising the following steps:
S1: holding the backbone 3D measuring instrument, by first idler wheel and the second idler wheel docile in the cervical vertebra of human spine
Place；
In this step, patient keeps midstance to measure.
S2: when the prompt unit prompts the pressure between first idler wheel, the second idler wheel and backbone to be in default pressure
When within the scope of power, the gyro sensor starts data acquisition, holds the backbone 3D measuring instrument and rolls from top to bottom along backbone
It is dynamic, until lumbar vertebrae tail portion, data acquisition；
In this step, pre-set pressure range can flexible setting according to the actual situation, the pressure mistake between idler wheel and backbone
If small, illustrate non-docile in place, if pressure is excessive, influences the comfort level of tested patient.It is moved through in backbone 3D measuring instrument
Cheng Zhong, if the prompt unit prompts the pressure between first idler wheel, the second idler wheel and backbone to be not in preset pressure
In range, adjust the pressure that tilt angle and/or the hand of the backbone 3D measuring instrument apply, make first idler wheel,
Pressure between second idler wheel and backbone is maintained in pre-set pressure range.
Prompt unit is preferably auditory tone cues unit, and the prompt provided for example can be with are as follows: " docile is normal, please start to survey
Amount ", " the non-docile of front-wheel is in place ", " the non-docile of rear-wheel is in place ", " the non-docile of front-wheel/rear-wheel left/right is in place ", " front-wheel/
The left side lateral pressure of rear-wheel is excessive ", " measurement finishes " etc..Certainly, prompt unit can also use light prompt unit, example
Such as indicate that different states is prompted by multiple LED, in different colors.
In addition, the data of acquisition preferably at least include: that the gyro sensor starts data acquisition when institute in this step
Initial spatial location, the backbone 3D measuring instrument of the backbone 3D measuring instrument in space coordinates is stated to roll from top to bottom along backbone
3-axis acceleration and quaternary number in the process.
S3: the data acquired according to the gyro sensor calculate backbone 3D measuring instrument in space coordinates
Motion profile；
In this step, according to the data that the gyro sensor acquires, backbone 3D measuring instrument can be calculated in space
Motion profile (obtaining a space vector curve) in coordinate system, specifically, can be according to the initial spatial location, three axis
Acceleration and the integrated operation of quaternary number obtain.Calculation method can refer to following steps:
A1, assume initial space of the backbone 3D measuring instrument in space coordinates when gyro sensor starts data acquisition
Position is s_x, s_y, s_z, and at this time due to not starting to move, therefore three axle speeds are zero, i.e. speed v_x=0, v_y=0, v_z
=0；
A2, by gyro sensor, obtain the 3-axis acceleration a_x after time dt, a_y, a_z, quaternary number q0,
Q1, q2, q3；
A3,3-axis acceleration is transformed on spatial triaxial, definition space coordinate system 3-axis acceleration ar_x, ar_y, ar_
z；
Ar_x=(q02+q12-q22-q32)*a_x+2*(q1*q2-q0*q3)*a_y+2*(q0*q2+q1*q3)*a_z
Ar_y=2* (q0*q3+q1*q2) * a_x+ (q02-q12+q22-q32)*a_y+2*(q2*q3-q0*q1)*a_z
Ar_z=2* (q1*q3-q0*q2) * a_x+2* (q0*q1+q2*q3) * a_y+ (q02-q12-q22+q32)*a_z
A4, integral obtain the displacement of spatial triaxial:
S_x=v_x*dt+ar_x*dt2/2
V_x=ar_x*dt
S_y=v_y*dt+ar_y*dt2/2
V_y=ar_y*dt
S_z=v_z*dt+ar_z*dt2/2
V_z=ar_z*dt
Equipment can be depicted in the motion profile of space coordinates according to s_x, s_y, s_z.
S4: according to the motion profile, the angle Cobb of the backbone is calculated.
In this step, according to the motion profile, the angle Cobb of the backbone can be calculated.As shown in fig. 7, specifically may be used
To use following calculation formula:
C=180-b+a
Wherein, c represents the angle Cobb of the backbone, and a is tangent line of the motion profile at the upper end vertebra of scoliosis
With the angle of space coordinates x-axis, b is tangent line of the motion profile at the lower end vertebra of scoliosis and space coordinates x
The angle of axis.Wherein, the upper and lower end vertebra of scoliosis can pass through selection curvature near the corresponding position of the motion profile
Minimal point is calculated, specifically, as shown in fig. 7, highest point due to that can identify scoliosis, in the motion profile
On moved up along the highest point of scoliosis, the upper end vertebra point that curvature minimal point is scoliosis is found, in the fortune
It is moved down on dynamic rail mark along the highest point of scoliosis, finds the lower end vertebra point that curvature minimal point is scoliosis.
Above-mentioned steps S3 and S4 can both be executed in central processing unit, can also be by central processing unit by acquisition
Data are transmitted in external host computer and execute, and do not influence the realization of technical solution of the present invention.
It can be convenient by means of the present invention, be quick, the high-precision angle Cobb for measuring backbone.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of backbone 3D measuring instrument, which is characterized in that including measuring ontology, in which:
The front end of the measurement ontology is provided with longitudinal fork, is provided with for docile in backbone in the fork along ridge
Column mobile the first idler wheel and the second idler wheel are separately provided for accommodating backbone in the middle part of first idler wheel and the second idler wheel
The first annular groove and second annular groove of spinous process；
The rear end of the measurement ontology is provided with handle；
Gyro sensor, first idler wheel are provided on the measurement ontology between first idler wheel and the second idler wheel
First pressure sensor and second pressure sensor are respectively arranged with in the installation axle of the second idler wheel；
Central processing unit, the gyro sensor, first pressure sensor and second are additionally provided on the measurement ontology
The signal output end of pressure sensor is connected to the central processing unit, and it is single that the central processing unit is also connected with prompt
Member.
2. backbone 3D measuring instrument according to claim 1, which is characterized in that the longitudinal direction of the handle and the measurement ontology
The angle in direction is 15-30 degree.
3. backbone 3D measuring instrument according to claim 1, which is characterized in that the first pressure sensor is two, point
The both ends of the installation axle of first idler wheel are not set；And/or the second pressure sensor is two, is separately positioned on
The both ends of the installation axle of second idler wheel.
4. backbone 3D measuring instrument according to claim 1, which is characterized in that the diameter of first idler wheel is described second
2-3 times of the diameter of idler wheel.
5. backbone 3D measuring instrument according to any one of claims 1-4, which is characterized in that the prompt unit mentions for sound
Show unit and/or light prompt unit.
6. backbone 3D measuring instrument according to claim 5, which is characterized in that the central processing unit is also connected with storage
Unit, and/or display unit, and/or for the communication chip with external device communication.
7. utilizing the method at the backbone 3D measuring instrument measurement angle backbone Cobb any in claim 1-6, which is characterized in that
Include:
Step 1: the backbone 3D measuring instrument is held, by first idler wheel and the second idler wheel docile in the cervical vertebra of human spine
Place；
Step 2: when the prompt unit prompts the pressure between first idler wheel, the second idler wheel and backbone to be in preset pressure
When in range, the gyro sensor starts data acquisition, holds the backbone 3D measuring instrument and rolls from top to bottom along backbone,
Until lumbar vertebrae tail portion, data acquisition；
Step 3: the data acquired according to the gyro sensor calculate fortune of the backbone 3D measuring instrument in space coordinates
Dynamic rail mark；
Step 4: according to the motion profile, calculating the angle Cobb of the backbone.
8. the method according to the description of claim 7 is characterized in that being moved through in the step 2 in the backbone 3D measuring instrument
Cheng Zhong, if the prompt unit prompts the pressure between first idler wheel, the second idler wheel and backbone to be not in preset pressure
In range, adjust the pressure that tilt angle and/or the hand of the backbone 3D measuring instrument apply, make first idler wheel,
Pressure between second idler wheel and backbone is maintained in pre-set pressure range.
9. the method according to the description of claim 7 is characterized in that the data of acquisition include: the gyro in the step 2
Instrument sensor starts initial spatial location, the backbone 3D of the backbone 3D measuring instrument in space coordinates when data acquisition
3-axis acceleration and quaternary number of the measuring instrument in backbone from top to bottom rolling process；
In the step 3, the motion profile is according to the initial spatial location, 3-axis acceleration and the integrated operation of quaternary number
It obtains.
10. the method according to the description of claim 7 is characterized in that in the step 4, the calculating at the angle Cobb of the backbone
Formula is as follows:
C=180-b+a
Wherein, c represents the angle Cobb of the backbone, and a is tangent line of the motion profile at the upper end vertebra of scoliosis and sky
Between coordinate system x-axis angle, b is tangent line of the motion profile at the lower end vertebra of scoliosis and space coordinates x-axis
Angle.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110772257A (en) * | 2019-10-31 | 2020-02-11 | 朱志斌 | Hand-held type spinal static curvature's detection device |
| CN110881978A (en) * | 2019-10-25 | 2020-03-17 | 浙江中医药大学附属第三医院 | Spinal column lateral bending measuring instrument |
| WO2020232727A1 (en) * | 2019-05-17 | 2020-11-26 | 南京东奇智能制造研究院有限公司 | Portable spine measurement instrument based on mimu and method |
| CN113786188A (en) * | 2021-08-05 | 2021-12-14 | 芙索特(上海)医疗科技有限公司 | Scoliosis detection device and scoliosis detection method |
| CN115153509A (en) * | 2022-08-05 | 2022-10-11 | 芙索特(上海)医疗科技有限公司 | Spine space curve generation method and system and spine measuring instrument |
| PL131705U1 (en) * | 2019-10-03 | 2024-03-11 | Kluszczyńska Ewa Ośrodek Rehabilitacji Leczniczej Troniny | Electronic device for measuring angular and linear curvatures of the spine |
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