CN109243575A - A kind of virtual acupuncture-moxibustion therapy method and system based on mobile interaction and augmented reality - Google Patents
A kind of virtual acupuncture-moxibustion therapy method and system based on mobile interaction and augmented reality Download PDFInfo
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Abstract
The invention proposes a kind of virtual acupuncture-moxibustion therapy methods and system based on mobile interaction and augmented reality.This method is divided into five capture in Augmented Reality, diagnostic subsystem, coordinate system and its conversion, hand gesture location and direction, collision detection and visual feedback modules.Wherein Augmented Reality is by wearing AR equipment, by experimental human model projection into real world.It is executed in order to which the operation in virtual environment can be transferred in actual environment, coordinate system is needed to carry out coordinate conversion.Diagnostic subsystem is constructed IFPN model learning various disease by back-propagation algorithm and treats the corresponding relationship between acupuncture point.Gesture-capture is realized by being fixed on the Leap Motion motion sensing control device of AR glasses, by the data captured, can calculate the movement sold and position.It by collision detection, to obtain the contact point of acupuncture needle, and then is guided by visual feedback, participant is made to understand accuracy of action.
Description
Technical field
The present invention relates to a kind of virtual acupuncture techniques, and in particular to a kind of virtual needle based on mobile interaction and augmented reality
Moxibustion method and system.
Background technique
Acupuncture is a kind of drug therapy for treating disease or human health is maintained by the related acupuncture point of stimulation.Acupuncture can only
It is carried out on real patient or artificial manikin.And artificial manikin is provided with the visual angle of limit, the force feedback that it is provided
It is not true enough.Therefore a kind of offer information abundant is provided, allow to the system for identifying different acupuncture points, meaning is very heavy
Greatly.
There is the system of many virtual acupuncture at present, but still there are many problems to have to be solved or worth further research.
One is the method for contact.It is applied acupuncture by using the virtual needle of control stick remote control, or is remotely grasped using touch screen
It is vertical.But due to limited sight and interaction, dirigibility is incorrect.Second, contactless method.By the way that physical markings are put
Acupuncture is realized in physical feeling to track manpower and remotely control.But if label is blocked, these methods will likely
Failure.Therefore having a solution is the hand that operator is tracked using Kinect, with Interval Kalman filter device and grain
Subfilter controls robotic manipulator.But people can use best posture in real life naturally, so it is simultaneously
It is imperfect.
Summary of the invention
To solve the above problems, the present invention provides a kind of virtual acupuncture-moxibustion therapy method based on mobile interaction and augmented reality and is
System.By the present invention in that realizing the connection of real world and virtual interface with AR wearable device.In this case, break use
The limitation of family movement.Furthermore, it is possible to pay close attention to the thing occurred in real world in the case where not considering mapping relations.This side
Method additionally provides a kind of more natural man-machine interaction mode.Operator can check mould in more acurrate and free any direction
Anthropomorphic body, more accurately operation applies acupuncture.
The present invention is achieved by the following technical solution.
A kind of virtual acupuncture-moxibustion therapy method based on mobile interaction and augmented reality comprising following steps:
S1, Augmented Reality project experimental human model into experimental situation；
S2, Intelligent Fuzzy Petri Net (intelligent fuzzy is constructed by using back-propagation algorithm
Petri network, referred to as: IFPN) model, to realize diagnostic subsystem；
S3, hand coordinate is obtained by using Leap Motion motion sensing control device；
S4, by coordinate system and its conversion, realize virtually and the combination of reality scene；
The position and direction of S5, hand being estimated and capturing；
S6, collision detection and visual feedback.
Further, virtual human model is projected to true ring by wearing AR equipment by the Augmented Reality in step S1
In border；Operator will simulate human projection into real world by wearing AR glasses, be applied acupuncture using virtual acupuncture.
Further, in step s 2, the number description of acupuncture is mutually tied with digitized anatomical atlas by computer
It closes, the acupuncture point 3D is positioned to simulation human body；Intelligent fuzzy Petri network is widely used in the fields such as reasoning, assessment；The intelligent fuzzy
Petri net has an output position and an input position；IFPN model is by intuitionistic Fuzzy Sets theory and Petri network
(feature pyramid networks) theory combines to be formed；The symptom of disease is using back-propagation algorithm to one first
Group data are trained study, and input position is obtained in IFPN model after trained to the weight of output position；By Dynamic
Certainty Factor (being dynamically determined sexual factor) introduces IFPN model, to tree after being by IFPN model conversion；Rear to tree
In, symptom is obtained to the importance factor of disease, to identify disease.
Further, step S3 can detecte palm, finger by Leap Motion motion sensing control device and video camera
Presence.Leap Motion controller can voluntarily calculate gesture and movement.Flute card on the right side of the use of Leap Motion controller
That coordinate system.Using the center in the controller as origin.X-axis is parallel to the long side of equipment side, the other side of Z axis and equipment
In parallel, the plane Chong Die with the face of Leap Motion is formed, for Y-axis perpendicular to the plane, direction is upward.With the controller
Frame be defined as XlYlZ1 coordinate.The visual range of the controller is back taper, once detect palm and finger, one
A sightless coordinate system (its origin is located at palm center) for being defined as XhYhZh will be constructed to the position of digitlization hand
The direction and.The hand exercise that the origin in XhYhZh coordinate system defines again needs to be converted into the opposite position of hand in XlYlZ1
Set the data with direction.When these data reach server, server will be attempted to explain that its meaning is converted into world coordinates
System.
Further, it is converted by one similitude of setting, and converts it to a deviation formula, obtain conversion parameter
The least square solution of vector obtains the relationship between two coordinate systems, realizes the conversion virtually with reality.Internet is also required to count
Calculate how the movement carries out in real world.Internet obtains height in one's hands, direction and position from Google's HoloLens glasses
Data, calculate the position of the palm of the hand in the real world.In conjunction with the data in Leap Motion controller, showed
Coordinate in the real world.In order to transmit the image of real world to show on the virtual scene that Google's HoloLens glasses render
Show, needs calibrating real world coordinates and AR glasses coordinate.Using the interactive scene structural modeling algorithm of single image existing
In real field scape registration simulation human body, obtain the relationship between virtual objects and reality scene, in order to allow users to virtually it is right
As interaction, the relationship between Leap Motion and HoloLens needs further configuration.Because Leap Motion can capture
Each artis of each manpower.In addition, in order to establish the coordinate of HoloLens and Leap Motion, need at least three non-
The common ground of synteny.First using Microsoft HoloLens holographic glasses observation calibration frame, calculate in HoloLens coordinate system
The position of four angle points (x1, x2, x3, x4) on surface.Then four angle points are touched with the thumb tip of user, can passed through
Leap Motion controller calculates the position (x1', x2', x3', x4') in Leap Motion coordinate system, obtain (x1, x2,
X3, x4) with the relationship of (x1', x2', x3', x4').
Further, step S5 carries out the position estimation of the palm of the hand using Kalman Filter (Kalman filter), uses
Kalman Filter algorithm rewrites section Kalman filter and realizes denoising；PF (particle filter) is using corresponding normalization
The stochastic regime sample of limited quantity in weight estimates true posterior suboptimum resolution ratio；Density is approximate after time t_k
Value isWherein δ () is unit impulse function, and N is sample number,It is i-th of particle
Normalized weight,It is i-th of particle, however in this case, the accuracy of PF is not high, because k is too high；In order to improve
Such case, for the time difference between two position iteration, the summation of alternate position spike is used to obtain the weight of particle, rather than tk
When alternate position spike immediately the accumulation position of estimated value and calculated value with i-th particle is then used in possibility calculating
Difference, when accumulated error minimum, a possibility that position is correct highest；Finally, standard can be obtained based on the value that possibility calculates
The weight of change.
Further, in step S6, acupuncture insertion process can be seen as mass spring model, therefore a particle and spring
Collision can be seen as the good approximation of acupuncture process.When needle penetrates skin, the internal force being subject to includes spring force i.e. surrounding matter
Point is the power generated after the additional original length in control point is 0 virtual spring deformation to its pulling force and virtual spring power.Bullet
Spring force F can be by determining with the spring of M Neighbourhood set around the particle.Due to needing to pass through acupuncture needle during acupuncture and moxibustion therapy
The purpose for being rotated up to treatment, acupuncture needle along a direction during rotating, by one in skin tangential direction
Frictional force, size are related to skin physiology parameters and the external force being applied on needle.After knowing the size of these power, benefit
With the real-time change of the color of virtual needle, so that operator is understood the accuracy of oneself operation, adjust oneself insertion speed and rotation
Rotary speed improves the accuracy of operation.
The system for realizing a kind of virtual acupuncture-moxibustion therapy method based on mobile interaction and augmented reality described in claim 1,
Including AR equipment, Leap Motion motion sensing control device and computer；The AR equipment includes Microsoft's HoloLens holographic glasses；
It is described to wear AR equipment, for by experimental human model projection, into real world, operator to be used virtually by wearing AR glasses
Needle applies acupuncture；Leap Motion motion sensing control device is for detecting palm, the presence of finger, hand gesture location and gesture motion；Institute
State Microsoft's HoloLens holographic glasses for observe calibrate frame, calculating HoloLens coordinate system in upper surface four angle points (x1,
X2, x3, x4) position；The computer is for constructing Intelligent Fuzzy by using back-propagation algorithm
Petri Net (intelligent fuzzy Petri network, referred to as: IFPN) model, to realize diagnostic subsystem
Compared with the prior art, the invention has the following advantages and beneficial effects:
1, present invention uses the methods of augmented reality, realize the connection of real world and virtual interface, operator
Good feeling of immersion can be possessed.
2, the diagnostic subsystem in the present invention with the information of feed back rich and can be prompted to operator, and operator is not required to
There is priori knowledge, acupuncture conduction can be realized by using practice
3, the present invention provides a kind of more natural man-machine interaction mode, operator can be more natural and accurately any
Side looks up virtual human body, takes more accurate operation.
Detailed description of the invention
Fig. 1 is virtual acupuncture system flow chart.
Fig. 2 is diagnostic IFPN model.
Fig. 3 is the backward tree generated.
Fig. 4 a, Fig. 4 b are hand to world coordinate system schematic diagram.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawing and by way of example, right
Technical solution of the present invention is described in detail, if it is noted that having the process not being described in detail especially or symbol below,
It is that those skilled in the art can refer to understanding in the prior art or realize.
The system that the virtual acupuncture-moxibustion therapy method of this example uses includes AR glasses, and Leap Motion motion sensing control device calculates
Machine；The process of this method by step as shown in Figure 1, realized:
S1, pass through wearing AR glasses realization.Virtual human model is projected in true environment first, operator can be with
It is applied acupuncture by wearing AR glasses using virtual acupuncture, by experimental human model projection into real world.
S2, the step are realized on computers.Intelligent fuzzy Petri network (feature pyramid networks) is wide
It is general to be used for the fields such as reasoning, assessment.It has an output position and an input position.IFPN model is to manage intuitionistic Fuzzy Sets
It to be formed by combining with Petri network theory.The symptom of disease is trained one group of data using back-propagation algorithm first
Study obtains IFPN model after training, as shown in Figure 2.In a model, weight of the input position to output position.DCF is introduced
IFPN model, to tree after IFPN is converted to, as shown in Figure 3.Rear into tree, symptom is obtained to the importance factor of disease,
To identify disease.
In following case, IFPN three kinds of common diseases, i.e. spasm for identification, dysentery and diarrhea.Fig. 2 is one
IFPN model, Fig. 3 are the backward trees that IFPN conversion generates.Learnt by using back-propagation algorithm, obtains description input position
To the weight of the conclusive importance in output position, indicated with symbol w1, w2 ..., w21.
By the study weight for summarizing case study.Each weight instruction input position is to the output position in IFPN element
Importance factor.For example, w1=0.617237 means relative to other input positions p2 (frequent diarrhea), p6 (the red tongue fur of tongue
It is yellow), p8 (pulse is quick) and p9 (acrotism), importance factor of the position p1 (abdominal pain) for output position p16 (dysentery)
It is 0.617237, and w15=0.09821 means p10 (face is pale) relative to other input positions p1 (abdominal pain), p3 (excrement
Just dry), the importance factor of p7 (the white whitish tongue of tongue), p9 (weak pulse is fought) to output position p14 (cold of insufficiency type constipation) are 0.09821
S3, Leap Motion controller can detecte the finger palm of the hand, after receiving data, can voluntarily calculate gesture position
It sets and acts, it is known that hand is how to move.Hand data are converted into global coordinate system again, (the IMU as shown in Fig. 4 a, Fig. 4 b
For the device for being measurement object triaxial attitude angle (or angular speed) and acceleration), for hand to world coordinate system schematic diagram.
S4, it is converted by one similitude of setting, and converts it to a deviation formula, obtain conversion parameter vector
Least square solution obtains the relationship between two coordinate systems, realizes conversion.Internet is also required to calculate the movement in real world
In how carry out.Internet obtains height in one's hands from Microsoft's HoloLens glasses, and the data in direction and position calculate real generation
The position of the palm of the hand in boundary.In conjunction with the data in Leap Motion, coordinate in the real world is obtained.It is true in order to transmit
The image in the real world needs calibrating real world coordinates and AR to show on the virtual scene that Microsoft's HoloLens glasses render
Glasses coordinate.We need the registration simulation human body in reality scene, obtain the relationship between virtual objects and reality scene, are
It allows users to interact with virtual objects, the relationship between Leap Motion and Microsoft's HoloLens glasses needs further
Configuration.Because Leap Motion can capture each artis of each manpower.In addition, in order to establish Microsoft HoloLens
The coordinate of mirror and Leap Motion needs the common ground of at least three non co-linearities.Microsoft HoloLens holography eye is used first
Sem observation calibrates frame, calculates the position of four angle points (x1, x2, x3, x4) of upper surface in Microsoft HoloLens glasses coordinate system
It sets.Then four angle points are touched with the thumb tip of user, Leap Motion coordinate system can be calculated by Leap Motion
In position (x1', x2', x3', x4'), obtain the relationship of (x1, x2, x3, x4) Yu (x1', x2', x3', x4').
S5, position estimation is carried out using IKF, rewrites the realization of section Kalman filter with Kalman Filter algorithm and goes
It makes an uproar.It is oriented estimation using improved IPF, for the period, the summation of alternate position spike is for obtaining weight.
S6, acupuncture insertion process can be seen as mass spring model, therefore the collision of a particle and spring can be seen as needle
The good approximation of moxibustion process.When needle penetrates skin, the internal force being subject to includes spring force i.e. surrounding particle to its pulling force and virtual
Spring force is the power generated after the additional original length in control point is 0 virtual spring deformation.Spring force F can by with this
The spring of M Neighbourhood set determines around particle.Due to needing the treatment that is rotated up to by acupuncture needle during acupuncture and moxibustion therapy
Purpose, acupuncture needle along a direction during rotating, by a frictional force, size and skin in skin tangential direction
Skin physiological parameter and the external force being applied on needle are related.After knowing the size of these power, the color of virtual needle is utilized
Real-time change makes operator understand the accuracy of oneself operation, adjusts oneself insertion speed and rotation speed, improve operation
Accuracy.
In conclusion the present invention is such as specification and diagramatic content, the above is only specific steps of the invention, to the present invention
Protection scope be not limited in any way.
Claims (8)
1. a kind of virtual acupuncture-moxibustion therapy method based on mobile interaction and augmented reality, which comprises the following steps:
S1, Augmented Reality project experimental human model into experimental situation；
S2, IFPN model is constructed by using back-propagation algorithm, to realize diagnostic subsystem；
S3, hand coordinate is obtained by using Leap Motion motion sensing control device；
S4, by coordinate system and its conversion, realize virtually and the combination of reality scene；
The position and direction of S5, hand being estimated and capturing；
S6, collision detection and visual feedback.
2. a kind of virtual acupuncture-moxibustion therapy method based on mobile interaction and augmented reality according to claim 1, which is characterized in that
Augmented Reality in step S1 is by wearing AR equipment, and by experimental human model projection into real world, operator passes through pendant
AR glasses are worn to apply acupuncture using virtual needle.
3. a kind of virtual acupuncture-moxibustion therapy method based on mobile interaction and augmented reality according to claim 1, which is characterized in that
In step s 2, the number description of acupuncture is combined with digitized anatomical atlas by computer, to simulation human body positioning
The acupuncture point 3D；The intelligent fuzzy Petri network has an output position and an input position；IFPN model is by intuitionistic Fuzzy Sets
Theory, which is combined with Petri network theory, to be formed；The symptom of disease instructs one group of data using back-propagation algorithm first
Practice study, input position is obtained in IFPN model after training to the weight of output position；By Dynamic Certainty
Factor introduces IFPN model, to tree after being by IFPN model conversion；Rear into tree, obtain symptom to the importance of disease because
Son, to identify disease.
4. a kind of virtual acupuncture-moxibustion therapy method based on mobile interaction and augmented reality according to claim 1, which is characterized in that
In step S3, palm, the presence of finger are detected by Leap Motion motion sensing control device；The motion sensing control device is voluntarily counted
Calculate gesture and movement；Cartesian coordinate system on the right side of the motion sensing control device use, using the controller as center origin, X-axis is flat
For row in the long side of equipment side, Z axis is parallel with the other side of equipment, forms the plane Chong Die with the face of the controller, and Y-axis is hung down
Directly in the plane, direction is upward；XlYlZ1 coordinate is defined as with the frame of the controller；The visual range of the controller
It is back taper, once detecting palm and finger, one will be constructed and be defined as XhYhZh and origin is located at the coordinate of palm center
System, to digitize the position and direction of hand；The hand exercise needs that origin in XhYhZh coordinate system defines are converted
For the relative position of hand in XlYlZ1 coordinate and the data in direction；Above data is transferred to server, server reads data
Meaning be converted into global coordinate system.
5. a kind of virtual acupuncture-moxibustion therapy method based on mobile interaction and augmented reality according to claim 1, which is characterized in that
It in step S4, is converted by one similitude of setting, and converts a deviation formula for the setting, obtain conversion parameter arrow
The least square solution of amount obtains between the Leap Motion controller coordinate system used and the global coordinate system of real world
Spatial relation realizes the conversion virtually with reality；Internet obtains the height of hand from Google's HoloLens glasses, direction and
The data of position calculate the position of the palm of the hand in the real world；In conjunction with the data in the controller, true generation is obtained
Boundary's coordinate；By calibrating real world coordinates and AR glasses coordinate, to transmit the image of real world in Google HoloLens
It is shown on the virtual scene of glasses rendering；It is registered in reality scene using the interactive scene structural modeling algorithm of single image
Human body is simulated, the relationship between virtual objects and reality scene is obtained, by further configuring Leap Motion motion sensing control device
Relationship between Google's HoloLens glasses, operating with family can interact with virtual objects；The controller captures simultaneously
Each artis of manpower；By the common ground of at least three non co-linearities, Google's HoloLens glasses and Leap are established
The coordinate of Motion calculates upper table in HoloLens coordinate system first using Microsoft HoloLens holographic glasses observation calibration frame
The position of four angle points (x1, x2, x3, x4) in face；Then four angle points are touched with the thumb tip of user, Leap can be passed through
Motion motion sensing control device calculates the position (x1', x2', x3', x4') in Leap Motion coordinate system, obtain (x1, x2, x3,
X4) with the relationship of (x1', x2', x3', x4').
6. a kind of virtual acupuncture-moxibustion therapy method based on mobile interaction and augmented reality according to claim 1, which is characterized in that
The position estimation for carrying out the palm of the hand in step S5 using Kalman Filter rewrites section Kalman with Kalman Filter algorithm
Filter realizes denoising；Density approximation is after time t_kWherein δ () is unit
Impulse function, N are sample numbers,It is the normalized weight of i-th of particle,It is i-th of particle；Then, it is calculated in possibility
Middle use and the estimated value of i-th particle and the accumulation alternate position spike of calculated value, finally, being marked based on the value that possibility calculates
The weight of standardization.
7. a kind of virtual acupuncture-moxibustion therapy method based on mobile interaction and augmented reality according to claim 1, which is characterized in that
In step S6, acupuncture insertion process is seen as mass spring model, and the collision of a particle and spring is considered as acupuncture process；Work as needle
When penetrating skin, it is i.e. additional at control point to its pulling force and virtual spring power that the internal force being subject to includes spring force i.e. surrounding particle
The power generated after the virtual spring deformation that original length is 0；Spring force F passes through true with the spring of M Neighbourhood set around particle
It is fixed；The purpose for being rotated up to treatment by acupuncture needle is needed during acupuncture and moxibustion therapy, acupuncture needle is rotated along a direction
During, by a frictional force, size and skin physiology parameters and the rotation being applied on needle in skin tangential direction
Turn external force correlation；Know the size of power, and the real-time change of the color using virtual needle, operator is made to understand the standard of oneself operation
Exactness adjusts oneself insertion speed and rotation speed, improves the accuracy of operation.
8. the system for realizing a kind of virtual acupuncture-moxibustion therapy method based on mobile interaction and augmented reality described in claim 1, special
Sign is, including AR equipment, Leap Motion motion sensing control device and computer；The AR equipment includes Microsoft HoloLens complete
Cease glasses；It is described to wear AR equipment, for by experimental human model projection, into real world, operator to be made by wearing AR glasses
It is applied acupuncture with virtual needle；Leap Motion motion sensing control device is for detecting palm, the presence of finger, hand gesture location and gesture
Movement；The Microsoft HoloLens holographic glasses calculate four of upper surface in HoloLens coordinate system for observing calibration frame
The position of angle point (x1, x2, x3, x4)；The computer is for constructing IFPN model by using back-propagation algorithm, with reality
Existing diagnostic subsystem.
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| CN112532801A (en) * | 2020-12-04 | 2021-03-19 | 上海影创信息科技有限公司 | Safety protection method and system of VR equipment based on heat distribution detection |
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| CN116646052A (en) * | 2023-06-28 | 2023-08-25 | 西安交通大学医学院第二附属医院 | Auxiliary acupuncture positioning system and method based on three-dimensional human body model |
| CN117434571A (en) * | 2023-12-21 | 2024-01-23 | 绘见科技(深圳)有限公司 | Method for determining absolute pose of equipment based on single antenna, MR equipment and medium |
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