CN110013370A - A kind of method and apparatus of determining artificial leg to line effect - Google Patents

A kind of method and apparatus of determining artificial leg to line effect Download PDF

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CN110013370A
CN110013370A CN201910439156.2A CN201910439156A CN110013370A CN 110013370 A CN110013370 A CN 110013370A CN 201910439156 A CN201910439156 A CN 201910439156A CN 110013370 A CN110013370 A CN 110013370A
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weighted value
peak value
symmetry
joint
right sides
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CN110013370B (en
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张腾宇
樊瑜波
张宁
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National Research Center for Rehabilitation Technical Aids
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National Research Center for Rehabilitation Technical Aids
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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
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0295—Operational features adapted for recording user messages or annotations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7685—Measuring means located on natural or sound-site limbs, e.g. comparison measuring means

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
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  • General Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
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  • Medical Informatics (AREA)
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  • Dentistry (AREA)
  • Physics & Mathematics (AREA)
  • Cardiology (AREA)
  • Transplantation (AREA)
  • Vascular Medicine (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

The embodiment of the present application provides a kind of determining artificial leg to the method and apparatus of line effect, this method comprises: obtaining wearing has lower extremity movement data and ground reaction force in patient's walking process of artificial leg；It according to lower extremity movement data and ground reaction force, obtains to line assessment index, wherein include at least one of following parameter to line assessment index: walking time symmetrical, angular symmetry and symmetry；Using to line assessment index, determine artificial leg to line effect.The application through the above technical solutions, can objectively determine artificial limb to line effect, and influence of comprehensive consideration to various aspects such as patient's gait and joint mechanics can be integrated, so that determines is more accurate to line effect.

Description

A kind of method and apparatus of determining artificial leg to line effect
Technical field
This application involves artificial limb mounting technology field, more particularly, to a kind of determining artificial leg to the method for line effect and Device.
Background technique
Artificial leg to line be artificial limb assembly in an important link, to line quality directly determine patient dress The gait and comfort level of artificial limb.Inappropriate pair of line not only will affect the beauty and comfort level of the gait of patient, use for a long time Can also because stress it is improper caused by the consequences such as the damage of patient's joint of lower extremity, low backache.
Artificial leg includes workbench to line, static alignment and dynamic alignment to line process, and the first two can to line process To realize objective quantification.But for dynamic alignment, clinically the main observation for still relying on technician's naked eyes and patient are described Itself impression adjusts by rule of thumb to line, lacks objective appraisal foundation.In addition, for clinic to the method for line, to line effect There are uncertainties.For example, same technician is to same patient, repeatedly to the result of line, there is some difference, different technicians to line Result difference is bigger, and inappropriate pair of line will lead to patient's lower limb biomethanics load exception, to cause arthritis, low back A series of problems, such as pain.
Therefore, at present there is an urgent need to a kind of objectively clinical to line to instruct to the determination method of line effect, thus centainly It is avoided in degree as the secondary injury caused by line.
Summary of the invention
The embodiment of the present application is designed to provide a kind of method and apparatus of determining artificial leg to line effect, Neng Gouke The determination artificial leg of sight to line effect.
First method, this application provides a kind of determining artificial legs to the method for line effect, wears this method comprises: obtaining Lower extremity movement data and ground reaction force in patient's walking process with artificial leg；According to lower extremity movement data and ground Face reaction force is obtained to line assessment index, wherein includes at least one of following parameter to line assessment index: when gait Symmetrical, angular symmetry and symmetry；Using to line assessment index, determine artificial leg to line effect.
Therefore, the application is by obtaining lower extremity movement data and the ground dressing and have in patient's walking process of artificial leg Reaction force is then calculated to line assessment index according to lower extremity movement data and ground reaction force, finally utilizes to line Evaluation index determine artificial leg to line effect, can either objectively determine artificial limb to line effect, and can integrate comprehensively The considerations of influence to various aspects such as patient's gait and joint mechanics so that determines is more accurate to line effect.
Line is assessed in addition, the application carries out clinic by method of the determination artificial leg to line effect, to a certain degree On can reduce due to the damage to tissues such as line improper bring patient health joint, muscle, there is highly beneficial society Benefit.
In a possible embodiment, patient is obtained to the user's evaluation data to line effect of artificial leg；Wherein, Using to line assessment index, determine artificial leg to line effect, comprising: using to line assessment index and user's evaluation data, Determine artificial leg to line effect.
Therefore, the application is by combining user's evaluation data, so that the artificial leg determined is more quasi- to line effect Really.
In a possible embodiment, user's evaluation data include at least one of the following: Ipsilateral stability of strutting system, Buckling difficulty pushes off difficulty, pain degree and two sides movement symmetry.
Therefore, the application obtains user's evaluation data by all its bearings, so that the user's evaluation data obtained are more Add comprehensively, so that determines is more accurate to line effect.
In a possible embodiment, it according to lower extremity movement data and ground reaction force, obtains to line assessment index, Include: that gait parameter is obtained according to lower extremity movement data and ground reaction force, wherein gait parameter include in following extremely Few one kind: gait phase parameter, joint of lower extremity angle, joint of lower extremity active force and joint moment；According to gait parameter, obtain pair Line assessment index.
Therefore, the application be determined more accurately out based on gait parameter to line effect.
In a possible embodiment, according to lower extremity movement data and ground reaction force, gait parameter is obtained, is wrapped It includes: lower extremity movement data and ground reaction force is input in human body lower limbs kinematics model, to obtain gait parameter, Wherein, human body lower limbs kinematics model is the model pre-established.
In a possible embodiment, gait phase parameter includes supporting time and duration of oscillation, according to gait parameter, It obtains to line assessment index, comprising: determine larger supporting time in the supporting time at left and right sides of the lower limb of patient and smaller Supporting time；Determine the larger duration of oscillation and smaller duration of oscillation in the duration of oscillation at left and right sides of the lower limb of patient；It utilizes Larger supporting time, smaller supporting time, larger duration of oscillation and smaller duration of oscillation, obtain walking time symmetrical.
In a possible embodiment, joint of lower extremity angle includes Hip Angle, knee joint angle and ankle-joint angle Degree, according to gait parameter, obtains to line assessment index, comprising: calculate separately the Hip Angle at left and right sides of the lower limb of patient The first symmetry index, the second symmetry index of knee joint angle at left and right sides of lower limb and the ankle at left and right sides of lower limb close Save the third symmetry index of angle；Corresponding first weighted value of the first symmetry index, the second symmetry index are determined respectively Corresponding second weighted value and the corresponding third weighted value of third symmetry index；Symmetrically according to the first symmetry index, second Sex index, third symmetry index, the first weighted value, the second weighted value and third weighted value, obtain angular symmetry.
In a possible embodiment, joint of lower extremity active force includes hip joint active force, knee joint active force and ankle Joint active force, joint moment includes hip joint torque, knee joint torque and torque of ankle, according to gait parameter, is obtained pair Line assessment index, comprising: calculate separately the first peak value ratio, lower limb of the hip joint active force at left and right sides of the lower limb of patient or so Second peak value of the knee joint active force of two sides is more left than the third peak value ratio of the ankle-joint active force at left and right sides of, lower limb, lower limb 4th peak value of the hip joint torque of right two sides is than the 5th peak value ratio of the knee joint torque at left and right sides of, lower limb, lower limb or so Seventh peak value ratio of 6th peak value of the torque of ankle of two sides than the ground reaction force at left and right sides of, lower limb；It determines respectively First peak value compares the 4th weighted value answered, the second peak value than corresponding 5th weighted value, third peak value than corresponding 6th power Weight values, the 4th peak value are than corresponding 7th weighted value, the 5th peak value than corresponding 8th weighted value, the 6th peak value than corresponding Nine weighted values, the 7th peak value are than corresponding tenth weighted value；According to the first peak value ratio, the second peak value ratio, third peak value ratio, the 4th Peak value ratio, the 5th peak value ratio, the 6th peak value ratio, the 7th peak value ratio, the 4th weighted value, the 5th weighted value, the 6th weighted value, the 7th Weighted value, the 8th weighted value, the 9th weighted value and the tenth weighted value, obtain symmetry.
In a possible embodiment, using to line assessment index and user's evaluation data, pair of artificial leg is determined Line effect, comprising: determine corresponding 12nd power of corresponding 11st weighted value of walking time symmetrical, angular symmetry respectively Corresponding 13rd weighted value of weight values, symmetry and corresponding 14th weighted value of user's evaluation data；When according to gait Symmetrical, angular symmetry, symmetry, user's evaluation data, the 11st weighted value, the 12nd weighted value, the 13rd Weighted value and the 14th weighted value, determine artificial leg to line effect.
Second aspect, present invention also provides a kind of determining artificial legs to the device of line effect, which includes: to obtain Module has lower extremity movement data and ground reaction force in patient's walking process of artificial leg for obtaining wearing；It calculates Module, for obtaining to line assessment index, wherein to line assessment index packet according to lower extremity movement data and ground reaction force Include at least one of following parameter: walking time symmetrical, angular symmetry and symmetry；Determining module, for benefit With to line assessment index, determine artificial leg to line effect.
In a possible embodiment, module is obtained, is also used to obtain patient to the use to line effect of artificial leg Evaluate data in family；Determining module is also used to determine the imitating line of artificial leg using to line assessment index and user's evaluation data Fruit.
In a possible embodiment, user's evaluation data include at least one of the following: Ipsilateral stability of strutting system, Buckling difficulty pushes off difficulty, pain degree and two sides movement symmetry.
In a possible embodiment, computing module is also used to be obtained according to lower extremity movement data and ground reaction force To gait parameter, wherein gait parameter includes at least one of the following: gait phase parameter, joint of lower extremity angle, lower limb close Save active force and joint moment；Computing module is also used to be obtained according to gait parameter to line assessment index.
In a possible embodiment, computing module is also used to input lower extremity movement data and ground reaction force Into human body lower limbs kinematics model, to obtain gait parameter, wherein human body lower limbs kinematics model is to build in advance Vertical model.
In a possible embodiment, gait phase parameter includes supporting time and duration of oscillation, and computing module is also used The larger supporting time and smaller supporting time in supporting time at left and right sides of the lower limb for determining patient；Computing module, also The larger duration of oscillation and smaller duration of oscillation in the duration of oscillation at left and right sides of lower limb for determining patient；Computing module, It is also used to obtain gait phase pair using larger supporting time, smaller supporting time, larger duration of oscillation and smaller duration of oscillation Title property.
In a possible embodiment, joint of lower extremity angle includes Hip Angle, knee joint angle and ankle-joint angle Degree, computing module are also used to calculate separately the first symmetry index, the lower limb of the Hip Angle at left and right sides of the lower limb of patient The third symmetry of ankle joint angle at left and right sides of the second symmetry index and lower limb of the knee joint angle of the left and right sides refers to Number；Computing module is also used to determine that corresponding first weighted value of the first symmetry index, the second symmetry index are corresponding respectively Second weighted value and the corresponding third weighted value of third symmetry index；Computing module be also used to according to the first symmetry index, Second symmetry index, third symmetry index, the first weighted value, the second weighted value and third weighted value, obtain angle symmetrical Property.
In a possible embodiment, joint of lower extremity active force includes hip joint active force, knee joint active force and ankle Joint active force, joint moment include hip joint torque, knee joint torque and torque of ankle, and computing module is also used to distinguish The first peak value of the hip joint active force at left and right sides of the lower limb of patient is calculated than the knee joint active force at left and right sides of, lower limb Second peak value than the ankle-joint active force at left and right sides of, lower limb third peak value than the hip joint torque at left and right sides of, lower limb 4th peak value than the 5th peak value of the knee joint torque at left and right sides of, lower limb than the torque of ankle at left and right sides of, lower limb Seventh peak value ratio of six peak values than the ground reaction force at left and right sides of, lower limb；Computing module is also used to determine first peak respectively Value is than corresponding 4th weighted value, the second peak value than corresponding 5th weighted value, third peak value than corresponding 6th weighted value, the Four peak values are than corresponding 7th weighted value, the 5th peak value than corresponding 8th weighted value, the 6th peak value than corresponding 9th weight Value, the 7th peak value are than corresponding tenth weighted value；Computing module is also used to according to the first peak value ratio, the second peak value ratio, third peak It is worth ratio, the 4th peak value ratio, the 5th peak value ratio, the 6th peak value ratio, the 7th peak value ratio, the 4th weighted value, the 5th weighted value, the 6th power Weight values, the 7th weighted value, the 8th weighted value, the 9th weighted value and the tenth weighted value, obtain symmetry.
In a possible embodiment, determining module is also used to determine walking time symmetrical the corresponding tenth respectively Corresponding 12nd weighted value of one weighted value, angular symmetry, corresponding 13rd weighted value of symmetry and user's evaluation Corresponding 14th weighted value of data；Determining module is also used to symmetrical according to walking time symmetrical, angular symmetry, mechanics Property, user's evaluation data, the 11st weighted value, the 12nd weighted value, the 13rd weighted value and the 14th weighted value, determine lower limb Artificial limb to line effect.
The third aspect, the application provide a kind of electronic equipment, comprising: processor, memory and bus, the memory are deposited The executable machine readable instructions of the processor are contained, when electronic equipment operation, the processor and the storage By bus communication between device, execution first aspect or first aspect when the machine readable instructions are executed by the processor Method described in any optional implementation.
Fourth aspect, the application provide a kind of computer media, are stored with computer program on the computer media, the meter Method described in any optional implementation of first aspect or first aspect is executed when calculation machine program is run by processor.
5th aspect, the application provide a kind of computer program product, and the computer program product is transported on computers When row, so that computer executes the method in any possible implementation of first aspect or first aspect.
Above objects, features, and advantages to enable the embodiment of the present application to be realized are clearer and more comprehensible, be cited below particularly compared with Good embodiment, and cooperate appended attached drawing, it is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application will make below to required in the embodiment of the present application Attached drawing is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore should not be seen Work is the restriction to range, for those of ordinary skill in the art, without creative efforts, can be with Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow diagram of the determining artificial leg provided by the embodiments of the present application to the method for line effect；
Fig. 2 is a kind of determining artificial leg showing to the index for including provided by the embodiments of the present application in the method for line effect It is intended to；
Fig. 3 is a kind of block diagram of the determining artificial leg provided by the embodiments of the present application to the device of line effect；
Fig. 4 is a kind of structural block diagram of device provided by the embodiments of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application is described.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile the application's In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
The user of wearing artificial leg keeps stable balance and good gait in standing and walking, is assembly lower limb The important goal of artificial limb, the realization of this target be unable to do without suitable artificial leg to line.The dynamic of artificial leg is right at present During line, the experience that technician is depended on to line of the artificial limb of lower limb is carried out manually to line, this dynamic alignment mode exists Lack objective quantitative Appreciation gist.
Therefore, this application provides a kind of determining artificial legs to the method and apparatus of line effect, can either it is objective really Determine artificial limb to line effect, and influence of comprehensive consideration to various aspects such as patient's gait and joint mechanics can be integrated so that That determines is more accurate to line effect.In addition, being carried out using method and apparatus of the determination artificial leg to line effect clinical Line is assessed, can be reduced to a certain extent due to the damage to tissues such as line improper bring patient health joint, muscle, tool There is highly beneficial social benefit.
In order to facilitate the embodiment of the present application is understood, several wanting of introducing in the embodiment of the present application description is introduced herein first Element:
Ground reaction force (or ground reaction force): it refers to human body in standing, when walking and running, and vola acts on ground And equal in magnitude, the contrary power for acting on vola generated, also it is foot ground contact force.Ground reaction force is divided into vertically Component, front and back component and inside and outside component, can be measured by force plate/platform, usually can do three-dimensional by vertical, front and back and left and right directions Record.What front and back component was reflected is the driving and stopping power of supporting leg, and inside and outside component then reflects side weight bearing ability and steady Qualitative, vertical stress component reflects the weight bearing ability of support limb in walking process.
Ipsilateral stability of strutting system: it may refer to the one or both sides of wearing artificial leg during standing or gait are advanced Supporting & stablizing degree.
Buckling difficulty: it may refer to the curved complexity of the one or both sides of wearing artificial leg.
Push off difficulty: it may refer to the one or both sides of wearing artificial leg and pushes off ground during gait is advanced Complexity.
Pain degree: it may refer to the one or both sides of wearing artificial leg deformed limb during standing or gait are advanced Pain degree.
Ipsilateral height appropriate degree: it may refer to side and the symmetrical degree of other side limbs length of wearing artificial leg.
Two sides movement symmetry: it may refer to wearing artificial leg side gait advance during Ipsilateral in each plane Whether movement angle is symmetrical with strong side.
Gait phase parameter: it refers to supporting time, duration of oscillation and respective accounting in a gait cycle etc..
Joint of lower extremity angle: it refers to the joint angles of hip joint, knee joint, ankle-joint.
Joint of lower extremity active force: it, which refers to, is respectively acting on hip joint, knee joint, the power on ankle-joint joint contact face.
Joint moment (or torque): it be instigate a joint to rotate power multiplied by the arm of force.
Supporting time: it refers to the patient for dressing artificial leg during gait is advanced when the support of lower limb left and right sides Between.
Duration of oscillation: it refers to the patient for dressing artificial leg during gait is advanced when the swing of lower limb left and right sides Between.
Walking time symmetrical: it refers to the degree of closeness of left and right sides support phase and shaking peroid accounting.
Similarity (or angle similarity): it is the similarity degree of left and right sides joint angles curve.
Angular symmetry: it refers to the symmetrical degree of the left and right sides each joint angles of lower limb.
Symmetry: it refers to the symmetrical degree of left and right sides lower-limb load.
Symmetry index: it refers to the symmetrical degree of the correspondence parameter of the left and right sides.
Peak value ratio: it refers to the ratio (smaller value/the larger value, wherein smaller value is of the peak value of the corresponding parameter in the left and right sides Corresponding parameter and right side correspond to the smaller value in parameter on the left of lower limb, i.e. smaller value is the smaller value in two sides, correspondingly, larger Value is that corresponding parameter and right side correspond to the larger value in parameter on the left of lower limb, i.e. the larger value is the larger value in two sides).
Referring to Figure 1, Fig. 1 is a kind of process of the determining artificial leg provided by the embodiments of the present application to the method for line effect Schematic diagram, it should be appreciated that method shown in FIG. 1 can be by determining that artificial leg executes the device of line effect, which can be with Device shown in Fig. 3 hereinafter is corresponding, which can be the various equipment for being able to carry out this method, for example, such as personal meter Calculation machine, server or network equipment etc., the embodiment of the present application is not limited to this, and is specifically comprised the following steps:
Step S110 obtains the lower extremity movement data and ground reaction dressed and had in patient's walking process of artificial leg Power.
It should be understood that wearing has the patient of artificial leg to can be described as user, alternatively referred to as patients with amputation, alternatively referred to as amputation Person, the embodiment of the present application are not limited thereto.
In step s 110, above-mentioned lower extremity movement data and the acquisition modes of ground reaction force can be defeated by user Enter to obtain, can also be and obtained by acquisition equipment, the embodiment of the present application is not limited thereto.
Optionally, in the case where acquiring equipment is that three-dimensional motion captures system and three-dimensional strength measurement platform, patient is under wearing During carrying out gait test after limb artificial limb completion prosthesis alignment, it is synchronous with three-dimensional strength measurement platform that system is captured by three-dimensional motion Acquire the lower extremity movement data and ground reaction force in patient's walking process, wherein lower extremity movement data may include side The motion profile at each position of lower limb, the curve of acceleration, lower limb or so during advance of the lower limb within a period in user The data such as the harmony of two sides (or left and right leg).
Although those skilled in the art can also root it should be understood that being illustrated in this step to lower extremity movement data It is configured according to actual demand come the data for including to lower extremity movement data, the embodiment of the present application is not limited thereto.
In addition, method of the determination artificial leg to line effect further include: the body dimensional parameters of patient are obtained in advance, In, body dimensional parameters may include the length of the height of patient, size leg length, foot.
It should be understood that although the embodiment of the present application illustrates to the data that body dimensional parameters include, this field Technical staff can also according to actual needs be configured the data that body dimensional parameters include, the embodiment of the present application not office It is limited to this.
Step S120 obtains patient to the user's evaluation data to line effect of artificial leg.
In the step s 120, the acquisition modes of above-mentioned user's evaluation data can by for patient provide patient to line effect from Comment table to come or obtain, can also be record patient describe itself impression mode obtain, the embodiment of the present application is not limited thereto.
Optionally, in the case where patient experiences according to itself to fill in patient to line effect self-appraisal table, as shown in Fig. 2, Fig. 2 is a kind of schematic diagram of the determining artificial leg provided by the embodiments of the present application to the index for including in the method for line effect, In, the patient in Fig. 2 is corresponding with above-mentioned user's evaluation data from score value item (or patient's self-appraisal item), also with patient to line effect Evaluation content in self-appraisal table is corresponding.Meanwhile as shown in Fig. 2, above-mentioned patient's self-appraisal item includes: Ipsilateral stability of strutting system, buckling Difficulty pushes off difficulty, pain degree, Ipsilateral height appropriate degree and two sides movement symmetry.
Although those skilled in the art is also it should be understood that the data for including to patient's self-appraisal item in Fig. 2 are illustrated The data that patient's self-appraisal item includes can be set according to actual needs.For example, above-mentioned patient's self-appraisal item include in following at least A kind of: Ipsilateral stability of strutting system, buckling difficulty push off difficulty, pain degree, Ipsilateral height appropriate degree and two sides movement symmetrically Property.The embodiment of the present application is not limited thereto.
In addition, patient can be according to the impression of itself wearing artificial leg come to the items in patient's self-appraisal item shown in Fig. 2 Content is given a mark, each content can correspond to a score value, carrys out point according to each content finally by a preset formula Value calculates the comprehensive scores of user's evaluation data.In addition, the calculation formula of above-mentioned comprehensive score can carry out according to actual needs Setting.
Step S130 is obtained to line assessment index, wherein comment line according to lower extremity movement data and ground reaction force Valence index includes at least one of following parameter: walking time symmetrical, angular symmetry and symmetry.
In step s 130, lower extremity movement data, ground reaction force and the body by will be obtained in step S110 Dimensional parameters are input in the human body lower limbs kinematics model pre-established.Human body lower extremity movement kinetic model according to Input data exports gait parameter, wherein gait parameter includes at least one of the following: gait phase parameter, joint of lower extremity Angle, joint of lower extremity active force and joint moment.Then, it by the gait parameter according to acquisition, calculates to line assessment index.
It should be understood that although the embodiment of the present application illustrates to the data that gait parameter includes, the technology of this field Personnel can also according to actual needs be configured the data that gait parameter includes, and the embodiment of the present application is not limited thereto.
Step S130 may include that step A according to gait phase parameter obtains walking time symmetrical.
In step, as shown in Fig. 2, gait phase parameter may include at left and right sides of lower limb (or the strong side of patient's lower limb and Residual side) supporting time and lower limb at left and right sides of (or strong side and residual side of patient's lower limb) duration of oscillation, wherein supporting time It can be the average supporting time at left and right sides of lower limb in multiple gait cycles, can also be the lower limb left and right sides a gait week Interim supporting time, it is corresponding, when duration of oscillation can be the average wobble at left and right sides of lower limb in multiple gait cycles Between, it can also be not limited thereto for the duration of oscillation at left and right sides of lower limb in a gait cycle, the embodiment of the present application.
Optionally, walking time symmetrical can be calculated by the calculation formula of following walking time symmetrical:
In formula, SIpFor walking time symmetrical, SSIt is the supporting time at left and right sides of lower limb (or when support on the left of lower limb Between and right side supporting time or patient's lower limb strong side supporting time and residual side supporting time) in smaller support when Between, SmFor the larger supporting time in the supporting time at left and right sides of lower limb, WSIt is the duration of oscillation at left and right sides of lower limb (under or The duration of oscillation of the strong side of the duration of oscillation or patient's lower limb of duration of oscillation and right side on the left of limb and the duration of oscillation of residual side) In smaller duration of oscillation, WmFor the larger duration of oscillation in the duration of oscillation at left and right sides of lower limb.
For example, if the supporting time on the left of lower limb is greater than the supporting time on right side, that SSFor the supporting time on right side, Sm For the supporting time in left side, correspondingly, WSAnd WmSimilar no longer to enumerate herein, the embodiment of the present application is not limited thereto.
Step S130 may include that step B according to joint of lower extremity angle obtains angular symmetry, wherein joint of lower extremity angle Including Hip Angle, knee joint angle and ankle joint angle.
It should be understood that angular symmetry is also referred to as whole angle symmetrical sex index, the embodiment of the present application is not limited thereto.
In stepb, as shown in Fig. 2, angular symmetry is by Hip Angle, knee joint angle and ankle joint angle Come what is obtained.For example, angular symmetry be by the first symmetry index of Hip Angle, knee joint angle it is second symmetrical Sex index, the third symmetry index of ankle joint angle, the corresponding weighted value of the first symmetry index, the second symmetry index pair The weighted value and the corresponding weighted value of third symmetry index answered obtains.
Optionally, in stepb, angular symmetry is the first symmetry index, the knee joint angle by Hip Angle The second symmetry index, ankle joint angle third symmetry index be added to obtain again multiplied by corresponding weighted value respectively, three The symmetry index of a joint angles is respectively that (or patient lower limb are left for left and right sides joint angles in a gait cycle by patient Side and right side) curve in three dimensions similarity, and similarity can be obtained by calculating Pearson correlation coefficients.
Assuming that the second symmetry of the first symmetry index of patient's lower limb left and right sides Hip Angle, knee joint angle The third symmetry index of index and ankle joint angle is respectively Ship、SkneeAnd Sankle, and assume the first symmetry index pair Weighted value, the corresponding weighted value of the second symmetry index and the corresponding weighted value of third symmetry index answered are respectively W1, W2 And W3, then the calculation formula of angular symmetry is as follows:
Sangle=Ship*W1+Sknee*W2+Sankle*W3
In formula, SangleFor angular symmetry.
Wherein, different with the joint of below knee amputation patient's remaining due to above knee amputation patient, corresponding weighted value W1, W2, W3 is also different.Residual side is the corresponding weight in joint (SCID Mice of above knee amputation person, the ankle-joint of below knee amputation person) of prosthese It is worth smaller.
It should be understood that the determination method of above-mentioned weighted value can be selected according to actual needs, for example, can pass through user setting Mode weighted value is set.For another example can also obtain weighted value by Fuzzy AHP, the embodiment of the present application is not It is confined to this.
It should also be understood that although the embodiment of the present application illustrates to the acquisition modes of angular symmetry, this field The acquisition modes of angular symmetry can be also arranged in technical staff according to actual needs, such as can be to the calculating of above-mentioned angular symmetry Formula is suitably deformed, and the embodiment of the present application is not limited thereto.
Step S130 may include step C, according to ground reaction force (Ground Reaction Force, abbreviation GRF), Joint of lower extremity active force (or joint of lower extremity power) and joint moment, obtain symmetry, wherein make as shown in Fig. 2, ground is counter It firmly include the ground reaction force of three directions (or three-dimensional), i.e. ground reaction force includes GRF-X, GRF-Y, GRF- Z；Joint of lower extremity active force includes the hip joint active force of three directions (or three-dimensional), three directions (or three-dimensional) The ankle-joint active force of knee joint active force and three directions (or three-dimensional), i.e. hip joint active force include Fhip-X、Fhip- Y and Fhip- Z, knee joint active force include Fknee-X、Fknee- Y and Fknee- Z, ankle-joint active force include Fankle-X、Fankle-Y And Fankle-Z；Joint moment includes the hip joint torque of three directions (or three-dimensional), three directions (or three-dimensional) The torque of ankle of knee joint torque and three directions (or three-dimensional), i.e. hip joint torque include Mhip-X、Mhip- Y and Mhip- Z, knee joint torque include Mknee-X、Mknee- Y and Mknee- Z, torque of ankle include Mankle-X、Mankle- Y and Mankle- Z。
It should be understood that symmetry is also referred to as whole mechanics symmetry index, the embodiment of the present application is not limited thereto.
In step C, as shown in Fig. 2, dynamics symmetry is by ground reaction force, joint of lower extremity power and joint moment Come what is obtained.For example, dynamics symmetry be by lower limb at left and right sides of the first peak value ratio of hip joint active force, lower limb or so Second peak value of the knee joint active force of two sides is more left than the third peak value ratio of the ankle-joint active force at left and right sides of, lower limb, lower limb 4th peak value of the hip joint torque of right two sides is than the 5th peak value ratio of the knee joint torque at left and right sides of, lower limb, lower limb or so Seventh peak value ratio, first peak value of 6th peak value of the torque of ankle of two sides than the ground reaction force at left and right sides of, lower limb Than corresponding weighted value, the second peak value than corresponding weighted value, third peak value than corresponding weighted value, the 4th peak value than corresponding Weighted value, the 5th peak value are than corresponding weighted value, the 6th peak value than corresponding weighted value and the 7th peak value than corresponding weighted value Come what is obtained.
Optionally, it is assumed that peak value ratio of the peak value of the GRF-X at left and right sides of lower limb than the GRF-Y at left and right sides of, lower limb and The peak value of GRF-Z at left and right sides of lower limb is than respectively M1, M2 and M3, and assumes again that the peak of the GRF-X at left and right sides of lower limb It is worth the peak value than the GRF-Y at left and right sides of corresponding weighted value, lower limb than the GRF-Z at left and right sides of corresponding weighted value and lower limb Peak value than corresponding weighted value be respectively W4, W5, W6, then the calculation formula about ground reaction force part is as follows:
A1=M1*W4+M2*W5+M3*W6
Assume again that the F at left and right sides of lower limbhipThe peak value of-X is than the F at left and right sides of, lower limbhipThe peak value ratio and lower limb of-Y is left The F of right two sideshipThe peak value of-Z is than respectively M4, M5 and M6, and assumes again that the F at left and right sides of lower limbhipThe peak value of-X compares F at left and right sides of the weighted value answered, lower limbhipThe peak value of-Y is than the F at left and right sides of corresponding weighted value and lower limbhipThe peak value of-Z It is respectively W7, W8, W9 than corresponding weighted value, then the calculation formula about joint of lower extremity active force includes the part A2, the part A2 Calculation formula it is as follows:
A2=M4*W7+M5*W8+M6*W9
Assume again that the F at left and right sides of lower limbkneeThe peak value of-X is than the F at left and right sides of, lower limbkneeThe peak value ratio and lower limb of-Y The F of the left and right sideskneeThe peak value of-Z is than respectively M7, M8 and M9, and assumes again that the F at left and right sides of lower limbkneeThe peak value ratio of-X F at left and right sides of corresponding weighted value, lower limbkneeThe peak value of-Y is than the F at left and right sides of corresponding weighted value and lower limbknee- Z's Peak value is respectively W10, W11 and W12 than corresponding weighted value, then the calculation formula about joint of lower extremity active force includes the portion A3 Point, the calculation formula of the part A3 is as follows:
A3=M7*W10+M8*W11+M9*W12
Assume again that the F at left and right sides of lower limbankleThe peak value of-X is than the F at left and right sides of, lower limbankleThe peak value ratio of-Y is under F at left and right sides of limbankleThe peak value of-Z is than respectively M10, M11 and M12, and assumes again that the F at left and right sides of lower limbankle-X Peak value than the F at left and right sides of corresponding weighted value, lower limbankleThe peak value of-Y than corresponding weighted value and lower limb at left and right sides of FankleThe peak value of-Z is respectively W13, W14, W15 than corresponding weighted value, then about the calculation formula packet of joint of lower extremity active force The part A4 is included, the calculation formula of A4 is as follows:
A4=M10*W13+M11*W14+M12*W15
Assume again that the M at left and right sides of lower limbhipThe peak value of-X is than the M at left and right sides of, lower limbhipThe peak value ratio and lower limb of-Y is left The M of right two sideshipThe peak value of-Z is than respectively M13, M14 and M15, and assumes again that the M at left and right sides of lower limbhipThe peak value ratio of-X M at left and right sides of corresponding weighted value, lower limbhipThe peak value of-Y is than the M at left and right sides of corresponding weighted value and lower limbhipThe peak of-Z Value is respectively W16, W17 and W18 than corresponding weighted value, then includes the part A5, the part A5 about the calculation formula of joint moment Calculation formula include:
A5=M13*W16+M14*W17+M15*W18
Assume again that the M at left and right sides of lower limbkneeThe peak value of-X is than the M at left and right sides of, lower limbkneeThe peak value ratio and lower limb of-Y The M of the left and right sideskneeThe peak value of-Z is than respectively M16, M17 and M18, and assumes again that the M at left and right sides of lower limbkneeThe peak of-X Value is than the M at left and right sides of corresponding weighted value, lower limbkneeThe peak value of-Y is than the M at left and right sides of corresponding weighted value and lower limbknee- The peak value of Z is respectively W19, W20 and W21 than corresponding weighted value, then includes the part A6, A6 about the calculation formula of joint moment Partial calculation formula includes:
A6=M16*W19+M17*W20+M18*W21
Assume again that the M at left and right sides of lower limbankleThe peak value of-X is than the M at left and right sides of, lower limbankleThe corresponding peak value ratio of-Y With the M at left and right sides of lower limbankleThe peak value of-Z is than respectively M19, M20 and M21, and assumes again that at left and right sides of lower limb MankleThe peak value of-X is than the M at left and right sides of corresponding weighted value, lower limbankleThe peak value of-Y is more left than corresponding weighted value and lower limb The M of right two sidesankleThe peak value of-Z is respectively W22, W23 and W24 than corresponding weighted value, then about the calculation formula of joint moment Including the part A7, the calculation formula of the part A7 includes:
A7=M19*W22+M20*W23+M21*W24
On the basis of last formula above, then the calculation formula of symmetry are as follows:
Sstrength=A1+A2+A3+A4+A5+A6+A7
In formula, SstrengthFor symmetry.
Wherein, different with the joint of below knee amputation person's remaining due to above knee amputation person, power shared by each joint power and torque Weight values are also different.Residual side is the corresponding power in joint (SCID Mice of above knee amputation person, the ankle-joint of below knee amputation person) of prosthese Weight values are smaller.
It should be understood that the determination method of above-mentioned weighted value can be selected according to actual needs, for example, can pass through user setting Mode weighted value is set, for another example can also obtain weighted value by Fuzzy AHP, the embodiment of the present application is not It is confined to this.
It should also be understood that although the embodiment of the present application illustrates to the acquisition modes of symmetry, this field The acquisition modes of symmetry can be also arranged in technical staff according to actual needs, such as can be to the calculating of above-mentioned symmetry Formula is suitably deformed, and the embodiment of the present application is not limited thereto.
Step S140, using to line assessment index and user's evaluation data, determine artificial leg to line effect.
In step S140, pass through user's evaluation data, walking time symmetrical, angular symmetry, symmetry, use Evaluate the corresponding weighted value of data, the corresponding weighted value of walking time symmetrical, the corresponding weighted value of angular symmetry and power in family Learn the corresponding weighted value of symmetry, come determine artificial leg to line effect.
Optionally, it is assumed that the comprehensive scores of user's evaluation data, user's evaluation data the corresponding weighted value of comprehensive score, The corresponding weighted value of walking time symmetrical, the corresponding weighted value of angular symmetry and the corresponding weighted value difference of symmetry For B, W25, W26, W27 and W28, it is determined that as follows to the calculation formula of line effect:
AE=B*W25+SIp*W26+Sangle*W27+Sstrength*W28
In formula, AE is indicated to line effect.
It should be understood that the determination method of above-mentioned weighted value can be selected according to actual needs, for example, can pass through user setting Mode weighted value is set, for another example can also obtain weighted value by Fuzzy AHP, the embodiment of the present application is not It is confined to this.
It should also be understood that although the embodiment of the present application illustrates to the acquisition modes to line effect, the skill of this field The acquisition modes to line effect can be also arranged in art personnel according to actual needs, such as can to the above-mentioned calculation formula to line effect into The appropriate deformation of row, the embodiment of the present application are not limited thereto.
Then, can also according to the corresponding value of line effect come to line effect divided rank.For example, each patient per couple The comprehensive scores of user's evaluation data, walking time symmetrical, angular symmetry and symmetry 4 all can be obtained after line The score value of index, each score value respectively correspond a weighted value, and 4 score values are added to obtain total score multiplied by respective weight respectively, Total score corresponding grade, wherein total score is 0~1 point, and 0.6 point or less correspondence is poor, and 0.6~0.8 point is corresponding qualified, 0.8~0.9 point Corresponding good, 0.9 point or more outstanding, and the embodiment of the present application is not limited thereto.
To sum up, the application is by obtaining lower extremity movement data and the ground dressing and have in patient's walking process of artificial leg Reaction force finally utilizes to line assessment index then according to lower extremity movement data and ground reaction force, determines artificial leg To line effect, can either accomplish objective quantification, and comprehensive consideration can be integrated to each side such as patient's gait and joint mechanics The influence in face, so that determines is more accurate to line effect.
In addition, using the determination artificial leg to the method for line effect carry out it is clinical line is assessed, to a certain extent can be with It reduces due to the damage to tissues such as line improper bring patient health joint, muscle, there is highly beneficial social benefit.
It should be noted that although describing the operation of the method for the present invention in the accompanying drawings with particular order, this is not required that Or hint must execute these operations in this particular order, or have to carry out operation shown in whole and be just able to achieve the phase The result of prestige.On the contrary, the step of describing in flow chart can change and execute sequence.Additionally or alternatively, it is convenient to omit certain Multiple steps are merged into a step and executed, and/or a step is decomposed into execution of multiple steps by step.
Fig. 3 is referred to, Fig. 3 is a kind of frame of the determining artificial leg provided by the embodiments of the present application to the device of line effect Figure, it should be appreciated that the device 300 is corresponding with above-mentioned Fig. 1 embodiment of the method, is able to carry out each step that above method embodiment is related to Suddenly, which may refer to described above, appropriate herein to omit detailed description to avoid repeating.Dress Setting 300 includes that at least one can be stored in memory or be solidificated in device 300 in the form of software or firmware (firmware) Operating system (operating system, OS) in software function module.Specifically, which includes: acquisition module 310, there are the lower extremity movement data and ground reaction force in patient's walking process of artificial leg for obtaining wearing；Calculate mould Block 320, for obtaining to line assessment index, wherein to line assessment index packet according to lower extremity movement data and ground reaction force Include at least one of following parameter: walking time symmetrical, angular symmetry and symmetry；Determining module 330, is used for Using to line assessment index, determine artificial leg to line effect.
In a possible embodiment, module 310 is obtained, is also used to obtain patient to artificial leg to line effect User's evaluation data；Determining module 330 is also used to determine artificial leg using to line assessment index and user's evaluation data To line effect.
In a possible embodiment, user's evaluation data include at least one of the following: Ipsilateral stability of strutting system, Buckling difficulty pushes off difficulty, pain degree and two sides movement symmetry.
In a possible embodiment, computing module 320 are also used to according to lower extremity movement data and ground reaction Power obtains gait parameter, wherein gait parameter includes at least one of the following: gait phase parameter, joint of lower extremity angle, Joint of lower extremity active force and joint moment；Computing module 320 is also used to be obtained according to gait parameter to line assessment index.
In a possible embodiment, computing module 320 are also used to lower extremity movement data and ground reaction force are defeated Enter into human body lower limbs kinematics model, to obtain gait parameter, wherein human body lower limbs kinematics model is preparatory The model of foundation.
In a possible embodiment, gait phase parameter includes supporting time and duration of oscillation, computing module 320, It is also used to determine larger supporting time and smaller supporting time in the supporting time at left and right sides of the lower limb of patient；Computing module 320, it is also used to determine larger duration of oscillation and smaller duration of oscillation in the duration of oscillation at left and right sides of the lower limb of patient；It calculates Module 320 is also used to be walked using larger supporting time, smaller supporting time, larger duration of oscillation and smaller duration of oscillation Symmetrical when state.
In a possible embodiment, joint of lower extremity angle includes Hip Angle, knee joint angle and ankle-joint angle Degree, computing module 320, be also used to calculate separately the Hip Angle at left and right sides of the lower limb of patient the first symmetry index, Second symmetry index of the knee joint angle at left and right sides of lower limb and the third of the ankle joint angle at left and right sides of lower limb are symmetrical Sex index；Computing module 320 is also used to determine that corresponding first weighted value of the first symmetry index, the second symmetry refer to respectively Corresponding second weighted value of number and the corresponding third weighted value of third symmetry index；Computing module 320, is also used to according to first Symmetry index, the second symmetry index, third symmetry index, the first weighted value, the second weighted value and third weighted value, obtain To angular symmetry.
In a possible embodiment, joint of lower extremity active force includes hip joint active force, knee joint active force and ankle Joint active force, joint moment include hip joint torque, knee joint torque and torque of ankle, computing module 320, are also used to point Not Ji Suan hip joint active force at left and right sides of the lower limb of patient the first peak value than the knee joint active force at left and right sides of, lower limb The second peak value than the ankle-joint active force at left and right sides of, lower limb third peak value than the hip joint torque at left and right sides of, lower limb The 4th peak value than the knee joint torque at left and right sides of, lower limb the 5th peak value than the torque of ankle at left and right sides of, lower limb Seventh peak value ratio of 6th peak value than the ground reaction force at left and right sides of, lower limb；Computing module 320 is also used to determine respectively First peak value compares the 4th weighted value answered, the second peak value than corresponding 5th weighted value, third peak value than corresponding 6th power Weight values, the 4th peak value are than corresponding 7th weighted value, the 5th peak value than corresponding 8th weighted value, the 6th peak value than corresponding Nine weighted values, the 7th peak value are than corresponding tenth weighted value；Computing module 320 is also used to according to the first peak value ratio, the second peak value Than, third peak value ratio, the 4th peak value ratio, the 5th peak value ratio, the 6th peak value ratio, the 7th peak value ratio, the 4th weighted value, the 5th weight Value, the 6th weighted value, the 7th weighted value, the 8th weighted value, the 9th weighted value and the tenth weighted value, obtain symmetry.
In a possible embodiment, determining module 330 are also used to determine walking time symmetrical corresponding respectively Corresponding 12nd weighted value of 11 weighted values, angular symmetry, corresponding 13rd weighted value of symmetry and user comment Valence mumber is according to corresponding 14th weighted value；Determining module 330 is also used to according to walking time symmetrical, angular symmetry, mechanics Symmetry, user's evaluation data, the 11st weighted value, the 12nd weighted value, the 13rd weighted value and the 14th weighted value determine Artificial leg to line effect.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description Specific work process, no longer can excessively be repeated herein with reference to the corresponding process in preceding method.
The application also provides a kind of device, and Fig. 4 is a kind of structural block diagram of device provided by the embodiments of the present application, such as Fig. 4 It is shown.Device 400 may include processor 410, communication interface 420, memory 430 and at least one communication bus 440.Its In, communication bus 440 is for realizing the direct connection communication of these components.Wherein, the communication of equipment connects in the embodiment of the present application Mouth 420 is for carrying out the communication of signaling or data with other node devices.Processor 410 can be a kind of IC chip, Processing capacity with signal.Above-mentioned processor 410 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be number Signal processor (DSP), specific integrated circuit (ASIC), ready-made programmable gate array (FPGA) or other programmable logic devices Part, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute the disclosure in the embodiment of the present application Each method, step and logic diagram.General processor can be microprocessor or the processor 410 be also possible to it is any often The processor etc. of rule.
Memory 430 may be, but not limited to, random access memory (Random Access Memory, RAM), only It reads memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM), Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc.. Computer-readable instruction fetch is stored in memory 430, when the computer-readable instruction fetch is executed by the processor 410 When, device 400 can execute each step that above-mentioned Fig. 1 embodiment of the method is related to.
Device 400 can also include storage control, input-output unit, audio unit, display unit 8.
The memory 430, processor 410, Peripheral Interface, input-output unit, audio unit, is shown storage control Show that each element of unit is directly or indirectly electrically connected between each other, to realize the transmission or interaction of data.For example, these elements It can be realized and be electrically connected by one or more communication bus 440 between each other.The processor 410 is for executing memory The executable module stored in 430, such as software function module or computer program that device 300 includes.Also, device 300 For executing following methods: obtaining the lower extremity movement data and ground reaction dressed in the patient's walking process for having artificial leg Power；It according to lower extremity movement data and ground reaction force, obtains to line assessment index, wherein include following to line assessment index At least one of parameter: walking time symmetrical, angular symmetry and symmetry；Using to line assessment index, determine Artificial leg to line effect.
Input-output unit is used to be supplied to user input data and realizes user and the server (or local terminal) Interaction.The input-output unit may be, but not limited to, mouse and keyboard etc..
Audio unit provides a user audio interface, may include one or more microphones, one or more loudspeaking Device and voicefrequency circuit.
Display unit provided between the electronic equipment and user an interactive interface (such as user interface) or It is referred to for display image data to user.In the present embodiment, the display unit can be liquid crystal display or touch-control is aobvious Show device.It can be the capacitance type touch control screen or resistance type touch control screen of support single-point and multi-point touch operation if touch control display Deng.Single-point and multi-point touch operation is supported to refer to that touch control display can sense one or more positions on the touch control display The touch control operation setting place while generating, and the touch control operation that this is sensed transfers to processor to be calculated and handled.Display is single Member can execute the implementing result of each step shown in fig. 1 with video-stream processor 410.
Input-output unit is used to be supplied to the interaction that user input data realizes user and processing terminal.The input is defeated Unit may be, but not limited to, out, mouse and keyboard etc..
It is appreciated that structure shown in Fig. 4 is only to illustrate, described device 400 may also include it is more than shown in Fig. 4 or Less component, or with the configuration different from shown in Fig. 4.Each component shown in Fig. 4 can using hardware, software or its Combination is realized.
The application also provides a kind of computer media, is stored with computer program on the computer media, the computer journey Method described in embodiment of the method is executed when sequence is run by processor.
The application also provides a kind of computer program product to be made when the computer program product is run on computers It obtains computer and executes method described in embodiment of the method.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description Specific work process, no longer can excessively be repeated herein with reference to the corresponding process in preceding method.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For device class embodiment, since it is basically similar to the method embodiment, so being described relatively simple, related place ginseng See the part explanation of embodiment of the method.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through it Its mode is realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart and block diagram in attached drawing are aobvious The device of multiple embodiments according to the application, architectural framework in the cards, the function of method and computer program product are shown It can and operate.In this regard, each box in flowchart or block diagram can represent one of a module, section or code Point, a part of the module, section or code includes one or more for implementing the specified logical function executable Instruction.It should also be noted that function marked in the box can also be attached to be different from some implementations as replacement The sequence marked in figure occurs.For example, two continuous boxes can actually be basically executed in parallel, they sometimes may be used To execute in the opposite order, this depends on the function involved.It is also noted that each of block diagram and or flow chart The combination of box in box and block diagram and or flow chart can be based on the defined function of execution or the dedicated of movement The system of hardware is realized, or can be realized using a combination of dedicated hardware and computer instructions.
In addition, each functional module in each embodiment of the application can integrate one independent portion of formation together Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps. And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device. In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element Process, method, article or equipment in there is also other identical elements.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.It should also be noted that similar label and letter exist Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing It is further defined and explained.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain Lid is within the scope of protection of this application.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.

Claims (10)

1. a kind of determining artificial leg is to the method for line effect characterized by comprising
Obtain lower extremity movement data and the ground reaction force dressed and had in patient's walking process of the artificial leg；
According to the lower extremity movement data and the ground reaction force, obtain to line assessment index, wherein described to line assessment Index includes at least one of following parameter: walking time symmetrical, angular symmetry and symmetry；
Using described to line assessment index, determine the artificial leg to line effect.
2. the method according to claim 1, wherein the method also includes:
The patient is obtained to the user's evaluation data to line effect of the artificial leg；
Wherein, it is described using described to line assessment index, determine the artificial leg to line effect, comprising:
Using described to line assessment index and the user's evaluation data, determine the artificial leg to line effect.
3. according to the method described in claim 2, it is characterized in that, the user's evaluation data include at least one in following Kind: Ipsilateral stability of strutting system, buckling difficulty push off difficulty, pain degree and two sides movement symmetry.
4. method according to claim 1 or 2, which is characterized in that described according to the lower extremity movement data and described Face reaction force is obtained to line assessment index, comprising:
According to the lower extremity movement data and the ground reaction force, gait parameter is obtained, wherein the gait parameter includes At least one of the following: gait phase parameter, joint of lower extremity angle, joint of lower extremity active force and joint moment；
According to the gait parameter, obtain described to line assessment index.
5. according to the method described in claim 4, it is characterized in that, described anti-according to the lower extremity movement data and the ground Active force obtains gait parameter, comprising:
The lower extremity movement data and the ground reaction force are input in human body lower limbs kinematics model, to obtain The gait parameter, wherein the human body lower limbs kinematics model is the model pre-established.
6. according to the method described in claim 4, it is characterized in that, when the gait phase parameter includes supporting time and swings Between, it is described according to the gait parameter, it obtains described to line assessment index, comprising:
Determine the larger supporting time and smaller supporting time in the supporting time at left and right sides of the lower limb of the patient；
Determine the larger duration of oscillation and smaller duration of oscillation in the duration of oscillation at left and right sides of the lower limb of the patient；
Using the larger supporting time, the smaller supporting time, the larger duration of oscillation and the smaller duration of oscillation, Obtain the walking time symmetrical.
7. according to the method described in claim 4, it is characterized in that, the joint of lower extremity angle includes Hip Angle, knee pass Angle and ankle joint angle are saved, it is described according to the gait parameter, it obtains described to line assessment index, comprising:
Calculate separately the first symmetry index of the Hip Angle at left and right sides of the lower limb of the patient, described lower limb or so two Second symmetry index of the knee joint angle of side and the third symmetry index of the ankle joint angle at left and right sides of the lower limb；
Corresponding second power of corresponding first weighted value of first symmetry index, second symmetry index is determined respectively Weight values and the corresponding third weighted value of the third symmetry index；
According to first symmetry index, second symmetry index, the third symmetry index, first weight Value, second weighted value and the third weighted value, obtain the angular symmetry.
8. according to the method described in claim 4, it is characterized in that, the joint of lower extremity active force include hip joint active force, Knee joint active force and ankle-joint active force, the joint moment include hip joint torque, knee joint torque and torque of ankle, It is described according to the gait parameter, obtain described to line assessment index, comprising:
Calculate separately the first peak value ratio, the lower limb left and right sides of the hip joint active force at left and right sides of the lower limb of the patient Knee joint active force the second peak value than the third peak value ratio of the ankle-joint active force at left and right sides of, lower limb, it is described under 4th peak value of the hip joint torque at left and right sides of limb than the knee joint torque at left and right sides of, lower limb the 5th peak value ratio, The 7th of 6th peak value of the torque of ankle at left and right sides of the lower limb than the ground reaction force at left and right sides of, lower limb Peak value ratio；
Determine that first peak value compares the 4th weighted value answered, second peak value than corresponding 5th weighted value, institute respectively It states third peak value and is compared than corresponding 6th weighted value, the 4th peak value than corresponding 7th weighted value, the 5th peak value The 8th weighted value answered, the 6th peak value are than corresponding 9th weighted value, the 7th peak value than corresponding tenth weighted value；
According to the first peak value ratio, the second peak value ratio, the third peak value ratio, the 4th peak value ratio, described 5th peak value ratio, the 6th peak value ratio, the 7th peak value ratio, the 4th weighted value, the 5th weighted value, described Six weighted values, the 7th weighted value, the 8th weighted value, the 9th weighted value and the tenth weighted value, obtain institute State symmetry.
9. according to the method described in claim 2, it is characterized in that, described comment line assessment index and the user using described Valence mumber evidence, determine the artificial leg to line effect, comprising:
Corresponding 12nd power of corresponding 11st weighted value of the walking time symmetrical, the angular symmetry is determined respectively Corresponding 13rd weighted value of weight values, the symmetry and corresponding 14th weighted value of the user's evaluation data；
According to the walking time symmetrical, the angular symmetry, the symmetry, the user's evaluation data, institute State the 11st weighted value, the 12nd weighted value, the 13rd weighted value and the 14th weighted value, determine it is described under Limb artificial limb to line effect.
10. a kind of determining artificial leg is to the device of line effect characterized by comprising
Module is obtained, it is anti-for obtaining the lower extremity movement data dressed have in patient's walking process of the artificial leg and ground Active force；
Computing module, for obtaining to line assessment index according to the lower extremity movement data and the ground reaction force, In, described includes at least one of following parameter to line assessment index: walking time symmetrical, angular symmetry and mechanics pair Title property；
Determining module, for line assessment index, determined using described the artificial leg to line effect.
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