CN110432872A - Ligamentous injury of knee joint assessment equipment and method - Google Patents

Ligamentous injury of knee joint assessment equipment and method Download PDF

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CN110432872A
CN110432872A CN201910882134.3A CN201910882134A CN110432872A CN 110432872 A CN110432872 A CN 110432872A CN 201910882134 A CN201910882134 A CN 201910882134A CN 110432872 A CN110432872 A CN 110432872A
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CN110432872B (en
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刘巍
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Xi'an Kamazao Information Technology Co Ltd
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Xi'an Kamazao Information Technology Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4533—Ligaments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A61B5/4585—Evaluating the knee
    • 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
    • A61B2560/0204—Operational features of power management
    • A61B2560/0214—Operational features of power management of power generation or supply
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches

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  • Orthopedic Medicine & Surgery (AREA)
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  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

The present invention relates to ligamentous injury of knee joint assessment equipment and methods, including the fixed device of shell, bull stick, lifting rod, knee, shin bone anchoring device, angle acquisition device, pulling force acquisition device, attitude data acquisition device and processor；Pulling force acquisition device acquires the corresponding current lifting force value of each moment of current first test；Angle acquisition device acquires the corresponding current angle value of each moment of current first test；Attitude data acquisition device acquires the corresponding current pose data of each moment of current second test；Processor determines cruciate ligament assessment result before and after knee joint using ligamentaum cruciatum classified estimation standard before and after current lifting force value, current angle value and knee joint；Using current pose data and knee joint collateral ligaments classified estimation standard, Collateral Ligament Injury of Knee Joint assessment result is determined.In this way, the accuracy of ligamentous injury of knee joint assessment result and the convenience of ligamentous injury of knee joint assessment test can be improved.

Description

Ligamentous injury of knee joint assessment equipment and method
Technical field
The present invention relates to Rehabilitation Treatment Technique fields, and in particular to a kind of ligamentous injury of knee joint assessment equipment and method.
Background technique
Kneed major function is weight bearing, transmitting load, taking exercises provides couple for shank activity, kneed tough Band structure plays a big part in the kneed normal function of holding and stability.Knee ligament mainly includes that front and back intersection is tough Band and collateral ligaments.In sports, ligamentous injury of knee joint is very common injury gained in sports, is needed in rehabilitation Assess degree of injury and detail situation.
In the prior art, athletic rehabilitation coach or medical worker is generally relied on for ligamentous injury of knee joint to be closed with hand pinching Section impression, or clap X-ray and nuclear magnetic resonance check.However, athletic rehabilitation coach or medical worker are felt with hand pinching joint By gimmick relies primarily on clinical and professor's experience, varies with each individual, can not quantify detail, the reliability of assessment result is lower； It claps X-ray and nuclear magnetic resonance needs specific equipment and place, and have radiation to human body, unsuitable frequent progress, also inconvenience exists Home environment self testing, convenience are lower.
Therefore, how accurately, easily assessment ligamentous injury of knee joint situation is that those skilled in the art are urgently to be resolved Technical problem.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of ligamentous injury of knee joint assessment equipment and method, to solve It is lower to the assessment result accuracy of ligamentous injury of knee joint condition evaluation in the prior art, ligamentous injury of knee joint condition evaluation The lower problem of the convenience of test.
In order to achieve the above object, the present invention adopts the following technical scheme:
A kind of ligamentous injury of knee joint assessment equipment, comprising: the fixed device of shell, bull stick, lifting rod, knee, shin bone are solid Determine device, angle acquisition device, pulling force acquisition device, attitude data acquisition device and processor；
The first end of the bull stick and the first end of the shin bone anchoring device are connected with the first end of the shell respectively；
The bull stick and the shin bone anchoring device pass through the shell, so that the second end of the bull stick and the knee Fixed device is connected, and the second end of the shin bone anchoring device resists shin bone；
The first end of the bull stick and the first end of the shin bone anchoring device are flexibly connected；
The lifting rod is connected with the second end of the shell；
The company of the first end of the bull stick and the first end of the shin bone anchoring device is arranged in the angle acquisition device Meet place；
The angle acquisition device, the pulling force acquisition device and the attitude data acquisition device respectively with the processing Device is connected；
The angle acquisition device, the pulling force acquisition device, the attitude data acquisition device and the processor are equal It is arranged in the interior of shell；
The lifting rod applies lifting power in the current first test for user；
The pulling force acquisition device, for acquiring the corresponding current lifting power of each moment of current first test Value, and the current lifting force value is sent to the processor；
The angle acquisition device, for acquiring the corresponding bull stick of each moment and the institute of current first test The current angle value between shin bone anchoring device is stated, and the current angle value is sent to the processor；
The attitude data acquisition device, the corresponding shin bone of each moment for acquiring current second test are worked as Preceding attitude data, and the current pose data are sent to the processor；
The processor, the corresponding current lifting force value of each moment tested for utilization described current first, Ligamentaum cruciatum classified estimation standard before and after the current angle value and pre-stored knee joint, to ligamentaum cruciatum before and after knee joint Degree of impairment assessed, determine cruciate ligament assessment result before and after the corresponding knee joint of current first test；
The processor is also used to the corresponding current pose data of each moment using current second test With pre-stored knee joint collateral ligaments classified estimation standard, the degree of impairment of knee joint collateral ligaments is assessed, really Fixed described current second tests corresponding Collateral Ligament Injury of Knee Joint assessment result.
Further, in ligamentous injury of knee joint assessment equipment described above, the processor includes computing module, One evaluation module and the second evaluation module；
The computing module, is used for:
According to the current lifting force value, the current angle value, the bull stick length of the pre-stored bull stick and pre- The initial angle angle value between the bull stick and the shin bone anchoring device first stored, calculates described current the first of predeterminated position The corresponding current displacement of each moment of test；
According to the current lifting force value and the current displacement, each moment for calculating current first test is corresponding Current values of stiffness and it is described it is current first test mean rigidity value；
According to the current pose data, each moment for calculating current second test of the shin bone corresponding works as Preceding outer corner；
First evaluation module, is used for:
According to ligamentaum cruciatum point before and after the current lifting force value, the current displacement and pre-stored first knee joint Grade evaluation criteria, assesses the degree of impairment of ligamentaum cruciatum before and after knee joint, determines that current first test is corresponding Cruciate ligament assessment result before and after first knee joint；
According to ligamentaum cruciatum point before and after the current values of stiffness, the mean rigidity value and pre-stored second knee joint Grade evaluation criteria, assesses the degree of impairment of ligamentaum cruciatum before and after knee joint, determines that current first test is corresponding Cruciate ligament assessment result before and after second knee joint；
Second evaluation module, is used for:
According to the current outer corner and the knee joint collateral ligaments classified estimation standard, to knee joint collateral ligaments Degree of impairment is assessed, and determines the corresponding Collateral Ligament Injury of Knee Joint assessment result of current second test.
Further, in ligamentous injury of knee joint assessment equipment described above, the processor further includes generation module；
The generation module, is used for:
It is raw according to the corresponding current lifting force value of each moment and the current displacement of current first test Corresponding lifting force-displacement curve is tested at described current first；
According to the corresponding current values of stiffness of each moment of current first test, generates described current first and survey Try corresponding rigid curve；
The corresponding current pose data of each moment tested according to described current second and the current outer corner, Generate the corresponding three-dimensional animation of current second test and posture numerical curve.
Further, in ligamentous injury of knee joint assessment equipment described above, the current pose data include: current Pitch angle, current yaw angle and current roll angle；
The computing module is specifically used for:
According to current lifting force value, the current angle value, the bull stick length of the bull stick and the initial angle Value calculates the corresponding current displacement of each moment of current first test of predeterminated position using displacement calculation formula；
The displacement calculation formula are as follows:
Si=L sin (θi-θ0)
Wherein, SiIndicate the corresponding current displacement of moment i；L indicates the bull stick length；θiIndicate that moment i is corresponding The current angle value；θ0Indicate the initial angle angle value；
According to the current lifting force value and the current displacement, described current first is calculated using rigid calculation formula and is surveyed The corresponding current values of stiffness of each moment of examination calculates the average rigid of current first test using mean rigidity calculation formula Property value；
The rigidity calculation formula are as follows:
Wherein, riIndicate the corresponding current values of stiffness of moment i；NiIndicate the corresponding current lifting power of moment i Value；K indicate newton value and pound or kilogram conversion coefficient；G indicates acceleration of gravity；
The mean rigidity calculation formula are as follows:
Wherein, ravgIndicate the mean rigidity value of current first test；N is indicated in current first test The total moment number of sampling；
According to the current pitch angle, the current yaw angle and the current roll angle, angle calculation formula meter is utilized Calculate the corresponding current outer corner of each moment of current second test of shin bone；
The angle calculation formula are as follows:
Wherein, θx、θy、θzRespectively indicate the corresponding current roll angle of moment i, the current pitch angle, described current Yaw angle；SxAnd CxRespectively indicate θxSine value and cosine value；SyAnd CyRespectively indicate θySine value and cosine value；SzAnd Cz Respectively indicate θzSine value and cosine value；R(θx,θy,θz) indicate the corresponding spin matrix of moment i；Expression is stored in advance Reference attitude vector；Indicate the corresponding postrotational current pose vector of moment i；θΔIndicate that moment i works as described in corresponding Preceding outer corner.
Further, ligamentous injury of knee joint assessment equipment described above, further includes touch screen；
The touch screen includes display module；
The processor further includes sending module；
The touch screen setting on the housing, is connected with the sending module；
The sending module is also used to send the current lifting force value, institute to the display module and/or monitor terminal State current displacement, the current values of stiffness, the mean rigidity value, the current pose data, the lifting power-displacement song Line, the rigid curve, the three-dimensional animation and the posture numerical curve；
The display module, for receiving and showing the current lifting force value, the current displacement, the current rigidity Value, the mean rigidity value, the current pose data, the lifting force-displacement curve, the rigid curve, the three-dimensional Animation and the posture numerical curve.
Further, in ligamentous injury of knee joint assessment equipment described above, the touch screen includes zero instruction hair Send module；
The zero instruction sending module, for sending displacement zero instruction to the computing module；
The computing module, the displacement for being also used to be calculated according to lifting power and angle value is zeroed, to re-start The survey calculation of displacement.
Further, in ligamentous injury of knee joint assessment equipment described above, the processor further includes zeroing judgement Module and output module；
The lifting rod is also used to user and executes n times zeroing movement；
The angle acquisition device is also used to acquire each zeroing and acts corresponding zeroing angle value, and by the zeroing Angle value is sent to the computing module；
The pulling force acquisition device, is also used to acquire the zeroing every time and acts corresponding zeroing and lift force value, and by institute It states zeroing lifting force value and is sent to the computing module；
The computing module is also used to according to the zeroing angle value, the bull stick length and the initial angle angle value, meter The zeroing acts corresponding zeroing displacement every time when calculating the identical zeroing lifting force value；
The zeroing judgment module, for judge zeroing described in n times act it is corresponding it is described zeroing displacement difference whether Positioned at default error range；
The output module, is used for:
If the difference is not at the default error range, output position adjustment information, so that user's adjustment is set Standby position；
If the difference is located at the default error range, zeroing successful information is exported, so that the user starts to survey Examination；
Wherein, N is the positive integer more than or equal to 2.
Further, ligamentous injury of knee joint assessment equipment described above, further includes storage device；
The processor further includes contrast module；
The touch screen further includes correlation curve mark sending module；
The storage device, for storing curve graph and the corresponding curve mark of the curve graph；
The correlation curve identifies sending module, for sending the first curve that the user chooses to the contrast module Mark and the second curve mark；
The contrast module, is used for:
It is identical to judge that the first curve mark is identified whether with second curve；
If first curve mark is sensible same with second curve post, obtained from the storage device and described the One curve mark or the sensible matched aim curve figure of second curve post；
If first curve mark and second curve mark be not identical, from the storage device acquisition with it is described Sensible matched first curve graph of first curve post and with sensible matched second curve graph of second curve post, and generate institute The contrast curve chart of the first curve graph and second curve graph is stated as the aim curve figure；
The sending module is also used to send the aim curve figure to the display module and/or the monitor terminal.
Further, ligamentous injury of knee joint assessment equipment described above, further includes blue-tooth device and charging unit；
The charging unit includes battery, charging cable and charging indicator light；
The blue-tooth device and the battery are connected with the processor respectively；
The charging cable and the charging indicator light are connected with the battery respectively；
The processor carries out data interaction by the blue-tooth device and the monitor terminal；
The battery is connected by the charging cable with power supply；
The charging indicator light, for showing the present charge state of the battery.
The present invention also provides a kind of ligamentous injury of knee joint appraisal procedures, applied to ligamentous injury of knee joint described above Assessment equipment, comprising:
It acquires between corresponding current lifting force value of each moment, bull stick and the shin bone anchoring device of current first test The current pose data of current angle value and the corresponding shin bone of each moment of current second test；
Using it is described it is current first test the corresponding current lifting force value of each moment, the current angle value and Ligamentaum cruciatum classified estimation standard before and after pre-stored knee joint comments the degree of impairment of ligamentaum cruciatum before and after knee joint Estimate, determines cruciate ligament assessment result before and after the corresponding knee joint of current first test；
It is closed using the corresponding current pose data of each moment and pre-stored knee of current second test Collateral ligaments classified estimation standard is saved, the degree of impairment of knee joint collateral ligaments is assessed, determines that described current second surveys Try corresponding Collateral Ligament Injury of Knee Joint assessment result.
Ligamentous injury of knee joint assessment equipment of the invention and method, including the fixed dress of shell, bull stick, lifting rod, knee It sets, shin bone anchoring device, angle acquisition device, pulling force acquisition device, attitude data acquisition device and processor；Lifting rod is used for User applies lifting power in the current first test；Each moment that pulling force acquisition device is used to acquire current first test is corresponding Current lifting force value, and current lifting force value is sent to processor；Angle acquisition device, for acquiring current first test Corresponding bull stick of each moment and shin bone anchoring device between current angle value, and current angle value is sent to processing Device；Attitude data acquisition device is used to acquire the current pose data of the corresponding shin bone of each moment of current second test, and Current pose data are sent to processor；Processor, for corresponding working as premise using each moment of current first test Ligamentaum cruciatum classified estimation standard before and after value of thrust, current angle value and pre-stored knee joint is intersected to before and after knee joint The degree of impairment of ligament is assessed, and determines cruciate ligament assessment result before and after the corresponding knee joint of current first test； It is commented using the corresponding current pose data of each moment and the classification of pre-stored knee joint collateral ligaments of current second test Estimate standard, the degree of impairment of knee joint collateral ligaments is assessed, determines that current second test corresponding knee joint side pair is tough Band lesion assessment result.In this way, can be through the invention by the test assessment numerical quantization of ligamentous injury of knee joint situation, it can So that user, coach or medical worker are directly viewable, the accuracy of ligamentous injury of knee joint assessment result, and this hair are improved Bright ligamentous injury of knee joint assessment equipment does not radiate human body, without being tested in specific place, and easy to carry, energy Enough in home environment self testing, the convenience of ligamentous injury of knee joint assessment test is improved.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not It can the limitation present invention.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of ligamentous injury of knee joint assessment equipment embodiment of the invention；
Fig. 2 is the circuit block diagram of ligamentous injury of knee joint assessment equipment embodiment one of the invention；
Fig. 3 is the circuit block diagram of ligamentous injury of knee joint assessment equipment embodiment two of the invention；
Fig. 4 is the aim curve figure that contrast module generates in Fig. 3；
Fig. 5 is the flow chart of ligamentous injury of knee joint appraisal procedure embodiment of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work Other embodiment belongs to the range that the present invention is protected.
Fig. 1 is the structural schematic diagram of ligamentous injury of knee joint assessment equipment embodiment of the invention；Fig. 2 is knee of the invention The circuit block diagram of articular ligament injuries assessment equipment embodiment one.As depicted in figs. 1 and 2, the B in Fig. 1 indicates leg to be measured Shin bone, C indicate the femur of leg to be measured, and one end close apart from femur C is proximal tibia, one end remote apart from femur C in shin bone B For distal tibial.The ligamentous injury of knee joint assessment equipment of the present embodiment includes: shell 101, bull stick 102, lifting rod 103, knee Cover fixed device 104, shin bone anchoring device 105, angle acquisition device 107, pulling force acquisition device 106, attitude data acquisition dress Set 108 and processor 109；Wherein, the first end of bull stick 102 and the first end of shin bone anchoring device 105 respectively with shell 101 First end is connected；Bull stick 102 and shin bone anchoring device 105 pass through shell 101, so that the second end of bull stick 102 is fixed with knee Device 104 is connected, and the second end of shin bone anchoring device 105 resists shin bone；The first end and shin bone anchoring device 105 of bull stick 102 First end be flexibly connected；Lifting rod 103 is connected with the second end of shell 101；Angle acquisition device 107, pulling force acquisition device 106 and attitude data acquisition device 108 be connected respectively with processor 109；Angle acquisition device 107, pulling force acquisition device 106, Attitude data acquisition device 108 and processor 109 are arranged inside shell 101, as shown in fig. 1, angle acquisition device 107 The junction of the first end of bull stick 102 and the first end of shin bone anchoring device 105 is set；The setting of pulling force acquisition device 106 exists The lower section of lifting rod 103；The position below lifting rod 103 close to proximal tibia is arranged in attitude data acquisition device 108.Separately Outside, processor 109 includes computing module 1091, the first evaluation module 1092 and the second evaluation module 1093, wherein angle acquisition Device 107, pulling force acquisition device 106 and attitude data acquisition device 108 are connected with computing module 1091 respectively, computing module 1091 are connected with the first evaluation module 1092 and the second evaluation module 1093 respectively.
In the present embodiment, the first test is the ligamentaum cruciatum before and after testing knee joint, primarily to testing and commenting Estimate the degree of impairment of knee joint front and back ligamentaum cruciatum；Second test be for testing knee joint collateral ligaments, primarily to The degree of impairment of test and evaluation knee joint collateral ligaments.
When carrying out the current first test, in the case where fixed tibial distal end, femur and patella position, user is by mentioning Pull rod 103 gives proximal tibia to apply lifting power in the direction for being parallel to sagittal plane, wherein human body cut as left and right two parts, Left and right section is exactly sagittal plane, and the equal section in left and right is referred to as median sagittal plane.Pulling force acquisition device 106 acquires current The corresponding current lifting force value of each moment of one test, and processor 109 is sent it to, wherein lifting power is corresponding current Lifting force value can be positive number, can also be negative, and in the case that currently lifting force value is negative, lifting power is pressure.Angle Degree acquisition device 107 acquires working as between the corresponding bull stick 102 of each moment and shin bone anchoring device 105 of current first test Preceding angle value, and send it to processor 109.Computing module 1091 in processor 109 receive current lifting force value and After current angle value, according to the corresponding current lifting force value of each moment and current angle value of current first test, and in advance Initial angle between the bull stick length and pre-stored bull stick 102 and shin bone anchoring device 105 of the bull stick 102 first stored Value calculates the corresponding current displacement of each moment of current first test of predeterminated position using displacement calculation formula.Wherein, in advance If position is the position that contact with femur C shin bone B, the direction that predeterminated position generation is displaced direction shown in A as shown in figure 1.Position Move calculation formula are as follows:
Si=L sin (θi-θ0)
Wherein, SiIndicate the corresponding current displacement of moment i；L indicates bull stick length；θiIndicate the corresponding current angular of moment i Value；θ0Indicate initial angle angle value.
According to the current displacement that current lifting force value and above-mentioned formula are calculated, using described in the calculating of rigid calculation formula The corresponding current values of stiffness of each moment of current first test calculates described current first using mean rigidity calculation formula and surveys The mean rigidity value of examination, wherein rigid calculation formula are as follows:
Wherein, riIndicate the corresponding current values of stiffness of moment i；NiIndicate the corresponding current lifting force value of moment i；K indicates ox Value with pound or kilogram conversion coefficient；G indicates acceleration of gravity；
Mean rigidity calculation formula are as follows:
Wherein, ravgIndicate the mean rigidity value of current first test；N indicates sampling total moment in current first test Number.
According to the current lifting force value and corresponding current displacement and pre-stored first of current first test Ligamentaum cruciatum classified estimation standard before and after knee joint carries out classified estimation to the degree of impairment of ligamentaum cruciatum before and after knee joint, from And determine cruciate ligament assessment result before and after corresponding first knee joint of current first test.Wherein, before the first knee joint Posterior cruciate ligament of knee classified estimation standard is divided into level Four, for example, if currently lifting force value is 30 pounds, when current displacement is -1~2mm For the first order, ligamentaum cruciatum situation is normal before and after indicating knee joint；Current displacement is the second level when being 3~5mm, indicates knee joint Front and back ligamentaum cruciatum situation is close to normally；Current displacement is the third level when being 6~10mm, indicates ligamentaum cruciatum feelings before and after knee joint Condition is abnormal；Current displacement is the fourth stage when being greater than 10mm, and ligamentaum cruciatum situation is seriously abnormal before and after indicating knee joint.
Before and after the current values of stiffness of current first test and average values of stiffness and pre-stored second knee joint Ligamentaum cruciatum classified estimation standard carries out classified estimation to the degree of impairment of ligamentaum cruciatum before and after knee joint, so that it is determined that currently Cruciate ligament assessment result before and after corresponding second knee joint of first test.Wherein, ligamentaum cruciatum before and after the second knee joint Classified estimation standard is divided into two-stage, for example, current values of stiffness or mean rigidity value are the first order when being greater than 5 pounds every millimeter, indicates Ligamentaum cruciatum situation is normal before and after knee joint；It is the second level when current values of stiffness or mean rigidity value are less than 5 pounds every millimeter, indicates Ligamentaum cruciatum situation is abnormal before and after knee joint.
When carrying out the current second test, in the case where fixed tibial distal end, femur and patella position, given in cross section Proximal tibia applies rotatory force, that is, holds lifting rod 103, laterally rotate shin bone.Attitude data acquisition device 108 acquires currently The corresponding current pose data of each moment of second test, and send it to processor 109, wherein current pose data packet Include current pitch angle, current yaw angle and current roll angle.The computing module 1091 of processor 109 receive current pitch angle, After current yaw angle and current roll angle, stored when being zeroed according to current pitch angle, current yaw angle, current roll angle and equipment Reference attitude vector, each moment for calculating current second test of shin bone B using angle calculation formula is corresponding current outer Corner, wherein angle calculation formula are as follows:
Wherein, θx、θy、θzRespectively indicate the corresponding current roll angle of moment i, current pitch angle, current yaw angle；SxAnd Cx Respectively indicate θxSine value and cosine value；SyAnd CyRespectively indicate θySine value and cosine value；SzAnd CzRespectively indicate θz's Sine value and cosine value；R(θx,θy,θz) indicate the corresponding spin matrix of moment i；Indicate the starting stored when equipment zero Attitude vectors；Indicate the corresponding postrotational current pose vector of moment i；θΔIndicate the corresponding current outer corner of moment i.
It is right according to the above-mentioned current outer corner being calculated and pre-stored knee joint collateral ligaments classified estimation standard The degree of impairment of knee joint collateral ligaments carries out classified estimation, determines the corresponding Collateral Ligament Injury of Knee Joint of current second test Assessment result.Wherein, knee joint collateral ligaments classified estimation standard is divided into two-stage, and current outer corner is the first order, table less than 3 degree Show that knee joint collateral ligaments is normal；It is the second level that current outer corner, which is greater than 3 degree, indicates Collateral Ligament Injury of Knee Joint.
In the present embodiment, pulling force acquisition device 106 is preferably tension sensor；Angle acquisition device 107 is preferably AS5048 14 rotary angle transmitters of high-precision or laser microspur sensor, precision reach 0.0219 °；Attitude data acquisition device 108 be preferably high-precision acceleration transducer or posture position sensor.In addition, the present embodiment is for attitude data acquisition device 108 position and without limitation, as long as the attitude data of shin bone can be collected.Lifting rod 103 is utilized in the present embodiment The mode for being lifted and being pressed, which also can be replaced, to be lifted and is pressed automatically using motor.
The ligamentous injury of knee joint assessment equipment of the present embodiment, including shell 101, bull stick 102, lifting rod 103, knee are solid Determine device 104, shin bone anchoring device 105, angle acquisition device 107, pulling force acquisition device 106, attitude data acquisition device 108 With processor 109；Computing module 1091 in processor 109 is tested according to current first that pulling force acquisition device 106 acquires The each moment for current first test that each moment corresponding current lifting force value, angle acquisition device 107 acquire is corresponding Current angle value between bull stick 102 and shin bone anchoring device 105 calculates current displacement, current values of stiffness and average values of stiffness, So that before and after the first evaluation module 1092 is further according to ligamentaum cruciatum classified estimation standard before and after the first knee joint and the second knee joint Ligamentaum cruciatum classified estimation standard carries out classified estimation to ligamentaum cruciatum before and after knee joint, and intersection is tough before and after determining the first knee joint Cruciate ligament assessment result before and after band lesion assessment result and the second knee joint；Computing module 1091 in processor 109 Also according to the current pose number for the current second corresponding shin bone B of each moment tested that attitude data acquisition device 108 acquires According to calculating current outer corner, so that the second evaluation module 1093 is according to knee joint collateral ligaments classified estimation standard, to knee joint The degree of impairment of collateral ligaments is assessed, and determines Collateral Ligament Injury of Knee Joint assessment result.In this way, can be tough by knee joint Test assessment numerical quantization with degree of impairment, can be used family, coach or medical worker and is directly viewable, improve knee joint The accuracy of ligament injury assessment result, and the ligamentous injury of knee joint assessment equipment of the present embodiment does not radiate human body, Without being tested in specific place, and it is easy to carry, ligamentous injury of knee joint can be improved in home environment self testing Assess the convenience of test.
Fig. 3 is the circuit block diagram of ligamentous injury of knee joint assessment equipment embodiment two of the invention, as shown in figures 1 and 3, It is further right in further detail on the basis of the ligamentous injury of knee joint assessment equipment of the present embodiment is the embodiment described in Fig. 2 Technical solution of the present invention is described.
As shown in figures 1 and 3, in the ligamentous injury of knee joint assessment equipment of the present embodiment, processor 109 further includes generating Module 1094；Wherein, generation module 1094 is connected with computing module 1091.Generation module 1094 is every according to current first test A moment corresponding current lifting force value and current displacement generate the corresponding lifting force-displacement curve of current first test；It generates Module 1094 can also generate current first test and correspond to according to the corresponding current values of stiffness of each moment of current first test Rigid curve；The corresponding current pose data of each moment and work as that generation module 1094 can also be tested according to current second Preceding outer corner generates the corresponding three-dimensional animation of current second test and posture numerical curve.
Further, the ligamentous injury of knee joint assessment equipment of the present embodiment further includes touch screen 110；Touch screen 110 wraps Display module 1101 is included, processor 109 further includes sending module 1095；Wherein, touch screen 110 is arranged on shell 101, calculates Module 1091, the first evaluation module 1092, the second evaluation module 1093, generation module 1094 and display module 1101 respectively with hair Module 1095 is sent to be connected.Sending module 1095 can send current lifting force value, current to the display module 1101 of touch screen 110 Displacement, current values of stiffness, mean rigidity value, current pose data, current outer corner, lifting force-displacement curve, rigidity curve, Three-dimensional animation and posture numerical curve etc.；Display module 1101 can receive and show the current lifting that sending module 1095 is sent Force value, current displacement, current values of stiffness, mean rigidity value, current pose data, current outer corner, lift force-displacement curve, Rigid curve, three-dimensional animation and posture numerical curve, so that user is directly viewable related data.
Further, touch screen 110 further includes zero instruction sending module 1102, zero instruction sending module 1102 and meter Module 1091 is calculated to be connected.The instruction sending module 1102 that is zeroed sends displacement zero instruction to the computing module 1091 of processor 109, After computing module 1091 receives displacement zero instruction, the displacement being calculated according to lifting force value and angle value is zeroed, with Re-start the survey calculation of displacement.
Further, processor 109 further includes zeroing judgment module 1096 and output module 1097；1091 He of computing module Output module 1097 is connected with zeroing judgment module 1096 respectively.Before being tested, the knee joint to the present embodiment is needed Ligament injury assessment equipment carries out zeroing processing, specific mode are as follows: user executes n times zeroing movement by lifting rod 103；It draws Force acquisition device 106 acquires each zeroing and acts corresponding zeroing lifting force value, and sends it to computing module 1091；Angle Acquisition device 107 acquires each zeroing and acts corresponding zeroing angle value, and sends it to computing module 1091；Computing module 1091 act corresponding zeroing lifting force value and zeroing angle value and pre-stored bull stick length, first according to each zeroing Beginning angle value calculates each zeroing using displacement calculation formula described in above-described embodiment and acts corresponding zeroing displacement；Zeroing Whether the difference that judgment module 1096 judges that n times zeroing acts between corresponding zeroing displacement is located in default error range；If Difference is not in default error range, 1097 output position adjustment information of output module, so that user adjusts the present embodiment Ligamentous injury of knee joint assessment equipment position, continue zeroing processing after the adjustment of position, until return to zero successfully；If difference In default error range, the output zeroing successful information of output module 1097, so that user starts to test.Wherein N be greater than Positive integer equal to 2, N is preferably 3 times in the present embodiment.Zeroing judgment module 1096 is to judge that n times zeroing movement corresponds to Zeroing displacement it is whether stable, illustrate that the current location of equipment is correct if stablizing, if unstable rule illustrates the present bit of equipment It is equipped with deviation.The zeroing processing of the present embodiment is the accuracy in order to guarantee acquisition data.
Further, the ligamentous injury of knee joint assessment equipment of the present embodiment further includes storage device 111, processor 109 It further include contrast module 1098, touch screen 110 further includes correlation curve mark sending module 1103.Storage device 111 is for depositing Store up curve graph and the corresponding curve mark of curve graph；User can identify sending module 1103 to contrast module by correlation curve 1098 send the first curve mark and the second curve mark that user chooses, wherein curve graph and curve mark can pass through touching The display module 1101 of control screen 110 is shown, so that user checks and chooses.Contrast module 1098 may determine that the first curve identifies It identifies whether with the second curve identical, if the first curve mark is sensible same with the second curve post, is obtained from storage device 111 It takes and the first curve mark or the sensible matched aim curve figure of the second curve post；If the first curve mark and the second curve post Know it is not identical, then from storage device 111 obtain with sensible matched first curve graph of the first curve post and with the second curve post Sensible matched second curve graph, and the contrast curve chart of the first curve graph and the second curve graph is generated as aim curve figure. Aim curve figure can be sent to the display module 1101 of touch screen 110 by sending module 1095, so that user checks.In addition, Storage device 111 not only can store curve graph and the corresponding curve mark of curve graph, for angle acquisition device 107, pulling force The data that the data and computing module 1091 that acquisition device 106 and attitude data acquisition device 108 acquire are calculated It is stored in storage device 111.The storage device 111 of the present embodiment is preferably SD card or TF card.The present embodiment is in storage curve When figure, which can be labeled, for example, why the curve graph plants curve graph, including lifting force-displacement curve figure, Rigid curve graph and posture numerical curve figure etc. can also mark testing time and left and right leg of the curve graph etc., carry out pair Curve graph comparison is carried out than module 1098, before generating aim curve figure, needs to detect the first curve mark and the second curve post Whether know is that the mark of curve graph of the same race cannot be compared if it is not of the same race.Fig. 4 is that contrast module generates in Fig. 3 Aim curve figure, as shown in figure 4, the aim curve figure is to generate in the case that the first curve mark is different with the second curve mark Aim curve figure, wherein Load is current lifting force value, unit LB；Disp is the corresponding present bit of current lifting force value It moves, unit mm, current lift identifies under force value and the data being currently displaced for the curve of curve graph, and R indicates right leg, the back R For the time of test, 2.10mm/15LB and 2.04mm/15LB are respectively the mean rigidity value of two curves.
Further, the ligamentous injury of knee joint assessment equipment of the present embodiment further includes blue-tooth device 112, and wherein bluetooth fills 112 are set to be connected with monitor terminal 202.Monitor terminal 202 can be damaged by the knee ligament of blue-tooth device 112 and the present embodiment Hurt assessment equipment and realize data interaction, monitor terminal 202 can realize function identical with touch screen 110 by blue-tooth device 112 Can, the concrete function of touch screen 110 has been described in detail in the above content, therefore the concrete function of monitor terminal 202 is herein It is not illustrating.The blue-tooth device 112 of the present embodiment is preferably BLE5, can be realized low-consumption wireless transmission.
Further, the ligamentous injury of knee joint assessment equipment of the present embodiment further includes charging unit 113, charging unit 113 include battery 1131, charging cable 1132 and charging indicator light 1133, charging cable 1132 and charging indicator light 1133 respectively with electricity Pond 1131 is connected, and battery 1131 is connected by charging cable 1132 with power supply 201.The battery 1131 of the present embodiment is preferably lithium electricity Pond, charging cable 1132 are preferably micro USB charging cable.Indicate that the knee of the present embodiment is closed when charging indicator light 1133 is amber light Section ligament injury assessment equipment is charging, and the knee ligament damage of the present embodiment is indicated when charging indicator light 1133 is green light Hurt assessment equipment electricity to have been filled with.1131 charging time of battery of the present embodiment is preferably 12 hours.
Further, the ligamentous injury of knee joint assessment equipment of the present embodiment further includes position fixing apparatus 114, and leg is solid Determine device 114 and include leg fixing belt 1141, stock bone anchoring device 1142 and foot fixing device 1143, wherein leg fixing belt 1141 are connected with shell 101, and for shank to be bonded with shell 101, shin bone anchoring device 105 can resist shin bone B；Femur is solid Device 1142 and foot fixing device 1143 are determined for keeping knee sprung, and the adjustable height of stock bone anchoring device 1142 is with true Knee sprung is protected between 20-35 degree.
Further, in the ligamentous injury of knee joint assessment equipment of the present embodiment, touch screen 110 further includes that the detection of most value refers to Enable sending module；Most value detection instruction sending module is sent to computing module 1091 is most worth detection instruction；One portable drawing of user With pressing lifting rod 103, computing module 1091 receives the maximum lifting force value that pulling force acquisition device 106 acquires and minimum lifting power The maximal angle value and minimum angles value that value and angle acquisition device 107 acquire, and it is maximum using displacement calculation formula calculating Displacement and least displacement, and maximum displacement and least displacement are sent to display module 1101 by sending module 1095.Wherein Lifting force value is divided into positive and negative, and lifting force value when press lifting rod 103 is negative, i.e. pressing force is bigger, lifts force value and gets over It is small.Minimum angles value is the corresponding angle value of minimum lifting force value.
The ligamentous injury of knee joint assessment equipment of the present embodiment by generation module 1094 generate lifting force-displacement curve, Rigid curve, three-dimensional animation and posture numerical curve are able to use family and check that data are more convenient, and can also be by comparing mould Block 1098 realizes the comparison of two curves, is able to use the variation and gap for checking data that family is more clear, improves user The convenience analyze the case where knee ligament；The present embodiment can also prison by touch screen 110 and with blue-tooth device 112 Control terminal 202 realizes the implementation of the work of checking and return to zero of related data, the zeroing judgment module 1096 of processor 109 and defeated Module 1097 is able to use family and carries out equipment zeroing work out, to guarantee the accuracy of data in test process.And this reality Applying example it is straight can also to can be used family, coach or medical worker by the test assessment numerical quantization of ligamentous injury of knee joint situation It connects and checks, improve the accuracy of ligamentous injury of knee joint assessment result, and the ligamentous injury of knee joint assessment of the present embodiment Equipment does not radiate human body, and easy to carry without testing in specific place, can in home environment self testing, Improve the convenience of ligamentous injury of knee joint assessment test.
The following institute of application process when the current first test is carried out for ligamentous injury of knee joint assessment equipment of the invention It states:
First, it needs for stock bone anchoring device 1142 to be placed under the femur of personnel to be measured to keep knee sprung to exist Between 20-35 degree；
Second, the inspection work before needing to test the leg to be measured of personnel to be measured.Such as Lachman Test, PCL Screen and Quad Active Test.
Ligamentous injury of knee joint assessment equipment is correctly fixed on leg to be measured by third, and wherein the fixed device 104 of knee can To be against the position of knee, if the position for resisting knee makes tested personnel uncomfortable, can be against on kneecap tendon position.User will One hand is placed on the thigh of personnel to be measured, and knee is fixed device 104 and is fixed on corresponding position by thumb and index finger.
4th, the switch for pressing ligamentous injury of knee joint assessment equipment opens ligamentous injury of knee joint assessment equipment, according to It needs, it is determined whether the date-time of adjustment ligamentous injury of knee joint assessment equipment；
5th, by touching the corresponding position of touch screen 110, so that zero instruction sending module 1102 is sent displacement zero and refer to It enables, computing module 1091 is made to realize displacement zero；
6th, zeroing processing is carried out to ligamentous injury of knee joint assessment equipment.Zeroing lifting power is applied to lifting rod 103, Then lifting rod 103, the display zeroing lifting force value of display module 1101 of touch screen 110 and corresponding zeroing position are unclamped It moves.The present embodiment zeroing lifting force value is preferably -15 pounds, i.e., pressing force is 15 pounds, and the ligamentous injury of knee joint of the present embodiment is commented - 15 pounds of corresponding prompt tones can be issued when lifting force value and being -15 pounds by estimating equipment.The present embodiment preferably utilizes lifting rod 103 Apply 3 zeroings lifting power, whether the corresponding zeroing displacement of identical zeroing lifting power is stable three times for judgement, if stablizing indicates It returns to zero successfully, continues to test, if unstable rule adjusts the position of ligamentous injury of knee joint assessment equipment and re-starts Zeroing processing, until zeroing displacement is stablized；
7th, the present embodiment carries out at the time of current first test is chosen preferably 4 moment, and respectively lifting power is 15 At the time of pound, at the time of lifting power is 20 pounds, at the time of lifting power is 30 pounds and at the time of lifting power is -15 pounds, user passes through When lifting rod 103 applies lifting power, the moment corresponding prompt tone will be issued whenever reaching the corresponding moment of above-mentioned selection, I.e. when lifting 15 pounds, 20 pounds, 30 pounds and -15 pounds of force value arrival, different prompt tones can be issued respectively.The slow pull-up of user mentions Pull rod 103 is after 15 pounds, 20 pounds, 30 pounds of corresponding prompt tones issue, then presses lifting rod 103, until -15 pounds it is corresponding Prompt tone stops applying lifting power after issuing.
8th, 110 screen of touch screen is clicked, to obtain lifting force-displacement curve；
9th, again tap on 110 screen of touch screen, it is determined whether save data, and choose the mark of data, also such as left leg It is the mark of right leg, wherein identifying the date and time for also carrying and currently testing；
Tenth, if carrying out curve graph comparison, the curve mark for needing to be compared is chosen, to generate and show curve The aim curve figure of comparison.
In order to more comprehensively, correspond to ligamentous injury of knee joint assessment equipment provided in an embodiment of the present invention, the application is also mentioned Ligamentous injury of knee joint appraisal procedure is supplied.
Fig. 5 is the flow chart of ligamentous injury of knee joint appraisal procedure embodiment of the invention.As shown in figure 5, the present embodiment The specific steps of ligamentous injury of knee joint appraisal procedure include:
S101, the corresponding current lifting force value of each moment of current first test of acquisition, bull stick 102 and the fixed dress of shin bone Set the current pose data of the current angle value between 105 and the corresponding shin bone of each moment of current second test；
In the present embodiment, when carry out first is tested, each of current first test is acquired by pulling force acquisition device 106 Moment corresponding current lifting force value is acquired between bull stick 102 and shin bone anchoring device 105 by angle acquisition device 107 Current angle value；When carry out second is tested, each moment of current second test is acquired by attitude data acquisition device 108 The current pose data of corresponding shin bone.
S102, it deposits using the corresponding current lifting force value of each moment of current first test, current angle value and in advance Ligamentaum cruciatum classified estimation standard before and after the knee joint of storage is assessed the degree of impairment of ligamentaum cruciatum before and after knee joint, really Settled preceding first tests cruciate ligament assessment result before and after corresponding knee joint；
Through the above steps, according to it is collected it is preceding first test corresponding current lifting force value of each moment, currently Between angle value and the bull stick length and pre-stored bull stick 102 and shin bone anchoring device 105 of pre-stored bull stick 102 Initial angle angle value, calculate predeterminated position it is current first test the corresponding current displacement of each moment；Further according to working as premise Value of thrust and currently displacement calculate the corresponding current values of stiffness of each moment of current first test and putting down for current first test Equal values of stiffness；According to ligamentaum cruciatum classified estimation before and after current lifting force value, current displacement and pre-stored first knee joint Standard assesses the degree of impairment of ligamentaum cruciatum before and after knee joint, determines corresponding first knee joint of current first test Front and back cruciate ligament assessment result；Before and after current values of stiffness, mean rigidity value and pre-stored second knee joint Ligamentaum cruciatum classified estimation standard assesses the degree of impairment of ligamentaum cruciatum before and after knee joint, determines current first test Cruciate ligament assessment result before and after corresponding second knee joint.
S103, the corresponding current pose data of each moment using current second test and pre-stored knee joint side Ligamena collateralia classified estimation standard, assesses the degree of impairment of knee joint collateral ligaments, determines that current second test is corresponding Collateral Ligament Injury of Knee Joint assessment result.
Through the above steps, according to the current pose number of the corresponding shin bone of each moment of collected current second test According to calculating the corresponding current outer corner of each moment of current second test of shin bone；According to current outer corner and knee joint side Ligamena collateralia classified estimation standard, assesses the degree of impairment of knee joint collateral ligaments, determines that current second test is corresponding Collateral Ligament Injury of Knee Joint assessment result.
The ligamentous injury of knee joint appraisal procedure of the present embodiment, each moment for acquiring current first test are corresponding current The each moment for lifting the current angle value between force value, bull stick 102 and shin bone anchoring device 105 and current second test is corresponding Shin bone current pose data；Utilize the corresponding current lifting force value of each moment of current first test, current angle value With ligamentaum cruciatum classified estimation standard before and after pre-stored knee joint, the degree of impairment of ligamentaum cruciatum before and after knee joint is carried out Assessment determines cruciate ligament assessment result before and after the corresponding knee joint of current first test；Utilize current second test Each moment corresponding current pose data and pre-stored knee joint collateral ligaments classified estimation standard, to knee joint side pair The degree of impairment of ligament is assessed, and determines the corresponding Collateral Ligament Injury of Knee Joint assessment result of current second test.In this way, Family, coach or medical matters can be used through the invention by the test assessment numerical quantization of ligamentous injury of knee joint situation Personnel are directly viewable, and improve the accuracy of ligamentous injury of knee joint assessment result, and ligamentous injury of knee joint of the invention Assessment equipment does not radiate human body, without being tested in specific place, and it is easy to carry, it can voluntarily be surveyed in home environment Examination improves the convenience of ligamentous injury of knee joint assessment test.
About the method in above-described embodiment, wherein each step executes the concrete mode of operation in the related equipment Embodiment in be described in detail, no detailed explanation will be given here.
It is understood that same or similar part can mutually refer in the various embodiments described above, in some embodiments Unspecified content may refer to the same or similar content in other embodiments.
It should be noted that in the description of the present invention, term " first ", " second " etc. are used for description purposes only, without It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present invention, unless otherwise indicated, the meaning of " multiple " Refer at least two.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries It suddenly is that relevant hardware can be instructed to complete by program, described program can store in a kind of computer readable storage medium In, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned Embodiment is changed, modifies, replacement and variant.

Claims (10)

1. a kind of ligamentous injury of knee joint assessment equipment characterized by comprising the fixed dress of shell, bull stick, lifting rod, knee It sets, shin bone anchoring device, angle acquisition device, pulling force acquisition device, attitude data acquisition device and processor；
The first end of the bull stick and the first end of the shin bone anchoring device are connected with the first end of the shell respectively；
The bull stick and the shin bone anchoring device pass through the shell, so that the second end of the bull stick is fixed with the knee Device is connected, and the second end of the shin bone anchoring device resists shin bone；
The first end of the bull stick and the first end of the shin bone anchoring device are flexibly connected；
The lifting rod is connected with the second end of the shell；
The junction of the first end of the bull stick and the first end of the shin bone anchoring device is arranged in the angle acquisition device；
The angle acquisition device, the pulling force acquisition device and the attitude data acquisition device respectively with the processor phase Even；
The angle acquisition device, the pulling force acquisition device, the attitude data acquisition device and the processor are respectively provided with In the interior of shell；
The lifting rod applies lifting power in the current first test for user；
The pulling force acquisition device, for acquiring the corresponding current lifting force value of each moment of current first test, and The current lifting force value is sent to the processor；
The angle acquisition device, for acquiring the corresponding bull stick of each moment and the shin of current first test Current angle value between bone anchoring device, and the current angle value is sent to the processor；
The attitude data acquisition device, the current appearance of the corresponding shin bone of each moment for acquiring current second test State data, and the current pose data are sent to the processor；
The processor, for the corresponding current lifting force value of each moment, described using current first test Ligamentaum cruciatum classified estimation standard before and after current angle value and pre-stored knee joint, to the damage of ligamentaum cruciatum before and after knee joint Condition of the injury condition is assessed, and determines cruciate ligament assessment result before and after the corresponding knee joint of current first test；
The processor is also used to utilize the corresponding current pose data of each moment of current second test and pre- The knee joint collateral ligaments classified estimation standard first stored, assesses the degree of impairment of knee joint collateral ligaments, determines institute State the corresponding Collateral Ligament Injury of Knee Joint assessment result of current second test.
2. ligamentous injury of knee joint assessment equipment according to claim 1, which is characterized in that the processor includes calculating Module, the first evaluation module and the second evaluation module；
The computing module, is used for:
It deposits according to the current lifting force value, the current angle value, the bull stick length of the pre-stored bull stick and in advance Initial angle angle value between the bull stick and the shin bone anchoring device of storage calculates current first test of predeterminated position The corresponding current displacement of each moment；
According to the current lifting force value and the current displacement, each moment for calculating current first test corresponding works as The mean rigidity value of preceding values of stiffness and current first test；
According to the current pose data, each moment for calculating current second test of the shin bone is corresponding current outer Corner；
First evaluation module, is used for:
It is commented according to ligamentaum cruciatum classification before and after the current lifting force value, the current displacement and pre-stored first knee joint Estimate standard, the degree of impairment of ligamentaum cruciatum before and after knee joint is assessed, determines current first test corresponding first Cruciate ligament assessment result before and after knee joint；
It is commented according to ligamentaum cruciatum classification before and after the current values of stiffness, the mean rigidity value and pre-stored second knee joint Estimate standard, the degree of impairment of ligamentaum cruciatum before and after knee joint is assessed, determines current first test corresponding second Cruciate ligament assessment result before and after knee joint；
Second evaluation module, is used for:
Damage according to the current outer corner and the knee joint collateral ligaments classified estimation standard, to knee joint collateral ligaments Situation is assessed, and determines the corresponding Collateral Ligament Injury of Knee Joint assessment result of current second test.
3. ligamentous injury of knee joint assessment equipment according to claim 2, which is characterized in that the processor further includes life At module；
The generation module, is used for:
According to the corresponding current lifting force value of each moment and the current displacement of current first test, institute is generated State the corresponding lifting force-displacement curve of current first test；
According to the corresponding current values of stiffness of each moment of current first test, current first test pair is generated The rigid curve answered；
According to the corresponding current pose data of each moment of current second test and the current outer corner, generate Described current second tests corresponding three-dimensional animation and posture numerical curve.
4. ligamentous injury of knee joint assessment equipment according to claim 2, which is characterized in that the current pose data packet It includes: current pitch angle, current yaw angle and current roll angle；
The computing module is specifically used for:
According to current the lifting force value, the bull stick length and the initial angle angle value of the current angle value, the bull stick, benefit The corresponding current displacement of each moment of current first test of predeterminated position is calculated with displacement calculation formula；
The displacement calculation formula are as follows:
Si=Lsin (θi-θ0)
Wherein, SiIndicate the corresponding current displacement of moment i；L indicates the bull stick length；θiIndicate that moment i is corresponding described Current angle value；θ0Indicate the initial angle angle value；
According to the current lifting force value and the current displacement, current first test is calculated using rigid calculation formula Each moment corresponding current values of stiffness calculates the mean rigidity of current first test using mean rigidity calculation formula Value；
The rigidity calculation formula are as follows:
Wherein, riIndicate the corresponding current values of stiffness of moment i；NiIndicate the corresponding current lifting force value of moment i；K table Show newton value and pound or kilogram conversion coefficient；G indicates acceleration of gravity；
The mean rigidity calculation formula are as follows:
Wherein, ravgIndicate the mean rigidity value of current first test；N indicates adopting in current first test The total moment number of sample；
According to the current pitch angle, the current yaw angle and the current roll angle, shin is calculated using angle calculation formula The corresponding current outer corner of each moment of current second test of bone；
The angle calculation formula are as follows:
Wherein, θx、θy、θzRespectively indicate the corresponding current roll angle of moment i, the current pitch angle, the current yaw Angle；SxAnd CxRespectively indicate θxSine value and cosine value；SyAnd CyRespectively indicate θySine value and cosine value；SzAnd CzRespectively Indicate θzSine value and cosine value；R(θx,θy,θz) indicate the corresponding spin matrix of moment i；Indicate pre-stored Beginning attitude vectors；Indicate the corresponding postrotational current pose vector of moment i；θΔIndicate that moment i is corresponding described current outer Corner.
5. ligamentous injury of knee joint assessment equipment according to claim 3, which is characterized in that further include touch screen；
The touch screen includes display module；
The processor further includes sending module；
The touch screen setting on the housing, is connected with the sending module；
The sending module is also used to send the current lifting force value to the display module and/or monitor terminal, described works as Preceding displacement, the current values of stiffness, the mean rigidity value, the current pose data, the lifting force-displacement curve, institute State rigid curve, the three-dimensional animation and the posture numerical curve；
The display module, for receive and show the current lifting force value, the current displacement, the current values of stiffness, The mean rigidity value, the current pose data, the lifting force-displacement curve, the rigid curve, the three-dimensional animation With the posture numerical curve.
6. ligamentous injury of knee joint assessment equipment according to claim 5, which is characterized in that the touch screen includes zero Instruction sending module；
The zero instruction sending module, for sending displacement zero instruction to the computing module；
The computing module, the displacement for being also used to be calculated according to lifting power and angle value are zeroed, to re-start displacement Survey calculation.
7. ligamentous injury of knee joint assessment equipment according to claim 2, which is characterized in that the processor further includes adjusting Zero judgment module and output module；
The lifting rod is also used to user and executes n times zeroing movement；
The angle acquisition device is also used to acquire each zeroing and acts corresponding zeroing angle value, and by the zeroing angle Value is sent to the computing module；
The pulling force acquisition device, is also used to acquire the zeroing every time and acts corresponding zeroing and lift force value, and by the tune Zero lifting force value is sent to the computing module；
The computing module is also used to calculate phase according to the zeroing angle value, the bull stick length and the initial angle angle value The zeroing acts corresponding zeroing displacement every time when lifting force value with the zeroing；
The zeroing judgment module, for judging that zeroing described in n times acts whether the difference that the corresponding zeroing is displaced is located at Default error range；
The output module, is used for:
If the difference is not at the default error range, output position adjustment information, so that user adjusts equipment position It sets；
If the difference is located at the default error range, zeroing successful information is exported, so that the user starts to test；
Wherein, N is the positive integer more than or equal to 2.
8. ligamentous injury of knee joint assessment equipment according to claim 5, which is characterized in that further include storage device；
The processor further includes contrast module；
The touch screen further includes correlation curve mark sending module；
The storage device, for storing curve graph and the corresponding curve mark of the curve graph；
The correlation curve identifies sending module, for sending the first curve mark that the user chooses to the contrast module It is identified with the second curve；
The contrast module, is used for:
It is identical to judge that the first curve mark is identified whether with second curve；
If first curve identifies, from the storage device acquisition and first song sensible same with second curve post Line mark or the sensible matched aim curve figure of second curve post；
If the first curve mark identifies not identical, the acquisition and described first from the storage device with second curve Sensible matched first curve graph of curve post and with sensible matched second curve graph of second curve post, and generate described The contrast curve chart of one curve graph and second curve graph is as the aim curve figure；
The sending module is also used to send the aim curve figure to the display module and/or the monitor terminal.
9. ligamentous injury of knee joint assessment equipment according to claim 1, which is characterized in that further include blue-tooth device and filling Electric installation；
The charging unit includes battery, charging cable and charging indicator light；
The blue-tooth device and the battery are connected with the processor respectively；
The charging cable and the charging indicator light are connected with the battery respectively；
The processor carries out data interaction by the blue-tooth device and the monitor terminal；
The battery is connected by the charging cable with power supply；
The charging indicator light, for showing the present charge state of the battery.
10. a kind of ligamentous injury of knee joint appraisal procedure is applied to the described in any item ligamentouss injury of knee joint of claim 1-9 Assessment equipment characterized by comprising
It acquires current between corresponding current lifting force value of each moment, bull stick and the shin bone anchoring device of current first test The current pose data of angle value and the corresponding shin bone of each moment of current second test；
Utilize the corresponding current lifting force value of each moment of current first test, the current angle value and preparatory Ligamentaum cruciatum classified estimation standard before and after the knee joint of storage assesses the degree of impairment of ligamentaum cruciatum before and after knee joint, Determine the corresponding knee joint front and back cruciate ligament assessment result of current first test；
The corresponding current pose data of each moment and pre-stored knee joint side using current second test Ligamena collateralia classified estimation standard, assesses the degree of impairment of knee joint collateral ligaments, determines current second test pair The Collateral Ligament Injury of Knee Joint assessment result answered.
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CN112155557A (en) * 2020-09-17 2021-01-01 上海长海医院 Knee joint collateral ligament damage detection device
CN112155552A (en) * 2020-10-10 2021-01-01 杭州电子科技大学 Joint wear condition analysis system based on lower limb joint moment estimation
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CN115470662A (en) * 2022-11-14 2022-12-13 中国中医科学院望京医院(中国中医科学院骨伤科研究所) Evaluation method and device for poking manipulation, electronic device and storage medium
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