CN110432872B - Knee joint ligament injury assessment device - Google Patents

Knee joint ligament injury assessment device Download PDF

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CN110432872B
CN110432872B CN201910882134.3A CN201910882134A CN110432872B CN 110432872 B CN110432872 B CN 110432872B CN 201910882134 A CN201910882134 A CN 201910882134A CN 110432872 B CN110432872 B CN 110432872B
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刘巍
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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
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    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
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    • A61B5/4585—Evaluating the knee
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • 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
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Abstract

The invention relates to knee joint ligament injury assessment equipment and a method, which comprise a shell, a rotating rod, a lifting rod, a knee fixing device, a tibia fixing device, an angle acquisition device, a tension acquisition device, a posture data acquisition device and a processor, wherein the rotating rod is fixedly connected with the shell; the tension collecting device collects a current tension lifting force value corresponding to each moment of a current first test; the angle acquisition device acquires a current angle value corresponding to each moment of a current first test; the attitude data acquisition device acquires current attitude data corresponding to each moment of the current second test; the processor determines the evaluation result of the injury of the anterior and posterior cruciate ligaments of the knee joint by using the tension value on the current premise, the current angle value and the grading evaluation standard of the anterior and posterior cruciate ligaments of the knee joint; and determining the damage evaluation result of the knee joint collateral ligament by using the current posture data and the knee joint collateral ligament grading evaluation standard. Therefore, the accuracy of the evaluation result of the damage of the knee joint ligament and the convenience of the evaluation test of the damage of the knee joint ligament can be improved.

Description

Knee joint ligament injury assessment device
Technical Field
The invention relates to the technical field of rehabilitation treatment, in particular to knee joint ligament injury assessment equipment and method.
Background
The main functions of the knee joint are load bearing, load transmission and couple providing for the movement of the lower leg when the knee joint participates in sports, and the ligament structure of the knee joint plays a great role in keeping the normal function and stability of the knee joint. The ligaments of the knee joint mainly include the anterior and posterior cruciate ligaments and the collateral ligaments. In sports activities, knee joint ligament injury is a very common sport injury, and the degree and specific details of injury need to be evaluated in rehabilitation treatment.
In the prior art, knee joint ligament injury is generally felt by pinching the joint with the hand of a sports rehabilitation coach or medical staff, or X-ray film shooting and nuclear magnetic resonance examination. However, the joint feel is pinched by hands of a sports rehabilitation coach or medical staff, the manipulation mainly depends on clinical and teaching experience, specific details cannot be quantized according to different people, and the reliability of an evaluation result is low; the X-ray film and the nuclear magnetic resonance require specific equipment and places, radiate the human body, are not suitable for frequent operation, are not convenient for self-test in a home environment, and have low convenience.
Therefore, how to accurately and conveniently evaluate the damage condition of the knee joint ligament is a technical problem to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of this, the present invention provides a knee ligament injury assessment apparatus and method, so as to solve the problems in the prior art that the accuracy of the assessment result of the knee ligament injury status assessment is low, and the convenience of the knee ligament injury status assessment test is low.
In order to achieve the purpose, the invention adopts the following technical scheme:
a knee ligament injury assessment device comprising: the device comprises a shell, a rotating rod, a lifting rod, a knee fixing device, a tibia fixing device, an angle acquisition device, a tension acquisition device, a posture data acquisition device and a processor;
the first end of the rotating rod and the first end of the tibia fixing device are respectively connected with the first end of the shell;
the rotating rod and the tibia fixing device penetrate through the shell, so that the second end of the rotating rod is connected with the knee fixing device, and the second end of the tibia fixing device is abutted against the tibia;
the first end of the rotating rod is movably connected with the first end of the tibia fixing device;
the lifting rod is connected with the second end of the shell;
the angle acquisition device is arranged at the joint of the first end of the rotating rod and the first end of the tibia fixing device;
the angle acquisition device, the tension acquisition device and the attitude data acquisition device are respectively connected with the processor;
the angle acquisition device, the tension acquisition device, the attitude data acquisition device and the processor are all arranged in the shell;
the lifting rod is used for applying a lifting force when a user carries out a current first test;
the tension collecting device is used for collecting a current tension lifting force value corresponding to each moment of the current first test and sending the current tension lifting force value to the processor;
the angle acquisition device is used for acquiring a current angle value between the rotating rod and the tibia fixing device corresponding to each moment of the current first test and sending the current angle value to the processor;
the attitude data acquisition device is used for acquiring current attitude data of the tibia corresponding to each moment of the current second test and sending the current attitude data to the processor;
the processor is used for evaluating the damage condition of the anterior and posterior cruciate ligaments of the knee joint by utilizing the current tensile force value corresponding to each moment of the current first test, the current angle value and a pre-stored grading evaluation standard of the anterior and posterior cruciate ligaments of the knee joint, and determining the damage evaluation result of the anterior and posterior cruciate ligaments of the knee joint corresponding to the current first test;
the processor is further configured to evaluate damage conditions of the knee joint collateral ligament by using the current posture data corresponding to each moment of the current second test and a pre-stored knee joint collateral ligament grading evaluation standard, and determine a knee joint collateral ligament damage evaluation result corresponding to the current second test.
Further, in the apparatus for evaluating ligament injury of knee joint, the processor includes a computing module, a first evaluating module and a second evaluating module;
the calculation module is configured to:
calculating the current displacement corresponding to each moment of the current first test at a preset position according to the current tension value, the current angle value, the prestored rotating rod length of the rotating rod and the prestored initial angle value between the rotating rod and the tibia fixing device;
calculating a current rigidity value corresponding to each moment of the current first test and an average rigidity value of the current first test according to the current tension value and the current displacement;
calculating a current external rotation angle corresponding to each moment of the current second test of the tibia according to the current posture data;
the first evaluation module is configured to:
evaluating damage conditions of the anterior and posterior cruciate ligaments of the knee joint according to the current tensile value, the current displacement and a pre-stored grading evaluation standard of the anterior and posterior cruciate ligaments of the first knee joint, and determining a damage evaluation result of the anterior and posterior cruciate ligaments of the first knee joint corresponding to the current first test;
evaluating damage conditions of the anterior and posterior cruciate ligaments of the knee joint according to the current rigidity value, the average rigidity value and a pre-stored grading evaluation standard of the anterior and posterior cruciate ligaments of the second knee joint, and determining a damage evaluation result of the anterior and posterior cruciate ligaments of the second knee joint corresponding to the current first test;
the second evaluation module is configured to:
and evaluating the damage condition of the knee joint collateral ligament according to the current external corner and the knee joint collateral ligament grading evaluation standard, and determining the knee joint collateral ligament damage evaluation result corresponding to the current second test.
Further, in the above apparatus for evaluating ligament injury of knee joint, the processor further includes a generating module;
the generation module is configured to:
generating a pulling force-displacement curve corresponding to the current first test according to the current pulling force value and the current displacement corresponding to each moment of the current first test;
generating a rigidity curve corresponding to the current first test according to the current rigidity value corresponding to each moment of the current first test;
and generating a three-dimensional animation and a posture numerical curve corresponding to the current second test according to the current posture data and the current outer corner corresponding to each moment of the current second test.
Further, in the above apparatus for evaluating ligament injury of knee joint, the current posture data includes: a current pitch angle, a current yaw angle and a current roll angle;
the calculation module is specifically configured to:
calculating the current displacement corresponding to each moment of the current first test at a preset position by using a displacement calculation formula according to the current-premise tension value, the current angle value, the rotating rod length of the rotating rod and the initial angle value;
the displacement calculation formula is as follows:
Si＝L sin(θi-θ0)
wherein S isiRepresenting the current displacement corresponding to time i; l represents the length of the rotating rod; thetaiRepresenting the current angle value corresponding to the time i; theta0Representing the initial angle value;
according to the current-precondition tension value and the current displacement, calculating a current rigidity value corresponding to each moment of the current first test by using a rigidity calculation formula, and calculating an average rigidity value of the current first test by using an average rigidity calculation formula;
the rigidity calculation formula is as follows:
Figure GDA0003258807080000051
wherein r isiRepresenting the current rigidity value corresponding to the time i; n is a radical ofiRepresenting the current tension value corresponding to the moment i; k represents the conversion coefficient of newton values to pounds or kilograms; g represents the gravitational acceleration;
the average rigidity calculation formula is as follows:
Figure GDA0003258807080000052
wherein r isavgRepresenting the average stiffness value of the current first test; n represents the total sampling time number in the current first test;
calculating a current external rotation angle corresponding to each moment of the current second test of the tibia by using an angle calculation formula according to the current pitch angle, the current yaw angle and the current roll angle;
the angle calculation formula is as follows:
Figure GDA0003258807080000053
Figure GDA0003258807080000054
Figure GDA0003258807080000055
wherein, thetax、θy、θzRespectively representing the current roll angle, the current pitch angle and the current yaw angle corresponding to the moment i; sxAnd CxRespectively represent thetaxSine and cosine values of; syAnd CyRespectively represent thetaySine and cosine values of; szAnd CzRespectively represent thetazSine and cosine values of; r (theta)x，θy，θz) Representing a rotation matrix corresponding to the time i;
Figure GDA0003258807080000056
representing a pre-stored starting attitude vector;
Figure GDA0003258807080000057
representing the rotated current attitude vector corresponding to the moment i; thetaΔAnd indicating the current outer corner corresponding to the time i.
Further, the knee joint ligament injury assessment equipment further comprises a touch screen;
the touch screen comprises a display module;
the processor further comprises a sending module;
the touch screen is arranged on the shell and connected with the sending module;
the sending module is further configured to send the current-premise tension value, the current displacement, the current stiffness value, the average stiffness value, the current posture data, the tension-displacement curve, the stiffness curve, the three-dimensional animation, and the posture value curve to the display module and/or the monitoring terminal;
the display module is used for receiving and displaying the current-precondition tension value, the current displacement, the current rigidity value, the average rigidity value, the current posture data, the lifting force-displacement curve, the rigidity curve, the three-dimensional animation and the posture numerical value curve.
Further, in the above knee joint ligament injury assessment apparatus, the touch screen includes a zeroing instruction sending module;
the zeroing instruction sending module is used for sending a displacement zeroing instruction to the computing module;
the calculation module is also used for returning the displacement obtained by calculation according to the lifting force and the angle value to zero so as to carry out measurement calculation of the displacement again.
Further, in the above knee ligament injury assessment apparatus, the processor further includes a zeroing determination module and an output module;
the lifting rod is also used for the user to execute N zero setting actions;
the angle acquisition device is also used for acquiring a zeroing angle value corresponding to each zeroing action and sending the zeroing angle value to the calculation module;
the tension collecting device is also used for collecting a zero setting and pulling force value corresponding to each zero setting action and sending the zero setting and pulling force value to the computing module;
the calculation module is further configured to calculate a zeroing displacement corresponding to each zeroing action when the zeroing pull force value is the same according to the zeroing angle value, the length of the rotating rod, and the initial angle value;
the zeroing judgment module is used for judging whether the difference value of the zeroing displacement corresponding to the zeroing actions for N times is within a preset error range;
the output module is configured to:
if the difference value is not within the preset error range, outputting position adjustment information to enable a user to adjust the position of the equipment;
if the difference value is within the preset error range, outputting zeroing success information to enable the user to start testing;
wherein N is a positive integer greater than or equal to 2.
Further, the above knee joint ligament injury assessment apparatus further comprises a storage device;
the processor further comprises a comparison module;
the touch screen also comprises a comparison curve identification sending module;
the storage device is used for storing the curve graph and the curve identification corresponding to the curve graph;
the comparison curve identifier sending module is used for sending the first curve identifier and the second curve identifier selected by the user to the comparison module;
the comparison module is used for:
judging whether the first curve identification is the same as the second curve identification;
if the first curve identification is the same as the second curve identification, acquiring a target curve graph matched with the first curve identification or the second curve identification from the storage device;
if the first curve identification is different from the second curve identification, acquiring a first curve graph matched with the first curve identification and a second curve graph matched with the second curve identification from the storage device, and generating a comparison curve graph of the first curve graph and the second curve graph as the target curve graph;
the sending module is further configured to send the target graph to the display module and/or the monitoring terminal.
Further, the above knee joint ligament injury assessment apparatus further comprises a bluetooth device and a charging device;
the charging device comprises a battery, a charging wire and a charging indicator light;
the Bluetooth device and the battery are respectively connected with the processor;
the charging wire and the charging indicator light are respectively connected with the battery;
the processor performs data interaction with the monitoring terminal through the Bluetooth device;
the battery is connected with a power supply through the charging wire;
and the charging indicator light is used for displaying the current charging state of the battery.
The invention also provides a knee joint ligament damage assessment method, which is applied to the knee joint ligament damage assessment equipment and comprises the following steps:
acquiring a current precondition tension value corresponding to each moment of a current first test, a current angle value between a rotating rod and a tibia fixing device and current posture data of a tibia corresponding to each moment of a current second test;
evaluating damage conditions of the anterior and posterior cruciate ligaments of the knee joint by using the current tensile force value corresponding to each moment of the current first test, the current angle value and a pre-stored grading evaluation standard of the anterior and posterior cruciate ligaments of the knee joint, and determining an evaluation result of the injury of the anterior and posterior cruciate ligaments of the knee joint corresponding to the current first test;
and evaluating the damage condition of the knee joint collateral ligament by using the current posture data corresponding to each moment of the current second test and a prestored knee joint collateral ligament grading evaluation standard, and determining the knee joint collateral ligament damage evaluation result corresponding to the current second test.
The invention relates to knee joint ligament injury assessment equipment and a method, which comprise a shell, a rotating rod, a lifting rod, a knee fixing device, a tibia fixing device, an angle acquisition device, a tension acquisition device, a posture data acquisition device and a processor, wherein the rotating rod is fixedly connected with the shell; the lifting rod is used for applying a lifting force by a user during the current first test; the tension collecting device is used for collecting a current tension lifting value corresponding to each moment of a current first test and sending the current tension lifting value to the processor; the angle acquisition device is used for acquiring a current angle value between the rotating rod and the tibia fixing device corresponding to each moment of the current first test and sending the current angle value to the processor; the posture data acquisition device is used for acquiring current posture data of the tibia corresponding to each moment of the current second test and sending the current posture data to the processor; the processor is used for evaluating the damage condition of the anterior and posterior cruciate ligaments of the knee joint by utilizing the current tension value and the current angle value corresponding to each moment of the current first test and the pre-stored grading evaluation standard of the anterior and posterior cruciate ligaments of the knee joint, and determining the damage evaluation result of the anterior and posterior cruciate ligaments of the knee joint corresponding to the current first test; and evaluating the damage condition of the knee joint collateral ligament by using the current posture data corresponding to each moment of the current second test and the pre-stored knee joint collateral ligament grading evaluation standard, and determining the knee joint collateral ligament damage evaluation result corresponding to the current second test. Therefore, the device can quantify the numerical value for testing and evaluating the damage condition of the knee joint ligament, so that a user, a coach or medical staff can directly check the damage condition of the knee joint ligament, and the accuracy of the evaluation result of the damage condition of the knee joint ligament is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of an embodiment of the apparatus for evaluating damage to a ligament of a knee joint of the present invention;
FIG. 2 is a circuit block diagram of a first embodiment of the apparatus for evaluating ligament damage in a knee joint of the present invention;
FIG. 3 is a circuit block diagram of a second embodiment of the apparatus for evaluating ligament injury of knee joint of the present invention;
FIG. 4 is a target graph generated by the comparison module of FIG. 3;
fig. 5 is a flowchart of an embodiment of the evaluation method for ligament damage of knee joint of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
FIG. 1 is a schematic structural view of an embodiment of the apparatus for evaluating damage to a ligament of a knee joint of the present invention; fig. 2 is a circuit block diagram of a first embodiment of the apparatus for evaluating ligament damage of knee joint of the present invention. As shown in fig. 1 and 2, B in fig. 1 represents a tibia of the leg to be measured, C represents a femur of the leg to be measured, one end of the tibia B close to the femur C is a proximal tibia end, and one end of the tibia B far from the femur C is a distal tibia end. The knee joint ligament injury evaluation apparatus of this embodiment includes: the device comprises a shell 101, a rotating rod 102, a lifting rod 103, a knee fixing device 104, a tibia fixing device 105, an angle acquisition device 107, a tension acquisition device 106, a posture data acquisition device 108 and a processor 109; wherein, the first end of the rotating rod 102 and the first end of the tibia fixing device 105 are respectively connected with the first end of the shell 101; the rotating rod 102 and the tibial fixation device 105 pass through the housing 101 so that the second end of the rotating rod 102 is connected with the knee fixation device 104 and the second end of the tibial fixation device 105 is pressed against the tibia; a first end of the rotating rod 102 is movably connected with a first end of the tibia fixing device 105; the lifting rod 103 is connected with the second end of the shell 101; the angle acquisition device 107, the tension acquisition device 106 and the attitude data acquisition device 108 are respectively connected with the processor 109; the angle acquisition device 107, the tension acquisition device 106, the posture data acquisition device 108 and the processor 109 are all arranged inside the shell 101, as shown in fig. 1, the angle acquisition device 107 is arranged at the connection position of the first end of the rotating rod 102 and the first end of the tibia fixing device 105; the tension collecting device 106 is arranged below the lifting rod 103; the posture data acquisition device 108 is arranged below the lifting rod 103 and close to the proximal end of the tibia. In addition, the processor 109 includes a calculation module 1091, a first evaluation module 1092 and a second evaluation module 1093, wherein the angle acquisition device 107, the tension acquisition device 106 and the posture data acquisition device 108 are respectively connected to the calculation module 1091, and the calculation module 1091 is respectively connected to the first evaluation module 1092 and the second evaluation module 1093.
In this embodiment, the first test is used for testing the anterior and posterior cruciate ligaments of the knee joint, and is mainly used for testing and evaluating the damage condition of the anterior and posterior cruciate ligaments of the knee joint; the second test is used to test the collateral ligament of the knee joint, mainly to test and evaluate the damage of the collateral ligament of the knee joint.
In the current first test, the user applies a lifting force to the proximal tibia through the lifting rod 103 in a direction parallel to the sagittal plane with the position of the distal tibia, femur and patella fixed, wherein the body is divided into left and right parts, the left and right sections being sagittal planes, and the left and right equal section being called the median sagittal plane. The tension collecting device 106 collects a current pulling force value corresponding to each moment of the current first test, and sends the current pulling force value to the processor 109, where the current pulling force value corresponding to the pulling force may be a positive number or a negative number, and when the current pulling force value is a negative number, the pulling force is a pressure. The angle acquiring device 107 acquires a current angle value between the rotating rod 102 and the tibial fixing device 105 corresponding to each moment of the current first test, and sends the current angle value to the processor 109. After receiving the current-precondition tension value and the current angle value, the calculating module 1091 in the processor 109 calculates, according to the current-precondition tension value and the current angle value corresponding to each time of the current first test, the prestored length of the rotating rod 102 and the prestored initial angle value between the rotating rod 102 and the tibial fixing device 105, the current displacement corresponding to each time of the current first test at the preset position by using the displacement calculating formula. The preset position is a position where the tibia B contacts with the femur C, and the direction of displacement of the preset position is the direction shown as a in fig. 1. The displacement calculation formula is as follows:
Si＝L sin(θi-θ0)
wherein S isiRepresenting the current displacement corresponding to the time i; l represents the length of the rotating rod; thetaiRepresenting the current angle value corresponding to the time i; theta0Indicating the initial angle value.
According to the current displacement obtained by the current tension value and the formula, calculating a current rigidity value corresponding to each moment of the current first test by using a rigidity calculation formula, and calculating an average rigidity value of the current first test by using an average rigidity calculation formula, wherein the rigidity calculation formula is as follows:
Figure GDA0003258807080000111
wherein r isiRepresenting the current rigidity value corresponding to the time i; n is a radical ofiRepresenting the current pulling force value corresponding to the moment i; k represents the conversion coefficient of newton values to pounds or kilograms; g represents the gravitational acceleration;
the average stiffness is calculated as:
Figure GDA0003258807080000112
wherein r isavgRepresenting the average stiffness value of the current first test; n represents the total number of sampling moments in the current first test.
And according to the current prerequisite tension value of the current first test, the current displacement corresponding to the current prerequisite tension value and the prestored grading evaluation standard of the anterior-posterior cruciate ligament of the first knee joint, grading evaluation is carried out on the damage condition of the anterior-posterior cruciate ligament of the knee joint, so that the damage evaluation result of the anterior-posterior cruciate ligament of the first knee joint corresponding to the current first test is determined. The evaluation standard of the first knee joint anterior-posterior cruciate ligament grading is divided into four grades, for example, if the precondition tension value is 30 pounds, the current displacement is the first grade when the current displacement is-1-2 mm, the condition of the knee joint anterior-posterior cruciate ligament is normal; when the current displacement is 3-5 mm, the displacement is of the second level, which indicates that the conditions of anterior and posterior cruciate ligaments of the knee joint are close to normal; when the current displacement is 6-10 mm, the third stage is adopted, and the condition of anterior and posterior cruciate ligaments of the knee joint is abnormal; when the current displacement is more than 10mm, the fourth stage is shown, which indicates that the anterior and posterior cruciate ligaments of the knee joint are seriously abnormal.
And according to the current rigidity value and the average rigidity value of the current first test and a prestored grading evaluation standard of the anterior and posterior cruciate ligaments of the second knee joint, grading evaluation is carried out on the damage condition of the anterior and posterior cruciate ligaments of the knee joint, so that the damage evaluation result of the anterior and posterior cruciate ligaments of the second knee joint corresponding to the current first test is determined. Wherein the evaluation criteria for the anterior-posterior cruciate ligament of the second knee joint is divided into two levels, for example, the first level when the current rigidity value or the average rigidity value is greater than 5 pounds per millimeter represents that the condition of the anterior-posterior cruciate ligament of the knee joint is normal; a current stiffness value or average stiffness value of less than 5 pounds per millimeter is level two, indicating an abnormal condition of the anterior and posterior cruciate ligaments of the knee.
In the current second test, a rotational force is applied to the proximal tibia at the transverse plane with the distal tibia, femur and patella position fixed, i.e., the tibia is rotated laterally by holding the lifting rod 103. The attitude data collecting device 108 collects current attitude data corresponding to each moment of the current second test, and sends the current attitude data to the processor 109, where the current attitude data includes a current pitch angle, a current yaw angle, and a current roll angle. After receiving the current pitch angle, the current yaw angle, and the current roll angle, the calculation module 1091 of the processor 109 calculates, according to the current pitch angle, the current yaw angle, the current roll angle, and the initial attitude vector stored when the device is zeroed, a current outer rotation angle corresponding to each moment of the current second test of the tibia B using an angle calculation formula, where the angle calculation formula is:
Figure GDA0003258807080000121
Figure GDA0003258807080000122
Figure GDA0003258807080000131
wherein, thetax、θy、θzRespectively representing a current roll angle, a current pitch angle and a current yaw angle corresponding to the moment i; sxAnd CxRespectively represent thetaxSine and cosine values of; syAnd CyRespectively represent thetaySine and cosine values of; szAnd CzRespectively represent thetazSine and cosine values of; r (theta)x，θy，θz) Representing a rotation matrix corresponding to the time i;
Figure GDA0003258807080000132
representing a stored starting attitude vector when the device is zeroed;
Figure GDA0003258807080000133
representing the rotated current attitude vector corresponding to the moment i; thetaΔIndicating the current outer corner corresponding to time i.
And according to the current external rotation angle obtained by the calculation and a prestored knee joint collateral ligament grading evaluation standard, grading evaluation is carried out on the damage condition of the knee joint collateral ligament, and a knee joint collateral ligament damage evaluation result corresponding to the current second test is determined. The knee joint collateral ligament grading evaluation standard is divided into two stages, the first stage is that the current external rotation angle is less than 3 degrees, and the knee joint collateral ligament is normal; when the current external rotation angle is more than 3 degrees, the second level is represented as the injury of the knee joint collateral ligament.
In this embodiment, the tension collecting device 106 is preferably a tension sensor; the angle acquisition device 107 is preferably an AS5048 high-precision 14-bit corner sensor or a laser microspur sensor, and the precision of the angle acquisition device reaches 0.0219 degrees; the attitude data acquisition device 108 is preferably a high-precision acceleration sensor or an attitude position sensor. In addition, in the present embodiment, the position of the posture data acquisition device 108 is not limited as long as the posture data of the tibia can be acquired. In this embodiment, the pulling and pressing by the pulling rod 103 may be performed automatically by a motor instead.
The knee joint ligament injury assessment equipment of the embodiment comprises a shell 101, a rotating rod 102, a lifting rod 103, a knee fixing device 104, a tibia fixing device 105, an angle acquisition device 107, a tension acquisition device 106, a posture data acquisition device 108 and a processor 109; a calculating module 1091 in the processor 109, which calculates a current displacement, a current rigidity value and an average rigidity value according to a current tension value at each moment of the current first test acquired by the tension acquiring device 106 and a current angle value between the rotating rod 102 and the tibia fixing device 105 at each moment of the current first test acquired by the angle acquiring device 107, so that the first evaluating module 1092 performs graded evaluation on the anterior and posterior cruciate ligaments of the knee joint according to the graded evaluation standard of the anterior and posterior cruciate ligaments of the first knee joint and the graded evaluation standard of the anterior and posterior cruciate ligaments of the second knee joint, and determines an evaluation result of the injury of the anterior and posterior cruciate ligaments of the first knee joint and an evaluation result of the injury of the anterior and posterior cruciate ligaments of the second knee joint; the calculating module 1091 in the processor 109 further calculates the current external rotation angle according to the current posture data of the tibia B corresponding to each moment of the current second test, which is acquired by the posture data acquiring device 108, so that the second evaluating module 1093 evaluates the damage condition of the knee joint collateral ligament according to the knee joint collateral ligament grading evaluation standard to determine the knee joint collateral ligament damage evaluation result. Like this, can with the test aassessment numerical value quantization for of knee joint ligament damage condition, can make user, coach or medical staff directly look over, improve the accuracy of knee joint ligament damage aassessment result to the knee joint ligament damage aassessment equipment of this embodiment does not have the radiation to the human body, need not to test in specific place, and portable can test by oneself at the environment of house, has improved the convenience of knee joint ligament damage aassessment test.
Fig. 3 is a circuit block diagram of a second embodiment of the knee ligament injury assessment apparatus of the present invention, and as shown in fig. 1 and fig. 3, the knee ligament injury assessment apparatus of the present embodiment further describes the technical solution of the present invention in more detail based on the embodiment described in fig. 2.
As shown in fig. 1 and 3, in the apparatus for evaluating damage to a ligament of a knee joint of the present embodiment, the processor 109 further includes a generating module 1094; wherein, the generating module 1094 is connected to the calculating module 1091. The generating module 1094 generates a pulling force-displacement curve corresponding to the current first test according to the current pulling force value and the current displacement corresponding to each moment of the current first test; the generating module 1094 may also generate a stiffness curve corresponding to the current first test according to the current stiffness value corresponding to each moment of the current first test; the generating module 1094 may further generate a three-dimensional animation and a posture numerical curve corresponding to the current second test according to the current posture data and the current outer corner corresponding to each time of the current second test.
Further, the knee ligament injury assessment apparatus of the present embodiment further includes a touch screen 110; the touch screen 110 includes a display module 1101, and the processor 109 further includes a transmitting module 1095; the touch screen 110 is disposed on the housing 101, and the computing module 1091, the first evaluating module 1092, the second evaluating module 1093, the generating module 1094, and the display module 1101 are respectively connected to the sending module 1095. The sending module 1095 may send the current tension value, the current displacement, the current stiffness value, the average stiffness value, the current posture data, the current outer corner, the lifting force-displacement curve, the stiffness curve, the three-dimensional animation, the posture value curve, and the like to the display module 1101 of the touch screen 110; the display module 1101 may receive and display the current-precondition tension value, the current displacement, the current stiffness value, the average stiffness value, the current posture data, the current outer rotation angle, the lifting force-displacement curve, the stiffness curve, the three-dimensional animation, and the posture value curve sent by the sending module 1095, so that the user can directly view the relevant data.
Further, the touch screen 110 further includes a zero instruction sending module 1102, and the zero instruction sending module 1102 is connected to the computing module 1091. The zeroing instruction sending module 1102 sends a displacement zeroing instruction to the calculating module 1091 of the processor 109, and after the calculating module 1091 receives the displacement zeroing instruction, the displacement obtained by calculation according to the pull force value and the angle value is zeroed, so as to perform measurement calculation of the displacement again.
Further, the processor 109 further includes a zero adjustment determining module 1096 and an output module 1097; the calculating module 1091 and the output module 1097 are respectively connected to the zeroing determining module 1096. Before the test, zero adjustment processing needs to be performed on the evaluation equipment for ligament injury of knee joint in the embodiment, and the specific mode is as follows: the user performs zero setting for N times by the lifting rod 103; the tension collecting device 106 collects the zeroing tension value corresponding to each zeroing action and sends the zeroing tension value to the computing module 1091; the angle acquisition device 107 acquires a zeroing angle value corresponding to each zeroing action and sends the zeroing angle value to the calculation module 1091; the calculating module 1091 calculates the zeroing displacement corresponding to each zeroing action by using the displacement calculation formula described in the above embodiment according to the zeroing pull force value and the zeroing angle value corresponding to each zeroing action, as well as the prestored length of the rotating rod and the initial angle value; the zeroing judgment module 1096 judges whether the difference value between the zeroing displacements corresponding to the N zeroing actions is within a preset error range; if the difference value is not within the preset error range, the output module 1097 outputs position adjustment information to enable the user to adjust the position of the evaluation device for evaluating the ligament injury of the knee joint of the embodiment, and the zeroing process is continued after the position adjustment until the zeroing is successful; if the difference is within the predetermined error range, the output module 1097 outputs a zeroing success message to enable the user to start the test. Where N is a positive integer greater than or equal to 2, N is preferably 3 times in this embodiment. The zeroing determination module 1096 is for determining whether the zeroing displacement corresponding to the N zeroing actions is stable, if so, indicating that the current position of the apparatus is correct, and if not, indicating that the current position of the apparatus has a deviation. The zeroing process in this embodiment is to ensure the accuracy of the collected data.
Further, the knee ligament injury assessment apparatus of this embodiment further includes a storage device 111, the processor 109 further includes a comparison module 1098, and the touch screen 110 further includes a comparison curve identifier sending module 1103. The storage device 111 is used for storing the curve graph and the curve identification corresponding to the curve graph; the user may send the first curve identifier and the second curve identifier selected by the user to the comparison module 1098 through the comparison curve identifier sending module 1103, wherein the graph and the curve identifier may be displayed through the display module 1101 of the touch screen 110 for the user to view and select. The comparing module 1098 may determine whether the first curve identifier is the same as the second curve identifier, and if the first curve identifier is the same as the second curve identifier, obtain a target curve graph matching the first curve identifier or the second curve identifier from the storage device 111; if the first curve identification is not the same as the second curve identification, a first curve graph matching the first curve identification and a second curve graph matching the second curve identification are obtained from the storage device 111, and a comparison curve graph of the first curve graph and the second curve graph is generated as a target curve graph. The sending module 1095 may send the target graph to the display module 1101 of the touch screen 110 for viewing by the user. In addition, the storage device 111 may store not only the graph and the curve identifier corresponding to the graph, but also data acquired by the angle acquisition device 107, the tension acquisition device 106, and the posture data acquisition device 108 and data calculated by the calculation module 1091 may be stored in the storage device 111. The storage device 111 of the present embodiment is preferably an SD card or a TF card. In the embodiment, when the graph is stored, the graph may be labeled, for example, why the graph includes a lifting force-displacement graph, a rigidity graph, a posture value graph, and the like, and the test time, the left leg, the right leg, and the like of the graph may also be labeled, before the comparison module 1098 compares the graphs to generate the target graph, it is required to detect whether the first curve identifier and the second curve identifier are identifiers of the same graph, and if the first curve identifier and the second curve identifier are different, the comparison cannot be performed. FIG. 4 is a target graph generated by the comparison module of FIG. 3, as shown in FIG. 4, the target graph is generated under the condition that the first curve identification and the second curve identification are different, wherein Load is the current pulling force value and is expressed in LB; disp is the current displacement corresponding to the current tension value, and the unit is mm, the data of the current tension value and the current displacement is the curve identification of the curve graph, R represents the right leg, the testing time is behind R, and 2.10mm/15LB and 2.04mm/15LB are respectively the average rigidity values of the two curves.
Further, the knee joint ligament damage assessment apparatus of the present embodiment further includes a bluetooth device 112, wherein the bluetooth device 112 is connected to the monitor terminal 202. The monitoring terminal 202 can implement data interaction with the knee ligament injury assessment apparatus of the embodiment through the bluetooth device 112, the monitoring terminal 202 can implement the same function as the touch screen 110 through the bluetooth device 112, the specific function of the touch screen 110 is described in detail in the foregoing, and therefore the specific function of the monitoring terminal 202 is not described herein. The bluetooth device 112 of the present embodiment is preferably BLE5, and is capable of low power wireless transmission.
Further, the knee joint ligament injury evaluation equipment of this embodiment still includes charging device 113, and charging device 113 includes battery 1131, charging wire 1132 and charge indicator 1133, and charging wire 1132 and charge indicator 1133 link to each other with battery 1131 respectively, and battery 1131 passes through charging wire 1132 and links to each other with power 201. The battery 1131 of this embodiment is preferably a lithium battery, and the charging cord 1132 is preferably a micro USB charging cord. When the charging indicator 1133 is a yellow light, it indicates that the knee ligament injury assessment apparatus of the present embodiment is being charged, and when the charging indicator 1133 is a green light, it indicates that the knee ligament injury assessment apparatus of the present embodiment is fully charged. The charging time of the battery 1131 of the present embodiment is preferably 12 hours.
Further, the knee ligament injury assessment apparatus of the present embodiment further includes a position fixing device 114, the leg fixing device 114 includes a leg fixing strap 1141, a femur fixing strap 1142 and a foot fixing strap 1143, wherein the leg fixing strap 1141 is connected to the housing 101 for attaching the lower leg to the housing 101, and the tibia fixing device 105 can abut against the tibia B; the femoral fixation device 1142 and the foot fixation device 1143 are used to maintain knee flexion, and the femoral fixation device 1142 may be adjusted in height to ensure knee flexion between 20-35 degrees.
Further, in the knee ligament injury assessment apparatus of the present embodiment, the touch screen 110 further includes a maximum detection instruction sending module; the maximum detection instruction sending module sends a maximum detection instruction to the calculating module 1091; when a user pulls and presses the pulling rod 103 with one hand, the calculating module 1091 receives the maximum pulling force value and the minimum pulling force value collected by the pulling force collecting device 106 and the maximum angle value and the minimum angle value collected by the angle collecting device 107, calculates the maximum displacement and the minimum displacement by using a displacement calculation formula, and sends the maximum displacement and the minimum displacement to the display module 1101 through the sending module 1095. The pulling force value is divided into positive and negative values, and the pulling force value when the pulling rod 103 is pressed is negative, that is, the larger the pressing force is, the smaller the pulling force value is. The minimum angle value is the angle value corresponding to the minimum pull force value.
According to the knee ligament damage assessment equipment, the generation module 1094 is used for generating a lifting force-displacement curve, a rigidity curve, a three-dimensional animation and a posture value curve, so that a user can check data more conveniently, the comparison between the two curves can be realized through the comparison module 1098, the change and difference of the data can be checked more clearly by the user, and the convenience of the user in analyzing the conditions of the knee ligament is improved; in this embodiment, the touch screen 110 and the monitoring terminal 202 of the bluetooth device 112 can also be used to check related data and implement the zeroing operation, and the zeroing determination module 1096 and the output module 1097 of the processor 109 enable the user to perform the zeroing operation, so as to ensure the accuracy of data during the testing process. And this embodiment can also quantify the test aassessment numerical value of knee joint ligament damage condition, can make user, coach or medical staff directly look over, has improved the accuracy of knee joint ligament damage aassessment result to the knee joint ligament damage aassessment equipment of this embodiment does not have the radiation to the human body, need not to test in specific place, and portable can test by oneself at the environment of house, has improved the convenience of knee joint ligament damage aassessment test.
The application procedure for the current first test on the knee ligament injury evaluation device of the present invention is as follows:
first, the femoral fixation device 1142 needs to be placed under the femur of the person under test to maintain knee flexion between 20-35 degrees;
secondly, the examination work before the test needs to be carried out on the leg part to be tested of the person to be tested. Such as Lachman Test, PCL Screen, and Quad Active Test.
Thirdly, the knee ligament damage assessment device is correctly fixed on the leg to be tested, wherein the knee fixing device 104 can be propped against the position of the knee, and if the position of the propped knee is uncomfortable for the tested person, the knee fixing device can be propped against the position of the patellar tendon. The user places one hand on the thigh of the person to be tested and the thumb and forefinger hold the knee fixation device 104 in the corresponding position.
Fourthly, pressing down a switch of the knee joint ligament damage assessment equipment to turn on the knee joint ligament damage assessment equipment, and determining whether to adjust the date and time of the knee joint ligament damage assessment equipment according to needs;
fifthly, by touching the corresponding position of the touch screen 110, the zeroing instruction sending module 1102 sends a displacement zeroing instruction, so that the calculating module 1091 realizes displacement zeroing;
and sixthly, performing zero setting treatment on the knee joint ligament injury evaluation equipment. The zero-setting lifting force is applied to the lifting rod 103, then the lifting rod 103 is released, and the display module 1101 of the touch screen 110 displays the zero-setting lifting force value and the zero-setting displacement corresponding to the zero-setting lifting force value. The zero-set pulling force value of the embodiment is preferably-15 pounds, namely the pressing force is 15 pounds, and the knee joint ligament injury assessment device of the embodiment gives a corresponding warning sound of-15 pounds when the pulling force value is-15 pounds. In the embodiment, preferably, the lifting rod 103 is used for applying the zero-setting lifting force for 3 times, whether the zero-setting displacement corresponding to the same zero-setting lifting force for three times is stable is judged, if so, the zero-setting is successful, the test is continued, and if not, the position of the knee joint ligament injury evaluation equipment is adjusted and the zero-setting treatment is performed again until the zero-setting displacement is stable;
seventh, the time selected by the present embodiment for performing the current first test is preferably 4 times, which are the time when the lifting force is 15 pounds, the time when the lifting force is 20 pounds, the time when the lifting force is 30 pounds, and the time when the lifting force is-15 pounds, respectively, when the user applies the lifting force through the lifting rod 103, the user will send out a warning sound corresponding to the time each time the selected corresponding time is reached, that is, when the lifting force value reaches 15 pounds, 20 pounds, 30 pounds, and-15 pounds, different warning sounds will be sent out respectively. The user slowly pulls up the lifting rod 103 until the warning sounds corresponding to 15 pounds, 20 pounds and 30 pounds are emitted, and then presses the lifting rod 103 until the lifting force stops being applied after the warning sound corresponding to-15 pounds is emitted.
Eighth, clicking the screen 110 of the touch screen to obtain a lifting force-displacement curve;
ninthly, clicking the screen of the touch screen 110 again to determine whether to store the data, and selecting an identifier of the data, such as an identifier of a left leg or an identifier of a right leg, wherein the identifier also carries the current test date and time;
tenth, if the curve graphs are compared, the curve identifications needing to be compared are selected, and therefore the target curve graphs for curve comparison are generated and displayed.
In order to be more comprehensive, the application also provides a knee joint ligament damage assessment method corresponding to the knee joint ligament damage assessment device provided by the embodiment of the invention.
Fig. 5 is a flowchart of an embodiment of the evaluation method for ligament damage of knee joint of the present invention. As shown in fig. 5, the specific steps of the evaluation method for ligament injury of knee joint of the present embodiment include:
s101, acquiring a current-condition tension value corresponding to each moment of a current first test, a current angle value between a rotating rod 102 and a tibia fixing device 105 and current posture data of a tibia corresponding to each moment of a current second test;
in this embodiment, during the first test, the current prerequisite tension value corresponding to each moment of the current first test is collected by the tension collecting device 106, and the current angle value between the rotating rod 102 and the tibia fixing device 105 is collected by the angle collecting device 107; when the second test is performed, the current posture data of the tibia corresponding to each moment of the current second test is acquired by the posture data acquisition device 108.
S102, evaluating damage conditions of anterior and posterior cruciate ligaments of the knee joint by using a current tensile force value and a current angle value corresponding to each moment of a current first test and a prestored grading evaluation standard of the anterior and posterior cruciate ligaments of the knee joint, and determining an evaluation result of the injury of the anterior and posterior cruciate ligaments of the knee joint corresponding to the current first test;
through the steps, the current displacement corresponding to each moment of the current first test at the preset position is calculated according to the current tensile force value and the current angle value corresponding to each collected moment of the previous first test, the prestored rotating rod length of the rotating rod 102 and the prestored initial angle value between the rotating rod 102 and the tibia fixing device 105; then according to the current precondition tension value and the current displacement, calculating a current rigidity value corresponding to each moment of the current first test and an average rigidity value of the current first test; evaluating damage conditions of the anterior and posterior cruciate ligaments of the knee joint according to the tension value on the current premise, the current displacement and a pre-stored grading evaluation standard of the anterior and posterior cruciate ligaments of the first knee joint, and determining a damage evaluation result of the anterior and posterior cruciate ligaments of the first knee joint corresponding to the current first test; and evaluating the damage condition of the anterior and posterior cruciate ligaments of the knee joint according to the current rigidity value, the average rigidity value and a pre-stored grading evaluation standard of the anterior and posterior cruciate ligaments of the second knee joint, and determining the damage evaluation result of the anterior and posterior cruciate ligaments of the second knee joint corresponding to the current first test.
S103, evaluating the damage condition of the knee joint collateral ligament by using the current posture data corresponding to each moment of the current second test and the pre-stored knee joint collateral ligament grading evaluation standard, and determining the knee joint collateral ligament damage evaluation result corresponding to the current second test.
Through the steps, the current external rotation angle corresponding to each moment of the current second test of the tibia is calculated according to the collected current posture data of the tibia corresponding to each moment of the current second test; and evaluating the damage condition of the knee joint collateral ligament according to the current external corner and the knee joint collateral ligament grading evaluation standard, and determining the knee joint collateral ligament damage evaluation result corresponding to the current second test.
The knee joint ligament damage assessment method of the embodiment collects a current precondition tension value corresponding to each moment of a current first test, a current angle value between a rotating rod 102 and a tibia fixing device 105, and current posture data of a tibia corresponding to each moment of a current second test; evaluating damage conditions of anterior and posterior cruciate ligaments of the knee joint by using a current tensile force value and a current angle value corresponding to each moment of a current first test and a prestored grading evaluation standard of the anterior and posterior cruciate ligaments of the knee joint, and determining a damage evaluation result of the anterior and posterior cruciate ligaments of the knee joint corresponding to the current first test; and evaluating the damage condition of the knee joint collateral ligament by using the current posture data corresponding to each moment of the current second test and the pre-stored knee joint collateral ligament grading evaluation standard, and determining the knee joint collateral ligament damage evaluation result corresponding to the current second test. Therefore, the device can quantify the numerical value for testing and evaluating the damage condition of the knee joint ligament, so that a user, a coach or medical staff can directly check the damage condition of the knee joint ligament, and the accuracy of the evaluation result of the damage condition of the knee joint ligament is improved.
With regard to the method in the above-described embodiment, the specific manner in which each step performs the operation has been described in detail in the embodiment related to the apparatus, and will not be elaborated upon here.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (7)

1. A knee ligament injury assessment device, comprising: the device comprises a shell, a rotating rod, a lifting rod, a knee fixing device, a tibia fixing device, an angle acquisition device, a tension acquisition device, a posture data acquisition device and a processor;
the first end of the rotating rod and the first end of the tibia fixing device are respectively connected with the first end of the shell;
the rotating rod and the tibia fixing device penetrate through the shell, so that the second end of the rotating rod is connected with the knee fixing device, and the second end of the tibia fixing device is abutted against the tibia;
the first end of the rotating rod is movably connected with the first end of the tibia fixing device;
the lifting rod is connected with the second end of the shell;
the angle acquisition device is arranged at the joint of the first end of the rotating rod and the first end of the tibia fixing device;
the angle acquisition device, the tension acquisition device and the attitude data acquisition device are respectively connected with the processor;
the angle acquisition device, the tension acquisition device, the attitude data acquisition device and the processor are all arranged in the shell;
the lifting rod is used for applying a lifting force when a user carries out a current first test;
the tension collecting device is used for collecting a current tension lifting force value corresponding to each moment of the current first test and sending the current tension lifting force value to the processor;
the angle acquisition device is used for acquiring a current angle value between the rotating rod and the tibia fixing device corresponding to each moment of the current first test and sending the current angle value to the processor;
the attitude data acquisition device is used for acquiring current attitude data of the tibia corresponding to each moment of the current second test and sending the current attitude data to the processor;
the processor is used for evaluating the damage condition of the anterior and posterior cruciate ligaments of the knee joint by utilizing the current tensile force value corresponding to each moment of the current first test, the current angle value and a pre-stored grading evaluation standard of the anterior and posterior cruciate ligaments of the knee joint, and determining the damage evaluation result of the anterior and posterior cruciate ligaments of the knee joint corresponding to the current first test;
the processor is further configured to evaluate damage conditions of the knee joint collateral ligament by using the current posture data corresponding to each moment of the current second test and a pre-stored knee joint collateral ligament grading evaluation standard, and determine a knee joint collateral ligament damage evaluation result corresponding to the current second test;
the processor comprises a calculation module, a first evaluation module and a second evaluation module;
the calculation module is configured to:
calculating the current displacement corresponding to each moment of the current first test at a preset position according to the current tension value, the current angle value, the prestored rotating rod length of the rotating rod and the prestored initial angle value between the rotating rod and the tibia fixing device;
calculating a current rigidity value corresponding to each moment of the current first test and an average rigidity value of the current first test according to the current tension value and the current displacement;
calculating a current external rotation angle corresponding to each moment of the current second test of the tibia according to the current posture data;
the first evaluation module is configured to:
evaluating damage conditions of the anterior and posterior cruciate ligaments of the knee joint according to the current tensile value, the current displacement and a pre-stored grading evaluation standard of the anterior and posterior cruciate ligaments of the first knee joint, and determining a damage evaluation result of the anterior and posterior cruciate ligaments of the first knee joint corresponding to the current first test;
evaluating damage conditions of the anterior and posterior cruciate ligaments of the knee joint according to the current rigidity value, the average rigidity value and a pre-stored grading evaluation standard of the anterior and posterior cruciate ligaments of the second knee joint, and determining a damage evaluation result of the anterior and posterior cruciate ligaments of the second knee joint corresponding to the current first test;
the second evaluation module is configured to:
evaluating the damage condition of the knee joint collateral ligament according to the current external corner and the knee joint collateral ligament grading evaluation standard, and determining the knee joint collateral ligament damage evaluation result corresponding to the current second test;
the processor also comprises a zero setting judgment module and an output module;
the lifting rod is also used for the user to execute N zero setting actions;
the angle acquisition device is also used for acquiring a zeroing angle value corresponding to each zeroing action and sending the zeroing angle value to the calculation module;
the tension collecting device is also used for collecting a zero setting and pulling force value corresponding to each zero setting action and sending the zero setting and pulling force value to the computing module;
the calculation module is further configured to calculate a zeroing displacement corresponding to each zeroing action when the zeroing pull force value is the same according to the zeroing angle value, the length of the rotating rod, and the initial angle value;
the zeroing judgment module is used for judging whether the difference value of the zeroing displacement corresponding to the zeroing actions for N times is within a preset error range;
the output module is configured to:
if the difference value is not within the preset error range, outputting position adjustment information to enable a user to adjust the position of the equipment;
if the difference value is within the preset error range, outputting zeroing success information to enable the user to start testing;
wherein N is a positive integer greater than or equal to 2.
2. The knee ligament injury assessment device of claim 1, wherein said processor further comprises a generation module;
the generation module is configured to:
generating a pulling force-displacement curve corresponding to the current first test according to the current pulling force value and the current displacement corresponding to each moment of the current first test;
generating a rigidity curve corresponding to the current first test according to the current rigidity value corresponding to each moment of the current first test;
and generating a three-dimensional animation and a posture numerical curve corresponding to the current second test according to the current posture data and the current outer corner corresponding to each moment of the current second test.
3. The knee ligament injury assessment device of claim 1, wherein the current posture data comprises: a current pitch angle, a current yaw angle and a current roll angle;
the calculation module is specifically configured to:
calculating the current displacement corresponding to each moment of the current first test at a preset position by using a displacement calculation formula according to the current-premise tension value, the current angle value, the rotating rod length of the rotating rod and the initial angle value;
the displacement calculation formula is as follows:
Si＝L sin(θi-θ0)
wherein S isiRepresenting the current displacement corresponding to time i; l represents the length of the rotating rod; thetaiRepresenting the current angle value corresponding to the time i; theta0Representing the initial angle value;
according to the current-precondition tension value and the current displacement, calculating a current rigidity value corresponding to each moment of the current first test by using a rigidity calculation formula, and calculating an average rigidity value of the current first test by using an average rigidity calculation formula;
the rigidity calculation formula is as follows:
Figure FDA0003383335860000041
wherein r isiRepresenting the current rigidity value corresponding to the time i; n is a radical ofiRepresenting the current tension value corresponding to the moment i; k represents the conversion coefficient of newton values to pounds or kilograms; g represents the gravitational acceleration;
the average rigidity calculation formula is as follows:
Figure FDA0003383335860000042
wherein r isavgRepresenting the average stiffness value of the current first test; n represents the total sampling time number in the current first test;
calculating a current external rotation angle corresponding to each moment of the current second test of the tibia by using an angle calculation formula according to the current pitch angle, the current yaw angle and the current roll angle;
the angle calculation formula is as follows:
Figure FDA0003383335860000051
Figure FDA0003383335860000052
Figure FDA0003383335860000053
wherein, thetax、θy、θzRespectively representing the current roll angle, the current pitch angle and the current yaw angle corresponding to the moment i; sxAnd CxRespectively represent thetaxSine and cosine values of; syAnd CyRespectively represent thetaySine and cosine values of; szAnd CzRespectively represent thetazSine and cosine values of; r (theta)x，θy，θz) Representing a rotation matrix corresponding to the time i;
Figure FDA0003383335860000054
representing a pre-stored starting attitude vector;
Figure FDA0003383335860000055
representing the rotated current attitude vector corresponding to the moment i; thetaΔAnd indicating the current outer corner corresponding to the time i.
4. The knee ligament injury assessment device of claim 2, further comprising a touch screen;
the touch screen comprises a display module;
the processor further comprises a sending module;
the touch screen is arranged on the shell and connected with the sending module;
the sending module is further configured to send the current-premise tension value, the current displacement, the current stiffness value, the average stiffness value, the current posture data, the tension-displacement curve, the stiffness curve, the three-dimensional animation, and the posture value curve to the display module and/or the monitoring terminal;
the display module is used for receiving and displaying the current-precondition tension value, the current displacement, the current rigidity value, the average rigidity value, the current posture data, the lifting force-displacement curve, the rigidity curve, the three-dimensional animation and the posture numerical value curve.
5. The knee ligament injury assessment device of claim 4, wherein said touch screen comprises a zeroing instruction sending module;
the zeroing instruction sending module is used for sending a displacement zeroing instruction to the computing module;
the calculation module is also used for returning the displacement obtained by calculation according to the lifting force and the angle value to zero so as to carry out measurement calculation of the displacement again.
6. The knee ligament injury assessment device of claim 4, further comprising a storage device;
the processor further comprises a comparison module;
the touch screen also comprises a comparison curve identification sending module;
the storage device is used for storing the curve graph and the curve identification corresponding to the curve graph;
the comparison curve identifier sending module is used for sending the first curve identifier and the second curve identifier selected by the user to the comparison module;
the comparison module is used for:
judging whether the first curve identification is the same as the second curve identification;
if the first curve identification is the same as the second curve identification, acquiring a target curve graph matched with the first curve identification or the second curve identification from the storage device;
if the first curve identification is different from the second curve identification, acquiring a first curve graph matched with the first curve identification and a second curve graph matched with the second curve identification from the storage device, and generating a comparison curve graph of the first curve graph and the second curve graph as the target curve graph;
the sending module is further configured to send the target graph to the display module and/or the monitoring terminal.
7. The knee ligament injury assessment device of claim 1, further comprising a bluetooth device and a charging device;
the charging device comprises a battery, a charging wire and a charging indicator light;
the Bluetooth device and the battery are respectively connected with the processor;
the charging wire and the charging indicator light are respectively connected with the battery;
the processor performs data interaction with the monitoring terminal through the Bluetooth device;
the battery is connected with a power supply through the charging wire;
and the charging indicator light is used for displaying the current charging state of the battery.
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