CN111359158A - Cervical vertebra rehabilitation training system - Google Patents
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/025—Exercising apparatus specially adapted for particular parts of the body for the head or the neck
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
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Abstract
The invention discloses a cervical vertebra rehabilitation training system, which relates to the field of rehabilitation training and comprises a data acquisition module, an information storage module, a data processing module and a display module; the cervical vertebra mobility of the rehabilitee is measured by a virtual reality technology and an optical motion capture technology, so that the measurement efficiency is improved, the measurement accuracy is improved, the manual error is avoided, the work of a doctor is reduced, the proprioception can be evaluated by the rehabilitee in VR, no additional equipment or manual operation is required, and an accurate result is obtained; during training, the training posture of a rehabilitee is monitored in real time and reminded, so that the standard of exercise training is improved; the targeted training is ensured and the training safety is improved through the motion scheme generated by the cervical vertebra activity of the rehabilitee; meanwhile, the mode of the game is combined for guiding, the attention of the rehabilitee is transferred, the pain of the rehabilitee in the training process is reduced, the training interest is improved, and the compliance of the rehabilitee is improved.
Description
Technical Field
The invention relates to the field of rehabilitation training, in particular to a cervical vertebra rehabilitation training system.
Background
Various cervical vertebra diseases are an important problem which troubles people's life all the time, and especially under the condition that mobile phones and computers are increasingly popularized, people suffering from vertebra diseases are more and more. The cervical spondylosis rehabilitative patients need to go through the following stages when treating: (1) and (3) evaluating the disease condition: traditional cervical spondylosis condition assessment requires a professional therapist to measure the active joint activity and the passive joint activity of a rehabilitee, and verbally inquire about pain conditions in the assessment process; (2) formulating a rehabilitation scheme: according to the evaluation result, the doctor makes a subsequent treatment scheme for the rehabilitee, including medicine, manipulation, physical therapy and exercise; (3) rehabilitation of sports: the exercise rehabilitation training of cervical spondylosis is an important method for effectively relieving pain, repairing muscle injury, increasing joint mobility and enhancing neck stability.
The traditional neck exercise training needs the guidance of a professional therapist, the therapist explains the exercise mode and the attention to a rehabilitee to guide the rehabilitee to carry out the exercise of the neck and the shoulder-neck joint, and the rehabilitee needs the therapist to observe and guide beside the exercise. The conventional treatment methods have several problems: (1) traditional cervical spondylosis assessment: the activity degree evaluation of cervical spondylosis requires a therapist to measure the activity angle at a plurality of fixed joint points through an angle gauge, the time consumption is long, artificial measurement errors are easy to occur, the waiting time of a rehabilitee is long, and the experience is poor; (2) traditional cervical spondylopathy training: one exercise training requires one-to-one guidance by one therapist, which is labor intensive. The self-help exercise of the rehabilitative patients is monotonous and boring, and the compliance is poor. The curative effect of the active movement of the rehabilitee is not as good as the visual guidance movement of the virtual reality technology, the training intensity and the training effect are not easy to evaluate, and the rehabilitation situation judgment of medical workers is not facilitated.
Various types of cervical vertebra rehabilitation training devices are available in the market at present, for example, the invention patent with the patent number of CN2015106587451 provides a human body cervical vertebra and lumbar disc herniation syndrome rehabilitation device, which comprises a bed plate and guard plates, wherein the guard plates are arranged at two sides of a lumbar vertebra jacking device, and the distance between the two guard plates can be adjusted through a guard plate adjusting device, and the device is characterized in that: the cervical vertebra pressing device and the lumbar vertebra pressing device are similar in structure, and the distance between the cervical vertebra pressing device and the lumbar vertebra pressing device can be adjusted through a bed plate telescopic joint and a bed frame telescopic joint; the lumbar vertebra jacking device comprises an air bag, a spring type elastic jacking device and a non-elastic jacking device driven by a lead screw and a gear. The self-adjusting device of the rehabilitee and the self-weight of the human body are utilized, the jacking effect is good, and the rehabilitation time is short. For another example, patent No. CN108257654A discloses a method for implementing cervical vertebra rehabilitation training by virtual reality technology, which is characterized in that a "" character is constructed by virtual reality technology to guide a rehabilitee to write through head movement, thereby implementing exercise rehabilitation training. The existing cervical vertebra rehabilitation device adopts a physical traction method, so that the device is large in size, complex to use and high in cost. Or an active exercise rehabilitation method is adopted, the cervical vertebra state evaluation is lacked, differential training cannot be performed according to different disease conditions, and a patient who is boring in the training process is not suitable for long-term insisting training.
Disclosure of Invention
The invention aims to solve the problems and designs a cervical vertebra rehabilitation training system.
The invention realizes the purpose through the following technical scheme:
cervical vertebra rehabilitation training system includes:
the data acquisition module is used for acquiring the motion posture data of a rehabilitee in rehabilitation training;
the information storage module is used for storing basic information of a rehabilitee, cervical vertebra conditions of the rehabilitee and rehabilitation training conditions;
the data processing module is used for processing the acquired data, constructing a virtual rehabilitation scene and evaluating the activity degree, and a signal end of the data acquisition module and a signal end of the information storage module are both connected with a signal end of the data processing module;
the display module is used for displaying the data processed by the data processing module and the constructed virtual rehabilitation scene to a rehabilitee and guiding the rehabilitee to carry out related rehabilitation operation, and a signal end of the data processing module is connected with a signal end of the display module;
and the signal end of the voice module is connected with the signal end of the data processing module.
The invention has the beneficial effects that:
1. and (3) assessing the cervical vertebra condition of the rehabilitee: the cervical vertebra mobility of the rehabilitee is measured by a virtual reality technology and an optical motion capture technology, so that the measurement efficiency is improved, the measurement accuracy is improved, the manual error is avoided, the work of a doctor is relieved, the proprioception evaluation can be carried out by the rehabilitee in VR, no additional equipment or manual operation is required, and an accurate result is obtained;
2. targeted training: in the training process, the training posture of a rehabilitee is monitored in real time and reminded, so that the standard of the exercise training is improved; the targeted training is ensured and the safety of the training is improved through the motion scheme generated by the cervical vertebra activity of the rehabilitee; meanwhile, the game is combined for guidance, the attention of the rehabilitee is transferred, the pain of the rehabilitee in the training process is reduced, the training interest is improved, and the compliance of the rehabilitee is improved; the training posture stabilizing system is controlled in a visual tracking mode, and the motion controlled by the subjective consciousness of a rehabilitee is used for controlling the dynamic system for training the neck large muscle group, so that the training effect is greatly improved; the complete exercise training information of the rehabilitee is continuously collected, a detailed and accurate data basis is provided for the therapist, and the accuracy of the therapist in judging the rehabilitation recovery condition is improved; the treatment scheme is effectively optimized; the system guides evaluation and rehabilitation training, so that the work input of a therapist can be reduced, the number of visits of the therapist is increased, the visit pressure of a medical institution is reduced, and the labor cost is saved.
Drawings
FIG. 1 is a schematic view of a cervical rehabilitation training system of the present invention;
FIG. 2 is a schematic diagram of a training use of the cervical rehabilitation training system of the present invention;
FIG. 3 is a schematic diagram of 25 trunk joints of a human body in the cervical rehabilitation training system of the present invention;
FIG. 4 is a basic cross-sectional view of the human body of the cervical spine rehabilitation training system of the present invention;
fig. 5 is a virtual scene 1 seen by a rehabilitee when the cervical spine rehabilitation training system of the present invention is trained;
FIG. 6 is a virtual scene 2 seen by a rehabilitee during training of the cervical spine rehabilitation training system of the present invention;
fig. 7 is a virtual scene 3 seen by a rehabilitee when the cervical spine rehabilitation training system of the present invention is trained;
fig. 8 is a training data statistical chart of the cervical rehabilitation training system of the present invention.
Corresponding references in the drawings are:
0-fundus of the spine, 1-midspine, 2-neck, 3-head, 4-left shoulder, 5-left elbow, 6-left wrist, 7-left hand, 8-right shoulder, 9-right elbow, 10-right wrist, 11-right hand, 12-left hip, 13-left knee, 14-left ankle, 15-left foot, 16-right hip, 17-right knee, 18-right ankle, 19-right foot, 20-shoulder spine, 21-left apex, 22-left thumb, 23-right apex, 24-right thumb.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "inside", "outside", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the products of the present invention are conventionally placed in use, or the orientations or positional relationships that are conventionally understood by those skilled in the art, and are used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is also to be noted that, unless otherwise explicitly stated or limited, the terms "disposed" and "connected" are to be interpreted broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following detailed description of embodiments of the invention refers to the accompanying drawings.
As shown in fig. 1, the cervical vertebrae rehabilitation training system includes:
the data acquisition module is used for acquiring the motion posture data of a rehabilitee in rehabilitation training;
the information storage module is used for storing basic information of a rehabilitee, cervical vertebra conditions of the rehabilitee and rehabilitation training conditions;
the data processing module is used for processing the acquired data, constructing a virtual rehabilitation scene and evaluating the activity degree, and a signal end of the data acquisition module and a signal end of the information storage module are both connected with a signal end of the data processing module;
the display module is used for displaying the data processed by the data processing module and the constructed virtual rehabilitation scene to a rehabilitee and guiding the rehabilitee to carry out related rehabilitation operation, and a signal end of the data processing module is connected with a signal end of the display module;
and the signal end of the voice module is connected with the signal end of the data processing module.
The data acquisition module comprises a first acquisition module used for acquiring the head movement data of the rehabilitee and a second acquisition module used for acquiring the trunk movement data of the rehabilitee, and the signal ends of the first acquisition module and the second acquisition module are connected with the signal end of the data processing module.
The first acquisition module is a virtual reality device provided with a sensor and used for acquiring rotation angle data of one direction or a plurality of directions of the head of a rehabilitee.
The sensor is a gyroscope sensor.
The second acquisition module is an optical motion capture device.
The data processing module comprises a PC end and a front end processor, and the data acquisition module and the display module are respectively connected with the PC end through the front end processor.
The data processing module comprises:
the evaluation module is used for evaluating the cervical vertebra condition of the rehabilitee according to the acquired data;
and the virtual scene construction module is used for constructing a corresponding rehabilitation training virtual scene and a virtual human body model of the rehabilitee according to the cervical vertebra condition of the rehabilitee.
The working principle of the cervical vertebra rehabilitation training system is as follows:
collecting the conditions of the rehabilitees: firstly, inputting basic information of a rehabilitee into a rehabilitation training system and storing the basic information in an information storage module; secondly, the recovered person wears the virtual reality equipment, and stand or just sit in front of the optical motion capture equipment, as shown in fig. 2, start the rehabilitation training system, the recovered person carries out relevant operation according to the content that the display module shows, head motion data and trunk motion data in the recovered person's operation process are gathered respectively to virtual reality equipment and optical motion capture equipment, the data transmission who gathers reaches evaluation module, evaluation module pairs the head motion data and trunk motion data who gathers, rectify, filter, conversion, smooth processing, obtain this recovered person's cervical vertebra condition, and store its cervical vertebra condition in the information storage module, so that the use of rehabilitation training.
The method for judging the body posture comprises the following steps that a rehabilitee needs to be in a correct body posture before evaluation, the influence on the subsequent measurement evaluation result and rehabilitation training effect is avoided, head posture data and trunk posture data are collected through virtual reality equipment and optical motion capture equipment, whether the rehabilitee is in the correct body posture is judged, and the method for judging the body posture comprises the following steps:
a. the optical motion capture device consists of an infrared projector and a depth camera, and obtains the depth image of an object by the TOF principle. And then, recognizing information such as the position and orientation of each joint point of the human body from the depth image according to a machine learning method, wherein the joint points are shown in fig. 3. Passing through the middle point of the vertebra of the rehabilitee, a plane parallel to the ground plane is taken as a cross section; a plane which is perpendicular to the ground plane and passes through the infrared depth camera is a sagittal plane; the plane perpendicular to the two planes is the "coronal plane" as shown in FIG. 4.
b. The body posture is judged mainly by 4, namely, ① judging whether the distance between a joint point and a basic section meets a set condition, namely, whether the distance between the joint point and the basic section of the body is within a specified range, namely, the posture is normal within the specified range if the distance between a head joint point and a coronal plane is less than or equal to 5cm, or otherwise, the posture is abnormal, ② judging whether the included angle between a bone and the basic section meets the set condition, namely, whether the included angle between the bone between two adjacent joint points and the body section is within the specified range, namely, if the included angle between the femur and the transverse section between the hip joint and the knee joint is greater than 60 degrees, the posture is normal, or else, the posture is abnormal, ③ judging whether the included angle between the three joint points adjacent to each other is within the specified range, namely, if the included angle between the right hand, the right elbow and the right shoulder is greater than or equal to 50 degrees, the posture is normal, otherwise, judging whether the distance between the two joint points in one direction meets the set condition, namely, if the distance between the front and the shoulder is less than 4, otherwise, or not.
After the body posture is adjusted correctly, a cervical vertebra activity degree active evaluation mode is carried out: the animation arrows displayed by the display module guide a rehabilitee to rotate in six directions of left bending, right bending, left rotation, right rotation, forward bending and backward stretching of the head, each direction rotates for 2 times, the data acquisition module acquires head rotation data and body posture data, and the data processing module performs correction processing to measure the mobility of the rehabilitee in 6 directions of cervical vertebrae. The rehabilitee can score the level of pain felt during the assessment of each direction of motion separately, as shown in figure 6.
The serious rehabilitation patient with limited cervical vertebra activity can adopt passive assessment of the cervical vertebra activity, and the method comprises the following steps: the therapist holds the head of the rehabilitee with the two hands to control the head of the rehabilitee to rotate in six directions of left bending, right bending, left rotation, right rotation, forward bending and backward extension, the data acquisition module can use the head of the rehabilitee to keep still for 2 seconds after rotating as an acquisition point, automatically acquires data and judges the movement direction and the movement degree, the therapist is prompted by voice after the acquisition is completed, and meanwhile, the rehabilitee is required to score the pain degree sensed in the evaluation process of each movement direction.
And (3) targeted rehabilitation training: the virtual reality equipment is worn by a rehabilitee, and the rehabilitee stands or sits in front of the optical motion capture equipment, the therapist extracts all conditions of the rehabilitee from the information storage module, including basic information and cervical vertebra condition information of the rehabilitee, a targeted rehabilitation training scheme is formulated according to the condition of the rehabilitee, a corresponding virtual scene is constructed according to the rehabilitation training scheme through the virtual scene construction module, the virtual scene is displayed for the rehabilitee through the display module, the rehabilitee performs corresponding rehabilitation training operation according to the virtual scene displayed by the display module, and the training operation is generated in a game mode.
As shown in figure 5, in the rehabilitation training process, a rehabilitee performs training in a mode of controlling a flying bird flying game through head movement, a system generates a game movement training scheme according to an extracted cervical vertebra condition of the rehabilitee and a specific algorithm, a flight trajectory algorithm is ①, the cervical vertebra bends forwards and stretches backwards to rotate left and right, a guide appears in a virtual reality scene, the rehabilitee controls a virtual flying bird to impact the guide through the action of stretching the cervical vertebra forwards and stretches backwards to rotate left and right, the guide appears continuously and smoothly, the appearing range is within the range of active activity of the rehabilitee, the position of the maximum activity angle of the rehabilitee is continuously appeared with a certain probability, the rehabilitee is guided to stay at the position for a period of time, part of special guide appears at a position 5 degrees higher than the activity of the rehabilitee, if the rehabilitee can impact the guide, the appearing range of the guide is increased in the next group of movement, ②, the lateral bending movement of the cervical vertebra is decelerated, a square frame-shaped lateral guide appears in the virtual reality scene, the user controls the lateral bending of the lateral bird to pass through the virtual bird flying guide, the virtual expansion of the virtual reality scene, the virtual expansion of the lateral bending of the virtual reality scene, the virtual bird, the lateral bending of the virtual bird, the virtual bird flying scene is gradually reduced, the virtual expansion of the virtual reality scene, the virtual bird is controlled by the virtual guide, the lateral bending of the lateral.
As shown in fig. 7, human walls and coins of various upper limb movements (including left-right flat lifting, crossed hands, lifted hands, W chest expanding, left high, right low, left low, right high, left contralateral high, right contralateral high, left high) appear in the virtual scene, and the human walls are used for guiding the rehabilitee to do the motion on the human walls and keeping the motion for a period of time to completely crack the walls for scoring; the gold coin is used for guiding the rehabilitee to rotate the shoulder to attract the gold coin for scoring.
In the process of completing the rehabilitation training of each rehabilitee, the virtual reality device and the optical motion capture device can collect the training data of the rehabilitee, the collected data are analyzed and processed through the data processing module, the rehabilitation training structure and the rehabilitation trend of the rehabilitee are obtained, and as shown in fig. 8, the rehabilitation training device helps a therapist to determine the cervical vertebra rehabilitation state of the rehabilitee.
The technical solution of the present invention is not limited to the limitations of the above specific embodiments, and all technical modifications made according to the technical solution of the present invention fall within the protection scope of the present invention.
Claims (7)
1. Cervical vertebra rehabilitation training system, its characterized in that includes:
the data acquisition module is used for acquiring the motion posture data of a rehabilitee in rehabilitation training;
the information storage module is used for storing basic information of a rehabilitee, cervical vertebra conditions of the rehabilitee and rehabilitation training conditions;
the data processing module is used for processing the acquired data, constructing a virtual rehabilitation scene and evaluating the activity degree, and a signal end of the data acquisition module and a signal end of the information storage module are both connected with a signal end of the data processing module;
the display module is used for displaying the data processed by the data processing module and the virtual rehabilitation scene to a rehabilitee and guiding the rehabilitee to carry out related rehabilitation operation, and a signal end of the data processing module is connected with a signal end of the display module;
and the signal end of the voice module is connected with the signal end of the data processing module.
2. The cervical rehabilitation training system of claim 1, wherein the data acquisition module comprises a first acquisition module for acquiring head movement data of the rehabilitee and a second acquisition module for acquiring trunk movement data of the rehabilitee, and signal ends of the first acquisition module and the second acquisition module are both connected with a signal end of the data processing module.
3. The cervical rehabilitation training system according to claim 2, wherein the first collecting module is a virtual reality device provided with a sensor for collecting rotation angle data of one direction or a plurality of directions of the head of the rehabilitee.
4. The cervical rehabilitation training system of claim 3, wherein the sensor is a gyroscope sensor.
5. The cervical rehabilitation training system of any of claims 2-4, wherein the second acquisition module is an optical motion capture device.
6. The cervical rehabilitation training system according to any one of claims 1-4, wherein the data processing module includes a PC terminal and a front-end processor, and the data acquisition module and the display module are respectively connected to the PC terminal through the front-end processor.
7. The cervical rehabilitation training system of claim 1, wherein the data processing module comprises:
the evaluation module is used for evaluating the cervical vertebra condition of the rehabilitee according to the acquired data;
and the virtual scene construction module is used for constructing a corresponding rehabilitation training virtual scene and a virtual human body model of the rehabilitee according to the cervical vertebra condition of the rehabilitee.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111991002A (en) * | 2020-08-24 | 2020-11-27 | 四川大学华西医院 | Method, device and equipment for measuring neck mobility |
| CN112034982A (en) * | 2020-08-24 | 2020-12-04 | 四川大学华西医院 | Cervical vertebra rehabilitation equipment based on virtual reality technology |
| CN112354153A (en) * | 2020-10-20 | 2021-02-12 | 苏波 | Digital respiration training system and method |
| CN112642133A (en) * | 2020-11-24 | 2021-04-13 | 杭州易脑复苏科技有限公司 | Rehabilitation training system based on virtual reality |
| CN112843609A (en) * | 2021-02-26 | 2021-05-28 | 上海市同济医院 | Be used for recovered auxiliary device that corrects of spastic torticollis |
| CN113520371A (en) * | 2021-07-27 | 2021-10-22 | 中科全联科技(北京)有限公司 | Method and device for monitoring cervical curvature |
| CN114743637A (en) * | 2022-01-17 | 2022-07-12 | 北京泽桥医疗科技股份有限公司 | Augmented reality-based rehabilitation guidance method, electronic device, display, and medium |
| CN116098613A (en) * | 2023-02-21 | 2023-05-12 | 北京家康众智科技有限公司 | Rehabilitation system for cervical vertebra measurement and remote diagnosis |
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| CN112843609A (en) * | 2021-02-26 | 2021-05-28 | 上海市同济医院 | Be used for recovered auxiliary device that corrects of spastic torticollis |
| CN113520371A (en) * | 2021-07-27 | 2021-10-22 | 中科全联科技(北京)有限公司 | Method and device for monitoring cervical curvature |
| CN113520371B (en) * | 2021-07-27 | 2024-04-12 | 中科全联科技(北京)有限公司 | Method and device for monitoring cervical vertebra curvature |
| CN114743637A (en) * | 2022-01-17 | 2022-07-12 | 北京泽桥医疗科技股份有限公司 | Augmented reality-based rehabilitation guidance method, electronic device, display, and medium |
| CN116098613A (en) * | 2023-02-21 | 2023-05-12 | 北京家康众智科技有限公司 | Rehabilitation system for cervical vertebra measurement and remote diagnosis |
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