CN112617811A - Joint biomechanics measurement and evaluation device and method - Google Patents
Joint biomechanics measurement and evaluation device and method Download PDFInfo
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
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- A61B5/224—Measuring muscular strength
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- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
- A61B5/4585—Evaluating the knee
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Abstract
The invention discloses a device and a method for measuring and evaluating joint biomechanics, wherein the device comprises the following steps: the first angle sensor is arranged on the movable part of the joint to be detected and is configured to collect the angle information of the movable part of the joint to be detected in real time; the second angle sensor is arranged on the fixed part of the joint to be measured and is configured to collect the angle information of the fixed part of the joint to be measured in real time; the pressure sensor is configured to acquire force information applied by an operator in real time when the operator pushes the movable part of the joint to be detected to move; the data acquisition unit comprises a main control module and a communication module, wherein the main control module is connected with the first angle sensor, the second angle sensor and the pressure sensor, and is configured to convert angle information transmitted by the first angle sensor and the second angle sensor into joint movement angle information corresponding to force information transmitted by the pressure sensor; the communication module is connected with the main control module and is configured to transmit the joint movement angle information and the force information which are obtained by the processing of the main control module to the upper computer.
Description
Technical Field
The invention relates to a measurement and evaluation device, in particular to a joint biomechanics measurement and evaluation device and a method thereof.
Background
At present, when a doctor detects the bending angle of limbs (namely the moving angle of joints) of a patient, the doctor mainly uses traditional measuring tools, such as a ruler and a protractor, which are traditional measuring tools; the detection of the muscle strength (namely the counterforce of the muscle during the joint movement) of the patient can only be measured by the personal feeling of the doctor, namely, the doctor applies force according to the personal experience to move the joint to a corresponding angle, so that the dependence on the personal experience of the doctor is larger, the complexity and the workload of the doctor in the examination work are greatly increased, the exact condition of the patient cannot be accurately grasped, and the work efficiency of the doctor is reduced.
Disclosure of Invention
In view of the above problems, the present invention provides a convenient and fast device and method for measuring and evaluating joint biomechanics.
In order to achieve the purpose, the invention adopts the following technical scheme: a joint biomechanical measurement assessment device comprising: the first angle sensor is arranged on the movable part of the joint to be detected and is configured to collect the angle information of the movable part of the joint to be detected in real time;
the second angle sensor is arranged on the fixed part of the joint to be measured and is configured to collect the angle information of the fixed part of the joint to be measured in real time;
the pressure sensor is configured to acquire force information applied by an operator in real time when the operator pushes the movable part of the joint to be detected to move;
the data acquisition unit comprises a main control module and a communication module, wherein the main control module is connected with the first angle sensor, the second angle sensor and the pressure sensor, and the main control module is configured to convert angle information transmitted by the first angle sensor and the second angle sensor into joint movement angle information corresponding to force information transmitted by the pressure sensor; the communication module is connected with the main control module and is configured to transmit the joint movement angle information and the force information which are obtained by the processing of the main control module to an upper computer and display the information on the upper computer.
In some embodiments, the main control module calculates the joint movement angle by using the following formula,
M＝Mroll*Mpitch*Myaw
L＝(M21 M22 M23)
θ＝arccos(L1*L2)
in the formula, yaw, pitch, roll represent euler angles output by the first angle sensor or the second angle sensor, respectively; mroll、Mpitch、MyawThree rotation matrixes of the first angle sensor or the second angle sensor in the ground reference system are respectively represented; m represents an attitude matrix of the first or second angle sensor; l represents a unit vector in the axial direction of the joint portion to be measured to which the first or second angle sensor is attached; m21、M22、M23Elements corresponding to a first column, a second column and a third column of a second row of the attitude matrix; theta represents the moving angle of the joint; l is1And L2The axial unit vector of the measured joint moving part attached by the first angle sensor and the axial unit vector of the measured joint fixing part attached by the second angle sensor are respectively.
In some embodiments, the data collector further comprises a housing, and a power switch, an operation indicator light, a charging status indicator light, a charging interface and a sensor interface which are exposed on the housing; the main control module is packaged in the shell; the power switch adopts a key switch and is configured to start or close the data acquisition unit; the operation indicator light is configured to indicate the operation state of the data acquisition unit, and the charging state indicator light is used for indicating the charging state of the data acquisition unit; the charging interface adopts a USBtypeC interface; protection circuits are arranged between the main control module and the charging interface as well as between the main control module and the sensor interface, and the protection circuits are configured to perform short-circuit protection and electrostatic protection on the data acquisition unit; the sensor interface comprises a pressure sensor interface and an angle sensor interface, the pressure sensor is connected with the input end of the pressure sensor interface, and the output end of the pressure sensor interface is connected with the main control module; the first angle sensor is connected with the second angle sensor, the second angle sensor is connected with the input end of the angle sensor interface, and the output end of the angle sensor interface is connected with the main control module.
In some embodiments, the first angle sensor and the second angle sensor adopt the same structure and comprise a shell, an angle sensor body, an operation indicator lamp, an external interface and a protection circuit; the angle sensor main body is arranged in the shell, the operation indicator light and the external interface are exposed on the shell, and the operation indicator light and the external interface are both connected with the angle sensor main body; the protection circuit is arranged between the angle sensor main body and the external interface and is configured to perform reverse connection protection and electrostatic protection on the angle sensor main body; the external interface comprises two external interfaces, one external interface is a typeC interface at the head end, and the other external interface is a lead bonding pad at the tail end; wherein the typeC interface at the head end of the first angle sensor is configured to accept external power supply and output data to the outside, and the lead bonding pad at the tail end of the first angle sensor is floated; the typeC interface of the head end of the second angle sensor is configured to supply power to the outside and accept input data, and the lead pad of the tail end of the second angle sensor is configured to accept external power supply and output data to the outside.
In some embodiments, the angle sensor body employs a miniature nine-axis attitude sensor.
In some embodiments, the device further comprises a control system arranged on the upper computer and connected with the first angle sensor, the second angle sensor, the pressure sensor and the data acquisition unit; the control system comprises a zero correction module, a measurement control module, a data processing module and a data storage module; the zero correction module is configured to perform reference zero correction on the first angle sensor, the second angle sensor and the pressure sensor, and the measurement control module is configured to control starting or stopping of a measurement evaluation process of a measurement evaluation device; the data processing module is configured to process the joint movement angle and the force value transmitted by the data acquisition unit to obtain a measurement evaluation result, and the measurement evaluation result comprises a joint movement range and curves of the joint movement angle and the force value along with time change and is displayed on an upper computer; the data storage module is configured to store measurement evaluation results, measured personnel and operator information.
In some embodiments, an X-axis and a Y-axis are both marked on the housing.
In some embodiments, a protective pad is disposed on the exterior of the pressure sensor.
The invention also provides a method of the joint biomechanics measurement and evaluation device based on the embodiment, which comprises the following steps:
1) fixing a data acquisition unit, and connecting the data acquisition unit with an upper computer;
2) the first angle sensor is fixed on the movable part of the tested joint, the second angle sensor is fixed on the fixed part of the tested joint, and the first angle sensor and the second angle sensor are both connected with the data acquisition unit; the pressure sensor is connected with the data acquisition unit;
3) carrying out interactive operation with the measurement and evaluation device on the upper computer, enabling the measurement and evaluation device to enter a working state, pressing the pressure sensor on the movable part of the tested joint of the patient by the palm of an operator, pushing the movable part of the tested joint of the patient to move, enabling the tested joint to relax to the maximum position which can be reached, after maintaining the set time, pushing the movable part of the tested joint of the patient to continue to move, enabling the tested joint to contract to the maximum position which can be reached, and after maintaining the set time, repeating the operation once; then, carrying out interactive operation with the measurement and evaluation device on the upper computer to stop the measurement and evaluation device; in the process, a first angle sensor collects the angle information of the movable part of the joint to be measured in real time, a second angle sensor collects the angle information of the fixed part of the joint to be measured in real time, a pressure sensor collects the force information applied by an operator in real time, a main control module of a data collector adopts Kalman filtering to preprocess original data transmitted by the first angle sensor and the second angle sensor, and then the movable angle of the joint to be measured is calculated; the upper computer stores and displays the joint movement angle information and the corresponding force information in real time;
4) and the upper computer processes the stored joint movement angle and the corresponding force value and displays the joint movement range and the joint movement angle of the measured joint and the time-varying curve of the force value at the same moment, which are obtained through processing.
In some embodiments, in step 3), the main control module calculates the joint movement angle by using the following formula,
M＝Mroll*Mpitch*Myaw
L＝(M21 M22 M23)
θ＝arccos(L1*L2)
in the formula, yaw, pitch, roll represent euler angles output by the first angle sensor or the second angle sensor, respectively; mroll、Mpitch、MyawThree rotation matrixes of the first angle sensor or the second angle sensor in the ground reference system are respectively represented; m represents an attitude matrix of the first or second angle sensor; l represents a unit in the axial direction of the joint portion to be measured to which the first or second angle sensor is attachedVector quantity; m21、M22、M23Elements corresponding to a first column, a second column and a third column of a second row of the attitude matrix; theta represents the moving angle of the joint; l is1And L2The axial unit vector of the measured joint moving part attached by the first angle sensor and the axial unit vector of the measured joint fixing part attached by the second angle sensor are respectively.
By adopting the technical scheme, the invention has the following advantages:
according to the joint biomechanical measurement and evaluation device, the angles of the movable part and the fixed part of the joint to be measured are respectively collected through the first angle sensor and the second angle sensor, the counterforce of the muscle at the joint to be measured is collected through the pressure sensor, the angle information transmitted by the first angle sensor and the second angle sensor is processed through the data collector to obtain the movable angle and the muscle strength information of the joint to be measured, general measuring tools (a ruler and a protractor) are replaced for automatic measurement, the movable angle and the muscle strength of the limb of a patient can be measured quickly and conveniently, the complexity and the workload of doctor in examination can be greatly reduced, and the accuracy and the working efficiency of the examination are improved.
Correspondingly, the joint biomechanics measurement and evaluation method can conveniently and quickly measure the limb movement angle and the limb muscle strength of a patient, greatly reduce the complexity and the workload of examination by a doctor, provide clear body data of the patient for the doctor, facilitate the accurate judgment of the doctor, and provide a more appropriate treatment scheme, thereby improving the accuracy and the working efficiency of the examination.
Drawings
FIG. 1 is a schematic view of a joint biomechanical measurement assessment device provided in an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a data acquisition unit in a joint biomechanics measurement and evaluation device provided in an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of first and second angle sensors in a joint biomechanical measurement assessment device according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a pressure sensor in a joint biomechanical measurement and assessment device provided by an embodiment of the present disclosure; and
fig. 5 is a schematic view of a joint biomechanics measurement and evaluation device applied to a knee joint according to an embodiment of the present disclosure.
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 clearly and completely described below with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. 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.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "inner", "outer", "transverse", "vertical", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the system or element 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 to define elements only for convenience in distinguishing between the elements, and unless otherwise stated have no special meaning and are not to be construed as indicating or implying any relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, an embodiment of the present disclosure provides a joint biomechanics measurement evaluation device, including:
the first angle sensor 1 is arranged on the movable part of the joint to be detected and is configured to collect the angle information of the movable part of the joint to be detected in real time;
the second angle sensor 2 is arranged on the fixed part of the joint to be measured and is configured to collect the angle information of the fixed part of the joint to be measured in real time;
the pressure sensor 3 is configured to acquire information of force applied by an operator in real time when the operator pushes the movable part of the joint to be measured to move, namely, the counterforce of muscles at the joint to be measured is reflected;
and the data acquisition unit 4 is connected with the first angle sensor 1, the second angle sensor 2 and the pressure sensor 3 and is configured to convert the acquired angle information into joint movement angle information corresponding to the force information acquired by the pressure sensor 3.
In a preferred embodiment, the data collector 4 includes a main control module and a communication module, the main control module is connected to the first angle sensor 1, the second angle sensor 2 and the pressure sensor 3, the main control module is configured to convert the angle information transmitted from the first angle sensor 1 and the second angle sensor 2 into joint movement angle information corresponding to the force information transmitted from the pressure sensor 3, and the communication module is connected to the main control module and configured to transmit the joint movement angle information and the force information obtained by the processing of the main control module to an upper computer.
In a preferred embodiment, as shown in fig. 2, the data collector 4 further includes a housing 41, and a power switch, an operation indicator light, a charging status indicator light, a charging interface and a sensor interface exposed on the housing 41; the main control module and the communication module are packaged in the shell 41; the power switch is a key switch and is configured to start or close the data collector 4; the operation indicator light is configured to indicate the operation state of the data collector 4, and the charge state indicator light is used for indicating the charge state of the data collector 4; the charging interface adopts a USBtypeC interface, can be connected with a charger with a typeC interface, and is configured to charge the data collector 4, so that the situation of reverse insertion cannot occur; protection circuits are arranged between the main control module and the charging interface and between the main control module and the sensor interface and are configured to perform short-circuit protection and electrostatic protection on the data acquisition unit 4; the sensor interface comprises a pressure sensor interface and an angle sensor interface, the pressure sensor 3 is connected with the input end of the pressure sensor interface, and the output end of the pressure sensor interface is connected with the main control module; first angle sensor 1 is connected with second angle sensor 2, and second angle sensor 2 is connected with the input of angle sensor interface, and the output and the master control module of angle sensor interface are connected.
In a preferred embodiment, the master control module may adopt a 32-bit low power consumption microprocessor STM32L051 of Italian semiconductor.
In a preferred embodiment, the data collector 4 is fixed on the body of the patient through a connector, the connector can be a magic tape, and the magic tape is arranged on the surface of the shell 41 of the data collector 4 and matched with the magic tape arranged on the body of the patient to realize the fixation of the data collector 4; the connecting piece can be a fixing belt with adjustable tightness, and the fixing belt is arranged on the shell 41 of the data collector 4; the attachment may also be a hydrogel layer arranged on the surface of the housing 41 of the data collector 4, with the hydrogel adhering the data collector 4 directly to the skin of the patient. It should be noted that the connecting members are not limited to the above, and the data acquisition unit 4 is not limited to be fixed on the patient, or to be fixed on a table or a chair placed nearby, as long as the evaluation and measurement are not affected.
In a preferred embodiment, as shown in fig. 3, the first angle sensor 1 and the second angle sensor 2 adopt the same structure, and include a housing 100, an angle sensor body, an operation indicator lamp, an external interface, and a protection circuit; the angle sensor main body is arranged in the shell 100, the operation indicator light and the external interface are exposed out of the shell 100, the operation indicator light and the external interface are both connected with the angle sensor main body, and the protection circuit is arranged between the angle sensor main body and the external interface and is configured to perform reverse connection protection and electrostatic protection on the angle sensor main body; the external interface comprises two interfaces, one interface is a typeC interface at the head end, and the other interface is a lead bonding pad at the tail end; wherein, a typeC interface at the head end of the first angle sensor 1 is configured to accept external power supply and output data to the outside, and a lead pad at the tail end of the first angle sensor 1 is floated; the typeC interface at the head end of the second angle sensor 2 is configured to supply power to the outside and accept input data, and the lead pad at the tail end of the second angle sensor 2 is configured to accept external power supply and output data to the outside. When the angle sensor is used, the typeC interface at the head end of the first angle sensor 1 is connected with the typeC interface at the head end of the second angle sensor 2, and the lead pad at the tail end of the second angle sensor 2 is connected with the data collector 4.
In a preferred embodiment, the angle sensor body adopts a high-precision miniature nine-axis attitude sensor, can sense the gravity acceleration, the angular velocity and the magnetic field intensity of the current position, and calculates the current spatial angle value of the equipment through program solution, and has high precision and good stability, and the steady-state precision can reach 0.1 degrees.
In a preferred embodiment, the first angle sensor 1 and the second angle sensor 2 are fixed on the movable part and the fixed part of the joint to be measured respectively through connecting pieces; the connecting piece can be a magic tape, the magic tape is arranged on the surface of the shell 100 and matched with the magic tape arranged on the movable part or the fixed part of the joint to be tested, so that the first angle sensor 1 and the second angle sensor 2 are fixed; the connecting piece can be a fixing belt with adjustable tightness, and the fixing belt is arranged on the shell 100; the connecting member may also be a hydrogel layer disposed on the surface of the housing 100, and the first angle sensor 1 and the second angle sensor 2 are respectively adhered to the skin of the movable portion and the fixed portion of the joint to be measured by the hydrogel layer. It should be noted that the connecting member is not limited to the above-mentioned ones, and mainly can fix the first angle sensor 1 or the second angle sensor 2 conveniently.
In a preferred embodiment, the X-axis and the Y-axis are marked on the housing 100, and the fixing positions of the first angle sensor 1 and the second angle sensor 2 can be indicated.
In a preferred embodiment, as shown in fig. 4, a protective pad is arranged outside the pressure sensor 3, and in use, the protective pad is pressed between the palm of the hand of the operator and the movable part of the joint of the patient to be tested, the operator pushes the movable part of the joint of the patient to be tested to move with the palm of the hand, and the pressure sensor 3 collects information of the force applied by the palm of the operator in real time; therefore, the force applied when the operator pushes the tested joint of the patient to a certain joint angle is quantified, the muscle strength of the patient is reflected, the defect that the force is applied depending on the experience of the operator (such as a doctor) in the prior art is overcome, the doctor can conveniently and accurately grasp the exact condition of the patient, and the working efficiency of the doctor is improved.
In a preferred embodiment, the communication module is a wireless communication module, which can be a bluetooth or WIFI module.
In a preferred embodiment, the invention also comprises a control system arranged on the upper computer, the control system is connected with the first angle sensor 1, the second angle sensor 2, the pressure sensor 3 and the data acquisition device 4, and the control system comprises a zero correction module, a measurement control module, a data processing module and a data storage module; a zero correction module configured to perform reference zero correction on the first angle sensor 1, the second angle sensor 2, and the pressure sensor 3, the measurement control module configured to control start or stop of a measurement evaluation process of the measurement evaluation device; the data processing module is configured to process the joint movement angle and the force value transmitted by the data acquisition unit 4 to obtain a measurement evaluation result, which comprises a curve of the joint movement range (the difference between the maximum joint movement angle and the minimum joint movement angle) and the change of the joint movement angle and the force value (corresponding to the muscle force) along with time, and the curve is displayed on the upper computer; the data storage module is configured to store measurement evaluation results, measured personnel and operator information.
Based on the device for measuring and evaluating the joint biomechanics, the invention also provides a method for measuring and evaluating the joint biomechanics, which comprises the following steps:
1) fixing the data acquisition device 4, and connecting the data acquisition device 4 with an upper computer;
the data acquisition unit 4 can be fixed on the body of a patient, or can be fixed on a table or a chair placed nearby, and only measurement and evaluation are convenient;
2) the first angle sensor 1 is fixed on the movable part of the joint to be measured, the second angle sensor 2 is fixed on the fixed part of the joint to be measured, and the first angle sensor 1 and the second angle sensor 2 are both connected with the data acquisition unit 4; the pressure sensor 3 is connected with the data collector 4;
3) carrying out interactive operation with the measurement evaluation device on the upper computer to enable the measurement evaluation device to enter a working state; pressing the pressure sensor 3 on the movable part of the tested joint of the patient by the palm of the operator, pushing the movable part of the tested joint of the patient to move, enabling the tested joint to relax to the maximum position which can be reached, and after maintaining for 2s, pushing the movable part of the tested joint of the patient to continue moving, enabling the tested joint to contract to the maximum position which can be reached, and maintaining for 2 s; then, carrying out interactive operation with the measurement evaluation device on the upper computer to stop the measurement evaluation device; in the process, the first angle sensor 1 collects the angle information of the movable part of the tested joint in real time, the second angle sensor 2 collects the angle information of the fixed part of the tested joint in real time, and the pressure sensor 3 collects the force information applied by an operator in real time; the main control module of the data acquisition unit 4 adopts Kalman filtering to preprocess the original data transmitted by the first angle sensor 1 and the second angle sensor 2, and then adopts the following formula to calculate the movable angle of the joint to be measured; the upper computer stores and displays the joint movement angle information and the corresponding force information in real time;
the joint movement angle calculation formula is as follows:
M＝Mroll*Mpitch*Myaw
L＝(M21 M22 M23)
θ＝arccos(L1*L2)
in the formula, yaw, pitch, roll represent the euler angles of the first or second angle sensor outputs, respectively; mroll、 Mpitch、MyawThree rotation matrixes of the first angle sensor or the second angle sensor in the ground reference system are respectively represented; m represents an attitude matrix of the first or second angle sensor; l represents a unit vector in the axial direction of the joint portion to be measured to which the first or second angle sensor is attached (the unit vector is specified to be directed to the extremity); m21、M22、M23Elements corresponding to a first column, a second column and a third column of a second row of the attitude matrix; theta represents the moving angle of the joint; l is1And L2Respectively an axial unit vector of a tested joint moving part attached to the first angle sensor 1 and an axial unit vector of a tested joint fixing part attached to the second angle sensor 2;
4) and the upper computer processes the stored joint movement angle and the corresponding force value and displays the curve of the joint movement range (the difference between the maximum joint movement angle and the minimum joint movement angle) of the tested joint, the joint movement angle and the force value, which are obtained through processing, along with the change of time.
Quantitative assessment and measurement of joint biomechanics can be realized by analyzing the joint movement angle and the time-varying curve of the muscle force at the same moment. The accurate condition of the tested joint of the patient can be conveniently and accurately grasped by the doctor, a reasonable treatment scheme is formulated, and the rehabilitation of the patient is facilitated.
In the above embodiment, preferably, in order to make the measurement more accurate and also verify the repeatability of the measurement result, in the step 3), after the measurement evaluation device enters the working state, the joint expansion and contraction motions are repeated twice or more, and in the step 4), the maximum joint movement angle is the maximum value among the joint expansion motions, and the minimum joint movement angle is the minimum value among the joint contraction motions.
In the above embodiment, it is preferable that the patient holds different estimated positions during measurement and evaluation according to the difference of the joint to be measured, so that the patient holds the corresponding estimated positions before the data acquisition device 4 is fixed, thereby facilitating the subsequent measurement and evaluation.
The invention will now be illustrated by means of specific examples,
the invention is explained by taking biomechanical measurement and evaluation of the knee joint as an example;
as shown in fig. 5, the evaluation and measurement of knee joint biomechanics are carried out by using the device, and the specific process is as follows:
step one, the data acquisition unit 4 is fixed, the data acquisition unit 4 can be fixed on the waist of the patient, and other positions can be adopted as long as the evaluation and measurement are not influenced,
fixing the first angle sensor 1 and the second angle sensor 2 on the shank and the thigh of a patient respectively, so that the plane where the X-Y axes on the shell 100 of the first angle sensor 1 and the second angle sensor 2 are located is parallel to the coronal plane as much as possible, and the X axis is parallel to the sagittal plane as much as possible;
step three, starting the data acquisition device 4, establishing wireless communication between the data acquisition device 4 and an upper computer, and performing interactive operation with the measurement evaluation device on the upper computer to enable the measurement evaluation device to enter a working state, so that the knee joint of a patient is in a completely straightened state, then pushing the shank of the patient by a palm of an operator, pressing the pressure sensor 3 in the palm of the operator to perform flexion movement until the patient starts to feel uncomfortable, and repeating the operation for 3 times; performing interactive operation with the measurement evaluation device on the upper computer to stop the measurement evaluation device; the upper computer displays and stores the joint movement angle information and the corresponding force information in real time; meanwhile, the upper computer processes the saved joint movement angle and the corresponding force value, and displays the joint movement range of the tested joint, the curve of the maximum joint movement angle and the force value at the same moment changing with time, the curve of the minimum joint movement angle and the force value at the same moment changing with time, and the curve of the joint movement angle and the force value at the same moment changing with time, which are obtained through processing; through analyzing the joint movement angle and the curve of the change of the muscle force at the same moment along with the time, the quantitative evaluation and measurement of the joint biomechanics can be realized. The accurate condition of the tested joint of the patient can be conveniently and accurately grasped by the doctor, a reasonable treatment scheme is formulated, and the rehabilitation of the patient is facilitated.
The device and the method can replace general measuring tools (rulers and protractors) to carry out automatic measurement, quickly and conveniently measure the limb joint movement angle and the limb muscle strength of a patient, so that a doctor can more conveniently, simply, effectively and quickly obtain the physical condition of the patient, a more appropriate treatment scheme is provided, the complexity and the workload of doctor examination can be greatly reduced, and the examination accuracy and the work efficiency are improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A joint biomechanical measurement assessment device, comprising:
the first angle sensor is arranged on the movable part of the joint to be detected and is configured to collect the angle information of the movable part of the joint to be detected in real time;
the second angle sensor is arranged on the fixed part of the joint to be measured and is configured to collect the angle information of the fixed part of the joint to be measured in real time;
the pressure sensor is configured to acquire force information applied by an operator in real time when the operator pushes the movable part of the joint to be detected to move;
the data acquisition unit comprises a main control module and a communication module, wherein the main control module is connected with the first angle sensor, the second angle sensor and the pressure sensor, and the main control module is configured to convert angle information transmitted by the first angle sensor and the second angle sensor into joint movement angle information corresponding to force information transmitted by the pressure sensor; the communication module is connected with the main control module and is configured to transmit the joint movement angle information and the force information which are obtained by the processing of the main control module to an upper computer and display the information on the upper computer.
2. A joint biomechanical measurement assessment device as recited in claim 1, wherein: the main control module adopts the following formula to calculate the joint moving angle,
M＝Mroll*Mpitch*Myaw
L＝(M21 M22 M23)
θ＝arccos(L1*L2)
in the formula, yaw, pitch, roll represent euler angles output by the first angle sensor or the second angle sensor, respectively; mroll、Mpitch、MyawThree rotation matrixes of the first angle sensor or the second angle sensor in the ground reference system are respectively represented; m represents an attitude matrix of the first or second angle sensor; l represents a unit vector in the axial direction of the joint portion to be measured to which the first or second angle sensor is attached; m21、M22、M23Elements corresponding to a first column, a second column and a third column of a second row of the attitude matrix; theta represents the moving angle of the joint; l is1And L2The axial unit vector of the measured joint moving part attached by the first angle sensor and the axial unit vector of the measured joint fixing part attached by the second angle sensor are respectively.
3. A joint biomechanical measurement assessment device as recited in claim 1, wherein: the data acquisition unit also comprises a shell, and a power switch, an operation indicator light, a charging state indicator light, a charging interface and a sensor interface which are exposed on the shell; the main control module is packaged in the shell; the power switch adopts a key switch and is configured to start or close the data acquisition unit; the operation indicator light is configured to indicate the operation state of the data acquisition unit, and the charging state indicator light is used for indicating the charging state of the data acquisition unit; the charging interface adopts a USBtypeC interface; protection circuits are arranged between the main control module and the charging interface as well as between the main control module and the sensor interface, and the protection circuits are configured to perform short-circuit protection and electrostatic protection on the data acquisition unit; the sensor interface comprises a pressure sensor interface and an angle sensor interface, the pressure sensor is connected with the input end of the pressure sensor interface, and the output end of the pressure sensor interface is connected with the main control module; the first angle sensor is connected with the second angle sensor, the second angle sensor is connected with the input end of the angle sensor interface, and the output end of the angle sensor interface is connected with the main control module.
4. A joint biomechanical measurement assessment device as recited in claim 1, wherein:
the first angle sensor and the second angle sensor adopt the same structure and comprise a shell, an angle sensor main body, an operation indicator light, an external interface and a protection circuit; the angle sensor main body is arranged in the shell, the operation indicator light and the external interface are exposed on the shell, and the operation indicator light and the external interface are both connected with the angle sensor main body; the protection circuit is arranged between the angle sensor main body and the external interface and is configured to perform reverse connection protection and electrostatic protection on the angle sensor main body; the external interface comprises two external interfaces, one external interface is a typeC interface at the head end, and the other external interface is a lead bonding pad at the tail end; wherein the typeC interface at the head end of the first angle sensor is configured to accept external power supply and output data to the outside, and the lead bonding pad at the tail end of the first angle sensor is floated; the typeC interface of the head end of the second angle sensor is configured to supply power to the outside and accept input data, and the lead pad of the tail end of the second angle sensor is configured to accept external power supply and output data to the outside.
5. A joint biomechanical measurement assessment device as recited in claim 4, wherein: the angle sensor main body adopts a miniature nine-axis attitude sensor.
6. A joint biomechanical measurement assessment device as recited in claim 1, wherein: the control system is arranged on the upper computer and is connected with the first angle sensor, the second angle sensor, the pressure sensor and the data acquisition unit; the control system comprises a zero correction module, a measurement control module, a data processing module and a data storage module; the zero correction module is configured to perform reference zero correction on the first angle sensor, the second angle sensor and the pressure sensor, and the measurement control module is configured to control starting or stopping of a measurement evaluation process of a measurement evaluation device; the data processing module is configured to process the joint movement angle and the force value transmitted by the data acquisition unit to obtain a measurement evaluation result, and the measurement evaluation result comprises a joint movement range and curves of the joint movement angle and the force value along with time change and is displayed on an upper computer; the data storage module is configured to store measurement evaluation results, measured personnel and operator information.
7. A joint biomechanical measurement assessment device as recited in claim 4, wherein: the X and Y axes are marked on the housing.
8. A joint biomechanical measurement assessment device as recited in claim 1, wherein: and arranging a protective pad outside the pressure sensor.
9. A method of joint biomechanical measurement assessment device based on any of claims 1-8, comprising the steps of:
1) fixing a data acquisition unit, and connecting the data acquisition unit with an upper computer;
2) the first angle sensor is fixed on the movable part of the tested joint, the second angle sensor is fixed on the fixed part of the tested joint, and the first angle sensor and the second angle sensor are both connected with the data acquisition unit; the pressure sensor is connected with the data acquisition unit;
3) carrying out interactive operation with the measurement and evaluation device on the upper computer, enabling the measurement and evaluation device to enter a working state, pressing the pressure sensor on the movable part of the tested joint of the patient by the palm of an operator, pushing the movable part of the tested joint of the patient to move, enabling the tested joint to relax to the maximum position which can be reached, after maintaining the set time, pushing the movable part of the tested joint of the patient to continue to move, enabling the tested joint to contract to the maximum position which can be reached, and after maintaining the set time, repeating the operation once; then, carrying out interactive operation with the measurement and evaluation device on the upper computer to stop the measurement and evaluation device; in the process, a first angle sensor collects the angle information of the movable part of the joint to be measured in real time, a second angle sensor collects the angle information of the fixed part of the joint to be measured in real time, a pressure sensor collects the force information applied by an operator in real time, a main control module of a data collector adopts Kalman filtering to preprocess original data transmitted by the first angle sensor and the second angle sensor, and then the movable angle of the joint to be measured is calculated; the upper computer stores and displays the joint movement angle information and the corresponding force information in real time;
4) and the upper computer processes the stored joint movement angle and the corresponding force value and displays the joint movement range and the joint movement angle of the measured joint and the time-varying curve of the force value at the same moment, which are obtained through processing.
10. The method of claim 9, wherein the joint biomechanical measurement assessment device comprises: in the step 3), the main control module adopts the following formula to calculate the joint movement angle,
M＝Mroll*Mpitch*Myaw
L＝(M21 M22 M23)
θ＝arccos(L1*L2)
in the formula, yaw, pitch, roll represent euler angles output by the first angle sensor or the second angle sensor, respectively; mroll、Mpitch、MyawThree rotation matrixes of the first angle sensor or the second angle sensor in the ground reference system are respectively represented; m represents an attitude matrix of the first or second angle sensor; l represents a unit vector in the axial direction of the joint portion to be measured to which the first or second angle sensor is attached; m21、M22、M23Elements corresponding to a first column, a second column and a third column of a second row of the attitude matrix; theta represents the moving angle of the joint; l is1And L2Respectively an axial unit vector and a second angle of the movable part of the joint to be measured to which the first angle sensor is attachedAnd the axial unit vector of the fixed part of the joint to be measured to which the degree sensor is attached.
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