CN112998696A - Sole correction method and system based on lower limb assessment and gait analysis and application of sole correction method and system - Google Patents

Sole correction method and system based on lower limb assessment and gait analysis and application of sole correction method and system Download PDF

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CN112998696A
CN112998696A CN202110149551.4A CN202110149551A CN112998696A CN 112998696 A CN112998696 A CN 112998696A CN 202110149551 A CN202110149551 A CN 202110149551A CN 112998696 A CN112998696 A CN 112998696A
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lower limb
gait
coordinate system
human body
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张吉萍
朱哲敏
蔡宗远
郑诚功
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Shanghai Orange Health Technology Co ltd
Shanghai Jiaotong University
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Shanghai Orange Health Technology Co ltd
Shanghai Jiaotong University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A61B5/1038—Measuring plantar pressure during gait
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
    • A61B5/1128—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using image analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods

Abstract

The invention discloses a method and a system for correcting soles based on lower limb assessment and gait analysis and application thereof, wherein the method comprises the following steps: s1: receiving RGB-D video data and plantar pressure data; s2: synchronizing time sequences of RGB-D video data and plantar pressure data, and aligning a Depth image and an RGB image; s3: dividing the human body mask; s4: extracting a plurality of characteristic key points of the lower limb part; s5: acquiring the spatial position of the characteristic key point; s6: calculating an included angle, and acquiring a curve of each angle of the lower limb along with the change of the step period; s7: gait analysis and lower limb assessment are carried out, gait characteristics and human lower limb conditions are obtained, pressure on corresponding parts of soles during human body movement is increased according to the lower limb conditions, and the sole orthopedic device is designed and manufactured. The invention designs and manufactures the foot sole orthopedic device by analyzing gait and evaluating lower limbs so as to prevent the lower limbs from being abnormal after abnormal force application on the foot sole, and achieves the aim of protecting the lower limbs after the force application on the foot sole is restored to a normal range by adjusting the distribution range of the force application on the foot sole.

Description

Sole correction method and system based on lower limb assessment and gait analysis and application of sole correction method and system
Technical Field
The invention relates to the technical field of sports medicine, in particular to a method and a system for correcting soles based on lower limb evaluation and gait analysis and application thereof.
Background
In the lower limb rehabilitation problem, a plurality of reasons causing lower limb dysfunction are found, including motor injury, nerve injury and the like, and sequelae are caused because effective rehabilitation treatment cannot be obtained. However, the current lower limb rehabilitation status in the current medical system is as follows: 1, the number of rehabilitative physicians is limited, resulting in an unbalanced supply-demand ratio; 2, the existing rehabilitation equipment in the hospital has high cost and poor portability, and the cost of time, space and money is relatively high; 3, the patient lacks personalized guidance for active rehabilitation training. Therefore, it is necessary to provide a portable, autonomous, low-cost, and efficient rehabilitation aid for patients with lower limb dysfunction. The rehabilitation assistance can be understood as that the lower limb rehabilitation process is adapted by correcting the gait during the lower limb rehabilitation treatment process, so that the lower limb is prevented from obstructing the rehabilitation treatment due to abnormal gait.
The comprehensive research on human body motion functions of a team of the inventor finds that the gait research plays an important role and application in aspects of motion training, disease diagnosis, rehabilitation, identity recognition and the like. For example, in sports training, the gait is used for analyzing the problems of the athlete in the training process so as to improve the performance; in disease diagnosis, gait is used to determine some orthopedic or neurological diseases and the like. It is found that in the application of gait analysis to lower limb rehabilitation, surface electromyogram (sEMG) in Electromyogram (EMG) is the gait analysis technique. However, this application does not solve the above problems.
Therefore, the inventor of the present application considers that it is necessary to design an orthopedic shoe (insole) for lower limb rehabilitation training according to individual data of human gait, which meets special requirements of special people.
Disclosure of Invention
The embodiment of the application provides the sole correction method and system based on lower limb assessment and gait analysis and the application thereof, so that the sole correction method and system based on lower limb assessment and gait analysis are realized, more reliable data basis is provided for a sole correction device, deterioration caused by local abnormal exertion of a sole is prevented, the purpose of protecting the lower limb is realized after the whole sole exertion is restored to a normal range, and meanwhile, a more accurate assessment means is provided for lower limb rehabilitation.
In a first aspect, the present application provides a method for correcting a sole of a foot based on lower limb assessment and gait analysis, the method including the steps of:
s1: and receiving RGB-D video data and sole pressure data of the human body during gait motion of the lower limbs in real time.
S2: aligning a Depth image and an RGB image in synchronous RGB-D video data based on a time sequence adopting frequency synchronous RGB-D video data and plantar pressure data;
s3: detecting a rectangular region where the lower limbs in the RGB image are located by using a fast R-CNN algorithm, and segmenting a human body mask of a Depth image in the rectangular region by using a Depth threshold value;
s4: constructing an XY coordinate system based on the RGB image, and constructing a Z coordinate system based on the Depth image to realize the construction of a three-dimensional coordinate system of the human body; extracting a plurality of characteristic key points of the lower limb part, mapping the characteristic key points to a three-dimensional coordinate system, and obtaining a joint vector through two characteristic key points of the same skeleton;
s5: inputting the Depth image and a thermodynamic diagram output by the XY coordinate system network into a convolution neural network where a Z coordinate system is located, and regressing a Z coordinate system corresponding to each feature key point, so that each frame of RGB-D video data comprises a plurality of extracted feature key points, and acquiring the spatial position of each feature key point;
s6: constructing a human body lower limb coordinate system by using the spatial positions of the characteristic key points; calculating and obtaining included angles between thighs and shanks and vectors perpendicular to the ground in an upward direction, included angles between the thighs and the shanks and a human body coordinate system and included angles between the thighs and the shanks, and obtaining curves of all angles of lower limbs along with the periodic variation of the gait;
s7: on the basis of a preset gait cycle and a gait template, the gait stage and corresponding plantar pressure data of the lower limbs at each included angle are compared, gait analysis and lower limb evaluation are carried out, gait characteristics and the condition of the lower limbs of the human body are obtained, and the pressure of the corresponding part of the plantar is adjusted according to the condition of the lower limbs when the human body moves, so that the corresponding part of the plantar exerts force uniformly; and designing and manufacturing a foot sole orthopedic device based on gait analysis and lower limb evaluation.
Further, the step S2 includes: the sampling frequency of the preset pressure treadmill is HrSampling frequency of RGB-D camera is HpWherein H isr＞Hp，
Figure BDA0002932162780000021
Setting the same time t0Receiving pressure data transmitted by the pressure treadmill as a starting point, and receiving a Depth image and an RGB image corresponding to each frame of the RGB-D camera;
for the nth frame I of RGB-D video datanCorresponding to a pressure distribution of
Figure BDA0002932162780000031
Wherein the content of the first and second substances,
Figure BDA0002932162780000032
and obtaining synchronous video data and pressure data, wherein the data of each frame corresponds to one another.
Further, the step S3 further includes: placing an RGB-D camera at a position 2m behind the lower limb part of the human body so as to enable a Depth value to be close to a Depth value corresponding to the back of the human body; and the background influence is removed by setting the values of the Depth image and the RGB image outside the mask to 0.
Further, the step S5 further includes describing the spatial position of each feature keypoint by X, Y, Z coordinates, so that the ith feature keypoint of the nth frame is recorded as:
Figure BDA0002932162780000033
and the space positions corresponding to the key points of the characteristics are obtained by analogy, and the space positions sequentially correspond to the sacrococcygeal joint J1Left posterior superior iliac spine J2Right posterior superior iliac spine J3Left lateral femoral condyle J4To the rightLateral femoral external condyle J5Lateral ankle J of left ankle joint6And the lateral malleolus J of the right ankle joint7。
Further, in the human body coordinate system constructed in step S6, the joint vectors are expressed as:
Figure BDA0002932162780000034
the corresponding coordinate system (X, Y, Z) is: x is V1，
Figure BDA0002932162780000035
J2J4、J3J5Denotes the thigh, J4J6、J5J7Representing the lower leg; using calculation rule of space vector included angle
Figure BDA0002932162780000036
Calculating included angles between the thighs and the shanks and a human body coordinate system, calculating vector included angles between the thighs and the shanks and the vector included angles are perpendicular to the ground upwards, and calculating included angles between the thighs and the shanks;
the calculation mode of the included angle between one thigh and the x axis of the human body coordinate system is as follows:
Figure BDA0002932162780000037
wherein (X, Y, Z) is J2、J4Coordinates under the coordinate system, and analogizing included angles of other parts. Further, before the step S7, acquiring a gait template; it includes:
collecting a large amount of gait data of normal human body movement, and calculating to obtain the included angles between thighs, shanks and a human body coordinate system, the ground and the included angles between thighs and shanks when the heels touch the ground, the soles touch the ground, the heels touch the ground and the toes touch the ground in a gait cycle.
Further, the step S7 further includes determining a start-stop time of a gait cycle according to the lower limb angle and the sole pressure data, and determining a node phase of the gait.
In a second aspect, the present embodiments provide a plantar correction system based on lower limb assessment and gait analysis, using the method according to any one of the first aspect, the system including: the device comprises a data transmission module, a data calibration module, a mask extraction module, a coordinate construction module, a position extraction module, an included angle calculation module and a pressure adjustment module;
the data transmission module is configured to receive RGB-D video data and plantar pressure data of a human body during lower limb gait movement in real time;
the data calibration module is configured to align a Depth image and an RGB image in the synchronous RGB-D video data based on a time sequence employing frequency synchronous RGB-D video data and plantar pressure data;
the mask extraction module is configured to detect a rectangular region where the lower limbs in the RGB image are located by using a Faster R-CNN algorithm, and the rectangular region is set by using a Depth threshold value to segment a human body mask of a Depth image in the rectangular region;
the coordinate construction module is configured to construct an XY coordinate system based on the RGB image, and then construct a Z coordinate system based on the Depth image, so as to construct a three-dimensional coordinate system of the human body; extracting a plurality of characteristic key points of the lower limb part, mapping the characteristic key points to a three-dimensional coordinate system, and obtaining a joint vector through two characteristic key points of the same skeleton;
the position extraction module is configured to input the Depth image and a thermodynamic diagram output by the XY coordinate system network to a convolution neural network where a Z coordinate system is located, and regress a Z coordinate system corresponding to each feature key point, so that each frame of RGB-D video data comprises a plurality of extracted feature key points, and the spatial position of each feature key point is obtained;
the included angle calculation module is configured to construct a human body lower limb coordinate system by using the spatial positions of the characteristic key points; calculating and obtaining included angles between thighs and shanks and vectors perpendicular to the ground in an upward direction, included angles between the thighs and the shanks and a human body coordinate system and included angles between the thighs and the shanks, and obtaining curves of all angles of lower limbs along with the periodic variation of the gait;
the pressure adjusting module is configured to compare the gait stage and corresponding plantar pressure data of the lower limbs at each included angle based on a preset gait cycle and a gait template, perform gait analysis and lower limb evaluation, acquire gait characteristics and human body lower limb conditions, and increase the pressure on the corresponding parts of the soles during human body movement according to the lower limb conditions so that the corresponding parts of the soles exert force uniformly; and designing and manufacturing a foot sole orthopedic device based on gait analysis and lower limb evaluation.
In a third aspect, an orthopedic insole is manufactured by the method for correcting the sole of a foot based on lower limb assessment and gait analysis according to any one of the first aspect.
In a fourth aspect, an orthopedic shoe is manufactured by using the method for correcting a sole of a foot according to any one of the first aspect based on lower limb evaluation and gait analysis.
The sole correction method and system based on lower limb assessment and gait analysis and the application thereof provided by the embodiment of the application have the following technical effects:
(1) the lower limbs are corrected by adjusting the stress of the corresponding parts of the soles, and the lower limbs are prevented from being excessively deteriorated.
(2) The distribution range of the force applied to the soles in the gait cycle is changed, so that the state of the lower limbs is improved, the soles are conveniently restored to a normal range along with the lower limbs, and the aim of protecting the lower limbs is fulfilled.
(3) By combining the spatial data and the pressure data of the characteristic key points, the lower limb condition and the gait characteristics are evaluated more comprehensively, the cause of gait abnormality is analyzed, more reliable data basis is provided for the design of a foot sole orthopedic device, and more accurate evaluation means is provided for lower limb rehabilitation.
Drawings
Fig. 1 is a flowchart of a method for correcting a sole of a foot based on lower limb evaluation and gait analysis according to an embodiment of the present application;
FIG. 2 is a sectional thermal display of a normal plantar pressure distribution in one embodiment of the present application;
FIG. 3 is a 2/3D thermodynamic display map of a normal plantar pressure distribution in accordance with one embodiment of the present application;
FIG. 4 is a schematic diagram illustrating the variation of the internal rotation angle of the knee joint with the step period under different walking speeds according to an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating the position of the RGB-D camera and the pressure treadmill according to one embodiment of the present application;
fig. 6 is a schematic view of a lower limb included angle according to an embodiment of the present application.
Detailed Description
The invention aims to improve objective basis for the design of a foot sole orthopedic device based on gait analysis and lower limb assessment so as to provide assistance for lower limb rehabilitation.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example one
Referring to fig. 1 to 6, an embodiment of the present application provides a method for correcting a sole of a foot based on lower limb evaluation and gait analysis, the method including the steps of:
s1: and receiving RGB-D video data and sole pressure data of the human body during gait motion of the lower limbs in real time.
In the step, an RGB-D camera is adopted to collect RGB-D video data of lower limb gait movement in real time and upload the RGB-D video data to a terminal service system. RGB-D video data includes, but is not limited to, time, Depth image, RGB (color) image, among others. The pressure treadmill is adopted to collect foot sole pressure data of lower limb gait motion in real time and upload the data to the terminal service system. Plantar pressure data includes, but is not limited to, gait time, gait cycle, gait phase, pressure values, landing position, etc. Gait is the process of moving the body in a certain direction through a series of continuous movements of the hip, knee, ankle and toes of the human body. The walking cycle is expressed as a process from the time a foot on one side of the walk lands to the time the foot on that side again lands, is called a walking cycle. The pressure treadmill is characterized in that a pressure sensor is laid on a track of the pressure treadmill, pressure distribution during different exercises and pressure of each gait node in a gait cycle are obtained through the pressure sensor, and foot pressure data are displayed through thermodynamic diagrams.
2-3, FIG. 2 is a sectional thermal display of plantar pressure distribution; fig. 3 is a 2/3D thermal display map of normal plantar pressure distribution, and this is displayed as a pressure template value. However, unlike normal plantar thermodynamic diagrams, the plantar pressure distribution thermodynamic diagram of patients with lower limb dysfunction shows that, for example, the O-shaped leg tends to accumulate more pressure on the outer side of the sole, increasing the chance of contact between the outer side of the sole and the ground, so that the pressure distribution of the patients on the outer side of the sole is greater than the value of the pressure template, and in the heel off-ground stage, it can be observed that the pressure value of the area 2 in fig. 2 is greater than the value of the pressure template. However, not all of the lateral foot deviation is caused by the O-shaped leg, and the embodiment combines the data of the hip joint, the knee joint and the ankle joint to more accurately deduce the abnormal gait reasons of the patient, for example, the included angle between the thigh and the shank of the O-shaped leg and the vector vertical to the ground and the included angle between the thigh and the shank show the difference with the normal person, and the difference is different to a different degree in different gait stages and different speeds. As shown in fig. 4, the variation of the internal rotation angle of the knee joint with the gait cycle under different walking speeds is schematically shown, fig. 4(I) shows the gait variation of a normal person, and fig. 4(II) shows the gait variation of an eight-patient.
S2: the Depth image and the RGB image in the synchronized RGB-D video data are aligned based on using a time sequence of frequency synchronized RGB-D video data and plantar pressure data.
Further, step S2 includes: the sampling frequency of the preset pressure treadmill is HrSampling frequency of RGB-D camera is HpWherein H isr＞Hp，
Figure BDA0002932162780000071
Setting the same time t0The method comprises the steps of receiving pressure data transmitted by the pressure treadmill as a starting point, and receiving a Depth image and an RGB image corresponding to each frame of the RGB-D camera. For the nth frame I of RGB-D video datanCorresponding to a pressure distribution of
Figure BDA0002932162780000072
Wherein the content of the first and second substances,
Figure BDA0002932162780000073
Figure BDA0002932162780000074
and obtaining synchronous video data and pressure data, wherein the data of each frame corresponds to one another.
Step S3: detecting a rectangular region where the lower limbs in the RGB image are located by using a fast R-CNN algorithm, and segmenting a human body mask of a Depth image in the rectangular region by using a Depth threshold value.
Further, step S3 further includes: referring to fig. 5, the RGB-D camera is placed 2m right behind the lower limb of the human body so that the Depth value approaches the Depth value corresponding to the back of the human body. And the background influence is removed by setting the values of the Depth image and the RGB image outside the mask to 0. Therefore, in the present embodiment, in order to reduce the interference of the environment on the feature key point detection and extraction, the lower limb part is first divided from the environment: the reason that the rectangular area of the lower limb in the area where the RGB image is located is detected by using a Faster R-CNN algorithm, the mask where the lower limb is located is divided based on the Depth image in the rectangular area, and the threshold can be set according to the Depth image is as follows: the RGB-D camera is placed at 2m right behind the lower limbs of the human body, the Depth values corresponding to the back of the RGB-D camera are basically approximate, after the mask is obtained, the values of the Depth image and the RGB image outside the mask are set to be 0, and background influence is removed.
Step S4: constructing an XY coordinate system based on the RGB image, and constructing a Z coordinate system based on the Depth image to realize the construction of a three-dimensional coordinate system of the human body; extracting a plurality of characteristic key points of the lower limb part, mapping the characteristic key points to a three-dimensional coordinate system, and obtaining a joint vector through two characteristic key points of the same skeleton. Further, the characteristic key points in this step may include the sacrococcygeal joint, the left posterior superior iliac spine, the right posterior superior iliac spine, the left lateral femoral condyle, the right lateral femoral condyle, the left lateral ankle and the right lateral ankle.
Step S5: inputting the Depth image and the thermodynamic diagram output by the XY coordinate system network into a convolution neural network where a Z coordinate system is located, and regressing a Z coordinate system corresponding to each feature key point, so that each frame of RGB-D video data comprises a plurality of extracted feature key points, and obtaining the spatial position of each feature key point.
Further, in this step, the spatial position of each feature keypoint is described by X, Y, Z coordinates, so that the ith feature keypoint of the nth frame is recorded as:
Figure BDA0002932162780000081
and the space positions corresponding to the key points of the characteristics are obtained by analogy, and the space positions sequentially correspond to the sacrococcygeal joint J1Left posterior superior iliac spine J2Right posterior superior iliac spine J3Left lateral femoral condyle J4Right lateral femoral external condyle J5Lateral ankle J of left ankle joint6And the lateral malleolus J of the right ankle joint7。
Step S6: constructing a human body lower limb coordinate system by using the spatial positions of the characteristic key points; calculating and obtaining the included angle between the thigh and the shank and the vector vertical to the ground, the included angle between the thigh and the shank and the human body coordinate system and the included angle between the thigh and the shank, and obtaining the curve of each angle of the lower limb along with the periodic variation of the step state.
Further, in the constructed human body coordinate system, the joint vector is expressed as: v1＝J2-J3，
Figure BDA0002932162780000082
The corresponding coordinate system (X, Y, Z) is: x is V1，
Figure BDA0002932162780000083
Figure BDA0002932162780000084
J2J4、J3J5Denotes the thigh, J4J6、J5J7Representing the lower leg; using calculation rule of space vector included angle
Figure BDA0002932162780000085
Calculating included angles between the thighs and the shanks and a human body coordinate system, calculating vector included angles between the thighs and the shanks and the vector included angles are perpendicular to the ground upwards, and calculating included angles between the thighs and the shanks;
further, the calculation method of the included angle between one thigh and the x axis of the human body coordinate system is as follows:
Figure BDA0002932162780000091
wherein (X, Y, Z) is J2、J4Coordinates under the coordinate system, and analogizing included angles of other parts.
Step S7: on the basis of a preset gait cycle and a gait template, the gait stage and corresponding plantar pressure data of the lower limbs at each included angle are compared, gait analysis and lower limb evaluation are carried out, gait characteristics and human body lower limb conditions are obtained, the pressure on the corresponding part of the plantar is increased during human body movement according to the lower limb conditions, and the force application of the corresponding part of the plantar is uniform; and designing and manufacturing a foot sole orthopedic device based on gait analysis and lower limb evaluation.
The method comprises the steps of obtaining a gait template; it includes: collecting a large amount of gait data of normal human body movement, and calculating to obtain the included angles between thighs, shanks and a human body coordinate system, the ground and the included angles between thighs and shanks when the heels touch the ground, the soles touch the ground, the heels touch the ground and the toes touch the ground in a gait cycle. Further, due to the periodicity and regularity of human gait, in order to obtain the gait template, the embodiment acquires RGB-D video data and pressure data of healthy lower limb gait more than 100, and obtains the template of each frame of video and pressure data through registration and averaging.
The step also comprises the steps of determining the starting and stopping time of a gait cycle and determining the node phase of the gait according to the lower limb angle and the sole pressure data. Generally, human gait is cyclical, and the gait in each gait cycle undergoes several phases heel strike-plantar strike-heel lift-toe lift. For example, taking a right heel strike as a starting point and a next right heel strike as a terminating point as a gait cycle, video and pressure data are divided into different cycles, and subsequent analysis is performed in units of cycles.
Further, when the foot sole orthopedic device is manufactured, on one hand, the shape of the foot of a patient needs to be considered, and the foot sole orthopedic device can be obtained through scanning or photographing generally, and the real application of the foot sole orthopedic device needs to be considered when the scheme is applied practically, for example, in the design of the foot sole orthopedic device for an O-shaped leg patient, the outer side of the foot sole orthopedic device is designed to be higher according to the stress condition of the foot sole. In the aspect of the patient correction effect evaluation, the connection relation between the pressure data and the RGB-D video data can be acquired on the basis of acquiring the respective data. For example, the lower limb angle varies with the curve of the gait cycle. Further, in practical application, the inventor of the present application finds that the O-leg patient is corrected for three months and then judges, and although the change of the posture or the change of the pressure distribution cannot be seen by naked eyes, the difference between the internal rotation leg of the knee joint and a normal person is reduced, so that the current correction strategy is correct, and although the final effect is not achieved, the staged objective feedback can be adjusted in time, so that the patient can be more easily insisted on.
Example two
The embodiment of the application provides a plantar correction system based on lower limb assessment and gait analysis, and the system comprises the following components by adopting the method of the first embodiment: the device comprises a data transmission module 100, a data calibration module 200, a mask extraction module 300, a coordinate construction module 400, a position extraction module 500, an included angle calculation module 600 and a pressure adjustment module 700.
The data transmission module 100 is configured to receive RGB-D video data and plantar pressure data of a human body during lower limb gait movement in real time.
The data calibration module 200 is configured to align a Depth image and an RGB image in the synchronized RGB-D video data based on employing a time sequence of frequency synchronized RGB-D video data and plantar pressure data. Further, the sampling frequency of the preset pressure treadmill is HrAcquisition of, RGB-D cameraSample frequency of HpWherein H isr＞Hp，
Figure BDA0002932162780000101
Setting the same time t0Receiving pressure data transmitted by the pressure treadmill as a starting point, and receiving a pressure distribution diagram corresponding to each frame of the RGB-D camera; for the nth frame I of RGB-D video datanCorresponding to a pressure distribution of
Figure BDA0002932162780000102
Wherein the content of the first and second substances,
Figure BDA0002932162780000103
Figure BDA0002932162780000104
and obtaining synchronous video data and pressure data, wherein the data of each frame corresponds to one another.
The mask extraction module 300 is configured to detect a rectangular region where a lower limb in the RGB image is located by using a fast R-CNN algorithm, and segment a human mask of a Depth image in the rectangular region by using a Depth threshold.
Further, the RGB-D camera is placed at a position 2m behind the lower limb of the human body, so that the Depth value is close to the corresponding Depth value of the back of the human body; and the background influence is removed by setting the values of the Depth image and the RGB image outside the mask to 0.
The coordinate construction module 400 is configured to construct an XY coordinate system based on the RGB image, and then construct a Z coordinate system based on the Depth image, so as to construct a three-dimensional coordinate system of the human body; extracting a plurality of characteristic key points of the lower limb part, mapping the characteristic key points to a three-dimensional coordinate system, and obtaining a joint vector through two characteristic key points of the same skeleton;
the position extraction module 500 is configured to input the Depth image and the thermodynamic diagram output by the XY coordinate system network to the convolutional neural network where the Z coordinate system is located, and regress out the Z coordinate system corresponding to each feature key point, so that each frame of the RGB-D video data includes a plurality of extracted feature key points, and the spatial position of each feature key point is obtained.
Further, the spatial position of each feature keypoint is described by X, Y, Z coordinates, so that the ith feature keypoint of the nth frame is marked as
Figure BDA0002932162780000111
i ═ {1, 2, 3, …, 7, and so on to obtain the spatial positions corresponding to the key points of each feature, which in turn correspond to the sacrococcygeal joint J1Left posterior superior iliac spine J2Right posterior superior iliac spine J3Left lateral femoral condyle J4Right lateral femoral external condyle J5Lateral ankle J of left ankle joint6And the lateral malleolus J of the right ankle joint7。
The included angle calculation module 600 is configured to construct a human body lower limb coordinate system by using the spatial positions of the feature key points; calculating and obtaining the included angle between the thigh and the shank and the vector vertical to the ground, the included angle between the thigh and the shank and the human body coordinate system and the included angle between the thigh and the shank, and obtaining the curve of each angle of the lower limb along with the periodic variation of the step state.
Further, in the constructed human body coordinate system, the joint vector is expressed as: v1＝J2-J3，
Figure BDA0002932162780000112
Figure BDA0002932162780000113
The corresponding coordinate system (X, Y, Z) is: x is V1，
Figure BDA0002932162780000114
J2J4、J3J5Denotes the thigh, J4J6、J5J7Representing the lower leg; using calculation rule of space vector included angle
Figure BDA0002932162780000115
Calculating included angles between the thighs and the shanks and a human body coordinate system, calculating vector included angles between the thighs and the shanks and the vector included angles are perpendicular to the ground upwards, and calculating included angles between the thighs and the shanks;
the calculation mode of the included angle between one thigh and the x axis of the human body coordinate system is as follows:
Figure BDA0002932162780000116
wherein (X, Y, Z) is J2、J4Coordinates under the coordinate system, and analogizing included angles of other parts.
The pressure adjusting module 700 is configured to compare the gait phase of each included angle of the lower limb and the corresponding pressure data of the sole based on a preset gait cycle and a gait template, perform gait analysis and lower limb evaluation, acquire gait characteristics and the condition of the lower limb of the human body, and increase the pressure on the corresponding part of the sole during the motion of the human body according to the condition of the lower limb, so that the corresponding part of the sole exerts force uniformly; and designing and manufacturing a foot sole orthopedic device based on gait analysis and lower limb evaluation.
EXAMPLE III
In one embodiment, the present application provides a use of the first embodiment, in an orthopedic insole manufactured by the method for correcting sole of foot based on lower limb evaluation and gait analysis of the first embodiment.
In another embodiment, the present application provides a use of the first embodiment, in an orthopedic shoe manufactured by the method for correcting sole of foot based on lower limb evaluation and gait analysis in the first embodiment.
Example four
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein computer-readable instructions which, when executed by the processor, cause the processor to perform the following steps when executing the computer-readable instructions:
s1: receiving RGB-D video data and sole pressure data of a human body during lower limb gait movement in real time;
s2: aligning a Depth image and an RGB image in synchronous RGB-D video data based on a time sequence adopting frequency synchronous RGB-D video data and plantar pressure data;
s3: detecting a rectangular region where the lower limbs in the RGB image are located by using a fast R-CNN algorithm, and segmenting a human body mask of a Depth image in the rectangular region by using a Depth threshold value;
s4: constructing an XY coordinate system based on the RGB image, and constructing a Z coordinate system based on the Depth image to realize the construction of a three-dimensional coordinate system of the human body; extracting a plurality of characteristic key points of the lower limb part, mapping the characteristic key points to a three-dimensional coordinate system, and obtaining a joint vector through two characteristic key points of the same skeleton;
s5: inputting the Depth image and a thermodynamic diagram output by the XY coordinate system network into a convolution neural network where a Z coordinate system is located, and regressing a Z coordinate system corresponding to each feature key point, so that each frame of RGB-D video data comprises a plurality of extracted feature key points, and acquiring the spatial position of each feature key point;
s6: constructing a human body coordinate system by using the spatial positions of the characteristic key points; calculating and obtaining included angles between thighs and shanks and vectors perpendicular to the ground in an upward direction, included angles between the thighs and the shanks and a human body coordinate system and included angles between the thighs and the shanks, and obtaining curves of all angles of lower limbs along with the periodic variation of the gait;
s7: on the basis of a preset gait cycle and a gait template, the gait stage and corresponding plantar pressure data of the lower limbs at each included angle are compared, gait analysis and lower limb evaluation are carried out, gait characteristics and human body lower limb conditions are obtained, the pressure on the corresponding part of the plantar is increased during human body movement according to the lower limb conditions, and the force application of the corresponding part of the plantar is uniform; and designing and manufacturing a foot sole orthopedic device based on gait analysis and lower limb evaluation.
In one embodiment, a storage medium is provided that stores computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of:
s1: receiving RGB-D video data and sole pressure data of a human body during lower limb gait movement in real time;
s2: aligning a Depth image and an RGB image in synchronous RGB-D video data based on a time sequence adopting frequency synchronous RGB-D video data and plantar pressure data;
s3: detecting a rectangular region where the lower limbs in the RGB image are located by using a fast R-CNN algorithm, and segmenting a human body mask of a Depth image in the rectangular region by using a Depth threshold value;
s4: constructing an XY coordinate system based on the RGB image, and constructing a Z coordinate system based on the Depth image to realize the construction of a three-dimensional coordinate system of the human body; extracting a plurality of characteristic key points of the lower limb part, mapping the characteristic key points to a three-dimensional coordinate system, and obtaining a joint vector through two characteristic key points of the same skeleton;
s5: inputting the Depth image and a thermodynamic diagram output by the XY coordinate system network into a convolution neural network where a Z coordinate system is located, and regressing a Z coordinate system corresponding to each feature key point, so that each frame of RGB-D video data comprises a plurality of extracted feature key points, and acquiring the spatial position of each feature key point;
s6: constructing a human body coordinate system by using the spatial positions of the characteristic key points; calculating and obtaining included angles between thighs and shanks and vectors perpendicular to the ground in an upward direction, included angles between the thighs and the shanks and a human body coordinate system and included angles between the thighs and the shanks, and obtaining curves of all angles of lower limbs along with the periodic variation of the gait;
s7: on the basis of a preset gait cycle and a gait template, the gait stage and corresponding plantar pressure data of the lower limbs at each included angle are compared, gait analysis and lower limb evaluation are carried out, gait characteristics and human body lower limb conditions are obtained, the pressure on the corresponding part of the plantar is increased during human body movement according to the lower limb conditions, and the force application of the corresponding part of the plantar is uniform; and designing and manufacturing a foot sole orthopedic device based on gait analysis and lower limb evaluation.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above embodiments only express some exemplary embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A method for plantar correction based on lower extremity assessment and gait analysis, the method comprising the steps of:
s1: receiving RGB-D video data and sole pressure data of a human body during lower limb gait movement in real time;
s2: aligning a Depth image and an RGB image in synchronous RGB-D video data based on a time sequence adopting frequency synchronous RGB-D video data and plantar pressure data;
s3: detecting a rectangular region where the lower limbs in the RGB image are located by using a fast R-CNN algorithm, and segmenting a human body mask of a Depth image in the rectangular region by using a Depth threshold value;
s4: constructing an XY coordinate system based on the RGB image, and constructing a Z coordinate system based on the Depth image to realize the construction of a three-dimensional coordinate system of the human body; extracting a plurality of characteristic key points of the lower limb part, mapping the characteristic key points to a three-dimensional coordinate system, and obtaining a joint vector through two characteristic key points of the same skeleton;
s5: inputting the Depth image and a thermodynamic diagram output by the XY coordinate system network into a convolution neural network where a Z coordinate system is located, and regressing a Z coordinate system corresponding to each feature key point, so that each frame of RGB-D video data comprises a plurality of extracted feature key points, and acquiring the spatial position of each feature key point;
s6: constructing a human body coordinate system by using the spatial positions of the characteristic key points; calculating and obtaining included angles between thighs and shanks and vectors perpendicular to the ground in an upward direction, included angles between the thighs and the shanks and a human body coordinate system and included angles between the thighs and the shanks, and obtaining curves of all angles of lower limbs along with the periodic variation of the gait;
s7: on the basis of a preset gait cycle and a gait template, the gait stage and corresponding plantar pressure data of the lower limbs at each included angle are compared, gait analysis and lower limb evaluation are carried out, gait characteristics and human body lower limb conditions are obtained, the pressure on the corresponding part of the plantar is increased during human body movement according to the lower limb conditions, and the force application of the corresponding part of the plantar is uniform; and designing and manufacturing a foot sole orthopedic device based on gait analysis and lower limb evaluation.
2. The method for correcting sole of a foot based on lower limb evaluation and gait analysis according to claim 1, wherein the step S2 includes: the sampling frequency of the preset pressure treadmill is HrSampling frequency of RGB-D camera is HpWherein H isr＞Hp，
Figure FDA0002932162770000011
Setting the same time t0Receiving pressure data transmitted by the pressure treadmill as a starting point, and receiving a Depth image and an RGB image corresponding to each frame of the RGB-D camera;
for the nth frame I of RGB-D video datanCorresponding to a pressure distribution of
Figure FDA0002932162770000021
Wherein the content of the first and second substances,
Figure FDA0002932162770000022
and obtaining synchronous video data and pressure data, wherein the data of each frame corresponds to one another.
3. The method for correcting sole of a foot based on lower limb evaluation and gait analysis according to claim 1, wherein the step S3 further includes: placing an RGB-D camera at a position 2m behind the lower limb part of the human body so as to enable a Depth value to be close to a Depth value corresponding to the back of the human body; and the background influence is removed by setting the values of the Depth image and the RGB image outside the mask to 0.
4. The method for correcting sole of a foot based on lower limb evaluation and gait analysis according to claim 1, wherein the step S5 further comprises describing the spatial position of each feature key point by X, Y, Z coordinates, so that the ith feature key point of the nth frame is recorded as:
Figure FDA0002932162770000023
and the space positions corresponding to the key points of the characteristics are obtained by analogy, and the space positions sequentially correspond to the sacrococcygeal joint J1Left posterior superior iliac spine J2Right posterior superior iliac spine J3Left lateral femoral condyle J4Right lateral femoral external condyle J5Lateral ankle J of left ankle joint6And the lateral malleolus J of the right ankle joint7。
5. The method for correcting sole of a foot based on lower limb estimation and gait analysis according to claim 4, wherein in the step S6, the constructed human coordinate system has joint vectors represented by:
V1＝J2-J3，
Figure FDA0002932162770000024
the corresponding coordinate system (X, Y, Z) is:
Figure FDA0002932162770000025
J2J4、J3J5denotes the thigh, J4J6、J5J7Representing the lower leg; using calculation rule of space vector included angle
Figure FDA0002932162770000026
Calculating included angles between the thighs and the shanks and a human body coordinate system, calculating vector included angles between the thighs and the shanks and the vector included angles are perpendicular to the ground upwards, and calculating included angles between the thighs and the shanks;
the calculation mode of the included angle between one thigh and the x axis of the human body coordinate system is as follows:
Figure FDA0002932162770000027
wherein (X, Y, Z) is J2、J4Coordinates under the coordinate system, and analogizing included angles of other parts.
6. The method of correcting sole of a foot based on lower limb evaluation and gait analysis of claim 1, wherein the step S7 is preceded by acquiring a gait template; it includes:
collecting a large amount of gait data of normal human body movement, and calculating to obtain the included angles between thighs, shanks and a human body coordinate system, the ground and the included angles between thighs and shanks when the heels touch the ground, the soles touch the ground, the heels touch the ground and the toes touch the ground in a gait cycle.
7. The method of claim 1, wherein the step S7 further comprises determining the start-stop time of the gait cycle and determining the node phase of the gait cycle according to the lower limb angle and the plantar pressure data.
8. A system for plantar correction based on lower extremity assessment and gait analysis, using the method according to any one of claims 1 to 8, characterized in that it comprises: the device comprises a data transmission module, a data calibration module, a mask extraction module, a coordinate construction module, a position extraction module, an included angle calculation module and a pressure adjustment module;
the data transmission module is configured to receive RGB-D video data and plantar pressure data of a human body during lower limb gait movement in real time;
the data calibration module is configured to align a Depth image and an RGB image in the synchronous RGB-D video data based on a time sequence employing frequency synchronous RGB-D video data and plantar pressure data;
the mask extraction module is configured to detect a rectangular region where the lower limbs in the RGB image are located by using a Faster R-CNN algorithm, and the rectangular region is set by using a Depth threshold value to segment a human body mask of a Depth image in the rectangular region;
the coordinate construction module is configured to construct an XY coordinate system based on the RGB image, and then construct a Z coordinate system based on the Depth image, so as to construct a three-dimensional coordinate system of the human body; extracting a plurality of characteristic key points of the lower limb part, mapping the characteristic key points to a three-dimensional coordinate system, and obtaining a joint vector through two characteristic key points of the same skeleton;
the position extraction module is configured to input the Depth image and a thermodynamic diagram output by the XY coordinate system network to a convolution neural network where a Z coordinate system is located, and regress a Z coordinate system corresponding to each feature key point, so that each frame of RGB-D video data comprises a plurality of extracted feature key points, and the spatial position of each feature key point is obtained;
the included angle calculation module is configured to construct a human body lower limb coordinate system by using the spatial positions of the characteristic key points; calculating and obtaining included angles between thighs and shanks and vectors perpendicular to the ground in an upward direction, included angles between the thighs and the shanks and a human body coordinate system and included angles between the thighs and the shanks, and obtaining curves of all angles of lower limbs along with the periodic variation of the gait;
the pressure adjusting module is configured to compare the gait stage and corresponding plantar pressure data of the lower limbs at each included angle based on a preset gait cycle and a gait template, perform gait analysis and lower limb evaluation, acquire gait characteristics and human body lower limb conditions, and increase the pressure on the corresponding parts of the soles during human body movement according to the lower limb conditions so that the corresponding parts of the soles exert force uniformly; and designing and manufacturing a foot sole orthopedic device based on gait analysis and lower limb evaluation.
9. An orthopedic insole manufactured by the method for correcting sole of foot based on lower limb evaluation and gait analysis according to any one of claims 1 to 8.
10. An orthopedic shoe manufactured by the method for correcting sole of foot based on lower limb evaluation and gait analysis according to any one of claims 1 to 8.
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