CN113662533A

CN113662533A - Joint rehabilitation movement monitoring and management system and use method

Info

Publication number: CN113662533A
Application number: CN202110802606.7A
Authority: CN
Inventors: 江燕; 毛靖; 王江; 宋恩民; 闻均
Original assignee: Huazhong University of Science and Technology
Current assignee: Huazhong University of Science and Technology
Priority date: 2021-07-15
Filing date: 2021-07-15
Publication date: 2021-11-19
Anticipated expiration: 2041-07-15
Also published as: CN113662533B

Abstract

The invention discloses a joint rehabilitation movement monitoring and management system which comprises a joint mobility acquisition module, a muscle tension acquisition module, a movement state monitoring module, a wireless transmission module, a server, an intelligent terminal and a device body. The invention has the advantages that the rehabilitation movement of the rehabilitation joint of the user is monitored by the six-axis acceleration sensor, and joint movement angle data, joint movement acceleration data, movement time data and movement frequency data can be obtained; attach to user's muscle top through flexible film pressure sensor, body surface pressure changes when utilizing the muscle contraction, and muscle rate of tension data when monitoring the recovered motion of the recovered joint of user through analysis processes, the result of the recovered motion of output user to whether the mode and the intensity of appraising recovered motion are reasonable and the muscle harmony condition is aassessment, and timely recovered intervention avoids causing permanent dysfunction and joint secondary damage.

Description

Joint rehabilitation movement monitoring and management system and use method

Technical Field

The invention relates to the technical field of medical artificial intelligence, in particular to a joint rehabilitation motion monitoring and management system and a using method thereof.

Background

Four limb joints such as elbow joint, knee joint and the like are complex multi-axial motion joints in human anatomy, and more joint diseases appear along with the aging of society and the heat tide of national fitness exercise, so that the rehabilitation exercise method of users draws more and more attention. Currently, there are many users who have successful joint surgery, which may cause permanent dysfunction due to untimely or inappropriate rehabilitation intervention, and even secondary damage to the joints. Although there are many devices related to joint rehabilitation guidance in the market, the devices have the defects of inconvenient operation, no visual data record, no motion guidance function and the like.

Therefore, it is necessary to design a monitoring management system for remote management and joint rehabilitation exercise guidance to enhance the "two-way communication" between doctors and patients and provide a personalized exercise prescription for users.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides a joint rehabilitation exercise monitoring and management system and a use method thereof, which output the result of rehabilitation exercise of a user by analyzing and processing various collected data, thereby evaluating whether the mode and the strength of the rehabilitation exercise are reasonable and evaluating the condition of muscle coordination, avoiding permanent dysfunction and joint secondary damage caused by timely rehabilitation intervention

The invention provides a joint rehabilitation movement monitoring and management system which comprises a joint mobility acquisition module, a muscle tension acquisition module, a movement state monitoring module, a wireless transmission module, a server, an intelligent terminal and a device body, wherein the joint mobility acquisition module is connected with the muscle tension acquisition module; the joint motion degree acquisition module: the system is used for collecting the joint mobility data of a user; the muscle tension acquisition module: the device is used for collecting muscle tension data of a user; the motion state monitoring module: the device is used for collecting user motion time data and motion frequency data; the wireless transmission module: the data transmission device is used for data transmission between the motion degree acquisition module, the muscle tension degree acquisition module and the motion state monitoring module and the server; the server: the intelligent terminal is used for analyzing and processing the collected joint activity data, muscle tension data, movement time data and movement frequency data, outputting the result of the rehabilitation movement of the user, transmitting all data and results to the intelligent terminal, and receiving the control instruction of the intelligent terminal; the intelligent terminal comprises: the server is used for receiving and displaying data acquired by the server and output results, and sending a control instruction of a user to the server; the device body: the device is used for bearing the joint motion degree acquisition module, the muscle tension degree acquisition module, the motion state monitoring module and the wireless transmission module and is tightly attached to the rehabilitation joint of a user.

Further, be provided with bee calling organ on the device body, bee calling organ is connected with the server electricity, and intelligent terminal starts bee calling organ through the server through sending alarm control instruction.

Furthermore, the server comprises a joint activity degree data preprocessing module, a muscle tension degree data preprocessing module, a joint activity degree data operation module, a muscle tension degree data operation module, a motion state analysis module and a user instruction control module:

the joint activity degree data preprocessing module and the muscle tension degree data preprocessing module are respectively used for preprocessing joint activity degree original data and muscle tension degree original data; the joint activity data operation module and the muscle tension data operation module are respectively used for calculating joint activity data and muscle tension data and obtaining calculation results of the joint activity data and the muscle tension data; the motion state operation module is used for calculating the calculation results of the motion time data and the motion frequency data according to the motion time original data and the motion frequency original data; the motion state analysis module is used for judging and outputting the result of the rehabilitation motion of the user; the user instruction control module is used for receiving a user control instruction sent by the intelligent terminal and sending a result of the rehabilitation exercise of the user to the intelligent terminal.

A use method of a joint rehabilitation motion monitoring and management system comprises the following steps:

step 1: collecting joint activity data, muscle tension data, movement time data and movement frequency data of a user during rehabilitation movement of the user;

step 2: preprocessing and calculating the joint mobility data and the muscle tension data;

and step 3: comparing the joint activity data and the muscle tension data with standard data according to the motion time data and the motion frequency data, and outputting the result of the rehabilitation motion of the user;

and 4, step 4: and according to the output rehabilitation exercise result of the user, a rehabilitation exercise suggestion is provided.

Further, the articulation data includes articulation angle data and articulation acceleration data,

the method for acquiring the joint movement angle data comprises the following steps: the joint activity degree acquisition module acquires three-dimensional angle information through two groups of six-axis acceleration sensors fixed at the proximal end and the distal end of a joint limb, original data is preprocessed through a joint activity degree data preprocessing module, and joint motion angle data are obtained through calculation of a joint activity degree data operation module;

the method for acquiring the joint motion acceleration data comprises the following steps: the joint activity degree acquisition module acquires original gyroscope information through two groups of six-axis acceleration sensors fixed at the proximal end and the distal end of a joint limb, original data preprocessing is carried out through the joint activity degree data preprocessing module, and joint motion acceleration data are obtained through calculation of the joint activity degree data operation module.

Furthermore, the muscle tension data are acquired by the following method: the joint motion degree acquisition module acquires the body surface pressure original data of a plurality of body surface positions through flexible film pressure sensors fixed at acupuncture points near joints, the muscle tension degree data preprocessing module preprocesses the original data, and the muscle tension degree data operation module calculates the muscle tension degree data.

Further, the method for acquiring the motion time data and the motion frequency data comprises the following steps: the motion state monitoring module obtains static acceleration original data through two groups of six-axis acceleration sensors fixed at the proximal end and the distal end of the joint limb, and motion time data and motion frequency data are obtained through calculation of the motion state operation module.

As a preferred option, the standard data obtaining method in step 3 is as follows:

joint activity data, muscle tension data, movement time data and movement frequency data of a user are synchronously acquired at a healthy side joint opposite to a rehabilitation side of the user or the same joint of the healthy user, and standard data are acquired after preprocessing and operation.

Preferably, the comparison method of the standard data in step 3 is as follows:

step 3.1: judging whether the difference percentage of the motion time data, the motion frequency data and the standard data is less than 10% during rehabilitation motion, if so, entering the step 3.1, otherwise, entering the step 1 again;

step 3.2: calculating the difference percentage of the joint activity data, the muscle tension data and the standard data during rehabilitation exercise respectively, and taking the maximum value of the absolute value of the difference percentage in each data:

if the maximum value of the absolute value is less than 5%, outputting the result of the rehabilitation exercise of the user as good;

if the maximum absolute value is more than 5% and less than 10%, outputting the result of the rehabilitation exercise of the user as middle;

if the maximum value of the absolute value is larger than 10%, outputting the result of the rehabilitation exercise of the user as a difference;

in the step 3, the suggestion of the rehabilitation exercise is as follows:

if the result of the rehabilitation exercise of the user is good, suggesting to keep the rehabilitation exercise intensity;

if the result of the rehabilitation exercise of the user is middle, suggesting that the intensity of the rehabilitation exercise is reduced;

and if the result of the rehabilitation exercise of the user is poor, sending an alarm control instruction and immediately stopping the rehabilitation exercise.

As a preferred item, the raw data preprocessing and calculating method of the joint movement angle data specifically includes:

extracting the original angle information RollL, RollH, Pitch L, Pitch H, YawL and YawH six integer data fields of each single six-axis acceleration sensor, and calculating to obtain the rotation angle data represented by a floating point:

Roll＝((RollH<<8)|RollL)/32768*180

Pitch＝((PitchH<<8)|PitchL)/32768*180

Yaw＝((YawH<<8)|YawL)/32768*180

in the formula: roll of the sensor is represented by Roll, Roll L represents the low byte of data Roll, Roll H represents the high byte of data Roll, Pitch represents the Pitch of the sensor, Pitch represents the low byte of data Pitch, Pitch represents the high byte of data Pitch, Yaw represents the Yaw angle of the sensor, yawL represents the low byte of data Yaw, yawH represents the high byte of data Yaw, "< <" "is left shift operation," | "is bitwise OR operation,"/"" represents division and multiplication respectively;

from the above data, three-dimensional coordinates can be further calculated:

x＝-sin(Yaw)*cos(Roll)

y＝cos(Yaw)*cos(Roll)

z＝sin(Roll)

the vector v is (x, y, z), and vectors v obtained by processing of six-axis acceleration sensors at the proximal end and the distal end are respectively marked as alpha and beta;

then it can be calculated by the vector angle calculation formula:

cos<α,β>＝α·β/|α|·|β|

<α,β>＝arc cos(α·β/|α|·|β|)

therefore, the included angle omega is alpha, beta, which is the calculated joint motion angle data;

the joint motion acceleration data original data preprocessing and calculating method specifically comprises the following steps:

extracting single axial data of a triaxial gyroscope in a six-axis acceleration sensor:

d_Pitch＝((d_PitchH<<8)|d_PitchL)/32768*180

in the formula: d_PitchFor angular acceleration in the y-axis direction expressed using floating-point numbers, d_PitchLRepresenting data d_PitchLow byte, d_PitchHRepresenting data d_PitchHigh byte of (2);

the synthesis of the accelerations adds linearly:

d_a＝d_Pitch1+d_Pitch2

wherein d is_Pitch1、d_Pitch2D obtained by processing respectively at the proximal end and the distal end_PitchValue d_aI.e. joint movement acceleration data.

Compared with the traditional judgment method, the joint rehabilitation motion monitoring and management system and the use method have the following characteristics:

1. the rehabilitation movement of the rehabilitation joint of the user is monitored through the six-axis acceleration sensor, and joint movement angle data, joint movement acceleration data, movement time data and movement frequency data can be obtained; the device is attached above the muscles of a user through a flexible film pressure sensor, the muscle tension data of the rehabilitation exercise of the rehabilitation joints of the user are monitored by utilizing the body surface pressure change during the muscle contraction, and the results of the rehabilitation exercise of the user are output through analysis and processing, so that whether the mode and the strength of the rehabilitation exercise are reasonable or not and the muscle coordination condition is evaluated, and the permanent dysfunction and the joint secondary damage are avoided through timely rehabilitation intervention;

2. the wireless transmission module can directly transmit data to the intelligent terminal, and doctors can objectively evaluate the rehabilitation condition of the joints of the users and make an individualized instruction scheme by utilizing a virtual display technology;

3. the activity state of the rehabilitation joint of the user can be monitored in real time, each measured data is compared with a set danger threshold value, and when the measured data is close to or exceeds the threshold value, an alarm is given out through a buzzer to remind the user to stop moving in time;

4. the data storage is realized, the reading and the analysis are convenient, the big data accumulation can be carried out, and the data support is provided for the improvement of clinical research and treatment schemes.

Drawings

FIG. 1 is a block diagram of the present invention;

FIG. 2 is a block diagram of a server;

FIG. 3 is a schematic structural view of an apparatus body in embodiment 1;

FIG. 4 is a rear view of FIG. 3;

FIG. 5 is a schematic flow chart of the system of example 1;

FIG. 6 is a schematic flow chart of the use of example 1.

In the figure: the device comprises a joint activity degree acquisition module 1, a muscle tension degree acquisition module 2, a motion state monitoring module 3, a wireless transmission module 4, a server 5 (wherein the joint activity degree data preprocessing module 51, the muscle tension degree data preprocessing module 52, a joint activity degree data operation module 53, a muscle tension degree data operation module 54, a motion state operation module 55, a motion state analysis module 56 and a user instruction control module 57), an intelligent terminal 6 and a device body 7.

Detailed Description

The invention is described in further detail below with reference to the following figures and examples, which should not be construed as limiting the invention.

As shown in fig. 1-2, the joint rehabilitation exercise monitoring and management system provided by the invention comprises a joint mobility acquisition module 1, a muscle tension acquisition module 2, an exercise state monitoring module 3, a wireless transmission module 4, a server 5, an intelligent terminal 6 and a device body 7; the joint motion degree acquisition module 1: the system is used for collecting the joint mobility data of a user; the muscle tension acquisition module 2: the device is used for collecting muscle tension data of a user; the motion state monitoring module 3: the device is used for collecting user motion time data and motion frequency data; the wireless transmission module 4: the device is used for data transmission among the motion degree acquisition module 1, the muscle tension degree acquisition module 2, the motion state monitoring module 3 and the server 5; the server 5: the intelligent terminal is used for analyzing and processing the collected joint activity data, muscle tension data, movement time data and movement frequency data, outputting the result of rehabilitation movement of the user, transmitting all data and results to the intelligent terminal 6 and receiving a control instruction of the intelligent terminal 6; the intelligent terminal 6: the server is used for receiving and displaying data collected by the server 5 and output results, and sending a control instruction of a user to the server 5; the apparatus body 7: the device is used for bearing the joint activity degree acquisition module 1, the muscle tension degree acquisition module 2, the motion state monitoring module 3 and the wireless transmission module 4 and is tightly attached to the rehabilitation joint of a user. The intelligent terminal is characterized in that a buzzer 8 is arranged on the device body 7, the buzzer 8 is electrically connected with the server 5, and the intelligent terminal 6 starts the buzzer 8 through the server 5 by sending an alarm control instruction.

The server 5 comprises a joint activity degree data preprocessing module 51, a muscle tension degree data preprocessing module 52, a joint activity degree data operation module 53, a muscle tension degree data operation module 54, a motion state operation module 55, a motion state analysis module 56 and a user instruction control module 57: the joint activity degree data preprocessing module 51 and the muscle tension degree data preprocessing module 52 are respectively used for preprocessing joint activity degree original data and muscle tension degree original data; the joint activity degree data operation module 53 and the muscle tension degree data operation module 54 are respectively used for calculating joint activity degree data and muscle tension degree data and obtaining calculation results of the joint activity degree data and the muscle tension degree data; the motion state operation module 55 is configured to calculate a calculation result of the motion time data and the motion frequency data according to the motion time raw data and the motion frequency raw data; the motion state analysis module 56 is used for judging and outputting the result of the rehabilitation motion of the user; the user instruction control module 57 is configured to receive a user control instruction sent by the intelligent terminal 6, and send a result of the rehabilitation exercise of the user to the intelligent terminal 6.

step 1: collecting joint activity data, muscle tension data, movement time data and movement frequency data of a user during rehabilitation movement of the user; the joint motion degree data comprises joint motion angle data and joint motion acceleration data, and the collection method of the joint motion angle data comprises the following steps: the joint activity degree acquisition module 1 acquires three-dimensional angle information through two groups of six-axis acceleration sensors fixed at the proximal end and the distal end of a joint limb, performs original data preprocessing through a joint activity degree data preprocessing module 51, and calculates through a joint activity degree data operation module 53 to obtain joint motion angle data; the method for acquiring the joint motion acceleration data comprises the following steps: the joint activity degree acquisition module 1 acquires original gyroscope information through two groups of six-axis acceleration sensors fixed at the proximal end and the distal end of a joint limb, performs original data preprocessing through a joint activity degree data preprocessing module 51, and calculates through a joint activity degree data operation module 53 to obtain joint motion acceleration data. The muscle tension data acquisition method comprises the following steps: the joint motion degree acquisition module 1 acquires body surface pressure original data of a plurality of body surface parts through flexible film pressure sensors fixed at acupuncture points near joints, performs original data preprocessing through a muscle tension degree data preprocessing module 52, and calculates through a muscle tension degree data operation module 54 to obtain muscle tension degree data. The method for acquiring the motion time data and the motion frequency data comprises the following steps: the motion state monitoring module 3 obtains the static acceleration original data through two groups of six-axis acceleration sensors fixed at the proximal end and the distal end of the joint limb, and obtains the motion time data and the motion frequency data through calculation of the motion state operation module 55.

The method for preprocessing and calculating the original data of the joint motion angle data comprises the following steps:

Roll＝((RollH<<8)|RollL)/32768*180

Pitch＝((PitchH<<8)|PitchL)/32768*180

Yaw＝((YawH<<8)|YawL)/32768*180

from the above data, three-dimensional coordinates can be further calculated:

x＝-sin(Yaw)*cos(Roll)

y＝cos(Yaw)*cos(Roll)

z＝sin(Roll)

then it can be calculated by the vector angle calculation formula:

cos<α,β>＝α·β/|α|·|β|

<α,β>＝arc cos(α·β/|α|·|β|)

d_Pitch＝((d_PitchH<<8)|d_PitchL)/32768*180

the synthesis of the accelerations adds linearly:

d_a＝d_Pitch1+d_Pitch2

the standard data acquisition method comprises the following steps:

The standard data comparison method comprises the following steps:

in the step 3, the suggestion of the rehabilitation exercise is as follows:

In actual use, the invention comprises the following steps:

the motion time data is the accumulated time from the beginning of sampling to the current moment when the motion amplitude of the joint of the user exceeds a certain threshold, and the calculation method comprises the following steps:

setting the amplitude M of the articulation of a motion threshold_threshBefore use, the average value of the measured acceleration is taken by calibration measurement, namely standing for a period of time, and is used as a standard value A when the vehicle is at rest, and the following calculation is carried out:

dt＝(t_n–t_n-1)/1000

T_n＝T_n-1+ε(|a_n–A|-M_thresh)*dt

where ε (x) is a step function, t_nRepresenting the sampling time of the sensor at the nth measurement, a_nFor the current acceleration value, T, obtained by acquiring and processing data for the nth time_nThe motion time data is obtained by statistics in the nth measurement;

the acquisition method of the motion frequency data comprises the following steps: the motion state monitoring module (3) acquires original data axH, axL, ayH, ayL, azH and azL of three-axis acceleration through two groups of six-axis acceleration sensors fixed at the proximal end and the distal end of the joint limb, and the acceleration ax, ay and az in three axial directions can be obtained through processing:

ax＝((axH<<8)|axL)/32768

ay＝((ayH<<8)|ayL)/32768

az＝((azH<<8)|azL)/32768

in the formula: ax denotes acceleration in the X axis, axL denotes a low byte of data ax, axH denotes a high byte of data ax, ay denotes acceleration in the Y axis, ayL denotes a low byte of data ay, ayH denotes a high byte of data ay, az denotes acceleration in the Z axis, azL denotes a low byte of data az, azH denotes a high byte of data az, "< <" is a left shift operation, "|" is a bitwise or operation, "/" "denotes division, multiplication, respectively;

from this, an acceleration value a can be calculated:

with time t as a horizontal axis and acceleration a as a vertical axis, a series of (t, a) are drawn into the coordinate system with the acceleration value a obtained by each calculation and the sampling time t obtained from the original data, and are expressed in a form of a broken line diagram, any two adjacent wave crests are selected, and the coordinate of the horizontal axis is t₁、t₂The instantaneous frequency of the motion can then be passed through 1/(t)₂-t₁) Obtaining an approximation;

taking a continuous time t, counting the number n of wave peaks in the time t, obtaining the average frequency of motion in the time through n/t, and adopting a sliding window algorithm, namely setting the current time as t_nowThe time window is T_winBy the above method, t is counted_now-T_winTo t_nowThe number n of the wave crests of the time can be obtained in real time_winMean frequency of internal motion n/T_win。

Angular acceleration can also be approximated from the joint motion angle data plus time data:

dω＝ω_n+1–ω_n

dt＝(t_n+1-t_n)/1000

dα＝dω/dt

wherein, ω is_nIndicates the joint angle t calculated by the data obtained by the nth measurement in the continuous measurement of the sensor_nThe timestamp field in the raw data of the nth measurement in the continuous measurement of the sensor is represented. An approximation d α of the instantaneous angular acceleration can be obtained by calculation.

Example 1:

referring to fig. 3 to 6, the structure of the device body 7 may be, but is not limited to: a motion monitoring device for limb joint rehabilitation is worn at a rehabilitation joint of a user and comprises a sheath, wherein the sheath is of a cylindrical structure, a positioning structure is arranged on the sheath, two position sensors and two pressure sensors are further arranged on the sheath, and the two position sensors are respectively vertically arranged right above and below the positioning structure; the sheath is provided with a positioning cavity, and the pressure sensor is movably arranged in the positioning cavity. The through hole is arranged in the center of the positioning structure, and the anti-slip pad is arranged around the through hole, so that the anti-slip pad is close to the skin of a user to increase friction when in use, and accurate positioning is ensured. The positioning cavity is provided with a plurality of positioning holes, the pressure sensor is provided with a positioning buckle, and the positioning buckle is arranged in the positioning hole. The location chamber is equipped with a plurality ofly, and pressure sensor also is equipped with a plurality ofly, and each pressure sensor arranges respectively in the location intracavity. The positioning cavities are respectively arranged at the upper part and the lower part of the sheath, so that the pressure sensor can be far away from the positioning structure as far as possible in use. The horizontal both ends of sheath are equipped with the magic subsides. When the positioning structure is used, the positioning structure is arranged on the outer side of the joint of a user, so that the position sensor is arranged on the limb of the user, and the relative displacement of the position sensor is large when the user moves. The pressure sensor is arranged at the acupuncture point around the joint of the user when in use. The position sensor is a six-axis acceleration sensor, and the activity of the joint of the user can be calculated by acquiring the coordinates of the limb mark points of the user in the space vector. The pressure sensor is a piezoresistive film sensor and is used for monitoring the muscle exertion condition of the limb when a user moves.

The position sensor is a six-axis acceleration sensor with a model BWT61CL, can monitor data such as joint movement angle data, joint movement acceleration data, movement time data and movement frequency data of a rehabilitation joint in real time, transmits the data through a wireless transmission module 4 arranged in the device body 7, and displays the data in a form of a visual image, and a software system can be installed on any intelligent terminal 6 according to needs.

The pressure sensor is a piezoresistive flexible film sensor with the model DT4-052K, can monitor muscle tension data of a rehabilitation joint in real time, is attached to acupuncture points on the periphery of a joint of a user through an elastic cylindrical structure of the sheath, and is more reasonable in positioning of muscle monitoring points due to the fact that the acupuncture points are covered with muscles, and the problems of inaccurate pressure measurement and the like caused by the fact that the pressure sensor is arranged on a skeleton of the user are avoided. When the user wears the device on the elbow joint, the pressure sensor can be arranged on acupuncture points such as an elbow liao, a Shousanli, a Tianjing acupuncture point, a Quchi acupuncture point and a Zhize acupuncture point, and if the user suffers from medial epicondylitis pain, the acupuncture points such as a Shaohai acupuncture point and a Quze acupuncture point can be selected; when the device is worn by the knee joint of a user, the pressure sensor can be arranged at the acupuncture points of the calf nose, the Yangguan point, the Ling quan point and the like. The pressure sensor can also play a role in massage and positioning when not in use, so that a user can conveniently press the massage device by himself, and the massage device is capable of dredging the channels and activating the collaterals, relaxing the muscles and stimulating the joints.

When the device is used, a user fixes the device body 7 at the proximal end and the distal end of the four-limb rehabilitation joint, and joint activity original data, muscle tension original data, motion time original data and motion frequency original data of the rehabilitation joint during rehabilitation motion are respectively collected through the joint activity acquisition module 1, the muscle tension acquisition module 2 and the motion state monitoring module 3; and transmits each raw data to the server 5 through the wireless transmission module 4. The server 5 compares the received original data with the exercise prescription database data, and when the original data reaches a threshold set by the exercise prescription, sends image, sound and vibration prompts to the intelligent terminal 6 to realize an action early warning function. The exercise prescription decomposes the standard exercise motions into parameters which can be monitored by the equipment, and the measured parameters are compared with preset dangerous motion thresholds so as to realize accurate early warning on an application program interface. The server 5 is provided with a data processing module, can send the motion prescription library action to the intelligent terminal 6, utilizes the virtual display picture for displaying, and provides guidance for the rehabilitation exercise training of the user. The server 5 receives the uploaded data and synchronizes the uploaded data to the medical care system, and medical care personnel can master the rehabilitation progress of the user through the collected data (mainly including the standard reaching rate, duration and training frequency of rehabilitation training actions) to manage the user. And the rehabilitation professional evaluates the rehabilitation exercise condition of the user according to the measurement data and accurately adjusts the rehabilitation scheme.

The wireless transmission module 4 can perform data transmission in various ways such as bluetooth, 4G, 5G, Wi-Fi, and the like.

The device body 7 is composed of six-axis acceleration sensor, gyroscope, piezoresistive flexible film sensor, hollow shell and magic tape.

The application program on the intelligent terminal 6 has multiple functions of data processing, virtual display, data recording, data synchronization, scheme display and the like. And after the data are visualized, sending a rehabilitation training result to the intelligent terminal 6 user through resynchronization, further exercising if the data reach a preset target, and adjusting a rehabilitation scheme after analyzing reasons if the data do not reach the standard.

After a user wears and fixes the device body 7, rehabilitation training activity training of rehabilitation joints is carried out, the joint activity data preprocessing module 51 and the muscle tension data preprocessing module 52 synchronously monitor joint activity original data, muscle tension original data, movement time original data and movement frequency original data, the obtained original data are transmitted to the server 5 for analysis and processing through the wireless transmission module 4 and then transmitted to an application program installed in the intelligent terminal 6 through the server 5, and the compiled program is converted into indexes such as joint activity, joint rotation angle, acceleration of shin movement, limb movement time and the like for evaluating the completion condition of a rehabilitation training plan. The calculated indexes are stored in the terminal and displayed in two forms of data and virtual display on the application program, the calculated indexes are simultaneously transmitted to the control background, the rehabilitation professionals in the background evaluate the limb function recovery condition, and personalized rehabilitation schemes are adjusted and formulated based on the scheme recommended by the background motion prescription library and are downloaded and displayed on the application program of the user terminal.

The virtual display interface function is realized in the following mode: and matching corresponding action parameters based on the rehabilitation scheme received by the application program, wherein the parameters are displayed on a virtual display interface of the user limb motion state in a light-colored dotted line form, and the user limb motion state is displayed in a colored animation form and is consistent with the data monitored by the wearable equipment. When the limb movement track of the user is consistent with the target, the application program interface gives an image and voice prompt to indicate that the exercise of the user reaches the standard. The speed and the frequency of the user rehabilitation exercise formulated by the rehabilitation scheme are synchronously displayed on the application program interface, any index reaches the standard and gives image and voice prompt, but the exercise is judged to be effective only on the basis that the joint activity degree and the speed and the frequency of the rehabilitation exercise reach the standard simultaneously, and the user side interface gives icon and voice prompt and counts simultaneously. When the counting is consistent with the times in the rehabilitation plan, the training can be finished. When the amplitude, the speed and the rotation angle of the joint movement of the user exceed the set threshold values, the application program gives a picture, a sound and a vibration prompt at the same time to prompt the user of action errors and stop practice. When the training is interrupted, the number of times of completed training is recorded, but when the next training is started, the original count is reset, and the previous count is synchronized to the management background by the application program, so that reference is provided for the rehabilitation professionals to adjust the rehabilitation plan. After the single training is finished, the application program interface gives suggestions for rehabilitation such as limb fixation recovery, ice compress in time and the like according to conditions. After the training plan on the day is completed, the user side gives encouragement prompts, meanwhile, the rehabilitation tips on the day are unlocked, and the understanding of the user on the rehabilitation plan is increased.

The medical care end management background receives and stores monitoring and rehabilitation data of a user, the rehabilitation standard-reaching condition, training duration and completion times of the user are presented to a management end in a statistical graph mode, a rehabilitation professional can check after logging in an account, when a lower-stage rehabilitation plan is made, the background matches a rehabilitation scheme with reference value according to a motion prescription library and user characteristics, the rehabilitation staff can complete the making of a new rehabilitation scheme after reviewing and adjusting item by item, extra suggestions of rehabilitation training, re-diagnosis and the like can be noted in a remark column and issued to an application program on a user terminal, and the application program converts the suggestions into a virtual display image to be displayed to guide the user to perform rehabilitation training. According to the flow, closed loops of rehabilitation assessment, target making, training monitoring, effect evaluation, scheme adjustment and rehabilitation training again can be formed.

The measurement principle of the sensor is as follows: coordinates of the limb mark points in the space vector are obtained through a six-axis acceleration sensor, and joint activity can be obtained according to a space vector calculation formula; the piezoresistive film sensor utilizes muscle contraction during rehabilitation training of a user, so that the sensor film attached to the equipment deforms, resistance change is generated, muscle activity is converted into an electric signal, whether muscle force of the user is correct or not is judged, when the healthy and affected side wears the sensor film, whether muscle force of the two sides of the user is consistent or not can be judged, the coordination condition of the muscles of the two sides of the user is further judged, and reference basis can be provided for evaluating the rehabilitation effect of the user through regular monitoring.

The invention depends on the technology of Internet of things, and can carry out intelligent linkage on links of measurement, transmission, recording, visualization, formulation and recommendation of rehabilitation motion parameters of the rehabilitation joints and the like. The personal rehabilitation condition of the user is comprehensively recorded, supervision, management and analysis unification are realized through big data analysis and sharing under informed consent, and a sport rehabilitation scheme with strong pertinence and good implementability is formulated.

The invention can effectively improve the monitoring accuracy of objective indexes (such as joint motion angle data, joint motion acceleration data, muscle tension data, motion time data and motion frequency data) in the motion rehabilitation process, avoid secondary damage of a user caused by improper activity, simultaneously enable a doctor to construct a personalized scheme according to personal activity data of the user, and provide data support for accumulation of big data in the motion rehabilitation direction, clinical research and improvement of a treatment scheme.

The invention is used for rehabilitation, remote management and guidance of the joints of the user, has simple and convenient operation, can record and wirelessly transmit the activity data of the rehabilitation joints, and can also carry out motion data management, remote diagnosis and guidance of the rehabilitation motions on the rehabilitation joints.

Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make various changes and modifications within the spirit and scope of the present invention without departing from the spirit and scope of the appended claims.

Claims

1. A joint rehabilitation motion monitoring management system is characterized in that: the device comprises a joint activity degree acquisition module (1), a muscle tension degree acquisition module (2), a motion state monitoring module (3), a wireless transmission module (4), a server (5), an intelligent terminal (6) and a device body (7);

the joint motion degree acquisition module (1): the system is used for collecting the joint mobility data of a user;

the muscle tension acquisition module (2): the device is used for collecting muscle tension data of a user;

the motion state monitoring module (3): the device is used for collecting user motion time data and motion frequency data;

the wireless transmission module (4): the device is used for data transmission among the motion degree acquisition module (1), the muscle tension degree acquisition module (2), the motion state monitoring module (3) and the server (5);

the server (5): the intelligent terminal is used for analyzing and processing the collected joint activity data, muscle tension data, movement time data and movement frequency data, outputting the result of the rehabilitation movement of the user, transmitting all data and results to the intelligent terminal (6) and receiving a control instruction of the intelligent terminal (6);

the intelligent terminal (6): the server is used for receiving and displaying data collected by the server (5) and output results, and sending a control instruction of a user to the server (5);

the device body (7): the device is used for bearing the joint activity degree acquisition module (1), the muscle tension degree acquisition module (2), the motion state monitoring module (3) and the wireless transmission module (4) and is tightly attached to the rehabilitation joint of a user.

2. The joint rehabilitation motion monitoring and management system according to claim 1, wherein: the intelligent alarm device is characterized in that a buzzer (8) is arranged on the device body (7), the buzzer (8) is electrically connected with the server (5), and the intelligent terminal (6) starts the buzzer (8) through the server (5) by sending an alarm control instruction.

3. The joint rehabilitation motion monitoring and management system according to claim 2, wherein: the server (5) comprises a joint activity degree data preprocessing module (51), a muscle tension degree data preprocessing module (52), a joint activity degree data operation module (53), a muscle tension degree data operation module (54), a motion state operation module (55), a motion state analysis module (56) and a user instruction control module (57):

the joint activity degree data preprocessing module (51) and the muscle tension degree data preprocessing module (52) are respectively used for preprocessing joint activity degree original data and muscle tension degree original data; the joint activity data operation module (53) and the muscle tension data operation module (54) are respectively used for calculating joint activity data and muscle tension data and obtaining calculation results of the joint activity data and the muscle tension data; the motion state operation module (55) is used for calculating the calculation results of the motion time data and the motion frequency data according to the motion time original data and the motion frequency original data; the motion state analysis module (56) is used for judging and outputting the result of the rehabilitation motion of the user; the user instruction control module (57) is used for receiving a user control instruction sent by the intelligent terminal (6) and sending a result of the rehabilitation exercise of the user to the intelligent terminal (6).

4. The use method of the joint rehabilitation motion monitoring and management system according to any one of claims 1-3, characterized in that: which comprises the following steps:

5. The use method of the joint rehabilitation exercise monitoring and management system according to claim 4, characterized in that: the joint motion data includes joint motion angle data and joint motion acceleration data,

the method for acquiring the joint movement angle data comprises the following steps: the joint motion degree acquisition module (1) acquires three-dimensional angle information through two groups of six-axis acceleration sensors fixed at the proximal end and the distal end of a joint limb, performs raw data preprocessing through a joint motion degree data preprocessing module (51), and calculates through a joint motion degree data operation module (53) to obtain joint motion angle data;

the method for acquiring the joint motion acceleration data comprises the following steps: the joint activity degree acquisition module (1) acquires original gyroscope information through two groups of six-axis acceleration sensors fixed at the proximal end and the distal end of a joint limb, original data preprocessing is performed through a joint activity degree data preprocessing module (51), and joint motion acceleration data are obtained through calculation of a joint activity degree data operation module (53).

6. The use method of the joint rehabilitation exercise monitoring and management system according to claim 5, characterized in that: the muscle tension data acquisition method comprises the following steps: the joint motion degree acquisition module (1) acquires body surface pressure original data of a plurality of body surface parts through flexible film pressure sensors fixed on acupuncture points near joints, performs original data preprocessing through a muscle tension degree data preprocessing module (52), and calculates through a muscle tension degree data operation module (54) to obtain muscle tension degree data.

7. The use method of the joint rehabilitation exercise monitoring and management system according to claim 5, characterized in that: the method for acquiring the motion time data and the motion frequency data comprises the following steps: the motion state monitoring module (3) obtains static acceleration original data through two groups of six-axis acceleration sensors fixed at the proximal end and the distal end of the joint limb, and obtains motion time data and motion frequency data through calculation of the motion state operation module (55).

8. The use method of the joint rehabilitation exercise monitoring and management system according to claim 6 or 7, characterized in that: the method for acquiring the standard data in the step 3 comprises the following steps:

9. The use method of the joint rehabilitation exercise monitoring and management system according to claim 8, wherein: the comparison method of the standard data in the step 3 comprises the following steps:

in the step 3, the suggestion of the rehabilitation exercise is as follows:

10. The use method of the joint rehabilitation exercise monitoring and management system according to claim 9, wherein:

extracting the original angle information RollL, RollH, Pitch L, Pitch H, YawL and YawH six integer data fields of each single six-axis acceleration sensor, and calculating the rotation angle data represented by a floating point:

Roll＝((RollH<<8)|RollL)/32768*180

Pitch＝((PitchH<<8)|PitchL)/32768*180

Yaw＝((YawH<<8)|YawL)/32768*180

three-dimensional coordinates are further calculated from the data:

x＝-sin(Yaw)*cos(Roll)

y＝cos(Yaw)*cos(Roll)

z＝sin(Roll)

calculated by the vector included angle calculation formula:

cos<α,β>＝α·β/|α|·|β|

<α,β>＝arc cos(α·β/|α|·|β|)

calculating to obtain an included angle omega which is alpha and beta, namely the calculated joint motion angle data;

d_Pitch＝((d_PitchH<<8)|d_PitchL)/32768*180

the synthesis of the accelerations adds linearly:

d_a＝d_Pitch1+d_Pitch2