CN114081474A - Spine dynamic mobility intelligent measurement system and measurement method thereof - Google Patents
Spine dynamic mobility intelligent measurement system and measurement method thereof Download PDFInfo
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Abstract
The invention discloses an intelligent measuring system and a measuring method for dynamic mobility of a spine, which are exquisite, convenient and fast to detect, high in accuracy, reliability and repeatability, convenient for testees and testees to widely accept, and better popularized and applied clinically. According to the physiological structure and the movement characteristics of the spine, a set of multifunctional measuring system for the dynamic activity of the spine is constructed by arranging, combining and integrating three independent gyroscope sensors and 9 groups of dynamic real-time monitoring data, is used for measuring the activity of the cervical vertebra, the activity of the lumbar vertebra, the auxiliary primary screening of the lateral curvature of the spine and the elevation of straight legs for testing angles, and meets the requirements of various activity measurement in the field of spinal surgery.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to an intelligent measuring system for dynamic activity of a spine.
Background
With the continuous development of spinal surgery, the detection of the mobility of each part of the spine is more and more emphasized in the diagnosis, treatment and rehabilitation process of spinal surgery diseases. The detection of the mobility of the spine is commonly used for preliminary screening, auxiliary diagnosis, functional judgment, postoperative assessment and rehabilitation assistance of spinal diseases.
At present, the measurement scheme aiming at the mobility of the spine mainly comprises a dynamic position X-ray film, dynamic MRI, mechanical measurement, optical detection, virtual scene detection and the like. However, the current detection devices and detection schemes have certain limitations and obvious defects: 1. imaging detection (X-ray and MRI) has large radiation, high cost and long waiting time for detection; 2. the optical detection process is complex, the erection process of equipment to be detected is complex, and the error is large; 3. the virtual scene detection equipment has the advantages of complex structure, high manufacturing cost, unfriendly wearing and complex subsequent analysis.
Disclosure of Invention
The invention aims to provide a spine dynamic activity degree intelligent measuring system and a measuring method thereof, which are exquisite, convenient and fast to detect, high in accuracy, strong in reliability and high in repeatability, aim at overcoming the defects and limitations of the existing measuring technology and measuring scheme, are convenient for a testee and a subject to widely accept, and are better popularized and applied clinically.
In order to achieve the purpose, the invention provides the following technical scheme: the intelligent measuring system for the dynamic activity of the spine comprises portable intelligent measuring equipment and a control display terminal;
the portable intelligent measuring equipment comprises a charging storage box, first measuring main equipment, second measuring main equipment, measuring reference equipment, an auxiliary wrist strap and an auxiliary clamp;
the upper end of the charging storage box is provided with a flip cover, the lower end of the charging storage box is provided with a USB charging port, and three containing charging grooves are formed in the charging storage box and are respectively used for containing first measuring main equipment, second measuring main equipment and measuring reference equipment and charging the first measuring main equipment, the second measuring main equipment and the measuring reference equipment when the charging storage box is idle;
the first measurement main equipment and the second measurement main equipment are earphone appearance measurement elements matched with the left ear and the right ear respectively; the earphone appearance measuring element consists of a head part, a body part and a bottom part, wherein the appearance of the head part is an oval resin structure matched with an ear hole, and an integrated circuit mainboard is arranged inside the head part; the integrated circuit mainboard is provided with a gyroscope sensor, an ATmega32 microprocessor, a CH340 communication chip, a Bluetooth module, an onboard Bluetooth antenna and a power supply control chip; the body part is cylindrical, and a power supply is arranged inside the body part; the bottom is a final structure of a cylindrical body part and is a contact type charging port matched with the accommodating type charging groove;
the measuring reference equipment is of an ellipse-like structure and comprises a head part, a body part and a bottom part, wherein the head part is of a round-like resin structure, and an integrated circuit mainboard is arranged inside the head part; the integrated circuit mainboard is provided with a gyroscope sensor, an ATmega32 microprocessor, a CH340 communication chip, a Bluetooth module, an onboard Bluetooth antenna and a power supply control chip; the body part is cylindrical, and a power supply is arranged inside the body part; the bottom is a final structure of a cylindrical body part and is a contact type charging port matched with the accommodating type charging groove;
the auxiliary wrists are 2 wide wristbands which are internally provided with elastic bands, and each wide wristband is provided with a fixing device for fixing the first main measurement equipment and/or the second main measurement equipment;
the auxiliary clamp is a resin clamp with a tail end fixing hole, and the fixing hole is matched with the measurement reference equipment and used for fixing the measurement reference equipment.
The gyroscope sensor is a core detection part of a measurement element and is used for dynamically detecting three-dimensional attitude and orientation data and transmitting the data to a control display terminal (an APP (application) of a mobile phone terminal or a control program of a PC (personal computer) terminal) in real time through a communication chip/Bluetooth module;
and the control display terminal receives the three-dimensional attitude and orientation data in real time through the communication chip/Bluetooth module, performs data integration calculation according to the measurement mode selected by the control terminal, and outputs and displays the data.
Further, the control display terminal is a mobile phone terminal for loading the APP or a PC terminal for installing the control program.
Furthermore, the mode of real-time data transmission can select an APP connected with the mobile phone terminal in a Bluetooth mode or a control program connected with the PC terminal in a WiFi mode according to actual scene requirements.
Further, the lining of the auxiliary clamp is made of memory cotton. The wearing comfort and the fixity are integrated.
Further, the gyroscope sensor is a three-axis gyroscope, a six-axis gyroscope or a nine-axis gyroscope.
The invention also provides an intelligent measuring method of the dynamic activity of the spine, and orientation change data measured by the gyroscope sensor are classified into an X-axis roll angle alpha, a Y-axis pitch angle beta and a Z-axis yaw angle gamma;
the first measurement master device, the second measurement master device and the measurement reference device are collectively called as measurement devices;
based on a single measuring device and an X-axis roll angle alpha, the display terminal is controlled to judge whether alpha is more than or equal to 0, and if alpha is more than or equal to 0, the alpha is defined as alpha1And alpha is defined as alpha if alpha < 02Taking the continuously measured alpha1The maximum value in the left side bending is output as the final measurement angle, and the continuously measured alpha is taken2The absolute value of the minimum value in (1) is output as a right-side bending final measurement angle; the real-time data measured by the first measurement master device, the second measurement master device and the measurement reference device are respectively defined as alpha1L、α2L、α1R、α2R、α1B、α2B；
Based on a single measuring device and Y-axis pitch angle beta, the display terminal is controlled to judge whether beta is larger than or equal to 0, and if beta is larger than or equal to 0, the beta is defined as beta1And beta is defined as beta if beta < 02Taking continuously measured beta1The maximum value in the process is output as the final measurement angle of the anteflexion, and continuously measured beta is taken2The absolute value of the minimum value is output as a final backward-extending measurement angle; the real-time data measured by the first measurement master device, the second measurement master device and the measurement reference device are respectively defined as beta1L、β2L、β1R、β2R、β1B、β2B；
Based on a single measuring device and the Z-axis yaw angle gamma, the display terminal is controlled to judge whether gamma is larger than or equal to 0, and if gamma is larger than or equal to 0, the gamma is defined as gamma1And if gamma < 0, gamma is defined as2Taking the continuously measured gamma1The maximum value of the left-handed rotation is output as a final left-handed rotation measurement angle, and continuously measured gamma is taken2The absolute value of the minimum value is output as a right-hand final measurement angle; the real-time data measured by the first measurement master device, the second measurement master device and the measurement reference device are respectively defined as gamma1L、γ2L、γ1R、γ2R、γ1B、γ2B；
The control display terminal receives the three-dimensional attitude and orientation data in real time through the communication chip/Bluetooth module, performs data integration calculation according to the measurement mode selected by the control terminal, and outputs and displays the data;
the measuring mode comprises cervical vertebra mobility measurement, lumbar vertebra mobility measurement, auxiliary primary screening of scoliosis and straight leg elevation test angle measurement.
Further, when the measurement mode is selected as cervical vertebra mobility measurement, the first main measurement device and the second main measurement device are respectively worn on the left ear and the right ear, and the reference measurement device is fixed on the auxiliary clamp and is respectively worn on the waist and the back;
the X-axis roll angle of the control display terminal is defined as A ═ alpha1L+α1R)－α1BIs used for judging whether A is more than or equal to 0 or not, and is defined as A if A is more than or equal to 01If A < 0, defined as A2Taking continuously measured A1The maximum value in the (A) is output as the left side bending final measurement angle, and continuously measured A is taken2Minimum value ofThe absolute value of (1) is output as the final measurement angle of the right side deflection;
the Y-axis pitch angle of the control display terminal is defined as (β ═ B1L+β1R)－β1BIs used for judging whether B is more than or equal to 0 or not, and if B is more than or equal to 0, the B is defined as B1If B < 0, it is defined as B2Taking continuously measured B1The maximum value in the process is output as the final measurement angle of the anteflexion, and continuously measured B is taken2The absolute value of the minimum value is output as a final backward-extending measurement angle;
the Z-axis yaw angle of the control display terminal is defined as Y ═ Y (gamma)1L+γ1R)－γ1BIs used for judging whether Y is more than or equal to 0 or not, and is defined as Y if Y is more than or equal to 01And Y is defined as Y if Y < 02Taking the continuously measured Y1The maximum value of the left-handed rotation is output as a final left-handed measurement angle, and continuously measured Y is taken2The absolute value of the minimum value in (1) is output as the right-hand final measurement angle.
Further, when the measurement mode is selected as lumbar mobility measurement, the first measurement main device and the second measurement main device are fixed on the auxiliary wristbands one by one and are respectively worn on the left wrist and the right wrist, the two hands are used for forking the waist during measurement, and the measurement reference device is fixed on the auxiliary clamp and clamped on the ankle on one side;
the X-axis roll angle of the control display terminal is defined as A ═ alpha1L+α1R)－α1BIs used for judging whether A is more than or equal to 0 or not, and is defined as A if A is more than or equal to 01If A < 0, defined as A2Taking continuously measured A1The maximum value in the (A) is output as the left side bending final measurement angle, and continuously measured A is taken2The absolute value of the minimum value in (1) is output as a right-side bending final measurement angle;
the Y-axis pitch angle of the control display terminal is defined as (β ═ B1L+β1R)－β1BIs used for judging whether B is more than or equal to 0 or not, and if B is more than or equal to 0, the B is defined as B1If B < 0, it is defined as B2Taking continuously measured B1The maximum value in the process is output as the final measurement angle of the anteflexion, and continuously measured B is taken2Minimum value ofThe absolute value of (1) is output as the final backward-extending measurement angle;
the Z-axis yaw angle of the control display terminal is defined as Y ═ Y (gamma)1L+γ1R)－γ1BIs used for judging whether Y is more than or equal to 0 or not, and is defined as Y if Y is more than or equal to 01And Y is defined as Y if Y < 02Taking the continuously measured Y1The maximum value of the left-handed rotation is output as a final left-handed measurement angle, and continuously measured Y is taken2The absolute value of the minimum value in (1) is output as the right-hand final measurement angle.
Further, when the measurement mode is selected as the scoliosis auxiliary primary screening, the first measurement main device and the second measurement main device are fixed on the auxiliary wristbands in a one-to-one manner and are respectively worn on the left wrist and the right wrist, and the measurement reference device is fixed on the auxiliary clamp and clamped on the ankle on one side;
the X-axis roll angle of the control display terminal is defined as AL＝αL－αB，AR＝αR－αB(ii) a The Y-axis pitch angle of the control display terminal is defined as BL＝βL－βB，BR＝βR－βB(ii) a The Z-axis yaw angle of the control display terminal is defined as YL＝γL－γB，YR＝γR－γB(ii) a Definition AL、AR、BL、BR、YL、YRThe six groups of data measured and calculated in real time are presented as real-time dynamic curve changes; each set of L, R data, curves were match-fit and dynamic symmetry judged by an ATmega32 microprocessor for further dynamic symmetry judgment analysis.
Further, when the measurement mode is selected as the measurement of the straight leg lifting test angle, the first measurement main device or the second measurement main device is fixed on the auxiliary wristband, worn on the wrist on one side and placed on the trunk on the same side, and the measurement reference device is fixed on the auxiliary clamp and clamped on the ankle on the same side;
the Y-axis pitch angle of the control display terminal is defined as B ═ betaB－(βLOr betaR) (ii) a B real-time measurementThe calculated data is presented as real-time dynamic curve change, and the output is defined as an elevation angle; the X-axis roll angle of the control display terminal is defined as A ═ alphaB－(αLOr alphaR) (ii) a A real-time measured and calculated data is presented as real-time dynamic curve change and is used for judging whether A is more than or equal to 0, and if A is more than or equal to 0, A is defined as1The output is defined as the abduction angle, if A < 0, it is defined as A2The output is defined as the adduction angle.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
1. this design is according to backbone physiological structure and motion characteristics, through adopting three independent gyroscope sensor, 9 groups dynamic real-time supervision data to arrange the combination and integrate the calculation, constructs the measurement system of one set of multi-functional backbone dynamic activity degree for the experimental angle measurement is raised to cervical vertebra activity degree measurement, lumbar vertebrae activity degree measurement, supplementary primary screen of scoliosis and straight leg, satisfies the various activity degree measuring demands in backbone surgery field.
2. The measuring equipment is light and handy, convenient to carry and simple and convenient in measuring process, visual interference and load influence on a measuring object are reduced to the greatest extent in the whole detection process of wearing the measuring equipment, and dynamic spinal motion data under the normal motion state of a human body are convenient to acquire.
3. This design adopts "two calibration" settings: 01. self static zero clearing calibration is carried out before measurement of a single device, relative position change of a gyroscope relative to the ground is adjusted, and an excessive 'righting' process of wearing the device is reduced; 02. according to the local activity characteristics of the spine measurement part, through the mutual combination and integrated calculation of the two measurement main devices and the measurement reference device, the micromotion influence of other non-measurement parts of the human body is eliminated in the dynamic measurement process, and the dynamic calibration is realized. The 'double calibration' arrangement can improve the measurement accuracy and the user experience by the mutual cooperation of the sensors without interfering, influencing or limiting the normal free movement of the measurement object.
4. The design adopts the data of the dynamic activity of the spine and the change of the real-time graph line to judge the abnormal spine activity mode so as to judge the abnormality of the spine structure and provide a safe and objective judgment scheme and judgment standard for the preliminary screening and diagnosis of structural abnormal diseases such as scoliosis and the like.
Drawings
Fig. 1 is a schematic structural diagram of a portable intelligent measuring device.
Fig. 2 is an application diagram of the measurement of the activity of the cervical vertebrae.
Fig. 3 shows the headset wearing mode (bottom up).
Fig. 4 is a schematic view of the application of lumbar mobility measurement.
Fig. 5 is a schematic diagram of the application of the scoliosis assisted prescreening.
Fig. 6 is a schematic diagram of the application of the angle measurement of the straight leg elevation test.
Fig. 7 is a schematic view of the interface for measuring the activity of cervical vertebrae.
Fig. 8 is a schematic view of a lumbar mobility measurement interface.
FIG. 9 is a schematic view of the secondary prescreening interface for scoliosis.
Fig. 10 is a schematic view of the straight leg elevation test angle measurement.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, which are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The intelligent measuring system for the dynamic activity of the spine comprises portable intelligent measuring equipment and a control display terminal.
As shown in fig. 1, the portable intelligent measuring device includes a charging storage box 1, a first measuring main device 2, a second measuring main device 3, a measuring reference device 4, an auxiliary wrist strap, and an auxiliary clip. The lining of the auxiliary clamp is made of memory cotton.
The upper end of the charging storage box 1 is a cover of a flip type, the lower end of the charging storage box is provided with a USB charging port, three accommodating type charging grooves are formed in the charging storage box, and the three accommodating type charging grooves are used for accommodating a first measuring main device 2, a second measuring main device 3 and a measuring reference device 4 respectively and are used for charging the first measuring main device 2, the second measuring main device 3 and the measuring reference device 4 when the charging storage box is idle.
The first measurement master 2 and the second measurement master 3 are headphone shape measurement elements that match the left ear and the right ear, respectively. The earphone appearance measuring element comprises a head, a body and a bottom, wherein the appearance of the head is an oval resin structure matched with an ear hole, and an integrated circuit mainboard is arranged inside the head. The integrated circuit mainboard is provided with a gyroscope sensor, an ATmega32 microprocessor, a CH340 communication chip, a Bluetooth module, an onboard Bluetooth antenna and a power control chip. The body part is in a cylindrical shape, and a power supply is arranged inside the body part. The bottom is the final structure of the cylindrical body and is a contact charging port matched with the accommodating charging slot.
The measuring reference device 4 is of an ellipse-like structure and comprises a head part, a body part and a bottom part, wherein the head part is of a round-like resin structure, and an integrated circuit mainboard is arranged inside the head part. The integrated circuit mainboard is provided with a gyroscope sensor, an ATmega32 microprocessor, a CH340 communication chip, a Bluetooth module, an onboard Bluetooth antenna and a power control chip. The body part is in a cylindrical shape, and a power supply is arranged inside the body part. The bottom is the final structure of the cylindrical body and is a contact charging port matched with the accommodating charging slot. The gyroscope sensor adopts a three-axis gyroscope, a six-axis gyroscope or a nine-axis gyroscope.
The auxiliary wrists are 2 wide wristbands which are internally provided with elastic bands, and each wide wristband is provided with a fixing device used for fixing the first measuring main device 2 and/or the second measuring main device 3.
The auxiliary clamp is a resin clamp with a tail end fixing hole, and the fixing hole is matched with the measuring reference device 4 and used for fixing the measuring reference device 4.
The gyroscope sensor is used for dynamically detecting three-dimensional attitude and azimuth data and transmitting the data to the control display terminal in real time through the communication chip/Bluetooth module;
and the control display terminal receives the three-dimensional attitude and orientation data in real time through the communication chip/Bluetooth module, performs data integration calculation according to the measurement mode selected by the control terminal, and outputs and displays the data. The control display terminal is a mobile phone terminal for loading an APP or a PC terminal for installing a control program. The mode of real-time data transmission can select an APP with a Bluetooth mode connected with the mobile phone terminal or a control program with a WiFi mode connected with the PC terminal according to actual scene requirements.
The gyroscope sensor adopts a three-axis gyroscope, a six-axis gyroscope or a nine-axis gyroscope. The azimuth change data measured by the gyroscope sensor are classified into an X-axis roll angle alpha, a Y-axis pitch angle beta and a Z-axis yaw angle gamma;
the first measurement master device, the second measurement master device and the measurement reference device are collectively called as measurement devices;
based on a single measuring device and an X-axis roll angle alpha, the display terminal is controlled to judge whether alpha is more than or equal to 0, and if alpha is more than or equal to 0, the alpha is defined as alpha1And alpha is defined as alpha if alpha < 02Taking the continuously measured alpha1The maximum value in the left side bending is output as the final measurement angle, and the continuously measured alpha is taken2The absolute value of the minimum value in (1) is output as a right-side bending final measurement angle; the real-time data measured by the first measurement master device, the second measurement master device and the measurement reference device are respectively defined as alpha1L、α2L、α1R、α2R、α1B、α2B；
Based on a single measuring device and Y-axis pitch angle beta, the display terminal is controlled to judge whether beta is larger than or equal to 0, and if beta is larger than or equal to 0, the beta is defined as beta1And beta is defined as beta if beta < 02Taking continuously measured beta1The maximum value in the process is output as the final measurement angle of the anteflexion, and continuously measured beta is taken2The absolute value of the minimum value is output as a final backward-extending measurement angle; the real-time data measured by the first measurement master device, the second measurement master device and the measurement reference device are respectively defined as beta1L、β2L、β1R、β2R、β1B、β2B；
Based on a single measuring device and the Z-axis yaw angle gamma, the display terminal is controlled to judge whether gamma is larger than or equal to 0, and if gamma is larger than or equal to 0, the gamma is defined as gamma1And if gamma < 0, gamma is defined as2Taking the continuously measured gamma1The maximum value of the left-handed rotation is output as a final left-handed rotation measurement angle, and continuously measured gamma is taken2The absolute value of the minimum value is output as a right-hand final measurement angle; the real-time data measured by the first measurement master device, the second measurement master device and the measurement reference device are respectively defined as gamma1L、γ2L、γ1R、γ2R、γ1B、γ2B；
The control display terminal receives the three-dimensional attitude and orientation data in real time through the communication chip/Bluetooth module, performs data integration calculation according to the measurement mode selected by the control terminal, and outputs and displays the data;
the measuring mode comprises cervical vertebra mobility measurement, lumbar vertebra mobility measurement, auxiliary primary screening of scoliosis and straight leg elevation test angle measurement.
As shown in fig. 2 and 3, when the measurement mode is selected as cervical vertebra mobility measurement, the first measurement main device and the second measurement main device are respectively worn on the left ear and the right ear before the test, and the measurement reference device is fixed on the auxiliary clamp and is respectively worn on the waist and the back; the X-axis roll angle of the control display terminal is defined as A ═ alpha1L+α1R)－α1BIs used for judging whether A is more than or equal to 0 or not, and is defined as A if A is more than or equal to 01If A < 0, defined as A2Taking continuously measured A1The maximum value in the (A) is output as the left side bending final measurement angle, and continuously measured A is taken2The absolute value of the minimum value in (1) is output as a right-side bending final measurement angle; the Y-axis pitch angle of the control display terminal is defined as (β ═ B1L+β1R)－β1BIs used for judging whether B is more than or equal to 0 or not, and if B is more than or equal to 0, the B is defined as B1If B < 0, it is defined as B2Taking continuously measured B1The maximum value in the process is output as the final measurement angle of the anteflexion, and continuous measurement is takenMeasured to B2The absolute value of the minimum value is output as a final backward-extending measurement angle; the Z-axis yaw angle of the control display terminal is defined as Y ═ Y (gamma)1L+γ1R)－γ1BIs used for judging whether Y is more than or equal to 0 or not, and is defined as Y if Y is more than or equal to 01And Y is defined as Y if Y < 02Taking the continuously measured Y1The maximum value of the left-handed rotation is output as a final left-handed measurement angle, and continuously measured Y is taken2The absolute value of the minimum value in (1) is output as the right-hand final measurement angle.
And starting a switch on the measuring equipment when the test is started, and controlling the display terminal through wireless/Bluetooth connection. The examinee is ordered to raise the head vertically and close the lower jaw horizontally, the examiner presses the zero clearing calibration on the control terminal, and the terminal automatically establishes the relative neutral position (the real-time measurement data of each dimension of the 3 measurement devices is cleared). At the beginning of the measurement, the testee dictated and acted synchronously to guide the testee to do head movements in six directions of head lowering, head raising, left side bending, right side bending, left rotation and right rotation in turn (to reach the maximum movement limit during natural movement). And controlling the display terminal to display the head virtual space position change and the angle change in real time. After the measurement is completed, the "end key" is pressed, and the final measurement data in the six directions is finally displayed as shown in fig. 7. When the subject measures again, the zero clearing calibration is pressed, the neutral position is reestablished, the data is immediately cleared, and the measurement is restarted. After the test is finished, data review and result extraction are carried out through data review keys (forward and backward).
As shown in fig. 4, when the measurement mode is selected as lumbar motion measurement, the first measurement master device and the second measurement master device are fixed on the auxiliary wristbands one by one and respectively worn on the left and right wrists, and the measurement reference device is fixed on the auxiliary clamp and clamped on the ankle on one side. The X-axis roll angle of the control display terminal is defined as A ═ alpha1L+α1R)－α1BIs used for judging whether A is more than or equal to 0 or not, and is defined as A if A is more than or equal to 01If A < 0, defined as A2Taking continuously measured A1The maximum value in the (A) is output as the left side bending final measurement angle, and continuously measured A is taken2The absolute value of the minimum value in (1) is output as a right-side bending final measurement angle;
the Y-axis pitch angle of the control display terminal is defined as (β ═ B1L+β1R)－β1BIs used for judging whether B is more than or equal to 0 or not, and if B is more than or equal to 0, the B is defined as B1If B < 0, it is defined as B2Taking continuously measured B1The maximum value in the process is output as the final measurement angle of the anteflexion, and continuously measured B is taken2The absolute value of the minimum value is output as a final backward-extending measurement angle;
the Z-axis yaw angle of the control display terminal is defined as Y ═ Y (gamma)1L+γ1R)－γ1BIs used for judging whether Y is more than or equal to 0 or not, and is defined as Y if Y is more than or equal to 01And Y is defined as Y if Y < 02Taking the continuously measured Y1The maximum value of the left-handed rotation is output as a final left-handed measurement angle, and continuously measured Y is taken2The absolute value of the minimum value in (1) is output as the right-hand final measurement angle.
And starting a switch on the measuring equipment when the test is started, and controlling the display terminal through wireless/Bluetooth connection. The examinee is ordered to raise the head vertically and close the lower jaw horizontally, the examiner presses the zero clearing calibration on the control terminal, and the terminal automatically establishes the relative neutral position (the real-time measurement data of each dimension of the 3 measurement devices is cleared). When the measurement is started, the testee dictates and synchronously moves to guide the testee to do waist movement in six directions of bending down, bending backwards, bending left, bending right, rotating left and rotating right in turn (the maximum movement limit when the natural movement is reached). The control display terminal displays the position change and the angle change of the virtual space of the body in real time, and the final display is as shown in fig. 8. After the measurement is finished, an end key is pressed, and the final measurement data in the six directions are finally displayed. When the subject measures again, the zero clearing calibration is pressed, the neutral position is reestablished, the data is immediately cleared, and the measurement is restarted. After the test is finished, data review and result extraction are carried out through data review keys (forward and backward).
As shown in fig. 5, when the measurement mode is selected as the scoliosis auxiliary primary screening, the first measurement main device and the second measurement main device are respectively fixed on the corresponding auxiliary wrist bandsThe measuring reference equipment is fixed on the auxiliary clamp and clamped on the ankle at one side; the X-axis roll angle of the control display terminal is defined as AL＝αL－αB，AR＝αR－αB(ii) a The Y-axis pitch angle of the control display terminal is defined as BL＝βL－βB，BR＝βR－βB(ii) a The Z-axis yaw angle of the control display terminal is defined as YL＝γL－γB，YR＝γR－γB(ii) a Definition AL、AR、BL、BR、YL、YRThe six groups of data measured and calculated in real time are presented as real-time dynamic curve changes; each set of L, R data was output in the form of a curve for subsequent further dynamic symmetry analysis.
And starting a switch on the measuring equipment when the test is started, and controlling the display terminal through wireless/Bluetooth connection. The examinee is ordered to raise the head vertically and close the lower jaw horizontally, the examiner presses the zero clearing calibration on the control terminal, and the terminal automatically establishes the relative neutral position (the real-time measurement data of each dimension of the 3 measurement devices is cleared). At the beginning of the measurement, the testee synchronously makes a series of symmetric exercises or broadcasting exercises (such as 'dancing youth' broadcasting gymnastics) according to the video guidance. The control display terminal records the real-time relative data (relative to the measurement reference device) and the real-time data curve of the first measurement master device and the second measurement master device, and finally displays the real-time relative data curve as shown in fig. 9. And after the measurement is finished, pressing an end key, and outputting a relative data curve graph of the first measurement master device and the second measurement master device for subsequent analysis. When the subject measures again, the zero clearing calibration is pressed, the neutral position is reestablished, the data is immediately cleared, and the measurement is restarted.
As shown in fig. 6, the present embodiment provides an application of angle measurement in a straight leg raising test, before the test, the first measurement main device or the second measurement main device is fixed on the auxiliary wristband, worn on one side of the wrist, and placed on the same side of the trunk, and the measurement reference device is fixed on the auxiliary clamp and clamped on the same side of the ankle. The control display terminalY-axis pitch angle is defined as B ═ βB－(βLOr betaR) (ii) a B, presenting real-time measured and calculated data as real-time dynamic curve change, and outputting and defining the real-time measured and calculated data as a lifting angle; the X-axis roll angle of the control display terminal is defined as A ═ alphaB－(αLOr alphaR) (ii) a A real-time measured and calculated data is presented as real-time dynamic curve change and is used for judging whether A is more than or equal to 0, and if A is more than or equal to 0, A is defined as1The output is defined as the abduction angle, if A < 0, it is defined as A2The output is defined as the adduction angle.
And starting a switch on the measuring equipment when the test is started, and controlling the display terminal through wireless/Bluetooth connection. The subject is ordered to lie down, the tester presses 'zero clearing calibration' on the control terminal, and the terminal automatically establishes a relative neutral position (zero clearing of real-time measurement data of each dimension of 2 measurement devices). When the measurement is started, the testee holds the ankle part of the side to be measured of the testee, so that the knee joint keeps the straight position, and the leg part of the side to be measured is slowly lifted. When the patient feels that the symptoms of radioactive pain or numbness or pain and numbness are aggravated, the patient presses the end key to record the corresponding angle. The tester abducts the side leg of the subject to be tested by a certain angle, repeats the leg raising test, records the corresponding raising angle and abduction angle, and finally displays as shown in fig. 10. When the subject measures again, the zero clearing calibration is pressed, the neutral position is reestablished, the data is immediately cleared, and the measurement is restarted.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. Spine dynamic mobility intelligence measurement system, its characteristics lie in: the device comprises portable intelligent measuring equipment and a control display terminal;
the portable intelligent measuring equipment comprises a charging storage box (1), first measuring main equipment (2), second measuring main equipment (3), measuring reference equipment (4), an auxiliary wrist strap and an auxiliary clamp;
the upper end of the charging storage box (1) is provided with a flip cover, the lower end of the charging storage box is provided with a USB charging port, and three containing charging grooves are formed in the charging storage box and are respectively used for containing a first measuring main device (2), a second measuring main device (3) and a measuring reference device (4) and charging the first measuring main device (2), the second measuring main device (3) and the measuring reference device (4) when the charging storage box is idle;
the first measurement main device (2) and the second measurement main device (3) are earphone appearance measurement elements matched with the left ear and the right ear respectively; the earphone appearance measuring element consists of a head part, a body part and a bottom part, wherein the appearance of the head part is an oval resin structure matched with an ear hole, and an integrated circuit mainboard is arranged inside the head part; the integrated circuit mainboard is provided with a gyroscope sensor, an ATmega32 microprocessor, a CH340 communication chip, a Bluetooth module, an onboard Bluetooth antenna and a power supply control chip; the body part is cylindrical, and a power supply is arranged inside the body part; the bottom is a final structure of a cylindrical body part and is a contact type charging port matched with the accommodating type charging groove;
the measuring reference equipment (4) is of an ellipse-like structure and comprises a head part, a body part and a bottom part, wherein the head part is of a round-like resin structure, and an integrated circuit mainboard is arranged inside the head part; the integrated circuit mainboard is provided with a gyroscope sensor, an ATmega32 microprocessor, a CH340 communication chip, a Bluetooth module, an onboard Bluetooth antenna and a power supply control chip; the body part is cylindrical, and a power supply is arranged inside the body part; the bottom is a final structure of a cylindrical body part and is a contact type charging port matched with the accommodating type charging groove;
the auxiliary wrists are 2 wide wristbands which are internally provided with elastic bands, and each wide wristband is provided with a fixing device for fixing the first main measuring equipment (2) and/or the second main measuring equipment (3);
the auxiliary clamp is a resin clamp with a tail end fixing hole, and the fixing hole is matched with the measuring reference equipment (4) and used for fixing the measuring reference equipment (4);
the gyroscope sensor is used for dynamically detecting three-dimensional attitude and azimuth data and transmitting the data to the control display terminal in real time through the communication chip/Bluetooth module;
and the control display terminal receives the three-dimensional attitude and orientation data in real time through the communication chip/Bluetooth module, performs data integration calculation according to the measurement mode selected by the control terminal, and outputs and displays the data.
2. The intelligent spinal dynamic activity measurement system of claim 1, wherein: the control display terminal is a mobile phone terminal for loading an APP or a PC terminal for installing a control program.
3. The intelligent spinal dynamic activity measurement system of claim 2, wherein: the mode of real-time data transmission can select an APP with a Bluetooth mode connected with the mobile phone terminal or a control program with a WiFi mode connected with the PC terminal according to actual scene requirements.
4. The intelligent spinal dynamic activity measurement system of claim 1, wherein: the lining of the auxiliary clamp is made of memory cotton.
5. The intelligent spinal dynamic activity measurement system of claim 1, wherein: the gyroscope sensor adopts a three-axis gyroscope, a six-axis gyroscope or a nine-axis gyroscope.
6. The intelligent measurement method for the dynamic mobility of the spine is characterized by comprising the following steps: the azimuth change data measured by the gyroscope sensor are classified into an X-axis roll angle alpha, a Y-axis pitch angle beta and a Z-axis yaw angle gamma;
the first measurement master device, the second measurement master device and the measurement reference device are collectively called as measurement devices;
based on a single measuring device and an X-axis roll angle alpha, the display terminal is controlled to judge whether alpha is more than or equal to 0, and if alpha is more than or equal to 0, the alpha is defined as alpha1And alpha is defined as alpha if alpha < 02Taking the continuously measured alpha1The maximum value in the left side bending is output as the final measurement angle, and the continuously measured alpha is taken2The absolute value of the minimum value in (1) is output as the right-side bending final measurement angle(ii) a The real-time data measured by the first measurement master device, the second measurement master device and the measurement reference device are respectively defined as alpha1L、α2L、α1R、α2R、α1B、α2B；
Based on a single measuring device and Y-axis pitch angle beta, the display terminal is controlled to judge whether beta is larger than or equal to 0, and if beta is larger than or equal to 0, the beta is defined as beta1And beta is defined as beta if beta < 02Taking continuously measured beta1The maximum value in the process is output as the final measurement angle of the anteflexion, and continuously measured beta is taken2The absolute value of the minimum value is output as a final backward-extending measurement angle; the real-time data measured by the first measurement master device, the second measurement master device and the measurement reference device are respectively defined as beta1L、β2L、β1R、β2R、β1B、β2B；
Based on a single measuring device and the Z-axis yaw angle gamma, the display terminal is controlled to judge whether gamma is larger than or equal to 0, and if gamma is larger than or equal to 0, the gamma is defined as gamma1And if gamma < 0, gamma is defined as2Taking the continuously measured gamma1The maximum value of the left-handed rotation is output as a final left-handed rotation measurement angle, and continuously measured gamma is taken2The absolute value of the minimum value is output as a right-hand final measurement angle; the real-time data measured by the first measurement master device, the second measurement master device and the measurement reference device are respectively defined as gamma1L、γ2L、γ1R、γ2R、γ1B、γ2B；
The control display terminal receives the three-dimensional attitude and orientation data in real time through the communication chip/Bluetooth module, performs data integration calculation according to the measurement mode selected by the control terminal, and outputs and displays the data;
the measuring mode comprises cervical vertebra mobility measurement, lumbar vertebra mobility measurement, auxiliary primary screening of scoliosis and straight leg elevation test angle measurement.
7. The intelligent measurement method of the dynamic activity of the spine according to claim 6, characterized in that: when the measurement mode is selected as cervical vertebra mobility measurement, the first main measurement device and the second main measurement device are respectively worn on the left ear and the right ear, and the reference measurement device is fixed on the auxiliary clamp and is respectively worn on the waist and the back;
the X-axis roll angle of the control display terminal is defined as A ═ alpha1L+α1R)－α1BIs used for judging whether A is more than or equal to 0 or not, and is defined as A if A is more than or equal to 01If A < 0, defined as A2Taking continuously measured A1The maximum value in the (A) is output as the left side bending final measurement angle, and continuously measured A is taken2The absolute value of the minimum value in (1) is output as a right-side bending final measurement angle;
the Y-axis pitch angle of the control display terminal is defined as (β ═ B1L+β1R)－β1BIs used for judging whether B is more than or equal to 0 or not, and if B is more than or equal to 0, the B is defined as B1If B < 0, it is defined as B2Taking continuously measured B1The maximum value in the process is output as the final measurement angle of the anteflexion, and continuously measured B is taken2The absolute value of the minimum value is output as a final backward-extending measurement angle;
the Z-axis yaw angle of the control display terminal is defined as Y ═ Y (gamma)1L+γ1R)－γ1BIs used for judging whether Y is more than or equal to 0 or not, and is defined as Y if Y is more than or equal to 01And Y is defined as Y if Y < 02Taking the continuously measured Y1The maximum value of the left-handed rotation is output as a final left-handed measurement angle, and continuously measured Y is taken2The absolute value of the minimum value in (1) is output as the right-hand final measurement angle.
8. The intelligent measurement method of the dynamic activity of the spine according to claim 6, characterized in that: when the measurement mode is selected as lumbar activity measurement, the first measurement main equipment and the second measurement main equipment are fixed on the auxiliary wristbands one by one and are respectively worn on the left wrist and the right wrist, and the measurement reference equipment is fixed on the auxiliary clamp and clamped on the ankle on one side during measurement;
the X-axis roll angle of the control display terminal is defined as A ═ alpha1L+α1R)－α1BFor judging whether A is more than or equal to 0,if A is not less than 0, it is defined as A1If A < 0, defined as A2Taking continuously measured A1The maximum value in the (A) is output as the left side bending final measurement angle, and continuously measured A is taken2The absolute value of the minimum value in (1) is output as a right-side bending final measurement angle;
the Y-axis pitch angle of the control display terminal is defined as (β ═ B1L+β1R)－β1BIs used for judging whether B is more than or equal to 0 or not, and if B is more than or equal to 0, the B is defined as B1If B < 0, it is defined as B2Taking continuously measured B1The maximum value in the process is output as the final measurement angle of the anteflexion, and continuously measured B is taken2The absolute value of the minimum value is output as a final backward-extending measurement angle;
the Z-axis yaw angle of the control display terminal is defined as Y ═ Y (gamma)1L+γ1R)－γ1BIs used for judging whether Y is more than or equal to 0 or not, and is defined as Y if Y is more than or equal to 01And Y is defined as Y if Y < 02Taking the continuously measured Y1The maximum value of the left-handed rotation is output as a final left-handed measurement angle, and continuously measured Y is taken2The absolute value of the minimum value in (1) is output as the right-hand final measurement angle.
9. The intelligent measurement method of the dynamic activity of the spine according to claim 6, characterized in that: when the measurement mode is selected as the scoliosis auxiliary primary screening, the first measurement main equipment and the second measurement main equipment are fixed on the auxiliary wristbands in a one-to-one manner and are respectively worn on the left wrist and the right wrist, and the measurement reference equipment is fixed on the auxiliary clamp and clamped on the ankle on one side;
the X-axis roll angle of the control display terminal is defined as AL＝αL－αB，AR＝αR－αB(ii) a The Y-axis pitch angle of the control display terminal is defined as BL＝βL－βB，BR＝βR－βB(ii) a The Z-axis yaw angle of the control display terminal is defined as YL＝γL－γB，YR＝γR－γB(ii) a Definition AL、AR、BL、BR、YL、YRThe six groups of data measured and calculated in real time are presented as real-time dynamic curve changes; each set of L, R data, curves were match-fit and dynamic symmetry judged by an ATmega32 microprocessor for further dynamic symmetry judgment analysis.
10. The intelligent measurement method of the dynamic activity of the spine according to claim 6, characterized in that: when the measurement mode is selected as the measurement of the straight leg lifting test angle, the first measurement main device or the second measurement main device is fixed on the auxiliary wristband, worn on one side of the wrist and placed on the trunk on the same side, and the measurement reference device is fixed on the auxiliary clamp and clamped on the ankle on the same side;
the Y-axis pitch angle of the control display terminal is defined as B ═ betaB－(βLOr betaR) (ii) a B, presenting real-time measured and calculated data as real-time dynamic curve change, and outputting and defining the real-time measured and calculated data as a lifting angle; the X-axis roll angle of the control display terminal is defined as A ═ alphaB－(αLOr alphaR) (ii) a A real-time measured and calculated data is presented as real-time dynamic curve change and is used for judging whether A is more than or equal to 0, and if A is more than or equal to 0, A is defined as1The output is defined as the abduction angle, if A < 0, it is defined as A2The output is defined as the adduction angle.
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