CN115227231A - Method and device for measuring inclination angle of human spine, computer equipment and medium - Google Patents
Method and device for measuring inclination angle of human spine, computer equipment and medium Download PDFInfo
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- CN115227231A CN115227231A CN202110446307.4A CN202110446307A CN115227231A CN 115227231 A CN115227231 A CN 115227231A CN 202110446307 A CN202110446307 A CN 202110446307A CN 115227231 A CN115227231 A CN 115227231A
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Abstract
The application relates to a method, a device, a computer device and a storage medium for measuring the inclination angle of a human spine, wherein the method comprises the following steps: acquiring three-dimensional shape data of the back of a human body, aligning the acquired shape data by adopting a preset reference coordinate system to obtain corrected three-dimensional shape data of the back of the human body, extracting a central line of a spine with the three-dimensional shape of the back of the human body, intercepting a cross section in the corrected three-dimensional shape data of the back of the human body based on the extracted central line of the spine, and acquiring an inclination angle of the spine of the human body based on the cross section of the back. In the whole process, the inclination angle of the human spine is acquired by adopting an image processing technology and a preset coordinate system alignment correction mode, a complex processing process is not needed, the data acquisition process is more accurate, and the inclination angle of the human spine can be efficiently and accurately measured.
Description
Technical Field
The present application relates to the field of image processing technologies, and in particular, to a method and an apparatus for measuring a tilt angle of a spine of a human body, a computer device, and a storage medium.
Background
At present, the incidence rate of the scoliosis is high in China, population quality is affected, the scoliosis prevention becomes an important task, and the screening of the scoliosis of the human body of the student in the school by popularization becomes an urgent need.
The use of a Scoliometer (Scoliometer) to measure asymmetry in a subject is an effective and commonly used method in scoliosis screening procedures. In practical application, generally use the backbone dipperstick to measure the asymmetric condition of person's back muscle of examinee, need the measuring object to keep the posture in the measurement process, place the backbone dipperstick in measuring object back, treat that the angle data on the backbone dipperstick is read after the ball is stable in the backbone dipperstick, obtain the angle of inclination of human backbone.
Although the spine measuring ruler can be used for measuring the inclination angle of the spine of the human body, as can be seen from the above brief description, the whole measuring process is susceptible to various environmental factors, which causes the measurement inaccuracy, for example, the spine measuring ruler is not placed at an appropriate position, the posture of the measuring object is not standard, and the like, which causes the final measurement of the inclination angle of the spine of the human body to be inaccurate. Therefore, an accurate scheme for measuring the inclination angle of the spine of the human body is urgently needed at present.
Disclosure of Invention
In view of the above, it is necessary to provide an accurate method, apparatus, computer device and storage medium for measuring the inclination angle of the spine of a human body.
A method of measuring the inclination of a human spine, the method comprising:
acquiring three-dimensional shape data of the back of a human body;
aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system to obtain corrected three-dimensional shape data of the back of the human body;
extracting a spine central line with the three-dimensional shape of the back of the human body according to the corrected three-dimensional shape data of the back of the human body;
according to the three-dimensional shape of the back of the human body, intercepting the back cross section in the corrected three-dimensional shape data of the back of the human body;
and (3) according to the intercepted back cross section and the process of detecting the scoliosis, acquiring the inclination angle of the spine of the human body.
In one embodiment, acquiring three-dimensional topography data of the back of the human body comprises:
and calling a three-dimensional depth imaging system, and scanning the three-dimensional contour of the surface of the back of the human body to obtain the three-dimensional shape data of the back of the human body.
In one embodiment, aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system, and obtaining the corrected three-dimensional shape data of the back of the human body includes:
acquiring a coordinate system of an imaging system and a preset reference coordinate system, wherein the imaging system is a system for acquiring three-dimensional shape data of the back of a human body;
acquiring a transformation relation between a coordinate system of an imaging system and a preset reference coordinate system;
and aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system according to the transformation relation to obtain the corrected three-dimensional shape data of the back of the human body.
In one embodiment, obtaining the transformation relationship between the imaging system coordinate system and the preset reference coordinate system comprises:
carrying out rigid body transformation on the coordinate system of the imaging system and a preset reference coordinate;
and solving the rigid body transformation result through singular value decomposition to obtain the transformation relation between the imaging system coordinate system and the preset reference coordinate system.
In one embodiment, the step of intercepting the back cross section in the corrected three-dimensional profile data of the back of the human body according to the spine center line of the three-dimensional profile of the back of the human body comprises the following steps:
and (3) cutting a plurality of back cross sections at equal intervals in the corrected three-dimensional back profile data of the human body along the central line of the three-dimensional back profile spine of the human body.
In one embodiment, obtaining the inclination angle of the spine of the human body according to the cut back cross section and simulating the scoliosis detection process comprises:
acquiring a back three-dimensional contour line according to the intercepted back cross section;
simulating the scoliosis detection process, and selecting points at specific positions from two sides of the spine in the back three-dimensional contour line;
acquiring a straight line of a point at a specific position;
and calculating the included angle between the straight line and the horizontal plane to obtain the inclination angle of the spine of the human body.
In one embodiment, the back cross-section taken includes back cross-sections at a plurality of different locations;
according to the back cross section of intercepting to simulate scoliosis testing process, acquire the angle of inclination of human backbone and still include:
calculating included angles corresponding to the back cross sections at different positions;
and selecting the maximum included angle as the inclination angle of the spine of the human body.
An inclination angle measuring apparatus of a human spine, the apparatus comprising:
the data acquisition module is used for acquiring three-dimensional shape data of the back of a human body;
the coordinate correction module is used for aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system to obtain corrected three-dimensional shape data of the back of the human body;
the spine extraction module is used for extracting a spine central line with a three-dimensional shape of the back of the human body according to the corrected three-dimensional shape data of the back of the human body;
the intercepting module is used for intercepting a back cross section in the corrected three-dimensional shape data of the back of the human body according to the central line of the spine with the three-dimensional shape of the back of the human body;
and the inclination angle acquisition module is used for acquiring the inclination angle of the spine of the human body according to the intercepted back cross section and the process of simulating scoliosis detection.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring three-dimensional shape data of the back of a human body;
aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system to obtain corrected three-dimensional shape data of the back of the human body;
extracting a spine central line with the three-dimensional shape of the back of the human body according to the corrected three-dimensional shape data of the back of the human body;
according to the spine central line with the three-dimensional shape of the back of the human body, the back cross section in the corrected three-dimensional shape data of the back of the human body is intercepted;
and (3) according to the intercepted back cross section and the process of detecting the scoliosis, acquiring the inclination angle of the spine of the human body.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring three-dimensional shape data of the back of a human body;
aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system to obtain corrected three-dimensional shape data of the back of the human body;
extracting a spine central line with the three-dimensional shape of the back of the human body according to the corrected three-dimensional shape data of the back of the human body;
according to the spine central line with the three-dimensional shape of the back of the human body, the back cross section in the corrected three-dimensional shape data of the back of the human body is intercepted;
and (4) according to the intercepted back cross section and the process of detecting the scoliosis, acquiring the inclination angle of the spine of the human body.
The inclination angle measuring method and device for the human spine, the computer equipment and the storage medium obtain three-dimensional shape data of the back of the human body, align the obtained shape data by adopting a preset reference coordinate system to obtain corrected three-dimensional shape data of the back of the human body, extract a center line of the three-dimensional shape spine of the back of the human body, intercept a back cross section in the corrected three-dimensional shape data of the back of the human body based on the extracted center line of the spine, and obtain the inclination angle of the spine of the human body based on the back cross section. In the whole process, the inclination angle of the human spine is acquired by adopting an image processing technology and a preset coordinate system alignment correction mode, a complex processing process is not needed, the data acquisition process is more accurate, and the inclination angle of the human spine can be efficiently and accurately measured.
Drawings
FIG. 1 is a diagram illustrating an exemplary embodiment of a method for measuring the inclination angle of the spine of a human body;
FIG. 2 is a schematic flow chart of a method for measuring the inclination angle of a human spine according to one embodiment;
FIG. 3 is a schematic diagram of three-dimensional topographical data collection coordinates and predetermined reference coordinates in one embodiment;
FIG. 4 is a schematic diagram of three-dimensional shape data of a back of a human body after being straightened;
FIG. 5 is a schematic flow chart of a method for measuring the inclination angle of the spine of a human body according to another embodiment;
FIG. 6 is a schematic cross-sectional view of a plurality of backs taken at equal intervals;
FIG. 7 is a schematic view of a lateral curvature measuring ruler;
FIG. 8 is a schematic view of a back contour line and a straight line;
FIG. 9 is a schematic view showing the construction of an apparatus for measuring the inclination angle of the spine of a human body according to an embodiment;
FIG. 10 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The method for measuring the inclination angle of the human spine provided by the application can be applied to the application environment as shown in figure 1. Wherein, the image acquisition terminal 102 communicates with the server 104 through a network. The image acquisition terminal 102 acquires three-dimensional shape data of the back of a human body, specifically, the three-dimensional shape data of the human body is acquired when the human body is in a front flexion position, the image acquisition terminal 102 sends the acquired three-dimensional shape data of the back of the human body to the server 104, and the server 104 acquires the three-dimensional shape data of the back of the human body; aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system to obtain corrected three-dimensional shape data of the back of the human body; extracting a spine central line with the three-dimensional shape of the back of the human body according to the corrected three-dimensional shape data of the back of the human body; according to the three-dimensional shape of the back of the human body, intercepting the back cross section in the corrected three-dimensional shape data of the back of the human body; and (3) according to the intercepted back cross section and the process of detecting the scoliosis, acquiring the inclination angle of the spine of the human body. Further, the server 104 may also push the tilt angle of the human spine to the user, for example, to be displayed directly on the user terminal. The image capturing terminal 102 may be, but is not limited to, various medical image capturing devices, depth imaging systems, and the like, and the server 104 may be implemented by an independent server or a server cluster formed by a plurality of servers.
It can be understood that the method for measuring the inclination angle of the spine of the human body according to the present application can be directly and independently implemented by a terminal integrated with an imaging system (image acquisition device), and the specific processing procedures thereof are similar as described above and will not be described herein again.
In one embodiment, as shown in fig. 2, a method for measuring the inclination angle of the spine of the human body is provided, which is described by taking the method as an example applied to the server 104 in fig. 1, and comprises the following steps:
s100: and acquiring three-dimensional shape data of the back of the human body.
The three-dimensional back appearance data of the human body refers to the three-dimensional back appearance data of an object (patient) to be detected, and the data can be acquired by a three-dimensional depth imaging system and then sent to a server; the server can also receive three-dimensional shape data of the back of the human body remotely transmitted by a third party. In practical application, a human body is in a front flexion position, the three-dimensional depth imaging system scans and acquires three-dimensional shape data of the back of the human body, and the three-dimensional depth imaging system sends the three-dimensional shape data of the back of the human body to the server.
S200: and aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system to obtain the corrected three-dimensional shape data of the back of the human body.
The imaging system for acquiring the three-dimensional shape data of the back of the human body is under a coordinate system, and the coordinate systems for acquiring at different moments and acquiring by different devices based on the imaging system may have differences; and the server processes subsequent data based on the same standard coordinate system (preset reference coordinate system), and in order to ensure the accuracy of the subsequent data processing and shield the interference of the three-dimensional shape data of the back of the human body acquired by the imaging system under different coordinate systems on the final measurement of the inclination angle of the spine of the human body, the three-dimensional shape data of the back of the human body is firstly aligned to the preset reference coordinate system to obtain the corrected three-dimensional shape data of the back of the human body.
In practical applications, as shown in fig. 3, the preset reference coordinate system is constructed based on known reference objects/mark points; specifically, the three-dimensional coordinates of the mark points of the reference object formed by a plurality of mark point horizontal and vertical matrixes are known and are established in a relative coordinate system, the dot of the coordinate system is the center of the dot matrix, the Z axis is vertical to the plane of the dot matrix and is upward, and the X/Y axis is the horizontal and vertical directions of the dot matrix. And placing the reference object in an effective acquisition area of an imaging system in a mode of being parallel to the ground (horizontal plane), and reconstructing in the horizontal and vertical directions of the marker points arranged in an array to obtain a three-dimensional coordinate P of the marker points, wherein the coordinate of the marker points in a self coordinate system (reference coordinate system) is Q.
S300: and extracting the spine central line with the three-dimensional shape of the back of the human body according to the corrected three-dimensional shape data of the back of the human body.
The corrected three-dimensional back topography data of the human body has been "straightened" based on a preset reference coordinate system, and the orientation of the spine can be determined based on the straightened three-dimensional data, as shown in fig. 4. Furthermore, three-dimensional data around the spine and spine contour data can be intercepted, and a spine central line with a three-dimensional shape of the back of the human body is extracted from the data.
S400: and intercepting the back cross section in the corrected three-dimensional shape data of the back of the human body according to the central line of the spine with the three-dimensional shape of the back of the human body.
And intercepting the back cross section in the corrected three-dimensional shape data of the back of the human body along the direction of the central line of the spine in the three-dimensional shape of the back of the human body. The back cross section refers to a section in the X-axis direction, and each section carries back contour lines corresponding to different positions of the spine, that is, the back cross section is simply a section orthogonal to the centerline of the spine. The number of the intercepted back cross sections can be one or multiple, each back cross section is used as a calculation unit to enter the next step (S500) of inclination angle calculation, and when the back cross sections are intercepted, the back cross sections in the corrected three-dimensional shape data of the back of the human body are intercepted at equal intervals along the central line of the spine with the three-dimensional shape of the back of the human body.
S500: and (4) according to the intercepted back cross section and the process of detecting the scoliosis, acquiring the inclination angle of the spine of the human body.
It can be understood that the human back contour line crossing the spine can be extracted from the back cross section, and the human spine inclination angle can be obtained by simulating the scoliosis detection process based on the back contour line.
According to the inclination angle measuring method of the human spine, three-dimensional shape data of the back of the human body are obtained, the obtained shape data are aligned through a preset reference coordinate system, the corrected three-dimensional shape data of the back of the human body are obtained, the center line of the spine with the three-dimensional shape of the back of the human body is extracted, the cross section of the back in the corrected three-dimensional shape data of the back of the human body is captured based on the extracted center line of the spine, and the inclination angle of the spine of the human body is obtained based on the cross section of the back. In the whole process, the inclination angle of the human spine is acquired by adopting an image processing technology and a preset coordinate system alignment correction mode, a complex processing process is not needed, the data acquisition process is more accurate, and the inclination angle of the human spine can be efficiently and accurately measured.
In one embodiment, acquiring three-dimensional topography data of the back of the human body comprises: and calling a three-dimensional depth imaging system, and scanning the three-dimensional contour of the surface of the back of the human body to obtain the three-dimensional shape data of the back of the human body.
In this embodiment, the server may send a request to the three-dimensional depth imaging system to request the three-dimensional depth imaging system to scan the three-dimensional contour of the back surface of the human body, so as to obtain the three-dimensional shape data of the back of the human body. The three-dimensional depth imaging system is a three-dimensional imaging system with excellent performance, can clearly scan to obtain three-dimensional shape data of the back of a human body, and is favorable for improving the measurement precision of the subsequent spinal column side inclination angle.
As shown in fig. 5, in one embodiment S200 includes:
s220: and acquiring a coordinate system of an imaging system and a preset reference coordinate system, wherein the imaging system is a system for acquiring three-dimensional shape data of the back of the human body.
S240: and acquiring a transformation relation between the coordinate system of the imaging system and a preset reference coordinate system.
S260: and aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system according to the transformation relation to obtain the corrected three-dimensional shape data of the back of the human body.
The imaging system coordinate system is an imaging system for acquiring three-dimensional shape data of the back of the human body, and if the server acquires the three-dimensional shape data of the back of the human body from a local terminal, the imaging system is a system for locally acquiring the three-dimensional shape data of the back of the human body; if the server receives the three-dimensional shape data of the back of the human body remotely sent by the third party, the imaging system is a system for acquiring the three-dimensional shape data of the back of the human body by the third party. As shown in fig. 3 and described above, the predetermined reference coordinate system may be understood as a standard coordinate system, which is constructed based on known reference objects/markers; the three-dimensional coordinates of the mark points of the reference object formed by a plurality of horizontal and vertical matrixes of mark points are known and are established in a relative coordinate system, the dots of the coordinate system are the centers of the dot matrixes, the Z axis is vertical to the plane of the dot matrixes and is upward, and the X/Y axis is in the horizontal and vertical directions of the dot matrixes. And placing the reference object in an effective acquisition area of an imaging system in a mode of being parallel to the ground (horizontal plane), and reconstructing in the horizontal and vertical directions of the marker points arranged in an array to obtain a three-dimensional coordinate P of the marker points, wherein the coordinate of the marker points in a self coordinate system (reference coordinate system) is Q. And acquiring a transformation relation between the imaging system coordinate system and a preset reference coordinate system, and aligning the three-dimensional shape data of the back of the human body to the preset reference coordinate system based on the transformation relation so as to correct the three-dimensional shape data of the back of the human body.
Further, rigid body transformation can be performed on the imaging system coordinate system and a preset reference coordinate system; and solving a rigid body transformation result through singular value decomposition to obtain a transformation relation between the coordinate system of the imaging system and a preset reference coordinate system. The rigid body transformation process is described in detail by taking fig. 3 as an example. In fig. 3, a rigid transformation T (R | T) exists such that Q = T (R | T) P, and T (R | T) is solved by singular value decomposition, i.e., a transformation relation between the coordinate system of the imaging system and the predetermined reference coordinate system.
In one embodiment, the step of intercepting the back cross section in the corrected three-dimensional profile data of the back of the human body according to the spine center line of the three-dimensional profile of the back of the human body comprises the following steps: and (3) cutting a plurality of back cross sections at equal intervals in the corrected three-dimensional shape data of the back of the human body along the central line of the spine with the three-dimensional shape of the back of the human body.
As shown in FIG. 6, a plurality of back cross sections are taken at equal intervals along the central line of the spine with the three-dimensional shape of the back of the human body. The specific distance can be set according to the actual data processing capacity (capacity of hardware for processing data) and the data measurement precision, and when more data are needed to improve the final measurement precision, the distance can be reduced to extract more back cross sections; when the data processing capacity is limited and general measurement accuracy is met, the distance can be properly increased and a certain number of back cross sections can be intercepted. As can be seen from fig. 6, the back cross section is taken as an X-axis interface, which is perpendicular to the vertical direction (Y-axis direction) of the centerline of the spine.
In one embodiment, obtaining the inclination angle of the spine of the human body according to the cut back cross section and simulating the scoliosis detection process comprises: acquiring a back three-dimensional contour line according to the intercepted back cross section; simulating the scoliosis detection process, and selecting points at specific positions from two sides of the spine in the back three-dimensional contour line; acquiring a straight line of a point at a specific position; and calculating the included angle between the straight line and the horizontal plane to obtain the inclination angle of the spine of the human body.
To explain in detail the process of calculating the inclination angle of the human spine in this embodiment, the following conventional scoliosis detection process will be described by taking the scoliosis ruler as an example. As shown in fig. 7, the human body is guided by the professional to keep the measurement posture (forward flexion, and the angle of the human body flexion is adjusted to make the height difference of the back the largest), the lateral bending ruler is lightly placed on the back during the measurement, the 0 scale of the lateral bending ruler is always above the spine (fig. 7), and the displayed degree is read after the ball is stabilized.
In this embodiment, the back contour line of the human body can be extracted from the intercepted back cross section, the back contour line crosses the spine, specifically, the intersection point of the back cross section and the XOY grid plane in the preset coordinate system can be calculated to obtain a point set V, the points in the point set V are sequentially ordered according to the coordinate size (coordinate size of the X axis), the ordered points are connected to obtain the back contour line, and specifically, the obtained back contour line can refer to fig. 8. After the back contour line is obtained, simulating the scoliosis detection process, selecting points at specific positions from two sides of the spine in the back three-dimensional contour line, specifically, selecting the spine center line as a reference point, selecting the three-dimensional contour lines at two sides to find a peak point outside a preset distance from the spine center line, wherein the peak point is the point at the specific position, as shown in fig. 8, connecting the 2 points to obtain a straight line, and calculating an included angle between the straight line and a horizontal plane (a plane where an X axis is located) to obtain the inclination angle of the spine of the human body.
Further, when a plurality of back cross sections at different positions are obtained by capturing in step S400, the corresponding inclination angles can be calculated respectively based on each back cross section by adopting the above processing method, and the maximum included angle is selected as the inclination angle of the spine of the human body.
It should be understood that although the steps in the flowcharts of fig. 2 and 5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the other steps or stages.
As shown in fig. 9, the present application also provides an inclination angle measuring apparatus of a human spine, the apparatus comprising:
the data acquisition module 100 is used for acquiring three-dimensional shape data of the back of a human body;
the coordinate correction module 200 is used for aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system to obtain corrected three-dimensional shape data of the back of the human body;
the spine extraction module 300 is used for extracting a spine central line with a three-dimensional shape of the back of the human body according to the corrected three-dimensional shape data of the back of the human body;
the intercepting module 400 is used for intercepting the back cross section in the corrected three-dimensional shape data of the back of the human body according to the spine center line of the three-dimensional shape of the back of the human body;
and the inclination angle acquisition module 500 is used for acquiring the inclination angle of the spine of the human body according to the intercepted back cross section and the process of simulating scoliosis detection.
According to the inclination angle measuring device for the human spine, three-dimensional shape data of the human back are obtained, the obtained shape data are aligned by adopting the preset reference coordinate system, the corrected three-dimensional shape data of the human back are obtained, the central line of the human back three-dimensional shape spine is extracted, the back cross section in the corrected three-dimensional shape data of the human back is intercepted based on the extracted central line of the spine, and the inclination angle of the human spine is obtained based on the back cross section. In the whole process, the inclination angle of the spine of the human body is obtained by adopting an image processing technology and a preset coordinate system alignment correction mode, a complex processing process is not needed, the data obtaining process is more accurate, and the inclination angle of the spine of the human body can be efficiently and accurately measured.
In one embodiment, the data acquisition module 100 is further configured to invoke a three-dimensional depth imaging system to scan the three-dimensional contour of the surface of the back of the human body, so as to obtain the three-dimensional topography data of the back of the human body.
In one embodiment, the coordinate correction module 200 is further configured to obtain a coordinate system of an imaging system and a preset reference coordinate system, where the imaging system is a system for acquiring three-dimensional shape data of the back of the human body; acquiring a transformation relation between an imaging system coordinate system and a preset reference coordinate system; and aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system according to the transformation relation to obtain the corrected three-dimensional shape data of the back of the human body.
In one embodiment, the coordinate correction module 200 is further configured to perform rigid body transformation on the imaging system coordinate system and preset reference coordinates; and solving a rigid body transformation result through singular value decomposition to obtain a transformation relation between the coordinate system of the imaging system and a preset reference coordinate system.
In one embodiment, the extraction module 400 is further configured to extract a plurality of back cross-sections at equal intervals in the modified three-dimensional topography data of the back of the human body along a spinal centerline of the three-dimensional topography of the back of the human body.
In one embodiment, the tilt angle obtaining module 500 is further configured to obtain a back three-dimensional contour line according to the intercepted back cross section; simulating the scoliosis detection process, and selecting points at specific positions from two sides of the spine in the back three-dimensional contour line; acquiring a straight line of a point at a specific position; and calculating the included angle between the straight line and the horizontal plane to obtain the inclination angle of the spine of the human body.
In one embodiment, the back cross-section taken includes a plurality of back cross-sections at different locations; the inclination angle obtaining module 500 is further configured to calculate included angles corresponding to back cross sections at different positions; and selecting the maximum included angle as the inclination angle of the spine of the human body.
For specific definition of the tilt angle measuring device for the human spine, reference may be made to the above definition of the tilt angle measuring method for the human spine, and details are not repeated here. The modules in the human body spine inclination angle measuring device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 10. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The database of the computer equipment is used for storing preset three-dimensional shape data of the back of a human body or configuration data of an imaging system and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of tilt measurement of a human spine.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring three-dimensional shape data of the back of a human body;
aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system to obtain corrected three-dimensional shape data of the back of the human body;
extracting a spine central line with the three-dimensional shape of the back of the human body according to the corrected three-dimensional shape data of the back of the human body;
according to the spine central line with the three-dimensional shape of the back of the human body, the back cross section in the corrected three-dimensional shape data of the back of the human body is intercepted;
and (3) according to the intercepted back cross section and the process of detecting the scoliosis, acquiring the inclination angle of the spine of the human body.
In one embodiment, the processor when executing the computer program further performs the steps of:
and calling a three-dimensional depth imaging system, and scanning the three-dimensional contour of the surface of the back of the human body to obtain the three-dimensional shape data of the back of the human body.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a coordinate system of an imaging system and a preset reference coordinate system, wherein the imaging system is a system for acquiring three-dimensional shape data of the back of a human body; acquiring a transformation relation between an imaging system coordinate system and a preset reference coordinate system; and aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system according to the transformation relation to obtain the corrected three-dimensional shape data of the back of the human body.
In one embodiment, the processor when executing the computer program further performs the steps of:
carrying out rigid body transformation on the coordinate system of the imaging system and a preset reference coordinate; and solving the rigid body transformation result through singular value decomposition to obtain the transformation relation between the imaging system coordinate system and the preset reference coordinate system.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and (3) cutting a plurality of back cross sections at equal intervals in the corrected three-dimensional shape data of the back of the human body along the central line of the spine with the three-dimensional shape of the back of the human body.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a back three-dimensional contour line according to the intercepted back cross section; simulating the scoliosis detection process, and selecting points at specific positions from two sides of the spine in the back three-dimensional contour line; acquiring a straight line of a point at a specific position; and calculating the included angle between the straight line and the horizontal plane to obtain the inclination angle of the spine of the human body.
In one embodiment, the extracted back cross-section comprises a plurality of back cross-sections at different locations, and the processor when executing the computer program further performs the steps of:
calculating included angles corresponding to the back cross sections at different positions; and selecting the maximum included angle as the inclination angle of the spine of the human body.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring three-dimensional shape data of the back of a human body;
aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system to obtain corrected three-dimensional shape data of the back of the human body;
extracting a spine central line with the three-dimensional shape of the back of the human body according to the corrected three-dimensional shape data of the back of the human body;
according to the spine central line with the three-dimensional shape of the back of the human body, the back cross section in the corrected three-dimensional shape data of the back of the human body is intercepted;
and (3) according to the intercepted back cross section and the process of detecting the scoliosis, acquiring the inclination angle of the spine of the human body.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and calling a three-dimensional depth imaging system, and scanning the three-dimensional contour of the surface of the back of the human body to obtain the three-dimensional shape data of the back of the human body.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a coordinate system of an imaging system and a preset reference coordinate system, wherein the imaging system is a system for acquiring three-dimensional shape data of the back of a human body; acquiring a transformation relation between a coordinate system of an imaging system and a preset reference coordinate system; and aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system according to the transformation relation to obtain the corrected three-dimensional shape data of the back of the human body.
In one embodiment, the computer program when executed by the processor further performs the steps of:
carrying out rigid body transformation on the coordinate system of the imaging system and a preset reference coordinate; and solving the rigid body transformation result through singular value decomposition to obtain the transformation relation between the imaging system coordinate system and the preset reference coordinate system.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and (3) cutting a plurality of back cross sections at equal intervals in the corrected three-dimensional back profile data of the human body along the central line of the three-dimensional back profile spine of the human body.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a back three-dimensional contour line according to the intercepted back cross section; simulating the scoliosis detection process, and selecting points at specific positions from two sides of the spine in the back three-dimensional contour line; acquiring a straight line of a point at a specific position; and calculating the included angle between the straight line and the horizontal plane to obtain the inclination angle of the spine of the human body.
In an embodiment, the intercepted back cross-section comprises a plurality of back cross-sections of different locations, the computer program, when executed by the processor, further performs the steps of:
calculating included angles corresponding to the back cross sections at different positions; and selecting the maximum included angle as the inclination angle of the spine of the human body.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware that is instructed by a computer program, and the computer program may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (10)
1. A method of measuring the inclination of the spine of a human, the method comprising:
acquiring three-dimensional shape data of the back of a human body;
aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system to obtain corrected three-dimensional shape data of the back of the human body;
extracting a spine central line with the three-dimensional shape of the back of the human body according to the corrected three-dimensional shape data of the back of the human body;
according to the spine central line with the three-dimensional shape of the back of the human body, intercepting the back cross section in the corrected three-dimensional shape data of the back of the human body;
and (3) according to the intercepted back cross section and the process of detecting the scoliosis, acquiring the inclination angle of the spine of the human body.
2. The method of claim 1, wherein the acquiring three-dimensional topographic data of the back of the human body comprises:
and calling a three-dimensional depth imaging system, and scanning the three-dimensional contour of the surface of the back of the human body to obtain the three-dimensional shape data of the back of the human body.
3. The method according to claim 1, wherein the aligning the three-dimensional topography data of the back of the human body to a preset reference coordinate system to obtain the corrected three-dimensional topography data of the back of the human body comprises:
acquiring a coordinate system of an imaging system and a preset reference coordinate system, wherein the imaging system is a system for acquiring three-dimensional shape data of the back of the human body;
acquiring a transformation relation between the imaging system coordinate system and the preset reference coordinate system;
and aligning the three-dimensional shape data of the back of the human body to the preset reference coordinate system according to the transformation relation to obtain the corrected three-dimensional shape data of the back of the human body.
4. The method of claim 3, wherein the obtaining a transformation relationship between the imaging system coordinate system and the preset reference coordinate system comprises:
performing rigid body transformation on the imaging system coordinate system and the preset reference coordinate;
and solving a rigid body transformation result through singular value decomposition to obtain a transformation relation between the imaging system coordinate system and the preset reference coordinate system.
5. The method according to claim 1, wherein said extracting the back cross section from the corrected three-dimensional profile data of the back of the human body according to the spine centerline of the three-dimensional profile of the back of the human body comprises:
and cutting a plurality of back cross sections at equal intervals in the corrected three-dimensional shape data of the back of the human body along the central line of the spine with the three-dimensional shape of the back of the human body.
6. The method of claim 1, wherein obtaining the inclination angle of the spine of the human body according to the extracted back cross section and simulating scoliosis detection process comprises:
acquiring a back three-dimensional contour line according to the intercepted back cross section;
simulating the scoliosis detection process, and selecting points at specific positions from two sides of the spine in the back three-dimensional contour line;
acquiring a straight line of the point at the specific position;
and calculating the included angle between the straight line and the horizontal plane to obtain the inclination angle of the spine of the human body.
7. The method of claim 6, wherein the back cross-section taken comprises a plurality of back cross-sections at different locations;
according to the back cross section of intercepting to simulate scoliosis testing process, acquire the angle of inclination of human backbone and still include:
calculating included angles corresponding to the back cross sections at different positions;
and selecting the maximum included angle as the inclination angle of the spine of the human body.
8. An apparatus for measuring the inclination angle of the spine of a human body, the apparatus comprising:
the data acquisition module is used for acquiring three-dimensional shape data of the back of a human body;
the coordinate correction module is used for aligning the three-dimensional shape data of the back of the human body to a preset reference coordinate system to obtain corrected three-dimensional shape data of the back of the human body;
the spine extraction module is used for extracting a spine central line with a three-dimensional shape of the back of the human body according to the corrected three-dimensional shape data of the back of the human body;
the intercepting module is used for intercepting the back cross section in the corrected three-dimensional shape data of the back of the human body according to the central line of the spine with the three-dimensional shape of the back of the human body;
and the inclination angle acquisition module is used for acquiring the inclination angle of the spine of the human body according to the intercepted back cross section and the process of simulating scoliosis detection.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| CN202110446307.4A CN115227231A (en) | 2021-04-25 | 2021-04-25 | Method and device for measuring inclination angle of human spine, computer equipment and medium |
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