CN115500821A - Pelvic segment skeleton system calibration method based on human anatomy - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 210000003484 anatomy Anatomy 0.000 title claims abstract description 16
- 230000003068 static effect Effects 0.000 claims abstract description 40
- 210000004197 pelvis Anatomy 0.000 claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims abstract description 6
- 210000003049 pelvic bone Anatomy 0.000 claims description 17
- 238000004519 manufacturing process Methods 0.000 claims description 7
- 239000003550 marker Substances 0.000 claims description 5
- 210000000988 bone and bone Anatomy 0.000 claims description 4
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- 125000001153 fluoro group Chemical group F* 0.000 claims description 4
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The application discloses a pelvic segment skeletal system calibration method based on human anatomy, which comprises the following steps: making a human skin surface calibration point; setting a pelvic segment static calibration point based on the calibration point; setting a pelvis segment dynamic calibration point based on the calibration point; and measuring the motion posture of the human body segment based on the pelvis segment static calibration point and the pelvis segment dynamic calibration point. Through setting the calibration point on the surface of the skin of the human body, the motion data of the skeletal system in the motion process of the human body can be captured more accurately. The motion postures and the sizes of the human body segments are respectively measured by adopting a dynamic calibration technology and a static calibration technology, and the motion data of the human body skeleton system is obtained by the cooperation result. Based on human anatomy, the calibration points are divided into dynamic calibration points and static calibration points which are respectively arranged at different anatomical positions of a human body, so that errors caused by relative displacement between the calibration points and a skeleton model are reduced, and the accuracy of motion data of a human skeleton system is greatly improved.
Description
Technical Field
The application belongs to the technical field of human body collaborative calibration of human anatomy, and particularly relates to a pelvic bone segment skeleton system calibration method based on human anatomy.
Background
At present, the human body calibration technology based on human anatomy and optical motion capture is mainly static calibration, namely, a calibration point is placed at a human anatomy point, a joint center parameter estimation algorithm is utilized to solve the position of a joint center, and the size of a main bone segment of an experimental object is obtained according to the distance between adjacent joints, so that a model of a human body bone system is established. The technology can be applied to biomechanical researches such as establishing a virtual human model and researching the human action process.
Disclosure of Invention
The application provides a pelvic segment skeletal system calibration method based on human anatomy, and by setting calibration points on the surface of human skin, skeletal system motion data in the human motion process can be captured more accurately.
In order to achieve the above purpose, the present application provides the following solutions:
the pelvic segment skeletal system calibration method based on human anatomy comprises the following steps:
making a human skin surface calibration point;
setting a pelvis segment static calibration point based on the calibration point;
setting a pelvis segment dynamic calibration point based on the calibration point;
and measuring the motion posture of the human body segment based on the pelvis segment static calibration point and the pelvis segment dynamic calibration point.
Preferably, the method for making the calibration point on the surface of the human skin comprises the following steps: the small ball with the diameter of 15mm and the surface coated with the reflective material is adopted.
Preferably, the method for setting the pelvic segment static index point comprises the following steps:
manufacturing a calibration rod;
calculating a position of the pelvic segment static calibration point based on the calibration rod;
and constructing a local coordinate system based on the position of the pelvis segment static calibration point.
Preferably, the calibration rod includes: the end of the fixed rod, the calibration point in the middle of the fixed rod and the fixed rod.
Preferably, the method of calculating the position of the static index point of the pelvic segment comprises:
fixing the end of the calibration rod without the calibration point at the anatomical position of the pelvic bone segment;
collecting the pelvic bone segment anatomical position punctuation;
the anatomical position of the pelvic segment at the static marker point is calculated.
Preferably, the method of calculating the anatomical position of the pelvic segment at a static marker point comprises:
wherein x, y and z are space position coordinates of the anatomical position of the static marking point; x is a radical of a fluorine atom 1 ,y 1 ,z 1 Coordinates of the spatial position of the punctuation point 1; x is a radical of a fluorine atom 2 ,y 2 ,z 2 The spatial position coordinates of the punctuation point 2 are indexed.
Preferably, the method of constructing the local coordinate system includes: firstly, setting a middle point, an auxiliary point and an auxiliary vector, finding out an origin of a coordinate system, and judging that the direction of the auxiliary vector is the direction of the coordinate system.
Preferably, the method for setting the pelvic bone segment dynamic calibration point comprises the following steps:
manufacturing a calibration plate;
and placing the calibration plate at the position where the relative displacement between the pelvic bone segment and the bone system is minimum to obtain a dynamic pelvic bone segment calibration point.
Preferably, the method for manufacturing the calibration plate comprises the following steps: and fixing the calibration point on the thin rod, and fixing the thin rod on the calibration plate.
The beneficial effect of this application does:
the application discloses a pelvic segment skeletal system calibration method based on human anatomy, which can be used for more accurately capturing skeletal system motion data in the human motion process by setting calibration points on the surface of human skin. Because the calibration point is arranged on the surface of the skin of the human body instead of being fixed on the skeleton, the calibration point and the skeleton system inevitably generate tiny relative displacement in the movement process, thereby influencing the calibration precision. Therefore, the motion postures and the sizes of the human body segments need to be measured by adopting dynamic and static calibration technologies respectively, and the motion data of the human body skeleton system is obtained by the cooperation result. Since the anatomical location point of the pelvic segment is far from the skin and can generate large relative movement with the skin during movement, a calibration rod needs to be manufactured for setting a static calibration point.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for a person skilled in the art to obtain other drawings without any inventive exercise.
FIG. 1 is a schematic flow chart illustrating a pelvic segment skeletal system calibration method based on human anatomy according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a calibration bar required for setting a pelvic segment static calibration point according to an embodiment of the present application;
FIG. 3 is a structural diagram of a static calibration point position of a pelvic segment according to an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a pelvic segment local coordinate system establishment according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a dynamic index point group according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.
Fig. 1 is a schematic flow chart illustrating a pelvic segment skeletal system calibration method based on human anatomy according to an embodiment of the present application;
making a human skin surface calibration point; and manufacturing a small ball with the diameter of 15mm and the surface coated with a reflective material as a calibration point adopted by the calibration method.
Setting a pelvis segment static calibration point based on the calibration point;
as shown in fig. 2, a calibration rod is established; a calibration rod required by the static calibration point of the pelvic bone segment is arranged, and the calibration rod consists of two calibration points 1 and 3 and two sections with the lengths of l respectively 1 ,l 2 The fixing rod 2 and 4.
Calculating a position of the pelvic segment static calibration point based on the calibration rod;
as shown in fig. 3, the end of the calibration bar without calibration points is fixed in four anatomical positions of the pelvic bone: right Anterior Superior Iliac Spine (RASIS), left Anterior Superior Iliac Spine (LASIS), right Posterior Superior Iliac Spine (RPSIS), left Posterior Superior Iliac Spine (LPSIS);
collecting the pelvic segment anatomyMarking points at positions; collecting pelvic bone segment anatomy position index point 1 position (x) 1 ,y 1 ,z 1 ) Index point 2 position (x) 2 ,y 2 ,z 2 ) (ii) a The calibration point 1 and the calibration point 2 are respectively positioned at the tail end and the middle of the fixed rod so as to determine the spatial position of the end of the fixed rod without the calibration point.
Calculating the anatomical position of the pelvic segment at the static marking point;
the anatomical position (x, y, z) at which the static marker points are located is calculated using the following formula:
wherein x, y and z are space position coordinates of the anatomical position of the static marking point; x is the number of 1 ,y 1 ,z 1 The spatial position coordinates of the punctuation point 1 are marked; x is the number of 2 ,y 2 ,z 2 The spatial position coordinates of the punctuation point 2 are indexed.
As shown in fig. 4, a local coordinate system is constructed based on the position of the pelvic segment static index point; constructing a local coordinate system according to the anatomical position of the pelvic bone segment static calibration point; firstly, setting a middle point, an auxiliary point and an auxiliary vector, finding out an original point of a coordinate system, and judging that the direction of the auxiliary vector is the direction of the coordinate system; according to the position of the static calibration point, setting a midpoint A of a Right Posterior Superior Iliac Spine (RPSIS) and a Left Posterior Superior Iliac Spine (LPSIS), and a midpoint B of a Right Anterior Superior Iliac Spine (RASIS) and a Left Anterior Superior Iliac Spine (LASIS) as auxiliary points; setting the vector pointing from the midpoint B to the Right Anterior Superior Iliac Spine (RASIS) as an auxiliary vector
Vector pointing from midpoint B to midpoint A
Cross product vector
Obtaining an auxiliary vector
Setting the midpoint B as the origin of a local coordinate system of the pelvic bone segment; local coordinate system of pelvic segment
Is defined as the Z direction, vector
The direction is Y direction, vector
Cross product vector
The vector direction of (2) is defined as the X direction.
Setting a pelvic segment dynamic index point based on the index point, as shown in FIG. 5;
manufacturing a calibration plate;
the four calibration points 6 are respectively fixed on four thin rods 7 with the radius of 3 mm; fixing the thin rod on the calibration plate 5;
four calibration points adopted when the calibration plate is manufactured are dynamic calibration points;
and (3) placing the calibration plate at the position where the relative displacement between the pelvic bone segment and the skeletal system is minimum, and taking four calibration points on the calibration plate as dynamic calibration points to capture segment motion. I.e., the midpoint of the Right Posterior Superior Iliac Spine (RPSIS) and the Left Posterior Superior Iliac Spine (LPSIS) at two static calibration points.
Determining the motion posture of the human body segment based on the pelvis segment static calibration point and the pelvis segment dynamic calibration point;
through setting the calibration point on the surface of the skin of the human body, the motion data of the skeletal system in the motion process of the human body can be captured more accurately. Because the calibration point is arranged on the surface of the skin of the human body instead of being fixed on the skeleton, the calibration point and the skeleton system inevitably generate tiny relative displacement in the movement process, thereby influencing the calibration precision. Therefore, the motion postures and the sizes of the human body segments need to be measured by adopting dynamic and static calibration technologies respectively, and the motion data of the human body skeleton system is obtained by a synergistic result. Since the anatomical location point of the pelvic segment is far from the skin and can generate large relative movement with the skin during movement, a calibration rod needs to be manufactured for setting a static calibration point.
The above-described embodiments are merely illustrative of the preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements made to the technical solutions of the present application by those skilled in the art without departing from the spirit of the present application should fall within the protection scope defined by the claims of the present application.
Claims (9)
1. The pelvic segment skeletal system calibration method based on human anatomy is characterized by comprising the following steps:
making a human skin surface calibration point;
setting a pelvis segment static calibration point based on the calibration point;
setting a pelvis segment dynamic calibration point based on the calibration point;
and measuring the motion posture of the human body segment based on the pelvic bone segment static calibration point and the pelvic bone segment dynamic calibration point.
2. The method for human anatomy based pelvic segment skeletal system calibration according to claim 1, wherein the method for establishing human skin surface calibration points comprises: the small ball with the diameter of 15mm and the surface coated with the reflective material is adopted.
3. The method for anatomical pelvic segment skeletal system calibration according to claim 1, wherein the method for setting the pelvic segment static calibration point comprises:
manufacturing a calibration rod;
calculating a position of the pelvic segment static calibration point based on the calibration rod;
and constructing a local coordinate system based on the position of the pelvis segment static calibration point.
4. The anatomical pelvic segment skeletal system calibration method according to claim 3, wherein the calibration rod comprises: the end of the fixed rod, the index point in the middle and the fixed rod.
5. The method for anatomical pelvic segment skeletal system calibration according to claim 3, wherein the method of calculating the position of the pelvic segment static calibration point comprises:
fixing the end of the calibration rod without the calibration point at the pelvic bone segment anatomical position;
collecting the pelvis segment anatomical position punctuation;
the anatomical position of the pelvic segment at the static marker point is calculated.
6. The anatomical pelvic segment skeletal system calibration method according to claim 5, wherein the method of calculating the anatomical position at the pelvic segment static marker point comprises:
wherein x, y and z are space position coordinates of the anatomical position of the static marking point; x is a radical of a fluorine atom 1 ,y 1 ,z 1 The spatial position coordinates of the punctuation point 1 are marked; x is a radical of a fluorine atom 2 ,y 2 ,z 2 The spatial position coordinates of the punctuation point 2 are indexed.
7. The anatomical pelvic segment skeletal system calibration method according to claim 3, wherein the method of constructing the local coordinate system comprises: firstly, setting a middle point, an auxiliary point and an auxiliary vector, finding out the origin of a coordinate system, and judging that the direction of the auxiliary vector is the direction of the coordinate system.
8. The anatomical pelvic segment skeletal system calibration method according to claim 1, wherein the method of setting the pelvic segment dynamic calibration points comprises:
manufacturing a calibration plate;
and placing the calibration plate at the position where the relative displacement between the pelvic bone segment and the bone system is minimum to obtain a dynamic pelvic bone segment calibration point.
9. The anatomical pelvic segment skeletal system calibration method according to claim 8, wherein the method of creating a calibration plate comprises: and fixing the calibration point on the thin rod, and fixing the thin rod on the calibration plate.
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