CN116098611A - Evaluation generation system, method and medium for limb movement rehabilitation - Google Patents
Evaluation generation system, method and medium for limb movement rehabilitation Download PDFInfo
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Abstract
The application provides an evaluation generation system, method and medium for limb movement rehabilitation, wherein the system comprises an equipment tail end control module, a three-dimensional space probe module, a movement model generation module and a data storage module; the equipment end control module is connected with a control system of the rehabilitation exercise equipment and is used for acquiring or controlling an operation parameter group of a patient in the rehabilitation exercise process of the equipment end of the rehabilitation exercise equipment; the three-dimensional space probe module is used for establishing a virtual probe matrix with the operation parameters within a certain threshold range in rehabilitation exercise equipment and realizing probe point triggering by combining the operation parameter groups acquired or controlled by the equipment tail end control module; the motion model generation module is used for evaluating triggered probe points in the virtual probe matrix and generating a rehabilitation motion data model, wherein the rehabilitation motion data model is used for evaluating and referencing operation parameters of subsequent rehabilitation motions of a patient; the data storage module is used for storing patient information and a rehabilitation exercise data model corresponding to the patient information.
Description
Technical Field
The invention relates to the field of rehabilitation medical treatment, and particularly provides an evaluation generation system, an evaluation generation method and an evaluation generation medium for limb movement rehabilitation.
Background
Rehabilitation medicine is one of four internationally recognized medicines (prevention, clinic, rehabilitation, health care).
In recent years, under the great background that national policies such as grading diagnosis and treatment, medical insurance and the like continuously increase the rehabilitation medical support force, and social capital and public hospitals continuously cooperate to establish a rehabilitation hospital, the rehabilitation medical industry is increasingly valued by various social communities, and investors, entrepreneurs and researchers are attracted to the industry. The addition of these forces has also driven the domestic rehabilitation industry to develop deeply from the start promotion period to the industry standardization period.
The exercise capacity is the capacity of ginseng plus exercise and training, exercise capacity training recovery is needed through rehabilitation training equipment after the exercise capacity is damaged, and the exercise capacity damage degree of each patient is different, so the exercise capacity of each patient needs to be evaluated, and the exercise capacity evaluation is beneficial to carrying out targeted training and subsequent cyclic training for each time so as to promote the rapid rehabilitation of the patient.
For example, a patient suffering from upper limb movement dysfunction caused by cerebral stroke, brain trauma, or the like can improve muscle strength, movement control ability, and joint mobility exercise ability through rehabilitation training.
The range of exercise is important in clinical scale evaluation.
How the patient exercise capacity is estimated, how the patient exercise capacity is estimated accurately and conveniently, and how the accurate exercise range makes a targeted rehabilitation training plan for the patient, which is the key of doctors or therapists to master the illness state of the patient.
The existing technologies on the market at present have the following disadvantages:
in the prior art, other peripheral equipment such as motion capture, image recognition and the like are needed to assist, and through motion capture during rehabilitation exercise of a patient, then the exercise is evaluated,
in this way, the equipment cost is high and the calculation is complex;
in addition, the estimated movement range of the prior art has larger deviation, the running condition of the patient can not be accurately estimated,
is not beneficial to the treatment of patients;
the evaluation scene cannot be reproduced, the scene simulation cannot be reproduced when the patient is evaluated, or even if reproduced, the accuracy required for the evaluation cannot be achieved.
The proposal aims at solving the defects of the prior art under the existing condition of the prior art,
an evaluation system and method are provided that do not require external capture, identification devices.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims at providing an evaluation generation system for limb movement rehabilitation, which is in communication connection with a control system of rehabilitation movement equipment, and realizes probe point triggering of the rehabilitation movement equipment when a patient uses by establishing a virtual probe matrix, thereby establishing a rehabilitation movement data model of the patient, which is different from the technologies such as image capturing in the market;
the invention aims to provide an evaluation and generation method for limb movement rehabilitation, which can evaluate the rehabilitation movement of a patient and is convenient for subsequent rehabilitation treatment;
the third object of the present invention is to provide a computer readable storage medium, which is applied to various actuators, and solves the problem that the patient is inconvenient to evaluate the data of rehabilitation exercise equipment.
To achieve any of the above objects, the present invention provides an evaluation and generation system for rehabilitation of limb movements, comprising:
the equipment tail end control module is connected with a control system of rehabilitation exercise equipment and is used for acquiring or controlling an operation parameter group of a patient in the rehabilitation exercise process of the tail end of the rehabilitation exercise equipment;
the three-dimensional space probe module is used for establishing a virtual probe matrix with the operation parameters within a certain threshold range in the rehabilitation exercise equipment and realizing probe point triggering by combining the operation parameter groups acquired or controlled by the equipment tail end control module;
the motion model generation module is used for evaluating triggered probe points in the virtual probe matrix and generating a rehabilitation motion data model, wherein the rehabilitation motion data model is used for evaluating and referencing operation parameters of subsequent rehabilitation motions of the patient;
and the data storage module is used for storing patient information and the rehabilitation exercise data model corresponding to the patient information.
Preferably, the set of operating parameters includes, but is not limited to, spatial position, velocity, acceleration, angle, and force of the rehabilitation exercise device tip being performed during a rehabilitation exercise.
Preferably, the three-dimensional space probe module comprises a space position probe sub-module, a speed probe sub-module, an acceleration probe sub-module, an angle probe sub-module and a force probe sub-module.
Preferably, the spatial position probe sub-module is provided with a spatial coordinate probe matrix, the velocity probe sub-module is provided with a velocity probe matrix, the acceleration probe sub-module is provided with an acceleration probe matrix, the angle probe sub-module is provided with an angle probe matrix, and the force probe sub-module is provided with a force probe matrix.
Preferably, the motion model generation module comprises a three-dimensional coordinate model generation sub-module, a speed model generation sub-module, an acceleration model generation sub-module, an angle model generation sub-module and a force model generation sub-module; the rehabilitation exercise data model is compounded by the data models respectively generated by the three-dimensional coordinate model generation sub-module, the speed model generation sub-module, the acceleration model generation sub-module, the angle model generation sub-module and the force model generation sub-module.
In order to achieve any of the above objects, the present invention further provides a method for generating an assessment of rehabilitation of a limb movement, comprising:
acquiring or controlling an operation parameter group of a patient in the rehabilitation exercise process of the tail end of the rehabilitation exercise equipment;
establishing a virtual probe matrix with the operation parameters within a certain threshold range in the rehabilitation exercise equipment, and grouping the acquired or controlled operation parameters into the virtual probe matrix to realize probe point triggering;
evaluating the triggered probe points in the virtual probe matrix and generating a rehabilitation exercise data model;
and storing and recording patient information and the rehabilitation exercise data model corresponding to the patient information.
Preferably, each rehabilitation exercise record of the patient at the tail end of the rehabilitation exercise equipment is used for generating a rehabilitation exercise data model for evaluating the rehabilitation progress of the patient and the reference of the operation parameters of the next rehabilitation exercise.
Preferably, the set of operating parameters includes, but is not limited to, spatial position, velocity, acceleration, angle, and force of the rehabilitation exercise device tip being performed during a rehabilitation exercise.
Preferably, the rehabilitation exercise device may be selected from one or a combination of more of the following: upper limb rehabilitation equipment, lower limb rehabilitation equipment, walking rehabilitation auxiliary robot or joint rehabilitation equipment.
The invention also provides a computer readable storage medium, wherein when the internal program of the computer readable storage medium is executed, the evaluation generation method of limb movement rehabilitation is executed.
The beneficial effects of the technical scheme can be from one or the combination of several of the following:
in the existing evaluation methods, the scheme can evaluate the movement range of the patient without using additional equipment or a sensor, and has low requirements on equipment configuration and patients;
by moving the end of the device, the range of motion of the patient can be assessed for acquisition or control. The method is simple to realize, convenient to operate and high in speed, and supports the AROM and PROM modes;
by assessing the patient's range of movement and archiving. After a period of rehabilitation treatment, the rehabilitation condition of the patient can be conveniently checked through the comparison of historical data;
the main purpose of this technical scheme is to realize the motion range evaluation function, under the current market is mostly the peripheral hardware with the sensor condition, provides a unique technical scheme, has solved current majority scheme realization cost and operation complexity, has improved patient's operation experience and has practiced thrift doctor or therapist's time of operation.
Drawings
FIG. 1 shows a schematic diagram of the functional module of the present invention.
FIG. 2 shows a schematic diagram of an evaluation generation flow chart of the present invention.
FIG. 3 illustrates a patient history evaluation data loading flow chart in accordance with the present invention.
Fig. 4 shows a convex hull schematic of the data model in the present invention.
Detailed Description
The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".
Referring to fig. 1 to 3, the invention provides an evaluation generating system and method for limb exercise rehabilitation, which are used for evaluating exercise data of a patient when the patient performs rehabilitation exercise training by combining rehabilitation exercise equipment 101 (rehabilitation robot), accurately analyzing the recovery condition of the patient, evaluating and archiving the exercise recovery process, and realizing rehabilitation scene reproduction during subsequent rehabilitation.
The rehabilitation exercise device 101 is a device class generic term for assisting a patient with impaired exercise ability in rehabilitation training, and is commonly known in the market as an upper limb rehabilitation device, a lower limb rehabilitation device, a walking and balance auxiliary robot and a joint auxiliary rehabilitation deviceComplex devices, etc. The basic principle is that the exercise of the impaired limb is carried out by the patient through the active or passive assistance, and the upper limb rehabilitation training device is taken as an example, armMotus of Shanghai Fourier intelligent science and technology Co., ltd TM The EMU upper limb rehabilitation robot is introduced in the background of the product, realizes a function through intelligent control, performs movement assistance through active output when the movement capability of the upper limb of a patient is weak, helps the upper limb to realize movement training such as lifting, dropping, overturning, moving and the like, and can control the movement vector, speed, angle and assistance during each movement training; the upper limb motor is used for achieving the damping effect of action training such as lifting, putting down, overturning and moving when the upper limb movement capability of a patient is recovered to be considerable or damaged slightly, and the damping force and the direction of each action training can be controlled simultaneously. Here, the upper limb rehabilitation device is taken as an example, and the basic recovery principle of other rehabilitation devices is the same.
The exercise training evaluation is to evaluate the capability and effect of each training of each patient, wherein the evaluation content comprises the exercise training speed, proper distance, limb joint degree, assistance or resistance of the patient, and the like, so that the recovery condition of the patient is conveniently evaluated, the illness state is mastered, the recovery process of the patient is known, the exercise training reference of the next training period is also conveniently provided, and the occurrence of the conditions of unsuitable training intensity and the like is prevented.
The above two basic technical and industry concepts are necessary premises for understanding the present invention.
The embodiment describes an evaluation generating system for limb exercise rehabilitation, which comprises a plurality of modules, wherein the modules can be implemented in various actuators by computer software programs, and can be implemented in an integrated system of exercise rehabilitation equipment or an external intelligent equipment.
Specifically, the system comprises a device end control module 102, a three-dimensional space probe module 103, a motion model generation module 104 and a data storage module 105; the equipment end control module 102 is connected with a control system of the rehabilitation exercise equipment 101 and is used for acquiring or controlling an operation parameter group of a patient in the rehabilitation exercise process of the end of the rehabilitation exercise equipment 101; the three-dimensional space probe module 103 is used for establishing a virtual probe matrix with the operation parameters in the rehabilitation exercise equipment 101 within a certain threshold range, and realizing probe point triggering by combining the operation parameter groups acquired or controlled by the equipment end control module 102; the motion model generation module 104 is used for evaluating triggered probe points in the virtual probe matrix and generating a rehabilitation motion data model, wherein the rehabilitation motion data model is used for evaluating and referencing operation parameters of the subsequent rehabilitation motion of the patient; the data storage module 105 is configured to store patient information and the rehabilitation exercise data model corresponding to the patient information.
The following describes the present embodiment in detail with reference to the specific embodiments and the accompanying drawings, but it should be noted that, the present embodiment is not a technical improvement of rehabilitation equipment, so the embodiment does not details the structure of rehabilitation equipment one by one:
taking an upper limb rehabilitation device as an example, in the upper limb rehabilitation exercise of a patient, the device can assist the upper limb to carry out exercise training such as lifting, putting down, turning over and the like, and the related exercise parameters comprise the speed, acceleration, angle, articulation degree, assistance and the like of the exercise, wherein the parameters are generated along with the actual occurrence of the exercise of the patient without one example.
Thus, the operating parameter groups include, but are not limited to, the spatial position (amount of spatial displacement), velocity, acceleration, angle (articulation) and force of the tip of the rehabilitation exercise device 101 that is performed during the rehabilitation exercise. The force is the assistance of the upper limb rehabilitation device when the patient is subjected to the assistance motion, and the force is the resistance of the upper limb rehabilitation device when the patient is subjected to the resistance motion.
The system carries out data modeling evaluation on parameters generated by a patient in rehabilitation training, realizes scene reproduction during the patient training, realizes reproduction of evaluation scenes, and is beneficial to medical staff to grasp the rehabilitation process of the patient.
The three-dimensional space probe module 103 establishes a digital virtual probe matrix by referring to data aiming at operation parameters which can be generated in the rehabilitation training process of a patient, when the patient is in the rehabilitation training process, the operation parameter group is acquired or controlled in real time, and probe point triggering is realized in the virtual probe matrix, and the probe point aggregation forms a data parameter model, carries out digital conversion on the rehabilitation training process of the patient, and stores the data to facilitate subsequent scene reproduction.
Specifically, the three-dimensional space probe module 103 includes a space position probe sub-module, a speed probe sub-module, an acceleration probe sub-module, an angle probe sub-module, and a force probe sub-module. Four parameters are merely illustrative, and in particular, the parameters during actual rehabilitation training of a patient are not limited thereto. Each sub-module establishes a corresponding data probe matrix, performs probe triggering on the acquired or controlled corresponding data, and then realizes compound aggregation of the data probe points of each sub-module to form a three-dimensional space data model, wherein the three-dimensional meaning expresses the three-dimensional coordinates of the space in the data.
The spatial position probe sub-module is provided with a spatial coordinate probe matrix, the velocity probe sub-module is provided with a velocity probe matrix, the acceleration probe sub-module is provided with an acceleration probe matrix, the angle probe sub-module is provided with an angle probe matrix, and the force probe sub-module is provided with a force probe matrix.
Taking a space coordinate probe matrix as an example, in the rehabilitation medical exercise process, the limb movement is three-dimensional movement, the movement track of the limb is expressed by the displacement amount on the X axis, the Y axis and the Z axis in a combined way, and the space position probe sub-module is provided with the space coordinate probe matrix for triggering the space coordinate probe matrix when in different movements, so that the space coordinate probe matrix is converted into a space data model for recording the movement process, thereby facilitating the evaluation of the follow-up rehabilitation therapy and the like.
The above modules mainly relate to two formulas when implementing their specific functions.
The first calculation formula is that the space coordinates of the rehabilitation therapy equipment are converted into virtual space coordinates through displacement and scaling, and the first calculation formula is as follows:
wherein the initial position coordinates (X, Y, Z) of the rehabilitation device space are converted by the amount (Δx, Δy, Δz) of time during the movement, and the real-time position coordinates (X, Y, Z) of the rehabilitation device space.
And a calculation formula II, wherein an algorithm for generating the three-dimensional model by the triggered probe in the virtual space is a convex hull algorithm.
As shown in fig. 4, according to a given spatial point set, a convex hull is generated, which is actually a spatial contour of the three-dimensional point set, so that spatial display of data is realized.
Similarly, other operation parameters can be modeled in the mode, and then a plurality of models are compounded, so that when the space coordinates are displayed, the parameters such as force, speed and acceleration can be assisted for compound display, the whole rehabilitation exercise process can be displayed in more detail and accurately, and the assessment of a therapist or the reference of the next treatment can be facilitated.
Taking a speed probe matrix as an example, in the common knowledge of rehabilitation, the upper limb movement speed of rehabilitation training of a patient has a conventional upper limit, and because the limb movement of the patient is damaged, the upper speed limit of the patient during movement can be obtained through long-term rehabilitation practice, and the speed probe matrix is set within a certain threshold range by taking the upper speed limit as a reference, so that the speed acquired or controlled by the patient in real time during rehabilitation movement treatment can trigger the speed probe matrix. In this embodiment, "speed" is interpreted as the speed of movement of the patient's limb as it moves, which can directly or indirectly derive the progress and recovery of the patient's limb.
Similarly, the acceleration probe matrix can be set according to the common sense of the speed of the movement of the limbs of the patient, so that the acceleration probe matrix is set within a certain threshold range. In this embodiment, "acceleration" is interpreted as the speed of the patient's limb when moving, and the speed may also be used to represent the recovery of the limb.
The extremum can be calculated according to the articulation degree of the human joint in the angle probe matrix, so that the angle probe matrix is set in a certain threshold range by the extremum. The "angle" in this embodiment is interpreted as the degree of bending of the patient's limb, from which the degree of recovery at the patient's joint can be determined.
The force probe matrix comprises a power-assisted probe matrix provided by the rehabilitation equipment in a passive recovery state of a patient and a resistance probe matrix provided by the rehabilitation equipment in an active recovery state; wherein the extreme values of the assistance force and the resistance force can be set by common general knowledge in the field, so that the force probe matrix is set within a certain threshold value.
The motion model generation module 104 collects probe triggers for the patient operating parameter groups in the respective probe matrices and then aggregates the data to form an assessment data model.
Specifically, the motion model generating module 104 includes a three-dimensional coordinate model generating sub-module, a speed model generating sub-module, an acceleration model generating sub-module, an angle model generating sub-module, and a force model generating sub-module; the assessment data model of the rehabilitation exercise is compounded by data models respectively generated by the speed model generation sub-module, the acceleration model generation sub-module, the angle model generation sub-module and the force model generation sub-module.
The embodiment provides an evaluation generation method of limb movement rehabilitation, which comprises the following steps:
s1 acquires or controls a patient' S operating parameter set during a rehabilitation exercise at the end of rehabilitation exercise device 101.
As described above, the types of parameters of the operation parameter group are not limited, and may be selected according to the actual exercise rehabilitation training requirements of the patient, for example, when the patient's hand is bound to the rehabilitation exercise device 101 and performs passive power-assisted rehabilitation exercise training treatment, the operation parameter group includes the spatial position, speed, acceleration, power-assisted magnitude, etc. of the hand movement; when the patient's hand is bound to the rehabilitation exercise device 101 and active resistance rehabilitation exercise training treatment is performed, the operation parameter group includes the speed, acceleration, resistance and the like of the hand movement.
The group of operating parameters is generated in the rehabilitation exercise device 101 by command control. For example, the device end control module 102 sends an upward force to the end of the rehabilitation exercise device 101, and instructions such as the force and the direction of the force are transmitted to the control system of the rehabilitation exercise device 101 through a data packet mode protocol, and the control system drives the end of the rehabilitation exercise device 101 to achieve the action or state indicated in the instructions after receiving the instructions. In this embodiment, the equipment end control module 102 functions as a command control, and the subsequent operating parameters needed to build the data model are generated therefrom.
Alternatively, the operating parameter set is generated in rehabilitation exercise device 101 under the control of the device's own control system. For example, the end of the rehabilitation exercise device 101 sends an upward force with assistance, the force and direction of the force are instructed to reach the action or state indicated in the instruction through the end, the instruction is sent to the end control module 102 of the device through a protocol in a data package manner, and after the end control module 102 of the device acquires the data, the data modeling and other operations are continued. In this embodiment, the device tip control module 102 functions as a command acquisition, with subsequent acquisition and collection of the operational parameters of the modeled data model, particularly from the tip of the rehabilitation exercise device 101.
S2, establishing a virtual probe matrix with the operation parameters within a certain threshold range in the rehabilitation exercise equipment 101, and grouping the acquired or controlled operation parameters into the virtual probe matrix to realize probe point triggering.
Aiming at the operation parameters which can be generated in the rehabilitation training process of a patient, a digital virtual probe matrix is established by data reference, when the patient is in the rehabilitation training process, an operation parameter group is acquired or controlled in real time, and probe point triggering is realized in the virtual probe matrix, and the probe point aggregation forms a data parameter model, carries out digital conversion on the rehabilitation training process of the patient, and is stored to facilitate subsequent scene reproduction.
Specifically, a probe matrix is formed for each item of data such as space coordinates, speed, acceleration, angle, force and the like, each data probe matrix is collected after being triggered by probes of data in an operation parameter group, and then a three-dimensional space data model is formed by realizing composite collection of each data probe point, wherein 'three-dimensional' means to express the space three-dimensional coordinates of the data.
Taking a space coordinate probe matrix as an example, in the rehabilitation medical exercise process, the limb movement is three-dimensional movement, the movement track of the limb is expressed by the displacement amount on the X axis, the Y axis and the Z axis in a combined way, and the space position probe sub-module is provided with the space coordinate probe matrix for triggering the space coordinate probe matrix when in different movements, so that the space coordinate probe matrix is converted into a space data model for recording the movement process, thereby facilitating the evaluation of the follow-up rehabilitation therapy and the like.
The above modules mainly relate to two formulas when implementing their specific functions.
The first calculation formula is that the space coordinates of the rehabilitation therapy equipment are converted into virtual space coordinates through displacement and scaling, and the first calculation formula is as follows:
wherein the initial position coordinates (X, Y, Z) of the rehabilitation device space are converted by the amount (Δx, Δy, Δz) of time during the movement, and the real-time position coordinates (X, Y, Z) of the rehabilitation device space.
And a calculation formula II, wherein an algorithm for generating the three-dimensional model by the triggered probe in the virtual space is a convex hull algorithm.
As shown in fig. 4, according to a given spatial point set, a convex hull is generated, which is actually a spatial contour of the three-dimensional point set, so that spatial display of data is realized.
Similarly, other operation parameters can be modeled in the mode, and then a plurality of models are compounded, so that when the space coordinates are displayed, the parameters such as force, speed and acceleration can be assisted for compound display, the whole rehabilitation exercise process can be displayed in more detail and accurately, and the assessment of a therapist or the reference of the next treatment can be facilitated.
Taking a speed probe matrix as an example, in the common knowledge of rehabilitation, the upper limb movement speed of rehabilitation training of a patient has a conventional upper limit, and because the limb movement of the patient is damaged, the upper speed limit of the patient during movement can be obtained through long-term rehabilitation practice, and the speed probe matrix is set within a certain threshold range by taking the upper speed limit as a reference, so that the speed acquired or controlled by the patient in real time during rehabilitation movement treatment can trigger the speed probe matrix. In this embodiment, "speed" is interpreted as the speed of movement of the patient's limb as it moves, which can directly or indirectly derive the progress and recovery of the patient's limb.
Similarly, the acceleration probe matrix can be set according to the common sense of the speed of the movement of the limbs of the patient, so that the acceleration probe matrix is set within a certain threshold range. In this embodiment, "acceleration" is interpreted as the speed of the patient's limb when moving, and the speed may also be used to represent the recovery of the limb.
The extremum can be calculated according to the articulation degree of the human joint in the angle probe matrix, so that the angle probe matrix is set in a certain threshold range by the extremum. The "angle" in this embodiment is interpreted as the degree of bending of the patient's limb, from which the degree of recovery at the patient's joint can be determined.
The force probe matrix comprises a power-assisted probe matrix provided by the rehabilitation equipment in a passive recovery state of a patient and a resistance probe matrix provided by the rehabilitation equipment in an active recovery state; wherein the extreme values of the assistance force and the resistance force can be set by common general knowledge in the field, so that the force probe matrix is set within a certain threshold value.
S3, evaluating triggered probe points in the virtual probe matrix and generating a rehabilitation exercise data model.
Specifically, the probe contacts in the step S2 are collected and then a data model is built, so that the movement process of a patient can be intuitively seen and rehabilitation evaluation is carried out. On the one hand, the degree of rehabilitation of the patient can be assessed, and on the other hand, a reference can be made when setting parameters for the subsequent treatment.
Referring to fig. 2, after the device end control module 102 is connected to the rehabilitation exercise device 101, the end position is acquired in real time, parameters such as the position of the rehabilitation exercise device 101 are initialized, the patient operates the device end to move the end according to the self-movement capability, and the touching probe is triggered during the movement. And collecting the triggered probes in real time, carrying out operation on the triggered probes, dynamically generating a three-dimensional model, and obtaining the generated model which is the patient movement range.
And S4, storing and recording patient information and the rehabilitation exercise data model corresponding to the patient information.
The stored data model corresponds to each patient identity, so that doctors can evaluate the rehabilitation of each patient conveniently, the rehabilitation process of each patient can be mastered in real time, and the intensity of rehabilitation exercise is rationalized.
The above-described evaluation generation method may be applied to the rehabilitation exercise device 101, and the rehabilitation exercise device 101 may be selected from one or a combination of more of the following: upper limb rehabilitation equipment, lower limb rehabilitation equipment, walking rehabilitation auxiliary robot or joint rehabilitation equipment.
Referring to fig. 3, when the historical evaluation data of the patient needs to be loaded, the device end control module 102 is connected to the rehabilitation exercise device 101, the stored evaluation data of the patient is loaded after connection, the data is subjected to spatial position conversion, and a dynamic model is formed for visual display for evaluating the rehabilitation progress of the patient.
It should be noted that the present embodiment does not involve a technical modification of rehabilitation exercise apparatus 101.
The present invention also provides a computer storage medium storing a computer program which, when executed by a processor, performs the above-described method of generating an assessment of rehabilitation of limb movements.
The various modules described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disk) as used herein include Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disk) usually reproduce data magnetically, while discs (disk) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
The advantages of the invention may be derived from one or a combination of the following, alone or in combination, according to the different embodiments described above:
in the existing evaluation methods, the scheme can evaluate the movement range of the patient without using additional equipment or a sensor, and has low requirements on equipment configuration and patients;
by moving the end of the device, the range of motion of the patient can be assessed for acquisition or control. The method is simple to realize, convenient to operate and high in speed, and supports the AROM and PROM modes;
by assessing the patient's range of movement and archiving. After a period of rehabilitation treatment, the rehabilitation condition of the patient can be conveniently checked through the comparison of historical data;
the main purpose of this technical scheme is to realize the motion range evaluation function, under the current market is mostly the peripheral hardware with the sensor condition, provides a unique technical scheme, has solved current majority scheme realization cost and operation complexity, has improved patient's operation experience and has practiced thrift doctor or therapist's time of operation.
It will be appreciated by persons skilled in the art that the embodiments of the invention shown in the foregoing description are by way of example only and are not limiting. The objects of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.
Claims (10)
1. An evaluation generation system for rehabilitation of limb movements, comprising:
the equipment tail end control module is connected with a control system of rehabilitation exercise equipment and is used for acquiring or controlling an operation parameter group of a patient in the rehabilitation exercise process of the tail end of the rehabilitation exercise equipment;
the three-dimensional space probe module is used for establishing a virtual probe matrix with the operation parameters within a certain threshold range in the rehabilitation exercise equipment and realizing probe point triggering by combining the operation parameter groups acquired or controlled by the equipment tail end control module;
the motion model generation module is used for evaluating triggered probe points in the virtual probe matrix and generating a rehabilitation motion data model, wherein the rehabilitation motion data model is used for evaluating and referencing operation parameters of subsequent rehabilitation motions of the patient;
and the data storage module is used for storing patient information and the rehabilitation exercise data model corresponding to the patient information.
2. The limb movement rehabilitation assessment generation system of claim 1, wherein the set of operating parameters includes, but is not limited to, spatial position, speed, acceleration, angle, and force of the rehabilitation exercise device tip being performed during rehabilitation exercise.
3. The limb movement rehabilitation assessment generation system of claim 2, wherein the three-dimensional spatial probe module comprises a spatial position probe sub-module, a velocity probe sub-module, an acceleration probe sub-module, an angle probe sub-module, and a force probe sub-module.
4. The limb movement rehabilitation assessment generation system according to claim 3, wherein the spatial position probe sub-module is provided with a spatial coordinate probe matrix, the velocity probe sub-module is provided with a velocity probe matrix, the acceleration probe sub-module is provided with an acceleration probe matrix, the angle probe sub-module is provided with an angle probe matrix, and the force probe sub-module is provided with a force probe matrix.
5. The limb movement rehabilitation assessment generation system according to claim 4, wherein the movement model generation module comprises a three-dimensional coordinate model generation sub-module, a speed model generation sub-module, an acceleration model generation sub-module, an angle model generation sub-module, and a force model generation sub-module; the rehabilitation exercise data model is compounded by the data models respectively generated by the three-dimensional coordinate model generation sub-module, the speed model generation sub-module, the acceleration model generation sub-module, the angle model generation sub-module and the force model generation sub-module.
6. The method for generating the evaluation of the rehabilitation of the movement of the limb is characterized by at least comprising the following steps:
acquiring or controlling an operation parameter group of a patient in the rehabilitation exercise process of the tail end of the rehabilitation exercise equipment;
establishing a virtual probe matrix with the operation parameters within a certain threshold range in the rehabilitation exercise equipment, and grouping the acquired or controlled operation parameters into the virtual probe matrix to realize probe point triggering;
evaluating the triggered probe points in the virtual probe matrix and generating a rehabilitation exercise data model;
and storing and recording patient information and the rehabilitation exercise data model corresponding to the patient information.
7. The method for generating an assessment of rehabilitation of a limb exercise according to claim 6, wherein each rehabilitation exercise record of the patient at the end of the rehabilitation exercise device is used to generate a rehabilitation exercise data model for assessing the patient's rehabilitation progress and the reference of the operation parameters of the next rehabilitation exercise.
8. The method of claim 6, wherein the set of operating parameters includes, but is not limited to, spatial position, velocity, acceleration, angle, and force of the rehabilitation exercise device tip being performed during rehabilitation exercise.
9. The method of claim 6, wherein the rehabilitation exercise device is selected from one or more of the following: upper limb rehabilitation equipment, lower limb rehabilitation equipment, walking rehabilitation auxiliary robot or joint rehabilitation equipment.
10. A computer-readable storage medium, wherein the computer-readable storage medium has an internal program executed to perform the limb movement rehabilitation assessment generation method according to claim 6.
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