CN116392077A - A razor back detection system and control method based on three-dimensional depth image - Google Patents

A razor back detection system and control method based on three-dimensional depth image Download PDF

Info

Publication number
CN116392077A
CN116392077A CN202310374956.7A CN202310374956A CN116392077A CN 116392077 A CN116392077 A CN 116392077A CN 202310374956 A CN202310374956 A CN 202310374956A CN 116392077 A CN116392077 A CN 116392077A
Authority
CN
China
Prior art keywords
depth image
dimensional depth
razor
subject
detection system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310374956.7A
Other languages
Chinese (zh)
Inventor
王栋栋
肖兵
张雨新
张亮
景富军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yangzhou Chengke Medical Technology Co ltd
Original Assignee
Yibin Micro Intelligent Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yibin Micro Intelligent Technology Co ltd filed Critical Yibin Micro Intelligent Technology Co ltd
Priority to CN202310374956.7A priority Critical patent/CN116392077A/en
Publication of CN116392077A publication Critical patent/CN116392077A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Measuring for diagnostic purposes; Identification of persons
    • A61B5/45For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A61B5/4561Evaluating static posture, e.g. undesirable back curvature
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/0002Inspection of images, e.g. flaw detection
    • G06T7/0012Biomedical image inspection
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/10Segmentation; Edge detection
    • G06T7/11Region-based segmentation
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/10Segmentation; Edge detection
    • G06T7/13Edge detection
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/60Analysis of geometric attributes
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/70Determining position or orientation of objects or cameras
    • G06T7/73Determining position or orientation of objects or cameras using feature-based methods
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10004Still image; Photographic image
    • G06T2207/10012Stereo images
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10028Range image; Depth image; 3D point clouds
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/20Special algorithmic details
    • G06T2207/20092Interactive image processing based on input by user
    • G06T2207/20104Interactive definition of region of interest [ROI]
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30004Biomedical image processing
    • G06T2207/30008Bone
    • G06T2207/30012Spine; Backbone

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Rheumatology (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Quality & Reliability (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Dentistry (AREA)
  • Geometry (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

本发明是一种基于三维深度图像的剃刀背检测和评估方法,属于光电检测技术和三维深度图像处理技术领域。通过深度相机获取受检者前屈状态下不同位姿的背部三维深度图像;框选划分背部ROI区域上下沿;通过对检测区域进行特征点位识别,构建背部脊柱参考线模型;对点云数据进行坐标换算并测算得到背部左右两侧的高度差;结合预设的剃刀背高度差阈值,实现对受检者背部剃刀背情况的综合评估。本发明通过多位姿采集得到的三维深度图像,结合特征点提取、切面轮廓分析等人工智能相关的数字图像处理技术,较好地解决了传统剃刀背检测过程依赖于专业医师经验、标准不统一、人为误差大以及X光辐射大等问题。

Figure 202310374956

The invention relates to a razor back detection and evaluation method based on a three-dimensional depth image, and belongs to the technical fields of photoelectric detection technology and three-dimensional depth image processing. Obtain the three-dimensional depth images of the back of the subject in different poses in the forward bending state through the depth camera; frame the upper and lower edges of the ROI area of the back; identify the feature points of the detection area, and construct the reference line model of the back spine; point cloud data Carry out coordinate conversion and measure the height difference between the left and right sides of the back; combined with the preset razor back height difference threshold, a comprehensive assessment of the subject's back razor back is realized. In the present invention, the three-dimensional depth image obtained through multi-pose acquisition, combined with the digital image processing technology related to artificial intelligence such as feature point extraction and section profile analysis, solves the problem that the traditional razor back detection process relies on the experience of professional doctors and the standard is not uniform , Large human error and large X-ray radiation.

Figure 202310374956

Description

一种基于三维深度图像的剃刀背检测系统及控制方法A razor back detection system and control method based on three-dimensional depth image

技术领域technical field

本发明涉及光电检测技术领域和三维深度图像处理技术领域,具体而言,涉及一种基于三维深度图像的剃刀背检测系统及控制方法。The present invention relates to the field of photoelectric detection technology and the field of three-dimensional depth image processing technology, in particular, to a razor back detection system and control method based on a three-dimensional depth image.

背景技术Background technique

在我国,脊柱侧弯已经成为了继近视、肥胖症之后,严重威胁儿童青少年身心健康的第三大疾病。在脊柱侧弯病症中,由于脊柱轴向旋转造成两侧肋骨突起或凹陷,使得背部双侧不对称,不仅影响患者的身体外观,还有可能导致患者日常坐立疼痛,呼吸不畅,由此进一步造成患者自卑感加剧及一系列的心理障碍。通过前屈试验姿势观察受检者背部是否存在左右高低不平即剃刀背现象,是脊柱侧弯筛查中非常重要的一项检查。In my country, scoliosis has become the third major disease that seriously threatens the physical and mental health of children and adolescents after myopia and obesity. In scoliosis, due to the axial rotation of the spine, the ribs on both sides protrude or sag, making the back bilaterally asymmetrical, which not only affects the appearance of the patient's body, but may also cause pain in daily sitting and standing, and poor breathing. Further cause the patient's sense of inferiority to aggravate and a series of psychological barriers. It is a very important examination in scoliosis screening to observe whether there is left and right unevenness in the subject's back through the forward bending test posture, that is, the razor back phenomenon.

目前临床中用于剃刀背检查的方法,主要是采用人工目视或借助脊柱侧弯尺手工测量躯干旋转角等方法。根据《临床诊疗指南·骨科分册》中有关脊柱侧弯患者的诊断标准,引导受检者进行前屈试验。人工目视的方法:检查者眼睛应与受检者背部在同一高度,目光平行随受检者弯曲由头至尾,从胸椎至腰椎,观察脊柱两侧是否高低不平;使用脊柱侧弯尺测量的方法:以躯干旋转测量仪分别测量受检者脊柱各段(胸段、胸腰段、腰段),记录最大旋转角及部位,如背部不对称最严重处超过5°时,则高度疑似脊柱侧弯。这两种方法都是基于人工进行检测的方法,严重依赖于专业医师的技能和经验,标准不统一,容易出现误检和漏检情况,筛查效果不好。The current clinical methods for razor back inspection mainly use methods such as manual visual inspection or manual measurement of the trunk rotation angle with the aid of a scoliosis ruler. According to the diagnostic criteria for patients with scoliosis in the "Clinical Diagnosis and Treatment Guidelines Orthopedics Volume", guide the subjects to perform the forward flexion test. Artificial visual method: the examiner's eyes should be at the same height as the subject's back, and the eyes should be parallel to the subject's bending from head to tail, from the thoracic spine to the lumbar spine, and observe whether the sides of the spine are uneven; use a scoliometer to measure Method: Measure each segment of the subject's spine (thoracic, thoracolumbar, and lumbar) with a trunk rotation measuring instrument, and record the maximum rotation angle and position. If the most serious part of the back asymmetry exceeds 5°, it is highly suspected that the spine Side bend. Both of these methods are based on manual detection, rely heavily on the skills and experience of professional doctors, the standards are not uniform, prone to false detection and missed detection, and the screening effect is not good.

针对以上问题,为了满足大规模的儿童青少年人群的脊柱侧弯筛查需求,实现“早筛查、早诊断、早治疗”,急需一种安全、有效、快速的剃刀背检测方法,实现剃刀背数据的自动采集、检测和评估。In view of the above problems, in order to meet the scoliosis screening needs of large-scale children and adolescents and realize "early screening, early diagnosis and early treatment", a safe, effective and rapid razor back detection method is urgently needed to realize razor back detection. Automatic collection, detection and evaluation of data.

发明内容Contents of the invention

针对现有技术存在的剃刀背检查标准不统一、过程复杂的问题,本发明的目的在于提供一种基于三维深度图像的剃刀背检测系统及控制方法。Aiming at the problems of non-uniform razor back inspection standards and complicated procedures in the prior art, the purpose of the present invention is to provide a razor back inspection system and control method based on a three-dimensional depth image.

本发明的实施例通过以下技术方案实现:Embodiments of the invention are achieved through the following technical solutions:

第一方面,本发明提供了一种基于三维深度图像的剃刀背检测系统控制方法,包括;In a first aspect, the present invention provides a method for controlling a razor back detection system based on a three-dimensional depth image, including;

采集受检者不同弯曲角度下的三维深度图像;Collect three-dimensional depth images of the subject under different bending angles;

基于上述得到的三维深度图像,选取背部上下沿范围,确定背部脊柱参考线所在位置;Based on the three-dimensional depth image obtained above, select the range of the upper and lower edges of the back to determine the position of the reference line of the back spine;

基于上述的三维深度图像和脊柱参考线,提取三维深度图像沿参考线两侧凸起的关键点位,测算背部左右两侧的高度差;Based on the above-mentioned 3D depth image and spine reference line, extract the key points protruding from the 3D depth image along both sides of the reference line, and measure the height difference between the left and right sides of the back;

对高度差数据进行分析和处理,综合评估出受检者的剃刀背检测结果。Analyze and process the height difference data, and comprehensively evaluate the razor back detection results of the subject.

在本发明的一实施例中,所述的选取背部上下沿范围还包括;In an embodiment of the present invention, the range of selecting the upper and lower edges of the back also includes;

根据三维深度图像,确定背部上沿为能拍摄到的背部最高位置,背部下沿为受检者裤头束带上方位置;According to the three-dimensional depth image, determine that the upper edge of the back is the highest position of the back that can be photographed, and the lower edge of the back is the position above the belt of the subject's trousers;

划定上下沿之间的三维深度数据区域为剃刀背检测区域;Define the three-dimensional depth data area between the upper and lower edges as the razor back detection area;

在本发明的一实施例中,所述确定背部脊柱参考线所在位置还包括;In an embodiment of the present invention, the determining the position of the reference line of the back spine further includes;

在剃刀背检测区域中,测算背部切面轮廓凹陷最低点;In the razor back detection area, measure the lowest point of the concave contour of the back section;

连接所有最低点并记录为脊柱参考线所在位置。Connect all the lowest points and record as where the spine guide is located.

在本发明的一实施例中,所述关键点位还包括;In an embodiment of the present invention, the key points further include;

沿受检者的背部切面轮廓,以脊柱参考线为中心,查找左右两侧凸起的极值点,作为关键点位。Along the outline of the subject's back section, with the spine reference line as the center, find the extreme points on the left and right sides that are raised as the key points.

在本发明的一实施例中,所述高度差还包括;In an embodiment of the present invention, the height difference further includes;

建立XYZ向三维坐标系;Establish a three-dimensional coordinate system in the XYZ direction;

根据背部左右两侧的关键点位深度信息,计算Z向数据差值,得到当前背部左右两侧的高度差。According to the key point depth information on the left and right sides of the back, calculate the Z-direction data difference, and obtain the current height difference between the left and right sides of the back.

在本发明的一实施例中,所述对高度差数据进行分析和处理还包括;In an embodiment of the present invention, the analyzing and processing the height difference data further includes;

沿背部由上至下依次测算受检者背部左右两侧的高度差;Measure the height difference between the left and right sides of the subject's back along the back from top to bottom;

提取高度差异最大的数据结果;Extract the data results with the largest difference in height;

确定其数据结果来源于受检者的胸段位置、胸腰段位置或腰段位置的数据结果;Determine that the data result is derived from the data result of the subject's thoracic position, thoracolumbar position or lumbar position;

对不同弯曲角度下的受检者背部三维深度图像进行处理;Process the three-dimensional depth images of the subject's back under different bending angles;

设定阈值进行比较分析,得到结果。Set the threshold for comparative analysis and get the results.

第二方面,本发明提供的一种基于三维深度图像的剃刀背检测系统,其特征在于,包括;In the second aspect, a razor back detection system based on a three-dimensional depth image provided by the present invention is characterized in that it includes;

第一模块,用于采集拍摄受检者前屈时不同弯曲角度下的背部形貌;The first module is used to collect and shoot the back shape of the subject under different bending angles when bending forward;

第二模块,用于对背部的三维重构以及建立三维坐标点,进而生成与受检者背部实际形貌高度一致的深度模型;The second module is used for three-dimensional reconstruction of the back and establishment of three-dimensional coordinate points, and then generates a depth model that is highly consistent with the actual shape of the subject's back;

第三模块,用于选取受检者背部上下沿ROI区域,分割三维深度模型;The third module is used to select the ROI area along the upper and lower sides of the subject's back to segment the three-dimensional depth model;

处理单元,所述处理单元与所述第一模块、第二模块和第三模块连接,并执行上述的一种基于三维深度图像的剃刀背检测系统控制方法。A processing unit, the processing unit is connected to the first module, the second module and the third module, and executes the above-mentioned control method of a razor back detection system based on a three-dimensional depth image.

第三方面,本发明提供的一种电子设备,包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序,所述处理器执行所述计算机程序时实现上述的一种基于三维深度图像的剃刀背检测系统控制方法。In a third aspect, an electronic device provided by the present invention includes a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the computer program, the above-mentioned A control method of razor back detection system based on 3D depth image.

第四方面,本发明提供的一种计算机可读存储介质,所述计算机可读存储介质上存储计算机程序,所述计算机程序被处理器执行时实现上述的一种基于三维深度图像的剃刀背检测系统控制方法。In a fourth aspect, the present invention provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned razor back detection based on a three-dimensional depth image is realized system control method.

本发明实施例的技术方案至少具有如下优点和有益效果:The technical solutions of the embodiments of the present invention have at least the following advantages and beneficial effects:

本发明实施例本发明围绕多位姿采集、精准算法分析、高效数据处理等方面,基于三维深度图像数据,利用特征点提取、切面轮廓分析等人工智能相关的数字图像处理技术,提出一种安全、有效、快速的剃刀背检测方法,能够有效克服传统剃刀背检查过程中依赖于专业医师经验、标准不统一、人为误差大以及X光辐射大、难以实现大规模筛查等问题。Embodiments of the Invention The present invention focuses on multi-pose acquisition, precise algorithm analysis, efficient data processing, etc., based on three-dimensional depth image data, using artificial intelligence-related digital image processing technologies such as feature point extraction and section contour analysis, to propose a safe , An effective and fast razor back detection method can effectively overcome the traditional razor back inspection process relying on professional physician experience, inconsistent standards, large human errors, large X-ray radiation, and difficulty in large-scale screening.

附图说明Description of drawings

为了更清楚地说明本发明实施例的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,应当理解,以下附图仅示出了本发明的某些实施例,因此不应被看作是对范围的限定,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他相关的附图。In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

图1是本发明检测方法总体流程图;Fig. 1 is the general flowchart of detection method of the present invention;

图2是受检者弯曲30度的示意图;Fig. 2 is a schematic diagram of the subject bending 30 degrees;

图3是受检者弯曲45度的示意图;Fig. 3 is a schematic diagram of the subject being bent at 45 degrees;

图4是受检者弯曲90度的示意图;Fig. 4 is a schematic diagram of a subject bent at 90 degrees;

图5是前屈小角度(约30°)的背部深度数据图;Fig. 5 is a back depth data map of a small angle of forward bending (about 30°);

图6是前屈大角度(约45°)的背部深度数据图;Fig. 6 is a back depth data map of a large angle of forward bending (about 45°);

图7是前屈至极限(约90°)的背部深度数据图。Fig. 7 is a back depth data map of forward flexion to the limit (about 90°).

具体实施方式Detailed ways

为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。通常在此处附图中描述和示出的本发明实施例的组件可以以各种不同的配置来布置和设计。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

本申请的说明书和权利要求书及上述附图中的术语“第一、第二”等是用于区别类似的对象,而不必用于描述特定的顺序或先后次序。在本申请中出现的对步骤进行的命名或者编号,并不意味着必须按照命名或者编号所指示的时间/逻辑先后顺序执行方法流程中的步骤,已经命名或者编号的流程步骤可以根据要实现的技术目的变更执行次序,只要能达到相同或者相类似的技术效果即可。The terms "first, second" and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. The naming or numbering of the steps in this application does not mean that the steps in the method flow must be executed in the time/logic order indicated by the naming or numbering, and the steps that have been named or numbered can be implemented according to the needs to be achieved. The execution order of the technical purpose is changed, as long as the same or similar technical effect can be achieved.

本发明提供了一种基于三维深度图像的剃刀背检测系统控制方法,目的是简化传统剃刀背检测过程,集成了三维深度图像采集、人工智能算法与剃刀背评估分析:The present invention provides a control method of a razor back detection system based on a three-dimensional depth image, the purpose of which is to simplify the traditional razor back detection process and integrate three-dimensional depth image acquisition, artificial intelligence algorithm and razor back evaluation analysis:

剃刀背评估分析是沿背部由上至下依次测算受检者背部左右两侧的高度差,提取高度差异最大的数据结果,并确定其数据来源于受检者胸段、胸腰段或腰段中的哪一段位置。通过对不同弯曲角度下的受检者背部三维深度图像进行处理,并结合设定阈值比较分析,最后生成剃刀背检查的综合评估结果。Razor back assessment and analysis is to measure the height difference between the left and right sides of the subject's back from top to bottom, extract the data with the largest height difference, and determine that the data comes from the subject's thoracic, thoracolumbar or lumbar section Which segment of the position. By processing the three-dimensional depth images of the subject's back under different bending angles, combined with the comparison and analysis of the set threshold, a comprehensive evaluation result of the razor back inspection is finally generated.

本发明提供了一种基于三维深度图像的剃刀背检测系统控制方法,包括;The present invention provides a method for controlling a razor back detection system based on a three-dimensional depth image, comprising;

S101:采集受检者不同弯曲角度下的三维深度图像;S101: Collect three-dimensional depth images of the subject under different bending angles;

在该步骤中,需要使受检者,前屈位站立:受检者背对摄像机,规定距离位置,双脚并拢,裸露后背,采取自然站立姿势,并根据检测人员提示,完成前屈动作,在前屈姿态下不断增加后背弯曲角度,直至达到90°弯曲。In this step, it is necessary for the subject to stand in a forward-bending position: the subject’s back to the camera, at a specified distance, feet together, bare back, take a natural standing posture, and complete the forward-bending action according to the prompts of the tester , increasing the angle of the back bend in the forward bend position until a 90° bend is reached.

采集三维深度图像数据:如图2所示,利用深度相机采集多幅受检者背部三维深度图像,以分析胸段、胸腰段、腰段等不同部位是否存在剃刀背现象。Collect 3D depth image data: As shown in Figure 2, use the depth camera to collect multiple 3D depth images of the subject's back to analyze whether there is a razor back phenomenon in different parts of the chest, thoracolumbar, and waist.

S102:基于上述得到的三维深度图像,选取背部上下沿范围,确定背部脊柱参考线所在位置;S102: Based on the three-dimensional depth image obtained above, select the range of the upper and lower edges of the back, and determine the position of the reference line of the back spine;

对步骤S101采集得到的人体背部深度图像进行目标区域划分,生成背部脊柱参考线走向。Carry out target area division on the depth image of the back of the human body acquired in step S101, and generate the direction of the reference line of the back spine.

目标区域划分:确定深度图像中人体背部上沿和拍摄背景、背部下沿与受检者裤头束带的位置,划定用于剃刀背检测的ROI区域。Target area division: Determine the position of the upper edge of the human body's back and the shooting background, the lower edge of the back, and the subject's trousers belt in the depth image, and delineate the ROI area for razor back detection.

背部脊柱参考线走向:在剃刀背检测区域中,查找垂直背部切面轮廓曲线的凹陷最低点,并记录为该处背部的脊柱参考线所在位置,从上至下不断重复该步骤,直至生成整个剃刀背检测区域的脊柱参考线模型,得到背部脊柱参考线走向。Back spine reference line direction: In the razor back detection area, find the concave lowest point of the vertical back section contour curve, and record it as the location of the spine reference line on the back, repeat this step from top to bottom until the entire razor is generated The spine reference line model of the back detection area, and the direction of the back spine reference line is obtained.

S103:基于上述的三维深度图像和脊柱参考线,提取三维深度图像沿参考线两侧凸起的关键点位,测算背部左右两侧的高度差;S103: Based on the above-mentioned 3D depth image and the spine reference line, extract key points protruding from the 3D depth image along both sides of the reference line, and measure the height difference between the left and right sides of the back;

根据步骤S102得到的背部脊柱参考线,利用深度信息进行坐标转换,查找背部脊柱参考线两侧凸起的关键点位,测算双侧背部高度差。According to the reference line of the back spine obtained in step S102, the depth information is used to perform coordinate conversion, to find key points protruding on both sides of the reference line of the back spine, and to measure the height difference between the two sides of the back.

深度坐标转换:利用步骤S102得到的背部脊柱参考线,按照一定比例分成多段,根据前屈程度分段选取进行测算的背部区域,并将段内的脊柱参考线作为各位姿的参考线。如图所示,在每段的第一个像素点与最后一个像素点连线的法向量中,选取与Z轴(与相机镜头垂直的方向称为Z轴)共同组成平面,垂直于XY平面的法向量为旋转方向,并将该段的所有3D点数据绕X轴旋转对应的角度,将该段背部的高度全部转换为新的Z轴坐标,完成深度坐标转换;Depth coordinate conversion: use the back spine reference line obtained in step S102 to divide it into multiple segments according to a certain ratio, select the back area for measurement and calculation according to the degree of forward flexion, and use the spine reference line in the segment as the reference line for each posture. As shown in the figure, in the normal vector of the line connecting the first pixel point and the last pixel point of each segment, select a plane together with the Z axis (the direction perpendicular to the camera lens is called the Z axis), which is perpendicular to the XY plane The normal vector is the direction of rotation, and rotate all the 3D point data of this segment around the X-axis by the corresponding angle, and convert all the height of the back of the segment into the new Z-axis coordinates to complete the transformation of the depth coordinates;

查找双侧背部关键点位:如图3、4、5所示,对不同位姿对应胸段、胸腰段、腰段沿垂直受检者背部切面,以脊柱参考线为区分,查找两侧凸起最明显的关键点,从而定位Z向坐标最大点所在的1-3个像素区域,即为该关键点坐标;Find key points on both sides of the back: As shown in Figures 3, 4, and 5, for different postures corresponding to the thoracic, thoracolumbar, and lumbar segments along the vertical section of the subject’s back, use the spine reference line as a distinction to find the points on both sides. Raise the most obvious key point, so as to locate the 1-3 pixel area where the largest point in the Z direction coordinates is located, which is the coordinate of the key point;

S104:对高度差数据进行分析和处理,综合评估出受检者的剃刀背检测结果。S104: Analyze and process the height difference data, and comprehensively evaluate the razor back detection result of the subject.

双侧背部高度差:计算关键点位所在区域的高度差,先找到每段的最大高度差,再将每段的高度差进行比较,找到该位姿的最大高度差。Bilateral back height difference: calculate the height difference of the area where the key point is located, first find the maximum height difference of each segment, and then compare the height difference of each segment to find the maximum height difference of the pose.

将受检者多位姿下的双侧背部高度差进行整合,结合设定阈值进行分析比较,生成剃刀背的评估结论,完成检测流程。Integrate the height difference of the bilateral back of the subject in multiple poses, analyze and compare with the set threshold, generate the evaluation conclusion of the razor back, and complete the detection process.

综上,沿背部由上至下依次测算受检者背部左右两侧的高度差,提取高度差异最大的数据结果,并确定其数据来源于受检者胸段、胸腰段或腰段中的哪一段位置。通过对不同弯曲角度下的受检者背部三维深度图像进行处理,并结合设定阈值比较分析,最后生成剃刀背检查的综合评估结果。To sum up, the height difference between the left and right sides of the subject's back is measured sequentially along the back from top to bottom, the data with the largest height difference is extracted, and the data is determined to come from the thoracic, thoracolumbar or lumbar section of the subject. Which position. By processing the three-dimensional depth images of the subject's back under different bending angles, combined with the comparison and analysis of the set threshold, a comprehensive evaluation result of the razor back inspection is finally generated.

在本发明的一实施例中,所述的选取背部上下沿范围还包括,根据三维深度图像,确定背部上沿为能拍摄到的背部最高位置,背部下沿为受检者裤头束带上方位置,划定上下沿之间的三维深度数据区域为剃刀背检测区域;在剃刀背检测区域中,测算背部切面轮廓凹陷最低点,连接所有最低点并记录为脊柱参考线所在位置。In an embodiment of the present invention, the selection of the range of the upper and lower edges of the back further includes, according to the three-dimensional depth image, determining that the upper edge of the back is the highest position of the back that can be photographed, and the lower edge of the back is the position above the belt of the subject's trousers , delineate the three-dimensional depth data area between the upper and lower edges as the razor back detection area; in the razor back detection area, measure the lowest point of the concave contour of the back section, connect all the lowest points and record it as the position of the spine reference line.

本发明还提供的一种基于三维深度图像的剃刀背检测系统,其特征在于,包括;The present invention also provides a razorback detection system based on a three-dimensional depth image, which is characterized in that it includes;

第一模块,用于采集拍摄受检者前屈时不同弯曲角度下的背部形貌;The first module is used to collect and shoot the back shape of the subject under different bending angles when bending forward;

第二模块,用于对背部的三维重构以及建立三维坐标点,进而生成与受检者背部实际形貌高度一致的深度模型;The second module is used for three-dimensional reconstruction of the back and establishment of three-dimensional coordinate points, and then generates a depth model that is highly consistent with the actual shape of the subject's back;

第三模块,用于选取受检者背部上下沿ROI区域,分割三维深度模型;The third module is used to select the ROI area along the upper and lower sides of the subject's back to segment the three-dimensional depth model;

处理单元,所述处理单元与所述第一模块、第二模块和第三模块连接,并执行上述的一种基于三维深度图像的剃刀背检测系统控制方法。A processing unit, the processing unit is connected to the first module, the second module and the third module, and executes the above-mentioned control method of a razor back detection system based on a three-dimensional depth image.

对上述模块进行进一步的解释为:A further explanation of the above modules is as follows:

三维深度图像采集主要是通过深度相机拍摄受检者前屈时不同弯曲角度下的背部形貌,实现对背部的三维重构以及建立三维坐标点,进而生成与受检者背部实际形貌高度一致的深度模型。The 3D depth image acquisition mainly uses the depth camera to capture the back shape of the subject under different bending angles when bending forward, realizes the 3D reconstruction of the back and establishes the 3D coordinate points, and then generates a picture that is highly consistent with the actual shape of the subject's back. depth model.

人工智能算法是借助高性能计算机对先验人体背部知识的训练学习,完成自动选取受检者背部上下沿ROI区域,分割三维深度模型;通过查找遍历得到背部不同位置的切面轮廓凹陷最低点,实现对人体背部脊柱参考线的提取;沿背部切面轮廓,搜索脊柱参考线左右两侧凸起的极值点,计算得到当前位置左右两侧的高度差。The artificial intelligence algorithm uses a high-performance computer to train and learn the prior knowledge of the back of the human body, automatically selects the ROI area along the upper and lower sides of the subject's back, and divides the three-dimensional depth model; through searching and traversing, the lowest point of the sectional contour depression at different positions on the back is obtained to realize Extraction of the spine reference line on the back of the human body; along the profile of the back section, search for the extremum points on the left and right sides of the spine reference line, and calculate the height difference between the left and right sides of the current position.

另外,在本发明各个实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本发明各个实施例方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read—OnlyMemory)、随机存取存储器(RAM,Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. The computer software product is stored in a storage medium, and includes several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes.

以上仅为本发明的优选实施例而已,并不用于限制本发明,对于本领域的技术人员来说,本发明可以有各种更改和变化。凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (9)

1.一种基于三维深度图像的剃刀背检测系统控制方法,其特征在于,包括;1. A razorback detection system control method based on a three-dimensional depth image, characterized in that, comprising; 采集受检者不同弯曲角度下的三维深度图像;Collect three-dimensional depth images of the subject under different bending angles; 基于得到的上述三维深度图像,选取背部上下沿范围,确定背部脊柱参考线所在位置;Based on the above-mentioned three-dimensional depth image obtained, select the range of the upper and lower edges of the back, and determine the position of the reference line of the back spine; 基于上述三维深度图像和脊柱参考线,提取三维深度图像沿参考线两侧凸起的关键点位,测算背部左右两侧的高度差;Based on the above-mentioned 3D depth image and the spine reference line, extract the key points protruding from the 3D depth image along both sides of the reference line, and measure the height difference between the left and right sides of the back; 对高度差数据进行分析和处理,综合评估出受检者的剃刀背检测结果。Analyze and process the height difference data, and comprehensively evaluate the razor back detection results of the subject. 2.根据权利要求1所述的一种基于三维深度图像的剃刀背检测系统控制方法,其特征在于,所述的选取背部上下沿范围还包括;2. A kind of razor back detection system control method based on three-dimensional depth image according to claim 1, is characterized in that, described selection back upper and lower edge range also comprises; 根据三维深度图像,确定背部上沿为能拍摄到的背部最高位置,背部下沿为受检者裤头束带上方位置;According to the three-dimensional depth image, determine that the upper edge of the back is the highest position of the back that can be photographed, and the lower edge of the back is the position above the belt of the subject's trousers; 划定上下沿之间的三维深度数据区域为剃刀背检测区域。The three-dimensional depth data area between the upper and lower edges is defined as the razor back detection area. 3.根据权利要求2所述的一种基于三维深度图像的剃刀背检测系统控制方法,其特征在于,所述确定背部脊柱参考线所在位置还包括;3. A kind of razor back detection system control method based on three-dimensional depth image according to claim 2, it is characterized in that, said determination back spine reference line location also comprises; 在剃刀背检测区域中,测算背部切面轮廓凹陷最低点;In the razor back detection area, measure the lowest point of the concave contour of the back section; 连接所有最低点并记录为脊柱参考线所在位置。Connect all the lowest points and record as where the spine guide is located. 4.根据权利要求1所述的一种基于三维深度图像的剃刀背检测系统控制方法,其特征在于,所述关键点位还包括;4. A kind of razor back detection system control method based on three-dimensional depth image according to claim 1, is characterized in that, described key point position also comprises; 沿受检者的背部切面轮廓,以脊柱参考线为中心,查找左右两侧凸起的极值点,作为关键点位。Along the outline of the subject's back section, with the spine reference line as the center, find the extreme points on the left and right sides that are raised as the key points. 5.根据权利要求4所述的一种基于三维深度图像的剃刀背检测系统控制方法,其特征在于,所述高度差还包括;5. A kind of razorback detection system control method based on three-dimensional depth image according to claim 4, is characterized in that, described height difference also comprises; 建立XYZ向三维坐标系;Establish a three-dimensional coordinate system in the XYZ direction; 根据背部左右两侧的关键点位深度信息,计算Z向数据差值,得到当前背部左右两侧的高度差。According to the key point depth information on the left and right sides of the back, calculate the Z-direction data difference, and obtain the current height difference between the left and right sides of the back. 6.根据权利要求1所述的一种基于三维深度图像的剃刀背检测系统控制方法,其特征在于,所述对高度差数据进行分析和处理还包括;6. A kind of razor back detection system control method based on three-dimensional depth image according to claim 1, is characterized in that, described height difference data is analyzed and processed and also comprises; 沿背部由上至下依次测算受检者背部左右两侧的高度差;Measure the height difference between the left and right sides of the subject's back along the back from top to bottom; 提取高度差异最大的数据结果;Extract the data results with the largest difference in height; 确定其数据结果来源于受检者的胸段位置、胸腰段位置或腰段位置的数据结果;Determine that the data result is derived from the data result of the subject's thoracic position, thoracolumbar position or lumbar position; 对不同弯曲角度下的受检者背部三维深度图像进行处理;Process the three-dimensional depth images of the subject's back under different bending angles; 设定阈值进行比较分析,得到结果。Set the threshold for comparative analysis and get the results. 7.一种基于三维深度图像的剃刀背检测系统,其特征在于,包括;7. A razorback detection system based on a three-dimensional depth image, characterized in that, comprising; 第一模块,用于采集拍摄受检者前屈时不同弯曲角度下的背部形貌;The first module is used to collect and shoot the back shape of the subject under different bending angles when bending forward; 第二模块,用于对背部的三维重构以及建立三维坐标点,进而生成与受检者背部实际形貌高度一致的深度模型;The second module is used for three-dimensional reconstruction of the back and establishment of three-dimensional coordinate points, and then generates a depth model that is highly consistent with the actual shape of the subject's back; 第三模块,用于选取受检者背部上下沿ROI区域,分割三维深度模型;The third module is used to select the ROI area along the upper and lower sides of the subject's back to segment the three-dimensional depth model; 处理单元,所述处理单元与所述第一模块、第二模块和第三模块连接,并执行上述权利要求1-6任意一项所述的一种基于三维深度图像的剃刀背检测系统控制方法。A processing unit, the processing unit is connected to the first module, the second module and the third module, and executes the control method of a razor back detection system based on a three-dimensional depth image according to any one of claims 1-6 . 8.一种电子设备,包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序,其特征在于,所述处理器执行所述计算机程序时实现权利要求1至6中任一项所述的一种基于三维深度图像的剃刀背检测系统控制方法。8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein claim 1 is realized when the processor executes the computer program A method for controlling a razor back detection system based on a three-dimensional depth image described in any one of to 6. 9.一种计算机可读存储介质,其特征在于,所述计算机可读存储介质上存储计算机程序,所述计算机程序被处理器执行时实现如权利要求1至6中任一项所述的一种基于三维深度图像的剃刀背检测系统控制方法。9. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, a computer program according to any one of claims 1 to 6 is realized. A control method for a razor back detection system based on a three-dimensional depth image.
CN202310374956.7A 2023-04-10 2023-04-10 A razor back detection system and control method based on three-dimensional depth image Pending CN116392077A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310374956.7A CN116392077A (en) 2023-04-10 2023-04-10 A razor back detection system and control method based on three-dimensional depth image

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310374956.7A CN116392077A (en) 2023-04-10 2023-04-10 A razor back detection system and control method based on three-dimensional depth image

Publications (1)

Publication Number Publication Date
CN116392077A true CN116392077A (en) 2023-07-07

Family

ID=87017547

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310374956.7A Pending CN116392077A (en) 2023-04-10 2023-04-10 A razor back detection system and control method based on three-dimensional depth image

Country Status (1)

Country Link
CN (1) CN116392077A (en)

Similar Documents

Publication Publication Date Title
US10952634B2 (en) Electrical impedance tomography system
Pazos et al. Reliability of trunk shape measurements based on 3-D surface reconstructions
Yang et al. Automatic 3-D imaging and measurement of human spines with a robotic ultrasound system
US9060717B2 (en) Detection and measurement of tissue images
KR101982149B1 (en) Method and apparatus for creating medical image using partial medical image
Prabhu Automatic quantification of spinal curvature in scoliotic radiograph using image processing
Michoński et al. Automatic recognition of surface landmarks of anatomical structures of back and posture
CN110772255A (en) Measurement method of human scoliosis angle based on attitude and position sensor
CN108151670A (en) A kind of back three dimensional symmetry degree evaluating apparatus and method
CN111374670A (en) Intelligent detection device and detection method for scoliosis of human body
CN109330602A (en) Female body intelligent evaluation detection device and method and storage medium
CN113139962A (en) System and method for scoliosis probability assessment
US9763636B2 (en) Method and system for spine position detection
CN111588353A (en) Body temperature measuring method
CN107464275A (en) Human spine center line three-dimensional reconstruction method
Huang et al. Scoliotic imaging with a novel double-sweep 2.5-dimensional extended field-of-view ultrasound
WO2015040547A1 (en) Method and system for spine position detection
CN115578789A (en) Scoliosis detection apparatus, system, and computer-readable storage medium
CN107256390A (en) The Functional evaluation device and method changed based on each position of hand in three-dimensional space position
CN116392077A (en) A razor back detection system and control method based on three-dimensional depth image
Carrière et al. Assessing the utility of 3D modeling with photogrammetry in assigned sex estimation from the greater sciatic notch
Feng et al. Automatic fetal weight estimation using 3d ultrasonography
Wang et al. Automatic image segmentation and cobb measurement of spine base on u-net
Liu et al. Research of scoliosis detection method based on kinect
Tameem et al. Morphological atlases of knee cartilage: shape indices to analyze cartilage degradation in osteoarthritic and non-osteoarthritic population

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20250514

Address after: Building G, 18th Floor, Yangzhou Software Park, No. 201 Wenchang East Road, Ecological Science and Technology New City, Yangzhou City, Jiangsu Province 225000

Applicant after: Yangzhou Chengke Medical Technology Co.,Ltd.

Country or region after: China

Address before: 644600, No. 6, 1st Floor, 1-3 Floor, and 6-8, 3rd Floor, Building 1, No. 224 (Shangjin Meiyu), Baixi Street, Xuzhou District, Yibin City, Sichuan Province

Applicant before: Yibin Micro Intelligent Technology Co.,Ltd.

Country or region before: China

TA01 Transfer of patent application right