CN117179746A - Joint rehabilitation exercise monitoring method and device, electronic equipment and storage medium - Google Patents
Joint rehabilitation exercise monitoring method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a joint rehabilitation exercise monitoring method, a device, electronic equipment and a storage medium, which belong to the field of exercise monitoring, when the monitoring equipment receives first acquisition data acquired by first acquisition equipment which is closely attached to a first limb of a joint to be monitored and second acquisition data acquired by second acquisition equipment which is closely attached to a second limb of the joint to be monitored, a time sequence rotation angle of the first limb is obtained based on the first acquisition data, a time sequence rotation angle of the second limb is obtained based on the second acquisition data, an exercise track of the joint to be monitored is fitted according to the time sequence rotation angle of the first limb and the sequence rotation angle of the second limb, and an evaluation result is obtained based on the exercise track, so that quantitative accurate monitoring of joint rehabilitation exercise is realized, compliance of patients is improved, and rehabilitation training effects are improved.
Description
Technical Field
The invention relates to the field of motion monitoring, in particular to a joint rehabilitation motion monitoring method, a device, electronic equipment and a storage medium.
Background
Clinically, after the operation of the knee joint, the hip joint, the shoulder joint and other joints is finished, the patient needs to perform early rehabilitation exercise, so that the joint adhesion is prevented, and the postoperative function is improved. Because joint operation patients are generally older and lower in cognition, particularly lack of quantitative index evaluation, the compliance of postoperative rehabilitation exercise is not high, the problem of limited joint movement range is easily caused, and the rehabilitation effect is seriously influenced.
In order to improve the rehabilitation effect, the compliance of the rehabilitation training of patients is improved mainly through a health ventilating and teaching mode in clinic at present. However, due to lack of related technical means of quantitative monitoring of joint movement, the rehabilitation training effect cannot be accurately known, and the problem that the provided health ventilating and teaching or medical advice is not matched with the actual condition of a patient easily occurs, so that the rehabilitation effect is not ideal.
Disclosure of Invention
Accordingly, the present invention is directed to a method, an apparatus, an electronic device, and a storage medium for monitoring joint rehabilitation exercise, which can quantitatively and accurately monitor rehabilitation exercise of a patient, and is helpful for improving compliance of the patient, and solving the problem of unsatisfactory rehabilitation effect caused by mismatching of health education or medical advice and actual conditions of the patient.
In order to achieve the above object, the technical scheme adopted in the embodiment of the invention is as follows:
in a first aspect, an embodiment of the present invention provides a joint rehabilitation exercise monitoring method, which is applied to a monitoring device, where the monitoring device is in communication connection with a first acquisition device and a second acquisition device on a wearing substrate, the first acquisition device is clung to a first limb of a joint to be tested through the wearing substrate, and the second acquisition device is clung to a second limb of the joint to be tested through the wearing substrate, and the method includes:
receiving first acquired data of the first acquisition device and second acquired data of the second acquisition device; the first acquired data comprise motion data of the first limb at any moment in a monitoring period, and the second acquired data comprise motion data of the second limb at any moment in the monitoring period;
based on the first acquired data, obtaining a time sequence rotation angle of the first limb in a monitoring period;
obtaining a time sequence rotation angle of the second limb in a monitoring period based on the second acquired data;
fitting the motion trail of the joint to be measured by combining the time sequence rotation angle of the first limb and the time sequence rotation angle of the second limb;
And performing motion amplitude evaluation based on the motion trail to obtain an evaluation result of the joint to be tested.
Further, the step of obtaining the time series rotation angle of the first limb in the monitoring period based on the first acquired data includes:
dividing the movement interval of the first acquired data, and determining the duration time and interval data of each movement of the first limb;
and for each duration, calculating the initial angle and the rotation angle of the first limb in the duration according to the interval data corresponding to the duration.
Further, the step of obtaining the time series rotation angle of the second limb in the monitoring period based on the second acquired data includes:
dividing the movement interval of the second acquired data, and determining the duration time and interval data of each movement of the second limb;
and for each duration, calculating the initial angle and the rotation angle of the second limb in the duration according to the interval data corresponding to the duration.
Further, the interval data includes acceleration and angular velocity;
the step of calculating the initial angle and the rotation angle of the first limb in the duration according to the interval data corresponding to the duration comprises the following steps:
Calculating an initial angle of the first limb in the duration period based on the acceleration of the starting moment in the interval data;
respectively performing time integration on the x-axis angular velocity, the y-axis angular velocity and the z-axis angular velocity in the interval data to obtain an x-axis rotation angle, a y-axis rotation angle and a z-axis rotation angle of the first limb in the duration period;
the step of calculating the initial angle and the rotation angle of the second limb in the duration according to the interval data corresponding to the duration comprises the following steps:
calculating an initial angle of the second limb in the duration period based on the acceleration of the starting moment in the interval data;
and respectively performing time integration on the x-axis angular velocity, the y-axis angular velocity and the z-axis angular velocity in the interval data to obtain an x-axis rotation angle, a y-axis rotation angle and a z-axis rotation angle of the second limb in the duration period.
Further, the acceleration includes an x-axis acceleration and a z-axis acceleration;
the step of calculating the initial angle of the first limb in the duration based on the acceleration of the starting moment in the interval data comprises the following steps:
calculating the difference between the x-axis acceleration and a preset x-axis calibration acceleration to obtain an x-axis acceleration offset value;
Processing the x-axis acceleration offset value and the z-axis acceleration by using an arctangent function to obtain an initial angle of the first limb in the duration;
the step of calculating the initial angle of the second limb in the duration based on the acceleration of the starting moment in the interval data comprises the following steps:
calculating the difference between the x-axis acceleration and a preset x-axis calibration acceleration to obtain an x-axis acceleration offset value;
and processing the x-axis acceleration offset value and the z-axis acceleration by using an arctangent function to obtain an initial angle of the second limb in the duration.
Further, the step of fitting the motion trail of the joint to be measured by combining the time-series rotation angle of the first limb and the time-series rotation angle of the second limb includes:
combining the time sequence rotation angle of the first limb and the rotation angle of the same period in the time sequence rotation angle of the second limb to obtain the time sequence rotation angle of the joint to be detected in the monitoring period;
and performing track fitting on the time sequence rotation angle of the joint to be detected in the monitoring period to obtain a motion track.
Further, the step of estimating the motion amplitude based on the motion trail to obtain an estimation result of the joint to be measured includes:
and obtaining motion amplitude information and motion times according to the motion track, and evaluating according to the motion amplitude information and the motion times.
In a second aspect, an embodiment of the present invention provides a joint rehabilitation exercise monitoring device, which is applied to a monitoring device, where the monitoring device is in communication connection with a first acquisition device and a second acquisition device on a wearing substrate, the first acquisition device is clung to a first limb of a joint to be measured through the wearing substrate, the second acquisition device is clung to a second limb of the joint to be measured through the wearing substrate, and the device includes a data acquisition module, an angle calculation module, a track fitting module and an evaluation module;
the data acquisition module is used for receiving first acquisition data of the first acquisition equipment and second acquisition data of the second acquisition equipment; the first acquired data comprise motion data of the first limb at any moment in a monitoring period, and the second acquired data comprise motion data of the second limb at any moment in the monitoring period;
The angle calculation module is used for obtaining a time sequence rotation angle of the first limb in a monitoring period based on the first acquired data;
the angle calculation module is further used for obtaining a time sequence rotation angle of the second limb in the monitoring period based on the second acquired data;
the track fitting module is used for combining the time sequence rotation angle of the first limb and the time sequence rotation angle of the second limb to fit the motion track of the joint to be measured;
and the evaluation module is used for evaluating the motion amplitude based on the motion trail to obtain an evaluation result of the joint to be tested.
In a third aspect, embodiments of the present invention provide an electronic device comprising a processor and a memory storing machine executable instructions executable by the processor to implement the joint rehabilitation exercise monitoring method of the first aspect.
In a fourth aspect, embodiments of the present invention provide a storage medium having stored thereon a computer program which, when executed by a processor, implements the joint rehabilitation exercise monitoring method according to the first aspect.
According to the joint rehabilitation motion monitoring method, device, electronic equipment and storage medium, when the monitoring equipment receives first acquisition data acquired by first acquisition equipment which is closely attached to a first limb of a joint to be tested and second acquisition data acquired by second acquisition equipment which is closely attached to a second limb of the joint to be tested, a time sequence rotation angle of the first limb is obtained based on the first acquisition data, a time sequence rotation angle of the second limb is obtained based on the second acquisition data, a motion track of the joint to be tested is fitted according to the time sequence rotation angle of the first limb and the sequence rotation angle of the second limb, and based on the motion track, an evaluation result is obtained, quantitative accurate monitoring of joint rehabilitation motion is achieved, health teaching or medical advice which is matched with actual conditions of a patient is provided, and further improvement of rehabilitation training effects is facilitated.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a block schematic diagram of an articulated rehabilitation exercise monitoring system provided by an embodiment of the present invention.
Fig. 2 shows a schematic structural view of a wearing substrate according to an embodiment of the present invention.
Fig. 3 shows a flow chart of an embodiment of the present invention for a method for joint rehabilitation exercise monitoring.
Fig. 4 shows a schematic flow chart of a partial sub-step of step S13 in fig. 3.
Fig. 5 shows a schematic flow chart of a partial sub-step of step S132 in fig. 4.
Fig. 6 shows a schematic flow chart of a partial sub-step of step S15 in fig. 3.
Fig. 7 shows a schematic flow chart of a partial sub-step of step S152 in fig. 6.
Fig. 8 shows a schematic flow chart of a partial sub-step of step S17 in fig. 3.
Fig. 9 shows a block schematic diagram of an articulated rehabilitation motion monitoring device according to an embodiment of the invention.
Fig. 10 shows a block schematic diagram of an electronic device according to an embodiment of the present invention.
Reference numerals: 100-joint rehabilitation exercise monitoring system; 10-monitoring equipment; 20-a wearing substrate; 30-a first acquisition device; 40-a second acquisition device; 50-joint rehabilitation exercise monitoring device; 501-a data acquisition module; 502-an angle calculation module; 503-a track fitting module; 504-an evaluation module; 60-electronic device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to fall within the scope of the present invention.
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The joint rehabilitation exercise monitoring method provided by the embodiment of the invention can be applied to the joint rehabilitation exercise monitoring system 100 shown in fig. 1, and the joint rehabilitation exercise monitoring system 100 can comprise a monitoring device 10, a wearing substrate 20, a first acquisition device 30 and a second acquisition device 40. The first collecting device 30 and the second collecting device 40 are both arranged on the wearing base 20, and can be in communication connection with the detecting device through wireless communication modes such as Bluetooth communication, zigBee communication and the like.
The wearing base 20 is used for wearing on the joint part to be tested of a patient. Referring to fig. 2, the wearing base 20 may be a flexible base made of a comfortable elastic textile material, or may be a joint brace, and is not particularly limited in this embodiment.
The first acquisition device 30 is attached to a first limb of the joint to be measured through the wearing substrate 20, and the second acquisition device 40 is attached to a second limb of the joint to be measured through the wearing substrate 20. The joint to be measured may be a knee joint, a hip joint, a shoulder joint, or the like, for example, when the joint to be measured is a knee joint, the first limb may be a thigh, and the second limb may be a shank.
The first acquisition device 30 is configured to acquire motion data of the first limb at any time during the monitoring period, package the motion data into first acquisition data, and send the first acquisition data to the monitoring device 10.
The second acquisition device 40 is configured to acquire motion data of the second limb at any time during the monitoring period, package the motion data into second acquired data, and send the second acquired data to the monitoring device 10.
The monitoring device 10 is used for realizing the joint rehabilitation movement detection method provided by the embodiment of the invention.
The first acquisition device 30 and the second acquisition device 40 may each be a gyroscope and may be a tri-axial gyroscope, and the monitoring device 10 may be, but is not limited to: notebook computers, personal computers, tablet computers, cell phones, mobile terminals, and wearable intelligent devices.
In one possible embodiment, an embodiment of the present invention provides a joint rehabilitation exercise monitoring method, referring to fig. 3, may include the following steps. In the present embodiment, the joint rehabilitation exercise monitoring method is applied to the monitoring apparatus 10 in fig. 1 for illustration.
S11, receiving first acquisition data of the first acquisition device and second acquisition data of the second acquisition device.
In this embodiment, the first acquired data includes movement data of the first limb at any time during the monitoring period, and the second acquired data includes movement data of the second limb at any time during the monitoring period.
And S13, obtaining the time sequence rotation angle of the first limb in the monitoring period based on the first acquired data.
And S15, obtaining the time sequence rotation angle of the second limb in the monitoring period based on the second acquired data.
S17, fitting the motion trail of the joint to be measured by combining the time sequence rotation angle of the first limb and the time sequence rotation angle of the second limb.
And S19, performing motion amplitude evaluation based on the motion trail to obtain an evaluation result of the joint to be tested.
Taking the first acquisition device 30 and the second acquisition device 40 as gyroscopes as examples, the monitoring device 10 may be provided with a rehabilitation APP or applet, and when the rehabilitation APP or applet is started, the monitoring device 10 may issue a training command, where the command may include a command for each action, for example, a first movement start, 1,2,3, a second movement start, 1,2,3, … …, a last movement start, 1,2,3, and end training.
The wearable matrix 20 is arranged or worn on the joint to be tested of the patient, when the patient is ready for training, the rehabilitation training APP or applet is started to be arranged on the monitoring equipment 10, training options on a rehabilitation training interface can be selected, the monitoring equipment 10 can send out training instructions of the training options in a voice mode, and the patient enables the joint to be tested to move according to the training instructions. During the monitoring period of the joint movement to be measured, the first acquisition device 30 on the wearing base 20 acquires the movement data of the first limb in real time, and the second acquisition device 40 acquires the movement data of the second limb in real time, packages the movement data into the first acquisition data and the second acquisition data, and transmits the first acquisition data and the second acquisition data to the monitoring device 10.
After the monitoring device 10 receives the first acquired data and the second acquired data, a time sequence rotation angle of the first limb is obtained from the first acquired data, a time sequence rotation angle of the second limb is obtained from the second acquired data, and a motion track of the joint to be measured is fitted based on the two time sequence rotation angles. And then, based on the motion trail, performing motion amplitude evaluation to obtain and display an evaluation result.
According to the joint rehabilitation exercise monitoring method, exercise data of the joint exercise to be tested are collected in real time, and time sequence rotation angles of the first limb and the second limb of the joint to be tested are obtained based on the data, so that an exercise track of the joint to be tested is fitted, evaluation is carried out based on the exercise track, quantitative and accurate monitoring of joint rehabilitation exercise is achieved, an evaluation result is more in line with actual conditions of a patient, health education or medical advice matched with the actual conditions of the patient is provided, and further rehabilitation exercise effects are improved. Meanwhile, the patient can intuitively see the recovery condition, and the compliance of the patient is improved.
For steps S13 and S15, the manner of obtaining the time training rotation angle may be flexibly set, for example, may be calculated according to a preset rule, or may be calculated in combination with machine learning, and in this embodiment, the method is not particularly limited.
In one possible embodiment, in order to accurately obtain the respective selection angles of the first limb and the second limb during each movement, a movement interval division may be introduced, the duration and interval data of each movement may be defined, and the rotation angle of each movement may be calculated according to the duration and interval data of each movement. Through the division of the movement intervals, the mutual interference of the data of adjacent movements can be avoided to a certain extent, and the accuracy of the time sequence rotation angle is further improved.
Based on the concept of motion interval division, referring to fig. 4, the above-described step S13 may be further implemented as the following steps.
S131, dividing the movement interval of the first acquired data, and determining the duration time and interval data of each movement of the first limb.
S132, for each duration, calculating the initial angle and the rotation angle of the first limb in the duration according to the interval data corresponding to the duration.
For step S131, when the rehabilitation exercise is performed according to the exercise instruction sent by the monitoring device 10, the duration of the first collected data is the same as the duration of the exercise instruction, and the actions are corresponding. Therefore, each exercise action has a corresponding training time, and at this time, the duration of each exercise action (each exercise) can be defined in the first collected data according to the training time of each action indicated by the training instruction, and then the data corresponding to the duration is used as the interval data of the exercise.
In addition, the first acquired data can be divided into movement intervals by adopting a machine learning method, namely, the machine learning model can be trained by adopting the prior movement training data, and the first acquired data is processed by utilizing the machine learning model with mature training, so that the duration time and interval data of each movement are obtained.
The first acquisition device 30 may be a three-axis gyroscope, where the first acquisition data includes acceleration and angular velocity for each instant, and the acceleration includes x-axis angular velocity, y-axis angular velocity, and z-axis angular velocity. On this basis, for step S132, referring to fig. 5, the following steps may be further implemented.
S1321, calculating the initial angle of the first limb in the duration period based on the acceleration of the initial moment in the interval data.
And S1322, respectively performing time integration on the x-axis angular velocity, the y-axis angular velocity and the z-axis angular velocity in the interval data to obtain an x-axis rotation angle, a y-axis rotation angle and a z-axis rotation angle of the first limb in the continuous time period.
For step S1321, it may be further implemented that: calculating the difference between the x-axis acceleration and a preset x-axis calibration acceleration to obtain an x-axis acceleration offset value; and processing the x-axis acceleration offset value and the z-axis acceleration by using an arctangent function to obtain the initial angle of the first limb in the duration period.
The x-axis calibration acceleration refers to acceleration on the x-axis under the action of gravity acceleration when the gyroscope leaves the factory.
The initial angle can be expressed as: alpha 0 =arctan (dax/caz), where α 0 Characterizing the initial angle, dax characterizing the x-axis acceleration offset value, caz characterizing the z-axis acceleration.
And arranging all initial angles and all rotation angles of the first limb according to time, so as to obtain the time sequence rotation angle of the first limb. For example, assuming that the movement of the first limb has 4 duration, duration 1, duration 2, duration 3, and duration 4, the time-series rotation angle of the first limb is [ initial angle of duration 1, rotation angle of duration 1, initial angle of duration 2, rotation angle of duration 2, initial angle of duration 3, rotation angle of duration 3 ].
Through the above steps S131-S132 and sub-steps S1321-S1322, a rotation angle of the first limb with high precision and accuracy in each duration can be obtained, i.e. the time-series rotation angle of the first limb in the monitoring period can be quantitatively monitored.
Similarly, based on the concept of motion interval division, the above-described step S15 may be further implemented as the following steps with reference to fig. 6.
And S151, dividing the movement interval of the second acquired data, and determining the duration time and interval data of each movement of the second limb.
S152, for each duration, calculating the initial angle and the rotation angle of the second limb in the duration according to the interval data corresponding to the duration.
For step S151, when the rehabilitation exercise is performed according to the exercise instruction sent by the monitoring device 10, the duration of the second collected data is the same as the duration of the exercise instruction, and the actions are corresponding. Therefore, each exercise action has a corresponding training time, and at this time, the duration of each exercise action (each exercise) can be defined in the second collected data according to the training time of each action indicated by the training instruction, and then the data corresponding to the duration is used as the interval data of the exercise.
In addition, the second acquired data can be divided into movement intervals by adopting a machine learning method, namely the machine learning model can be trained by adopting the prior movement training data, and the second acquired data is processed by utilizing the machine learning model with mature training, so that the duration time and interval data of each movement are obtained.
The second acquisition device 40 may be a three-axis gyroscope, where the second acquisition data includes acceleration and angular velocity for each instant, and the acceleration includes x-axis angular velocity, y-axis angular velocity, and z-axis angular velocity. On this basis, with reference to fig. 7, the following steps can be further implemented for step S152.
S1521, calculating the initial angle of the second limb in the duration period based on the acceleration of the initial moment in the interval data.
S1522, respectively performing time integration on the x-axis angular velocity, the y-axis angular velocity and the z-axis angular velocity in the interval data to obtain an x-axis rotation angle, a y-axis rotation angle and a z-axis rotation angle of the second limb in the duration period.
For step S1521, it may be further implemented as: calculating the difference between the x-axis acceleration and a preset x-axis calibration acceleration to obtain an x-axis acceleration offset value; and processing the x-axis acceleration offset value and the z-axis acceleration by using an arctangent function to obtain the initial angle of the first limb in the duration period.
The x-axis calibration acceleration refers to acceleration on the x-axis under the action of gravity acceleration when the gyroscope leaves the factory.
The initial angle can be expressed as: alpha 0 =arctan (dax/caz), where α 0 Characterizing the initial angle, dax characterizing the x-axis acceleration offset value, caz characterizing the z-axis acceleration.
And arranging all initial angles and all rotation angles of the second limb according to time, so as to obtain the time sequence rotation angle of the second limb.
Through the above steps S151-S152 and sub-steps S1521-S1522, a rotation angle of the second limb with high precision and accuracy in each duration period can be obtained, i.e. the time-series rotation angle of the second limb in the monitoring period can be quantitatively monitored.
Further, for step S17, the manner of fitting the motion track may be flexibly set, for example, a track may be fitted by the time-series rotation angle of the first limb and the time-series rotation angle of the second limb, or a track may be fitted after synthesis, which is not specifically limited in this embodiment.
In one possible embodiment, referring to fig. 8, step S17 may be further implemented as the following steps.
And S171, combining the time sequence rotation angle of the first limb and the rotation angle of the same period in the time sequence rotation angle of the second limb to obtain the time sequence rotation angle of the joint to be detected in the monitoring period.
S172, performing track fitting on the time sequence rotation angle of the joint to be detected in the monitoring period to obtain a motion track.
For example, the monitoring period is 60S, and the duration of each motion is 4 seconds, then the monitoring period has 15 motions in sequence, and the time-series rotation angle of the first limb and the time-series rotation angle of the second limb are both 15. The first initial angle of the first limb and the first initial angle of the second limb are synthesized to obtain a first initial angle of the joint to be measured, and the first rotation angle of the first limb and the second rotation angle of the second limb are synthesized to obtain a first end angle of the joint to be measured. Similarly, the starting angles and the ending angles of all the actions of the joint to be measured can be calculated, and the time sequence rotation angles of the joint to be measured can be obtained by arranging the starting angles and the ending angles according to the time sequence.
And (3) performing curve fitting on the time sequence rotation angle of the joint to be detected according to the time sequence, and obtaining a motion track.
Further, step S19 may be further implemented as: and obtaining movement amplitude information and movement times according to the movement track, and evaluating according to the movement amplitude information and the movement times.
The motion amplitude information may include any one or any several of amplitude items such as a rotation amplitude (absolute value of a difference between a start angle and an end angle), an average rotation amplitude, and a maximum rotation amplitude of each motion.
According to the motion amplitude information, the rotation amplitude range and the like of the joint to be detected can be known, and when the motion amplitude is larger, the recovery condition is better, and the evaluation result is better. For example, taking the maximum rotation amplitude as an example, according to the amplitude level that the maximum rotation amplitude falls into, a score corresponding to the amplitude level is taken as the evaluation result. Or, according to the number of movements and all the rotation amplitudes, obtaining an average rotation amplitude, scoring is performed according to the range of grades within which the average rotation amplitude falls.
Further, the score of each amplitude item in the motion amplitude information may be calculated separately, each amplitude item may have a corresponding scaling factor, and the sum of the values obtained by multiplying the score of each amplitude item by the corresponding scaling factor is used as the evaluation result.
The manner of evaluation according to the movement amplitude information and the number of movements can be flexibly set, and in this embodiment, no specific limitation is made.
According to the joint rehabilitation motion monitoring method provided by the embodiment of the invention, through monitoring rehabilitation training motions of joints to be detected, acquired data of 2 acquisition devices (which can be gyroscopes) are transmitted to the monitoring device 10 (which can be a smart phone) in real time, the monitoring device 10 processes the acquired data by means of an algorithm to obtain and record joint motion amplitude and times, and a track is fitted, so that the rehabilitation training motions are evaluated, quantitative monitoring of the joint rehabilitation motions is realized, and the postoperative rehabilitation exercise effect of a patient can be improved.
Based on the inventive concept of the above-described joint rehabilitation movement detection method, the embodiment of the present invention also provides a joint rehabilitation movement monitoring device 50, which can be applied to the monitoring apparatus 10 in fig. 1. Referring to fig. 9, the joint rehabilitation exercise monitoring device 50 may include a data acquisition module 501, an angle calculation module 502, a trajectory fitting module 503, and an evaluation module 504.
The data acquisition module 501 is configured to receive first acquired data of a first acquisition device and second acquired data of a second acquisition device. The first acquired data comprise motion data of the first limb at any moment in the monitoring period, and the second acquired data comprise motion data of the second limb at any moment in the monitoring period.
The angle calculation module 502 is configured to obtain a time-series rotation angle of the first limb during the monitoring period based on the first acquired data.
The angle calculation module 502 is further configured to obtain a time sequence rotation angle of the second limb during the monitoring period based on the second acquired data.
The track fitting module 503 is configured to combine the time-series rotation angle of the first limb and the time-series rotation angle of the second limb to fit the motion track of the joint to be measured.
And the evaluation module 504 is used for evaluating the motion amplitude based on the motion trail to obtain an evaluation result of the joint to be tested.
According to the joint rehabilitation motion monitoring device 50, the motion data of the joint motion training to be measured is collected in real time through the synergistic effect of the data acquisition module 501, the angle calculation module 502, the track fitting module 503 and the evaluation module 504, and the time sequence rotation angles of the first limb and the second limb of the joint to be measured are obtained based on the data, so that the motion track of the joint to be measured is fitted, the evaluation is carried out based on the motion track, the quantitative accurate monitoring of the joint rehabilitation motion is realized, the evaluation result is more in line with the actual condition of a patient, the health ventilating teaching or doctor advice matched with the actual condition of the patient is provided, and further the rehabilitation training effect is improved. Meanwhile, the patient can intuitively see the recovery condition, and the compliance of the patient is improved.
For specific limitations on the joint rehabilitation exercise monitoring device 50, reference is made to the above limitations on the joint rehabilitation exercise monitoring method, and no further description is given here. The various modules in the joint rehabilitation exercise monitoring device 50 described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or independent of a processor in the electronic device, or may be stored in software in a memory of the electronic device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, an electronic device 60 is provided, the electronic device 60 may be a terminal, and an internal structure thereof may be as shown in fig. 10. The electronic device 60 comprises a processor, a memory, a communication interface and input means connected by a system bus. Wherein the processor of the electronic device 60 is configured to provide computing and control capabilities. The memory of the electronic device 60 includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the electronic device 60 is used for performing wired or wireless communication with an external terminal, where the wireless communication may be implemented through WIFI, an operator network, near Field Communication (NFC), or other technologies. The computer program, when executed by a processor, implements the joint rehabilitation exercise monitoring method provided in the above embodiment.
The structure shown in fig. 10 is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation of the electronic device 60 to which the present invention is applied, and a specific electronic device 60 may include more or less components than those shown in fig. 10, or may combine some components, or have a different arrangement of components.
In one embodiment, the joint rehabilitation exercise monitoring device 50 provided by the present invention may be implemented in the form of a computer program that is executable on an electronic device 60 as shown in fig. 10. The memory of the electronic device 60 may store various program modules that make up the joint rehabilitation exercise monitoring device 50, such as a data acquisition module 501, an angle calculation module 502, a trajectory fitting module 503, and an evaluation module 504 shown in fig. 9. The computer program of each program module causes the processor to carry out the steps in the joint rehabilitation exercise monitoring method described in the present specification.
For example, the electronic device 60 shown in fig. 10 may perform step S11 through the data acquisition module 501 in the joint rehabilitation exercise monitoring device 50 shown in fig. 9. The electronic device 60 may perform steps S13 and S15 through the angle calculation module 502. The electronic device 60 may perform step S17 through the trajectory fitting module 503. The electronic device 60 may perform S19 through the evaluation module 504.
In one embodiment, an electronic device 60 is provided that includes a memory storing machine executable instructions and a processor that when executing the machine executable instructions performs the steps of: receiving first acquisition data of first acquisition equipment and second acquisition data of second acquisition equipment; based on the first acquired data, obtaining a time sequence rotation angle of the first limb in a monitoring period; obtaining a time sequence rotation angle of the second limb in the monitoring period based on the second acquired data; fitting a motion track of the joint to be measured by combining the time sequence rotation angle of the first limb and the time sequence rotation angle of the second limb; and performing motion amplitude evaluation based on the motion trail to obtain an evaluation result of the joint to be tested.
In one embodiment, a storage medium having a computer program stored thereon is provided, which when executed by a processor, performs the steps of: receiving first acquisition data of first acquisition equipment and second acquisition data of second acquisition equipment; based on the first acquired data, obtaining a time sequence rotation angle of the first limb in a monitoring period; obtaining a time sequence rotation angle of the second limb in the monitoring period based on the second acquired data; fitting a motion track of the joint to be measured by combining the time sequence rotation angle of the first limb and the time sequence rotation angle of the second limb; and performing motion amplitude evaluation based on the motion trail to obtain an evaluation result of the joint to be tested.
In the several embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a joint rehabilitation exercise monitoring method which is characterized in that is applied to monitoring facilities, monitoring facilities and wear first collection equipment and the second collection equipment communication connection on the base member, first collection equipment passes through the wearing base member is hugged closely the first limbs of joint to be measured, the second collection equipment passes through wearing base member is hugged closely the second limbs of joint to be measured, the method includes:
receiving first acquired data of the first acquisition device and second acquired data of the second acquisition device; the first acquired data comprise motion data of the first limb at any moment in a monitoring period, and the second acquired data comprise motion data of the second limb at any moment in the monitoring period;
based on the first acquired data, obtaining a time sequence rotation angle of the first limb in a monitoring period;
obtaining a time sequence rotation angle of the second limb in a monitoring period based on the second acquired data;
fitting the motion trail of the joint to be measured by combining the time sequence rotation angle of the first limb and the time sequence rotation angle of the second limb;
and performing motion amplitude evaluation based on the motion trail to obtain an evaluation result of the joint to be tested.
2. The joint rehabilitation exercise monitoring method according to claim 1, wherein the step of obtaining a time-series rotation angle of the first limb during a monitoring period based on the first acquired data includes:
dividing the movement interval of the first acquired data, and determining the duration time and interval data of each movement of the first limb;
and for each duration, calculating the initial angle and the rotation angle of the first limb in the duration according to the interval data corresponding to the duration.
3. The joint rehabilitation exercise monitoring method according to claim 2, wherein the step of obtaining a time-series rotation angle of the second limb during a monitoring period based on the second acquired data includes:
dividing the movement interval of the second acquired data, and determining the duration time and interval data of each movement of the second limb;
and for each duration, calculating the initial angle and the rotation angle of the second limb in the duration according to the interval data corresponding to the duration.
4. The joint rehabilitation exercise monitoring method according to claim 3, wherein the interval data includes acceleration and angular velocity;
The step of calculating the initial angle and the rotation angle of the first limb in the duration according to the interval data corresponding to the duration comprises the following steps:
calculating an initial angle of the first limb in the duration period based on the acceleration of the starting moment in the interval data;
respectively performing time integration on the x-axis angular velocity, the y-axis angular velocity and the z-axis angular velocity in the interval data to obtain an x-axis rotation angle, a y-axis rotation angle and a z-axis rotation angle of the first limb in the duration period;
the step of calculating the initial angle and the rotation angle of the second limb in the duration according to the interval data corresponding to the duration comprises the following steps:
calculating an initial angle of the second limb in the duration period based on the acceleration of the starting moment in the interval data;
and respectively performing time integration on the x-axis angular velocity, the y-axis angular velocity and the z-axis angular velocity in the interval data to obtain an x-axis rotation angle, a y-axis rotation angle and a z-axis rotation angle of the second limb in the duration period.
5. The joint rehabilitation exercise monitoring method of claim 4, wherein the accelerations include x-axis acceleration and z-axis acceleration;
The step of calculating the initial angle of the first limb in the duration based on the acceleration of the starting moment in the interval data comprises the following steps:
calculating the difference between the x-axis acceleration and a preset x-axis calibration acceleration to obtain an x-axis acceleration offset value;
processing the x-axis acceleration offset value and the z-axis acceleration by using an arctangent function to obtain an initial angle of the first limb in the duration;
the step of calculating the initial angle of the second limb in the duration based on the acceleration of the starting moment in the interval data comprises the following steps:
calculating the difference between the x-axis acceleration and a preset x-axis calibration acceleration to obtain an x-axis acceleration offset value;
and processing the x-axis acceleration offset value and the z-axis acceleration by using an arctangent function to obtain an initial angle of the second limb in the duration.
6. The joint rehabilitation exercise monitoring method according to any one of claims 1 to 5, wherein the step of fitting the exercise trace of the joint to be measured by combining the time-series rotation angle of the first limb and the time-series rotation angle of the second limb includes:
Combining the time sequence rotation angle of the first limb and the rotation angle of the same period in the time sequence rotation angle of the second limb to obtain the time sequence rotation angle of the joint to be detected in the monitoring period;
and performing track fitting on the time sequence rotation angle of the joint to be detected in the monitoring period to obtain a motion track.
7. The joint rehabilitation exercise monitoring method according to any one of claims 1 to 5, wherein the step of performing exercise amplitude evaluation based on the exercise trace to obtain an evaluation result of the joint to be tested includes:
and obtaining motion amplitude information and motion times according to the motion track, and evaluating according to the motion amplitude information and the motion times.
8. The joint rehabilitation exercise monitoring device is characterized by being applied to monitoring equipment, wherein the monitoring equipment is in communication connection with first acquisition equipment and second acquisition equipment on a wearing matrix, the first acquisition equipment is clung to a first limb of a joint to be tested through the wearing matrix, the second acquisition equipment is clung to a second limb of the joint to be tested through the wearing matrix, and the device comprises a data acquisition module, an angle calculation module, a track fitting module and an evaluation module;
The data acquisition module is used for receiving first acquisition data of the first acquisition equipment and second acquisition data of the second acquisition equipment; the first acquired data comprise motion data of the first limb at any moment in a monitoring period, and the second acquired data comprise motion data of the second limb at any moment in the monitoring period;
the angle calculation module is used for obtaining a time sequence rotation angle of the first limb in a monitoring period based on the first acquired data;
the angle calculation module is further used for obtaining a time sequence rotation angle of the second limb in the monitoring period based on the second acquired data;
the track fitting module is used for combining the time sequence rotation angle of the first limb and the time sequence rotation angle of the second limb to fit the motion track of the joint to be measured;
and the evaluation module is used for evaluating the motion amplitude based on the motion trail to obtain an evaluation result of the joint to be tested.
9. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the joint rehabilitation exercise monitoring method of any one of claims 1-7.
10. A storage medium having stored thereon a computer program, which when executed by a processor implements the joint rehabilitation exercise monitoring method according to any one of claims 1 to 7.
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