CN117462251A - Construction method and system of three-dimensional true force line - Google Patents
Construction method and system of three-dimensional true force line Download PDFInfo
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- 238000010276 construction Methods 0.000 title claims abstract description 18
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 130
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- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 49
- 210000000629 knee joint Anatomy 0.000 claims abstract description 49
- 238000000034 method Methods 0.000 claims abstract description 24
- 241001227561 Valgus Species 0.000 claims abstract description 17
- 241000469816 Varus Species 0.000 claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims description 17
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- 210000000689 upper leg Anatomy 0.000 claims description 14
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- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
- A61B2034/2057—Details of tracking cameras
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention provides a construction method and a construction system of a three-dimensional true force line, wherein the method comprises the steps of acquiring lower limb images of a human body when the human body walks or stands on a pressure measurement area through a stereoscopic image shooting device, wherein the lower limb images comprise images of a marking structure and the pressure measurement device; calculating to obtain a central point of the hip joint according to a marking structure on the lower limb image; calculating to obtain a standing pressure center point according to the measurement identification points; according to the distribution of the standing pressure center points and the measurement identification points, calculating to obtain the pressure center points of the standing pressure center points on the lower limb images; and connecting the central point of the hip joint with the pressure central point on the lower limb image to obtain a true force line. The method constructs the true force line, judges whether the lower limb force line has the problems including varus deformity and valgus deformity, and can accurately evaluate the stress deflection conditions of the inner side, the outer side, the front side and the rear side of the knee joint and the ankle joint, thereby more accurately guiding the correction of the force line.
Description
Technical Field
The invention relates to the technical field of force line construction, in particular to a method and a system for constructing a three-dimensional true force line.
Background
The lower limb force line is an imaginary straight line from the rotation center of the femoral head to the midpoint of the inner ankle and the outer ankle, and represents the mechanical conduction line of the normal lower limb of the human body in the loading position. The data of the lower limb force line is used as a reference standard for clinical diagnosis of joint pain, preoperative diagnosis of operations such as osteotomy correction and joint replacement, operation planning and postoperative confirmation. However, the current lower limb force line always uses the connection line between the rotation center of the femoral head and the midpoint of the medial malleolus and the lateral malleolus as the force line, and the force line is only a mechanical axis, not a force transmission line. The force deflection of the medial and lateral sides and the anterior and posterior sides of the knee and ankle joint cannot be truly evaluated based on the machine axis, but if the force lines are under-corrected or over-corrected, the surgical failure may result.
Disclosure of Invention
The invention aims to provide a method and a system for constructing a three-dimensional true force line, which can accurately obtain the correction of the guide force line and ensure a better operation effect.
In order to achieve the above object, in a first aspect, the present invention provides a method for constructing a three-dimensional true force line, based on a pressure measurement device and a stereoscopic image capturing device, where i measurement identification points are provided on the pressure measurement device, and the measurement identification points of the pressure measurement device are sequentially connected to form a pressure measurement area, where i is greater than or equal to 3, the method includes: fixing a marking structure for optical positioning on the lower limb of the human body; acquiring lower limb images of a human body when the human body walks or stands on the pressure measurement area through the stereoscopic image shooting equipment, wherein the lower limb images comprise images of the marking structure and the pressure measurement equipment; calculating to obtain a central point of the hip joint according to the marking structure on the lower limb image; according to the measurement identification points, calculating to obtain standing pressure center points; according to the distribution of the standing pressure center points and the measurement identification points, calculating to obtain the pressure center points of the standing pressure center points on the lower limb image; and connecting the central point of the hip joint with the pressure central point on the lower limb image to obtain a real force line.
The construction method of the three-dimensional true force line provided by the invention has the beneficial effects that: based on the combination of the pressure measurement equipment and the stereo image shooting equipment, acquiring lower limb images when a human body walks or stands on a pressure measurement area through the stereo image shooting equipment, calculating to obtain a central point of a hip joint according to a marking structure on the lower limb images, calculating to obtain a standing pressure central point according to the measurement identification points, and calculating to obtain the pressure central point of the standing pressure central point on the lower limb images according to the standing pressure central point and the distribution of the measurement identification points. And then connecting the central point of the hip joint with the pressure central point on the lower limb image to obtain a real force line, and accurately evaluating the stress deflection conditions of the inner side, the outer side, the front side and the rear side of the knee joint and the ankle joint, so that the force line can be corrected more accurately, and a better operation effect is ensured.
Optionally, the fixing the marking structure for optical positioning on the lower limb of the human body includes: securing the marker structure to the femur; the calculating to obtain the center point of the hip joint according to the femur marking structure on the lower limb image comprises the following steps: acquiring position coordinates (x) of the marker structure fixed to the distal femur in different postural conditions i ，y i ，z i ) The position coordinates are in a three-dimensional coordinate system shot by the stereoscopic image shooting equipment; the center point position coordinates (a, b, c) of the hip joint satisfy the formula:
(x i -a) 2 +(y i -b) 2 +(z i -c) 2 ＝r 2 ；
and fitting the sphere center through a least square method, and calculating to obtain the central point position coordinates (a, b and c) of the hip joint.
Optionally, when the stereoscopic image capturing device captures an image of a lower limb of a human body standing on the pressure measurement region, the method includes: acquiring the medial and lateral points of the knee joint and the medial and lateral points of the ankle joint by using a probe tool with an optical positioning structure; calculating a center point of the knee joint and a center point of the ankle joint according to the inner side point and the outer side point of the knee joint and the inner side point and the outer side point of the ankle joint; after the true force line is obtained, the method comprises the following steps: judging whether the lower limb force line has the problems including varus deformity and valgus deformity according to the central point of the hip joint, the central point of the knee joint, the central point of the ankle joint and the pressure central point on the lower limb image.
Optionally, the judging whether the lower limb force line has the problems including varus deformity and valgus deformity according to the center point of the hip joint, the center point of the knee joint, the center point of the ankle joint and the center point of the pressure on the lower limb image specifically includes: and judging whether the lower limb force line has the problems of varus deformity and valgus deformity according to the distances between the true force line and the central points of the knee joint and the ankle joint or the calculated included angles between the central points of the hip joint and the connecting line of the central points of the knee joint and the pressure central points on the lower limb image and the calculated included angles between the central points of the hip joint and the connecting line of the central points of the ankle joint and the pressure central points of the ankle joint and the lower limb image.
Optionally, the calculating to obtain the standing pressure center point according to the measurement identification point includes: establishing a plane rectangular coordinate system on the plane where the measurement identification point is located; acquiring coordinates (Xi, yi) of the measurement identification point under the plane rectangular coordinate system; calculating the standing center point of pressure (Xzmp, yzmp) from the coordinates (Xi, yi); the standing center point of pressure (Xzmp, yzmp) satisfies the formula:and fi is the pressure value measured by the ith measurement identification point.
Optionally, the calculating, according to the standing pressure center point and the measurement identifier point distribution, the pressure center point of the standing pressure center point on the lower limb image includes: the lower limb image comprises shot measurement identification points, and the shot measurement identification points are under the three-dimensional coordinate system;
obtaining a conversion matrix K for converting the plane rectangular coordinate system into a three-dimensional coordinate system according to the distance relation between the measurement identification points of the pressure measurement equipment and the shot measurement identification points;
the pressure center points (Xr, yr, zr) on the lower limb image satisfy the formula:
(Xr，Yr，Zr)＝K(Xzmp，Yzmp，0)。
in a second aspect, an embodiment of the present invention provides a system for constructing a three-dimensional real force line, based on a pressure measurement device and a stereoscopic image capturing device, where i measurement identification points are provided on the pressure measurement device, and the measurement identification points of the pressure measurement device are sequentially connected to form a pressure measurement area, where i is greater than or equal to 3, the system includes; fixing a marking structure for optical positioning on the lower limb of a human body in advance; the shooting module is used for acquiring lower limb images when a human body walks or stands on the pressure measurement area by controlling the stereoscopic image shooting equipment, and the lower limb images comprise the mark structure and the images of the pressure measurement equipment; the calculating module is used for calculating and obtaining the central point of the hip joint according to the marking structure on the lower limb image; the calculation module is also used for calculating a standing pressure center point according to the measurement identification points; the calculation module is further used for calculating a pressure center point of the standing pressure center point on the lower limb image according to the standing pressure center point and the measurement identification point distribution; and the construction module is used for connecting the central point of the hip joint with the pressure central point on the lower limb image to obtain a true force line.
The construction system of the three-dimensional true force line provided by the invention has the beneficial effects that: based on the combination of the pressure measurement equipment and the stereo image shooting equipment, acquiring lower limb images when a human body walks or stands on a pressure measurement area through the stereo image shooting equipment, calculating to obtain a central point of a hip joint according to a marking structure on the lower limb images, calculating to obtain a standing pressure central point according to the measurement identification points, and calculating to obtain the pressure central point of the standing pressure central point on the lower limb images according to the standing pressure central point and the distribution of the measurement identification points. And then connecting the central point of the hip joint with the pressure central point on the lower limb image to obtain a real force line, and accurately evaluating the stress deflection conditions of the inner side, the outer side, the front side and the rear side of the knee joint and the ankle joint, so that the force line can be corrected more accurately, and a better operation effect is ensured.
Optionally, the fixing the marking structure for optical positioning on the lower limb of the human body in advance includes: securing the marker structure to the femur; the calculation module is configured to calculate a center point of a hip joint according to a marker structure on the lower limb image, and includes: acquiring position coordinates (x) of the marker structure fixed to the distal femur in different postural conditions i ，y i ，z i ) The position coordinates are in a three-dimensional coordinate system shot by the stereoscopic image shooting equipment; the center point position coordinates (a, b, c) of the hip joint satisfy the formula:
(x i -a) 2 +(y i -b) 2 +(z i -c) 2 ＝r 2 ；
and fitting the sphere center through a least square method, and calculating to obtain the central point position coordinates (a, b and c) of the hip joint.
Optionally, when the stereoscopic image capturing device captures an image of a lower limb of a human body standing on the pressure measurement region, the method includes: acquiring the medial and lateral points of the knee joint and the medial and lateral points of the ankle joint by using a probe tool with an optical positioning structure; the calculation module calculates a center point of the knee joint and a center point of the ankle joint according to the inner side point and the outer side point of the knee joint and the inner side point and the outer side point of the ankle joint; the construction module, after obtaining the true force line, includes: judging whether the lower limb force line has the problems including varus deformity and valgus deformity according to the central point of the hip joint, the central point of the knee joint, the central point of the ankle joint and the pressure central point on the lower limb image.
Optionally, the judging whether the lower limb force line has the problems including varus deformity and valgus deformity according to the center point of the hip joint, the center point of the knee joint, the center point of the ankle joint and the center point of the pressure on the lower limb image specifically includes: and judging whether the lower limb force line has the problems of varus deformity and valgus deformity according to the distances between the true force line and the central points of the knee joint and the ankle joint or the calculated included angles between the central points of the hip joint and the connecting line of the central points of the knee joint and the pressure central points on the lower limb image and the calculated included angles between the central points of the hip joint and the connecting line of the central points of the ankle joint and the pressure central points of the ankle joint and the lower limb image.
Optionally, the calculating module calculates a standing pressure center point according to the measurement identification point, which specifically includes: establishing a plane rectangular coordinate system on the plane where the measurement identification point is located; acquiring coordinates (Xi, yi) of the measurement identification point under the plane rectangular coordinate system; calculating the standing center point of pressure (Xzmp, yzmp) from the coordinates (Xi, yi); the standing center point of pressure (Xzmp, yzmp) satisfies the formula:and fi is the pressure value measured by the ith measurement identification point.
Optionally, the calculating module calculates, according to the standing pressure center point and the measurement identifier point distribution, a pressure center point of the standing pressure center point on the lower limb image, where the calculating module specifically includes: the lower limb image comprises shot measurement identification points, and the shot measurement identification points are under the three-dimensional coordinate system; obtaining a conversion matrix K for converting the plane rectangular coordinate system into a three-dimensional coordinate system according to the distance relation between the measurement identification points of the pressure measurement equipment and the shot measurement identification points; the pressure center points (Xr, yr, zr) on the lower limb image satisfy the formula: (Xr, yr, zr) =k (Xzmp, yzmp, 0).
Drawings
FIG. 1 is a flow chart of a method for constructing a three-dimensional true force line according to an embodiment of the present invention;
FIG. 2 is a schematic view of a scene when a three-dimensional true force line is obtained according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of various nodes according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a system for constructing a three-dimensional true force line according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Unless otherwise defined, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and the like means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof without precluding other elements or items.
Aiming at the problems existing in the prior art, the embodiment of the invention provides a construction method of a three-dimensional true force line, and referring to fig. 1 and 2, the method is based on a pressure measurement device 2 and a stereoscopic image shooting device 1, i measurement identification points are arranged on the pressure measurement device 2, the measurement identification points of the pressure measurement device 2 are sequentially connected to form a pressure measurement area, i is greater than or equal to 3, and the method comprises:
s101: a marking structure for optical positioning is fixed on the lower limb of the human body.
In particular, the marking structure 5 is fixed to the femur.
S102: and acquiring lower limb images of a human body when the human body walks or stands on the pressure measurement area through the stereoscopic image shooting equipment, wherein the lower limb images comprise images of the marking structure and the pressure measurement equipment.
In this step, when a human body stands on the pressure measurement region, the medial-lateral point of the knee joint and the medial-lateral point of the ankle joint are acquired using the probe tool 4 having an optical positioning structure. The data computing device 3 may calculate a center point of the knee joint and a center point of the ankle joint based on the medial and lateral points of the knee joint and the medial and lateral points of the ankle joint.
S103: and calculating to obtain the central point of the hip joint according to the marking structure on the lower limb image.
In this step, the position coordinates (x i ，y i ，z i ). The position coordinates (x i ，y i ，z i ) In a three-dimensional coordinate system photographed by the stereoscopic image photographing apparatus. The center point position coordinates (a, b, c) of the hip joint satisfy the formula: (x) i -a) 2 +(y i -b) 2 +(z i -c) 2 ＝r 2 . And fitting the sphere center through a least square method, and calculating to obtain the central point position coordinates (a, b and c) of the hip joint.
S104: and calculating to obtain a standing pressure center point according to the measurement identification points.
Specifically, a plane rectangular coordinate system is established on the plane where the measurement identification point is located, and then coordinates (Xi, yi) of the measurement identification point under the plane rectangular coordinate system are obtained. The standing center point of pressure (Xzmp, yzmp) is then calculated from the coordinates (Xi, yi). Wherein the standing center point of pressure (Xzmp, yzmp) satisfies the formula:in addition, fi is the pressure value measured at the i-th measurement identification point.
S105: and calculating the pressure center point of the standing pressure center point on the lower limb image according to the distribution of the standing pressure center point and the measurement identification points.
Specifically, the lower limb image comprises a photographed measurement identification point, and the photographed measurement identification point is under the three-dimensional coordinate system. And obtaining a conversion matrix K for converting the plane rectangular coordinate system into a three-dimensional coordinate system according to the distance relation between the measurement identification points of the pressure measurement equipment 2 and the shot measurement identification points.
The pressure center points (Xr, yr, zr) on the lower limb image satisfy the formula: (Xr, yr, zr) =k (Xzmp, yzmp, 0).
S106: and connecting the central point of the hip joint with the pressure central point on the lower limb image to obtain a real force line.
In the step, after obtaining the true force line, according to the distance between the true force line and the center point of the knee joint and the center point of the ankle joint, or calculating the included angle between the center point of the hip joint and the connecting line of the center point of the knee joint and the center point of the pressure on the lower limb image, and calculating the included angle between the center point of the hip joint and the connecting line of the center point of the ankle joint and the center point of the pressure on the lower limb image, judging whether the lower limb force line has the problems including varus deformity and valgus deformity.
Specifically, referring to fig. 3, the hip center is a, the ankle center is B, the knee joint inner point C, and the knee joint outer point D in the case of the force line parameter calculation;
o is the intersection point of the AB connection line and the CD connection line;
EF is the femoral mechanical axis, and TB is the tibial mechanical axis;
EF 'is the projection vector of the femoral mechanical axis in the sagittal plane, and TB' is the projection vector of the tibial mechanical axis in the sagittal plane;
NV is a sagittal plane normal vector;
calculating the ratio of the distance from the medial point of the knee joint to the intersection point O to the length of the medial side and the lateral side of the knee joint: scale= |oc|/|cd|;
the varus and valgus angle is calculated by calculating the included angle between the mechanical axis TB of the tibia and the vector NV of the sagittal plane:
Abd＝acos(NV.dot(TB)/(NV.norm()*TB.norm()))*180/PI；
qu Shenjiao femur on sagittal plane, tibia mechanical axis angle:
FE＝acos(EF’.dot(TB’)/(EF’.norm()*TB’.norm()))*180/PI。
in this embodiment, based on the combination of the pressure measurement device and the stereoscopic image photographing device, the stereoscopic image photographing device collects lower limb images when a human body walks or stands on the pressure measurement area, calculates the central point of the hip joint according to the marking structure on the lower limb images, calculates the standing pressure central point according to the measurement identification points, calculates the pressure central point of the standing pressure central point on the lower limb images according to the distribution of the standing pressure central point and the measurement identification points, and then connects the central point of the hip joint with the pressure central point on the lower limb images to obtain a true force line, so that the stress deviation conditions of the inner side, the outer side, the front side and the rear side of the knee joint and the ankle joint can be accurately evaluated, the correction of the force line can be more accurately guided, and better surgical effect is ensured.
In still another embodiment of the disclosure, a system for constructing a three-dimensional true force line is provided, wherein i measurement identification points are arranged on a pressure measurement device and a stereoscopic image shooting device, and the measurement identification points of the pressure measurement device are sequentially connected to form a pressure measurement area, and i is greater than or equal to 3. Referring to fig. 4, the system includes: a marking structure for optical positioning is fixed on the lower limb of the human body in advance. A photographing module 401 for collecting lower limb images of a human body while walking or standing on the pressure measurement region by controlling the stereoscopic image photographing apparatus, the lower limb images including images of the marking structure and the pressure measurement apparatus; the calculating module 402 is configured to calculate a center point of the hip joint according to the marker structure on the lower limb image. The calculation module 402 is further configured to calculate a standing pressure center point according to the measurement identifier, and calculate a pressure center point of the standing pressure center point on the lower limb image according to the standing pressure center point and the measurement identifier distribution. And the construction module 403 is configured to connect the center point of the hip joint with the center point of the pressure on the lower limb image, so as to obtain a true force line.
In this embodiment, a lower limb image of a human body when walking or standing on a pressure measurement area is acquired through a stereoscopic image capturing device, a central point of a hip joint is calculated according to a marking structure on the lower limb image, a standing pressure central point is calculated according to the measurement identification point, and a pressure central point of the standing pressure central point on the lower limb image is calculated according to the standing pressure central point and the measurement identification point distribution. And then connecting the central point of the hip joint with the pressure central point on the lower limb image to obtain a real force line, and accurately evaluating the stress deflection conditions of the inner side, the outer side, the front side and the rear side of the knee joint and the ankle joint, so that the force line can be corrected more accurately, and a better operation effect is ensured.
In this embodiment, the stereoscopic image capturing device is a binocular infrared camera, and the pressure measuring device is a pressure plate.
Optionally, the fixing the marking structure for optical positioning on the lower limb of the human body in advance includes: the marker structure is secured to the femur. The calculating module 402 is configured to calculate a center point of the hip joint according to the marker structure on the lower limb image, and includes: acquiring position coordinates (x) of the marker structure fixed to the distal femur in different postural conditions i ，y i ，z i ) The position coordinates are in a three-dimensional coordinate system photographed by the stereoscopic image photographing apparatus. The center point position coordinates (a, b, c) of the hip joint satisfy the formula: (x) i -a) 2 +(y i -b) 2 +(z i -c) 2 ＝r 2 . And fitting the sphere center through a least square method, and calculating to obtain the central point position coordinates (a, b and c) of the hip joint.
Further, when the stereoscopic image capturing apparatus captures an image of a lower limb of a human body standing on the pressure measurement region, it includes: acquiring the medial and lateral points of the knee joint and the medial and lateral points of the ankle joint by using a probe tool with an optical positioning structure; the calculation module 402 calculates a center point of the knee joint and a center point of the ankle joint according to the medial and lateral points of the knee joint and the medial and lateral points of the ankle joint.
Optionally, judging whether the lower limb force line has the problems including varus deformity and valgus deformity according to the central point of the hip joint, the central point of the knee joint, the central point of the ankle joint and the pressure central point on the lower limb image.
Specifically, according to the distances between the true force line and the center point of the knee joint and the center point of the ankle joint, or calculating the included angles between the center point of the hip joint and the connecting line of the center point of the knee joint and the pressure center point on the lower limb image, and calculating the included angles between the center point of the hip joint and the connecting line of the center point of the ankle joint and the pressure center point on the lower limb image, judging whether the lower limb force line has the problems including varus deformity and valgus deformity.
Optionally, the calculating module 402 calculates a standing pressure center point according to the measurement identification point, which specifically includes: establishing a plane rectangular coordinate system on the plane where the measurement identification point is located; acquiring coordinates (Xi, yi) of the measurement identification point under the plane rectangular coordinate system; calculating the standing center point of pressure (Xzmp, yzmp) from the coordinates (Xi, yi); the standing center point of pressure (Xzmp, yzmp) satisfies the formula:and fi is the pressure value measured by the ith measurement identification point.
Further, the calculating module 402 calculates, according to the standing pressure center point and the measurement identifier point distribution, a pressure center point of the standing pressure center point on the lower limb image, including: the lower limb image comprises shot measurement identification points, and the shot measurement identification points are under the three-dimensional coordinate system. And obtaining a conversion matrix K for converting the plane rectangular coordinate system into a three-dimensional coordinate system according to the distance relation between the measurement identification points of the pressure measurement equipment and the shot measurement identification points. The pressure center points (Xr, yr, zr) on the lower limb image satisfy the formula: (Xr, yr, zr) =k (Xzmp, yzmp, 0).
The foregoing is merely a specific implementation of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the embodiments of the present application should be covered by the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.
Claims (12)
1. The construction method of the three-dimensional true force line is characterized by comprising the steps of based on pressure measurement equipment and stereoscopic image shooting equipment, wherein i measurement identification points are arranged on the pressure measurement equipment, and the measurement identification points of the pressure measurement equipment are sequentially connected to form a pressure measurement area, wherein i is greater than or equal to 3, and the method comprises the following steps:
fixing a marking structure for optical positioning on the lower limb of the human body;
acquiring lower limb images of a human body when the human body walks or stands on the pressure measurement area through the stereoscopic image shooting equipment, wherein the lower limb images comprise images of the marking structure and the pressure measurement equipment;
calculating to obtain a central point of the hip joint according to the marking structure on the lower limb image;
according to the measurement identification points, calculating to obtain standing pressure center points;
according to the distribution of the standing pressure center points and the measurement identification points, calculating to obtain the pressure center points of the standing pressure center points on the lower limb image;
and connecting the central point of the hip joint with the pressure central point on the lower limb image to obtain a real force line.
2. The method of claim 1, wherein the fixing the marker structure for optical positioning on the lower limb of the human body comprises:
securing the marker structure to the femur;
the calculating to obtain the center point of the hip joint according to the femur marking structure on the lower limb image comprises the following steps:
acquiring position coordinates (x) of the marker structure fixed to the distal femur in different postural conditions i ，y i ，z i ) The position coordinates are in a three-dimensional coordinate system shot by the stereoscopic image shooting equipment;
the center point position coordinates (a, b, c) of the hip joint satisfy the formula:
(x i -a) 2 +(y i -b) 2 +(z i -c) 2 ＝r 2 ；
and fitting the sphere center through a least square method, and calculating to obtain the central point position coordinates (a, b and c) of the hip joint.
3. The construction method according to claim 2, wherein when the stereoscopic image capturing apparatus captures an image of a lower limb when a human body stands on the pressure measurement region, comprising:
acquiring the medial and lateral points of the knee joint and the medial and lateral points of the ankle joint by using a probe tool with an optical positioning structure;
calculating a center point of the knee joint and a center point of the ankle joint according to the inner side point and the outer side point of the knee joint and the inner side point and the outer side point of the ankle joint;
after the true force line is obtained, the method comprises the following steps:
judging whether the lower limb force line has the problems including varus deformity and valgus deformity according to the central point of the hip joint, the central point of the knee joint, the central point of the ankle joint and the pressure central point on the lower limb image.
4. The method according to claim 3, wherein the step of determining whether the lower limb force line has a problem including varus deformity and valgus deformity according to the center point of the hip joint, the center point of the knee joint, the center point of the ankle joint and the center point of pressure on the lower limb image specifically includes:
and judging whether the lower limb force line has the problems of varus deformity and valgus deformity according to the distances between the true force line and the central points of the knee joint and the ankle joint or the calculated included angles between the central points of the hip joint and the connecting line of the central points of the knee joint and the pressure central points on the lower limb image and the calculated included angles between the central points of the hip joint and the connecting line of the central points of the ankle joint and the pressure central points of the ankle joint and the lower limb image.
5. The method according to claim 2, wherein calculating a standing pressure center point from the measurement identification points comprises:
establishing a plane rectangular coordinate system on the plane where the measurement identification point is located;
acquiring coordinates (Xi, yi) of the measurement identification point under the plane rectangular coordinate system;
calculating the standing center point of pressure (Xzmp, yzmp) from the coordinates (Xi, yi); the standing center point of pressure (Xzmp, yzmp) satisfies the formula:
and fi is the pressure value measured by the ith measurement identification point.
6. The method according to claim 5, wherein the calculating the pressure center point of the standing pressure center point on the lower limb image according to the standing pressure center point and the measurement mark point distribution includes:
the lower limb image comprises shot measurement identification points, and the shot measurement identification points are under the three-dimensional coordinate system;
obtaining a conversion matrix K for converting the plane rectangular coordinate system into a three-dimensional coordinate system according to the distance relation between the measurement identification points of the pressure measurement equipment and the shot measurement identification points;
the pressure center points (Xr, yr, zr) on the lower limb image satisfy the formula:
(Xr，Yr，Zr)＝K(Xzmp，Yzmp，0)。
7. the construction system of the three-dimensional true force line is characterized by comprising a pressure measurement device and a stereoscopic image shooting device, wherein i measurement identification points are arranged on the pressure measurement device, and the measurement identification points of the pressure measurement device are sequentially connected to form a pressure measurement area, i is more than or equal to 3, and the system comprises;
fixing a marking structure for optical positioning on the lower limb of a human body in advance;
the shooting module is used for acquiring lower limb images when a human body walks or stands on the pressure measurement area by controlling the stereoscopic image shooting equipment, and the lower limb images comprise the mark structure and the images of the pressure measurement equipment;
the calculating module is used for calculating and obtaining the central point of the hip joint according to the marking structure on the lower limb image;
the calculation module is also used for calculating a standing pressure center point according to the measurement identification points;
the calculation module is further used for calculating a pressure center point of the standing pressure center point on the lower limb image according to the standing pressure center point and the measurement identification point distribution;
and the construction module is used for connecting the central point of the hip joint with the pressure central point on the lower limb image to obtain a true force line.
8. The building system according to claim 7, wherein the pre-fixing of the marker structure for optical positioning on the lower limb of the human body comprises:
securing the marker structure to the femur;
the calculation module is configured to calculate a center point of a hip joint according to a marker structure on the lower limb image, and includes:
acquiring position coordinates (x) of the marker structure fixed to the distal femur in different postural conditions i ，y i ，z i ) The position coordinates are in a three-dimensional coordinate system shot by the stereoscopic image shooting equipment;
the center point position coordinates (a, b, c) of the hip joint satisfy the formula:
(x i -a) 2 +(y i -b) 2 +(z i -c) 2 ＝r 2 ；
and fitting the sphere center through a least square method, and calculating to obtain the central point position coordinates (a, b and c) of the hip joint.
9. The building system according to claim 8, wherein when the stereoscopic image capturing device captures an image of a lower limb of a human body standing on the pressure measurement region, comprising:
acquiring the medial and lateral points of the knee joint and the medial and lateral points of the ankle joint by using a probe tool with an optical positioning structure;
the calculation module calculates a center point of the knee joint and a center point of the ankle joint according to the inner side point and the outer side point of the knee joint and the inner side point and the outer side point of the ankle joint;
the construction module, after obtaining the true force line, includes:
judging whether the lower limb force line has the problems including varus deformity and valgus deformity according to the central point of the hip joint, the central point of the knee joint, the central point of the ankle joint and the pressure central point on the lower limb image.
10. The construction system according to claim 9, wherein the determining whether the lower limb force line has a problem including varus deformity and valgus deformity according to the center point of the hip joint, the center point of the knee joint, the center point of the ankle joint and the center point of pressure on the lower limb image specifically comprises:
and judging whether the lower limb force line has the problems of varus deformity and valgus deformity according to the distances between the true force line and the central points of the knee joint and the ankle joint or the calculated included angles between the central points of the hip joint and the connecting line of the central points of the knee joint and the pressure central points on the lower limb image and the calculated included angles between the central points of the hip joint and the connecting line of the central points of the ankle joint and the pressure central points of the ankle joint and the lower limb image.
11. The construction system according to claim 8, wherein the calculating module calculates a standing pressure center point according to the measurement identification point, specifically comprising:
establishing a plane rectangular coordinate system on the plane where the measurement identification point is located;
acquiring coordinates (Xi, yi) of the measurement identification point under the plane rectangular coordinate system;
calculating the standing center point of pressure (Xzmp, yzmp) from the coordinates (Xi, yi); the standing center point of pressure (Xzmp, yzmp) satisfies the formula:
and fi is the pressure value measured by the ith measurement identification point.
12. The building system according to claim 11, wherein the calculating module calculates the pressure center point of the standing pressure center point on the lower limb image according to the standing pressure center point and the measurement identification point distribution, and specifically includes:
the lower limb image comprises shot measurement identification points, and the shot measurement identification points are under the three-dimensional coordinate system;
obtaining a conversion matrix K for converting the plane rectangular coordinate system into a three-dimensional coordinate system according to the distance relation between the measurement identification points of the pressure measurement equipment and the shot measurement identification points;
the pressure center points (Xr, yr, zr) on the lower limb image satisfy the formula:
(Xr，Yr，Zr)＝K(Xzmp，Yzmp，0)。
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