CN219895734U - External knee joint both sides motion state perception device - Google Patents
External knee joint both sides motion state perception device Download PDFInfo
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- CN219895734U CN219895734U CN202321317934.9U CN202321317934U CN219895734U CN 219895734 U CN219895734 U CN 219895734U CN 202321317934 U CN202321317934 U CN 202321317934U CN 219895734 U CN219895734 U CN 219895734U
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- 230000033001 locomotion Effects 0.000 title claims abstract description 26
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 25
- 230000008447 perception Effects 0.000 title description 2
- 238000012545 processing Methods 0.000 claims abstract description 34
- 238000004891 communication Methods 0.000 claims description 30
- 238000005259 measurement Methods 0.000 claims description 15
- 230000002146 bilateral effect Effects 0.000 claims 2
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 208000034657 Convalescence Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000003759 clinical diagnosis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012502 risk assessment Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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Abstract
The utility model relates to a motion state sensing device on two sides of an externally hung knee joint, which comprises a processing module, a first gyroscope and a second gyroscope; the device comprises a first gyroscope, a second gyroscope, a processing module, a connecting piece, a connecting device and a connecting device. Compared with the prior art, the utility model has the advantages of simple operation, low environmental requirement and the like.
Description
Technical Field
The utility model relates to the field of medical equipment, in particular to a device for sensing motion states of two sides of an externally-hung knee joint.
Background
The human body joint angle detection has high application value in the fields of rehabilitation medical treatment, sports, real-time monitoring and the like. In the field of rehabilitation medical treatment, the joint limit angle is detected, so that important parameters can be provided for clinical diagnosis of doctors and rehabilitation effect evaluation of patients; in the field of sports, the method can provide scientific guidance for the training method of athletes by capturing and analyzing the joint motion law; in the field of real-time monitoring, acquiring joint movement information can provide important basis for fall risk assessment, gait detection and the like of old people and patients in convalescence.
Other measurement methods have the disadvantage: the joint movement angle measuring method mainly comprises 3 methods of optical sensor measuring method, inertial sensor measuring method and Hall angle sensor measuring method. The method has the advantages that the global coordinate system is established based on the capture of the carrier surface mark points by the optical sensor, so that the attitude angle of the carrier under the global coordinate is determined, the measurement accuracy is high, but the operation is complex, and the requirement on the measurement environment is high. The knee joint angle can be measured by utilizing the single-axis component and the double-axis component of the 2 acceleration sensors, so that higher precision can be achieved; however, it is required that a certain axis of the sensor and the rotation axis of the joint must be ensured to be parallel, and practical installation is difficult to realize.
In summary, the existing knee joint angle measuring device has the problems of complex structure, complex installation process and operation process, and high requirement on the measuring environment of the device. Therefore, it is desirable to provide a knee joint both-side angle sensing device that is simple in structure and convenient to operate.
Disclosure of Invention
The utility model aims to overcome the defects of complex structure, complex installation process and operation process of the knee joint angle measuring device in the prior art and provide the external knee joint two-side motion state sensing device which is simple in structure and convenient to measure.
The aim of the utility model can be achieved by the following technical scheme:
the motion state sensing device comprises a processing module, a first gyroscope and a second gyroscope;
the device comprises a processing module, a first gyroscope and a second gyroscope, wherein the first gyroscope and the second gyroscope are both connected with the processing module, the first gyroscope is located above the processing module, the second gyroscope is located below the processing module, connecting pieces are arranged on the inner sides of the first gyroscope and the second gyroscope, and the device is fixed on two sides of a knee joint through the connecting pieces.
Preferably, the processing module is connected to the first gyroscope and the second gyroscope through a connecting wire.
Preferably, the first gyroscope and the second gyroscope are nine-axis attitude sensors.
Preferably, an inertial sensor is arranged in the nine-axis attitude sensor, and the inertial sensor comprises an accelerometer and an electronic compass.
Preferably, the nine-axis attitude sensor adopts a three-dimensional motion attitude measurement system, the accelerometer is a three-axis accelerometer, and the electronic compass is a three-axis electronic compass.
Preferably, the nine-axis attitude sensor is provided with a serial port communication module, and the serial port communication module adopts asynchronous serial port communication.
Preferably, the serial port rate of the serial port communication module ranges from 4800bps to 230400bps.
Preferably, the model of the processing module is ESP32-C3.
Preferably, the processing module is provided with a wireless communication module, and the processing module is connected with the upper computer through the wireless communication module.
Preferably, the wireless communication module is connected with the upper computer through WIFI communication.
Compared with the prior art, the utility model has the following advantages:
1. in the scheme, the first gyroscope and the second gyroscope are fixed on two sides of a joint to be measured through the connecting piece, angle data of limbs on two sides of the joint are measured through the first gyroscope and the second gyroscope, measurement of an attitude angle at the joint is achieved, and the first gyroscope and the second gyroscope transmit measurement data to the processing module. The measuring device can be matched with a joint rehabilitation medical instrument on the market, and can be directly arranged on the rehabilitation medical instrument. The device is light and simple, and does not cause discomfort to a user; accurate measurement to attitude angle can be realized through first gyroscope and second gyroscope, convenient operation is simple and the environmental requirement is low.
2. In the scheme, the first gyroscope, the second gyroscope and the processing module adopt a wired communication mode, so that the interference of an external environment to communication is avoided, safe and accurate transmission of measurement data can be carried out, and joint movement data can be recorded in real time.
Drawings
FIG. 1 is a schematic view of a structure of an external knee joint angle measuring device provided by the utility model installed at a knee;
in the figure: 1. a processing module, 2, a first gyroscope, 3, a second gyroscope and 4 connecting wires.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model 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 utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model.
It should be noted that the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying a number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
Example 1
The embodiment provides a device for sensing motion states of two sides of an externally hung knee joint, as shown in fig. 1, which comprises a processing module 1, a first gyroscope 2 and a second gyroscope 3;
the processing module 1 is all connected to first gyroscope 2 and second gyroscope 3, and first gyroscope 2 is located the top of processing module 1, and second gyroscope 3 is located the below of processing module 1, and the inboard of first gyroscope 2 and second gyroscope 3 is equipped with the connecting piece, and the device passes through the connecting piece to be fixed in knee joint's both sides.
Working principle: the first gyroscope 2 and the second gyroscope 3 are fixed on two sides of a joint to be measured through connecting pieces, angle data of limbs on two sides of the joint are measured through the first gyroscope 2 and the second gyroscope 3, measurement of an attitude angle at the joint is achieved, and the first gyroscope 2 and the second gyroscope 3 transmit measurement data to the processing module 1.
In the scheme, the first gyroscope 2 and the second gyroscope 3 are fixed on two sides of a joint to be measured through connecting pieces, angle data of limbs on two sides of the joint are measured through the first gyroscope 2 and the second gyroscope 3, the attitude angle of the joint is measured, and the first gyroscope 2 and the second gyroscope 3 transmit the measured data to the processing module 1. The measuring device can be matched with a joint rehabilitation medical instrument on the market, and can be directly arranged on the rehabilitation medical instrument. The device is light and simple, and does not cause discomfort to a user; accurate measurement of attitude angles can be achieved through the first gyroscope 2 and the second gyroscope 3, operation is convenient and simple, and environmental requirements are low.
As a preferred embodiment, the processing module 1 connects the first gyroscope 2 and the second gyroscope 3 via a connection line 4. Through adopting the mode of wired communication with first gyroscope 2 and second gyroscope 3 and processing module 1, avoided the interference of external environment to the communication, can carry out the transmission of measurement data safety accuracy, record joint motion data in real time.
Specifically, the first gyroscope 2 and the second gyroscope 3 are nine-axis attitude sensors. An inertial sensor is arranged in the nine-axis attitude sensor, and comprises an accelerometer and an electronic compass. The nine-axis attitude sensor adopts a three-dimensional motion attitude measurement system, the accelerometer is a three-axis accelerometer, and the electronic compass is a three-axis electronic compass.
Specifically, a serial port communication module is arranged on the nine-axis attitude sensor, and the serial port communication module adopts asynchronous serial port communication. The serial port rate of the serial port communication module ranges from 4800bps to 230400bps.
In particular, the model of the process module 1 is ESP32-C3. The processing module 1 is provided with a wireless communication module, and the processing module 1 is connected with an upper computer through the wireless communication module. The wireless communication module is connected with the upper computer through WIFI communication.
In combination with the foregoing preferred embodiments, the present embodiment provides a preferred embodiment, specifically: the external hanging type postoperative knee joint rehabilitation monitoring device comprises a main MCU, two nine-axis gyroscopes and a connecting wire.
The MCU in the control module 1 adopts ESP32-C3, the MCU is a 32-bit RISC-VCPU, and an FPU (floating point unit) is built in and used for 32-bit single-precision operation, and has strong computing capacity; meanwhile, the wireless communication system has excellent radio frequency performance, and supports IEEE 802.11b/g/n WiFi and Bluetooth 5 (LE) protocols. And an external antenna can be externally connected to improve the signal strength of wireless applications.
Two nine-axis attitude sensors adopt a high-performance three-dimensional motion attitude measurement system based on MEMS technology. The three-axis gyroscope comprises a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass and other motion sensors. Asynchronous serial communication is adopted, and the serial rate is adjustable between 4800bps and 230400bps. The nine-axis attitude sensor is connected with GPIO21 and GPIO20 pins of the main control MCU in a wired connection mode. After the WiFi sends the data to the upper computer,
working principle: two nine-axis attitude sensors are respectively placed on the thigh and the calf, and the angle data of the two nine-axis attitude sensors are measured through the attitude sensors. Based on the detection research of the attitude angle, inertial sensors such as an accelerometer, a gyroscope and a magnetometer are used, so that the accurate measurement of the attitude angle is realized.
The foregoing describes in detail preferred embodiments of the present utility model. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the utility model by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (10)
1. The external knee joint movement state sensing device is characterized by comprising a processing module (1), a first gyroscope (2) and a second gyroscope (3);
the utility model discloses a knee joint processing device, including processing module (1), first gyroscope (2), second gyroscope (3), connecting piece, device, connecting piece, processing module (1) are all connected to first gyroscope (2) and second gyroscope (3), first gyroscope (2) are located the top of processing module (1), second gyroscope (3) are located the below of processing module (1), the inboard of first gyroscope (2) and second gyroscope (3) is equipped with the connecting piece, and the device passes through the connecting piece to be fixed in the both sides of knee joint.
2. The external knee joint bilateral motion state sensing device according to claim 1, wherein the processing module (1) is connected with the first gyroscope (2) and the second gyroscope (3) through a connecting wire (4).
3. The external knee joint two-side motion state sensing device according to claim 1, wherein the first gyroscope (2) and the second gyroscope (3) are nine-axis attitude sensors.
4. The external knee joint two-side motion state sensing device according to claim 3, wherein an inertial sensor is arranged in the nine-axis attitude sensor, the inertial sensor comprises an accelerometer and an electronic compass, and the inertial sensor comprises an accelerometer and an electronic compass.
5. The device for sensing motion states of two sides of an externally hung knee joint according to claim 4, wherein the nine-axis attitude sensor adopts a three-dimensional motion attitude measurement system, the accelerometer is a three-axis accelerometer, and the electronic compass is a three-axis electronic compass.
6. The device for sensing motion states of two sides of a plug-in knee joint according to claim 3, wherein the nine-axis attitude sensor is provided with a serial communication module, and the serial communication module adopts asynchronous serial communication.
7. The device of claim 6, wherein the serial port rate of the serial port communication module ranges from 4800bps to 230400bps.
8. The external knee joint bilateral motion state sensing device according to claim 1, wherein the model of the processing module (1) is ESP32-C3.
9. The external knee joint movement state sensing device according to claim 1, wherein the processing module (1) is provided with a wireless communication module, and the processing module (1) is connected with an upper computer through the wireless communication module.
10. The device for sensing motion states of two sides of an externally hung knee joint according to claim 9, wherein the wireless communication module is connected with the upper computer through WIFI communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321317934.9U CN219895734U (en) | 2023-05-29 | 2023-05-29 | External knee joint both sides motion state perception device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321317934.9U CN219895734U (en) | 2023-05-29 | 2023-05-29 | External knee joint both sides motion state perception device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219895734U true CN219895734U (en) | 2023-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321317934.9U Active CN219895734U (en) | 2023-05-29 | 2023-05-29 | External knee joint both sides motion state perception device |
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| Country | Link |
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| CN (1) | CN219895734U (en) |
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2023
- 2023-05-29 CN CN202321317934.9U patent/CN219895734U/en active Active
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