DE102012103971A1 - Method for testing prosthesis for injured body extremity of subject, involves performing visualization of motion sequence accomplished by subject with prosthesis using picture information of intact body extremity - Google Patents

Abstract

The method involves using a sensor device for transferring the measurement value regarding movement of leg prosthesis (5) of the subject to an evaluation device. The image capture devices (3) are configured to record the image information of prosthesis replaced for injured body extremity, so as to detect corresponding intact body extremity. The visualization of the motion sequence accomplished by the subject with prosthesis is performed using the picture information of the intact body extremity. An independent claim is included for test device for testing prosthesis for injured body extremity of subject.

Description

The invention relates to a method for carrying out tests with a prosthesis for a damaged body extremity of a subject, wherein a first movement sequence carried out by the subject with a prosthesis is detected by a sensor device and first measured values are transmitted from the first movement sequence to an evaluation device, and wherein Environment is simulated, in which the subject performs the movements with the prosthesis.

In recent years prostheses of body extremities, and in particular mechanical leg prostheses, for example, have been further developed through the use of novel materials and the integration of mechatronic systems and drives. Preliminary studies show that, for example, semi-active prostheses, which can slow down or affect prosthesis movements, can improve biomechanical properties and energy consumption, hoping to increase their user acceptance. Different semi-active prosthesis systems, which have already become ready for series production and are available, usually support a user by advantageously adapting the stiffness and damping values of the prosthetic mechanics. Furthermore, prototypes for newly developed prosthesis systems are known which specifically change the biomechanical properties of the prosthesis during a course of motion by directly influencing a prosthetic joint or by an active drive unit and assist or actively carry out movements with the prosthesis.

However, the use of a prosthesis often also requires an increased energy requirement of the user in comparison to people who manage without a prosthesis.

There is therefore still a great demand for further developments of the known prosthesis systems. In this case, for example, the flexibility of the movements are to be increased in particular when intended by the user direction and speed changes the movement, as reliable as possible active support the movements for example when climbing stairs and an extension of the operating time in driven prosthesis systems are made possible. Further focal points of development concern the most natural movement sequences of a prosthesis.

The handling of a prosthesis or its handling and use must first be learned by a user. After some time of familiarization, the use of the prosthesis should no longer require the user to consciously control or activate the prosthesis and, if possible, the prosthesis should no longer be perceived as an artificial replacement of diseased limbs.

Newly developed prostheses are typically used to produce prototypes, which can usually be tested under laboratory conditions by means of tests with test persons and checked for their functional scope and their functionally relevant properties.

It is also possible and important for the users to learn or train new prosthesis systems so that subjects with the prototypes of the newly developed prostheses perform different movements and the properties and the perception of the prostheses during the implementation of realistic movement sequences can test and verify.

Various test devices, such as suitably modified treadmills, are known which can be used, for example, in the rehabilitation of patients, and facilitate or enable them to train or learn natural movement sequences in a realistic environment as possible. Such test facilities or gait training facilities are, for example, in DE 100 28 511 A1 or WO 2008/097 134 A2 described.

It is often useful for the further development of prostheses to use such test facilities for testing prostheses and learning motion sequences with a new prosthesis to incorporate the experience of subjects in the further development of the tested prostheses, or prototypes. However, it has been shown that it is extraordinarily difficult for the subjects to carry out natural movements as realistically as possible, since the use of a prosthesis is insufficiently supported in the gangsimulators known from practice and, moreover, the subjects continuously perceive the prosthesis in the artificial environment as a foreign body aid which makes natural behavior and natural movements more difficult, as they are possible without a prosthesis.

In view of the development effort and the manifold possibilities and approaches for further developments of prostheses, it is nevertheless advantageous to be able to involve future users of the prosthesis systems early in the development process.

At an in DE 10 2010 006 301 A1 described test device is detected with a sensor device, an intended movement of an amputee member to then control with a computing device a prosthesis and provide the user with an optical and / or mechanical feedback. Visual feedback may also be generated from a computer-simulated model so that instead of a prosthesis, the computer-simulated and possibly relatively close-to-reality model of a prosthesis or corresponding body part may be displayed to the user. Since the prosthesis or the computer-simulated model only those movements can be mapped for the corresponding control commands or model parameters are available, the simulation of natural movements and a corresponding tactile or environmental feedback is usually limited to a few and not necessarily realistic movements.

It is therefore considered to be an object of the present invention to provide a method for carrying out tests with a prosthesis such that the subject is visualized as realistically as possible the appearance and behavior of his body extremity replaced by a prosthesis.

This object is achieved by a method of the type mentioned, in which with an image capture device image information of one of the prosthesis replaced by the damaged body extremity corresponding intact body extremity are detected, and that with a visualization device visualization of the performed by the subject with the simulation prosthesis first movement done using image information of intact body extremity. For the visualization of the sequence of movements which a test person performs, for example, with a hand prosthesis, an arm prosthesis or a prosthetic leg, image information is used which is carried out by the intact body extremity which corresponds to the diseased body extremity replacing the prosthesis. If, for example, the missing right leg of the subject is replaced by a leg prosthesis, then the image capture device captures the healthy left leg of the subject and uses it for the visualization. In this way, it is possible to produce a very realistic-looking visualization that visualizes an intact body extremity instead of the prosthesis, which corresponds, for example, in terms of dimensions, muscle tone, skin and hair if necessary the intact body extremity and give the subject the impression he could not have and move a prosthesis but an intact body extremity.

According to an advantageous embodiment of the inventive idea, it is provided that image information of a second movement sequence with the intact body extremity is detected with the image capture device. In addition to static images or photographic image information, complete motion sequences of the intact body extremity can also be detected with the image capture device. Thus, movements of individual muscle groups as well as peculiarities of the complete movement process can be better captured and used for visualization, which are typical for the subject in question. For example, when visualizing steps of a subject with a prosthetic leg, the gait pattern and details such as the unrolling of the foot, etc. can be taken from the intact leg and used to visualize the movement of the prosthesis.

In order to be able to carry out processing of the acquired image information for the subsequent visualization as simply and as quickly as possible, it is provided that the second movement sequence detected with the image capture device approximately corresponds to the movement sequence performed with the prosthesis.

The image information recorded by the healthy left leg can completely replace the image information of the first movement sequence with the prosthesis after a suitable reflection and a temporal adaptation. The test person sees supposedly two healthy legs on the visualization devices he is looking at. Images or image information of the prosthesis are not visualized, but used exclusively for an adaptation and synchronization of the image information from a second movement sequence, which was carried out with the healthy extremity corresponding to the prosthesis.

The inventive method suppresses the visual perception or imaging of the prosthesis in the visualization. Looking at the images displayed by the visualization device, the subject gets the impression of performing the movements with a healthy limb instead of the prosthesis. A rapid habituation as well as the acceptance of the prosthesis by the test person can thereby be significantly improved.

In addition, the perception of properties of the prosthesis, which are pleasant or uncomfortable, noticeably relieved and sharpened, as the subject is not affected by the Considering the prosthesis is constantly reminded of the presence of the prosthesis, which may experience adversely affect the subconscious of the subject.

By recording a second sequence of movements with an intact body extremity, a visualization of the movement sequence with the prosthesis adapted to the movements of the subject can be carried out. In this way, the motion sequences typical for the test person and perceived by him as natural can be taken into account or used for the visualization, so that an individual adaptation of the visualization to the test person is possible.

Preferably, it is provided that the second movement sequence with the intact body extremity is carried out before the first movement sequence with the prosthesis is carried out and the image information acquired thereby is processed and adapted to the first movement sequence. Since the image information of the second movement sequence with the intact body extremity already exist before the execution of the movement sequence with the prosthesis, there is sufficient time to make the necessary processing and adaptation of the image information.

In order to suppress any indication of the prosthesis or of the injured body extremity during visualization, it is provided that only image information of the second movement sequence is used for the visualization of the first movement sequence with the prosthesis, merely by mirroring and temporal synchronization as well as possibly required information adapted to the first movement.

It is also possible that the image capture device captures image information of the intact body extremity and reconstructs a three-dimensional model of the diseased body extremity used for visualization with the visualization device. Instead of processing the image information taken by a second movement sequence of the intact body extremity and adapting it to the first movement sequence recorded with the prosthesis, the image information recorded in advance can also be used as a virtual, but individually adapted to the subject model the damaged body extremity reconstructed or generated.

With the currently available options, such a virtual model can be visualized almost photorealistic, so that no significant difference between the playback of a second movement with the intact body extremity on the one hand and the reproduction of a first movement with the virtual model (instead of the actual existing Prosthesis) on the other hand recognizable.

With this model, the first movements with the prosthesis can be simulated on the basis of characteristics of the first movement sequence, which are detected by the sensor device, and visualized using the virtual model. A continuous adaptation of image information, which are detected by second movements, to the first movements with the prosthesis is then no longer necessary.

The visualization of the first movement with the prosthesis can be done in real time. In this way, the subject can be visualized and visualized with the help of a visualization of image information taken with the intact body extremity, the movement process carried out by him with the prosthesis. The test person gains thereby to a greater extent the impression of a natural movement sequence.

In order to be able to improve the perception of the environment and the environmental influences by the subject, it is provided that the second movement sequence is also detected with the sensor device and second measured values are transmitted to the evaluation device. For example, when the subject is walking on a treadmill with a prosthetic leg, information about the subject's walking motion can be detected on the unbroken leg, for example, to properly influence treadmill speed.

In order to provide the subject with a realistic visualization of his movements with the prosthesis is provided that in the visualization of the first movement with the prosthesis actually performed with the prosthesis movements that were detected with the sensor device, considered for the visualization and a Ideal movement sequence, or a corresponding movement with the intact body extremity are superimposed. Fundamental limitations of the first movement sequence, which are predetermined by the prosthesis, can thus be taken into account, as well as in a first movement sequence, deviations from an ideal sequence of movements for the visualization that are actually taking place or caused by the test person. The test person can view a visualization with a supposedly intact body extremity, which, however, takes into account and also visualizes all limitations of the prosthesis and the peculiarities of the individual movement sequence. In front All the limitations imposed by the prosthesis can thus be better perceived, so that a training of the test person with the prosthesis can be facilitated and meaningful information for possible improvements and further developments of the prosthesis can be obtained.

It is also possible that visualization of the first movement sequence with the prosthesis visualizes an idealized movement sequence or a corresponding movement sequence with the intact body extremity. In this case, the subject is shown an idealized sequence of movements, which does not permit any visual conclusions about possible limitations of the prosthesis. A visual perception of the prosthesis is thus largely excluded, so that the subject can concentrate on the perception of forces and moments that he feels when performing the first movement with the prosthesis. It is also conceivable that the visualization of an idealized and not on the prosthesis consideration movement sequence improves the acceptance by the subject and the learning of the movements with the prosthesis can be facilitated and accelerated.

The invention also relates to a test device for carrying out tests with a prosthesis for a damaged body extremity of a subject, having a sensor device for detecting first measured values and having an evaluation device for evaluating the first measured values, and having an environment simulation device in which the test person uses the prosthesis Can perform motion sequences.

From practice, for example, treadmills are known on which a subject can test a prosthetic leg. Using sensors, various measured values are recorded and evaluated, which can provide information about the behavior and the occurring mechanical stresses of the prosthesis as well as the subject and the environment. Usually, such test devices are mainly used for learning and training movements with a new prosthesis.

It has been found, however, that the subjects are constantly reminded during the execution of tests or training movements or become aware of the artificially acting environment that it is an artificially created environment that is used exclusively for testing and training purposes , As a result, subjects are continually aware that they are performing test and training situations under laboratory conditions that are inconsistent with natural life situations and movement patterns. This has a detrimental effect on the perception of the prosthesis during the movement sequences and on the learning and training result.

According to the invention, it is therefore provided that the test device has an image capture device and a visualization device, which is connected to the image capture device in signal transmission, so that image information acquired with the image capture device can be used for the visualization of the first movement sequence within the environmental simulation device.

With the test device according to the invention, a largely natural-looking visualization can be made available to the subject with the aid of the method described above, so that he is at least optically not constantly reminded of the prosthesis he is using. Rather, by overlaying image information obtained from its intact body extremity, the subject may be given the impression that he would not wear a prosthesis but would only move intact body extremities.

In order to be able to carry out the image processing operations required for the most natural and realistic visualization, it is provided that the test device has an image information processing device.

In the visualization device, image information is to be displayed which originates from second movement sequences with an intact body extremity and are adapted to the movement sequences which are carried out during a first movement sequence with the simulation prosthesis. For this purpose, it is provided that the sensor device have sensors for detecting the first movement sequence and the second movement sequence. Expediently, the sensor device not only records images of the second movement sequence, but also characteristics of the second movement sequence, which can be compared with corresponding characteristics of the first movement sequence, in order to allow as accurate as possible overlaying of the first movement sequence with image information obtained from the second movement sequence and through appropriate graphics manipulations were adapted to the first movement.

Embodiments of the inventive concept will be explained in more detail, which are illustrated in the drawing. It shows:

1 a representation of a test device according to the invention,

2 a schematic representation of individual components of a visualization of the in 1 shown test device,

3 a schematic representation of individual components of an environment simulation device of in 1 shown test device, and

4 a schematic representation of in 1 shown test device, which is reduced to functional units, and

One in the 1 and 4 illustrated test device 1 has an environment simulation device 2 , an image capture device 3 and a visualization device 4 on. The environment simulation device 2 can at a test facility 1 for a prosthetic leg 5 for example, consist of a suitably controlled treadmill. A subject may be on the treadmill with the prosthetic leg 5 Run while doing the leg prosthesis 5 if necessary, perform a first sequence of movements several times. Through a user security device 6 Ensures that the subject can support himself at any time and during the tests with the prosthetic leg 5 not crashes. Of course, the test facility could 1 with appropriate modifications also be used for the performance of tests with other prostheses, such as with hand prostheses.

With an image capture device 3 may be a second movement of the subject with an intact leg without leg prosthesis 5 be recorded. The with the image capture device 3 obtained image information is sent to a real-time control system 7 with which this image information is processed by means of an image processing device and for display in the visualization device 4 prepared or provided. The image information of a second movement with the intact leg, for example, mirrored and synchronized in time to the first movement with the prosthetic leg 5 to be adapted. Appropriately, the second movement with the intact leg is timed before the first movement with the leg prosthesis 5 performed and with the image capture device 3 detected.

In the visualization device 4 The subject then has the largest possible surface area, or includes both the second movement sequence with the intact leg and the first movement sequence with the leg prosthesis 5 displayed in real time. The visualization device 4 may consist of screens and / or projection devices. Since for both movements only image information of the intact leg is displayed and the subject no image information, or no visualization of the prosthetic leg 5 he is not visually and subconsciously constantly to the prosthetic leg 5 remind. It has been shown that with such a test device 1 performed tests with leg prostheses 5 significantly more meaningful test results and assessments are made possible by the subjects.

In 2 the sequence of acquisition and processing of the image information is shown as an example. With the image capture device 3 Video recordings of the second movement with the uninjured leg are performed. In addition, with a sensor device 8th Characteristics of the second movement detected, for example, to obtain time-dependent gear data.

The captured image information as well as the associated gait data of the second movement sequence are dependent on gait data of the first movement, which also with the sensor device 8th be detected, adapted to the first movement. For this purpose, the image information in a temporal video modification device 9 synchronized with the first movement and with a spatial video modifier 10 to the first movement with the prosthetic leg 5 adapted, so usually at least mirrored and optionally adapted to a slightly different movement sequence.

In the visualization device 4 Only image information captured by the uninjured leg is displayed. First, the temporally preceding second movement with the intact leg without major modifications and in real time, and then the subsequent first movement with the leg prosthesis 5 , wherein also only image information of the intact leg after a temporal and spatial adaptation to the first movement are also displayed in real time, or synchronized to the first movement.

It would also be possible, of course, with the help of the sensor device 8th Characteristics of the first movement with the leg prosthesis 5 be determined and used for the visualization of the first movement, for example, to visualize restrictions or peculiarities of the first movement, which are caused by the use of the prosthesis or enforced.

The visualization could also be done using a virtual model of an intact leg of the subject in place of the prosthesis be prepared or supported, which was generated on the basis of previously acquired image information of the intact leg and was prepared for the visualization of the first movement with the prosthesis, or adapted.

The environment simulation device 2 is also from the real-time control system 7 controlled. In 3 is shown in detail that with the sensor device 8th both characteristics of the second movement with the intact leg and characteristics of the first movement with the leg prosthesis 5 be recorded. The characteristics of the first movement with the leg prosthesis 5 also include forces, moments, angular positions, angular velocities and angular accelerations of the leg prosthesis 5 and further characteristics of the kinematics of the first movement sequence. This information is sent to the real-time control system 7 transfer. The recorded parameters are stored in a data evaluation device 11 evaluated in order to capture the movements as well as possible. Subsequently, with a control device 12 the environmental simulation device 2 be controlled in a suitable manner depending on the performed movements of the subject. For example, the treadmill of the environment simulation device 2 be automatically accelerated when the subject performs the movements faster.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10028511 A1 [0008]
• WO 2008/097134 A2 [0008]
• DE 102010006301 A1 [0011]

Claims (15)

Method for carrying out tests with a prosthesis for a damaged body extremity of a subject, wherein a sensor device ( 8th ) detects a first movement sequence carried out by the test person with a prosthesis and sends first measured values to an evaluation device ( 11 ) and wherein an environment is simulated, in which the subject performs the movements with the prosthesis, characterized in that with an image capture device ( 3 ) Image information from one of the prosthesis replaced diseased body extremity corresponding intact body extremity are detected, and that with a visualization device ( 4 ) a visualization of the performed by the subject with the prosthesis first movement using the image information of the intact body extremity is done. Method according to claim 1, characterized in that with an image capture device ( 3 ) Image information of a second movement with the intact body extremity are detected. A method according to claim 2, characterized in that the with the image capture device ( 3 ) detected second movement corresponds approximately to the movement performed with the prosthesis.  A method according to claim 2 or claim 3, characterized in that the second movement is performed with the intact body extremity before performing the first movement with the prosthesis and thereby processed image information edited and adapted to the first movement.  Method according to one of claims 2 to 4, characterized in that exclusively image information of the second movement sequence are used for the visualization of the first movement sequence.  A method according to claim 5, characterized in that the image information of the second movement sequence are temporally and spatially adapted to the first movement sequence. Method according to claim 1, characterized in that with the image acquisition device ( 3 ) Image information from the intact body extremity is captured and a three-dimensional model of the injured body extremity is reconstructed, which is used for visualization with the visualization device ( 4 ) is used. Method according to one of the preceding claims, characterized in that with a sensor device ( 8th ) detects the second movement sequence and second measured values to the evaluation device ( 11 ) be transmitted.  Method according to one of the preceding claims, characterized in that the visualization of the first movement takes place in real time. Method according to one of the preceding claims, characterized in that, in the visualization of the first movement sequence with the prosthesis, the movements actually carried out with the prosthesis and associated with the sensor device ( 7 ) were considered for the visualization and superimposed on an idealized movement sequence, or a corresponding movement with the intact body extremity.  Method according to one of the preceding claims 1 to 9, characterized in that visualized in the visualization of the first movement with the prosthesis an idealized movement, or a corresponding movement with the intact body extremity. Test facility ( 1 ) for carrying out tests with a prosthesis for a damaged body extremity of a subject, with a sensor device for acquiring first measured values, with an evaluation device ( 11 ) for evaluating the first measured values and with an environment simulation device ( 2 ), in which the test person can perform movements with the prosthesis, characterized in that the test device ( 1 ) an image capture device ( 3 ) and a visualization device ( 4 ), which is signal transmitting connected to the image capture device. Test facility ( 1 ) according to claim 12, characterized in that the test device ( 1 ) comprises an image information processing device. Test facility ( 1 ) according to claim 12 or claim 13, characterized in that the sensor device ( 8th ) Has sensors for detecting the first movement sequence and the second movement sequence. Test facility ( 1 ) according to one of the preceding claims 12 to 14, characterized in that the test device ( 1 ) has a memory device which is data transmitting connected to the control device.

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