KR100349338B1 - Clinical diagnosis system for orthopedic pathological disease using three-dimensional human motion measurement - Google Patents

Abstract

The present invention is to track the motion trajectory data obtained at this time by performing a reference exercise for each disease in the range of motion of the spine and the skeleton of the user's area of interest when diagnosing spinal diseases or various musculoskeletal diseases. The present invention relates to a diagnosis system for diagnosing orthopedic diseases by photographing three-dimensional movements of the human body, which allows to determine the abnormality of each disease and the progress of the disease in stages according to comparative analysis with data of normal cases. System to measure 3D motion of spine or skeleton of human body by using Photogrammetric Method, and 3 infrared infrared cameras are optimized for the smallest frame. Three-dimensional seat of reflective marker for measuring three-dimensional kinematics arranged in close proximity to diseased parts of the human body Quantitative diagnosis of spinal diseases at the clinical level by measuring the values and tracking the measured coordinate values in real time according to the subject's movements to plot the dynamic movement of each part of the human spine over time. To make it possible. In addition, the present invention by using a user system and expert system based on IT (Information Technology) technology and artificial neural network and fuzzy logic to minimize the help of medical and clinical experts to measure and analyze diseases of the musculoskeletal system, There is an advantage that the diagnosis and prescription can be made preferably.

Description

Diagnostic diagnosis system for orthopedic pathological disease using three-dimensional human motion measurement

The present invention is a diagnostic system for diagnosing orthopedic diseases by photographing three-dimensional movements of the human body, and more specifically, the area of motion of the spine and skeleton, which is a user's area of interest when diagnosing spinal diseases or various skeletal diseases. In this case, the patient's reference exercise for each disease should be performed as a patient, and the motion trajectory data obtained at this time can be analyzed and compared with the data of normal cases so that each patient can be judged abnormally and the progress of the disease step by step. It relates to a diagnostic system.

In general, X-rays, magnetic resonance imaging (MRI), and tomography (CT) imaging apparatuses for diagnosing surgical diseases of the spine or various skeletal parts are used. The equipment has a limitation in that it is not possible to properly capture the obstacles to the activity by performing the diagnosis based on the results taken in the state of stopping the human body.

For example, spinal patients do not have a measure to objectively measure the recovery outcome after surgery, and are often dependent on the experience or intuition of the doctor.

In particular, the movement of the spine is represented by the muscle activity of the muscle, which is a good combination of flexibility and strength of the spine. The equipment that can objectively quantify the three-dimensional movement of the spine is There is no state.

On the other hand, when diagnosing a patient with a conventionally proposed gait analysis device, the concept of range of motion is not included for each specific part, so that it is not possible to accurately quantitatively analyze any disease. There was a problem that detailed diagnosis of musculoskeletal system was almost impossible.

In addition, in the case of the conventional gait analysis equipment, the examination was performed while walking through the various treatment facilities through walking, so that the time required for the restriction and diagnosis of a place requiring a relatively large space to install the facility was increased. It caused inconvenience to wait for a long time, and there were also problems such as the increase of medical expenses due to the burden of employment by assigning a large number of specialists for measuring diseases at each part of the facility.

Therefore, there is an urgent need for the realization of diagnostic medical equipment that can provide an objective measurement standard for the results of orthopedic patients and rehabilitation medicine and simplify the diagnosis.

The present invention has been made in view of the problems of the conventional diagnostic method as described above, the object of which is to set the patient's medical data after taking a picture from the outside using a plurality of cameras in the process for the patient to perform the reference exercise for each disease It is to provide a diagnostic system for diagnosing orthopedic diseases by photographing three-dimensional motion of the human body that can be compared and diagnosed.

Another object of the present invention is to diagnose orthopedic diseases by taking a three-dimensional motion of the human body that can easily and accurately diagnose the type of spinal and skeletal diseases, as well as compact diagnostic equipment to escape the constraints of the installation space To provide a diagnostic system.

The present invention for achieving this object is to install a system that can measure the three-dimensional motion of the spine or skeleton of the human body using a continuous photogrammetric method (Photogrammetric Method), infrared infrared camera (Infrared CCD Camera) 3 Arrange the stage optimally in the smallest frame to measure the three-dimensional coordinate values of the reflective markers attached close to the diseased part of the human body, and measure the measured coordinate values in real time according to the movement of the subject. By tracing and visualizing the dynamic movement of each part of the human spine over time, it is possible to quantitatively diagnose spinal diseases at the clinical level.

1 is an overall configuration diagram for a diagnostic system of the present invention,

Figure 2 is a block diagram showing the configuration of building a database of spinal disease related clinical trials of the present invention using an expert system (Expert System),

3 is a perspective view schematically showing a state of use of the diagnostic system of the present invention;

4 is a flow chart showing the entire process of diagnosis by the system of the present invention.

The diagnostic system for diagnosing orthopedic diseases by photographing the three-dimensional motion of the human body of the present invention, the spatial resolution (Spatial Resolution) is at least 1: 1,048,576 (the total number of pixels on the screen), tracking the reflection target to track the movement of the human body A plurality of infrared CCD cameras for photographing in three dimensions, a module connected to the infrared CD camera to capture image data, a module for storing the captured image data in a video memory, and the video memory Digital signal processing (DSP) module that processes the image data of the target, calibrate each image point for up to 50 reflective targets, and move the three-dimensional motion coordinates and each bone structure of each reflective target over time It is connected to the vision configuration hardware forming the coordinate system and the A / D converter for converting the output signal of the vision configuration hardware. Three-dimensional movement characteristics of the human body such as translational momentum, rotational momentum, angular velocity, and linear velocity of each bone structure through the image coordinate data of each bone structure and the force of the muscle during a specific exercise to diagnose diseases of the musculoskeletal system A user system comprising a CPU for analyzing, calculating, displaying on a monitor, and storing the information in a memory module; connected to the user system and a network, receiving 3D motion characteristic data of each bone structure output from the CPU, and Compared with the 3D motion characteristics data of normal and existing patients stored in the system, it is recommended that the patient's pathology is analyzed, diagnosed, and recommended as a method of treatment, and also configured to include an expert system that delivers it to the CPU of the user system. In addition, the present invention diagnoses orthopedic diseases by taking a three-dimensional motion of the human body of the present invention The single system is characterized in that the module for measuring and signaling the EMG and the dynamic load of the human body simultaneously or selectively to the A / D converter. The diagnosis system for diagnosing orthopedic diseases by imaging is described in more detail.

FIG. 1 is a system configuration diagram of the present invention, and FIG. 2 is a configuration diagram of constructing a database of spinal disease related clinical trial data of the present invention using an expert system. As shown in FIG. Multiple infrared cameras for tracking 3D movements of the human body by tracking the reflective targets attached to the medical examination area of the patient are processed through vision configuration hardware and A / D converter to process the image signals. The signal processed image signal is analyzed and compared by the CPU, and is displayed on the monitor and stored in the memory module. The A / D converter is a module for measuring or signaling the EMG and dynamic load of the human body simultaneously or selectively. Is connected to the CPU, the external diagnostic that can exchange data with the module for storing and storing the input video signal Expert systems are connected.

As shown in FIG. 2, the expert system recognizes, analyzes, and stores the area for correcting the input 3D motion measurement data, the area for diagnosing diseases of the musculoskeletal system, the knowledge database, the auxiliary database, and newly generated data. Figure 3 schematically shows the use state of the diagnostic system of the present invention, by attaching a plurality of reflective targets on the medical examination site of the human body to track the movement of the reflective targets by an infrared CD camera and When the image signal is sent to the CPU and the CPU analyzes the image signal and delivers the image signal to an expert system connected through a network, the expert system compares the data stored in the database with the diagnosis.

In this system, the spatial resolution for tracking the reflection target attached to the human body is preferably about 1: 1,048,576 (total number of pixels on the screen) for each CD camera.

This is because temporal resolution is aimed at 100 Images per Second at 1,024X by 1,024Y screen resolution, and the reason for setting spatial target 1: 1,048,576 is (Performance Target) in the measurement area of 1 cubic meter. This is to achieve ± 0.3% measurement accuracy when measuring the reflective target.

The maximum number of reflective targets that can be simultaneously attached to a diseased area for examination of the spine or skeletal area of the human body and can be simultaneously tracked by a CD camera is aimed at about 50.

In order to express the three-dimensional measurement position of the reflective target, the apparatus of the present invention obtains information on the position of the reflective target in gray scale, and then calculates the coordinate value by calculating the center of the target using this information. I found it.

At this time, the precision of the system was improved by using the Sub-Pixel method of subdividing the position of the target (Marker image) occupied in the pixel by using the gray level of each pixel.

The compact CD camera, which captures the three-dimensional measurement position of the reflective target attached to the human body, uses Noninterlaced Scanning to prevent image twinkling that can cause errors in motion measurement.

When measuring the three-dimensional motion of the human body using the diagnostic system of the present invention is based on the following principles.

(A) calibration;

Considering the movement area of a specific part of the human body, a test jig is prepared to match each part, and the vision coordinate system, which is a measured value, and the real coordinate system, which is a real value, are corrected in the measurement target area set by the user. Make it happen.

(B) Marker Identification;

A 3-D trace function is provided to measure the movement of a target using a 3-Dimensional Chain Coding Algorithm with a unique ID for each reflective target. To be.

(C) Data Acquisition;

Obtain the position coordinate value of the reflection target by the corrected reference coordinate system.

(D) 3D motion trajectory diagram of the human spine;

The positional movement of the reflective target over time is plotted in the reference coordinate system.

(E) calculation of angular and translational momentum in each part of the human spine;

Calculate the actual amount of exercise of the human body through the analysis data.

Therefore, the diagnosis process according to the above-described diagnostic system of the present invention includes a module configured to capture data of an infrared CCD camera that emits infrared rays, and captured image data. Vision configuration with a module that stores video memory and a sub-module such as a digital signal processing module for high-speed operation of data in the video memory. The hardware is performed in the operation of a computer by specially crafted Vision system software.

The system of the present invention has a separate channel for attaching measuring devices such as electromyography and force plate according to the user's needs, and hardware and software for analyzing the signal measured therein. Is provided as an option.

Figure 4 shows the whole process of the diagnosis by the system of the present invention, prior to the equipment calibration work for measuring the three-dimensional motion of the patient, first, the three-dimensional of all marks for technical information and reference coordinates through the technical work Input data and linearization to minimize distortion error caused by camera hardware.

After the preparation process is completed, the calibration frame of the three-dimensional shape that acts as a jig (Jig) is placed in a predetermined area for the patient to exercise, and the direction of the camera lens according to the patient's diagnostic purpose Adjust to the set optimal direction.

By the above adjustment, it is judged whether or not three cameras image all the marks of the calibration frame. If "Yes", the process proceeds to the next step. In the case of "No" signal, it returns to the previous stage and the direction of the lens Will be readjusted.

After acquiring three-dimensional calibration image data and forming an absolute Cartesian coordinate system, an appropriate number of reflective targets are attached at the optimal position of the patient's body according to the purpose of diagnosis, and the optical state of the attached reflective targets is checked and attached to the patient. The three-dimensional data of the reflective targets is acquired and the identification is performed by assigning unique IDs of the reflective targets.

A continuous process forms three-dimensional motion coordinates of each reflective target over time and constructs three-dimensional trajectory motions for the patient's pathological skeletal system, where the movement characteristics, ie Euler Select a system such as Bryant, Screw, and Cardan angle to construct a characteristic system suitable for the clinical characteristics of the patient, and install each mobile coordinate system in each bone structure.

Due to the above process, the translational and rotational momentum of the bone structure is calculated from the movement characterization of the moving coordinate system of each bone structure, and the three-dimensional characteristics of each bone structure are analyzed based on the angular velocity, linear velocity, angular acceleration and linear acceleration.

With the above actions, the acquisition and analysis of pathological three-dimensional motor characteristics of the patient's skeletal system is completed. The diagnosis expert system is applied to determine the severity of the patient's pathological symptoms and the diagnosis according to the patient's pathological symptoms. And prescribe.

Table 1 is an example according to the diagnosis of mild back pain patients.

Table 2 is an example of the diagnosis according to the degree of whiplash injury (injuries, such as head tilted back due to rear collision of the vehicle).

On the other hand, Table 3 is a comparison table showing the technical characteristics of the present invention and the conventional human body movement analysis equipment manufacturers (VICON, QUALISYS, SELSPOT, WATSMART) and the results accordingly.

※ 1. Marker is superior to Active Type (LED 等).

2.PSD Type: Position Sensing Device

Therefore, in the function of calculating the three-dimensional motion characteristics as can be seen in the above table, it is possible to obtain only the three-dimensional trajectory of the target (Marker), but the conventional product can only obtain the spine of the spine. Spatial movement characteristics of parts such as the Vertebral Body can be expressed in terms of translation and rotational momentum, enabling accurate treatment of diseased areas, and excellent portability and mobility of the equipment for the treatment of patients compared to other products. / W can be used in a friendly environment for users.

In addition, the conventional third-party products have a disadvantage that can not provide a database that is a standard for analyzing the pathological step correctly after diagnosing spinal and skeletal diseases, the present invention is a general hospital related to the main user during product development The diagnostic database and the relationship between spinal momentum and spinal disease for Koreans will be established to establish a database for diagnosing spinal diseases.

In particular, the diagnosis system of the present invention connects a user's side to directly treat a patient and a database analysis center in which diagnosis information on various diseases is established through a network, thereby measuring data of patients measured by users who are employees of domestic medical institutions and research institutes. The data can be transmitted to the database analysis center in real time and compared with data measured from normal patients and existing patients stored in the comprehensive database of the database analysis center to determine the pathology.

At this time, the database analysis center analyzes and inputs user data to build an optimal database suitable for Korean pathology.

Such a system of the present invention is equipped with hardware and software suitable for the domestic medical situation, but can be miniaturized and lightened to minimize the occupied area of the equipment, and at the time of installation of the equipment by using a separate calibration tool kit (Kalibration Tool-Kit) Designed to allow the user to easily set up the initial environment, the user can freely move or install the equipment according to the situation of the medical institution, maximizing the flexibility of equipment operation and improving convenience of moving to other places and carrying. will be.

In the precision of the system of the present invention, the resolution of the image grid plane (1024 Grid by 1,024X by 1,024Y grid) has the highest resolution of the equivalent system, and with the non-pixel flash (Non-Pixel) -Improves sensor stability by adopting twinkle method, and adopts data sampling rate of up to 100㎐ sufficient to measure dynamic motion of human body. Time-Based Motion Trajectory can be precisely measured, and the 'Electronic Shutter' system is adopted to reduce the error caused by Data Sampling Duration. Minimizes image blurring of Marker and improves accuracy of Centroid calculation in target.

In operating the analysis program using the system of the present invention, the characteristics of the human spine motion analysis program (Human Spine Motion Analysis Program) is composed of a user friendly (Graphical User Interface) environment for easy use after the initial training In order to operate the system, the procedures and methods for the process of calibration, identification and data collection, which are essential for operating the system, are displayed in sequence. Has provided a separate toolkit (Tool-Kit) to support the system so that users can do it easily, so that each process can be easily operated without any additional training.

In addition, the system of the present invention is equipped with a module (Module) to quickly calculate the quantitative values, such as the movement trajectory, speed and acceleration of the human spine in accordance with the user's purpose, in particular, the program of the system is Coordinate system for fixing arbitrary objects is attached, and a module that can calculate translational and rotational movements based on the result of comparison with reference coordinate system is installed so that detailed human motion can be easily calculated. .

In addition to the above actions, a module is provided to help correlate translational and rotational momentum of the human spine with the EMG signal of the spinal muscles to help diagnose spinal diseases. It is designed to improve the compatibility of CCD cameras with various resolutions such as 512Y, 740X × 680Y, and 1024X × 1024Y.

Such a diagnostic system of the present invention is compared with the medical data set after photographing from the outside using a plurality of cameras in the process of orthopedic patients such as spine and skeleton to perform the reference movement corresponding to the disease Therefore, there is an effect that can accurately diagnose the type and condition of the disease for a short time using the minimum equipment.

In addition, the system of the present invention is not only easy to install and move, but also significantly reduces the space occupied by the system and can be treated through a network, thereby reducing the cost and time of diagnosis and improving the reliability of the diagnosis. There is also an advantage.

Claims (5)

(Correct) Spatial Resolution is at least 1: 1,048,576 (the total number of pixels on the screen), and multiple Infrared CCD Cameras that track the reflection target and capture the movement of the human body in three dimensions, A module connected to the infrared CD camera to capture image data, a module to store the captured image data in a video memory, and a digital signal processing (DSP) module to process image data of the video memory. Vision configuration hardware for calibrating each image point for up to 50 reflective targets and forming a three-dimensional motion coordinate of each reflective target and a moving coordinate system over time of each bone structure, and the vision configuration hardware. Translational momentum and rotation of each bone structure through image coordinate data of each bone structure connected to A / D converter that converts output signal 3D motion characteristics of the human body such as dynamic volume, angular velocity, and linear velocity, and a user system consisting of a CPU that measures, analyzes, displays, displays, and stores the strength of muscles in a specific exercise in order to diagnose diseases of the musculoskeletal system. ; The pathology of the patient is connected to the user system and the network, receiving 3D motion characteristic data of each bone structure output from the CPU, and comparing the 3D motion characteristic data of normal and existing patients stored in a database. The diagnostic system for diagnosing orthopedic diseases by photographing three-dimensional movements of the human body, characterized in that it comprises an expert system for recommending and storing analysis, diagnosis and treatment methods, and also delivering them to the CPU of the user system. . The method of claim 1, wherein the A / D converter diagnoses orthopedic diseases by photographing three-dimensional motion of the human body, characterized in that the module for measuring or signaling the EMG and dynamic load of the human body simultaneously or selectively Diagnostic system. (delete) (delete) (delete)