TWI509556B - Goal - oriented Rehabilitation Auxiliary System and Its Work Setting Method - Google Patents

Goal - oriented Rehabilitation Auxiliary System and Its Work Setting Method Download PDF

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TWI509556B
TWI509556B TW102115994A TW102115994A TWI509556B TW I509556 B TWI509556 B TW I509556B TW 102115994 A TW102115994 A TW 102115994A TW 102115994 A TW102115994 A TW 102115994A TW I509556 B TWI509556 B TW I509556B
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rehabilitation
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TW201443818A (en
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Univ Kaohsiung Medical
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目標導向復健輔助系統與其工作設定方法 Target-oriented rehabilitation auxiliary system and its working setting method

本發明係有關於一種目標導向復健輔助系統與其工作設定方法,尤指涉及一種復健目標導向情境互動系統架構、目標導引動作擷取及追跡、動作參數化比對演算法及其在照護端之應用,特別係指不僅提供功能性量化指標評估,更可透過系統主動導引正確復健程序而具有增進自主復健成效之系統架構及其方法。 The invention relates to a target-oriented rehabilitation auxiliary system and a work setting method thereof, in particular to a rehabilitation target-oriented context interaction system architecture, target guidance action capture and tracing, action parameterization comparison algorithm and its care The application of the end refers specifically to the system architecture and method for improving the effectiveness of self-rehabilitation, not only by providing functional quantitative indicators, but also by actively guiding the correct rehabilitation procedures through the system.

腦中風係國人常見之疾病之一。現今台灣已成為高齡化社會,而老人族群中平均每百人有四人會發生腦中風,所帶來之功能障礙主要包括反應遲鈍、肢體不靈活、及記憶力消退等後遺症;更嚴重則會引起長久性認知傷害,其所面對之後續復健療程,不僅僅只是患者本身之態度與長時間之恢復,更會為家庭帶來龐大之負擔。據統計,中風患者高達69%至80%會有上肢肌肉無力、肌肉張力異常、及動作無法協調等症狀,當病發三個月後,也僅有20%之患者能恢復正常之上肢功能,但由臨床資料顯示,中風患者經由復健後係可提升其生活品質。中風後復健時程可分為三段時期:急性期→亞急性期→慢性期;其中亞急性期約中風第三周起,亦是積極復健期,此時病情控制穩定,患者可以在復健人員協助指導下,開始較費力之主動性復健運動,且在病情許可下患者可至復健科進行進一步之職能訓練,著重在動作之誘發。 Brain stroke is one of the common diseases in Chinese. Today, Taiwan has become an aging society, and an average of four people per 100 people in the elderly have a stroke. The dysfunctions include stagnation, inflexibility, and memory loss. Sexual cognitive impairment, the follow-up rehabilitation treatment that it faces, is not only the patient's own attitude and long-term recovery, but also brings a huge burden to the family. According to statistics, 69% to 80% of stroke patients have symptoms such as upper limb muscle weakness, abnormal muscle tone, and uncoordinated movements. After three months of illness, only 20% of patients can return to normal upper limb function. However, clinical data show that stroke patients can improve their quality of life through rehabilitation. The post-stroke rehabilitation time course can be divided into three periods: acute phase→subacute phase→chronic phase; the subacute phase is about the third week from stroke, and it is also an active rehabilitation period. At this time, the disease control is stable, and the patient can Under the guidance of the rehabilitation staff, the active rehabilitation exercise is started, and the patient can go to the rehabilitation department for further functional training under the condition of the condition, focusing on the induction of the action.

現在醫院端復健器材林立,卻無法滿足眾多患者之需求,常使得患者無法順利地持續接受復健。復健師也常無法一對一的治療病人,以致難以確實追蹤復健進度。隨著科技之進步,雖然有以機器手臂或其他大型儀器取代復健師為病人進行復健,但是往往受到使用空間之限制,且冰冷之儀器讓患者使用意願降低。傳統復健治療需長時間持續進行,過程艱辛乏味,亦容易降低患者復健意願,且以往復健師藉由個人主觀之觀察,來評估患者復健情形以完成量表,亦較無客觀之評量方式。 Nowadays, there are many hospitals with rehabilitation equipment, but they cannot meet the needs of many patients, and often make patients unable to continue to receive rehabilitation smoothly. Rehabilitationists are also often unable to treat patients one-on-one, making it difficult to track the progress of rehabilitation. With the advancement of technology, although the rehabilitation of the patient is replaced by a robotic arm or other large instruments, it is often limited by the use space, and the cold instrument makes the patient's willingness to use less. Traditional rehabilitation therapy needs to be carried out for a long time. The process is arduous and tedious. It is also easy to reduce the patient's willingness to rehabilitate. The reciprocating health teacher uses the subjective observation of the individual to evaluate the patient's rehabilitation situation to complete the scale. There is no objective evaluation. Quantity method.

分析目前中華民國專利,相關發明大部分著重在機械式機構主、被動連動之復健設備研發,但其主要功效仍以提供動力學參數量測為主;部分發明結合虛擬實境或遊戲,藉以模擬測試情境,再連結裝置產生回饋動作,其中,主要單以影像識別方式來記錄肢體動作之運動學參數,部份結合機構實體來提供力矩量測。如中華民國專利證書號I377055,其揭露了一種互動式肢體動作引導方法與互動式肢體動作復健系統及電腦可讀取儲存媒體,惟該前案未揭露其物理性感測器與處理參數之演算法及其與復健功能性之關聯等;另一中華民國專利公告號200942221,其揭露一種復健系統與其工作設定及控制方法,惟該前案主要以量測在機器手臂主、被動連動情形下之施力變化,並未揭露其處理參數之演算法及其與復健功能性之關聯等;另一美國專利號US8306635B2,該復健裝置雖有提及虛擬實境(Virtual Reality)裝置,但並無動作參數化相似度比對分析與提供於照護端應用之復健療程記錄。因此,相關先前技術並無提出如何與復健實務、復健療程設定及其動作評量相結合,特別是適當之身體擺位、代償性肢體動 作偵測,以及符合日常生活功能性動作需求之目標導引復健工作設定。 Analysis of the current Republic of China patents, most of the relevant inventions focus on the development of rehabilitation equipment for mechanical and institutional linkages, but the main function is still to provide kinetic parameter measurement; some inventions combine virtual reality or games. Simulating the test situation, the reconnecting device generates a feedback action, wherein the kinematic parameters of the limb movement are recorded mainly by image recognition, and the torque is measured by a combination of the mechanism entities. For example, the Republic of China Patent Certificate No. I377055 discloses an interactive limb movement guiding method and an interactive limb movement rehabilitation system and a computer readable storage medium, but the previous case does not disclose the calculation of the physical sensor and processing parameters. The law and its association with rehabilitation function; another Republic of China Patent Publication No. 200942221, which discloses a rehabilitation system and its working setting and control method, but the former case mainly measures the main and passive linkage of the robot arm. The change of the force applied does not reveal the algorithm of its processing parameters and its association with the rehabilitation function; another US Patent No. US8306635B2, the rehabilitation device refers to the Virtual Reality device. However, there is no action parametric similarity comparison analysis and rehabilitation treatment records provided for the care end application. Therefore, the related prior art does not propose how to combine rehabilitation practice, rehabilitation treatment setting and action evaluation, especially proper body positioning and compensatory limb movement. The detection and the goal of meeting the functional requirements of daily life guide the rehabilitation work setting.

近年來由於微機電製程進步,使得微小化後之加速度計應用蓬勃發展,其中較多為應用於移動路徑與運動軌跡計算,並無考量復健療程評估指標及相關動作復健特性。且從上述相關專利觀之,主要著重在機械式作動裝置為主,而此結果與目前現行以復健機構、診所形式林立及國外高市佔率廠商之健康生活及復健設備服務(OSIM、高島、富士、三洋等)提供相符。 In recent years, due to the advancement of micro-electromechanical processes, the application of miniaturized accelerometers has flourished, most of which are applied to the calculation of moving paths and motion trajectories. There are no considerations for rehabilitation treatment evaluation indicators and related action rehabilitation characteristics. And from the above-mentioned related patents, the main focus is on mechanical actuators, and this result is in line with the current healthy living and rehabilitation equipment services (OSIM), which are established in the form of rehabilitation institutions, clinics, and high-end foreign manufacturers. , Takashima, Fuji, Sanyo, etc.) provide a match.

爰此,目前在臨床上仍以徒手治療為主要介入措施並搭配相關之物理治療儀器進行,而近年來微機電及機電整合技術之快速發展,機器手臂或稱為復健機器人開始導入臨床實務,成為另一種高整合性及高功能性之替代性復健儀器,大部分之研究文獻亦以此領域為主,主要以動力學參數量測分析及肢體移動軌跡為主;另外,針對虛擬實境在復健實務之應用,與復健機器人研究同樣在台灣仍屬初期,較著重在虛擬情境之製作,而這兩技術之結合也多在特定領域之成效初探;近年來由於整體生活品質提升及對醫療品質之重視,串連醫院端及居家端之無縫照護及其管理相關議題才逐漸發展,藉以提高患者之自我照顧及自主管理效能。惟以目前技術仍無法有效改善醫院端量化療效評量及擴大復健密度之效益,導致醫療品質仍有待提升。故,一般習用者係無法符合使用者於實際使用時之所需。 At present, the current clinical intervention is still the main intervention measures and related physical therapy equipment. In recent years, the rapid development of micro-electromechanical and electromechanical integration technology, the robotic arm or the rehabilitation robot began to introduce clinical practice, It has become another highly integrated and highly functional alternative rehabilitation instrument. Most of the research literature is mainly in this field, mainly based on dynamic parameter measurement analysis and limb movement trajectory. In addition, for virtual reality In the application of rehabilitation practice, it is still in the early stage of research on rehabilitation robots in Taiwan. It focuses on the production of virtual situations, and the combination of these two technologies is also effective in specific areas. In recent years, due to the improvement of overall quality of life and The emphasis on medical quality, the seamless care of hospitals and homes and their management-related issues have gradually evolved to improve patient self-care and self-management effectiveness. However, the current technology is still unable to effectively improve the quantitative evaluation of the hospital's quantitative effect and expand the benefits of rehabilitation density, resulting in medical quality still needs to be improved. Therefore, the general practitioners cannot meet the needs of the user in actual use.

本發明之主要目的係在於,克服習知技藝所遭遇之上述問題並提供一種協助臨床醫護人員適性、適地執行復健實務之目標導向復 健輔助系統與其工作設定方法,藉此改善患者之治療情況,並可有效改善醫院端量化療效評量及擴大復健密度之效益,以提升醫療品質,進而使本發明可具體提供雲端產業、醫療及健康照護等設備商或服務商、研究開發領域所需之照護輔助裝置、設備及服務提供系統。 The main object of the present invention is to overcome the above problems encountered in the prior art and to provide a goal-oriented complex for assisting clinical medical staff to perform the rehabilitation practice appropriately and appropriately. Health support system and its work setting method, to improve the treatment of patients, and effectively improve the quantitative evaluation of the hospital side and expand the benefits of rehabilitation density, in order to improve the quality of medical care, so that the present invention can specifically provide cloud industry, medical And equipment manufacturers or service providers such as health care, and nursing aids, equipment and service delivery systems required for research and development.

本發明之次要目的係在於,提供一種復健目標導向情境互動系統架構、目標導引動作擷取及追跡、動作參數化比對演算法及其在照護端之應用,不僅具備功能性量化指標評估,更可透過系統主動導引正確復健程序而具有增進自主復健成效之目標導向復健輔助系統與其工作設定方法。 The secondary objective of the present invention is to provide a rehabilitation target-oriented context interaction system architecture, target guidance action capture and tracing, action parameterization comparison algorithm and its application in the care end, not only having functional quantitative indicators The assessment, through the system to actively guide the correct rehabilitation procedures, has the goal-oriented rehabilitation assistance system and its work setting method to improve the effectiveness of voluntary rehabilitation.

為達以上之目的,本發明係一種目標導向復健輔助系統與其工作設定方法,係包括一情境互動模組,用以控制及產生預製作完成之復健虛擬情境,在虛擬情境中,依據復健工作設定,於開始復健時顯示起始標記,同時顯示相對應之目標標記;一目標導引追跡模組,與該情境互動模組連接,係在偵測身體於適當擺位後,致能起始標記,藉由結合一種以上之感測器偵測肢體動作變化以點選起始標記,隨即移動肢體並以該感測器同時偵測及記錄肢體移動至目標標記之動作軌跡及力量變化;一動作參數化分析模組,與該目標導引追跡模組連接,係分析計算起始標記至目標標記間動作軌跡及力量變化之運動學參數及動力學參數;以及一復健療程紀錄模組,與該動作參數化分析模組連接,係儲存該運動學參數及動力學參數,俾以提供醫護人員進行後續之復健追蹤評估。 For the purpose of the above, the present invention relates to a target-oriented rehabilitation auxiliary system and a work setting method thereof, which comprise a situation interaction module for controlling and generating a pre-made completed virtual virtual situation, in a virtual situation, according to the complex The health work setting displays the start marker at the beginning of rehabilitation and displays the corresponding target marker; a target guide trace module is connected to the context interaction module to detect the body after proper placement. The start marker can be used to detect the change of the limb movement by combining more than one sensor to select the initial marker, then move the limb and simultaneously detect and record the movement trajectory and strength of the limb movement to the target marker with the sensor. Change; an action parameterization analysis module, connected to the target guidance trace module, is to analyze the kinematic parameters and dynamic parameters of the motion track and force change between the start marker and the target marker; and a rehabilitation treatment record The module is connected with the parameterized analysis module of the action, and stores the kinematic parameters and the dynamic parameters, so as to provide medical personnel for follow-up rehabilitation Evaluation.

於具體實施例中,上述所提之情境互動模組係整合顯示及輸入之 互動裝置,其可為觸控式螢幕、電子白板、光學式動作感應裝置結合單槍顯示裝置、或光學式動作感應裝置結合液晶顯示裝置。 In a specific embodiment, the context interaction module mentioned above integrates display and input. The interactive device can be a touch screen, an electronic whiteboard, an optical motion sensing device combined with a single gun display device, or an optical motion sensing device combined with a liquid crystal display device.

於具體實施例中,上述所提之虛擬情境係為模擬手部抓握功能之執行上肢日常生活功能性動作所需之復健訓練,該功能性動作並包含屈伸、外展、內收、旋轉及迴旋之上肢運動。 In a specific embodiment, the virtual situation mentioned above is a rehabilitation training required to simulate the functional gripping action of the upper limbs of the hand grip function, and the functional motion includes flexion and extension, abduction, adduction, and rotation. And swinging the upper limbs.

於具體實施例中,上述所提之復健工作設定係為上肢執行線條動作、線條組合動作、圓形動作、及結合平移與旋轉複合性動作。 In a specific embodiment, the rehabilitation work setting mentioned above is a line motion, a line combination motion, a circular motion, and a combined translation and rotation motion for the upper limb.

於具體實施例中,上述所提之感測器係包含物理性感測器及光學式感應器,且該物理性感測器可為加速度計、陀螺儀、高度計、握力計、以及包含上述物理性感測器之行動裝置、智慧型手機或可攜式裝置,而該光學式感應器可為Webcam、IPcam、微軟Kinect、或華碩WAVI Xtion。 In a specific embodiment, the sensor provided includes a physical sensor and an optical sensor, and the physical sensor can be an accelerometer, a gyroscope, an altimeter, a dynamometer, and the above physical sensation. Mobile device, smart phone or portable device, and the optical sensor can be Webcam, IPcam, Microsoft Kinect, or ASUS WAVI Xtion.

於具體實施例中,上述所提之起始標記與目標標記可為實體物體及虛擬物體,且虛擬物體可為示意靜態符號及動畫顯示。 In a specific embodiment, the above-mentioned starting mark and target mark may be a solid object and a virtual object, and the virtual object may be a schematic static symbol and an animation display.

於具體實施例中,上述所提之運動學參數係為肢體移動時人體肢段擺位及其關節相對位置變化量,可為關節點位移、速度與加速度、關節彎曲角度、角速度、及角加速度值。 In a specific embodiment, the kinematic parameters mentioned above are changes in the position of the human limb and the relative position of the joint when the limb is moved, which may be joint displacement, velocity and acceleration, joint bending angle, angular velocity, and angular acceleration. value.

於具體實施例中,上述所提之動力學參數係為手部抓握物體之握力值。 In a specific embodiment, the kinetic parameter mentioned above is the grip force value of the hand grasping object.

於具體實施例中,上述所提之復健療程紀錄模組係可儲存運動學參數及動力學參數至可攜式記憶裝置、智慧型手機、平板電腦裝置或雲端硬碟。 In a specific embodiment, the above-mentioned rehabilitation treatment record module can store kinematic parameters and dynamic parameters to a portable memory device, a smart phone, a tablet device or a cloud hard disk.

於具體實施例中,上述所提之情境互動模組具有一虛擬情境資料庫,係儲存有依個別復健需求動作樣板之虛擬情境資訊,用於提供虛擬復健實境之功能,讓使用者可於虛擬情境中進行復健動作。 In a specific embodiment, the scenario interaction module mentioned above has a virtual context database, which stores virtual context information according to an individual rehabilitation demand action template, and is used to provide a virtual rehabilitation reality function, so that the user Rehabilitation actions can be performed in a virtual situation.

於具體實施例中,上述所提之復健療程紀錄模組具有一復健療程資料庫,係儲存一個以上之使用者復健療程資訊,用於提供復健療程之效果,以利觀察使用者之改善狀況。 In a specific embodiment, the rehabilitation treatment record module mentioned above has a rehabilitation treatment database for storing more than one user rehabilitation treatment information for providing a rehabilitation treatment effect for observing the user. Improve the situation.

100‧‧‧目標導向復健輔助系統 100‧‧‧Target-oriented rehabilitation aid system

101‧‧‧情境互動模組 101‧‧‧ Situational Interaction Module

1011‧‧‧虛擬情境資料庫 1011‧‧‧Virtual Situation Database

102‧‧‧目標導引追跡模組 102‧‧‧Target Guided Trace Module

103‧‧‧動作參數化分析模組 103‧‧‧Action Parametric Analysis Module

104‧‧‧復健療程紀錄模組 104‧‧‧Rehabilitation treatment record module

1041‧‧‧復健療程資料庫 1041‧‧‧Rehabilitation Treatment Database

200‧‧‧工作設定方法 200‧‧‧Work setting method

201‧‧‧虛擬裝置顯示步驟 201‧‧‧Virtual device display steps

202‧‧‧手動/自動選取步驟 202‧‧‧Manual/automatic selection steps

203‧‧‧偵測身體擺位步驟 203‧‧‧Detecting body position steps

204‧‧‧合適身體擺位檢查步驟 204‧‧‧ Suitable body position check procedures

205‧‧‧起始標記顯示步驟 205‧‧‧Start mark display step

206‧‧‧到達目標標記檢查步驟 206‧‧‧reach target marking check step

207‧‧‧動作參數分析步驟 207‧‧‧Action parameter analysis steps

208‧‧‧復健療程紀錄步驟 208‧‧‧Rehabilitation treatment record steps

209‧‧‧判斷持續復健動作步驟 209‧‧‧Determination of continuous rehabilitation steps

301‧‧‧電子白板 301‧‧‧Whiteboard

3011‧‧‧雙向紅外線感應器 3011‧‧‧Two-way infrared sensor

302‧‧‧藍芽球 302‧‧‧Blue Ball

3021‧‧‧.NET平台 3021‧‧‧.NET platform

3022‧‧‧三軸加速計 3022‧‧‧Three-axis accelerometer

3023‧‧‧陀螺儀 3023‧‧‧Gyro

3024‧‧‧壓力感測計 3024‧‧‧ Pressure Sensing Meter

3025‧‧‧藍芽傳輸介面 3025‧‧‧Bluetooth transmission interface

303‧‧‧電腦 303‧‧‧ computer

3031‧‧‧.NET平台 3031‧‧‧.NET platform

3032‧‧‧藍芽傳輸介面 3032‧‧‧Bluetooth transmission interface

3033‧‧‧Access資料庫 3033‧‧‧Access database

304‧‧‧投影機 304‧‧‧Projector

400‧‧‧虛擬介面操作方法 400‧‧‧Virtual interface operation method

401‧‧‧選擇檢測患者號碼步驟 401‧‧‧Select the step to test the patient number

402‧‧‧判斷藍芽球與電腦連線步驟 402‧‧‧Determination of the connection between the Bluetooth ball and the computer

403‧‧‧顯示連線錯誤步驟 403‧‧‧Show connection error steps

404‧‧‧進入檢測遊戲畫面並檢測步驟 404‧‧‧Enter the detection game screen and test the steps

405‧‧‧顯示單次測驗秒數步驟 405‧‧‧Show single test seconds step

406‧‧‧測驗次數檢查步驟 406‧‧‧Test number check procedure

407‧‧‧測驗繼續判斷步驟 407‧‧‧Test continues to judge steps

408‧‧‧顯示單次測驗秒數步驟 408‧‧‧Show single test seconds step

409‧‧‧復健療程資訊寫入Access資料庫步驟 409‧‧‧Rehabilitation treatment information is written into the Access database

410‧‧‧顯示量表分數步驟 410‧‧‧Show scale score step

411‧‧‧復健療程資訊寫入Access資料庫步驟 411‧‧‧Rehabilitation treatment information is written into the Access database

10‧‧‧復健師 10‧‧‧Rehabilitation

20‧‧‧患者 20‧‧‧ patients

第1圖,係本發明之目標導向復健輔助系統架構示意圖。 Fig. 1 is a schematic diagram showing the architecture of the target-oriented rehabilitation auxiliary system of the present invention.

第2圖,係本發明復健工作設定之典型動作樣板示意圖。 Fig. 2 is a schematic diagram of a typical operation template of the rehabilitation work setting of the present invention.

第3圖,係本發明之目標導向復健輔助系統操作流程示意圖。 Fig. 3 is a schematic diagram showing the operation flow of the target-oriented rehabilitation auxiliary system of the present invention.

第4圖,係本發明於第一實施例之遊戲主選單及復健歷程統計示意圖。 FIG. 4 is a schematic diagram of the game main menu and the rehabilitation history of the first embodiment of the present invention.

第5圖,係本發明於第一實施例之遊戲紀錄趨勢示意圖。 Fig. 5 is a schematic diagram showing the trend of game recording in the first embodiment of the present invention.

第6圖,係本發明於第二實施例之虛擬實境復健系統架構示意圖。 Figure 6 is a schematic diagram showing the architecture of the virtual reality rehabilitation system of the second embodiment of the present invention.

第7圖,係本發明於第二實施例之明尼蘇達手部敏捷測試虛擬介面示意圖。 Figure 7 is a schematic diagram of the virtual interface of the Minnesota hand agility test of the second embodiment of the present invention.

第8圖,係本發明於第二實施例之虛擬介面操作流程示意圖。 Figure 8 is a flow chart showing the operation of the virtual interface of the second embodiment of the present invention.

第9圖,係本發明於第二實施例之歷史紀錄介面示意圖。 Figure 9 is a schematic view of the history recording interface of the second embodiment of the present invention.

請參閱『第1圖~第3圖』所示,係分別為本發明之目標導向復健輔助系統架構示意圖、本發明復健工作設定之典型動作樣板示意圖、及本發明之目標導向復健輔助系統操作流程示意圖。如圖 所示:本發明係一種目標導向復健輔助系統與其工作設定方法,該目標導向復健輔助系統100係包括一情境互動模組101、一目標導引追跡模組102、一動作參數化分析模組103以及一復健療程紀錄模組104所組成。 Please refer to FIG. 1 to FIG. 3, which are respectively a schematic diagram of the structure of the target-oriented rehabilitation auxiliary system of the present invention, a typical operation model diagram of the rehabilitation work setting of the present invention, and the target-oriented rehabilitation aid of the present invention. Schematic diagram of the system operation process. As shown The present invention is a target-oriented rehabilitation auxiliary system 100, which includes a context interaction module 101, a target guidance tracking module 102, and an action parameterization analysis module. The group 103 and a rehabilitation treatment record module 104 are composed.

上述所提之情境互動模組101係整合顯示及輸入之互動裝置,用以控制及產生預製作完成之復健虛擬情境,在虛擬情境中,依據復健工作設定,於開始復健時顯示起始標記,同時顯示相對應之目標標記。 The context interaction module 101 mentioned above is an interactive device for integrating display and input, and is used for controlling and generating a pre-made completed virtual virtual situation. In the virtual situation, according to the rehabilitation work setting, the display is started when the rehabilitation is started. Start tag and display the corresponding target tag.

上述所提之目標導引追跡模組102係與該情境互動模組101連接,係在偵測身體於適當擺位後,致能起始標記,藉由結合一種以上之感測器偵測肢體動作變化以點選起始標記,隨即移動肢體並以該感測器同時偵測及記錄肢體移動至目標標記之動作軌跡及力量變化。 The target-guided tracking module 102 is connected to the context interaction module 101 to detect the body's proper position and enable the start marker to detect the limb by combining more than one sensor. The action changes to select the starting marker, and then the limb is moved and the sensor simultaneously detects and records the movement trajectory and force change of the limb moving to the target marker.

上述所提之動作參數化分析模組103係與該目標導引追跡模組102連接,係分析計算起始標記至目標標記間動作軌跡及力量變化之運動學參數及動力學參數。 The motion parameterization analysis module 103 is connected to the target guidance trace module 102, and analyzes the kinematic parameters and dynamic parameters of the motion trace between the start marker and the target marker and the power change.

上述所提之復健療程紀錄模組104係與該動作參數化分析模組103連接,係儲存該運動學參數及動力學參數,俾以提供醫護人員進行後續之復健追蹤評估。 The above-mentioned rehabilitation treatment record module 104 is connected to the motion parameterization analysis module 103, and stores the kinematic parameters and dynamic parameters to provide medical personnel for follow-up rehabilitation tracking evaluation.

請參照第3圖,其係本發明目標導向復健輔助系統之工作設定方法之流程。在工作設定方法200中,首先進行虛擬裝置顯示步驟201。在虛擬裝置顯示步驟201中,情境互動模組101係以透過整合顯示及輸入互動之觸控式螢幕、電子白板、光學式 動作感應裝置結合單槍顯示裝置、或光學式動作感應裝置結合液晶顯示裝置來進行復健,訓練所需之虛擬情境資訊係儲存在虛擬情境資料庫1011中,先透過手動/自動選取步驟202,由臨床人員依使用者復健情形預先設定並選取,其主要係模擬手部抓握功能之執行上肢日常生活功能性動作,包含屈伸、外展、內收、旋轉及迴旋等上肢運動,其中上肢關節主要有肩關節、肘關節與腕關節;再依復健情形設定復健工作,主要係執行線條動作、線條組合動作、圓形動作、及結合平移與旋轉複合性動作,典型動作樣板如第2圖所示。在虛擬復健過程中,依據復健工作設定,顯示復健之起始標記,同時顯示相對應之目標標記,相關呈現標記可為實體物體,如實體抓握茶杯、滑鼠或象棋等物體,亦可為虛擬物體,以模擬產生復健訓練用之虛擬裝具或設備,如照顧者照片、家人照片、水果、及常用物品照片等示意靜態符號或將其以動畫顯示。。而後,進行偵測身體擺位步驟203,讓使用者之肢體確實擺放在最舒適之位置。然後,進行合適身體擺位檢查步驟204,係檢查肢體是否處於適當擺位,若否則回到偵測身體擺位步驟203;藉由偵測適當身體擺位後,進行起始標記顯示步驟205,進一步致能起始標記。在起始標記顯示步驟205中,目標導引追跡模組102藉由安置於手部或於抓握實體上之物理性感測器,或以光學式感應器來偵測上肢動作變化以點選起始標記,而其物理性感測器可為加速度計、陀螺儀、高度計、握力計,以及包含上述物理性感測器之行動裝置、智慧型手機或可攜式裝置;光學式感應器可為Webcam、IPcam、微軟Kinect、或華碩WAVI Xtion。接著,進行到達目標標記檢查步驟206,系統隨即偵測及記錄手部及肢體自起始標記移動至目標 標記之動作軌跡及力量變化,當偵測結果為否時,回到起始標記顯示步驟205;當偵測結果為是時,進行動作參數分析步驟207。在動作參數分析步驟207中,動作參數化分析模組103係在肢體移動過程中,紀錄並分析計算人體肢段擺位及其關節點位移、速度及加速度、關節彎曲角度、角速度、及角加速度值等運動學參數;並且手部抓握物體握力值之動力學參數也一併記錄。最後,分別進行復健療程紀錄步驟208與判斷持續復健動作步驟209。在復健療程紀錄步驟208中,透過復健療程紀錄模組104連結復健療程資料庫1041,可將其中儲存相關之運動學及動力學參數連結至可攜式記憶裝置、智慧型手機、平板電腦裝置及雲端硬碟,以提供醫護人員進行後續之復健追蹤評估。並在判斷持續復健動作步驟209中,判斷復健動作是否持續進行,若欲持續復健動作,則回到手動/自動選取步驟202;否則復健程序結束。 Please refer to FIG. 3, which is a flow chart of the working setting method of the target-oriented rehabilitation auxiliary system of the present invention. In the job setting method 200, the virtual device display step 201 is first performed. In the virtual device display step 201, the context interaction module 101 is a touch screen, an electronic whiteboard, and an optical type through integrated display and input interaction. The motion sensing device is combined with the single gun display device or the optical motion sensing device in combination with the liquid crystal display device for rehabilitation. The virtual context information required for training is stored in the virtual context database 1011, first through the manual/automatic selection step 202. Pre-set and selected by the clinical staff according to the user's rehabilitation situation, which mainly simulates the hand grasping function to perform the functional activities of the upper limbs in daily life, including upper limb movements such as flexion and extension, abduction, adduction, rotation and maneuvers, among which the upper limbs The joints mainly include the shoulder joint, the elbow joint and the wrist joint; the rehabilitation work is set according to the rehabilitation situation, mainly performing the line motion, the line combination movement, the circular motion, and the combined translation and rotation motion, and the typical motion model is as follows. Figure 2 shows. In the virtual rehabilitation process, according to the rehabilitation work setting, the starting mark of the rehabilitation is displayed, and the corresponding target mark is displayed at the same time, and the related presentation mark can be a physical object, such as an entity grasping a cup, a mouse or a chess object. It can also be a virtual object to simulate the creation of a virtual fixture or device for rehabilitation training, such as a photo of a caregiver, a photo of a family member, a photo of a fruit, and a photo of a common item, or to animate it. . Then, a body positioning step 203 is performed to allow the user's limb to be placed in the most comfortable position. Then, a suitable body position checking step 204 is performed to check whether the limb is in an appropriate position, and if not, return to the detecting body position step 203; and after detecting the proper body position, the initial mark display step 205 is performed. Further enable the start tag. In the initial mark display step 205, the target guide tracking module 102 detects the change of the upper limb motion by means of a physical sensor placed on the hand or on the grasping entity, or by an optical sensor. The physical marker can be an accelerometer, a gyroscope, an altimeter, a dynamometer, and a mobile device including the above physical sensor, a smart phone or a portable device; the optical sensor can be a Webcam, IPcam, Microsoft Kinect, or ASUS WAVI Xtion. Then, the arrival target mark check step 206 is performed, and the system detects and records the movement of the hand and the limb from the start mark to the target. The action track and the force change of the mark, when the detection result is no, return to the start mark display step 205; when the detection result is YES, the action parameter analysis step 207 is performed. In the action parameter analysis step 207, the action parameterization analysis module 103 records and analyzes the human body limb position and its joint point displacement, velocity and acceleration, joint bending angle, angular velocity, and angular acceleration during limb movement. The kinematic parameters such as values; and the kinetic parameters of the grip strength of the hand grip are also recorded. Finally, the rehabilitation treatment record step 208 and the judgment continuous rehabilitation action step 209 are performed separately. In the rehabilitation treatment record step 208, the rehabilitation treatment record database 104 is connected through the rehabilitation treatment record module 104, and the related kinematics and dynamic parameters can be connected to the portable memory device, the smart phone, and the tablet. Computer devices and cloud hard drives to provide medical staff with follow-up rehabilitation tracking assessments. And in the judgment continuous rehabilitation action step 209, it is judged whether the rehabilitation action continues, and if the rehabilitation action is to be continued, the manual/automatic selection step 202 is returned; otherwise, the rehabilitation procedure ends.

如是,藉由上述揭露之架構與流程構成一全新之目標導向復健輔助系統與其工作設定方法。 If so, the above-mentioned disclosed architecture and process constitute a new target-oriented rehabilitation auxiliary system and its work setting method.

請參閱『第4圖及第5圖』所示,係分別為本發明於第一實施例之遊戲主選單及復健歷程統計示意圖、及本發明於第一實施例之遊戲紀錄趨勢示意圖。如圖所示:當運用時,基於上述之系統架構及方法,於第一實施例中,以中風患者上肢功能復健為例來具體展現本發明之可行性。首先,本實施例運用Kinect遊戲協助輕中度腦中風患者上肢復健,解析中風患者在反應速度以及肢體不靈巧之問題,主要利用微軟公司所出品之Kinect裝置,進一步開發居家復健遊戲,以解決患者需長期復健時間與就醫環境之困難 ,其中為達到完整之持續復健與復健動作之準確性,在遊戲中記錄相關數據建立數據資料庫與趨勢圖回饋至復健師,患者也能透過其遊戲記錄瞭解自己之復健效果。開發環境之軟體開發平台為Microsoft Visual Studio .NET Framework;動作感測硬體裝置為Kinect裝置及NUI骨架追蹤函式庫,可應用於取得使用者三維之骨架位置及方向資訊;在感應範圍內最多可主動追蹤兩位使用者,每個使用者共可記錄20組細節,包含軀幹、四肢以及手指等皆為追蹤之範圍,達成全身體感操作,其中也包含本案所提之肩關節、肘關節與腕關節等上肢關節。在評量上,利用遊戲之方式搭配復健師之建議,讓復健遊戲不乏味增加娛樂性,使患者在長期復健之情況下,不會因無趣而怠惰,進而能養成長期復健之好習慣。 Please refer to FIG. 4 and FIG. 5, which are respectively a schematic diagram of the game main menu and the rehabilitation history of the first embodiment of the present invention, and a game recording trend diagram of the first embodiment of the present invention. As shown in the figure: When applied, based on the above-described system architecture and method, in the first embodiment, the feasibility of the present invention is specifically demonstrated by taking the upper limb functional rehabilitation of the stroke patient as an example. First of all, this embodiment uses Kinect game to assist the upper limb rehabilitation of patients with mild to moderate stroke, and analyzes the problem of the reaction speed and limb dexterity of stroke patients, mainly using the Kinect device produced by Microsoft Corporation to further develop the home rehabilitation game. Solve the difficulty of patients needing long-term rehabilitation time and medical environment In order to achieve the accuracy of the complete continuous rehabilitation and rehabilitation actions, the relevant data is recorded in the game to establish a data database and trend map feedback to the rehabilitation teacher, and the patient can also understand his own rehabilitation effect through his game record. The development environment software development platform is Microsoft Visual Studio .NET Framework; the motion sensing hardware device is the Kinect device and the NUI skeleton tracking library, which can be used to obtain the user's three-dimensional skeleton position and direction information; It can actively track two users. Each user can record 20 sets of details, including the torso, limbs and fingers, all of which are traced to achieve full body sense operation, including the shoulder joint and elbow joint mentioned in this case. Upper limb joints such as wrist joints. In the evaluation, the use of the game to match the advice of the rehabilitation teacher, so that the rehabilitation game is not boring to increase entertainment, so that patients in the long-term rehabilitation, will not be lazy due to boring, and thus can develop long-term rehabilitation habit.

如第4圖所示,遊戲主要藉由點擊不同位置之目標物來達到準確度訓練之效果,目標物具有深度資訊,關節點會配合目標物深度縮放大小,其功能主要有圖中左側所示:可設定目標物之存在時間、出現總次數、及出現之區域;以及圖中右側所示:時間與次數之紀錄項目。 As shown in Figure 4, the game mainly achieves the effect of accuracy training by clicking on the target at different positions. The target has depth information, and the joint point is matched with the depth of the target. The function is mainly shown on the left side of the figure. : You can set the time of the target, the total number of occurrences, and the area where it appears; and the record on the right side of the figure: time and number of times.

另外,可選擇單手操作或者兩隻手同時操作,亦可在主選單點選遊戲記錄,觀看歷史遊戲記錄,如第5圖所示;在遊戲記錄圖中,可選擇觀看不同範圍之遊戲記錄。連結復健療程資料庫,可進一步讀取遊戲中之趨勢記錄,可觀察所有遊戲記錄彙整圖表,以利觀察使用者之改善狀況。 In addition, you can choose one-hand operation or two hands to operate at the same time, you can also select the game record in the main menu to view the history game record, as shown in Figure 5; in the game record chart, you can choose to watch different ranges of game records. . Link the rehabilitation treatment database to further read the trend records in the game, and observe all the game record consolidation charts to facilitate the observation of the user's improvement.

請參閱『第6圖~第9圖』所示,係分別為本發明於第二實施例之虛擬實境復健系統架構示意圖、本發明於第二實施例之明尼蘇 達手部敏捷測試虛擬介面示意圖、本發明於第二實施例之虛擬介面操作流程示意圖、及本發明於第二實施例之歷史紀錄介面示意圖。如圖所示:於第二實施例中,為應用虛擬實境技術於中風老人上肢復健,該實施例乃運用電子白板301與藍芽球302裝置,結合明尼蘇達手部敏捷測試分數表(Complete Minnesota Dexterity Test Score Sheet Model),透過虛擬明尼蘇達棋盤之實境遊戲,可探討上肢肘/肩關節活動度、腕關節位置運動學參數及手部抓握力量變化,並讓過程充滿趣味與成就感,不但能提升患者復健意願,也能提高治療成效。在上肢復健部分,伸手拿物及取物近身可為日常生活中發生率最頻繁之一項功能性動作,藉由取物與放置運動過程等兩項測試可以取得角度、握力、及加速度等紀錄,藉以輔助評估患者上肢功能性動作程度。本發明僅以明尼蘇達手部敏捷測試量表中之測試放置試驗之動作做為設計開發參考,系統架構如第6圖所示。軟體開發平台為微軟公司之.NET平台(Microsoft Visual Studio .NET Framework)3021、3031;其中電子白板301具有多個雙向紅外線感應器3011;而藍芽球(Blobo)302係由芬蘭風險公司Ball-It所發行,球內包含多種感測器,例如三軸加速計3022、陀螺儀3023、壓力感測計3024等,並提供藍芽傳輸介面3025,可直接傳遞感測數值至其他具有藍芽傳輸介面3032之電腦303,該電腦設備303透過.NETFramework,可以快速存取Access資料庫3033資料,並經由投影機304與電子白板301溝通,其相關復健動作主要包含可以實施:六種自由度運動與指向數據;模擬抓握力道與拍打功能;以及依據磁極與重力對應至現實座標系統。 Please refer to FIG. 6 to FIG. 9 , which are respectively a schematic diagram of a virtual reality rehabilitation system architecture according to a second embodiment of the present invention, and a Minnesota according to a second embodiment of the present invention. The schematic diagram of the virtual interface of the hand agile test, the schematic diagram of the virtual interface operation flow of the second embodiment of the present invention, and the historical interface of the second embodiment of the present invention. As shown in the figure: in the second embodiment, in order to apply the virtual reality technology to the upper limb rehabilitation of the elderly in the stroke, the embodiment uses the electronic whiteboard 301 and the Bluetooth ball 302 device, and combines the Minnesota hand agility test score table (Complete Minnesota Dexterity Test Score Sheet Model), through the virtual Minnesota board game, can explore the upper limb elbow/shoulder joint mobility, wrist position kinematics parameters and hand grip strength changes, and make the process full of fun and sense of accomplishment, Not only can it improve the patient's willingness to rehabilitate, but it can also improve the effectiveness of treatment. In the rehabilitation part of the upper limbs, reaching out and picking up the body can be the most frequent functional action in daily life. The angle, grip strength and acceleration can be obtained by two tests such as taking and placing motion. A record is used to assist in assessing the degree of functional movement of the upper limb of the patient. The invention only takes the action of the test placement test in the Minnesota hand agility test scale as a design development reference, and the system architecture is as shown in Fig. 6. The software development platform is Microsoft's .NET platform (Microsoft Visual Studio .NET Framework) 3021, 3031; wherein the electronic whiteboard 301 has a plurality of bidirectional infrared sensors 3011; and the Blobo 302 is a Finnish venture company Ball- It is released by the It. The ball contains a variety of sensors, such as a three-axis accelerometer 3022, a gyroscope 3023, a pressure sensor 3024, etc., and provides a Bluetooth transmission interface 3025, which can directly transmit the sensing value to other Bluetooth transmissions. The computer 303 of the interface 3032, the computer device 303 can quickly access the Access database 3033 data through the .NET Framework, and communicate with the electronic whiteboard 301 via the projector 304. The related rehabilitation actions mainly include: six degrees of freedom motion And pointing to the data; simulating the gripping force and tapping function; and corresponding to the actual coordinate system according to the magnetic pole and gravity.

若需要達成自動化感測指定之復健活動,則需藉由藍芽球感測裝置來模擬達成類似抓握圓盤放置之過程,如第7圖所示。在本發明中,除了傳統明尼蘇達手部敏捷測試之秒數紀錄外,進一步藉由藍芽球302所包含之三軸加速計3022、陀螺儀3023與壓力感測計3024,分別偵測患者20在試驗過程抓握藍芽球302時其手部抖動之程度,以及偵測患者20抓握藍芽球時302力道之數值變化與抓握力道之穩定程度,藉由這些感測數據,輔助復健師10評估患者20復健過程情形。但單憑藍芽球302係無法與傳統放置試驗一樣,精確偵測其放置圓盤位置是否正確,為了補強其定位之準確,進一步結合電子白板301,透過電子白板301精準偵測絕對座標,相當於大型之觸控螢幕,將座標值及點選狀態持續地傳送到電腦303,投影於電子白板301之畫面會於特定位置出現目標物讓患者20進行規律之點擊動作,藉由點選狀態來識別患者20是否正確點擊到特定目標,系統操作流程如第8圖所示。在此系統虛擬介面操作方法400中,首先進行選擇檢測患者號碼步驟401,以識別患者之號碼。而後,進行判斷藍芽球與電腦連線步驟402。在判斷藍芽球與電腦連線步驟402中,藍芽球302透過藍芽傳輸介面3025、3032與電腦303進行溝通,當判斷結果為否時,進行顯示連線錯誤步驟403,將結果回傳至檢測患者號碼步驟401中,重新識別患者之號碼;當判斷結果為是時,進行進入檢測遊戲畫面並檢測步驟404,透過虛擬實境遊戲,測試取得角度、握力及加速度等紀錄。接著,進行顯示單次測驗秒數步驟405,呈現患者完成一輪檢測試驗之結果。然後,進行測驗次數檢查步驟406。在測驗次數檢查步驟406中,係檢查已 執行之測驗次數是否達到預設測驗次數(本實施例設定為4次),當檢查結果為否時,進行測驗繼續判斷步驟407;當檢查結果為是時,進行顯示單次測驗秒數步驟408。在測驗繼續判斷步驟407中,係判斷未達預設測驗次數是否繼續進行測驗,若是回到進入檢測遊戲畫面並檢測步驟404,若否則進行復健療程資訊寫入Access資料庫步驟409,由電腦303將患者進行復健療程中,未達預設測驗次數之測驗秒數與感測數據儲存至Access資料庫3033中。然後,再回到檢測患者號碼步驟401。在顯示單次測驗秒數步驟408中,呈現患者完成一輪檢測試驗之結果。接著,進行顯示量表分數步驟410。在顯示量表分數步驟410中,呈現患者在手部敏捷測試量表中,測試放置試驗動作之分數。最後,進行復健療程資訊寫入Access資料庫步驟411,由電腦303將患者進行復健療程中,已達預設測驗次數之測驗秒數、感測數據總秒數、及量表分數儲存至Access資料庫3033中,結束測驗流程。 If it is necessary to achieve the rehabilitation activity specified by the automated sensing, the process of similar gripping disc placement is simulated by the Bluetooth ball sensing device, as shown in FIG. In the present invention, in addition to the seconds record of the traditional Minnesota hand agility test, the patient 20 is detected by the three-axis accelerometer 3022, the gyroscope 3023 and the pressure sensor 3024 included in the Bluetooth ball 302, respectively. The extent to which the hand shakes when the blue ball 302 is grasped during the test, and the degree of change of the 302 force and the stability of the grip force when the patient 20 grasps the blue ball is detected. With these sensing data, the auxiliary rehabilitation engineer 10 assess the patient 20 rehabilitation process situation. However, the Bluetooth ball 302 system alone cannot accurately detect the position of the disc placed in the same way as the traditional placement test. In order to reinforce the positioning accuracy, the electronic whiteboard 301 is further combined to accurately detect the absolute coordinates through the electronic whiteboard 301. In the large touch screen, the coordinate value and the selected state are continuously transmitted to the computer 303, and the image projected on the electronic whiteboard 301 will appear at a specific position to allow the patient 20 to perform a regular click operation by clicking the state. Identify whether the patient 20 is correctly clicked to a specific target, and the system operation flow is as shown in FIG. In this system virtual interface method 400, a select patient number step 401 is first performed to identify the patient's number. Then, a step 402 of judging the connection between the Bluetooth ball and the computer is performed. In the step of determining the connection between the Bluetooth ball and the computer, the Bluetooth ball 302 communicates with the computer 303 through the Bluetooth transmission interface 3025, 3032. When the determination result is no, the display connection error step 403 is performed, and the result is returned. In the detection patient number step 401, the patient's number is re-identified; when the determination result is YES, the entry detection game screen is performed and the detection step 404 is performed, and the virtual angle game is used to test the acquisition angle, grip strength and acceleration. Next, a single test seconds step 405 is displayed to present the results of the patient completing a round of test tests. Then, a test count check step 406 is performed. In the test count check step 406, the check has been Whether the number of tests performed reaches the preset number of tests (this embodiment is set to 4 times), when the result of the check is no, the test continues to determine step 407; when the result of the check is yes, the step of displaying the single test seconds is performed 408 . In the test continuation determination step 407, it is determined whether the preset test number has not been tested, and if it is returned to the detection game screen and the detection step 404, otherwise the rehabilitation treatment information is written into the Access database step 409, by the computer 303. During the rehabilitation treatment, the test seconds and the sensed data that are less than the preset number of tests are stored in the Access database 3033. Then, return to the test patient number step 401. In the Display Single Test Seconds step 408, the results of the patient completing one round of test tests are presented. Next, a display scale score step 410 is performed. In the Show Scale Score step 410, the patient is presented in the Hand Agility Test Scale to test the score of the placement test action. Finally, the rehabilitation treatment information is written into the Access database step 411, and the computer 303 performs the rehabilitation treatment, and the test seconds, the total seconds of the sensing data, and the scale scores of the preset test times are stored to In the Access database 3033, the test flow is ended.

本發明復健輔助評估資料係以多元之圖表方式呈現,以建立更完善之輔助復健評估工具,如第9圖所示之歷史紀錄,其中上方圖表為量表分數,橫軸為檢測日期,縱軸為量表分數,將歷史分數以折現圖方式呈現;中間圖表中,縱軸為握力值,橫軸為檢測日期,折線為患者每次測驗之平均握力,線段為其握力標準差,握力線段越長表示其抓握力量較不平穩;下方圖表中,縱軸為平均抖動加速度,橫軸為檢測日期,折線為患者每次測驗之平均抖動加速度,線段為其抖動標準差,線段越長表示其抖動程度越大。復健師可以透過歷史紀錄觀測患者整體復健恢復情形,透過折線圖評估患者是否恢復良好,或需改善其治療方針,以提供患者最 佳之醫療照護。 The rehabilitation auxiliary assessment data of the present invention is presented in a multi-dimensional chart to establish a more complete auxiliary rehabilitation assessment tool, such as the historical record shown in Figure 9, wherein the upper graph is the scale score and the horizontal axis is the test date. The vertical axis is the scale score, and the historical score is presented as a discount map. In the middle chart, the vertical axis is the grip strength value, the horizontal axis is the detection date, the fold line is the average grip force of each patient's test, and the line segment is the standard deviation of the grip strength. The longer the grip line segment is, the less its grip strength is. In the lower graph, the vertical axis is the average jitter acceleration, the horizontal axis is the detection date, the fold line is the average jitter acceleration of the patient for each test, and the line segment is the standard deviation of the jitter. Long means that the degree of jitter is greater. The rehabilitation staff can observe the overall recovery of the patient through historical records, assess whether the patient is recovering well through the line graph, or improve the treatment policy to provide the most patients. Good medical care.

本發明之復健目標導向情境互動系統架構、目標導引動作擷取及追跡、動作參數化比對演算法及其在照護端之應用等,皆不同於傳統技術,使用者需先在醫護人員指導下,建立並驗證指引下之依個別復健需求動作樣板;使用者再依此動作樣板資料進行參數化相似度比對;本發明不僅僅提供功能性量化指標評估,更可透過系統主動導引正確復健程序,進而減少好發於因為不正確擺位動作所引起之二次傷害,因此本發明之主要技術特徵具有增進自主復健之成效,且能提供如下優點: The rehabilitation target-oriented context interaction system architecture, the target guidance action capture and tracing, the motion parameterization comparison algorithm and the application on the care end are different from the traditional technology, and the user needs to be in the medical staff first. Under the guidance, establish and verify the individual rehabilitation demand action model under the guidance; the user then performs parameterized similarity comparison according to the action template data; the invention not only provides functional quantitative index evaluation, but also can actively guide through the system. The correct rehabilitation procedure is introduced, thereby reducing the secondary injury caused by the incorrect positioning action. Therefore, the main technical features of the present invention have the effect of improving the self-recovery and can provide the following advantages:

(1)復健動作量化,可以讓復健師透過數據資料確實追蹤患者之復健進度,解決復健師一對多患者而無法確實掌握復建進度之問題。 (1) Quantification of rehabilitation actions allows the rehabilitation engineer to track the progress of the patient's rehabilitation through the data, and solve the problem that the rehabilitation engineer has one-to-many patients and cannot really grasp the progress of the reconstruction.

(2)復健過程記錄,除了可以讓復健師掌握患者復健進度外也可以讓患者透過數據圖表化了解自己之復健進度,進而達成增加患者復健意願。 (2) Rehabilitation process records, in addition to allowing the rehabilitation teacher to master the patient's rehabilitation progress, can also allow patients to understand their own rehabilitation progress through the data chart, and thus increase the patient's willingness to rehabilitate.

(3)復健儀器輕量化,與傳統儀器相比,新型感測及致動裝置體積小且輕量化,患者在做復健時操作容易,此外在復健時也較不會有空間上之限制,減輕患者負擔也提升醫院環境品質。 (3) The weight of the rehabilitation instrument is lighter. Compared with the traditional instrument, the new sensing and actuating device is small and lightweight, and the patient is easy to operate when doing rehabilitation. In addition, there is no space in rehabilitation. Limiting, reducing the burden on patients also improves the quality of the hospital environment.

因此,本發明提出一種目標導向復健輔助系統與其工作設定方法,主要包括一情境互動模組、一目標導引追跡模組、一動作參數化分析模組、及一復健療程紀錄模組等,可使醫院端復健設備簡便,經由結合物理感測裝置量化偵測復健運動並提供即時回饋指引。主要透過整合顯示及輸入之互動裝置來進行虛擬復健;分析所得之人體肢段擺位及其關節點位移、速度及加速度、關節彎曲 角度、角速度、及角加速度值等運動學參數,以及手部抓握物體握力值之動力學參數,再透過復健療程紀錄模組儲存至可攜式記憶裝置、智慧型手機、平板電腦裝置及雲端硬碟,以提供醫護人員進行後續之復健追蹤評估。透過本發明之技術,將可提供協助臨床醫護人員適性、適地執行復健實務之復健輔助系統,藉此改善患者之治療情況,並可有效改善醫院端量化療效評量及擴大復健密度之效益,以提升醫療品質,進而使本發明可具體提供雲端產業、醫療及健康照護等設備商或服務商、研究開發領域所需之照護輔助裝置、設備及服務提供系統。 Therefore, the present invention provides a target-oriented rehabilitation auxiliary system and a work setting method thereof, which mainly include a situation interaction module, a target guidance tracking module, an action parameterization analysis module, and a rehabilitation treatment record module. It can make the hospital-side rehabilitation equipment simple, and combine the physical sensing device to quantitatively detect the rehabilitation movement and provide immediate feedback guidance. The virtual rehabilitation is mainly carried out through the integrated display and input interactive device; the obtained human limb position and its joint point displacement, velocity and acceleration, and joint bending are analyzed. Kinematic parameters such as angle, angular velocity, and angular acceleration, as well as the kinetic parameters of the grip strength of the hand, are then stored in the portable memory device, smart phone, tablet device, and Cloud hard drive to provide medical staff for follow-up rehabilitation tracking assessment. Through the technology of the present invention, a rehabilitation aid system for assisting clinical medical staff to perform the rehabilitation practice appropriately and appropriately can be provided, thereby improving the treatment situation of the patient, and effectively improving the quantitative evaluation of the hospital end and expanding the rehabilitation density. Benefits to improve medical quality, and thus the present invention can specifically provide equipment manufacturers or service providers such as cloud industry, medical and health care, and nursing aids, equipment and service providing systems required for research and development.

綜上所述,本發明係一種目標導向復健輔助系統與其工作設定方法,可有效改善習用之種種缺點,提供協助臨床醫護人員適性、適地執行復健實務之復健輔助系統,藉此改善患者之治療情況,並可有效改善醫院端量化療效評量及擴大復健密度之效益,以提升醫療品質,達到可具體提供雲端產業、醫療及健康照護等設備商或服務商、研究開發領域所需之照護輔助裝置、設備及服務提供系統,進而使本發明之產生能更進步、更實用、更符合使用者之所須,確已符合發明專利申請之要件,爰依法提出專利申請。 In summary, the present invention is a target-oriented rehabilitation auxiliary system and a work setting method thereof, which can effectively improve various disadvantages of the conventional use, and provide a rehabilitation auxiliary system for assisting clinical medical staff to perform the rehabilitation practice appropriately, thereby improving the patient. The treatment situation can effectively improve the quantitative assessment of the hospital's side and increase the benefits of rehabilitation density, so as to improve the quality of medical care, to meet the needs of equipment manufacturers or service providers, research and development fields that can provide cloud industry, medical and health care, etc. The care auxiliary device, equipment and service providing system, in order to make the invention more progressive, more practical and more suitable for the user, have indeed met the requirements of the invention patent application, and filed a patent application according to law.

惟以上所述者,僅為本發明之較佳實施例而已,當不能以此限定本發明實施之範圍;故,凡依本發明申請專利範圍及發明說明書內容所作之簡單的等效變化與修飾,皆應仍屬本發明專利涵蓋之範圍內。 However, the above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto; therefore, the simple equivalent changes and modifications made in accordance with the scope of the present invention and the contents of the invention are modified. All should remain within the scope of the invention patent.

100‧‧‧目標導向復健輔助系統 100‧‧‧Target-oriented rehabilitation aid system

101‧‧‧情境互動模組 101‧‧‧ Situational Interaction Module

1011‧‧‧虛擬情境資料庫 1011‧‧‧Virtual Situation Database

102‧‧‧目標導引追跡模組 102‧‧‧Target Guided Trace Module

103‧‧‧動作參數化分析模組 103‧‧‧Action Parametric Analysis Module

104‧‧‧復健療程紀錄模組 104‧‧‧Rehabilitation treatment record module

1041‧‧‧復健療程資料庫 1041‧‧‧Rehabilitation Treatment Database

Claims (10)

一種目標導向復健輔助系統,係包括:一情境互動模組,用以控制及產生預製作完成之復健虛擬情境,在虛擬情境中,依據復健工作設定,於開始復健時顯示起始標記,同時顯示相對應之目標標記,其中該情境互動模組具有一虛擬情境資料庫,係儲存有依個別復健需求動作樣板之虛擬情境資訊,用於提供虛擬復健實境之功能,讓使用者可於虛擬情境中進行復健動作;一目標導引追跡模組,與該情境互動模組連接,係在偵測身體於適當擺位後,致能起始標記,藉由結合一種以上之感測器偵測肢體動作變化以點選起始標記,隨即移動肢體並以該感測器同時偵測及記錄肢體移動至目標標記之動作軌跡及力量變化;一動作參數化分析模組,與該目標導引追跡模組連接,係分析計算起始標記至目標標記間動作軌跡及力量變化之運動學參數及動力學參數;以及一復健療程紀錄模組,與該動作參數化分析模組連接,係儲存該運動學參數及動力學參數,俾以提供醫護人員進行後續之復健追蹤評估。 A goal-oriented rehabilitation auxiliary system includes: a context interaction module for controlling and generating a pre-made completed virtual virtual situation. In the virtual situation, according to the rehabilitation work setting, the start is displayed at the beginning of rehabilitation. Marking, and simultaneously displaying the corresponding target mark, wherein the context interaction module has a virtual situation database, which stores virtual situation information according to the individual rehabilitation demand action template, and is used for providing the function of virtual rehabilitation reality, so that The user can perform a rehabilitation action in a virtual situation; a target-guided tracking module is connected to the context interaction module to enable the start marker to be detected after the body is properly placed, by combining more than one The sensor detects the change of the limb movement to select the initial mark, then moves the limb and simultaneously detects and records the movement trajectory and force change of the limb movement to the target mark by the sensor; an action parameterization analysis module, Connected with the target guiding trace module to analyze the kinematic parameters and dynamic parameters of the motion trajectory and force variation between the start marker and the target marker; Rehabilitation treatment record module, connected with the action parameter analysis module, the kinematic parameters based storage and kinetic parameters, serve to provide medical personnel for subsequent evaluation of the track rehabilitation. 依申請專利範圍第1項所述之目標導向復健輔助系統,其中,該情境互動模組係整合顯示及輸入之互動裝置,其可為觸控式螢幕、電子白板、光學式動作感應裝置結合單槍顯示裝置、或光學式動作感應裝置結合液晶顯示裝置。 According to the target-oriented rehabilitation auxiliary system described in claim 1, wherein the situation interaction module is an interactive device that integrates display and input, and can be combined with a touch screen, an electronic whiteboard, and an optical motion sensing device. The single gun display device or the optical motion sensing device is combined with a liquid crystal display device. 依申請專利範圍第1項所述之目標導向復健輔助系統,其中,該虛擬情境係為模擬手部抓握功能之執行上肢日常生活功能性動作所需之復健訓練,該功能性動作並包含屈伸、外展、內收、旋轉及迴旋之上肢運動。 According to the target-oriented rehabilitation auxiliary system described in claim 1 of the patent application scope, the virtual situation is a rehabilitation training required to simulate the functional function of the upper limb daily life of the hand grasping function, and the functional action is Includes flexion and extension, abduction, adduction, rotation and gyro upper limb movement. 依申請專利範圍第1項所述之目標導向復健輔助系統,其中,該復健工作設定係為上肢執行線條動作、線條組合動作、圓形動作、及結合平移與旋轉複合性動作。 The goal-oriented rehabilitation assisting system according to the first aspect of the patent application scope, wherein the rehabilitation work setting is a line action, a line combination action, a circular action, and a combined translation and rotation action for the upper limb. 依申請專利範圍第1項所述之目標導向復健輔助系統,其中,該感測器係包含物理性感測器及光學式感應器,且該物理性感測器可為加速度計、陀螺儀、高度計、握力計、以及包含上述物理性感測器之行動裝置、智慧型手機或可攜式裝置,而該光學式感應器可為Webcam、IPcam、微軟Kinect、或華碩WAVI Xtion。 According to the object of claim 1, the target-oriented rehabilitation auxiliary system, wherein the sensor comprises a physical sensor and an optical sensor, and the physical sensor can be an accelerometer, a gyroscope, an altimeter. A dynamometer, a mobile device including the above physical sensor, a smart phone or a portable device, and the optical sensor can be a Webcam, an IPcam, a Microsoft Kinect, or an ASUS WAVI Xtion. 依申請專利範圍第1項所述之目標導向復健輔助系統,其中,該起始標記與目標標記可為實體物體及虛擬物體,且虛擬物體可為示意靜態符號及動畫顯示。 According to the object of claim 1, the target-oriented rehabilitation auxiliary system, wherein the start mark and the target mark can be a solid object and a virtual object, and the virtual object can be a static static symbol and an animation display. 依申請專利範圍第1項所述之目標導向復健輔助系統,其中,該運動學參數係為肢體移動時人體肢段擺位及其關節相對位置變化量,可為關節點位移、速度與加速度、關節彎曲角度、角速度、及角加速度值。 According to the target-oriented rehabilitation auxiliary system described in the first paragraph of the patent application scope, the kinematic parameter is the displacement of the human limb segment and the relative position of the joint when the limb is moved, which may be the displacement, velocity and acceleration of the joint point. , joint bending angle, angular velocity, and angular acceleration values. 依申請專利範圍第1項所述之目標導向復健輔助系統,其中,該動力學參數係為手部抓握物體之握力值。 The target-oriented rehabilitation assist system according to the first aspect of the patent application scope, wherein the kinetic parameter is the grip strength value of the hand grasping object. 依申請專利範圍第1項所述之目標導向復健輔助系統,其中,該復健療程紀錄模組係可儲存運動學參數及動力學參數至可攜式記憶裝置、智慧型手機、平板電腦裝置或雲端硬碟。 According to the target-oriented rehabilitation auxiliary system described in claim 1 of the patent application scope, the rehabilitation treatment record module can store kinematic parameters and dynamic parameters to a portable memory device, a smart phone, a tablet device. Or a cloud drive. 依申請專利範圍第1項所述之目標導向復健輔助系統,其中,該 復健療程紀錄模組具有一復健療程資料庫,係儲存一個以上之使用者復健療程資訊,用於提供復健療程之效果,以利觀察使用者之改善狀況。 Target-oriented rehabilitation assistance system according to the scope of claim 1 of the patent application, wherein The Rehabilitation Treatment Recording Module has a Rehabilitation Treatment Database that stores more than one user rehabilitative treatment information to provide the effect of the Rehabilitation Treatment to facilitate the observation of the user's improvement.
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