WO2014086176A1 - 肌肉松弛程度测量方法、处理装置和肌松测量仪 - Google Patents

肌肉松弛程度测量方法、处理装置和肌松测量仪 Download PDF

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Publication number
WO2014086176A1
WO2014086176A1 PCT/CN2013/083093 CN2013083093W WO2014086176A1 WO 2014086176 A1 WO2014086176 A1 WO 2014086176A1 CN 2013083093 W CN2013083093 W CN 2013083093W WO 2014086176 A1 WO2014086176 A1 WO 2014086176A1
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Prior art keywords
coordinate system
acceleration
sensor
angular velocity
motion
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PCT/CN2013/083093
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English (en)
French (fr)
Inventor
于辉
潘水洋
叶文宇
岑建
刘方
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Shenzhen Mindray Bio Medical Electronics Co Ltd
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Shenzhen Mindray Bio Medical Electronics Co Ltd
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Priority to US14/649,872 priority Critical patent/US10610151B2/en
Publication of WO2014086176A1 publication Critical patent/WO2014086176A1/zh
Anticipated expiration legal-status Critical
Priority to US16/842,460 priority patent/US11819325B2/en
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4519—Muscles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
    • A61B5/7271—Specific aspects of physiological measurement analysis
    • A61B5/7278—Artificial waveform generation or derivation, e.g. synthesizing signals from measured signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/02—Details
    • A61N1/04—Electrodes
    • A61N1/0404—Electrodes for external use
    • A61N1/0408—Use-related aspects
    • A61N1/0452—Specially adapted for transcutaneous muscle stimulation [TMS]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/02—Details
    • A61N1/04—Electrodes
    • A61N1/0404—Electrodes for external use
    • A61N1/0472—Structure-related aspects
    • A61N1/0492—Patch electrodes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/20—Applying electric currents by contact electrodes continuous direct currents
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/22—Arrangements of medical sensors with cables or leads; Connectors or couplings specifically adapted for medical sensors
    • A61B2562/221—Arrangements of sensors with cables or leads, e.g. cable harnesses
    • A61B2562/222—Electrical cables or leads therefor, e.g. coaxial cables or ribbon cables
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4821—Determining level or depth of anaesthesia
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
    • A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
    • A61N1/36014—External stimulators, e.g. with patch electrodes

Definitions

  • the present application relates to the field of medical devices, and particularly relates to a method for measuring muscle relaxation degree, a treatment device, and a muscle relaxation measuring instrument.
  • the patient may have some undesired movements, or the patient's muscles may be in a certain degree of relaxation. Therefore, it is necessary to inject the patient with a drug that relaxes the muscles, such as muscle relaxants. After the injection of the drug, it is usually necessary to perform a muscle relaxation monitoring on the patient to quantitatively evaluate the degree of muscle relaxation of the patient.
  • the monitoring of the degree of muscle relaxation can be measured by measuring the contractile strength of the short-receiving muscle of the patient's thumb, because the contractile force reflects the degree of muscle relaxation. According to Newton's theorem, the force is proportional to the acceleration. By measuring the acceleration generated by the thumb movement, it can be obtained indirectly. The contraction force of the thumb short muscles.
  • a common method for measuring the degree of muscle relaxation is to use an acceleration sensor to measure the acceleration value generated by the thumb motion to output an acceleration sample value, and then derive the angular velocity value from the acceleration value through a certain motion hypothesis, but the motion hypothesis and the actual movement of the thumb exist. Deviation, resulting in inaccurate measurement of muscle relaxation. For example, assuming that the movement of the thumb is a circular motion of the thumb around a fixed point (such as the base of the thumb), the acceleration can be determined by time integral, and the angular velocity can be obtained by dividing the line speed by the estimated thumb length. This will give you all the information you need for muscle relaxation measurements. Obviously, the actual movement of the thumb is not entirely circular motion around the root of the thumb, so such motion assumptions will introduce errors into the measurement results.
  • the present application provides a method for measuring muscle relaxation degree, comprising the following steps:
  • the acceleration sample value of the portion to be measured is obtained from the acceleration sensor or the speed sensor.
  • the angular velocity sample value of the portion to be measured is obtained from the angular velocity sensor.
  • the present application provides a muscle relaxation measurement processing apparatus, including: a receiving unit, configured to acquire an acceleration sampling value of a portion to be measured from an acceleration sensor or a speed sensor, and acquire a portion to be measured from the angular velocity sensor. Angular velocity sample value.
  • the present application provides a muscle relaxation measuring instrument, comprising: a constant current source for generating a stimulation current, and applying a current stimulation to a detected object through a current output end.
  • the response signal extraction end includes an acceleration sensor and an angular velocity sensor, or the response signal extraction end includes a velocity sensor and an angular velocity sensor.
  • the processor is connected to the constant current source, and is configured to control the constant current source to generate the stimulation current; the processor is further connected to the response signal extraction end for acquiring the acceleration from the motion information outputted by the response signal extraction end
  • the sampled value and the angular velocity sampled value are calculated, and the degree of muscle relaxation is calculated based on the acceleration sample value and the angular velocity sample value.
  • the acceleration sampling value and the angular velocity sampling value of the to-be-measured portion can be simultaneously obtained, and the degree of muscle relaxation is calculated according to the acceleration sampling value and the angular velocity sampling value, because the calculation result combines the to-be-measured portion.
  • the acceleration sample value and the angular velocity sample value therefore, the calculation result is more accurate.
  • the acceleration sensor and the angular velocity sensor or the velocity sensor and the angular velocity sensor are combined to obtain the acceleration sampling value and the angular velocity sampling value of the to-be-measured portion, so that the muscle relaxation measuring device can be placed at any position of the to-be-measured portion without Affect the accuracy of the measurement results.
  • Figure la is a schematic view showing the degree of muscle relaxation of a muscle relaxometer by a thumb in an embodiment of the present application
  • Figure 1b is a schematic structural view of a muscle relaxation measuring instrument according to an embodiment of the present application.
  • FIG. 2 is a flow chart of a method for measuring the degree of muscle relaxation in an embodiment of the present application
  • FIG. 3a is a coordinate system in which an acceleration sensor and an angular velocity sensor are disposed in an embodiment of the present application
  • Figure 3b is a reference coordinate system obtained by rotating the coordinate system of the acceleration sensor of Figure 3a;
  • FIG. 4 is a schematic block diagram of a muscle relaxation measurement processing device according to an embodiment of the present application.
  • the muscle relaxation measuring instrument provided in this embodiment includes a processor 201, a constant current source 202, and a response signal extracting end 203.
  • the processor 201 is coupled to the constant current source 202 for controlling the constant current source 202 to generate a stimulation current.
  • the current output end of the constant current source 202 is connected to two electrodes through a pair of cables during measurement, and the two electrodes can be attached to a certain part of the body of the subject, as shown in FIG.
  • the response signal extraction end 203 is attached to the thumb of the subject.
  • the processor 201 is also in communication with the response signal extraction terminal 203, performs data interaction with the response signal extraction terminal 203, for example, receives motion information output by the response signal extraction terminal 203, and calculates the degree of muscle relaxation based on the motion information.
  • the processor 201 can also The configuration, calibration, and/or identity information is sent to the response signal extraction terminal 203.
  • Communication connections include wired and wireless connections.
  • the response signal extraction terminal 203 includes an acceleration sensor and an angular velocity sensor
  • the acceleration sensor refers to a sensor that senses the acceleration of the detected object and converts it into an electrical signal output.
  • the angular velocity sensor refers to a sensor that senses the angular velocity of the detected object and converts it into an electrical signal output.
  • the acceleration sensor can output real-time acceleration information
  • the angular velocity sensor can output real-time angular velocity information
  • the response signal extraction terminal 203 transmits the acceleration information and the angular velocity information to the processor 201
  • the acceleration information and the angular velocity information can be analog electrical signals. It can also be a digital signal, which can be continuous waveform data or discrete sample values.
  • the processor 201 obtains the acceleration sample value and the angular velocity sample value from the acceleration information and the angular velocity information, and then calculates the muscle relaxation degree based on the acceleration sample value and the angular velocity sample value.
  • the response signal extracting end 203 includes a speed sensor and an angular velocity sensor.
  • the speed sensor refers to a sensor that can sense the moving speed of the detected object.
  • the response signal extracting end 203 can directly output the speed information and the time information, or can be based on The velocity information and the time information calculate the acceleration and convert the acceleration information into an electrical signal output.
  • the processor 201 obtains the information obtained from the response signal extracting end 203 in addition to the angular velocity information, and the speed information or the acceleration information.
  • the processor 201 may according to the speed information and The time information calculates the acceleration.
  • the processor 201 calculates the degree of muscle relaxation based on the acceleration information and the angular velocity information.
  • the processor 201 uses the following scheme to calculate the degree of muscle relaxation based on the acceleration sample value and the angular velocity sample value:
  • the processor 201 calculates a rotation angle from the initial coordinate system to the reference coordinate system according to the initial gravity acceleration component, calculates a transformation matrix of the initial coordinate system to the reference coordinate system according to the rotation angle, and obtains a reference coordinate according to the transformation matrix of the initial coordinate system to the reference coordinate system.
  • the reference coordinate system is obtained by converting the coordinate system of the initial acceleration (ie, the initial coordinate system), corresponding to a transformation matrix. Different conversion matrices correspond to different reference coordinate systems, which can be determined according to specific conditions.
  • the case of a single cartridge is to convert the coordinate system of the initial acceleration so that the gravity acceleration has a component only in a certain dimension of the reference coordinate system, and the other dimension component is 0, which will be post-processing.
  • the processor 201 analyzes and processes the angular velocity sampling value to obtain a rotation angle of the to-be-measured portion along the moving direction of each axis, and obtains a motion state vector according to the rotation angle of the to-be-measured portion along the moving direction of each axis.
  • the processor The motion state vector is obtained by the inertial navigation algorithm.
  • the inertial navigation algorithm is an algorithm for solving the motion of the object in motion through the data measured by the gyroscope equal angular velocity sensor. For example, it may be a Bika algorithm or a multi-sample rotation vector algorithm. The motion state vector of the part to be measured.
  • the motion state vector represents the motion information of the part to be measured after being stimulated, and the initial coordinate system to the motion coordinate is obtained according to the motion state vector.
  • the motion information includes at least acceleration information or speed information and angular velocity information when the part to be measured moves.
  • the processor 201 acquires the gravitational acceleration at t from the acceleration sensor or the speed sensor.
  • the transformation matrix of the initial coordinate system; the transformation matrix between the initial coordinate system and the motion coordinate system is calculated according to the angular velocity sample value; the transformation matrix from the reference coordinate system to the initial coordinate system and the transformation matrix between the initial coordinate system and the motion coordinate system Find the transformation matrix between the reference coordinate system and the motion coordinate system.
  • the processor 201 calculates a conversion matrix between the reference coordinate system and the motion coordinate system according to the acceleration sample value output by the acceleration sensor or the speed sensor at t k and the angular velocity sample value output by the angular velocity sensor, and the projection component according to the gravity acceleration in the reference coordinate system.
  • the transformation matrix between the reference coordinate system and the motion coordinate system is used to obtain the component of the gravity acceleration in the acceleration sensor coordinate system or the velocity sensor coordinate system, and t k is the moment after the electrical stimulation is issued, and the motion coordinate system is t k
  • the coordinate system in which the acceleration sensor or the velocity sensor is located, and the component of the gravity acceleration in the reference coordinate system is [0, 1, 0].
  • the processor 201 calculates a component of the gravity acceleration in the acceleration sensor or the velocity sensor coordinate system according to the acceleration sampling value and the angular velocity sampling value, and subtracts the acceleration acceleration component from the acceleration acceleration component to obtain the true acceleration in the coordinate system where the acceleration sensor or the velocity sensor is located.
  • the component combines the components of the real acceleration to obtain the acceleration value generated by the actual motion of the part to be measured, and calculates the degree of muscle relaxation based on the acceleration value.
  • the muscle relaxation measuring instrument senses the movement of the part to be measured by the acceleration sensor and the angular velocity sensor, and outputs the real-time acceleration sampling value and the angular velocity sampling value, and the muscle relaxation measuring instrument calculates the muscle relaxation degree according to the acceleration sampling value and the angular velocity sampling value, and calculates The result combines the acceleration sample value and the angular velocity sample value of the part to be measured, and eliminates the influence of gravity in the calculation process, so that the calculation result has higher accuracy.
  • the muscle relaxation measuring device of the muscle relaxation measuring instrument can be placed at any position of the site to be measured without affecting the accuracy of the measurement result.
  • the angular velocity sensor may be specifically a gyro sensor.
  • the muscle relaxometer further includes a display 204, and the processor 201 transmits the muscle relaxation degree calculation result to the display 204 for display.
  • the following describes how the processor 201 performs muscle relaxation measurement based on the acceleration sample value and the angular velocity sample value by taking the response signal extraction end 203 in a three-dimensional coordinate system and measuring the degree of muscle relaxation by the thumb.
  • the measuring device of the muscle relaxation measuring instrument is installed at any position of the thumb and has the same motion state as the thumb.
  • X a , Y a , Z a are the three axes of the coordinate system in which the acceleration sensor is located
  • X b , Y b and Z b are the three axes of the coordinate system in which the angular velocity sensor is located.
  • the instrument performs current stimulation on the detected object through the two electrodes connected to the wrist, and the detected object is stimulated and the thumb occurs.
  • the motion, acceleration sensor and angular velocity sensor respectively output the three-axis acceleration sample value and the three-axis angular velocity sample value when the thumb moves.
  • the processor 201 calculates a three-axis component of the gravity acceleration in the acceleration sensor coordinate system according to the three-axis acceleration sampling value and the three-axis angular velocity sampling value, and subtracts the component of the gravity acceleration in the acceleration sensor coordinate system from the three-axis acceleration sampling value.
  • the real acceleration component of the measurement part is subjected to a composite operation of the component of the real acceleration to obtain an acceleration value generated by the actual motion of the portion to be measured, and the degree of muscle relaxation is calculated based on the acceleration value.
  • the initial coordinate system of the acceleration sensor is A t .
  • the initial coordinate system A t for the initial coordinate system A t .
  • Rotation is performed to obtain a reference coordinate system R.
  • the reference coordinate system R is a coordinate system having an axis coincident with the direction of gravity acceleration.
  • the reference coordinate system R may be such that the component of gravity acceleration is [0, The coordinate system of 1 , 0].
  • the reference coordinate system R can be obtained by rotating the initial coordinate system.
  • the initial coordinate system A t can be used. Rotate the ⁇ angle along the z-axis and rotate the ⁇ angle along the X-axis to obtain the reference coordinate system R, where:
  • Rotation angle among them, A t The acceleration component of the lower acceleration sensor along the x, y, and z axes.
  • the processor 201 obtains the conversion matrix of the initial coordinate system ⁇ ⁇ around the z-axis according to the rotation angle ⁇ cos ⁇ sin ⁇ 0]
  • the processor 201 obtains an initial coordinate system A t according to the rotation angle. Conversion matrix around the X axis
  • the processor 201 obtains the reference coordinate system R from the conversion matrix C z , C x to the initial sitting Conversion matrix of the taxonomy A t()
  • the reference coordinate system R can also be used to the initial coordinate system A t by other rotation modes. Rotation is obtained. At this time, the conversion matrix of the initial coordinate system 0 around the 2 X axis obtained by the processor 201 will not be the same as the above.
  • the processor 201 When the to-be-measured portion is subjected to the current stimulation motion, the processor 201 performs an integral operation on the three-axis angular velocity sampling values output by the angular velocity sensor to obtain a rotation angle ⁇ ⁇ , ⁇ ⁇ , ⁇ ⁇ of the to-be-measured portion along the three-axis direction, and then according to The angle of rotation of the part to be measured along the three axes
  • ⁇ ⁇ , ⁇ , ⁇ ⁇ can be obtained to represent the quaternion qo(t k ), qi(t k ), q 2 (t k ), q 3 (t k ) of the motion information of the to-be-measured part after being stimulated. ).
  • the motion information includes at least acceleration information and angular velocity information when the portion to be measured moves.
  • the processor 201 obtains the quaternion by using the card algorithm.
  • the quaternion of the to-be-measured portion in the motion state can also be obtained by using a multi-subsample rotation vector algorithm.
  • the quaternion algorithm used by the processor 201 in this embodiment should not be understood as the quaternary number of the present application. limited.
  • the processor 201 finds the initial coordinate system A t based on the obtained quaternion.
  • the transformation matrix between the motion coordinate systems A tk at which the acceleration sensor is located at any time when the part to be measured is stimulated q 0 (t k ) 2 +qi(t k ) 2 -q 2 (t k ) 2 -q 3 (t k ) 2[q 1 (t k )q 2 (t k )-q 0 (t k ) q 3 (t k )]
  • the processor 201 obtains a transformation matrix between the reference coordinate R and the motion coordinate system A tk by the formula RR .
  • the acceleration sampling value and the angular velocity sampling value can also be used, and the influence of the gravitational acceleration is removed by coordinate transformation.
  • the muscle relaxation measuring instrument provided in this embodiment obtains the true acceleration component of the to-be-measured portion by subtracting the acceleration sampling value from the component of the acceleration acceleration coordinate system to eliminate the influence of the gravity acceleration on the measurement result and improve the measurement accuracy.
  • the processor 201 may be an integrated chip or a plurality of integrated chips recorded with a program that can implement the above functions.
  • Embodiment 2
  • the method for measuring muscle relaxation degree includes the following steps:
  • Step 101 When the object to be measured moves after being stimulated by the current, the acceleration sensor outputs a sample value of the triaxial acceleration of the measurement part.
  • Step 102 The angular velocity sensor outputs a sample value of the triaxial angular velocity of the portion to be measured.
  • Step 103 The instrument obtains a three-axis component of the gravity acceleration in the acceleration sensor coordinate system according to the three-axis acceleration sampling value and the three-axis angular velocity sampling value.
  • Step 104 The instrument subtracts the triaxial component of the gravity acceleration obtained in step 103 from the three-axis acceleration sample value in the acceleration sensor coordinate system to obtain a true acceleration component of the to-be-measured portion.
  • Step 105 Combine the real acceleration components of the to-be-measured portion obtained in step 104. Cheng, obtain the acceleration value ⁇ L ⁇ L generated by the actual motion of the part to be measured, and then extract the effective peak information of the combined acceleration as the actual acceleration generated by the motion of the part to be measured, substitute it into the calculation of muscle relaxation degree, and calculate the result Output.
  • the step 103 determines the three-axis component of the gravity acceleration in the acceleration sensor coordinate system according to the three-axis acceleration sampling value and the three-axis angular velocity sampling value:
  • FIG. 3a is the coordinate system where the acceleration sensor and the angular velocity sensor are located, where X a , Y a , Z a are the three axes of the coordinate system in which the acceleration sensor is located, and X b , Y b , Z b are the angular velocity sensors.
  • FIG. 3b which is a reference coordinate system R obtained by rotating the coordinate system in which the acceleration sensor is located in FIG. 3a, where X R , Y R , Z R are three axes of the reference coordinate system R, at the reference coordinates.
  • the component of gravity acceleration in the three axes is [0, 1, 0].
  • the initial coordinate system of the acceleration sensor is A t .
  • a t for the initial coordinate system A t .
  • Rotation is performed to obtain a reference coordinate system R such that the component of the gravitational acceleration in the reference coordinate system R is [0, 1, 0].
  • the initial coordinate system At () is rotated by an angle along the z-axis, and then rotated along the X-axis to obtain a reference coordinate system R, wherein the rotation angle is
  • the initial coordinate system A t is obtained from the rotation angle ⁇ . Conversion matrix around the z-axis
  • the reference coordinate system R is obtained from the transformation matrix C Z , C X to the initial coordinate system A t . Conversion moment
  • the reference coordinate system R can also be used to the initial coordinate system A t by other rotation modes.
  • the rotation is obtained, at this time, the initial coordinate system A t .
  • the conversion matrix around the z and X axes will no longer be the same as above.
  • the three-axis angular velocity sampling values output by the angular velocity sensor are respectively analyzed and processed to obtain the rotation angle of the to-be-measured portion along the three-axis direction.
  • the rotation angle of the portion to be measured along the three-axis direction is obtained by integral calculation, and then, according to the rotation angle of the portion to be measured along the three-axis direction
  • ⁇ 0 ⁇ 9 ⁇ finds a motion state vector which can represent the motion information of the to-be-measured part after being stimulated, and the motion information includes at least acceleration information and angular velocity information when the part to be measured is moved.
  • the motion The state vector is a quaternion q. (t k ), qi (t k ), q 2 (t k ), q 3 (t k ).
  • the motion state of the to-be-measured portion is obtained by the card algorithm.
  • the quaternion of the part to be measured in the motion state can also be obtained by a multi-sample rotation vector algorithm, etc.
  • the quaternion algorithm used in the present embodiment is not to be construed as limiting the present application.
  • the initial coordinate system A t is obtained from the obtained quaternion.
  • the transformation matrix between the motion coordinate systems A tk at which the acceleration sensor is located at any time when the part to be measured is stimulated q 0 (t k ) 2 +qi(t k ) 2 -q 2 (t k ) 2 -q 3 (t k ) 2[q 1 (t k )q 2 (t k )-q 0 (t k ) q 3 (t k )] 2[q 1 (t k )q 2 (t k )+q 0 (t k )q 3 (t k )] qo(t k ) 2 -qi(t k ) 2+ q2(t k ) 2 -q 3 (t k )
  • the method for measuring the degree of muscle relaxation provides the acceleration sampling value as an angular velocity sampling value by the acceleration sensor and the angular velocity sensor to calculate the degree of muscle relaxation, and the influence of the gravity acceleration on the measurement result is eliminated during the calculation, thereby improving the measurement accuracy and making the measurement accuracy
  • the corresponding measuring device can be placed anywhere in the part to be measured without affecting the measurement results.
  • the embodiment provides a muscle relaxation measurement processing apparatus, including a processing module 401 and a receiving unit 2011.
  • the processing module 401 is connected to the constant current source 202, and the constant current source 202 is controlled to generate a stimulation current to current spurt the object to be detected through the current output terminal of the constant current source 202.
  • the response signal extracting end 203 is placed on the to-be-measured portion and has the same motion state as the portion to be measured.
  • the response signal extracting end 203 senses and outputs the motion information of the measured portion, and the response signal.
  • the extraction end 203 includes an acceleration sensor and an angular velocity sensor, or the response signal extraction terminal 203 includes a velocity sensor and an angular velocity sensor.
  • the current output terminal of the constant current source 202 is further connected to the processing module 401, and the constant current source 202 feeds back the output current to the processing module 401 for monitoring, and ensures that the output current magnitude and the like are acceptable to the detected object.
  • the processing module 401 includes a gravity acceleration reduction unit 2012, a synthesizing unit 2013, and a muscle relaxation calculation unit 2014.
  • the receiving unit 2011 is configured to acquire an acceleration sampling value of the to-be-measured portion from the acceleration sensor, and obtain an angular velocity sampling of the to-be-measured portion from the angular velocity sensor.
  • the gravity acceleration reduction unit 2012 includes a first subunit and a second subunit, the first sub The element is used to obtain the component of the gravity acceleration in the acceleration sensor coordinate system according to the acceleration sampling value and the angular velocity sampling value; the second sub-unit is used to subtract the acceleration sampling value from the acceleration acceleration component in the acceleration sensor coordinate system, and obtain the to-be-measured a true acceleration component of the part; the synthesizing unit 2013 is configured to synthesize the obtained component of the true acceleration of the to-be-measured part,
  • the acceleration value V ax a y az generated by the actual movement of the part to be measured, the muscle relaxation calculation unit 2014 is used to extract the effective peak information of the combined acceleration, and is used as the actual acceleration generated by the movement of the part to be measured, and is substituted into the calculated muscle relaxation degree, and The calculation result is output.
  • the first subunit of the gravity acceleration reduction unit 2012 calculates the reference coordinate system to the motion coordinate system based on the acceleration sample value and the angular velocity sample value of the portion to be measured at the time t k obtained from the acceleration sensor and the angular velocity sensor.
  • the transformation matrix multiplies the projection component of the gravity acceleration in the reference coordinate system with the transformation matrix between the reference coordinate system and the motion coordinate system to obtain the component of the gravity acceleration in the motion coordinate system, and the time t k is after the electrical stimulation is issued.
  • the motion coordinate system is the coordinate system where the acceleration sensor is located at time t k , the reference coordinate system is obtained by rotating the initial coordinate system, and the gravity acceleration has a projection component in the reference coordinate system, and the initial coordinate system is before the electrical stimulation is issued.
  • the coordinate system where the acceleration sensor or the speed sensor is located at any time when the part to be measured is at rest for example, the reference coordinate system is a coordinate system in which the component of the gravity acceleration is [0, 1, 0], and the gravity acceleration is in the reference coordinate system.
  • the projection component in is [0, 1 , 0] ⁇ .
  • the first subunit acquires the gravitational acceleration at t from the acceleration sensor when calculating the transformation matrix between the reference coordinate system and the motion coordinate system.
  • the transformation matrix of the initial coordinate system; the transformation matrix between the initial coordinate system and the motion coordinate system is calculated according to the angular velocity sample value; the transformation matrix of the reference coordinate system to the initial coordinate system and the transformation matrix between the initial coordinate system and the motion coordinate system Multiply the transformation matrix between the reference coordinate system and the motion coordinate system.
  • the first subunit calculates a rotation angle from the initial coordinate system to the reference coordinate system according to the initial gravity component when calculating the transformation matrix of the reference coordinate system to the initial coordinate system based on the initial gravity component, and calculates the rotation angle from the initial coordinate system to the reference coordinate system.
  • the transformation matrix of the initial coordinate system to the reference coordinate system, and the conversion matrix of the reference coordinate system to the initial coordinate system is obtained according to the transformation matrix of the initial coordinate system to the reference coordinate system; the first subunit obtains the initial coordinate system to the motion according to the angular velocity sampling value When the transformation matrix between the coordinate systems is used, the angular velocity sampling value is analyzed and processed to obtain the rotation angle of the portion to be measured along the movement direction of each axis.
  • the rotation angle of the portion to be measured along the movement direction of each axis can be obtained by integral calculation, and then A rotation state of the to-be-measured portion along the movement direction of each axis is obtained to obtain a motion state vector indicating motion information of the to-be-measured portion after being stimulated, and a transformation matrix between the initial coordinate system and the motion coordinate system is obtained according to the motion state vector.
  • the motion state vector is a quaternion, and a transformation matrix between the initial coordinate system and the motion coordinate system is obtained according to the quaternion.
  • the muscle relaxation measurement processing device obtains the acceleration sampling value and the angular velocity sampling value through the acceleration sensor and the angular velocity sensor to calculate the degree of muscle relaxation, and the influence of the gravity acceleration on the measurement result is eliminated during the calculation process, thereby improving the measurement accuracy and correspondingly
  • the muscle relaxation measuring device can be placed anywhere in the site to be measured without affecting the measurement results.
  • the muscle relaxation measurement processing device may be an integrated chip or a plurality of integrated chips on which a program for realizing the above functions is recorded.

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Abstract

一种肌肉松弛程度测量方法、处理装置和肌松测量仪，通过加速度传感器和角速度传感器或速度传感器和角速度传感器分别获取待测量部位的加速度采样值和角速度采样值，根据加速度采样值和角速度采样值计算肌肉松弛程度。由于计算结果结合了待测量部位的加速度采样值和角速度采样值，因此，计算结果的准确性更高。此外，测量结合了加速度传感器和角速度传感器或速度传感器和角速度传感器，使得肌松测量仪可以放置在待测量部位的任意位置而不影响测量结果的准确性。

Description

肌肉松弛程度测量方法、 处理装置和肌松测量仪 技术领域
本申请涉及医疗器械领域， 具体涉及一种肌肉松弛程度测量方法、 处理装置和肌松测量仪。
背景技术
在手术过程中病人可能会产生一些不期望的运动， 或者需要病人的 肌肉处于某种程度的松弛状态，因此需要对病人注射使肌肉松弛的药物， 例如肌松药。 在注射药物后， 通常需要对病人进行肌松监测， 定量评价 病人的肌肉松弛程度。 对肌肉松弛程度的监测可以通过测量病人拇指短 收肌的收缩力量， 因为收缩力量反应了肌松程度， 根据牛顿定理， 力量 与加速度成正比关系， 通过测量拇指运动产生的加速度， 就可以间接获 得拇指短收肌的收缩力量。
测量肌肉松弛程度的常用方法是使用加速度传感器测量拇指运动产 生的加速度值， 以输出加速度采样值， 然后通过一定的运动假设， 通过 加速度值推导出角速度值，然而该运动假设与拇指的实际运动存在偏差， 导致肌松测量结果不准确。 例如， 假设拇指的运动为拇指绕固定点 （如 拇指根部）做圓周运动， 那么加速度对时间积分可以求得线速度， 线速 度除以估计的拇指长度可求得角速度。 这样便能得到肌松测量所需的全 部信息。显然拇指的实际运动并非完全是绕拇指根部做圓周运动， 因此， 这样的运动假设将给测量结果带来误差。
发明内容
根据本申请的第一方面， 本申请提供一种肌肉松弛程度测量方法， 包括下面步骤：
从加速度传感器或速度传感器获取待测量部位的加速度采样值。 从角速度传感器获取待测量部位的角速度采样值。
根据加速度采样值和角速度采样值计算肌肉松弛程度。 根据本申请的第二方面，本申请提供一种肌松测量处理装置， 包括： 接收单元， 用于从加速度传感器或速度传感器获取待测量部位的加 速度采样值， 和从角速度传感器获取待测量部位的角速度采样值。
处理模块， 用于根据所述加速度采样值和角速度采样值计算肌肉松 弛程度。 根据本申请的第三方面， 本申请提供一种肌松测量仪， 包括： 恒流源， 所述恒流源用于产生刺激电流， 并通过电流输出端对被检 测对象施加电流刺激。 响应信号提取端， 所述响应信号提取端包括加速度传感器和角速度 传感器， 或所述响应信号提取端包括速度传感器和角速度传感器。
处理器，所述处理器与恒流源连接，用于控制恒流源产生刺激电流； 所述处理器还与响应信号提取端通信连接， 用于从响应信号提取端输出 的运动信息中获取加速度采样值和角速度采样值， 并根据加速度采样值 和角速度采样值计算肌肉松弛程度。 本申请在检测肌肉松弛程度时通过加入角速度传感器， 可以同时获 得待测量部位的加速度采样值和角速度采样值， 根据加速度采样值和角 速度采样值计算出肌肉松弛程度， 由于计算结果结合了待测量部位的加 速度采样值和角速度采样值， 因此， 计算结果准确性更高。 另外， 在进 行测量时， 结合了加速度传感器和角速度传感器或速度传感器和角速度 传感器来获取待测量部位的加速度采样值和角速度采样值， 使得肌松测 量装置可以放置在待测量部位的任意位置而不影响测量结果的准确性。 附图说明
图 la 为本申请一种实施例中肌松测量仪通过拇指测量肌松程度的 示意图；
图 lb为本申请一种实施例中肌松测量仪的结构示意图；
图 2为本申请一种实施例中肌肉松弛程度测量方法的流程图； 图 3a 为本申请一种实施例中加速度传感器和角速度传感器所处的 坐标系；
图 3b为根据图 3a加速度传感器所处的坐标系旋转得到的参考坐标 系；
图 4为本申请一种实施例中肌松测量处理装置的模块示意图。
具体实施方式
下面通过具体实施方式结合附图对本申请作进一步详细说明。
实施例一
请参考图 la、 图 lb, 本实施例提供的肌松测量仪包括处理器 201、 恒流源 202和响应信号提取端 203。
处理器 201与恒流源 202连接，用于控制恒流源 202产生刺激电流。 恒流源 202的电流输出端在测量时通过一对电缆分别连接到两个电极， 两个电极可贴附于被测者的身体某部位， 如图 la所示， 两个电极贴附于 被测者的手腕处， 响应信号提取端 203贴附于被测者的拇指上。 当恒流 源 202输出刺激电流时，被测者手腕受到电击，拇指因刺激而产生运动， 响应信号提取端 203感应拇指的运动， 输出运动信息。
处理器 201还与响应信号提取端 203通信连接， 与响应信号提取端 203进行数据交互， 例如接收响应信号提取端 203输出的运动信息， 并 根据该运动信息计算肌肉松弛程度。 在另一实施例中， 处理器 201还可 向响应信号提取端 203发送配置、 校准和 /或身份信息。 通信连接包括有 线和无线连接。
在一实施例中， 响应信号提取端 203包括加速度传感器和角速度传 感器， 加速度传感器指能感受被检测对象加速度并将其转换成电信号输 出的传感器。 角速度传感器指能感受被检测对象角速度并将其转换成电 信号输出的传感器。 本实施例中， 加速度传感器可输出实时的加速度信 息， 角速度传感器可输出实时的角速度信息， 响应信号提取端 203将加 速度信息和角速度信息传送给处理器 201 , 加速度信息和角速度信息可 以是模拟电信号， 也可以是数字信号， 可以是连续的波形数据， 也可以 是离散的采样值。 处理器 201从加速度信息和角速度信息中获得加速度 采样值和角速度采样值， 然后基于加速度采样值和角速度采样值计算肌 松程度。
在另一实施例中， 响应信号提取端 203包括速度传感器和角速度传 感器， 速度传感器指能感受被检测对象的运动速度的传感器， 响应信号 提取端 203可以直接输出速度信息和时间信息， 也可以根据速度信息和 时间信息计算出加速度后将加速度信息转换为电信号输出。 相应地， 处 理器 201从响应信号提取端 203获得的信息除了角速度信息， 还有速度 信息或加速度信息， 当处理器 201从响应信号提取端 203获得速度信息 时， 处理器 201可根据速度信息和时间信息计算出加速度。 然后处理器 201基于加速度信息和角速度信息计算肌松程度。 处理器 201根据加速度采样值和角速度采样值计算肌肉松弛程度时 采用以下方案：
处理器 201根据初始重力加速度分量计算从初始坐标系到参考坐标 系的旋转角度，根据旋转角度计算初始坐标系到参考坐标系的转换矩阵， 根据初始坐标系到参考坐标系的转换矩阵得到参考坐标系到初始坐标系 的转换矩阵。参考坐标系通过对初始加速度所在坐标系（即初始坐标系） 转换得到，对应一个转换矩阵。 不同的转换矩阵对应不同的参考坐标系， 可以根据具体情况确定。 一种筒单的情况就是通过对初始加速度所在坐 标系进行转换， 使得重力加速度仅在参考坐标系的某一维度存在分量， 在其它维度分量为 0, 这将筒化后续处理。
处理器 201对角速度采样值进行分析处理求得待测量部位沿各轴运 动方向的旋转角度， 根据待测量部位沿各轴运动方向的旋转角度求得运 动状态矢量， 在一具体实例中， 处理器 201由惯性导航算法求得运动状 态矢量， 惯性导航算法是指通过陀螺仪等角速度传感器所测数据求解物 体在运动中姿态的算法， 例如可以是比卡算法或多子样旋转矢量算法， 求得待测量部位的运动状态矢量。 运动状态矢量表示待测量部位在受刺 激后运动时的运动信息， 根据运动状态矢量求得初始坐标系到运动坐标 系之间的转换矩阵。 运动信息至少包括待测量部位运动时的加速度信息 或速度信息和角速度信息。
处理器 201从加速度传感器或速度传感器获取重力加速度在 t。时刻 的初始坐标系下的初始重力加速度分量， to时刻为发出电刺激前、 待测 量部位处于静止状态下的任一时刻； 然后基于初始重力加速度分量计算 参考坐标系到 t。时刻初始坐标系的转换矩阵； 根据角速度采样值计算初 始坐标系到运动坐标系之间的转换矩阵； 根据参考坐标系到初始坐标系 的转换矩阵与初始坐标系到运动坐标系之间的转换矩阵， 求得参考坐标 系到运动坐标系之间的转换矩阵。
处理器 201根据 tk时刻加速度传感器或速度传感器输出的加速度采 样值和角速度传感器输出的角速度采样值计算参考坐标系到运动坐标系 之间的转换矩阵， 根据重力加速度在参考坐标系中的投影分量与参考坐 标系到运动坐标系之间的转换矩阵求得重力加速度在加速度传感器坐标 系或速度传感器坐标系中的分量， tk时刻为发出电刺激后的任一时刻， 运动坐标系为 tk时刻加速度传感器或速度传感器所在的坐标系， 参考坐 标系中重力加速度的分量为 [0 , 1 , 0]。
处理器 201根据加速度采样值和角速度采样值计算重力加速度在加 速度传感器或速度传感器坐标系中的分量， 将加速度采样值减去重力加 速度的分量， 得到加速度传感器或速度传感器所在坐标系中的真实加速 度分量， 将真实加速度的分量进行合成运算， 得到待测量部位实际运动 产生的加速度值， 基于加速度值计算肌肉松弛程度。
因该肌松测量仪通过加速度传感器和角速度传感器感应待测量部位 的运动， 输出实时的加速度采样值和角速度采样值， 肌松测量仪再根据 加速度采样值和角速度采样值计算出肌肉松弛程度， 计算结果结合了待 测量部位的加速度采样值和角速度采样值， 在计算过程中消除了重力的 影响， 从而使得计算结果具有更高的准确性。 另外， 肌松测量仪的肌松 测量装置可以放置在待测量部位的任意位置而不影响测量结果的准确 性。
在一具体实例中， 角速度传感器可以具体为陀螺仪传感器。
本实施例中， 肌松测量仪还包括显示器 204, 处理器 201将肌肉松 弛程度计算结果发送到显示器 204进行显示。
下面以响应信号提取端 203处于三维坐标系中通过拇指测量肌松程 度为例说明处理器 201如何基于加速度采样值和角速度采样值进行肌松 测量。
肌松测量仪的测量装置安装在拇指的任意位置上， 与拇指具有相同 的运动状态， 此时， Xa、 Ya、 Za为加速度传感器所处坐标系的三个轴， Xb、 Yb、 Zb为角速度传感器所处坐标系的三个轴。 仪器通过连接在手腕 上的双电极对被检测对象进行电流刺激， 被检测对象受刺激后拇指发生 运动， 加速度传感器和角速度传感器则分别输出拇指运动时的三轴加速 度采样值和三轴角速度采样值。 处理器 201根据该三轴加速度采样值和 三轴角速度采样值计算重力加速度在加速度传感器坐标系中的三轴分 量， 将三轴加速度采样值减去重力加速度在加速度传感器坐标系中的分 量得到待测量部位的真实加速度分量， 将真实加速度的分量进行合成运 算， 得到待测量部位实际运动产生的加速度值， 基于加速度值计算肌肉 松弛程度。
被测量部位静止时，加速度传感器的初始坐标系为 At。，对初始坐标 系 At。进行旋转得到参考坐标系 R, 本具体实例中， 参考坐标系 R为有 一轴与重力加速度方向重合的坐标系， 例如对于三维坐标系， 参考坐标 系 R可以为使得重力加速度的分量为 [0, 1 , 0]的坐标系。 参考坐标系 R 可通过初始坐标系旋转得到。 例如， 可将初始坐标系 At。沿 z轴旋转 ^角 度， 再沿 X轴旋转 Θ角度得到参考坐标系 R, 其中:
旋转角度
Figure imgf000007_0001
其中 、
Figure imgf000007_0002
At。下加速度传感器沿 x、 y、 z轴的加速度分量。 处理器 201根据旋转角度 ^求得初始坐标系 Αω绕 z轴的转换矩阵 cos^ sin^ 0]
Figure imgf000007_0003
处理器 201根据旋转角度 Θ求得初始坐标系 At。绕 X轴的转换矩阵 一
Figure imgf000007_0004
处理器 201根据转换矩阵 Cz、 Cx求得参考坐标系 R到初始坐 标系 At()的转换矩阵
Figure imgf000008_0001
当然， 本领域技术人员应当理解， 参考坐标系 R还可以通过其它旋 转方式对初始坐标系 At。进行旋转得到， 此时， 处理器 201 求得的初始 坐标系 0绕2 X轴的转换矩阵将与上述的不再相同。
当待测量部位受电流刺激运动时， 处理器 201对角速度传感器输出 的三轴角速度采样值分别进行积分运算求得待测量部位沿三轴方向的旋 转角度 Δθχ，Δθγ，Δθζ , 再根据待测量部位沿三轴方向的旋转角度
Δθχ，Δθγ，ΔΘΖ求得可以表示待测量部位在受刺激后运动时运动信息的四 元数 qo(tk)、 qi(tk)、 q2(tk)、 q3(tk)。 运动信息至少包括待测量部位运动时 的加速度信息和角速度信息。 本实施例中， 处理器 201通过比卡算法求 四元数
Figure imgf000008_0002
其中， ΔΘ^ΔΘ» ;
Figure imgf000008_0003
当然， 待测量部位在运动状态下的四元数还可以通过多子样旋转矢 量算法等方式求得， 本实施例中处理器 201采用的比卡算法求四元数不 应当理解为对本申请的限定。
然后处理器 201根据求得的四元数求初始坐标系 At。到待测量部位 受刺激运动时任意时刻加速度传感器所在的运动坐标系 Atk之间的转换 矩阵 q0(tk)2+qi(tk)2-q2(tk)2-q3(tk) 2[q1(tk)q2(tk)-q0(tk)q3(tk)]
2[q1(tk)q2(tk)+q0(tk)q3(tk)]
Figure imgf000009_0001
qo(tk)2-qi(tk)2+q2(tk)2-q3(tk)
2[q1(tk)q3(tk)-q0(tk)q2(tk)] 2[q2(tk)q3(tk)+q0(tk)q1(tk)]
2[q1(tk)q3(tk)+q0(tk)q2(tt)]
2[q2(tt)q3(tk)-q0(tk)qi(tk)]
qo(tk)2-qi(tk)2-q2(tk)2+q3(tk) 处理器 201通过算式 R R 求得参考坐标 R到运动坐标系 Atk之间的转换矩阵。
此时， 处理器 201将重力加速度在参考坐标系中的投影分量与参考 坐标系到运动坐标系之间的转换矩阵相乘得到重力加速度在加速度传感 器坐标系中的三轴分量， 即 [°χ，Gy A ]T =c [ο， 1，0]τ , 其中， 重力加 速度在参考坐标系中的投影分量为 [0, 1, 0]τ。
当假设响应信号提取端 203处于一维或二维坐标系中时， 采用上面 的构思， 同样可基于加速度采样值和角速度采样值， 通过坐标变换， 然 后将重力加速度的影响去除。
本实施例提供的肌松测量仪通过将加速度采样值减去重力加速度在 加速度传感器坐标系中的分量得到待测量部位的真实加速度分量来消除 重力加速度对测量结果的影响， 提高其测量精度。
处理器 201可以是记录有可实现上述功能的程序的一个集成芯片或 多个集成芯片。 实施例二
请参考图 2, 以三维坐标系为例， 本实施例提供的肌肉松弛程度测 量方法包括下面步骤：
步骤 101, 待测量对象在受电流刺激后运动时， 加速度传感器输出 对测量部位的三轴加速度采样值。
步骤 102, 角速度传感器输出对待测量部位的三轴角速度采样值。 步骤 103, 仪器根据三轴加速度采样值和三轴角速度采样值求得重 力加速度在加速度传感器坐标系中的三轴分量。
步骤 104, 仪器将三轴加速度采样值减去步骤 103求得的重力加速 度在加速度传感器坐标系中的三轴分量， 得到待测量部位的真实加速度 分量。
步骤 105, 对步骤 104得到的待测量部位的真实加速度分量进行合 成， 得到待测量部位实际运动产生的加速度值 ^L^^L, 然后提取合 成加速度的有效峰值信息， 作为待测量部位运动产生的实际加速度， 将 其代入计算肌肉松弛程度， 并将计算结果进行输出。
本实施例中， 步骤 103仪器根据三轴加速度采样值和三轴角速度采 样值求得重力加速度在加速度传感器坐标系中的三轴分量具体为：
请参考图 3a, 为加速度传感器和角速度传感器所处的坐标系， 其中 Xa、 Ya、 Za为加速度传感器所处坐标系的三个轴， Xb、 Yb、 Zb为角速度 传感器所处坐标系的三个轴。 请参考图 3b , 为通过图 3a中加速度传感 器所处的坐标系进行旋转而得到的参考坐标系 R , 其中， XR、 YR、 ZR 为参考坐标系 R的三个轴， 在参考坐标系 R中， 重力加速度在三个轴的 分量为 [0 , 1 , 0]。
被测量部位静止时，加速度传感器的初始坐标系为 At。，对初始坐标 系 At。进行旋转得到参考坐标系 R, 使得重力加速度在参考坐标系 R中 的分量为 [0 , 1 , 0]。 优选的， 本实施例中， 将初始坐标系 At()沿 z轴旋 转^角度， 再沿 X轴旋转 Θ角度得到参考坐标系 R, 其中旋转角度
Figure imgf000010_0001
其中 ΧΛο
Figure imgf000010_0002
Aol分别为在初始坐标系 At。下加速度传感器沿 y、 z轴的加速度分量。
根据旋转角度 φ求得初始坐标系 At。绕 z轴的转换矩阵
Figure imgf000010_0003
根据旋转角度 Θ求得初始坐标系 Αω绕 X轴的转换矩阵
Figure imgf000010_0004
根据转换矩阵 CZ、 CX求得参考坐标系 R到初始坐标系 At。的转换矩
Figure imgf000011_0001
当然， 本领域技术人员应当理解， 参考坐标系 R还可以通过其它旋 转方式对初始坐标系 At。进行旋转得到， 此时， 初始坐标系 At。绕 z、 X 轴的转换矩阵将与上述的不再相同。
当待测量部位受电流刺激运动时， 对角速度传感器输出的三轴角速 度采样值分别进行分析处理求得待测量部位沿三轴方向的旋转角度
A9x>A9y?A9z 本实施例中， 通过积分运算求得待测量部位沿三轴方向 的旋转角度， 之后， 再根据待测量部位沿三轴方向的旋转角度
"^0^^9 ^求得可以表示待测量部位在受刺激后运动时运动信息的运 动状态矢量， 运动信息至少包括待测量部位运动时的加速度信息和角速 度信息。 在一具体实例中， 运动状态矢量为四元数 q。(tk)、 q i (tk)、 q2(tk)、 q3(tk)。 本实施例中， 通过比卡算法求得待测量部位 ^运动状态下的四元 数
Figure imgf000011_0002
其中， ΔΘ^ΔΘ^+ΔΘ^+ΔΘ;
Figure imgf000011_0003
当然， 待测量部位在运动状态下的四元数还可以通过多子样旋转矢 量算法等方式求得， 本实施例中采用的比卡算法求四元数不应当理解为 对本申请的限定。
然后根据求得的四元数求初始坐标系 At。到待测量部位受刺激运动 时任意时刻加速度传感器所在的运动坐标系 Atk之间的转换矩阵 q0(tk)2+qi(tk)2-q2(tk)2-q3(tk) 2[q1(tk)q2(tk)-q0(tk)q3(tk)]
Figure imgf000012_0001
2[q1(tk)q2(tk)+q0(tk)q3(tk)] qo(tk)2-qi(tk)2+q2(tk)2-q3(tk)
2[q1(tk)q3(tk)-q0(tk)q2(tk)] 2[q2(tk)q3(tk)+q0(tk)q1(tk)]
2[q1(tk)q3(tk)+q0(tk)q2(tt)]
2[q2(tt)q3(tk)-q0(tk)qi(tk)]
qo(tk)2-qi(tk)2-q2(tk)2+q3(tk)
-考坐标 R到运动坐标系 Atk之间的转换矩阵 R R 此时， 重力加速度在加速度传感器坐标系中的三轴分量为重力加速 度在参考坐标系中的投影分量与参考坐标系到运动坐标系之间的转换矩 阵的乘积， 即 [Gx，Gy，Gz]T=C [0，l，0]'其中， 重力加速度在参考坐标 系中的投影分量为 [0, 1, 0]τ。
本实施例提供的肌肉松弛程度测量方法通过加速度传感器和角速度 传感器获得加速度采样值为角速度采样值来计算肌肉松弛程度， 计算过 程中消除了重力加速度对测量结果的影响， 提高了测量精度， 同时使得 相应的测量装置可以放置在待测量部位的任意位置， 而不会影响测量结 果。 实施例三
请参考图 4, 本实施例提供了一种肌松测量处理装置， 包括处理模 块 401和接收单元 2011。
在进行测量时， 处理模块 401与恒流源 202连接， 控制恒流源 202 产生刺激电流通过恒流源 202 的电流输出端对被检测对象进行电流刺 激。 响应信号提取端 203放置在待测量部位上， 与待测量部位具有相同 的运动状态，当被检测对象受电流刺激发生运动时，响应信号提取端 203 感应并输出被测量部位的运动信息， 响应信号提取端 203包括加速度传 感器和角速度传感器， 或响应信号提取端 203包括速度传感器和角速度 传感器。本实施例中， 恒流源 202的电流输出端还与处理模块 401相连， 恒流源 202将输出的电流反馈给处理模块 401进行监测， 保证输出的电 流大小等参数在被检测对象可承受的范围内。
处理模块 401 包括重力加速度消减单元 2012、 合成单元 2013和肌 松计算单元 2014; 接收单元 2011用于从加速度传感器中获取待测量部 位的加速度采样值， 和从角速度传感器中获取待测量部位的角速度采样 值； 重力加速度消减单元 2012包括第一子单元和第二子单元， 第一子单 元用于根据加速度采样值和角速度采样值求得重力加速度在加速度传感 器坐标系中的分量； 第二子单元用于将加速度采样值减去重力加速度在 加速度传感器坐标系中的分量， 得到待测量部位的真实加速度分量； 合 成单元 2013用于将得到的待测量部位的真实加速度的分量进行合成，得
/ 2 _, 2 _ 2
到待测量部位实际运动产生的加速度值 Vax ay az ,肌松计算单元 2014 用于提取合成加速度的有效峰值信息， 作为待测量部位运动产生的实际 加速度， 将其代入计算肌肉松弛程度， 并将计算结果进行输出。
本实例中，重力加速度消减单元 2012的第一子单元根据从加速度传 感器和角速度传感器中获取到的 tk时刻待测量部位的加速度采样值和角 速度采样值计算参考坐标系到运动坐标系之间的转换矩阵， 将重力加速 度在参考坐标系中的投影分量与参考坐标系到运动坐标系之间的转换矩 阵相乘求得重力加速度在运动坐标系中的分量， tk时刻为发出电刺激后 的任一时刻， 运动坐标系为 tk时刻加速度传感器所在的坐标系， 参考坐 标系为通过对初始坐标系进行旋转得到， 重力加速度在参考坐标系中存 在投影分量， 初始坐标系为发出电刺激前、 待测量部位处于静止状态下 的任一时刻加速度传感器或速度传感器所在的坐标系， 例如参考坐标系 为使得重力加速度的分量为 [0 , 1 , 0]的坐标系， 重力加速度在参考坐标 系中的投影分量为 [0, 1 , 0]τ。
第一子单元在计算参考坐标系到运动坐标系之间的转换矩阵时从加 速度传感器获取重力加速度在 t。时刻的初始坐标系下的初始重力分量， to时刻为发出电刺激前、 待测量部位处于静止状态下的任一时刻； 然后 基于初始重力分量计算参考坐标系到 t。时刻初始坐标系的转换矩阵； 根 据角速度采样值计算初始坐标系到运动坐标系之间的转换矩阵； 将参考 坐标系到初始坐标系的转换矩阵与初始坐标系到运动坐标系之间的转换 矩阵相乘求得参考坐标系到运动坐标系之间的转换矩阵。
第一子单元在基于初始重力分量计算参考坐标系到初始坐标系的转 换矩阵时根据初始重力分量计算从初始坐标系到参考坐标系的旋转角 度， 根据初始坐标系到参考坐标系的旋转角度计算初始坐标系到参考坐 标系的转换矩阵， 根据初始坐标系到参考坐标系的转换矩阵得到参考坐 标系到初始坐标系的转换矩阵； 第一子单元在根据角速度采样值求得初 始坐标系到运动坐标系之间的转换矩阵时对角速度采样值进行分析处理 求得待测量部位沿各轴运动方向的旋转角度， 具体可以通过积分运算求 得待测量部位沿各轴运动方向的旋转角度， 之后根据待测量部位沿各轴 运动方向的旋转角度求得表示待测量部位在受刺激后运动时运动信息的 运动状态矢量， 根据运动状态矢量求得初始坐标系到运动坐标系之间的 转换矩阵。 在一具体实例中， 运动状态矢量为四元数， 根据四元数求得 初始坐标系到运动坐标系之间的转换矩阵。 本实施例提供的肌松测量处理装置通过加速度传感器和角速度传感 器获得加速度采样值和角速度采样值来计算肌肉松弛程度， 计算过程中 消除了重力加速度对测量结果的影响， 提高了测量精度， 同时相应的肌 松测量装置可以放置在待测量部位的任意位置， 而不会影响测量结果。
该肌松测量处理装置可以是记录有可实现上述功能的程序的一个集 成芯片或多个集成芯片。
以上内容是结合具体的实施方式对本申请所作的进一步详细说明， 不能认定本申请的具体实施只局限于这些说明。 对于本申请所属技术领 域的普通技术人员来说， 在不脱离本申请构思的前提下， 还可以做出若 干筒单推演或替换。

Claims

权 利 要 求
1、 一种肌肉松弛程度测量方法， 其特征在于包括：
从加速度传感器或速度传感器获取待测量部位的加速度采样值； 从角速度传感器获取待测量部位的角速度采样值；
根据加速度采样值和角速度采样值计算肌肉松弛程度。
2、如权利要求 1所述的肌肉松弛程度测量方法，所述根据加速度采 样值和角速度采样值计算肌肉松弛程度的步骤包括：
根据加速度采样值和角速度采样值计算重力加速度在加速度传感 器坐标系或速度传感器坐标系中的分量；
将加速度采样值减去重力加速度分量， 得到加速度传感器或速度传 感器所在坐标系中的真实加速度的分量；
将真实加速度的分量进行合成运算， 得到待测量部位实际运动产生 的加速度值， 基于这个加速度值计算肌肉松弛程度。
3、 如权利要求 2所述的肌肉松弛程度测量方法， 其特征在于， 所述 根据加速度采样值和角速度采样值计算重力加速度在加速度传感器坐标 系或速度传感器坐标系中的分量的步骤包括：
根据 tk时刻从加速度传感器或速度传感器获取的加速度采样值和从 角速度传感器获取的角速度采样值计算参考坐标系到运动坐标系之间的 转换矩阵； 所述 tk时刻为发出电刺激后的任一时刻， 所述运动坐标系为 tk时刻加速度传感器或速度传感器所在的坐标系， 所述参考坐标系为通 过对初始坐标系进行旋转得到， 初始坐标系为发出电刺激前、 待测量部 位处于静止状态下的任一时刻加速度传感器或速度传感器所在的坐标 系；
根据重力加速度在参考坐标系中的投影分量与参考坐标系到运动 坐标系之间的转换矩阵求得重力加速度在加速度传感器坐标系或速度传 感器坐标系中的分量。
4、 如权利要求 3所述的肌肉松弛程度测量方法， 其特征在于， 所述 计算参考坐标系到运动坐标系之间的转换矩阵包括：
从加速度传感器或速度传感器获取重力加速度在 t。时刻的初始坐标 系下的初始重力加速度分量， 所述 to时刻为发出电刺激前、 待测量部位 处于静止状态下的任一时刻；
基于初始重力加速度分量计算参考坐标系到 t。时刻初始坐标系的转 换矩阵；
根据所述角速度采样值计算初始坐标系到运动坐标系之间的转换 矩阵；
根据参考坐标系到初始坐标系的转换矩阵与初始坐标系到运动坐 标系之间的转换矩阵， 求得参考坐标系到运动坐标系之间的转换矩阵。
5、 如权利要求 4所述的肌肉松弛程度测量方法， 其特征在于， 所述基于初始重力加速度分量计算参考坐标系到 t。时刻初始坐标系 的转换矩阵的步骤包括：
根据初始重力加速度分量计算从初始坐标系到参考坐标系的旋转 角度；
根据旋转角度计算初始坐标系到参考坐标系的转换矩阵；
根据初始坐标系到参考坐标系的转换矩阵得到参考坐标系到初始 坐标系的转换矩阵。
6、 如权利要求 4所述的肌肉松弛程度测量方法， 其特征在于， 所述 根据所述角速度采样值求得初始坐标系到运动坐标系之间的转换矩阵的 步骤包括： 向的旋转角度;、支 '' 、 、 。 ' 根据待测量部位沿各轴运动方向的旋转角度求得运动状态矢量， 所 述运动状态矢量表示待测量部位在受刺激后运动时的运动信息；
根据所述运动状态矢量求得初始坐标系到运动坐标系之间的转换 矩阵。
7、 如权利要求 6所述的肌肉松弛程度测量方法， 其特征在于， 所述 根据待测量部位沿各轴运动方向的旋转角度求得运动状态矢量的步骤具 体为：
根据待测量部位沿各轴运动方向的旋转角度， 通过惯性导航算法求 得运动状态矢量。
8、 一种几松测量处理装置， 其特征在于包括：
接收单元， 用于从加速度传感器或速度传感器获取待测量部位的加 速度采样值， 和从角速度传感器获取待测量部位的角速度采样值；
处理模块， 用于根据所述加速度采样值和角速度采样值计算肌肉松 弛程度。
9、 如权利要求 8所述的肌松测量处理装置， 其特征在于， 所述处理 模块包括：
重力加速度消减单元， 所述重力加速度消减单元包括用于根据加速 度采样值和角速度采样值计算重力加速度在加速度传感器或速度传感器 坐标系中的分量的第一子单元； 和用于将加速度采样值减去重力加速度 分量， 得到加速度传感器或速度传感器所在坐标系中的真实加速度分量 的第二子单元；
合成单元， 用于将真实加速度的分量进行合成运算， 得到待测量部 位实际运动产生的加速度值；
肌松计算单元， 用于基于加速度值计算肌肉松弛程度。
10、 一种肌松测量仪， 其特征在于， 包括： 恒流源， 所述恒流源用于产生刺激电流， 并通过电流输出端对被检 测对象施加电流刺激；
响应信号提取端， 所述响应信号提取端包括加速度传感器和角速度 传感器， 或所述响应信号提取端包括速度传感器和角速度传感器；
处理器，所述处理器与恒流源连接，用于控制恒流源产生刺激电流； 所述处理器还与响应信号提取端通信连接， 用于从响应信号提取端输出 的运动信息中获取加速度采样值和角速度采样值， 并根据加速度采样值 和角速度采样值计算肌肉松弛程度。
11、 如权利要求 10所述的肌松测量仪， 其特征在于， 所述处理器在 根据加速度采样值和角速度采样值计算肌肉松弛程度具体为：
根据加速度采样值和角速度采样值计算重力加速度在加速度传感 器或速度传感器坐标系中的分量， 将加速度采样值减去重力加速度的分 量， 得到加速度传感器或速度传感器所在坐标系中的真实加速度分量， 将真实加速度的分量进行合成运算， 得到待测量部位实际运动产生的加 速度值， 基于加速度值计算肌肉松弛程度。
12、 如权利要求 11所述的肌松测量仪， 其特征在于， 所述处理器在 根据加速度采样值和角速度采样值计算重力加速度在加速度传感器或速 度传感器坐标系中的分量具体为：
根据 tk时刻从加速度传感器或速度传感器获取的加速度采样值和从 角速度传感器获取的角速度采样值计算参考坐标系到运动坐标系之间的 转换矩阵， 根据重力加速度在参考坐标系中的投影分量与参考坐标系到 运动坐标系之间的转换矩阵求得重力加速度在加速度传感器坐标系或速 度传感器坐标系中的分量， 所述 tk时刻为发出电刺激后的任一时刻， 所 述运动坐标系为 tk时刻加速度传感器或速度传感器所在的坐标系， 所述 参考坐标系为通过对初始坐标系进行旋转得到， 初始坐标系为发出电刺 激前、 待测量部位处于静止状态下的任一时刻加速度传感器或速度传感 器所在的坐标系。
13、 如权利要求 12所述的肌松测量仪， 其特征在于， 所述处理器在 根据 tk时刻从加速度传感器或速度传感器获取的加速度采样值和从角速 度传感器获取的角速度采样值计算参考坐标系到运动坐标系之间的转换 矩阵具体为：
从加速度传感器或速度传感器获取重力加速度在 t。时刻的初始坐标 系下的初始重力加速度分量， 所述 to时刻为发出电刺激前、 待测量部位 处于静止状态下的任一时刻； 然后基于初始重力加速度分量计算参考坐 标系到 t。时刻初始坐标系的转换矩阵； 根据所述角速度采样值计算初始 坐标系到运动坐标系之间的转换矩阵； 根据参考坐标系到初始坐标系的 转换矩阵与初始坐标系到运动坐标系之间的转换矩阵， 求得参考坐标系 到运动坐标系之间的转换矩阵。
14、 如权利要求 13所述的肌松测量仪， 其特征在于， 所述处理器在 基于初始重力加速度分量计算参考坐标系到初始坐标系的转换矩阵具体 为：
根据初始重力加速度分量计算从初始坐标系到参考坐标系的旋转 角度， 根据旋转角度计算初始坐标系到参考坐标系的转换矩阵， 根据初 始坐标系到参考坐标系的转换矩阵得到参考坐标系到初始坐标系的转换 矩阵； 系之间的转换矩阵具体为： 、' 、、 、 ， 、 Λλ '、
对所述角速度采样值进行分析处理求得待测量部位沿各轴运动方向 的旋转角度， 根据待测量部位沿各轴运动方向的旋转角度求得运动状态 矢量，所述运动状态矢量表示待测量部位在受刺激后运动时的运动信息， 根据所述运动状态矢量求得初始坐标系到运动坐标系之间的转换矩阵。
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