WO2024057690A1 - Dispositif de mesure de mouvement biologique et système de mesure de mouvement biologique - Google Patents

Dispositif de mesure de mouvement biologique et système de mesure de mouvement biologique Download PDF

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Publication number
WO2024057690A1
WO2024057690A1 PCT/JP2023/025482 JP2023025482W WO2024057690A1 WO 2024057690 A1 WO2024057690 A1 WO 2024057690A1 JP 2023025482 W JP2023025482 W JP 2023025482W WO 2024057690 A1 WO2024057690 A1 WO 2024057690A1
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magnetic field
sensor
magnetic
living body
measuring device
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PCT/JP2023/025482
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English (en)
Japanese (ja)
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亮介 磯谷
宜史 吉田
宏太郎 槇
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セイコーグループ株式会社
学校法人昭和大学
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Publication of WO2024057690A1 publication Critical patent/WO2024057690A1/fr

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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—Detecting, measuring or recording 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, mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A61C19/04—Measuring instruments specially adapted for dentistry
    • A61C19/045—Measuring instruments specially adapted for dentistry for recording mandibular movement, e.g. face bows

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  • the present invention relates to a biological movement measuring device and a biological movement measuring system.
  • Patent Document 1 discloses a method in which a magnetic generator is attached to one of the upper and lower jaws in a living body and a magnetic field sensor is attached to the other to measure the relative three-dimensional movement of one jaw with respect to the other jaw.
  • An in-vivo three-dimensional motion measuring device has been described.
  • the in-vivo three-dimensional motion measuring device described in Patent Document 1 includes a plurality of magnetic generators, a plurality of magnetic field sensors, and a plurality of non-contact calibration coils. There are at least five combinations with the calibration coil, and by detecting the calibration magnetic field generated from each calibration coil with each magnetic generator and each magnetic field sensor, the initial position of each magnetic generator and each magnetic field sensor can be determined. and the initial direction.
  • Patent Document 2 describes a device that measures at least one of the relative position and relative movement of a patient's lower jaw with respect to the upper jaw.
  • the device described in Patent Document 2 includes a transmitter coil placed adjacent to the patient's head and a mandibular sensor placed on the mandible, and detects the position of the mandible based on the position determined by the mandible sensor. At least one of the relative position and relative movement with respect to the upper jaw is specified.
  • Patent No. 4551395 Special Publication No. 2019-510553
  • the present invention has been made in consideration of such circumstances, and its purpose is to provide a biological movement measuring device and a biological movement measuring system that can easily measure the movement of parts in a living body. .
  • One aspect of the present invention includes one or more magnetic generators placed at a first site in a living body, and two or more magnetic generators placed at another site different from the first site in the living body, and two or more orthogonal measurements.
  • the present invention is a biological motion measuring device including one or more magnetic field sensors for measuring the magnetic field generated by each of the magnetic generators by means of a shaft.
  • One aspect of the present invention is the above-mentioned biological motion measuring device, in which the magnetic generator is a bipolar magnet.
  • One aspect of the present invention is the above-mentioned biological motion measuring device, in which the magnetic pole of the magnetic generator is arranged in a direction in which the first part and the other part move.
  • the magnetic flux density of the magnetic generator is 300 millitesla or more.
  • the magnetic field sensor is composed of one or a combination of a Hall sensor, a magnetoresistance effect sensor, and a magnetic impedance sensor.
  • the plurality of magnetic field sensors are arranged such that distances from one of the magnetic field sensors are different from each other.
  • One aspect of the present invention is the above-mentioned biological motion measuring device, in which one or more posture sensors are arranged at at least one of the first region and the other region, and measure the orientation of the arranged region. Furthermore, it is equipped with.
  • One aspect of the present invention is the above-mentioned biological motion measuring device, in which the posture sensor measures a three-dimensional orientation.
  • the posture sensor is configured by any one or a combination of a gyro sensor, an acceleration sensor, and a geomagnetic sensor.
  • One aspect of the present invention is the above-mentioned biological motion measuring device, which includes a magnetic generator disposed at the first site and having a polarity opposite to that of the magnetic generator, and a magnetic generator disposed at the other site, and two or more magnetic generators disposed at the other site.
  • the apparatus further includes an additional magnetic field sensor for measuring the magnetic field generated by the magnetic generator of opposite polarity with orthogonal measurement axes.
  • the first region is a region that moves with either one of the upper jaw and lower jaw of the living body
  • the other region is a region that moves with one of the upper jaw and the lower jaw of the living body. This is a part that interlocks with the other jaw, which is different from the first part, of the upper jaw and the lower jaw.
  • One aspect of the present invention is the biological motion measuring device described above, wherein the first region is one of the upper jaw and lower jaw in the oral cavity of the living body, and the other region is the jaw of the living body. This is the other jaw of the upper jaw and the lower jaw in the oral cavity, which is different from the first part.
  • the first region and the other region are molar teeth.
  • One aspect of the present invention is the above-described biological movement measuring device, in which the magnetic generator is provided in a mouthpiece attached to the first region, and the magnetic field sensor is provided in a mouthpiece attached to the other region. Prepared for peace.
  • the magnetic generator is arranged such that the magnetic pole faces the opening direction.
  • One aspect of the present invention is the above-mentioned biological motion measuring device, in which the magnetic field sensor is arranged at a position where vectors of two or more components of the magnetic field generated by the magnetic generator change.
  • the mouthpiece attached to the other region further includes a posture sensor
  • the biological movement measuring device includes a magnetic field measured by each of the magnetic field sensors and a posture sensor.
  • the apparatus further includes a signal processing section that measures jaw movement in six degrees of freedom in the living body based on the orientation measured by the posture sensor.
  • One aspect of the present invention includes one or more magnetic generators placed at a first site in a living body, and two or more magnetic generators placed at another site different from the first site in the living body, and two or more orthogonal measurements.
  • One or more magnetic field sensors for measuring the magnetic field generated by each of the magnetic field sensors, and a shaft between each of the magnetic field sensors and each of the magnetic field sensors based on the magnetic field measured by each of the magnetic field sensors.
  • a signal processing unit that calculates the relative position of the body.
  • One aspect of the present invention includes the above-described biological movement measuring device, and a signal processing unit that calculates a relative position between each magnetic field generator and each magnetic field sensor based on the magnetic field measured by each magnetic field sensor. In calculating the relative position, the signal processing unit performs correction regarding the inclination of each magnetic generator or each magnetic field sensor that occurs when the living body moves, based on the orientation measured by each posture sensor. This is a biological motion measurement system.
  • the above-mentioned biological movement measurement system further includes a geomagnetic sensor that measures geomagnetism received by the magnetic field sensor, and the signal processing unit detects the magnetic field based on the geomagnetism measured by the geomagnetic sensor. Reduces the influence of geomagnetism from the magnetic field measured by the sensor.
  • One aspect of the present invention in the above-mentioned biological motion measurement system, measures the magnetism received by the plurality of magnetic field sensors, and corrects the inclination based on the relative coordinates of the plurality of magnetic sensors.
  • One aspect of the present invention is the above-mentioned biological motion measurement system, wherein the first region and the other region are molar regions, and a memory that stores data indicating a positional relationship from the molar region to the anterior tooth region in the living body.
  • the signal processing unit converts the calculation result of the relative position into a relative position between the front teeth of the upper jaw and the front teeth of the lower jaw in the living body, based on the positional relationship. .
  • One aspect of the present invention is the above biological motion measurement system, further comprising a conversion table for converting the magnetic field measured by the magnetic field sensor to the relative position, and the signal processing unit converts the magnetic field measured by the magnetic field sensor into the relative position.
  • the relative position is obtained from the magnetic field measured by each magnetic field sensor based on the magnetic field sensor, the missing position information in the conversion table is compensated for by interpolation processing.
  • the interpolation process is linear interpolation or interpolation using a radial basis function.
  • One aspect of the present invention is the above-described biological motion measurement system, further comprising a storage unit that stores a history indicating a series of movements between the first part and the other part of the living body, and the signal processing unit , the relative position is calculated using the history.
  • One aspect of the present invention is the above-mentioned biological motion measurement system, wherein the signal processing unit limits the range of the relative positions referred to in the conversion table based on the calculation result of the immediately preceding relative position. do.
  • One aspect of the present invention is the above-mentioned biological motion measurement system, in which the magnetic field sensor measures the magnetic field at a sampling rate of 100 hertz or more.
  • One aspect of the present invention is the above-mentioned biological motion measurement system, in which the magnetic field sensor measures a magnetic field at a sampling rate of 100 hertz or more, and the posture sensor measures posture at a sampling rate of 20 hertz or more.
  • FIG. 1 is a diagram showing an example of a biological motion measuring device according to a first embodiment.
  • FIG. 1 is a diagram showing an example of a biological motion measuring device according to a first embodiment.
  • FIG. 2 is a block diagram showing a configuration example of a main body device of the biological movement measuring device according to the first embodiment. It is a figure showing an example of the magnet concerning a 1st embodiment.
  • FIG. 3 is an explanatory diagram for explaining a magnetic field according to the first embodiment.
  • FIG. 3 is an explanatory diagram for explaining a magnetic field according to the first embodiment.
  • It is a figure showing an example of composition of a conversion table concerning a 1st embodiment.
  • FIG. 3 is an explanatory diagram for explaining an example of a method for calculating relative positions according to the first embodiment.
  • FIG. 7 is a block diagram illustrating a configuration example of a main body device of a biological motion measuring device according to a second embodiment.
  • FIG. 7 is a diagram illustrating an example of the arrangement of posture sensors according to a second embodiment.
  • FIG. 7 is a block diagram showing a configuration example of a main body device of a biological motion measuring device according to a third embodiment. It is a figure showing the example of arrangement of the geomagnetic sensor concerning a 3rd embodiment. It is a figure for explaining an example of the geomagnetism reduction method concerning a 3rd embodiment.
  • FIGS. 1 and 2 are diagrams showing an example of a biological motion measuring device according to the first embodiment.
  • the biological motion measuring device according to this embodiment includes a main body device 1 and a magnetic generator 2.
  • the main body device 1 and the magnetic generator 2 are placed in a living body 200.
  • the living body 200 is a person.
  • FIG. 1 is a side view of a person's face.
  • FIG. 2 is also a side view.
  • the biological motion measuring device is a measuring device for measuring the relative position of the lower jaw 202 with respect to the upper jaw 201 in the living body 200.
  • the magnetic generator 2 is placed in the molar region of the upper jaw 201 of a living body 200. More specifically, the magnetic generator 2 is provided in a mouthpiece 211 that is attached to the molar region of the upper jaw 201 of the living body 200, as illustrated in FIG. By attaching the mouthpiece 211 to the molars of the upper jaw 201 of the living body 200, the magnetic generator 2 is placed at the molars of the upper jaw 201 of the living body 200.
  • An example of the magnetic generator 2 is a bipolar magnet, as illustrated in FIG.
  • the magnet used in the magnetic generator 2 is, for example, a samarium cobalt magnet or a neodymium magnet.
  • the magnetic flux density of the magnetic generator 2 is preferably 300 millitesla (mT) or more.
  • the magnetic flux density of the magnetic generator 2 is, for example, 400 mT.
  • a plurality of magnetic generators 2 may be arranged.
  • a bipolar magnet is used as an example of the magnetic generator 2, as illustrated in FIG.
  • the magnetic generator 2 may be referred to as a magnet 2.
  • the main device 1 includes a control section 10, a magnetic field sensor 11, and a battery 12.
  • the main body device 1 is placed in the molar region of the lower jaw 202 of the living body 200. More specifically, the main body device 1 is included in a mouthpiece 212 that is attached to the molar region of the lower jaw 202 of the living body 200, as illustrated in FIG.
  • the main body device 1 is arranged at the molar region of the lower jaw 202 of the living body 200.
  • the magnetic field sensor 11 provided in the main body device 1 is arranged at the molar region of the lower jaw 202 of the living body 200.
  • the magnetic field sensor 11 measures the magnetic field generated by the magnetic generator 2 using two or more orthogonal measurement axes. When the magnetic field sensor 11 measures the magnetic field generated by the magnetic generator 2 using two orthogonal measurement axes, it is possible to measure the magnetic field vectors of the two orthogonal axes.
  • the magnetic field sensor 11 measures the magnetic field generated by the magnetic generator 2 using three orthogonal measurement axes, thereby making it possible to measure the magnetic field vectors of the three orthogonal axes.
  • the magnetic field sensor 11 is configured by one or a combination of sensors that measure static magnetic fields, such as a Hall sensor, a magnetoresistive sensor (MR sensor), and a magnetic impedance sensor (MI sensor). Further, a plurality of magnetic field sensors 11 may be arranged. It is preferable that the plurality of magnetic field sensors 11 be arranged such that the distances from one magnetic field generator 2 are different from each other.
  • the control unit 10 performs calculations to calculate the relative position of the lower jaw 202 with respect to the upper jaw 201 in the living body 200, based on the magnetic field measured by the magnetic field sensor 11. More specifically, the control unit 10 includes a signal processing unit that calculates the relative position between each magnetic generator 2 and each magnetic field sensor 11 based on the magnetic field measured by each magnetic field sensor 11.
  • the battery 12 is a power source for supplying power to each part of the main device 1.
  • FIG. 3 is a block diagram showing a configuration example of the main body device 1 of the biological motion measuring device according to the first embodiment.
  • the main device 1 includes a magnetic field sensor 11, a battery 12, a signal processing section 100, a storage section 101, a wireless communication section 102, an antenna 103, and an RTC (Real-Time Clock) 104.
  • the signal processing section 100, storage section 101, wireless communication section 102, antenna 103, and RTC 104 of the main body device 1 shown in FIG. 3 correspond to the control section 10 shown in FIG.
  • the signal processing unit 100 includes a CPU (Central Processing Unit). The functions of the signal processing section 100 are realized by the CPU executing a computer program stored in the storage section 101. The signal processing unit 100 calculates the relative position between each magnetic field generator 2 and each magnetic field sensor 11 based on the magnetic field measured by each magnetic field sensor 11.
  • CPU Central Processing Unit
  • the storage unit 101 includes memories such as ROM (Read Only Memory) and RAM (Random Access Memory).
  • the storage unit 101 stores computer programs executed by the CPU of the signal processing unit 100 and various data.
  • the wireless communication unit 102 performs wireless communication with the external device 30 by transmitting and receiving wireless signals via the antenna 103.
  • the external device 30 includes an antenna 33, a wireless communication section 32, and a signal processing section 31.
  • the wireless communication unit 32 of the external device 30 performs wireless communication with the main body device 1 of the biological movement measuring device by transmitting and receiving wireless signals via the antenna 33.
  • Wireless communication methods for wireless communication between the main body device 1 of the biological movement measuring device and the external device 30 include, for example, "Bluetooth (registered trademark)", “Bluetooth Low Energy", “Wi-Fi (registered trademark)", A known wireless communication method such as "LPWA (Low Power Wide Area)" can be applied.
  • the RTC 104 generates a time to add time information (time stamp) to the relative position information indicating the relative position between each magnetic generator 2 and each magnetic field sensor 11 calculated by the signal processing unit 100. do.
  • the main body device 1 of the biological motion measuring device is configured to generate relative position information that is calculated by the signal processing unit 100 and that indicates the relative position between each magnetic generator 2 and each magnetic field sensor 11 to which a time stamp is added.
  • Time series data of position information (relative position time series data) is transmitted to external device 30 by wireless communication.
  • the external device 30 uses a signal processing unit 31 to perform calculations for analyzing the jaw movement of the living body 200 based on the relative position time series data of the living body 200 received via wireless communication from the main body device 1 of the living body motion measuring device. .
  • the signal processing unit 31 of the external device 30 calculates, for example, the trajectory of the jaw movement of the living body 200 from the relative position time series data of the living body 200.
  • the first part of the living body 200 where one or more magnetic generators 2 are arranged may be a part that is linked to either one of the upper jaw 201 and the lower jaw 202 of the living body 200. Further, the part of the living body 200 where one or more magnetic field sensors 11 are arranged may be any part that is linked to the other jaw, which is different from the first part, of the upper jaw 201 and the lower jaw 202 of the living body 200.
  • the magnetic generator 2 and the magnetic field sensor 11 are placed in different jaws (opposite jaws). Therefore, as illustrated in FIGS. 1 and 2, when the magnetic generator 2 is placed on the upper jaw 201, the magnetic field sensor 11 is placed on the lower jaw 202. Conversely, when the magnetic generator 2 is placed on the lower jaw 202, the magnetic field sensor 11 is placed on the upper jaw 201. In this way, the magnetic generator 2 and the magnetic field sensor 11 may be placed opposite each other.
  • the magnetic poles of the magnetic generator 2 are arranged in a movable direction 300 between a first portion (upper jaw 201) where the magnetic generator 2 is placed and a portion (lower jaw 202) where the main body device 1 is placed.
  • the movable direction 300 is the opening direction. Therefore, the magnetic generator 2 is arranged such that the magnetic pole faces the opening direction 300. Note that the arrangement of the north pole and the south pole may be reversed.
  • the magnetic field generated by the magnet 2 attenuates in proportion to the square of the distance. Therefore, arranging the magnet 2 and the magnetic field sensor 11 so that the distance between them is as short as possible when the magnet 2 is at its maximum aperture is in order to prevent a decrease in magnetic field measurement sensitivity for measuring the magnetic field generated by the magnet 2.
  • the magnet 2 and the magnetic field sensor 11 be respectively arranged on the opposing teeth, as illustrated in FIG.
  • the magnet 2 and the magnetic field sensor 11 are connected to the upper jaw 201 and the lower jaw 202, as illustrated in FIG. Preferably, they are placed in the molars, respectively.
  • the magnet 2 and magnetic field sensor 11 are placed on the opposing teeth or on the molars of the upper jaw 201 and lower jaw 202. They do not need to be placed respectively. This is because the distance between the magnet 2 and the magnetic field sensor 11 is not so long as to cause an unacceptable decrease in magnetic field measurement sensitivity, and the decrease in magnetic field measurement sensitivity falls within an allowable range. Furthermore, even when measuring during the maximum mouth opening movement, if measurement during a relatively short distance opening movement is important, the magnet 2 and the magnetic field sensor 11 may be connected to the opposing teeth or the upper jaw 201. They do not have to be placed on the molars of the lower jaw 202, respectively.
  • the magnet 2 and the magnetic field sensor 11 should not be placed on the opposing teeth or on the molars of the upper jaw 201 and lower jaw 202, respectively. Good too.
  • the magnetic field sensor 11 uses magnetic field vectors in two or more degrees of freedom, that is, two orthogonal axes, in order to calculate at least a two-dimensional relative position (trajectory of jaw movement) as the relative position of the lower jaw 202 with respect to the upper jaw 201 in the living body 200. It is preferable to be able to measure. Furthermore, in order to measure the jaw movement in both a front view and a side view, it is preferable that the magnetic field sensor 11 can measure magnetic field vectors in three degrees of freedom, that is, three orthogonal axes.
  • the magnet 2 can be made of any material as long as it generates a magnetic field. In order not to impair the fit on the living body 200, it is preferable that the magnet 2 be as small as possible and of a size that does not cause discomfort when worn. In view of this condition, it is preferable that the magnet 2 be a neodymium magnet or a samarium-cobalt magnet, which have a relatively strong magnetic force. Also, in view of the trade-off between the magnetic field generated by the magnet 2 and the fit, the size of the magnet 2 is preferably about 1.5 millimeters (mm) to 4 mm in thickness, and preferably about 5 mm to 10 mm square.
  • the shape of the magnet 2 may be a cube, a rectangular parallelepiped, or a cylinder.
  • a cylindrical shape is preferable. This is because when the magnet 2 is a cube or a rectangular parallelepiped, a substantially uniform magnetic field is generated around the magnetic field sensor 11 located near the magnet 2, as shown in FIG. 4(1). This is because even if the relative position between the magnetic field sensor 11 and the magnet 2 changes, the magnetic field vector measured by the magnetic field sensor 11 hardly changes, so the magnetic field measurement sensitivity decreases.
  • the magnet 2 is cylindrical, as shown in FIG.
  • the magnetic field generated in the periphery 312 of the magnetic field sensor 11 located near the magnet 2 changes depending on the position. If the relative position between the magnetic field sensor 11 and the magnet 2 changes, the magnetic field vector measured by the magnetic field sensor 11 also changes, so good magnetic field measurement sensitivity can be obtained.
  • the shape of the magnet 2 is a cube or a rectangular parallelepiped.
  • the shape of the magnet 2 may be a cube or a rectangular parallelepiped.
  • the shape of the magnet 2 is a cube or a rectangular parallelepiped, not only the distance between the magnet 2 and the magnetic field sensor 11 in the opening direction is increased, but also the magnet 2 is generated as illustrated in FIG. 4(3).
  • the magnetic field sensor 11 may be shifted to a position where the vectors of two or more components of the magnetic field change.
  • the magnetic field sensor 11 is placed at a position away from the position 311 where the magnetic field lines are perpendicular to the N-pole surface of the magnet 2. 2 changes the vectors of two or more components of the magnetic field generated.
  • the magnetic field sensor 11 may be installed on the tooth next to the tooth on which the magnet 2 having a cubic or rectangular parallelepiped shape is arranged. By using the magnet 2 having a cubic or rectangular parallelepiped shape in this way, it becomes easier to recognize the direction of the magnetic poles, so the process of mounting the magnet 2 on the mouthpiece can be simplified.
  • FIG. 5 shows examples of the magnet 2, the magnetic field generated by the magnet 2, and the positions of the magnetic field sensor 11 (positions P1, P2, P3, P4).
  • the magnetic field sensor 11 measures magnetic field vectors (x component, y component, z component) of three orthogonal axes (x axis, y axis, z axis).
  • the magnetic field vector measured by the magnetic field sensor 11 is only the z component.
  • Bx, By, Bz represents the magnetic flux density
  • Bx is the x component
  • By is the y component
  • Bz is the z component
  • the unit is mT.
  • the magnetic field generated by the magnet 2 obliquely penetrates the magnetic field sensor 11, so a y component of the magnetic field vector is generated.
  • the magnetic field sensor 11 moves from the position P1 in the x-axis direction, the x component of the magnetic field vector is similarly generated.
  • the magnitude and direction of the magnetic field change depending on the relative position of the lower jaw 202 with respect to the upper jaw 201. Therefore, by using the magnetic field sensor 11 that can measure magnetic field vectors on two or more orthogonal axes, it is possible to measure the relative position of the lower jaw 202 with respect to the upper jaw 201 on at least two orthogonal axes. This makes it possible to calculate at least a two-dimensional trajectory of jaw movement. Furthermore, by using the magnetic field sensor 11 that can measure magnetic field vectors in three orthogonal axes, it is possible to measure the relative position of the lower jaw 202 with respect to the upper jaw 201 in three orthogonal axes. Thereby, a three-dimensional trajectory of jaw movement can be calculated.
  • the dynamic range of the magnetic field sensor 11 can be apparently expanded.
  • the measurable range of the relative position of can be widened.
  • the magnetic field sensor 11A is placed near the magnet 2, and the magnetic field sensor 11B is It is placed far away from the magnet 2. Thereby, even if the magnetic field sensor 11A exceeds the measured value "4 mT" and is saturated in the vicinity of the magnet 2, the magnetic field sensor 11B can output an effective measured value.
  • the magnetic field sensor 11A can perform measurement with good magnetic field measurement sensitivity. Therefore, compared to the case where a single magnetic field sensor 11 is used, when two magnetic field sensors 11A and 11B are used, the distance between the lower jaw 201 and the upper jaw 201 is approximately equal to the distance from the magnetic field sensor 11A to the magnetic field sensor 11B. The measurable range of the relative position of can be widened.
  • the magnet 2 and the magnetic field sensor 11 be arranged so that the minimum distance between the magnet 2 and the magnetic field sensor 11 is a certain length or more. This is because the strength of the magnetic field attenuates in proportion to the square of the distance, so if you are a certain distance away from magnet 2, the rate of change of the magnetic field with respect to changes in position is small, but near magnet 2, the rate of change of the magnetic field with respect to changes in position is small. This is because if the magnetic field sensor 11 is placed too close to the magnet 2, the dynamic range required of the magnetic field sensor 11 will increase, resulting in an increase in the cost of the magnetic field sensor 11. For example, when measuring jaw movement including the maximum opening, it is preferable to arrange the magnet 2 and the magnetic field sensor 11 so that the minimum distance between the magnet 2 and the magnetic field sensor 11 is about 5 mm to 10 mm. .
  • the magnet used as the magnetic generator 2 be bipolar.
  • FIG. 6 shows a case where the magnetization direction of the magnet 2 is directed toward the opening direction 300 (FIG. 6 (1)) and a case where the magnetization direction of the magnet 2 is directed in a direction different from the opening direction 300 (FIG. 6 (2)).
  • FIG. The magnet 2 is placed on the upper jaw 201, and the magnetic field sensor 11 is placed on the lower jaw 202.
  • the magnetic field sensor 11 moves within movement ranges 323 and 324 shown by dashed lines.
  • changes in the relative position between the magnet 2 and the magnetic field sensor 11 due to the movement of the magnetic field sensor 11 within the movement ranges 323 and 324 are expressed as magnetic fields 321 and 322 in the yz plane.
  • 322 changes (changes in magnetic field vector). Therefore, in the yz plane, whether it is the magnetic field 321 in FIG. 6(1) or the magnetic field 322 in FIG. 6(2), the relationship between the magnet 2 and the magnetic field sensor 11 is determined from the magnetic field vector measured by the magnetic field sensor 11. The relative position between can be estimated.
  • the magnetic field 325 in the xz plane is the same as the magnetic field 321 in the yz plane, so in the xz plane as well as in the yz plane, From the magnetic field vector measured by the magnetic field sensor 11, the relative position between the magnet 2 and the magnetic field sensor 11 can be estimated.
  • the relative position between the magnet 2 and the magnetic field sensor 11 can be estimated in three dimensions.
  • the magnetic field 326 in the xz plane is oriented in the y-axis direction, unlike the magnetic field 322 in the yz plane.
  • the magnetic fields are equally directed in the y-axis direction and the distance from magnet 2 is the same. Therefore, the magnitude of the magnetic field is also the same.
  • the magnetic field vectors measured by the magnetic field sensor 11 will all be the same, so the magnetic field vector measured by the magnetic field sensor 11 will be Unable to distinguish between points. Therefore, when the magnetization direction of the magnet 2 is oriented in a direction different from the opening direction 300 (FIG. 6(2)), the magnetic field vector measured by the magnetic field sensor 11 in the xz plane indicates that the magnet 2 and the magnetic field sensor 11 are It becomes difficult to estimate the relative position between the two, and a significant error in estimating the relative position may occur. For these reasons, it is preferable that the magnetic poles (magnetization direction) of the magnet 2 face in the opening direction 300. For example, when calculating the trajectory of jaw movement in three dimensions, the accuracy of the calculation is improved by orienting the magnetic pole (magnetization direction) of the magnet 2 in the opening direction 300.
  • the signal processing unit 100 of the main device 1 calculates the relative position between each magnetic generator 2 and each magnetic field sensor 11 based on the magnetic field measured by each magnetic field sensor 11.
  • the one-dimensional magnetic field vector "x component Bx" measured by the magnetic field sensor 11 is obtained by utilizing the fact that the magnetic field generated by the magnet 2 attenuates in proportion to the square of the distance. From this, the relative position "x" between the magnet 2 and the magnetic field sensor 11 can be estimated.
  • the three-dimensional movement of the relative position between the magnet 2 and the magnetic field sensor 11 do not affect each axis independently.
  • the magnetic field does not only affect the x-axis component (x component), but also the y-axis component (y component) and the z-axis component. This also affects the axial component (z component).
  • each axis has crosstalk in the three-dimensional values of the magnetic field (x-axis, y-axis, z-axis).
  • fx (Mx, My, Mz), fy (Mx, My, Mz), and fz (Mx, My, Mz) may be obtained in advance through experiments, simulations, etc.
  • a conversion table 100T illustrated in FIG. 7 is created in advance through experiments, simulations, etc.
  • the conversion table 100T is a conversion table for determining the relative position "x, y, z" from the magnetic field vector "Bx, By, Bz" measured by the magnetic field sensor 11. Note that the numerical values in the conversion table 100T shown in FIG. 7 are for convenience of explanation.
  • the conversion table 100T includes a set of numerical values (magnetic field component set) for each component Bx, By, Bz of the magnetic field vector "Bx, By, Bz” and each component of the relative position "x, y, z".
  • a set of x, y, and z values are stored in association with each other.
  • the magnet 2 and the magnetic field sensor 11 are placed at known relative positions "x, y, z" on a sample of an actual living body 200, and the magnetic field vector "Bx, By, Bz” is measured. This measurement is performed at a plurality of known relative positions "x, y, z”. Then, by associating the magnetic field vector "Bx, By, Bz" of each measurement result with the known relative position "x, y, z" and recording it in a table format as illustrated in FIG. 7, a conversion table is created. Create 100T.
  • the number of combinations of magnetic field component sets and relative position component sets that can be stored in the conversion table 100T is limited. Therefore, it is almost impossible to store combinations of magnetic field component sets and relative position component sets corresponding to all the magnetic field vectors "Bx, By, Bz" that can be measured by the magnetic field sensor 11 in the conversion table 100T. . Therefore, if there is no magnetic field component set in the conversion table 100T that matches the magnetic field vector "Bx, By, Bz” measured by the magnetic field sensor 11, the signal processing unit 100 converts the magnetic field vector "Bx, By, Bz” measured by the magnetic field sensor 11 into the conversion table 100T. , Bz", the relative position "x, y, z" is determined by a predetermined interpolation method. An example of the interpolation method is a nearest-neighbor interpolation method.
  • the signal processing unit 100 selects the magnetic field component set closest to the magnetic field vector "Bx, By, Bz" measured by the magnetic field sensor 11 in the conversion table 100T, and calculates the magnetic field component set that is associated with the selected magnetic field component set.
  • the relative position component set is obtained from the conversion table 100T.
  • the relative position "x, y, z" is limited to only the relative position component set existing in the conversion table 100T, so the estimation error of the relative position "x, y, z" becomes large. obtain. Therefore, examples of other interpolation methods include a linear interpolation method and a method of interpolating using a radial basis function (RBF). These other interpolation techniques are relatively uncomplicated to process and can yield good results in applications that measure jaw movement.
  • RBF radial basis function
  • table format is not limited to the above conversion table 100T, and for example, an expression or function such as a polynomial expression or a network structure may be used.
  • the signal processing unit 100 causes the storage unit 101 to store a history indicating a series of movements of the relative position between the magnet 2 and the magnetic field sensor 11, and uses the history to calculate the relative position thereafter.
  • the signal processing unit 100 may limit the range of relative positions referred to in the conversion table 100T based on the calculation result of the previous relative position. As illustrated in FIG. 8 , a trajectory 330 (history of relative positions) of the relative position of the magnetic field sensor 11 with respect to the magnet 2 is stored in the storage unit 101.
  • the signal processing unit 100 limits the range of relative positions referred to in the conversion table 100T based on the calculation result P_t-1 of the previous relative position. For example, when calculating the next relative position P_t, the signal processing unit 100 calculates a certain size (for example, 2 mm ⁇ 2 mm, etc.) is referred to as the search range.
  • the signal processing unit 100 also uses past relative position trajectories (relative position history) to learn a machine learning model using a machine learning algorithm with a network structure such as LSTM (Long-short term model). , the subsequent relative positions may be calculated using a trained machine learning model.
  • LSTM Long-short term model
  • molar anterior tooth positional relationship data data indicating the positional relationship from the molar portion to the anterior tooth portion in the living body 200 (molar anterior tooth positional relationship data) is stored in the storage unit 101 in advance.
  • the molar anterior tooth positional relationship data is data obtained by measuring in advance the three-dimensional relative position of the anterior teeth of the living body 200 with respect to the molars.
  • the three-dimensional relative position of the sensor 11 can be converted into the three-dimensional relative position of the front teeth.
  • the signal processing unit 100 calculates the relative position between the magnet 2 placed in the molar area and the magnetic field sensor 11 placed in the molar area, which is calculated from the three-dimensional magnetic field vector measured by the magnetic field sensor 11 placed in the molar area, based on the molar anterior tooth positional relationship.
  • the magnetic field sensor 11 when measuring three-dimensional jaw movement, it is preferable to use the magnetic field sensor 11 with three orthogonal axes.
  • three-dimensional jaw movement can be measured with a minimum configuration including one magnet 2 and one magnetic field sensor 11. This provides an effect that contributes to downsizing and cost reduction of the biological movement measuring device.
  • the movement of the jaw in the living body 200 is configured to be measured, but the movement to be measured is not limited to the movement of the jaw.
  • the movement to be measured is not limited to the movement of the jaw.
  • it may be applied to measuring movements of body limbs and fingers.
  • the magnetic poles of the magnet (magnetic generator) 2 are arranged in the movable direction of the first part where the magnet 2 is arranged and the other part where the magnetic field sensor 11 is arranged, so that the joint movement It is possible to detect movements such as these more clearly.
  • the magnetic field sensor 11 preferably measures the magnetic field at a sampling rate of 100 hertz (Hz) or higher. This is because if the sampling rate of the magnetic field sensor 11 is lower than 100 Hz, it becomes difficult to accurately measure jaw movement.
  • FIG. 9 is a block diagram showing an example of the configuration of the main body device 1a of the biological motion measuring device according to the second embodiment.
  • the main body device 1a shown in FIG. 9 further includes a posture sensor 13 in contrast to the main body device 1 of FIG. 3 according to the first embodiment.
  • FIG. 10 shows an example of the arrangement of the posture sensor 13 according to the second embodiment.
  • FIG. 10 is a side view of a person's (living body 200) face viewed from the side.
  • Posture sensor 13 is placed on lower jaw 202 of living body 200, as illustrated in FIG.
  • the main body device 1a is included in a mouthpiece 212 that is attached to the molar region of the lower jaw 202 of the living body 200, as illustrated in FIG.
  • the main body device 1a is arranged at the molar part of the lower jaw 202 of the living body 200.
  • the magnetic field sensor 11 and the posture sensor 13 provided in the main body device 1a are arranged at the molar region of the lower jaw 202 of the living body 200.
  • the magnet 2 is provided in a mouthpiece 211 that is attached to the molar region of the upper jaw 201 of the living body 200, as illustrated in FIG. By attaching the mouthpiece 211 to the molars of the upper jaw 201 of the living body 200, the magnet 2 is placed at the molars of the upper jaw 201 of the living body 200.
  • the reason why the posture sensor 13 is provided in this embodiment will be explained.
  • the magnet 2 or the magnetic field sensor 11 moves parallel to the horizontal direction 400 without changing the angle ⁇ formed between the direction 410 in which the magnet 2 or the magnetic field sensor 11 (magnetic field sensor 11 in the example of FIG. 10) and the horizontal direction 400.
  • the signal processing unit 100 calculates the relative position based on the conversion table 100T, as explained in the first embodiment. can do.
  • the angle ⁇ changes, the magnitude of the magnetic field vector measured by the magnetic field sensor 11 does not change, but its direction changes. Calculation of the relative position between the magnet 2 and the magnetic field sensor 11 depends on both the magnitude and direction of the magnetic field vector measured by the magnetic field sensor 11. Therefore, when the angle ⁇ changes, the magnetic field vector measured by the magnetic field sensor 11 changes.
  • the direction of the object also changes, and the accuracy of calculating the relative position decreases.
  • the posture sensor 13 is provided in order to detect the change in the angle ⁇ .
  • the posture sensor 13 is placed on the lower jaw 202 together with the magnetic field sensor 11, and the posture sensor 13 measures the direction 410 in which the magnetic field sensor 11 faces.
  • the posture sensor 13 is placed on the same jaw as the magnetic field sensor 11. Further, it is preferable that the posture sensor 13 has the same degree of freedom as the magnetic field sensor 11 . For example, when the magnetic field sensor 11 measures a three-dimensional magnetic field vector, it is preferable that the attitude sensor 13 also measures a three-dimensional orientation.
  • the attitude sensor 13 is configured by one or a combination of a gyro sensor, an acceleration sensor, and a geomagnetic sensor. The attitude sensor 13 outputs, for example, Euler angles and quaternions as information indicating the orientation 410 (attitude).
  • the signal processing unit 100 calculates the position of each magnet 2 or each magnetic field sensor 11 that occurs when the living body 200 moves, based on the orientation 410 measured by the posture sensor 13. Perform tilt correction. As illustrated in FIG. 10, since the posture sensor 13 is placed on the same chin as the magnetic field sensor 11, the tilt of the posture sensor 13 is the same as that of the magnetic field sensor 11. Therefore, the tilt of the magnetic field sensor 11 can be corrected based on the orientation 410 measured by the attitude sensor 13 (that is, the orientation 410 of the magnetic field sensor 11).
  • the signal processing unit 100 changes the magnetic field vector to the orientation 410 by the same amount as the amount of change in the orientation 410 from the orientation 410 at the start of measurement (initial orientation). Rotate in the opposite direction to the direction of change. Thereby, even if the angle ⁇ changes from the initial angle ⁇ at the start of the measurement, it is possible to reproduce the magnetic field vector that would be obtained at the initial angle ⁇ at the start of the measurement. In other words, by this rotation, it is possible to obtain a magnetic field vector in a state where the angle ⁇ remains unchanged at the initial angle ⁇ at the start of measurement.
  • the signal processing unit 100 calculates the relative position between the magnet 2 and the magnetic field sensor 11 using the rotated magnetic field vector. Thereby, it is possible to prevent a decrease in the accuracy of relative position calculation.
  • the posture sensor 13 may be placed on at least one of the upper jaw 201 where the magnet 2 is placed and the lower jaw 202 where the magnetic field sensor 11 is placed.
  • the posture sensor 13 is also attached to the other jaw where the magnet 2 is placed (the upper jaw 201 in the example of FIG. 10). may be placed.
  • the angle ⁇ can change significantly.
  • the angle ⁇ is significantly different when a person faces the front (horizontal direction 400), and when a person faces the ground or the sky.
  • the angle ⁇ of both the upper jaw 201 and the lower jaw 202 changes.
  • posture sensors 13 are placed on both the upper jaw 201 and the lower jaw 202, respectively.
  • the signal processing unit 100 calculates the magnetic field measured by the magnetic field sensor 11 based on the orientation 410 measured by each posture sensor 13 arranged on both jaws. Controls the direction and amount of rotation of the vector.
  • the signal processing unit 100 determines the orientation 410 of the mandible at the time of starting measurement (initial orientation of the mandible) based on the orientation 410 of the mandible measured by the posture sensor 13 of the mandible 202 in which the magnetic field sensor 11 is disposed.
  • the magnetic field vector is rotated in the opposite direction to the direction of change in the mandibular orientation 410 by the same amount as the amount of change in the mandibular orientation 410 from .
  • the signal processing unit 100 determines the maxillary orientation 410 ( The magnetic field vector is rotated in the opposite direction to the direction of change in the maxillary orientation 410 by the same amount as the amount of change in the maxillary orientation 410 from the initial maxillary orientation.
  • the signal processing unit 100 calculates the relative position between the magnet 2 and the magnetic field sensor 11 using the rotated magnetic field vector. Thereby, it is possible to prevent a decrease in the accuracy of relative position calculation.
  • the posture sensor 13 is placed on the lower jaw 202 to simultaneously measure the orientation 410 of the lower jaw and the relative angle of the lower jaw 202 with respect to the upper jaw 201.
  • a sensor that can be used may be placed.
  • the second embodiment for example, when measuring the jaw movement of a person (biological body 200) in daily life, even if the living body 200 takes an arbitrary posture during measurement, the accuracy of jaw movement measurement can be prevented. It can be prevented. This makes it possible to ease restrictions on the activity of the person being measured. This also contributes to the acquisition of measurement data for analyzing the influence of individual lifestyles and behavior patterns on jaw movement.
  • the signal processing unit 100 measures the movement of the jaw in six degrees of freedom in the living body 200 based on the three-dimensional magnetic field vector measured by the magnetic field sensor 11 and the three-dimensional orientation 410 measured by the posture sensor 13. You may.
  • the magnetic field sensor 11 measures the magnetic field at a sampling rate of 100 Hz or more
  • the attitude sensor 13 measures the attitude at a sampling rate of 20 Hz or more. This is because the posture sensor 13 does not need to have a sampling rate as high as the magnetic field sensor 11 because the change in jaw inclination is relatively slow. This is because it becomes difficult to measure.
  • FIG. 11 is a block diagram showing an example of the configuration of the main body device 1b of the biological motion measuring device according to the third embodiment.
  • the main body device 1b shown in FIG. 11 further includes a geomagnetic sensor 14 in contrast to the main body device 1 of FIG. 3 according to the first embodiment.
  • the geomagnetic sensor 14 measures a geomagnetic vector indicating the magnitude and direction of geomagnetism. It is preferable that the geomagnetic sensor 14 measures a three-dimensional geomagnetic vector.
  • the magnetic field sensor 11 measures a three-dimensional magnetic field vector
  • the geomagnetic sensor 14 measures a three-dimensional geomagnetic vector.
  • FIG. 12 shows an arrangement example of the geomagnetic sensor 14 according to the third embodiment.
  • FIG. 12 is a front view of the face of a person (living body 200).
  • the geomagnetic sensor 14 may be placed at any location where the geomagnetism received by the magnetic field sensor 11 can be measured.
  • the geomagnetic sensor 14 is arranged at a distance of a certain distance or more from the magnet 2.
  • the reason why the geomagnetic sensor 14 is arranged at a distance greater than a certain distance from the magnet 2 is to prevent the geomagnetic sensor 14 from being influenced by the magnetic field generated by the magnet 2.
  • the geomagnetic sensor 14 is placed in the second molar part of the lower jaw 202 of the living body 200, which is opposite to the first molar part where the magnetic field sensor 11 is placed. Specifically, like the mouthpiece 212 (first mouthpiece) illustrated in FIG. It will be done. By attaching the second mouthpiece 212 to the second molar part of the lower jaw 202 of the living body 200, the geomagnetic sensor 14 is arranged at the second molar part of the lower jaw 202 of the living body 200.
  • the main body device 1b including the magnetic field sensor 11 is placed at the first molar region of the lower jaw 202 of the living body 200. For this reason, in the lower jaw 202 of the living body 200, wiring is provided to connect the geomagnetic sensor 14 and the main device 1b from the geomagnetic sensor 14 disposed at the second molar region to the main device 1b disposed at the first molar region. .
  • the magnet 2 is provided in a mouthpiece 211 that is attached to the molar region of the upper jaw 201 of the living body 200, as illustrated in FIG.
  • the magnet 2 is arranged at the molar part of the upper jaw 201 of the living body 200.
  • the location where the geomagnetic sensor 14 is placed may be any location where the geomagnetism received by the magnetic field sensor 11 can be measured and where the influence of the magnetic field generated by the magnet 2 falls within an allowable range.
  • the geomagnetic sensor 14 may be placed in the molar part or the front tooth part, as an example of a location that is a certain distance or more from the magnet 2 arranged in the molar part. In the example of FIG. 12, the geomagnetic sensor 14 is placed in the molar part of the lower jaw 202 on the opposite side of the magnet 2 in order to maintain as much distance as possible from the magnet 2 placed in the molar part of the upper jaw 201.
  • the geomagnetic sensor 14 is provided, and the signal processing unit 100 performs calculations to reduce the influence of geomagnetism from the magnetic field vector measured by the magnetic field sensor 11, based on the geomagnetism measured by the geomagnetic sensor 14. Specifically, the signal processing unit 100 subtracts the geomagnetic vector measured by the geomagnetic sensor 14 from the magnetic field vector measured by the magnetic field sensor 11. The signal processing unit 100 calculates the relative position between the magnet 2 and the magnetic field sensor 11 using the magnetic field vector after the subtraction. This can prevent the accuracy of relative position calculation from decreasing due to the influence of geomagnetism.
  • FIG. 13 is a diagram for explaining a method for reducing geomagnetism using the polarity of a magnet.
  • FIG. 13 shows an example of the arrangement of two magnets 2-1, 2-2 and two magnetic field sensors 11-1, 11-2.
  • FIG. 13 is a front view of the face of a person (living body 200).
  • each magnet 2-1, 2-1 is provided in each mouthpiece 211 attached to each molar portion of the upper jaw 201 of the living body 200, similar to the mouthpiece 211 illustrated in FIG.
  • the magnets 2-1 and 2-1 are respectively arranged at two molars of the upper jaw 201 of the living body 200.
  • the magnet 2-1 and the magnet 2-2 are arranged so as to have opposite polarities, as illustrated in FIG.
  • the magnet 2-1 has an opening direction 300 as a north pole
  • the magnet 2-2 has an opening direction 300 as an south pole.
  • the magnetic field sensor 11-1 is arranged at the first molar part, and the magnetic field sensor 11-2 is arranged at the second molar part on the opposite side from the first molar part. placed in the department.
  • the main body device 1 equipped with the magnetic field sensor 11-1 is attached to a mouthpiece 212 (first mouthpiece) attached to the first molar region of the lower jaw 202 of the living body 200. Be prepared. By attaching the first mouthpiece 212 to the first molar part of the lower jaw 202 of the living body 200, the main body device 1 is arranged at the first molar part of the lower jaw 202 of the living body 200.
  • the magnetic field sensor 11-1 provided in the main body device 1 is placed at the first molar portion of the lower jaw 202 of the living body 200.
  • the magnetic field sensor 11-2 is provided in a mouthpiece 212 (second mouthpiece) that is attached to the second molar region of the lower jaw 202 of the living body 200. By attaching the second mouthpiece 212 to the second molar part of the lower jaw 202 of the living body 200, the magnetic field sensor 11-2 is arranged at the second molar part of the lower jaw 202 of the living body 200.
  • the main body device 1 including the magnetic field sensor 11-1 is placed at the first molar region of the lower jaw 202 of the living body 200. For this reason, in the lower jaw 202 of the living body 200, the magnetic field sensor 11-2 and the main body device 1 are connected from the magnetic field sensor 11-2 disposed at the second molar region to the main body device 1 disposed at the first molar region. Wiring is provided.
  • the signal processing unit 100 performs calculations to reduce the influence of earth's magnetism from the magnetic field measured by the magnetic field sensor 11-1, based on the magnetic field measured by the magnetic field sensor 11-2.
  • the magnetic field in the magnetic field sensor 11-1 and the magnetic field in the magnetic field sensor 11-2 have opposite polarities.
  • the magnetic field becomes Therefore, if the magnetic field vector caused by the magnet 2-1 in the magnetic field sensor 11-1 is H_M, the magnetic field vector caused by the magnet 2-2 in the magnetic field sensor 11-2 becomes "-H_M".
  • the third embodiment may be combined with the second embodiment described above.
  • the main device includes a magnetic field sensor 11, an attitude sensor 13, and a geomagnetic sensor 14, and in calculating the relative position between the magnet 2 and the magnetic field sensor 11, the signal processing unit 100 calculates the relative position between the magnet 2 and the magnetic field sensor 11.
  • the inclination of the magnet 2 or the magnetic field sensor 11 is corrected based on the orientation 410, and a calculation is performed to reduce the influence of geomagnetism from the magnetic field vector measured by the magnetic field sensor 11 based on the geomagnetism measured by the geomagnetic sensor 14.
  • the main device includes the magnetic field sensors 11-1, 11-2 and the attitude sensor 13, and the signal processing unit 100 includes the magnets 2 (2-1, 2-2) and the magnetic field sensors 11 (11-1, 11-). In calculating the relative position between Calculations are performed to reduce the influence of geomagnetism from the magnetic field vector.

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Abstract

Un dispositif de mesure de mouvement biologique selon la présente invention comprend : un ou plusieurs générateurs magnétiques placés au niveau d'un premier site dans un corps vivant ; un ou plusieurs capteurs de champ magnétique qui sont placés au niveau d'un autre site différent du premier site dans le corps vivant, et mesurent le champ magnétique généré par chaque générateur magnétique au moyen d'au moins deux axes de mesure orthogonaux ; et une unité de traitement de signal qui calcule les positions relatives de chaque générateur de champ magnétique et de chaque capteur de champ magnétique sur la base du champ magnétique mesuré par chaque capteur de champ magnétique.
PCT/JP2023/025482 2022-09-16 2023-07-10 Dispositif de mesure de mouvement biologique et système de mesure de mouvement biologique WO2024057690A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06142084A (ja) * 1991-08-21 1994-05-24 Yoshiaki Yamada 動物用下顎運動記録装置
JP2002355264A (ja) * 2001-05-31 2002-12-10 Japan Science & Technology Corp ３次元運動測定装置およびその方法並びに３次元位置検出装置
JP2004167032A (ja) * 2002-11-21 2004-06-17 Nec Tokin Corp 顎運動測定装置およびその測定方法
JP2004229943A (ja) * 2003-01-30 2004-08-19 Eiichi Bando 顎運動の測定装置
WO2005094677A1 (fr) * 2004-03-31 2005-10-13 Japan Science And Technology Agency Instrument et procede de mesure d’un mouvement tridimensionnel dans un corps vivant

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06142084A (ja) * 1991-08-21 1994-05-24 Yoshiaki Yamada 動物用下顎運動記録装置
JP2002355264A (ja) * 2001-05-31 2002-12-10 Japan Science & Technology Corp ３次元運動測定装置およびその方法並びに３次元位置検出装置
JP2004167032A (ja) * 2002-11-21 2004-06-17 Nec Tokin Corp 顎運動測定装置およびその測定方法
JP2004229943A (ja) * 2003-01-30 2004-08-19 Eiichi Bando 顎運動の測定装置
WO2005094677A1 (fr) * 2004-03-31 2005-10-13 Japan Science And Technology Agency Instrument et procede de mesure d’un mouvement tridimensionnel dans un corps vivant

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