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Joint included angle measuring system and method

A technology of measurement system and measurement method, which is applied in diagnostic recording/measurement, medical science, sensors, etc., and can solve problems such as errors in the calculation method of joint angles

Active Publication Date: 2018-06-29
SUZHOU MAGIKARE MEDICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a measurement system and method for joint angles in order to overcome the defects of relatively large errors in the calculation methods of joint angles in the prior art

Method used

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  • Joint included angle measuring system and method
  • Joint included angle measuring system and method
  • Joint included angle measuring system and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0128] like figure 1 As shown, the joint angle measurement system of this embodiment includes: a controller 1 and at least two attitude sensors 2 . Specifically, the controller 1 includes an Euler angle conversion unit 11 , a first calculation unit 12 , a second calculation unit 13 and a first judgment unit 14 .

[0129] Among them, the attitude sensor can choose 6-axis or 9-axis sensor. It should be noted that the number of attitude sensors can be set according to the data requirements. Of course, the more the number, the more accurate the measurement result will be. When there are more than three attitude sensors, the joint angles can be calculated by any two attitude sensors first, and then the calculated joint angles can be averaged. The following describes the working principle of the measurement system through two attitude sensors. For ease of description, the two attitude sensors are referred to as a first attitude sensor A and a second attitude sensor B respectively...

Embodiment 2

[0159] In this embodiment, taking the measurement of the included angle of the knee joint as an example, the first posture sensor and the second posture sensor are all fixed on the front or back of the thigh and calf of the training in the training process. When in the standard standing position, the posture sensor The Y-axis of the body coordinate system coincides with the Z-axis of the inertial navigation coordinate system (that is, the northeast sky coordinate system). , supine position and other training actions, the knee joint angle is displayed on the X-axis or Y-axis.

[0160] The structure of the measurement system of this embodiment is basically the same as that of Embodiment 1, as figure 2 As shown, the difference is that the controller in this embodiment specifically includes an Euler angle conversion unit 11 , a third calculation unit 15 and a second judgment unit 16 .

[0161] In this embodiment, theoretically, only the first quaternion and the second quaternion...

Embodiment 3

[0172] The measuring system of the present embodiment is suitable for measuring the joint angle that the patient makes side lying position action, attitude sensor can all be located at the front or the back of training position (the Z-axis of the body coordinate system of attitude sensor is perpendicular to thigh and thigh, and direction perpendicular to the left-right direction of the human body), and also can be located on the side of the training site (the Z-axis of the body coordinate system of the attitude sensor is perpendicular to the thighs, and the direction is parallel to the left-right direction of the human body). The structure of the measuring system is basically the same as that of Embodiment 1 and Embodiment 2, such as image 3 As shown, the difference is that the controller 1 of this embodiment includes an Euler angle conversion unit 11 , a fourth calculation unit 17 and a third judging unit 18 .

[0173] In this embodiment, theoretically, only the first quater...

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Abstract

The invention discloses a joint included angle measuring system and method. The measuring system comprises a controller, a first posture sensor and a second posture sensor; the first posture sensor and the second posture sensor are fixed at the human rehabilitation exercise training part and used for acquiring a first quaternion and a second quaternion of the posture of the training part respectively and sending the first quaternion and the second quaternion to the controller; the controller converts the first quaternion and the second quaternion into at least four euler angle information of different rotation directions under the inertial navigation coordinate system respectively; the controller is further used for calculating the joint included angle of the training part according to theat least four euler angle information. According to the joint included angle measuring system and method, fusion calculation of the joint included angle is performed under multiple rotation sequenceson the basis of the full posture quaternions, singular points are avoided, the joint included angle of the training part can be represented accurately, and special significance is provided for judging action quality and action error of the patient and knowing the initial standing habit of the patient.

Description

technical field [0001] The invention relates to the field of motion angle measurement, in particular to a measurement system and method for joint angles in rehabilitation exercises. Background technique [0002] At present, when orthopedic or neurological patients perform joint rehabilitation exercises after surgery, they usually follow the rehabilitation exercises by watching the standard movements or do specified rehabilitation movements under the guidance of doctors (rehabilitation therapists). In this process, the doctor or patient judges whether the patient’s joint activities meet the requirements through subjective feelings. This subjective judgment method cannot accurately determine whether the joint activities meet the expected standards, which will affect the recovery effect and progress of the patient’s rehabilitation training. . [0003] In the prior art, it is also possible to analyze the movement of the patient by measuring the joint angle of the rehabilitation...

Claims

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Application Information

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IPC IPC(8): A61B5/11A61B5/107
CPCA61B5/1071A61B5/1075A61B5/1118A61B5/6801
Inventor 李传华史宏超殳峰
Owner SUZHOU MAGIKARE MEDICAL TECH CO LTD