A device and method for measuring spinal mechanical compensation balance position

Abstract

The present invention proposes a device for measuring the mechanical compensation balance position of the spine, which includes an upper camera, a lower camera, a color-coded structured light projector, a first data line, a vertical bracket, a second data line, a camera bracket, a computer, a third data line and a subject; wherein the upper camera and the lower camera and the color-coded structured light projector together constitute a binocular stereo vision measuring device based on color-coded structured light, which is used to scan the three-dimensional data point cloud of the back of the subject; the color-coded structured light projector is used to project a color-coded structured grating; the present invention can assist doctors in accurately obtaining the mechanical compensation balance point of the spine, provide a better treatment position for treating spinal diseases such as scoliosis, and provide an excellent auxiliary equipment for the clinical treatment of scoliosis; the color-coded grid graphic provided by the present invention adopts a scheme of adjacent color blocks with large color difference, which can effectively reduce the probability of mismatching when performing camera binocular image matching to calculate the three-dimensional data point cloud.

Description

Technical field:

[0001] The present invention relates to the technical field of digital detection of traditional Chinese and western medicine, and in particular to a device and method for analyzing the compensatory balance characteristics of human spine force lines. Background technology:

[0002] Spinal mechanical balance is crucial for maintaining normal physiological function. Spinal disorders such as scoliosis and lumbar disc herniation can lead to mechanical imbalance. When imbalance occurs, the body adapts to create compensatory balance to maintain basic spinal mobility. This imbalance and rebalancing results in a unique spinal mechanical structure. The spinal curve has a compensatory balance point, which is a key therapeutic target for clinicians. Currently, the compensatory balance point is typically determined based on physician experience, without precise quantitative indicators. Different physicians often obtain inconsistent compensatory balance points. Summary of the invention:

[0003] The present invention addresses the shortcomings of existing technologies and proposes a device that uses binocular stereoscopic vision to measure the three-dimensional topography of the back, the surface structure of the spinal region from the cervical septum to the gluteal groove, and calculate the spinal curve and the position of surface volume compensation balance. This method can obtain quantitative evaluation indicators of spinal compensation balance, providing important reference points for clinicians' diagnosis and treatment. Currently, there is no similar technical means.

[0004] The present invention discloses a device for measuring the mechanical compensation equilibrium position of the spine, characterized by comprising an upper camera 1, a lower camera 2, a color-coded structured light projector 3, a first data line 4 for transmitting signal data from the upper camera 1, a vertical support 5, a second data line 6 for transmitting color-coded signals, a camera support 7, a computer 8, and a third data line 9 for transmitting signal data from the lower camera 2. The upper and lower cameras 1 and 2, along with the color-coded structured light projector 3, form a binocular stereo vision measurement device based on color-coded structured light, used to scan a three-dimensional data point cloud of the human back. The color-coded structured light projector 3 is used to project a color-coded grating to assist binocular matching during three-dimensional scanning.

[0005] A device for measuring the mechanical compensation balance position of the spine, characterized in that the connection relationship of the various parts is as follows: the upper camera 1 is installed at the top end of the camera bracket 7, with the lens facing forward, and is connected to the computer 8 through the first data cable 4; the lower camera 2 is installed at the bottom end of the camera bracket 7, with the lens facing forward, and is connected to the computer 8 through the third data cable 9; the color-coded structured light projector 3 is installed in the middle of the camera bracket 7, with the projection lens facing forward, and is connected to the computer 8 through the second data cable 6; the camera bracket 7 is installed at one end of the vertical bracket 5; the subject 10 stands in front of the upper camera 1 with his back to the upper camera 1.

[0006] A device for measuring the mechanical compensation equilibrium position of the spine, characterized in that the coding pattern of the color-coded structured light is a parallel grid structure, and the length and width of each grid unit are exactly equal, and the length is between 5 and 30 cm, and the width is between 0.5 and 3 cm. The horizontal and vertical spacing between adjacent grid units are equal. The adjacent grid units are filled with colors with large chromaticity differences as filling colors, that is, the chromaticity value difference △E of adjacent grid units is greater than 5. For example, red and green are adjacent, but red and pink cannot be adjacent. Not only cannot they be adjacent left and right, but also cannot be adjacent up and down. When the above conditions are met, the filling colors of adjacent grid units can be selected at will, and finally a coding pattern of color-coded structured light with a parallel grid structure is formed. After the pattern is determined, it is saved and used as a reference coding grid for binocular image matching.

[0007] A device for measuring the mechanical compensation balance position of the spine is characterized in that a color-coded structured light projector 3 projects color-coded structured light, and a computer 8 controls an upper camera 1 and a lower camera 2 to simultaneously capture the color-coded structured light modulated by the shape of the back surface of a subject 10. According to the visual measurement model commonly used in this field, a three-dimensional data point cloud of the back surface of the subject 10 can be calculated.

[0008] A device for measuring the mechanical compensation equilibrium position of the spine is characterized by obtaining a three-dimensional point cloud of the back surface of a subject 10 and then running a mechanical compensation equilibrium position identification module within a computer 8. This module comprises a point cloud data processing submodule 11 and a mechanical compensation equilibrium position determination submodule 12.

[0009] A spinal mechanical compensation equilibrium position measuring device is characterized in that a point cloud data processing submodule 11 includes a point cloud posture correction unit 13 and a spinal curve recognition unit 14.

[0010] A spinal mechanical compensation balance position measuring device is characterized in that the calculation method of the point cloud posture correction unit 13 is:

[0011] To correct the human body point cloud posture that is not perpendicular to the ground due to the tilt between the scanning imaging plane and the ground, the processing method adopted is: let the optical axis direction of the upper camera 1 be the positive direction of the Z axis of the global world coordinate, and the horizontal right direction of the target surface of the upper camera 1 imaging unit be the positive direction of the X axis, and the positive direction of the Y axis conforms to the right-hand rule. Segment the background plate or background cloth from the point cloud data, randomly obtain three points on the background cloth or background plate that are not on the same line to determine the plane normal vector, and let the normal vector of the plane be n = (a, b, c), where a, b, c are the three directional components of the normal vector respectively. Rotate the normal vector to coincide with the Z axis to achieve the effect of camera correction. First, rotate the normal vector around the Y axis by an angle of α to the YOZ plane, and then rotate it around the X axis by an angle of β to coincide with the Z axis, where:

[0012]

[0013]

[0014] In this way, the rotation matrix T can be constructed so that the 3D scanning imaging plane is perpendicular to the ground:

[0015]

[0016] A spinal mechanical compensation equilibrium position measuring device is characterized in that the spinal curve identification unit 14 processes the following steps:

[0017] ① Calculation of dorsal surface curvature

[0018] First, the average curvature of each position on the point cloud surface of the back of the subject 10 is calculated: since the spinal groove position is the position of the spine, the initial spinal groove position is determined based on the maximum value of the local curvature to the exact position of the initial spinal groove, which is used as the initial spine reference;

[0019] ② Rolling ball method to obtain the spinal spatial position curve

[0020] The rolling ball method simulates a sphere of a specific size rolling along the spinal groove in the middle of the human back, and obtains the spinal groove position based on the curve constraint and the extreme point; when the simulated ball rolls in the spinal groove, there are always two points on the sphere that are tangent to the spinal groove contour, and the angle between the line connecting these two points and the sagittal reference plane is used as the scoliosis angle of the spine at that position; a perpendicular line connecting the left tangent point 18 and the right tangent point 19 is drawn through the center of the ball 17, and intersects with the back cross-section curve 15 at one point, and this intersection is the spinal groove position, and this intersection is named the spinal cross-section position 20 here; from the seventh cervical vertebra downward to the gluteal groove position, a cross-section curve is intercepted at a certain distance from the back point cloud data within this range, and the spinal position of the cross-section at this position can be obtained according to the above method; after connecting these positions, the spatial position curve of the spine can be obtained;

[0021] ③ Obtain the projection line of the spinal space curve

[0022] The spinal column spatial position curve has been obtained from step ②, and the curve is projected onto the coronal plane to obtain a coronal plane projection curve 21 in the two-dimensional plane space;

[0023] ④Calculate the compensatory balance point

[0024] After obtaining the coronal plane projection curve 21, the starting point 22 of the coronal plane spine projection curve of the coronal plane projection curve 21 and the end point 23 of the coronal plane spine projection curve are connected to obtain the force line 24; if the coronal plane projection curve 21 is S-shaped, the coronal plane projection curve 21 and the force line 24 will inevitably form two closed figures above and below the intersection point; at this time, it is assumed that there is a sliding point 27 on the coronal plane projection curve 21 that can slide, and the part of the coronal plane projection curve 21 above the sliding point 27 is a horizontal line passing through the sliding point 27 and intersecting with the force line 24 to form a horizontal line segment 28, then the coronal plane projection curve above the sliding point 27 is The figure formed by the shadow curve 21, the horizontal line 28, and the force line 24 is called the upper closed figure 25, and the figure formed by the coronal plane projection curve 21 below the sliding point 27, the horizontal line 28, and the force line 24 is called the lower closed figure 26. The area S1 of the upper closed figure 25 and the area S2 of the lower closed figure 26 are calculated using conventional integration methods. The sliding point 27 is allowed to slide on the coronal plane projection curve 21 until the difference in area between S1 and S2, dS = S1 - S2 = 0. The position of the sliding point 27 on the coronal plane projection curve 21 when dS = 0 is the mechanical compensation equilibrium position of the spine.

[0025] If the coronal plane projection curve 21 is not S-shaped, it cannot form two closed figures with the force line 24, and it is determined that the spine has not yet formed a compensatory balance and is still in an overall unstable state, and there is no need to find a compensatory balance point.

[0026] The beneficial effects of the present invention are as follows: 1. The present invention can assist physicians in accurately determining the mechanical compensation balance point of the spine, providing physicians with an optimal treatment position for spinal diseases such as scoliosis, and providing an excellent auxiliary device for scoliosis clinical practice. 2. When using a binocular camera to capture a point cloud from the back, binocular image matching is the most challenging step. The color-coded grid pattern provided by the present invention, due to its use of adjacent color blocks with large color differences, can effectively reduce the probability of mismatches when performing binocular image matching to calculate a three-dimensional data point cloud. Description of the drawings:

[0027] Figure 1 The overall structure diagram of the system

[0028] Figure 1 middle:

[0029] 1 for upper camera

[0030] 2 for the lower camera

[0031] 3 is a color-coded structured light projector

[0032] 4 is the first data line

[0033] 5 for vertical bracket

[0034] 6 is the second data line

[0035] 7 for camera bracket

[0036] 8 for computers

[0037] 9 is the third data line

[0038] 10 for the subjects

[0039] Figure 2 Schematic diagram of the method for obtaining the spinal position

[0040] Figure 2 middle

[0041] 15 is the back cross-section curve

[0042] 16 for the simulated ball

[0043] 17 is the center of the ball

[0044] 18 is the left tangent point

[0045] 19 is the right tangent point

[0046] 20 is the cross-sectional position of the spine

[0047] Figure 3 Schematic diagram of the method for determining the mechanical compensation equilibrium position of the spine

[0048] Figure 3 middle

[0049] 21 is the coronal projection curve

[0050] 22 is the starting point of the coronal spine projection curve

[0051] 23 is the end point of the coronal spine projection curve

[0052] 24 is the force line

[0053] 25 is an upper closed figure

[0054] 26 is the lower closed figure

[0055] 27 is the slippage point

[0056] 28 is a horizontal line segment

[0057] Figure 4 Color-coded structured light grid Specific implementation method:

[0058] See also Figure 1As can be seen, one embodiment of the present invention is a device for measuring the mechanical compensation equilibrium position of the spine. The device is characterized by including an upper camera 1, a lower camera 2, a color-coded structured light projector 3, a first data line 4 for transmitting signal data from the upper camera 1, a vertical bracket 5, a second data line 6 for transmitting color-coded signals, a camera bracket 7, a computer 8, and a third data line 9 for transmitting signal data from the lower camera 2. The upper and lower cameras 1 and 2, together with the color-coded structured light projector 3, constitute a binocular stereo vision measurement device based on color-coded structured light, which is used to scan a three-dimensional data point cloud of the human back. The color-coded structured light projector 3 is used to project a color-coded grating to assist in binocular matching of the three-dimensional scan.

[0059] A device for measuring spinal mechanical compensation equilibrium position is characterized by the following connection relationships: an upper camera 1 is mounted on the top of a camera bracket 7, with its lens facing forward, and is connected to a computer 8 via a first data cable 4; a lower camera 2 is mounted on the bottom of the camera bracket 7, with its lens facing forward, and is connected to the computer 8 via a third data cable 9, forming a stereoscopic vision measurement device. A color-coded structured light projector 3 is mounted in the middle of the camera bracket 7, with its projection lens facing forward, and is connected to the computer 8 via a second data cable 6; the camera bracket 7 is mounted on one end of a vertical bracket 5; and a subject 10 stands in front of the upper camera 1 with their back to it.

[0060] A device for measuring the mechanical compensation balance position of the spine, characterized in that the coding pattern of the color-coded structured light is a parallel grid structure as a whole, and the length and width of each grid unit are exactly equal, and the length is between 5 and 30 cm, with a typical value of 10 cm; the width is between 0.5 and 3 cm, with a typical value of 2 cm. The spacing between the grid units is exactly equal, with a spacing of 2 cm. The adjacent grid units are filled with colors with large chromaticity differences as filling colors, that is, the chromaticity value difference of adjacent grid filling color blocks △E>5, with a typical value of 6; color blocks with close color differences cannot be adjacent not only to the left and right, but also to the top and bottom. When the above conditions are met, adjacent color blocks can be selected at will, and finally a color-coded grid structured light pattern is formed. Once the pattern is determined, it is saved to use it as a reference coding grid for binocular image matching. The typical coding is that the number of grids is 40 rows and 10 columns, and the color-coded color blocks are arranged as follows: let pure red be R, pure blue be B, and pure green be B.

[0061] The color-coded grid is then arranged as:

[0062] RGBRGBRGBR

[0063] GRGBRGBRGB

[0064] BRGBRGBRGB

[0065] RGBRGBRGBR

[0066] GRGBRGBRGB

[0067] BRGBRGBRGB

[0068] RGBRGBRGBR

[0069] GRGBRGBRGB

[0070] BRGBRGBRGB

[0071] RGBRGBRGBR

[0072] GRGBRGBRGB

[0073] BRGBRGBRGB

[0074] RGBRGBRGBR

[0075] GRGBRGBRGB

[0076] BRGBRGBRGB

[0077] RGBRGBRGBR

[0078] GRGBRGBRGB

[0079] BRGBRGBRGB

[0080] RGBRGBRGBR

[0081] GRGBRGBRGB

[0082] BRGBRGBRGB

[0083] RGBRGBRGBR

[0084] GRGBRGBRGB

[0085] BRGBRGBRGB

[0086] RGBRGBRGBR

[0087] GRGBRGBRGB

[0088] BRGBRGBRGB

[0089] RGBRGBRGBR

[0090] GRGBRGBRGB

[0091] BRGBRGBRGB

[0092] RGBRGBRGBR

[0093] GRGBRGBRGB

[0094] BRGBRGBRGB

[0095] RGBRGBRGBR

[0096] GRGBRGBRGB

[0097] BRGBRGBRGB

[0098] RGBRGBRGBR

[0099] GRGBRGBRGB

[0100] BRGBRGBRGB

[0101] RGBRGBRGBR

[0102] A spinal mechanical compensation balance position measuring device is characterized in that an upper camera 1 and a lower camera 2 form a binocular stereo vision measurement device, a color-coded structured light projector 3 projects color-coded structured light, and a computer 8 controls the upper camera 1 and the lower camera 2 to simultaneously capture the color-coded structured light modulated by the subject 10. According to the current common visual measurement model, the three-dimensional data point cloud of the subject 10 can be calculated.

[0103] A device for measuring the mechanical compensation equilibrium position of the spine is characterized by obtaining a three-dimensional point cloud of the back surface of a subject 10 and then running mechanical compensation equilibrium position identification software on a computer 8. The software includes two parts: a point cloud data processing module 11 and a mechanical compensation equilibrium position measurement module 12.

[0104] A spinal mechanical compensation equilibrium position measuring device is characterized in that a point cloud data processing module 11 includes a point cloud posture correction module 13 and a spinal curve recognition module 14.

[0105] A spinal mechanical compensation balance position measuring device is characterized in that the calculation method of the point cloud posture correction module 13 is:

[0106] To correct the human body point cloud posture that is not perpendicular to the ground due to the tilt between the scanning imaging plane and the ground, the processing method adopted is: let the optical axis direction of the upper camera 1 be the positive direction of the Z axis of the global world coordinate, and the horizontal right direction of the imaging unit target surface of the upper camera 1 be the positive direction of the X axis, and the positive direction of the Y axis conforms to the right-hand rule. Segment the background plate or background cloth from the point cloud data, randomly obtain three points on the background cloth or background plate that are not on the same line to determine the plane normal vector, and let the normal vector of the plane be n = (a, b, c), where a, b, c are the three directional components of the normal vector respectively. Rotate the normal vector to coincide with the Z axis to achieve the effect of camera correction. First, rotate the normal vector around the Y axis by α to the YOZ plane, and then rotate it around the X axis by β to coincide with the Z axis, where:

[0107]

[0108]

[0109] In this way, the rotation matrix T can be constructed so that the 3D scanning imaging plane is perpendicular to the ground:

[0110]

[0111] A spinal mechanical compensation equilibrium position measuring device is characterized in that the spinal curve identification module 14 processes the following steps:

[0112] (1) Calculation of dorsal surface curvature. First, calculate the average curvature at each location on the dorsal surface point cloud. Since the ridge groove position is the location of the spine, the initial ridge groove position is determined based on the maximum value of the local curvature to serve as the initial spine reference.

[0113] (2) Rolling ball method to obtain the spatial position curve of the spine

[0114] The rolling ball method simulates a sphere of a specific size rolling along the spinal groove in the middle of the human back. The spinal groove position is determined based on the curve constraints and the extreme points. When the simulated ball rolls along the spinal groove, there are always two points on the simulated ball that are tangent to the spinal groove contour. The angle between the line connecting these two points and the sagittal reference plane is the scoliosis angle at that location. 15 is the back cross-sectional curve at a certain location on the body surface, 16 is the simulated ball that can roll on the back, 17 is the center of the ball, 18 is the left tangent point, and 19 is the right tangent point. A perpendicular line drawn through the center of the ball 17, connecting the left tangent point 18 and the right tangent point 19, intersects the back cross-sectional curve 15 at a point. This intersection is the spinal groove position, which is considered the spinal position and is hereby designated as spinal cross-sectional position 20. From the seventh cervical vertebra downward to the gluteal groove, the back point cloud data within this range is intercepted at regular intervals to obtain a cross-sectional curve. The spinal position of the cross-sectional curve at that location can be obtained using the above method. By connecting these locations, the spatial position curve of the spine is obtained.

[0115] (3) Obtaining the projection line of the spine space curve

[0116] The spinal column space curve has been obtained from step (2), and the curve is projected onto the coronal plane to obtain a coronal plane projection curve 21 in the two-dimensional plane space.

[0117] (4) Calculate the compensatory balance point

[0118] After obtaining the coronal projection curve 21, the starting point 22 and end point 23 of the coronal spine projection curve 21 are connected to obtain the force line 24. If the coronal projection curve 21 is S-shaped, the coronal projection curve 21 and the force line 24 will inevitably form two closed figures above and below the intersection. In this case, assume that there is a sliding point 27 on the coronal projection curve 21. The portion of the coronal projection curve 21 above the sliding point 27, through the sliding point 27, is drawn horizontally and intersects with the force line 24 to form a horizontal line segment 28. The figure formed by the portion of the coronal projection curve 21 above the sliding point 27, the horizontal line 28, and the force line 24 is called the upper closed figure 25, and the figure formed by the portion of the coronal projection curve 21 below the sliding point 27, the horizontal line 28, and the force line 24 is called the lower closed figure 26. The area S1 of the upper closed figure 25 and the area S2 of the lower closed figure 26 are calculated using conventional integration methods. Sliding point 27 is allowed to slide on coronal projection curve 21 until dS=S1-S2=0, where dS is the area difference between S1 and S2. The position of sliding point 27 on coronal projection curve 21 when dS=0 is the mechanical compensation equilibrium position of the spine.

[0119] In particular, if the coronal plane projection curve 21 is not S-shaped, it cannot form two closed figures with the force line 24, and it is said that the spine has not yet formed a compensatory balance and is still in an overall unstable state, and there is no need to find a compensatory balance point.

Claims

1. A spinal mechanical compensation balance position measuring device, characterized by: The device comprises an upper camera (1), a lower camera (2), a color-coded structured light projector (3), a first data line (4) for transmitting signal data of the upper camera (1), a vertical bracket (5), a second data line (6) for transmitting color-coded signals, a camera bracket (7), a computer (8), and a third data line (9) for transmitting signal data of the lower camera (2); wherein the upper camera (1) and the lower camera (2) together with the color-coded structured light projector (3) constitute a binocular stereo vision measuring device based on color-coded structured light, which is used to scan a three-dimensional data point cloud of the back of a measured person (10); the color-coded structured light projector (3) is used to project a color-coded structured grating; The camera (1) is mounted on the top of the camera bracket (7), with its lens facing the back of the subject (10), and is connected to the computer (8) via a first data line (4); the lower camera (2) is mounted on the bottom of the camera bracket (7), with its lens facing the back of the subject (10), and is connected to the computer (8) via a third data line (9); the color-coded structured light projector (3) is mounted in the middle of the camera bracket (7), with its projection lens facing the back of the subject (10), and is connected to the computer (8) via a second data line (6); the camera bracket (7) is mounted on one end of the vertical bracket (5); the subject (10) stands in front of the upper camera (1) with his back facing the upper camera (1); The color-coded structured light grating projected by the color-coded structured light projector (3), i.e., the coding pattern of the color-coded structured light, is a parallel grid structure, wherein the length and width of each grid unit are respectively equal, and the length is between 5 and 30 centimeters, and the width is between 0.5 and 3 centimeters; the horizontal and vertical spacings between adjacent grid units are respectively equal; the adjacent grid units are filled with a color with a large chromaticity difference as a filling color, i.e., the chromaticity difference value of the adjacent grid units △E>5; and finally, a coding pattern of the color-coded structured light with a parallel grid structure is formed; the coding pattern is used as a reference coding grid for binocular image matching of the upper camera (1) and the lower camera (2); The computer (8) controls the upper camera (1) and the lower camera (2) to simultaneously capture the color-coded structured light modulated by the shape of the back surface of the subject (10), i.e., the color-coded structured grating projected by the aforementioned color-coded structured light projector (3), and then calculates the three-dimensional data point cloud of the back surface of the subject (10) according to a common visual measurement model in the art; After obtaining the three-dimensional data point cloud of the back surface of the subject (10), a mechanical compensation balance position identification module is run in the computer (8); the module includes two parts: a point cloud data processing submodule (11) and a mechanical compensation balance position determination submodule (12); wherein the point cloud data processing submodule (11) includes two parts: a point cloud posture correction unit (13) and a spinal curve identification unit (14); When the mechanical balance compensation point is performed in the spinal curve identification unit (14), the coronal plane projection curve (21) of the spine of the subject (10) is obtained, and the starting point and the end point (23) of the coronal plane projection curve (21) are connected to obtain the force line (24); If the coronal plane projection curve (21) is S-shaped, then the S-shaped and the force line (24) must form a closed figure. The closed figure is divided into upper and lower parts by the horizontal line (28) where the sliding point (27) located on the coronal plane projection curve (21) intersects with the force line (24). When the area difference between the upper and lower closed figures is zero, the position of the sliding point (27) is the mechanical compensation equilibrium position of the spine. If the coronal plane projection curve (21) is not S-shaped, the coronal plane projection curve (21) and the force line (24) cannot form two closed figures, and in this case, there is no need to find a mechanical compensation equilibrium position.

2. The spinal mechanical compensation equilibrium position measuring device according to claim 1, characterized in that: The calculation method of the point cloud posture correction unit (13) is: The correction method for the human body point cloud posture that is not perpendicular to the ground due to the tilt between the scanning imaging plane and the ground is as follows: the optical axis direction of the upper camera (1) is set as the positive direction of the Z axis of the global world coordinate, the horizontal right of the imaging unit target surface of the upper camera (1) is the positive direction of the X axis, and the positive direction of the Y axis conforms to the right-hand rule; the background plate or background cloth is segmented from the point cloud data, and three points on the background cloth or background plate that are not on the same straight line are randomly obtained to determine the plane normal vector, and the normal vector of the plane is set as n = (a, b, c), where a, b, c are the three directional components of the normal vector respectively; the normal vector is rotated to coincide with the Z axis to achieve the effect of camera correction; first, the normal vector is rotated around the Y axis by an angle α to the YOZ plane, and then rotated around the X axis by an angle β to coincide with the Z axis, wherein: ； Construct the rotation matrix T so that the 3D scanning imaging plane is perpendicular to the ground: ； The calculation steps of the spinal curve identification unit (14) are: ① Calculation of dorsal surface curvature First, the average curvature of each position on the point cloud surface of the back of the subject (10) is calculated: since the position of the ridge groove is the position of the spine, the position of the local curvature maximum value is used to determine the exact position of the initial ridge groove, which is used as the initial spine reference; ② Rolling ball method to obtain the spinal spatial position curve The rolling ball method simulates a sphere of a specific size rolling along the spinal groove in the middle of the back of the human body, and obtains the spinal groove position based on the curve constraint and the extreme point; when the simulated ball rolls in the spinal groove, there are always two points on the sphere that are tangent to the spinal groove contour, and the angle between the line connecting these two points and the sagittal reference plane is used as the spinal scoliosis angle at this position; a perpendicular line connecting the left tangent point (18) and the right tangent point (19) through the center of the ball (17) intersects with the back cross-sectional curve (15) at one point, and this intersection is the spinal groove position, which is named the spinal cross-sectional position (20) here; from the seventh cervical vertebra down to the gluteal groove position, a cross-sectional curve is intercepted at a certain distance from the back point cloud data within this range, and the spinal position of the cross-sectional area at this position can be obtained; after connecting these positions, the spatial position curve of the spine can be obtained; ③ Obtain the projection line of the spine spatial position curve The spinal column spatial position curve has been obtained from step ②, and the curve is projected onto the coronal plane to obtain the coronal plane projection curve (21); ④ Computational mechanical compensatory equilibrium point After obtaining the coronal plane projection curve (21), the starting point (22) of the coronal plane spine projection curve of the coronal plane projection curve (21) and the end point (23) of the coronal plane spine projection curve are connected to obtain the force line (24); if the coronal plane projection curve (21) is S-shaped, the coronal plane projection curve (21) and the force line (24) will inevitably form two closed figures above and below the intersection; at this time, it is assumed that there is a sliding point (27) on the coronal plane projection curve (21) that can slide, and the part of the coronal plane projection curve (21) above the sliding point (27) is a horizontal line passing through the sliding point (27) and intersecting with the force line (24) to form a horizontal line segment (28), then the coronal plane above the sliding point (27) is The figure formed by the projection curve (21) part, the horizontal line (28), and the force line (24) is called the upper closed figure (25), and the figure formed by the coronal plane projection curve (21) part below the sliding point (27), the horizontal line (28), and the force line (24) is called the lower closed figure (26); the area S1 of the upper closed figure (25) and the area S2 of the lower closed figure (26) are calculated by conventional integration method; the sliding point (27) is made to slide on the coronal plane projection curve (21) until the area difference dS between S1 and S2 is 0 = S1-S2; then the position of the sliding point (27) on the coronal plane projection curve (21) when dS = 0 is the mechanical compensation equilibrium position of the spine; If the coronal plane projection curve (21) is not S-shaped, the coronal plane projection curve (21) and the force line (24) cannot form two closed figures, and it is determined that the spine has not yet formed a mechanical compensation balance and is still in an overall unstable state. There is no need to find a mechanical compensation balance point.

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