Body feeling evaluation device and evaluation method

Abstract

The invention discloses a proprioceptive evaluation device and method, and the device comprises a projection plate and a laser point position projection module which is used for forming a plurality of projection points on the projection plate. The evaluation device further comprises a camera module, an angle measurement module and a control terminal. The camera module is used for shooting the projection plate. The angle measurement module is used for acquiring bending angle information of a limb to be detected; the control terminal is electrically connected with the camera module and the angle measurement module, and the control terminal evaluates the body feeling of the to-be-detected limb according to the actual projection picture and the bending angle information; the laser point position projection module and the angle measurement module can be independently installed on the to-be-detected limb and have no requirement for the posture of a patient, so that the robot can evaluate the body feeling of each joint and limb and also can evaluate all limbs, the independence between evaluation detection is higher, and the detection accuracy is higher. And different detection and evaluation requirements are met.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a proprioception evaluation device and evaluation method. Background Art

[0002] Proprioception is a special sense that includes joint movement and position sense. It mainly includes three aspects: one is the static perception of joint position; the second is the perception of joint movement (perception of joint movement or acceleration); and the third is the reflex response and the efferent activity of the muscle tension regulation circuit. Currently, common proprioception assessment methods mainly include two categories: 1. Relying on professional assessors to observe and visually draw conclusions on patients, which is relatively rough and subjective; 2. Many hospitals also purchase large-scale balance training equipment to obtain more objective assessment results, but the cost of balance training equipment is relatively high, and it is mainly used for sitting and standing balance assessment and training, and has limitations for the proprioception assessment of single joints of the upper and lower limbs. Summary of the invention

[0003] The main purpose of the present application is to provide a proprioception assessment device and an assessment method, aiming to solve the defect in the prior art that proprioception assessment of a single joint or limb cannot be performed.

[0004] This application achieves the above objectives through the following technical solutions:

[0005] A proprioception assessment device includes a projection board;

[0006] A laser point projection module, which is arranged on the limb to be detected and is used to form a plurality of projection points on the projection board;

[0007] A camera module, the camera module is used to photograph the projection board to obtain an actual projection picture of the projection point;

[0008] An angle measurement module, which is arranged on the limb to be detected and is used to obtain bending angle information of the limb to be detected;

[0009] A control terminal is electrically connected to the camera module and the angle measurement module respectively, and the control terminal evaluates the proprioception of the limb to be detected according to the actual projected image and the bending angle information.

[0010] Optionally, the evaluation device further comprises a fixing frame, on which an adjustment plate is rotatably provided, and on which a slot for fixing the laser point projection module or the angle measurement module is provided.

[0011] Optionally, the laser point projection module includes a laser pen; the camera module includes a high-speed camera.

[0012] Optionally, the angle measurement module includes a memory and a processor, the memory stores a computer program, and the processor executes the computer program to obtain bending angle information of the limb to be detected.

[0013] Accordingly, the present application also discloses a proprioception assessment method based on the above-mentioned assessment device, comprising the following steps:

[0014] A standard projection point is set on the projection board, and the patient controls the laser point projection module to illuminate the standard projection point with eyes open;

[0015] In the eyes-closed state, the patient controls the laser point projection module again to illuminate the standard projection point, and obtains a number of actual projection images through the camera module;

[0016] Calculate the actual projection point according to the actual projection picture;

[0017] With eyes open, the patient controls the limb to be tested to move to any testing position, obtains the bending angle of the limb to be tested, and uses it as the standard bending angle;

[0018] In the eyes-closed state, the patient controls the limb to be tested to move to the standard testing position again to obtain the actual bending angle of the limb to be tested;

[0019] Calculating an actual distance deviation between the actual projection point and the standard projection point, and calculating an actual angle deviation between the standard bending angle and the actual bending angle;

[0020] The proprioceptive function of the limb to be detected is evaluated according to the actual distance deviation and the actual angle deviation.

[0021] Optionally, calculating the actual projection point according to the actual point position image information comprises the following steps:

[0022] Get all the actual projected images;

[0023] Setting a reference point at the same position of each of the actual projected images;

[0024] Construct a standard coordinate system;

[0025] The actual projection images are overlapped and projected into the standard coordinate system according to the standard projection point and the reference point to obtain an actual projection cloud point map;

[0026] The actual projection points are calculated based on the actual projection cloud point diagram fitting.

[0027] Optionally, the actual projection points are calculated by fitting the actual projection cloud point graph, including the following steps:

[0028] Set screening thresholds;

[0029] Screening each projection point on the actual projection cloud point map according to the screening threshold value to obtain the screened projection point;

[0030] Generating a minimum fitting circle in the standard coordinate system, wherein the minimum fitting circle refers to a minimum circle that can contain all the screening projection points;

[0031] The center of the minimum fitting circle is taken as the actual projection point.

[0032] Optionally, screening each projection point on the actual projection cloud point map according to the screening threshold to obtain the screened projection points includes the following steps:

[0033] Respectively obtain the actual projection coordinates of each projection point on the actual projection cloud point map in the standard coordinate system;

[0034] Numbering the projection points on the actual projection cloud point map according to the order of the shooting time of the actual projection pictures;

[0035] Taking the projection point with the largest or smallest number as the comparison projection point, and calculating the displacement value between the comparison projection point and the remaining projection points;

[0036] Traversing all the displacement values, if the displacement value is greater than the screening threshold, removing the projection point corresponding to the displacement value;

[0037] The projection points retained after screening are used as screening projection points.

[0038] Optionally, evaluating the proprioception function of the limb to be detected according to the actual distance deviation and the actual angle deviation comprises the following steps:

[0039] Prepare distance deviation evaluation table and angle deviation evaluation table;

[0040] Substituting the actual distance deviation into the distance deviation evaluation table to obtain a first evaluation result;

[0041] Substituting the actual angle deviation into the angle deviation evaluation table to obtain a second evaluation result;

[0042] The proprioception function evaluation result is output according to the first bending angle and the second bending angle.

[0043] Optionally, the actual distance deviation is calculated as Wherein (x0, y0) represents the coordinates of the standard projection point in the standard coordinate system, and (x′, y′) represents the coordinates of the actual projection point in the standard coordinate system; the calculation formula of the actual angle deviation is Δθ=θ0-θ1, where θ0 represents the standard bending angle, and θ1 represents the actual bending angle.

[0044] Compared with the prior art, this application has the following beneficial effects:

[0045] The present application includes a projection board and a laser point projection module, wherein the laser point projection module is arranged on the limb to be detected, and the laser point projection module is used to form a plurality of projection points on the projection board; the evaluation device also includes a camera module, an angle measurement module and a control terminal, wherein the camera module is used to shoot the projection board to obtain an actual projection picture of the projection points; the angle measurement module is arranged on the limb to be detected, and the angle measurement module is used to obtain the bending angle information of the limb to be detected; the control terminal is electrically connected to the camera module and the angle measurement module respectively, and the control terminal evaluates the proprioception of the limb to be detected according to the actual projection picture and the bending angle information;

[0046] Correspondingly, the present application also discloses a corresponding evaluation method, which first sets a standard projection point on a projection board, and the patient controls the laser point projection module to illuminate the standard projection point in an open-eye state; in a closed-eye state, the patient controls the laser point projection module to illuminate the standard projection point again, obtains a number of actual projection images through the camera module, and then calculates the actual projection point based on the actual projection images; in an open-eye state, the patient controls the limb to be detected to move to any detection position, obtains the bending angle of the limb to be detected, and uses it as the standard bending angle; at the same time, in a closed-eye state, the patient controls the limb to be detected to move to the standard detection position again, obtains the actual bending angle of the limb to be detected; calculates the actual distance deviation between the actual projection point and the standard projection point, calculates the actual angle deviation between the standard bending angle and the actual bending angle, and finally evaluates the proprioception function of the limb to be detected based on the actual distance deviation and the actual angle deviation;

[0047] Projection and leg lifting with eyes open can help patients remember a certain position and use it as a standard position. When eyes are closed, patients can move closer to the standard position again. In this way, the proprioceptive conditions of each limb and joint can be determined by accurately measuring the deviation of the movement recovery and whether the patient can restore the above-mentioned movements without visual senses. Compared with the prior art, this application no longer relies on the doctor's subjective judgment and visual observation to obtain the results, and its evaluation results are more objective and accurate.

[0048] Secondly, the laser point projection module and angle measurement module of the present application can be installed separately on the limb to be tested, and there is no requirement for the patient's posture. Therefore, the present application can evaluate the proprioception of each joint and limb separately, and can also evaluate all limbs. The independence between each evaluation test is stronger, meeting different detection and evaluation requirements;

[0049] Finally, the evaluation device described in the present application has a simpler structure, which not only simplifies the operation process of the equipment and facilitates the rapid output of evaluation results, but also reduces the hardware cost of the entire set of equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of the structure of a proprioception assessment device and an assessment method provided in Example 1 of the present application;

[0051] Figure 2 It is a schematic diagram of the assembly of the fixing frame and the adjusting plate;

[0052] Figure 3 It is a structural schematic diagram of the angle measurement module;

[0053] Figure 4 This is the measurement principle diagram of the angle measurement module;

[0054] Figure 5 A flowchart of a proprioception assessment method provided in Example 2 of the present application;

[0055] Figure 6 This is the schematic diagram for selecting the actual projection point;

[0056] Figure numerals: 1-projection board, 2-laser point projection module, 3-camera module, 4-angle measurement module, 5-control terminal, 6-fixed bracket, 7-adjustment plate, 8-card slot, 9-high-speed camera, 401-memory, 402-processor.

[0057] The purpose, features and advantages of this application will be further described in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0060] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "robot coordinate system and / or m" as an example, it includes the robot coordinate system scheme, or the m scheme, or the scheme that the robot coordinate system and m satisfy at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0062] Example 1

[0063] Reference Figures 1 to 3 This embodiment is an optional embodiment of the present application, which discloses a proprioception assessment device, including a projection board 1, wherein the projection board 1 includes a bracket and a board body, wherein the board body is arranged on the bracket, and a locking screw adapted to the board body is also arranged on the bracket;

[0064] The proprioception assessment device further includes a laser point projection module 2, and the laser point projection module 2 includes a laser pen. It should be noted that the board body is in black, white or other colors with a color difference from the laser pen to ensure that the laser projection point can be clearly captured, thereby improving the accuracy of the assessment;

[0065] It should be noted that, along the height direction of the bracket, slide grooves are provided on both sides of the bracket, the two slide grooves are arranged along the height direction of the bracket, and the two slide grooves are provided with openings on opposite sides. At the same time, connecting shafts are provided on both sides of the plate body, and the two connecting shafts are respectively inserted into the slide grooves on the same side;

[0066] The cross-section of the two slide grooves is a T-shaped structure, that is, a through hole is provided at the bottom of the slide groove, and locking screws are threadedly connected to the two connecting shafts, and the locking screws are provided through the through hole;

[0067] The above structure can ensure that the plate can slide in the height direction and rotate around the rotation axis, and can also be fixed by the locking screw after being adjusted into place;

[0068] Since the heights of the upper limbs and the lower limbs are different, the height of the projection board 1 must be adjustable as needed. The above structure can meet all adjustment requirements and meet various adjustment needs as much as possible.

[0069] The proprioception assessment device further includes a camera module 3, which includes a high-speed camera 9 and a support frame. The high-speed camera 9 is placed on the support frame. When in use, the high-speed camera 9 and the patient are both located directly in front of or directly behind the projection board 1.

[0070] Furthermore, the body of the projection board 1 can also be made of semi-transparent boards such as acrylic boards and PC boards, but it should be noted that the selected semi-transparent boards should not have astigmatism to ensure the concentration of the laser.

[0071] The proprioception evaluation device further includes a control terminal 5 and an angle measurement module 4, wherein the control terminal 5 includes a control computer; the angle measurement module 4 includes a memory 401 and a processor 402, wherein the memory 401 stores a computer program, and the processor 402 executes the computer program to obtain bending angle information of the limb to be detected;

[0072] Reference Figure 4 , the operation interface displays an angle scale and a marking line;

[0073] Furthermore, the angle detection module is preferably a handheld terminal with a built-in relevant angle detection APP, such as a mobile phone.

[0074] The control terminal 5 is connected to the high-speed camera 9 and the angle detection sensor respectively through a data bus;

[0075] Furthermore, the angle measurement module 4 may be a mobile phone or other handheld terminal with a corresponding program built in;

[0076] Furthermore, the proprioception assessment device also includes a fixing frame 6, on which a binding strap is provided, and a Velcro can also be provided on the binding strap to improve the convenience of using the device; an adjustment plate 7 is also provided on the fixing frame 6, and a rotating shaft is provided on the bottom surface of the adjustment plate 7, and the rotating shaft is rotatably connected to the fixing frame 6, and at least two card slots 8 are provided on the top surface of the adjustment plate 7, one of which is adapted to the laser pen, and the other card slot 8 is adapted to the angle measurement module 4;

[0077] At the same time, a locking screw is threadedly connected to the adjustment plate 7, so that the adjustment plate 7 is fixed after being adjusted into place, so as to prevent the adjustment plate 7 from loosening during use, causing the position of the laser pen and the angle measurement module 4 to change, thereby ensuring the accuracy and reliability of the measurement parameters;

[0078] Furthermore, in order to further simplify the structure of the device, a number of straps can be directly set on the adjustment plate, and Velcro can be set on the straps. When in use, the adjustment plate is directly fixed to the limb to be tested (arm or thigh) through the straps, and then fixed by the adhesion of Velcro. Velcro can also be omitted and fixed by bundling; the installation and disassembly of the adjustment plate will be more convenient.

[0079] Secondly, the card slot 8 structure can realize the rapid installation and removal of the laser pen and the angle measurement module 4, which is more practical and convenient; at the same time, since the position of the card slot 8 is fixed, the card slot 8 can effectively ensure the stability of the laser pen and the angle measurement module 4 after installation, which is conducive to improving the accuracy and reliability of the detection and measurement data.

[0080] Implementation Method 2

[0081] Reference Figure 4 and Figure 5 This embodiment is another optional embodiment of the present application, which discloses an evaluation method based on the proprioception evaluation device described in embodiment 1, comprising the following steps:

[0082] S1. Set a standard projection point on the projection board, and the patient controls the laser point projection module to illuminate the standard projection point with eyes open;

[0083] First, a standard projection point is set on the projection board. It should be noted that the standard projection point is preferably the center point of the projection board;

[0084] Then adjust the projection board, insert the laser pen into the corresponding slot on the adjustment board, and finally tie the fixing frame to the limb to be tested. If the upper limb needs to be tested, tie it to the wrist of the corresponding upper limb; if the lower limb needs to be tested, tie it to the ankle of the corresponding lower limb; then rotate the adjustment board to adjust the emission direction of the laser pen, ensure that the laser pen is facing the standard projection point on the projection board, and then fix the adjustment board;

[0085] It should be pointed out that, based on the test of a certain number of adults with normal proprioception, the distance between the tested person and the projection board during the above proprioception test evaluation process was 3-4m;

[0086] After the preparation is completed, the test can begin. First, the patient needs to swing the limb to be tested with eyes open to control the point of the laser pen to gradually rise. When the point of the laser pen accurately illuminates the standard projection point, the patient ensures that the limb to be tested is stable, and puts down the limb to be tested when confirming that the posture position is remembered;

[0087] Through the above steps, a standard posture can be constructed in the patient's memory, and a reference standard can be provided for subsequent comparisons, thereby better quantitatively evaluating the patient's proprioception and improving the objectivity and accuracy of the evaluation.

[0088] S2. In the eyes-closed state, the patient controls the laser point projection module to illuminate the standard projection point again, and obtains a number of actual projection images through the camera module;

[0089] The patient closes his eyes or wears an eye mask or other items, while ensuring that the standing position and posture remain unchanged from step S1. Then, the patient swings the limb to be tested again according to memory until the patient confirms that the limb to be tested is adjusted in place;

[0090] When the patient is adjusting the limb to be tested, the camera module is controlled to continuously shoot the projection board, thereby obtaining a number of actual projection images;

[0091] It should be pointed out that the above-mentioned actual projection pictures need to be numbered according to the chronological order of shooting time. For example, the earliest actual projection picture is numbered 1, and the last actual projection picture is numbered m, where m represents the total number of actual projection pictures. Subsequent actual projection pictures are numbered in chronological order.

[0092] S3, calculating the actual projection point according to the actual projection image;

[0093] S31, obtaining all actually projected images;

[0094] S32, setting a reference point at the same position of each of the actual projected images;

[0095] The setting of the reference point can be done by directly drawing on the projection board by means of a paint pen or the like; or virtual marking can be done by a computer at the same point after inputting each actual projection image into the calculation;

[0096] Since the projection board and the camera module remain stationary during the entire detection process, the background (i.e., the projection board) in each actual projection image is the same; the only difference is that the laser pen irradiates to form a reflective point, i.e., the projection point.

[0097] S33, constructing a standard coordinate system;

[0098] S34, overlapping the actual projection images according to the standard projection point and the reference point and projecting them into the standard coordinate system to obtain an actual projection cloud point map;

[0099] According to the principle of coincidence of the reference point and the standard projection point, all the actual projection photos are overlapped, and then the overlapped actual projection photos are imported into the standard coordinate system;

[0100] Then the standard coordinate system and all projection points are extracted to construct the actual projection cloud point map;

[0101] It should be pointed out that the origin of the standard coordinate system can be chosen to coincide with the standard projection point or reference point to simplify various subsequent calculations;

[0102] S35, calculating the actual projection point according to the actual projection cloud point diagram fitting.

[0103] S351, setting a screening threshold;

[0104] The screening threshold is set according to the actual situation;

[0105] S352, screening each projection point on the actual projection cloud point map according to the screening threshold value to obtain the screened projection points;

[0106] S3521, respectively obtaining the actual projection coordinates of each projection point on the actual projection cloud point map in the standard coordinate system;

[0107] Obtaining an actual projection cloud point map; then obtaining the actual projection coordinates of each projection point in the standard coordinate system;

[0108] S3522, numbering each projection point on the actual projection cloud point map according to the chronological relationship of the shooting time of the actual projection pictures;

[0109] Obtain all actual projection coordinates that are not obtained in S3521, and then number each actual projection coordinate according to the number in step S2 and the correspondence between the projection point and the actual projection photo;

[0110] That is, the coordinates of the projection point on the actual projection photo numbered 1 are (x1, y1), and the coordinates of the projection point on the actual projection photo numbered 2 are (x2, y2);

[0111] And so on to obtain all the actual projection coordinates (x1, y1), (x2, y2), ..., (x m ,y m );

[0112] S3523, taking the projection point with the largest or smallest number as the comparison projection point, and calculating the displacement value between the comparison projection point and the remaining projection points;

[0113] It should be pointed out that the actual irradiation image finally obtained is the projection point finally identified by the patient. Therefore, the projection point finally identified by the patient needs to be selected as the comparison projection point;

[0114] Since the actual irradiation image first obtained in step S2 is numbered 1, the projection point with the largest number is the comparison projection point;

[0115] If the last actual projection image is numbered as 1, the projection point with the smallest number needs to be selected as the comparison projection point;

[0116] After selecting the comparison projection point, respectively calculating the displacement values ​​between the comparison projection point and the remaining projection points;

[0117] For example (x m ,y m ) is the comparison projection point, then the expression of the displacement value between it and the projection point with actual coordinates (x1, y1) is

[0118] Similarly, calculate other displacement values ​​l 2-m , l 3-m , ..., l (m-1)-m ;

[0119] S3524, traversing all the displacement values, if the displacement value is greater than the screening threshold, removing the projection point corresponding to the displacement value;

[0120] Retrieve the screening threshold and all displacement values ​​l 1-m , l 2-m , l 3-m , ..., l (m-1)-m , traverse all the displacement values, and if the displacement value is greater than the screening threshold, remove the projection point corresponding to the displacement value;

[0121] S3525. Use the projection points retained after screening as screening projection points.

[0122] After the screening is completed, all remaining projection points are used as screening projection points.

[0123] S353, generating a minimum fitting circle in the standard coordinate system, wherein the minimum fitting circle refers to a minimum circle that can contain all the screening projection points;

[0124] A minimum fitting circle is generated in the standard coordinate system. The minimum fitting circle needs to include all the screening projection points and has the smallest radius.

[0125] S354: taking the center of the minimum fitting circle as the actual projection point.

[0126] The center of the minimum fitting circle is taken as the actual projection point, and the coordinates (x′, y′) of the actual projection point in the standard coordinate system are obtained;

[0127] In the early stage of the patient's limb swing, the projection point deviates greatly from the final point. Secondly, due to the natural shaking of human limbs, the projection point of the laser pen will also be in a shaking state, so multiple discrete projection points will be generated. However, due to the deliberate control of the human body, after the projection point is stable, the spacing between each discrete projection point is limited. The screening threshold is used to limit the above points, that is, the projection points within the range allowed by the screening threshold will be considered as normal projection points. Therefore, the projection points in the early stage of limb swing and other large deviations will be screened out through the above screening measures to avoid their influence on the final evaluation structure.

[0128] Secondly, the minimum fitting circle can generate a circular area covering all projection points. That is, no matter how the patient's limbs shake, the shaking range is within the range covered by the minimum fitting circle, thereby integrating all projection points. Taking the center of the minimum fitting circle as the actual projection point can eliminate the error caused by shaking and improve the objectivity and accuracy of the detection.

[0129] S4. With eyes open, the patient controls the limb to be tested to move to any testing position, obtains the bending angle of the limb to be tested, and uses it as the standard bending angle;

[0130] Complete the installation of the angle measurement module on the limb to be detected in the same way as step S1;

[0131] With eyes open, the patient only needs to control the joint bending of the limb to be tested, thereby driving the limb to be tested to move to any testing position and keeping the limb to be tested stable;

[0132] At this time, the detection position is determined as the standard detection position, and the angle measurement module records the bending angle of the limb at this time and uses it as the standard bending angle;

[0133] It should be pointed out that the standard detection position does not need to be clearly established. As long as the patient's limbs are bent, the angle measurement module can read accurately. However, in order to improve the accuracy of the angle measurement module readings, the bending angle of the limb should not be less than 20°.

[0134] S5. In the eyes-closed state, the patient controls the limb to be tested to move to the standard testing position again to obtain the actual bending angle of the limb to be tested;

[0135] The patient closes his eyes or wears an eye mask or other items, while ensuring that all postures remain unchanged, and controls the limb to be tested to move to the standard testing position again. When the patient thinks that the limb to be tested has moved to the standard testing position, the limb is kept stable. At this time, the angle measurement module records the bending angle of the limb to be tested and uses the bending angle as the actual bending angle.

[0136] It should be noted that in steps S4 and S5, due to the natural changes of the human body, multiple readings may occur. In this case, it is only necessary to set a sampling period T and take the average value of all readings within the sampling period T as the corresponding parameter.

[0137] For example, in step S4, the sampling period T=2s is set at the same time, and 5 parameters are obtained within the sampling period, then the average values ​​of the above 5 parameters are calculated, and the calculated average value is used as the standard bending angle;

[0138] Similarly, in step S5, the calculated average value is used as the actual bending angle;

[0139] It should be pointed out that in the above two steps, the sampling period and the number of parameters must remain the same;

[0140] S6, calculating the actual distance deviation between the actual projection point and the standard projection point, and calculating the actual angle deviation between the standard bending angle and the actual bending angle;

[0141] The coordinates of the standard projection point obtained in step S34 and the coordinates (x′, y′) of the actual projection point in step S354 in the standard coordinate system are retrieved and substituted into the calculation formula of the actual distance deviation to calculate the actual distance deviation value. The expression of the calculation formula of the actual distance deviation is: Wherein (x0, y0) represents the coordinates of the standard projection point in the standard coordinate system, and (x′, y′) represents the coordinates of the actual projection point in the standard coordinate system;

[0142] The standard bending angle obtained in step S4 and the actual bending angle obtained in step S5 are retrieved, and the actual angle deviation is calculated using the actual angle deviation calculation formula Δθ=θ0-θ1, where θ0 represents the standard bending angle and θ1 represents the actual bending angle.

[0143] S7. Evaluate the proprioceptive function of the limb to be detected according to the actual distance deviation and the actual angle deviation.

[0144] S71. Prepare a distance deviation evaluation table and an angle deviation evaluation table;

[0145] The distance deviation evaluation table mainly includes the evaluation level and the actual distance deviation, as shown in the following table, which gives an example of a distance deviation evaluation table;

[0146]

[0147] The angle deviation evaluation table mainly includes the evaluation level and the actual angle deviation, as shown in the following table, which gives an example of an angle deviation evaluation table;

[0148]

[0149] S72, substituting the actual distance deviation into the distance deviation evaluation table to obtain a first evaluation result;

[0150] S73, substituting the actual angle deviation into the angle deviation evaluation table to obtain a second evaluation result;

[0151] S74. Output proprioception function evaluation results according to the first bending angle and the second bending angle.

[0152] It should be pointed out that the doctor gives the proprioception function assessment result after comprehensive consideration of the first assessment result and the second assessment result, or the doctor can directly output the first assessment result and the second assessment result separately.

[0153] Secondly, in the actual testing process, the above test process can be repeated multiple times, and the best evaluation result is taken as the final evaluation result;

[0154] Projection and leg lifting with eyes open can help patients remember a certain position and use it as a standard position. When eyes are closed, patients can move closer to the standard position again. In this way, the proprioceptive conditions of each limb and joint can be determined by accurately measuring the deviation of the movement recovery and whether the patient can restore the above-mentioned movements without visual senses. Compared with the prior art, this application no longer relies on the doctor's subjective judgment and visual observation to obtain the results, and its evaluation results are more objective and accurate.

[0155] Secondly, the laser point projection module and angle measurement module of the present application can be installed separately on the limb to be tested, and there is no requirement for the patient's posture. Therefore, the present application can evaluate the proprioception of each joint and limb separately, and can also evaluate all limbs. The independence between each evaluation test is stronger, meeting different detection and evaluation requirements;

[0156] Finally, the evaluation device described in the present application has a simpler structure, which not only simplifies the operation process of the equipment and facilitates the rapid output of evaluation results, but also reduces the hardware cost of the entire set of equipment.

[0157] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A proprioception assessment device, characterized in that: The invention comprises a projection board (1); A laser point projection module (2), the laser point projection module (2) being arranged on the limb to be detected, and the laser point projection module (2) being used to form a plurality of projection points on the projection board (1); A camera module (3), the camera module (3) being used to photograph the projection board (1) to obtain an actual projection image of the projection point; An angle measurement module (4), the angle measurement module (4) being arranged on the limb to be detected, and the angle measurement module (4) being used to obtain bending angle information of the limb to be detected; A control terminal (5), wherein the control terminal (5) is electrically connected to the camera module (3) and the angle measurement module (4) respectively, and the control terminal (5) evaluates the proprioception of the limb to be detected based on the actual projected image and the bending angle information.

2. A proprioception assessment device according to claim 1, characterized in that: The evaluation device further comprises a fixing frame (6), an adjusting plate (7) is rotatably arranged on the fixing frame (6), and a slot (8) for fixing the laser point projection module (2) or the angle measurement module (4) is arranged on the adjusting plate (7).

3. A proprioception assessment device according to claim 1, characterized in that: The laser point projection module (2) comprises a laser pen; the camera module (3) comprises a high-speed camera (9).

4. A proprioception assessment device according to claim 1, characterized in that: The angle measurement module (4) comprises a memory (401) and a processor (402), wherein a computer program is stored in the memory (401), and the processor (402) executes the computer program to obtain bending angle information of a limb to be detected.

5. A proprioception assessment method based on the proprioception assessment device according to any one of claims 1 to 4, characterized in that: The following steps are involved: A standard projection point is set on the projection board, and the patient controls the laser point projection module to illuminate the standard projection point with eyes open; In the eyes-closed state, the patient controls the laser point projection module again to illuminate the standard projection point, and obtains a number of actual projection images through the camera module; Calculate the actual projection point according to the actual projection picture; With eyes open, the patient controls the limb to be tested to move to any testing position, obtains the bending angle of the limb to be tested, and uses it as the standard bending angle; In the eyes-closed state, the patient controls the limb to be tested to move to the standard testing position again to obtain the actual bending angle of the limb to be tested; Calculating an actual distance deviation between the actual projection point and the standard projection point, and calculating an actual angle deviation between the standard bending angle and the actual bending angle; The proprioceptive function of the limb to be detected is evaluated according to the actual distance deviation and the actual angle deviation.

6. The proprioception assessment method according to claim 5, characterized in that: The step of calculating the actual projection point according to the actual point position image information comprises the following steps: Get all the actual projected images; Setting a reference point at the same position of each of the actual projected images; Construct a standard coordinate system; The actual projection images are overlapped and projected into the standard coordinate system according to the standard projection point and the reference point to obtain an actual projection cloud point map; The actual projection points are calculated based on the actual projection cloud point diagram fitting.

7. The proprioception assessment method according to claim 6, characterized in that: The method of calculating the actual projection points according to the actual projection cloud point diagram fitting includes the following steps: Set screening thresholds; Screening each projection point on the actual projection cloud point map according to the screening threshold value to obtain the screened projection point; Generating a minimum fitting circle in the standard coordinate system, wherein the minimum fitting circle refers to a minimum circle that can contain all the screening projection points; The center of the minimum fitting circle is taken as the actual projection point.

8. The proprioception assessment method according to claim 7, characterized in that: The step of screening each projection point on the actual projection cloud point map according to the screening threshold value to obtain the screened projection points comprises the following steps: Respectively obtain the actual projection coordinates of each projection point on the actual projection cloud point map in the standard coordinate system; Numbering the projection points on the actual projection cloud point map according to the order of the shooting time of the actual projection pictures; Taking the projection point with the largest or smallest number as the comparison projection point, and calculating the displacement value between the comparison projection point and the remaining projection points; Traversing all the displacement values, if the displacement value is greater than the screening threshold, removing the projection point corresponding to the displacement value; The projection points retained after screening are used as screening projection points.

9. The proprioception assessment method according to claim 5, characterized in that: The method of evaluating the proprioception function of the limb to be detected according to the actual distance deviation and the actual angle deviation comprises the following steps: Prepare distance deviation evaluation table and angle deviation evaluation table; Substituting the actual distance deviation into the distance deviation evaluation table to obtain a first evaluation result; Substituting the actual angle deviation into the angle deviation evaluation table to obtain a second evaluation result; The proprioception function evaluation result is output according to the first bending angle and the second bending angle.

10. The proprioception assessment method according to claim 5 or 9, characterized in that: The calculation formula of the actual distance deviation is: Wherein (x0, y0) represents the coordinates of the standard projection point in the standard coordinate system, and (x′, y′) represents the coordinates of the actual projection point in the standard coordinate system; the calculation formula of the actual angle deviation is Δθ=θ0-θ1, where θ0 represents the standard bending angle, and θ1 represents the actual bending angle.

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