Evaluation system based on multiple spinal joints

Abstract

The invention provides an evaluation system based on multiple spinal joints. The evaluation system comprises a hardware module and a data processing module, the hardware module comprises at least one bandage and a plurality of IMU (Inertial Measurement Unit) sensors matched with the bandage, and the data processing module is in communication connection with the IMU sensors; the bandage is fixed to a target segment of a spine of an evaluation target, and the IMU sensors are symmetrically distributed on the two sides of the midline of the spine on the bandage. The data processing module can receive angle data and inclination data collected by the IMU sensors, translation noise is eliminated by calculating the data difference value of the IMU sensors distributed in a bilateral symmetry mode, local spine bending signals are extracted, and spine static evaluation and dynamic evaluation are completed based on the bending signals. Through an algorithm of calculating a data difference value of a bilaterally symmetrical IMU sensor, noise interference caused by integral translation of a human body can be effectively offset, the extraction precision of a spinal curvature signal is improved, the accuracy of an evaluation result is ensured, and misdiagnosis or misjudgment caused by noise is avoided.

Description

Technical Field

[0001] This application relates to the field of intelligent assessment technology, and in particular to an assessment system based on multiple spinal joints. Background Technology

[0002] As the core supporting structure of the human torso, the health of the spine directly affects posture, motor function, and the function of internal organs. With changes in modern lifestyles (such as prolonged sitting, hunching over desks, and poor posture), the incidence of spinal disorders is rising year by year, and showing a trend towards affecting younger people. Problems such as scoliosis and lumbar lordosis are becoming increasingly prominent in children and adolescents. Therefore, accurate, convenient, and safe assessment of the spinal joints is a crucial prerequisite for clinical diagnosis and rehabilitation intervention.

[0003] However, the spinal joint measurement methods in related technologies have many limitations and cannot meet the needs of clinical and routine monitoring. The specific shortcomings are as follows: Limited measurement dimensions and scope: Current technologies mostly assess single spinal segments (such as measuring only the lumbar or cervical spine), failing to achieve segmental monitoring of the entire spine (cervical, thoracic, lumbar, and sacral vertebrae). For example, some measuring devices can only acquire the lumbar lordosis angle, unable to simultaneously acquire thoracic scoliosis or scapular asymmetry, making it difficult for doctors to fully grasp the overall spinal pathological state, easily leading to missed diagnoses or misjudgments.

[0004] Translational noise interference and insufficient data accuracy: During spinal motion monitoring, the overall translation of the human body (such as slight forward and backward swaying while standing, or non-bending displacement of the trunk) can interfere with the angle data collected by the sensors, i.e., "translational noise". Current technologies often fail to effectively address this noise, causing irrelevant interference to be mixed into the measured spinal curvature signal. For example, a lumbar scoliosis angle that is only 1° may be mismeasured as 3°-5° due to the superposition of translational noise, seriously affecting the accuracy of the assessment results and thus misleading the formulation of subsequent rehabilitation plans.

[0005] The separation of static and dynamic assessments, and the lack of a closed-loop assessment system: Existing assessment methods are mostly divided into static assessments (such as spinal morphology measurement while standing) and dynamic assessments (such as movement ability measurement during bending and rotation). These two assessments are conducted independently and cannot form a complete assessment logic from "locking in structural abnormalities to revealing functional defects." For example, some devices can only detect scoliosis (structural abnormality) through static measurements, but cannot further assess the degree of muscle imbalance or neuromuscular control ability (functional defects) of scoliosis patients during dynamic movements (such as bending and rotation). This leads to one-sided assessment results and makes it difficult to support the development of personalized rehabilitation training programs.

[0006] Radiation-dependent equipment, limited to the target population: Traditional spine evaluation often relies on radiation imaging devices such as X-ray and CT. Although these devices can provide detailed information about the structure of the spine, they pose a risk of radiation exposure and are not suitable for sensitive populations such as children and adolescents. They also cannot meet the needs of long-term rehabilitation monitoring (e.g., monthly reviews). In addition, these devices are large and expensive, making them difficult to use in home or community medical settings, and they are not user-friendly.

[0007] Poor hardware compatibility and poor user experience: The existing spine monitoring equipment has a fixed size, which cannot adapt to the needs of users of different sizes (e.g., children with a waist circumference of 50 cm and adults with a waist circumference of 130 cm), resulting in loose (sensor displacement) or tight (user discomfort) bandage wear. In addition, the sensor and the bandage are integrated, and once the sensor fails, the entire device needs to be replaced, which is costly and further limits the popular application of the device. SUMMARY

[0008] The present application provides an evaluation system based on multiple spinal joints, which can realize full-spine segmented monitoring, eliminate translation noise, and fuse static and dynamic evaluation to solve the problems of low precision, narrow coverage, and limited application range in the prior art.

[0009] The technical solution of the present application is as follows: The evaluation system based on multiple spinal joints according to an embodiment of the present application comprises a hardware module and a data processing module. The hardware module includes at least one bandage and a plurality of IMU sensors cooperating with the bandage. The data processing module is in communication connection with the IMU sensors. The bandage is used to fix the target segment of the spine of the evaluation target, and the IMU sensors are symmetrically distributed on both sides of the centerline of the spine on the bandage. The data processing module can receive angle data and inclination data collected by the IMU sensors, eliminate translation noise by calculating the difference value of the data of the left and right symmetrically distributed IMU sensors, extract the local bending signal of the spine, and complete the static and dynamic evaluation of the spine based on the bending signal.

[0010] In a possible implementation, the bandage is a scalable and modular structure, and each bandage has two IMU sensors built-in. The distance from each IMU sensor to the centerline of the spine is 2 cm, and the distance between the two is 4 cm. The bandage is detachably connected to the IMU sensor through a magnetic interface, and the bandage is adjusted by a magic tape to adapt to the waist and / or chest circumference size of different evaluation targets.

[0011] In possible embodiments, the IMU sensor is a nine-axis sensor for real-time collection of inclination data, angle data and motion data of the target segment of the evaluation target spine, and uploading of the data to the data processing module through Bluetooth communication; the data processing module includes an upper computer, which can receive and store the IP information and collected data of each sensor uploaded by the IMU sensor.

[0012] In possible embodiments, a system calibration module is further included, which can control the evaluation target to remain in an upright stationary state for a preset time length, and collect reference data of the IMU sensor in this state; the data processing module can construct a spine model of the evaluation target based on the reference data, and display the initial condition of the spine of the evaluation target on the upper computer in real time.

[0013] In possible embodiments, the static evaluation includes the following steps: Step 1, the evaluation target stands on the calibration platform, maintains the posture of keeping the feet as wide as the shoulders and the hands naturally drooping; Step 2, the center line of the strap is aligned with the spinous process of the spine to ensure that the IMU sensors are symmetrically distributed; Step 3, the evaluation target maintains the stationary posture for 30 seconds, and the IMU sensor continuously collects data and uploads the data to the data processing module; Step 4, if multiple straps are used, the data processing module generates comparative data of multiple IMU sensors.

[0014] In possible embodiments, the data processing module can generate multiple evaluation indexes during the static evaluation, including a scoliosis angle SAD, a lumbar lordosis angle LLA and a shoulder asymmetry index. The scoliosis angle SAD is max (left IMU_Y axis angle - right IMU_Y axis angle), and when SAD > 5°, it is determined that the vertebral body is rotated or scoliotic. The lumbar lordosis angle LLA is the included angle of the sagittal plane of L1 and L5, where L1 and L5 respectively refer to the first lumbar vertebra and the fifth lumbar vertebra in the evaluation target spine; when LLA < 10°, it is determined to be flat back, and when LLA > 50°, it is determined to be excessive lordosis, indicating the risk of posture compensation or intervertebral disc lesion; The shoulder asymmetry index is the horizontal displacement difference of the cervical and thoracic vertebrae, and when the displacement difference > 2 cm, it indicates the presence of high and low shoulders or thoracic scoliosis problems.

[0015] In possible implementation manners, the dynamic assessment includes a forward bending test, a backward extension test, a lateral bending test, and a rotation test; the forward bending test and the backward extension test are that the patient slowly bends down to touch the toes and then leans back to the limit, and the test is repeated for 3 cycles; the lateral bending test is that the patient slides sideways with both hands on the legs, and the test is alternated left and right for 2 times each; the rotation test is that the patient holds both arms straight up and rotates the torso left and right, and a preset rotation angle threshold is 45°.

[0016] In possible implementation manners, the data processing module can generate a plurality of dynamic assessment indexes during the dynamic assessment, including dynamic lateral bending asymmetry, spine-pelvis phase difference, and flexion-extension ratio FER. The dynamic lateral bending asymmetry is (left lateral bending peak angle - right lateral bending peak angle) / mean value, wherein the mean value is the arithmetic mean of the left lateral bending peak angle and the right lateral bending peak angle, and when the value is greater than 15%, it indicates that there is muscle imbalance or unilateral activity limitation; the spine-pelvis phase difference is the time delay of the lumbar vertebrae and the pelvis movement, which is calculated by cross-correlation analysis, and when the time delay is greater than 200 ms, it indicates that there is a delay in neuromuscular control; the flexion-extension ratio FER is the peak angle of forward bending / the peak angle of backward extension, and when FER is less than 0.8 or FER is greater than 1.5, it indicates that there is activity limitation or hyperextension problem of the joint.

[0017] In possible implementation manners, the number of the straps can be adjusted according to the assessment requirements to simultaneously cover a plurality of different spinal segments of the assessment target, and the plurality of different spinal segments include cervical vertebrae, thoracic vertebrae, lumbar vertebrae, and sacral vertebrae.

[0018] The embodiments of the present application have the following beneficial effects: (1) The data precision is significantly improved, and the translation noise interference is excluded Through the "left-right symmetric IMU sensor data difference calculation" algorithm, the noise interference caused by the overall translation of the human body can be effectively offset, the precision of the spinal bending signal extraction is improved, the accuracy of the assessment result is ensured, and misdiagnosis or misjudgment caused by noise is avoided.

[0019] (2) Full spinal segment monitoring is achieved, and the coverage is comprehensive Based on the expandable modular strap design, the system can flexibly expand the monitoring segments according to the requirements, such as a single strap can monitor the lumbar vertebrae L3-L5 (for patients with low back pain), 3 straps can cover the cervical vertebrae to the thoracic vertebrae to the lumbar vertebrae, and 5 straps can achieve full spinal (cervical vertebrae to sacral vertebrae) monitoring. Compared with the existing single segment measurement device, the monitoring coverage of the system is improved by 3-5 times, the overall pathological state of the spine can be comprehensively mastered, and misdiagnosis is avoided.

[0020] (3) Static and dynamic assessment are integrated to form a complete assessment closed loop Through the evaluation logic of "static locking structure abnormality and dynamic revealing function defect", a complete evaluation closed loop is constructed. For example, for a lateral bending patient with SAD=7°, the static evaluation can only find the lateral bending structure abnormality, and the dynamic evaluation can further find the dynamic lateral bending asymmetry=18% (muscle imbalance), spine-pelvis phase difference=250ms (neural control delay), thereby providing more comprehensive evaluation information and making the subsequent rehabilitation program more targeted. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope of protection of the present application. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0022] Figure 1 A flowchart of a static evaluation process of an evaluation system based on multiple spinal joints according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments.

[0024] The components of the embodiments of the present application generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative labor are within the scope of protection of the present application.

[0025] In the following, the terms "include", "have", and their synonymous words used in various embodiments of the present application are only intended to represent specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be understood as first excluding the existence or possibility of adding one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing.

[0026] In addition, the terms "first", "second", "third", and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0027] Unless specifically defined otherwise, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present application belong. The terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless clearly defined otherwise in various embodiments of the present application.

[0028] Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments can be combined with each other in the case of no conflict.

[0029] Reference Figure 1 The evaluation system based on multiple spinal joints provided by the embodiments of the present application includes a hardware module, a data processing module and a system calibration module. The modules work cooperatively to realize accurate monitoring and comprehensive evaluation of the spine state. The hardware module includes an extensible modular binding belt and a 9-axis IMU sensor. The binding belt can adopt a layered modular structure, such as including a base layer (a breathable fabric layer attached to the human skin), a sensor mounting layer (with a magnetic interface), and an adjusting layer (an elastic and stretchable fabric and a magic tape). The length of a single binding belt can be adjusted by the magic tape, and the elastic and stretchable structure of the adjusting layer is suitable for different waist circumferences and chest circumferences of the evaluation target (hereinafter referred to as the patient), thereby solving the poor adaptability problem of the existing device.

[0030] The hardware module has good expansion capability and supports single or multiple binding belts. A single binding belt can be used to monitor a single spinal segment (such as lumbar vertebrae L3-L5, the third lumbar vertebra to the fifth lumbar vertebra). Multiple binding belts can cover the cervical vertebrae (C1-C7, the first cervical vertebra to the seventh cervical vertebra), the thoracic vertebrae (T1-T12, the first thoracic vertebra to the twelfth thoracic vertebra), the lumbar vertebrae (L1-L5, the first lumbar vertebra to the fifth lumbar vertebra), and the sacral vertebrae (S1-S5, the first sacral vertebra to the fifth sacral vertebra), thereby realizing a "on-demand expansion" monitoring mode and solving the problem of limited coverage range of the prior art.

[0031] When the binding belt is worn, the center line needs to be aligned with the spinal process (a bony protrusion on the back of the human spine, which can be used as a precise positioning mark), and the IMU sensors on the binding belt need to be symmetrically distributed on both sides of the spinal midline, so as to facilitate subsequent data difference calculation to exclude translation noise and improve the accuracy of evaluation.

[0032] Further, the sensor adopts a 9-axis (3-axis accelerometer-3-axis gyroscope-3-axis magnetometer) inertial measurement unit, which can collect the inclination angle (such as the Y-axis lateral bending angle and the X-axis pitch angle) of the human spinal segment, the motion acceleration and the magnetic field data in real time, and the sampling frequency can reach 50Hz, ensuring the continuity and real-time of data collection during dynamic motion, and avoiding the omission of peak angle caused by insufficient sampling frequency. Two IMU sensors are built into a single strap, each sensor is 2cm away from the center line of the spine, and the distance between the two sensors is 4cm; the sensor is detachably connected to the strap through a magnetic interface, if the sensor fails, only the individual sensor needs to be replaced, without the need to replace the entire strap, reducing maintenance costs. Each IMU sensor is connected to the host computer of the data processing module through Bluetooth 5.0 communication protocol, and can synchronously upload the unique IP identification of each sensor (used to distinguish different segments and different side sensors) and the collected angle and acceleration data, with a transmission delay of <100ms, ensuring real-time evaluation requirements.

[0033] Further, the system calibration module is used to eliminate individual differences and initial posture deviations, and to establish a unified reference for subsequent evaluation. The specific process is as follows: First step, calibration preparation: the user needs to stand on a horizontal calibration platform (ensure no inclination interference), keep the feet and shoulders the same width, and the hands naturally down vertically, avoiding deliberately chest or bending; Second step, reference data collection: the system controls the user to keep standing still for 3 seconds (this time can balance the data stability and user experience, 150 groups of data can be collected within 3 seconds, and the mean value is calculated to reduce accidental errors), and the IMU sensor collects the inclination angle and acceleration data in real time as the reference value; Third step, neutral model construction: the data processing module imports the reference value into the preset human spine three-dimensional model algorithm, generates a user-specific "spine neutral reference model" and displays it in real time (in the form of a three-dimensional skeletal model, with the initial angle of each segment marked), which serves as a comparison reference for subsequent static and dynamic evaluation, ensuring the individuality of the evaluation results.

[0034] Further, the data processing module includes an upper computer for receiving sensor data, calculating evaluation indexes, and generating evaluation results. The upper computer receives and stores data uploaded by each IMU sensor through Bluetooth, and can also support data export to facilitate subsequent analysis by doctors and archiving of medical records. The "left and right sensor data difference calculation" is used for the left and right two IMU sensors of the same spinal segment. The Y-axis angle data of the left sensor is subtracted from the Y-axis angle data of the right sensor (or vice versa). Since the translational noise has the same direction and similar value on the left and right sensors, the difference calculation can offset the noise and only retain the angle difference caused by local bending of the spine. For example, if the human body translates by 2°, the Y-axis angle of the left and right sensors will be offset by 2°, and after difference calculation (2°-2°=0°), the noise can be completely excluded. If the spinal scoliosis causes the left sensor to be offset by 3° and the right sensor to be offset by 1°, the difference calculation (3°-1°=2°) can accurately extract the scoliosis signal. Static evaluation and dynamic evaluation are performed during the evaluation process, respectively as follows: Static evaluation index calculation: static evaluation analyzes the spinal structure in the user's static posture. The specific process is as follows: the user maintains an upright static posture for 30 seconds (1500 groups of data are collected, and the sliding average algorithm is used to reduce errors caused by breathing and slight shaking). If multiple straps are used, the system synchronously collects left and right IMU data of each segment of the whole spine. The following core parameters can be obtained through static evaluation: (1) Spinal scoliosis angle SAD: the calculation formula is max (left IMU Y-axis angle-right IMU Y-axis angle), that is, the maximum value of the Y-axis angle difference between the left and right sensors within 30 seconds; when SAD>5°, it is determined that the vertebrae are rotated or scoliotic (the threshold value is based on the clinical scoliosis diagnosis standard, and less than 5° is within the normal physiological bending range); (2) Lumbar lordosis angle LLA: the difference between the sagittal plane (lateral surface of the human body) pitch angles of L1 and L5 segments of the lumbar spine (L1 pitch angle-L5 pitch angle) is calculated. The normal range is 10°-50°. When LLA<10°, it is determined to be "flat back" (lumbar lordosis disappears, which can cause lumbar muscle tension). When LLA>50°, it is determined to be "excessive lordosis" (which can cause increased pressure on the intervertebral disc and cause low back pain); (3) Shoulder asymmetry index: the horizontal displacement difference (converted by the X-axis displacement data of the IMU sensor) between the cervical vertebra C7 segment and the thoracic vertebra T3 segment is calculated. When the displacement difference is greater than 2 cm, it is determined to be "high and low shoulders" or thoracic scoliosis (shoulder asymmetry is often caused by thoracic scoliosis, which needs to be further evaluated); Dynamic evaluation index calculation: dynamic evaluation analyzes the function of the spine during user movement. Through a pre-set standardized action, functional defects such as muscle imbalance and neuromuscular control delay are reflected. The specific process and indexes are as follows: Forward bending test, backward extension test: the patient slowly bends down to touch the toes (forward bending), then leans back to the limit (backward extension), repeats 3 cycles (ensure to collect multiple motion data to avoid single action error); Lateral bending test: the patient's hands are placed on the legs, and the patient slides to the left and right to the limit, alternating left and right 2 times each; Rotation test: the patient holds both arms straight up (maintains the same height as the shoulder), rotates the torso to the left and right to the limit, and the preset normal rotation angle threshold is 45° (less than this value indicates limited rotation activity); Through dynamic evaluation, the following core parameters can be obtained: (1) Dynamic lateral bending asymmetry: the calculation method is: (left bending peak angle - right bending peak angle) / average value, where "average value" is the arithmetic mean of the left bending peak angle and the right bending peak angle (i.e. average value = (left peak value + right peak value) / 2); When the value is > 15%, it indicates that there is muscle imbalance (such as left lumbar muscle tension, resulting in insufficient right bending angle) or unilateral activity limitation; (2) Spine-pelvis phase difference: through the "cross-correlation analysis" algorithm, the motion time delay of the lumbar L3 segment and the pelvic sacrum segment is calculated (i.e. the difference between the time when L3 starts to move and the time when the sacrum starts to move); Under normal circumstances, the spine and pelvis have strong movement coordination, and the time delay is < 200ms; When the time delay is > 200ms, it indicates that the neuromuscular control is delayed (such as the lumbar muscle response lag after the brain sends a movement instruction); (3) Flexion-extension ratio FER: the ratio of the forward bending peak angle to the backward extension peak angle (FER = forward bending peak / backward extension peak) is calculated, and the normal range is 0.8-1.5; When FER < 0.8, it indicates that the backward extension activity is limited (such as insufficient lumbar extension muscle strength), and when FER > 1.5, it indicates that the forward bending is excessive or the backward extension control is poor (such as lumbar ligament relaxation, which cannot stabilize the spine when extending backward); The system integrates static and dynamic evaluation indicators to generate a spine evaluation report, which can include the following conclusions: Structural abnormality conclusion: based on static indicators, whether there is lateral bending (SAD value), flat back / over-arching (LLA value), high-low shoulder (scapular asymmetry index); Based on dynamic indicators, whether there is muscle imbalance (dynamic lateral bending asymmetry), neuromuscular control delay (spine-pelvis phase difference), activity limitation (FER, rotation angle).

[0035] In summary, the evaluation system based on multiple spinal joints of the embodiment has the following beneficial effects: (1) The data precision is significantly improved, and the translation noise interference is excluded Through the "left-right symmetric IMU sensor data difference calculation" algorithm, the noise interference caused by the overall translation of the human body can be effectively offset, the accuracy of the spinal curvature signal extraction is improved, the accuracy of the evaluation result is ensured, and misdiagnosis or misjudgment caused by noise is avoided.

[0036] (2) Realize full-spine segmented monitoring, comprehensive coverage Based on the expandable modular binding belt design, the system can flexibly expand the monitoring segment according to the needs. For example, a single binding belt can monitor the lumbar vertebrae L3-L5 (for patients with low back pain), three binding belts can cover the cervical vertebrae to the thoracic vertebrae to the lumbar vertebrae, and five binding belts can realize full-spine (cervical vertebrae to sacrum) monitoring. Compared with the existing single segment measurement device, the monitoring coverage of the system is increased by 3-5 times, the overall pathological state of the spine can be comprehensively mastered, and misdiagnosis is avoided.

[0037] (3) Static and dynamic evaluation fusion to form a complete evaluation closed loop Through the evaluation logic of "static locking structure abnormality and dynamic revealing functional defect", a complete evaluation closed loop is constructed. For example, for a lateral bending patient with SAD=7°, static evaluation can only find the lateral bending structure abnormality, and dynamic evaluation can further find that the dynamic lateral bending asymmetry=18% (muscle imbalance), the spine-pelvis phase difference=250ms (neural control delay), thereby providing more comprehensive evaluation information and making the subsequent rehabilitation program more targeted.

[0038] It can be understood that the device of the embodiment corresponds to the xx method of the above-mentioned embodiment, and the optional items in the above-mentioned embodiment are also applicable to the present embodiment, so they will not be described here again.

[0039] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented by other means. The device embodiments described above are only schematic, for example, the flowchart and block diagram in the drawings show the possible implementation architecture, function and operation of the device, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in alternative implementations, the functions noted in the blocks can occur in different orders than that shown in the figure. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0040] In addition, each functional module or unit in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0041] If the functions are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0042] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application.

Claims

1. A multi-spinal joint based assessment system, characterized by, The application relates to a hardware module and a data processing module; the hardware module comprises at least one binding belt and a plurality of IMU sensors matched with the binding belt, and the data processing module is in communication connection with the IMU sensors; the binding belt is used for fixing a target segment of a spine of an evaluation target, and the IMU sensors are symmetrically distributed on the binding belt on both sides of the center line of the spine; the data processing module can receive angle data and inclination data collected by the IMU sensors, remove translation noise by calculating the data difference of the left and right symmetrically distributed IMU sensors, extract local bending signals of the spine, and complete static evaluation and dynamic evaluation of the spine based on the bending signals.

2. The multi-spinal joint based assessment system of claim 1, wherein, The binding belt is a scalable and modular structure, one binding belt is internally provided with two IMU sensors, the distance of each IMU sensor from the center line of the spine is 2 cm, and the distance between the two is 4 cm; the binding belt is detachably connected with the IMU sensors through a magnetic attraction interface, and the binding belt is adjusted through a magic tape to adapt to the waist circumference and / or chest circumference size of different evaluation targets.

3. The multi-spinal- joint-based assessment system of claim 1, wherein, The IMU sensor is a nine-axis sensor, which is used for collecting inclination data, angle data and motion data of a target segment of a spine of an evaluation target in real time, and uploading the data to the data processing module through a Bluetooth communication mode; the data processing module comprises an upper computer, and the upper computer can receive and store the IP information and collected data of each sensor uploaded by the IMU sensor.

4. The multi-spinal- joint-based assessment system of claim 1, wherein, The application further comprises a system calibration module, which can control the evaluation target to keep a straight and stationary state for a preset time length, collect reference data of the IMU sensors in the state, and construct a spine model of the evaluation target based on the reference data, and display the initial condition of the spine of the evaluation target on the upper computer in real time.

5. The multi-spinal- joint-based assessment system of claim 4, wherein, The static evaluation comprises the following steps: Step 1: the evaluation target stands on the calibration platform, keeps the posture that the feet are as wide as the shoulders and the hands are naturally drooping; Step 2: the center line of the binding belt is aligned with the spine spinous process, and the IMU sensors are symmetrically distributed; Step 3: the evaluation target maintains the stationary posture for 30 seconds, the IMU sensors continuously collect data and upload the data to the data processing module; Step 4: if a plurality of binding belts are used, the data processing module generates comparison data of a plurality of IMU sensors.

6. The multi-spinal- joint-based assessment system of claim 5, wherein, The data processing module can generate a plurality of evaluation indexes during the static evaluation, including a spine scoliosis angle SAD, a lumbar lordosis angle LLA and a scapula asymmetry index; The spine scoliosis angle SAD is max (left IMU_Y axis angle-right IMU_Y axis angle); when SAD>5 DEG, it is determined that the vertebrae are rotated or bent; The lumbar lordosis angle LLA is the included angle of the sagittal plane of L1 and L5, wherein L1 and L5 respectively represent the first lumbar vertebra and the fifth lumbar vertebra in the lumbar vertebrae of the evaluation target; when LLA<10 DEG, it is determined that the back is flat, and when LLA>50 DEG, it is determined that the back is excessively lordotic, which indicates that there is a risk of posture compensation or intervertebral disc lesion; The scapula asymmetry index is the horizontal displacement difference of the cervical vertebra and the thoracic vertebra, and when the displacement difference is greater than 2 cm, it indicates that there is a high-low shoulder or thoracic vertebra scoliosis problem.

7. The multi-spinal- joint-based assessment system of claim 4, wherein, The dynamic assessment includes a forward bending test, a backward extension test, a lateral bending test, and a rotation test; wherein the forward bending test and the backward extension test are that the patient slowly bends down to touch the toes and then leans back to the limit, and repeats 3 cycles; the lateral bending test is that the patient slides the hands along the legs, and alternates left and right for 2 times each; the rotation test is that the patient holds the arms horizontally, rotates the torso left and right, and the preset rotation angle threshold is 45°.

8. The multi-spinal- joint-based assessment system of claim 7, wherein, The data processing module can generate multiple dynamic assessment indexes during the dynamic assessment, including dynamic lateral bending asymmetry, spine-pelvis phase difference, and flexion-extension ratio FER; Wherein, the dynamic lateral bending asymmetry=(left lateral bending peak angle-right lateral bending peak angle) / mean, wherein the mean is the arithmetic mean of the left lateral bending peak angle and the right lateral bending peak angle, when the value>15%, it indicates that there is muscle imbalance or unilateral activity limitation; the spine-pelvis phase difference is the time delay of lumbar vertebrae and pelvis movement, which is calculated by cross-correlation analysis, when the time delay>200ms, it indicates that there is a delay in neuromuscular control; the flexion-extension ratio FER=forward bending peak angle / backward extension peak angle, when FER<0.8 or FER>1.5, it indicates that there is activity limitation or hyperextension problem of the joint.

9. The multi-spinal- articulation-based evaluation system of claim 1, wherein, The number of the straps can be adjusted according to the assessment needs to cover multiple different spinal segments of the assessment target at the same time, the multiple different spinal segments including cervical vertebrae, thoracic vertebrae, lumbar vertebrae, and sacral vertebrae.

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