Joint laxity rating system, method, and apparatus

Abstract

This invention relates to the field of rehabilitation medicine technology, providing a joint mobility level evaluation system, method, and apparatus. The aforementioned joint mobility level evaluation system includes: a pressure acquisition unit for acquiring real-time voltage signals generated by pressure sensors when pressure is applied to a human joint; a motion capture unit for acquiring initial absolute coordinate data of a human marker point before force application and real-time coordinate data during force application; a data synchronization unit communicatively connected to the pressure acquisition unit and the motion capture unit; and a visualization terminal communicatively connected to the data synchronization unit, used to process the real-time voltage data, initial absolute coordinates, and real-time coordinate data and compare them with standard level data for evaluation. The joint mobility level evaluation system provided by this invention can objectively evaluate the level of joint mobility, improving the practitioner's control over the applied force.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medicine technology, and in particular to a joint mobility assessment system, a joint mobility assessment method, and a joint mobility assessment device. Background Technology

[0002] According to the Maitland grading system, joint mobility is classified into four levels when applying force to human joints. During the application of force, the femur and tibia will undergo some slight positional changes. The magnitude of these changes is related to the level of the force applied; the higher the level, the greater the change. In actual application, the magnitude of the force is difficult to describe in words, and the positional changes of the tibia and femur are also difficult to visually assess. Summary of the Invention

[0003] This invention provides a joint loosening level evaluation system, a joint loosening level evaluation method, and a joint loosening level evaluation device to solve the defect in the prior art that the level of joint loosening during force application cannot be objectively evaluated.

[0004] This invention provides a joint mobility assessment system, comprising: a pressure acquisition unit for acquiring real-time voltage signals generated by pressure sensors when a human joint is subjected to pressure; a motion capture unit for acquiring initial absolute coordinate data of human body markers before force application and real-time coordinate data during force application; a data synchronization unit communicatively connected to the pressure acquisition unit and the motion capture unit; and a visualization terminal communicatively connected to the pressure acquisition unit and the data synchronization unit, wherein the visualization terminal processes the real-time voltage data, the initial absolute coordinates, and the real-time coordinate data and compares them with standard level data for evaluation.

[0005] According to the present invention, a joint loosening level evaluation system includes a pressure acquisition unit comprising: a plurality of pressure sensors, wherein the pressure sensors are attached to the joints of the human body; a signal conditioning module and a data acquisition module, wherein the signal conditioning module is used to convert the resistance signal output by the pressure sensor into a voltage signal and transmit it to the data acquisition module; wherein the data acquisition module is communicatively connected to the data synchronization unit and the visualization terminal.

[0006] According to the present invention, a joint loosening level evaluation system is provided, wherein the pressure sensor is a thin-film pressure sensor.

[0007] According to the present invention, a joint loosening level evaluation system is provided, wherein the motion capture unit includes: multiple marker points, the marker points being attached to the lower limbs of the human body; and an image acquisition module, the image acquisition module being used to acquire the initial absolute coordinate data of the marker points before force is applied and the real-time coordinate data during the force application process, the image acquisition module being communicatively connected to the data synchronization unit.

[0008] According to the joint loosening level evaluation system provided by the present invention, the plurality of marker points include: a plurality of rigid body marker points, the rigid body marker points being adhered to the outer thigh and the outer calf; and a plurality of bony marker points, the bony marker points being adhered to bony locations.

[0009] According to a joint loosening level evaluation system provided by the present invention, the data synchronization unit includes: a synchronizer electrically connected to the data acquisition module and the image acquisition module; and a data exchange electrically connected to the synchronizer, the image acquisition module, and the visualization terminal.

[0010] This invention also provides a method for evaluating joint loosening levels, comprising: acquiring real-time pressure data borne by the human joint during force application; acquiring first initial absolute coordinate data of rigid body markers before force application, second initial absolute coordinate data of bony markers, and first real-time coordinate data of rigid body markers during force application; deriving second real-time coordinate data of bony markers based on the first initial absolute coordinate data, the second initial absolute coordinate data, and the first real-time coordinate data; calculating the displacement change value and angle change value of the joint during force application; and comparing and evaluating the real-time pressure data, the displacement change value, and the angle change value with standard level data.

[0011] According to a method for evaluating joint loosening levels provided by the present invention, the step of obtaining first initial absolute coordinate data of rigid body markers and second initial absolute coordinate data of bony markers before force application, and deriving second real-time coordinate data of bony markers based on the first initial absolute coordinate data, the second initial absolute coordinate data, and the first real-time coordinate data of rigid body markers during force application, further includes: obtaining the origin and basis vector of the local coordinate system of the femur and tibia before force application based on the first initial absolute coordinate data; deriving the local coordinate data of the bony markers in the local coordinate system of the femur and tibia based on the origin, the basis vector, and the second initial absolute coordinate data; and deriving the second real-time coordinate data of the bony markers based on the local coordinate data and the first real-time coordinate data of rigid body markers during force application.

[0012] According to a method for evaluating joint loosening levels provided by the present invention, the step of calculating the displacement and angle changes of the joint during the force application process further includes: establishing local coordinate systems of the femur and tibia during the force application process based on the second real-time coordinate data of the bony landmarks; calculating a first rotation matrix and a first displacement of the tibial local coordinate system relative to the femoral local coordinate system based on the local coordinate systems of the femur and tibia during the force application process; calculating a second rotation matrix and a second displacement of the tibial local coordinate system relative to the femoral local coordinate system based on the local coordinate systems of the femur and tibia before the force application; calculating a first equivalent rotation angle of the tibia relative to the femur and a second equivalent rotation angle of the tibia relative to the femur before the force application based on the first rotation matrix and the second rotation matrix; calculating the angle change value of the tibia relative to the femur based on the second equivalent rotation angle; and calculating the displacement change value of the tibia relative to the femur based on the second displacement.

[0013] This invention also provides a joint mobility assessment device, comprising: an acquisition module for acquiring real-time pressure data borne by the joint during force application, first initial absolute coordinate data of a rigid body marker before force application, second initial absolute coordinate data of a bony marker, and first real-time coordinate data of the rigid body marker during force application; a calculation module for deriving second real-time coordinate data of the bony marker based on the first initial absolute coordinate data, the second initial absolute coordinate data, and the first real-time coordinate data, and further for calculating displacement and angle changes of the joint during force application; and a comparison module for comparing the real-time pressure data, the displacement changes, and the angle changes with standard grade data.

[0014] The joint loosening level evaluation system provided by this invention, by setting up a pressure acquisition unit, a motion capture unit, a data synchronization unit, and a visualization terminal, can objectively evaluate the level of joint loosening, thereby improving the ability of the force exertor to control the force applied. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the joint loosening level evaluation system provided by the present invention;

[0017] Figure 2 This is a schematic diagram showing the placement of the pressure sensor and marker points;

[0018] Figure 3 It is a diagram showing the displacement relationship between the femur and tibia before and during the application of force;

[0019] Figure 4 This is a schematic diagram illustrating the principle of converting a resistance signal of a thin-film pressure sensor into a pressure signal.

[0020] Figure 5 This is a schematic diagram of the synchronization principle of the data synchronization unit;

[0021] Figure 6 It is a flowchart that converts coordinate data into information on the pose change of the tibia relative to the femur;

[0022] Figure 7 This is a flowchart of the joint loosening level evaluation method provided by the present invention;

[0023] Figure 8 This is a schematic diagram of the joint loosening level evaluation device provided by the present invention;

[0024] Figure label:

[0025] 11: Pressure sensor; 12: Signal conditioning module; 13: Data acquisition module; 21: Rigid body marker; 22: Bony marker; 23: Fixation bracket; 24: Image acquisition module; 25: Data exchange; 30: Synchronizer; 40: Visualization terminal; 100: Femur; 200: Tibia; 210: Acquisition module; 220: Calculation module; 230: Comparison module. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0027] The terms "first" and "second" in the specification and claims of this invention may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0028] The following is combined with Figures 1-8 This invention describes a joint loosening level evaluation system, a joint loosening level evaluation method, and a joint loosening level evaluation device.

[0029] like Figure 1As shown, in one embodiment of the present invention, the joint loosening level evaluation system includes: a pressure acquisition unit, a motion capture unit, a data synchronization unit, and a visualization terminal 40. The pressure acquisition unit is used to acquire real-time voltage signals generated by pressure sensors when a human joint is subjected to pressure. The motion capture unit is used to acquire the initial absolute coordinate data of the human body marker points before force application and the real-time coordinate data during the force application process. The data synchronization unit is used to synchronously send the real-time voltage signals and initial absolute coordinates to the visualization terminal 40. The visualization terminal 40 processes the real-time voltage signals, initial absolute coordinates, and real-time coordinate data to obtain real-time voltage data, joint displacement change values, and angle change values, and displays these data synchronously. Simultaneously, it compares the real-time voltage data, joint displacement change values, and angle change values ​​with standard level data and provides an evaluation level based on the comparison results.

[0030] Specifically, pressure sensors are attached to the joints of the human body, and markers are attached to the lower limbs. When force is applied to the joints, such as... Figure 3 As shown, the angle between the femur (100°) and tibia (200°) changes, and the joint also undergoes displacement. By comparing the displacement change value, angle change value, and real-time pressure data with standard grade data, the level of joint loosening during force application can be determined. In this embodiment, the standard grade data for joint loosening adopts the Maitland grading standard.

[0031] In one embodiment of the present invention, the visualization terminal 40 is a computer.

[0032] It should be noted that in this application, the communication connection can be wireless communication transmission or wired communication transmission.

[0033] The joint loosening level evaluation system provided in this embodiment of the invention, by setting up a pressure acquisition unit, a motion capture unit, a data synchronization unit and a visualization terminal, can objectively evaluate the joint loosening level and improve the ability of the force exertor to control the force applied.

[0034] like Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the pressure acquisition unit includes: a plurality of pressure sensors 11, a signal conditioning module 12, and a data acquisition module 13. Specifically, the pressure sensors 11 are attached to the joints of the human body, and the pressure sensors 11 can be set at different joints depending on the location of the force applied. In this embodiment, the pressure sensors 11 are set at the joints of the lower limbs.

[0035] like Figure 4As shown, during the application of force, the pressure sensor 11 receives pressure and outputs a resistance signal. The signal conditioning module 12 is used to convert the resistance signal output by the pressure sensor 11 into a voltage signal and send it to the data acquisition module 13. The data acquisition module 13 is connected to the data synchronization unit.

[0036] Furthermore, in one embodiment of the present invention, the pressure sensor 11 is a thin-film pressure sensor.

[0037] like Figure 1 , Figure 2 and Figure 5 As shown, in one embodiment of the present invention, the motion capture unit includes: multiple marker points and an image acquisition module 24. The data synchronization unit includes: a synchronizer 30 and a data exchange 25. The marker points are attached to the lower limbs of the human body. The image acquisition module 24 is used to acquire the initial absolute coordinate data and real-time coordinate data of the marker points before force is applied. The synchronizer 30 synchronously transmits pulse signals to the data acquisition module 13 and the image acquisition module 24, and the image acquisition module 24 and the data acquisition module 13 synchronously acquire data. The data acquisition module 13 sends the acquired real-time voltage signal to the visualization terminal 40 for calculation to obtain real-time pressure data. The image acquisition module 24 sends the acquired initial absolute coordinate data and real-time coordinate data to the visualization terminal 40 through the data exchange 25 for calculation to obtain the displacement change value and angle change value of the joint during the force application process. The visualization terminal 40 synchronously displays the above real-time pressure data, displacement change value, and angle change value data, and compares them with standard level data to obtain the joint loosening level.

[0038] Specifically, such as Figure 2 As shown, the multiple marker points include multiple rigid body marker points 21 and multiple bony marker points 22. The rigid body marker points 21 are attached to the lateral thigh and lateral lower leg, and the bony marker points 22 are attached to bony locations. Specifically, in this embodiment, the bony marker points 22 are attached to the greater trochanter of the femur, the lateral epicondyle of the femur, the medial epicondyle of the femur, the lateral tibial malleolus, the medial tibial malleolus, and the medial malleolus. The image acquisition module 24 is mounted on the fixing bracket 23 and positioned around the body. The image acquisition module 24 is used to acquire the initial absolute coordinates of the multiple rigid body marker points 21 and bony marker points 22. Further, in this embodiment, the image acquisition module 24 is an infrared camera.

[0039] It should be noted that the bonding positions of rigid body marker 21 and bony marker 22 are different depending on the joint position where the force is applied. For example, when loosening the upper limb joint, the pressure sensor 11 can be bonded to the upper limb joint, and the rigid body marker 21 and bony marker 22 can be bonded to various parts of the upper limb respectively.

[0040] like Figure 6 and Figure 7As shown in the figure, this embodiment of the invention also provides a method for evaluating the level of joint loosening, which specifically includes the following steps:

[0041] Step 01: Obtain real-time pressure data of the joints in the human body during the application of force.

[0042] Specifically, before applying force, a pressure sensor 11 is attached to the patella of the knee joint. During the application of force, the pressure signal F of the pressure sensor 11 at the knee joint is calculated based on the collected voltage signal and voltage-pressure calibration curve.

[0043] Step 02: Obtain the first initial absolute coordinate data of rigid body marker 21 and the second initial absolute coordinate data of bony marker 22 before force application. Based on the first initial absolute coordinate data, the second initial absolute coordinate data, and the first real-time coordinate data of rigid body marker 21 during force application, obtain the second real-time coordinate data of bony marker 22.

[0044] Specifically, bony markers 22 are affixed to the bony locations of the femur 100 and tibia 200 of the human body, and rigid body markers 21 are affixed to the outer sides of the thigh and lower leg. The image acquisition module 24 acquires the first initial absolute coordinate data of the rigid body markers 21 and the second initial absolute coordinate data of the bony markers 22. Based on the first initial absolute coordinate data, the origin and basis vector of the local coordinate system of the femur 100 and tibia 200 before force is applied are obtained. Based on the origin, basis vector, and second initial absolute coordinate data, the local coordinate data of the bony markers 22 in the local coordinate system of the femur 100 and tibia 200 are obtained. Based on the local coordinate data and the first real-time coordinate data of the rigid body markers 21 during force application, the second real-time coordinate data of the bony markers 22 are obtained.

[0045] Step 03: Calculate the displacement and angle changes of the joint during the force application process.

[0046] Specifically, based on the second real-time coordinate data of the bony marker 22, local coordinate systems of the femur 100 and tibia 200 are established during the force application process. Based on these local coordinate systems, a first rotation matrix and a first displacement of the tibia 200 local coordinate system relative to the femur 100 local coordinate system are calculated. Before force application, a second rotation matrix and a second displacement of the tibia 200 local coordinate system relative to the femur 100 local coordinate system are calculated. Based on the first and second rotation matrices, a first equivalent rotation angle of the tibia 200 relative to the femur 100 and a second equivalent rotation angle of the tibia 200 relative to the femur 100 before force application are calculated. The angular change value of the tibia 200 relative to the femur 100 is calculated based on the second equivalent rotation angle. Finally, the displacement change value of the tibia 200 relative to the femur 100 is calculated based on the second displacement.

[0047] The joint loosening level evaluation method provided in this invention can acquire real-time pressure data, joint displacement change value and angle change value during the force application process, and compare the above data with standard level data to obtain the joint loosening level. This method can objectively evaluate the joint loosening level and improve the force application person's ability to control the force application intensity.

[0048] Further, in one embodiment of the present invention, the step of obtaining the first initial absolute coordinate data of the rigid body marker 21 and the second initial absolute coordinate data of the bony marker 22 before force application, and obtaining the second real-time coordinate data of the bony marker 22 based on the first initial absolute coordinate data, the second initial absolute coordinate data, and the first real-time coordinate data of the rigid body marker 21 during force application, further includes:

[0049] Based on the first initial absolute coordinate data, the origin and basis vector of the local coordinate system of the femur 100 and tibia 200 before force application are obtained; based on the origin, the basis vector, and the second initial absolute coordinate data, the local coordinate data of the bony marker 22 in the local coordinate system of the femur 100 and tibia 200 are obtained; based on the local coordinate data and the first real-time coordinate data of the rigid body marker 21 during force application, the second real-time coordinate data of the bony marker 22 are obtained.

[0050] Specifically, based on the first initial absolute coordinate data of the rigid body marker point 21 before force application, the origin and basis vector of the local coordinate system of the femur 100 and tibia 200 before force application are obtained; the origin of the local coordinate system of the femur 100 before force application is O1(o 1x ,o 1y ,o 1z ), basis vectors are and The origin of the local coordinate system of the tibia 200 before force application is O2(o 2x ,o 2y ,o 2z ), basis vectors are and Based on the origin, basis vector, and second initial absolute coordinate data of the local coordinate system of the femur 100 and tibia 200 before force application, the local coordinate values ​​of each bony marker 22 in the local coordinate system of the femur 100 and tibia 200 before force application are obtained; the local coordinate value of the bony marker 22 in the local coordinate system is M. i (m ix ,m iy ,m iz Based on the local coordinate values ​​of each bony marker 22 in the local coordinate system of the femur 100 and tibia 200 before force application and the first real-time coordinate data of the rigid body marker 21 during force application, the second real-time coordinate data of the bony marker 22 in the world coordinate system is obtained.

[0051] When M i When the bony landmark 22 on the femur is 100, we have:

[0052] p ix =m ix .u 1x +m iy .v 1x +m iz .w 1x +o 1x (1)

[0053] p iy =m ix .u 1y +m iy .v 1y +m iz .w 1y +o 1y (2)

[0054] p iz =m ix .u 1z +m iy .v 1z +m iz .w 1z +o 1z (3)

[0055] When M i When the bony landmark 22 is located on the tibia at 200°, we have:

[0056] p ix =m ix .u 2x +m iy .v 2x +m iz .w 2x +o 2x (4)

[0057] p iy =m ix .u 2y +m iy .v 2y +m iz .w 2y +o 2y (5)

[0058] p iz =m ix .u 2z +m iy .v 2z +m iz .w 2z +o2z (6)

[0059] Where p ix p iy p iz These are the second real-time coordinate data of the bony marker 22 to be determined in the world coordinate system.

[0060] Furthermore, the steps for calculating the displacement and angle changes of the joint during the force application process further include: establishing local coordinate systems for the femur 100 and tibia 200 during the force application process based on the second real-time coordinate data of the bony marker 22; calculating the first rotation matrix and first displacement of the tibia 200 local coordinate system relative to the femur 100 local coordinate system based on the local coordinate systems of the femur 100 and tibia 200 during the force application process; calculating the second rotation matrix and second displacement of the tibia 200 local coordinate system relative to the femur 100 local coordinate system based on the local coordinate systems of the femur 100 and tibia 200 before the force application process; calculating the first equivalent rotation angle of the tibia 200 relative to the femur 100 and the second equivalent rotation angle of the tibia 200 relative to the femur 100 before the force application process based on the first and second rotation matrices; calculating the angle change value of the tibia 200 relative to the femur 100 based on the second equivalent rotation angle; and calculating the displacement change value of the tibia 200 relative to the femur 100 based on the second displacement.

[0061] Specifically, based on the second real-time coordinate data of the bony marker 22, local coordinate systems for the femur 100 and tibia 200 during the force application process are established respectively; based on the local coordinate systems of the femur 100 and tibia 200 during the force application process, the first rotation matrix and the first displacement of the local coordinate system of the tibia 200 relative to the local coordinate system of the femur 100 are calculated; the first rotation matrix is... The first displacement is S(t);

[0062]

[0063]

[0064] in, Let be the first rotation matrix of the tibial 200 coordinate system relative to the femoral 100 coordinate system. Let be the transpose of the rotation matrix of the femoral 100 coordinate system relative to the world coordinate system. Let be the rotation matrix of the tibia 200 coordinate system relative to the world coordinate system. (o 1x ,o 1y ,o 1z (o) represents the coordinates of the origin of the femoral 100 coordinate system. 2x ,p 2y ,p 2z () represents the coordinates of the origin of the tibial 200 coordinate system;

[0065] According to the first rotation matrix The first equivalent rotation angle β(t) of the tibia 200 relative to the femur 100 was calculated, where β(t) is a variable that changes with time;

[0066]

[0067] Among them, T 11 T 22 T 33 The first rotation matrix is ​​respectively The three element values ​​on the main diagonal,

[0068] Using the same method, the second equivalent rotation angle α and the second displacement x of the tibia 200 relative to the femur 100 before force application are calculated, where α and x are constants. From this, the angular change θ and displacement change d of the tibia 200 relative to the femur 100 can be determined; where the first equivalent rotation angle β(t) and the second equivalent rotation angle α are as follows... Figure 3 As shown, the formulas for calculating the angle change θ and the displacement change d are:

[0069] θ = β(t) - α (10).

[0070] d = S(t) - x (11).

[0071] like Figure 8 As shown, this embodiment of the invention also provides a joint loosening level evaluation device, including: an acquisition module 210, a calculation module 220, and a comparison module 230. The acquisition module 210 is used to acquire real-time pressure data borne by the human joint during force application, first initial absolute coordinate data of the rigid body marker point before force application, second initial absolute coordinate data of the bony marker point, and first real-time coordinate data of the rigid body marker point during force application. The calculation module 220 is used to derive the second real-time coordinate data of the bony marker point based on the first initial absolute coordinate data, the second initial absolute coordinate data, and the first real-time coordinate data. The calculation module 220 is also used to calculate the displacement change value and angle change value of the joint during force application. The comparison module 230 is used to compare and evaluate the real-time pressure data, displacement change value, and angle change value with standard level data.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for evaluating the level of joint loosening, characterized in that, include: Acquire real-time pressure data at the joints of the human body during the application of force; The process involves acquiring the first initial absolute coordinate data of the rigid body marker before force application, the second initial absolute coordinate data of the bony marker, and the first real-time coordinate data of the rigid body marker during force application. Based on the first initial absolute coordinate data, the origin and basis vector of the local coordinate system of the femur and tibia before force application are obtained. Based on the origin, the basis vector, and the second initial absolute coordinate data, the local coordinate data of the bony marker in the local coordinate system of the femur and tibia are obtained. Based on the local coordinate data and the first real-time coordinate data of the rigid body marker during force application, the second real-time coordinate data of the bony marker is obtained. The rigid body marker is attached to the lateral thigh and lateral calf, and the bony marker is attached to a bony location. Based on the second real-time coordinate data of the bony landmarks, local coordinate systems for the femur and tibia are established during the force application process. Based on these local coordinate systems, a first rotation matrix and a first displacement of the tibial local coordinate system relative to the femoral local coordinate system are calculated. Based on the femoral and tibial local coordinate systems before force application, a second rotation matrix and a second displacement of the tibial local coordinate system relative to the femoral local coordinate system are calculated. Based on the first and second rotation matrices, a first equivalent rotation angle of the tibia relative to the femur and a second equivalent rotation angle of the tibia relative to the femur before force application are calculated. Based on the second equivalent rotation angle, the angular change value of the tibia relative to the femur is calculated. Based on the second displacement, the displacement change value of the tibia relative to the femur is calculated. The real-time pressure data, displacement change value, and angle change value are compared and evaluated with standard grade data.

2. A joint loosening level assessment system for implementing the joint loosening level assessment method according to claim 1, characterized in that, include: A pressure acquisition unit is used to acquire the real-time voltage signal generated by the pressure sensor when the human joint is subjected to pressure. A motion capture unit is used to collect the initial absolute coordinate data of human body markers before force is applied and the real-time coordinate data during the force application process; A data synchronization unit, which is communicatively connected to the pressure acquisition unit and the motion capture unit; A visualization terminal is communicatively connected to the pressure acquisition unit and the data synchronization unit. The visualization terminal is used to process the real-time voltage signal, the initial absolute coordinates, and the real-time coordinate data, and then compare and evaluate them with standard level data.

3. The joint loosening level evaluation system according to claim 2, characterized in that, The pressure acquisition unit includes: Multiple pressure sensors are attached to human joints; The system includes a signal conditioning module and a data acquisition module. The signal conditioning module converts the resistance signal output by the pressure sensor into a voltage signal and transmits it to the data acquisition module. The data acquisition module is communicatively connected to the data synchronization unit and the visualization terminal.

4. The joint loosening level evaluation system according to claim 3, characterized in that, The pressure sensor is a thin-film pressure sensor.

5. The joint loosening level evaluation system according to claim 3, characterized in that, The motion capture unit includes: Multiple marker points are attached to the lower limbs of the human body. An image acquisition module is used to acquire the initial absolute coordinate data of the marker point before the force is applied and the real-time coordinate data during the force application process. The image acquisition module is communicatively connected to the data synchronization unit.

6. The joint loosening level evaluation system according to claim 5, characterized in that, The plurality of marker points include: a plurality of rigid body marker points and a plurality of bony marker points.

7. The joint loosening grading evaluation system according to claim 5, characterized in that, The data synchronization unit includes: A synchronizer, which is electrically connected to the data acquisition module and the image acquisition module; The data switch is electrically connected to the synchronizer, the image acquisition module, and the visualization terminal.

8. A joint loosening level evaluation device, characterized in that, include: The acquisition module is used to acquire real-time pressure data borne by the joints of the human body during the force application process, first initial absolute coordinate data of rigid body markers before force application, second initial absolute coordinate data of bony markers, and first real-time coordinate data of rigid body markers during the force application process. The rigid body markers are attached to the outer thigh and the outer calf, and the bony markers are attached to bony locations. The calculation module is used to obtain the origin and basis vector of the local coordinate system of the femur and tibia before force application based on the first initial absolute coordinate data; to obtain the local coordinate data of the bony marker in the local coordinate system of the femur and tibia based on the origin, the basis vector and the second initial absolute coordinate data; to obtain the second real-time coordinate data of the bony marker based on the local coordinate data and the first real-time coordinate data of the rigid body marker during force application; to establish the local coordinate system of the femur and tibia during force application based on the second real-time coordinate data of the bony marker; and to establish the local coordinate system of the femur and tibia during force application based on the force application process. Based on the local coordinate systems of the femur and tibia, calculate the first rotation matrix and first displacement of the tibial local coordinate system relative to the femoral local coordinate system; based on the femoral and tibial local coordinate systems before force application, calculate the second rotation matrix and second displacement of the tibial local coordinate system relative to the femoral local coordinate system; based on the first rotation matrix and the second rotation matrix, calculate the first equivalent rotation angle of the tibia relative to the femur and the second equivalent rotation angle of the tibia relative to the femur before force application; based on the second equivalent rotation angle, calculate the angle change value of the tibia relative to the femur; based on the second displacement, calculate the displacement change value of the tibia relative to the femur. The comparison module is used to compare and evaluate the real-time pressure data, the displacement change value, and the angle change value with the standard grade data.

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