Spinal Mobility Measurement Method, Device, Computer Equipment and Storage Medium

Abstract

This application relates to a method, device, computer equipment and storage medium for measuring spinal mobility. Among them, the method includes: setting at least two detection devices on the vertebral bodies of the detection object, and the spine between the vertebral bodies corresponding to every two detection devices is the spinal segment to be measured; obtaining first measurement data of the detection object in the detection posture through the detection devices, and obtaining the calibration function corresponding to the detection object; obtaining the rotation angle between each pair of vertebral bodies provided with detection devices according to the first measurement data and the calibration function; determining the mobility of the spinal segment to be measured based on the rotation angle. Through this application, it is possible to automatically calculate the mobility of the spinal segment to be measured between the vertebral bodies wearing the detection devices based on wearable detection devices, excluding the interference of human errors and solving the problem of poor reliability in manually measuring spinal mobility.

Description

Technical Field

[0001] This application relates to the field of medical technology, and particularly to a method and device for measuring spinal mobility, a computer device, and a storage medium. Background Art

[0002] With the continuous development of medical technology, the detection of spinal mobility has received increasing attention in the diagnosis, treatment, and rehabilitation of spinal diseases.

[0003] Currently, the main method for measuring spinal mobility is manual measurement by doctors, and the measurement methods include using a protractor and a tape measure. In manual measurement, errors will occur even when the same doctor measures the same measurement object each time. At the same time, different measurement techniques of the doctor or unstable postures of the measurement object will also cause human errors. Therefore, the method of manual measurement has the problem of poor reliability.

[0004] In view of the problem of poor reliability in manually measuring spinal mobility in the related art, no effective solution has been proposed yet. Summary of the Invention

[0005] In this embodiment, a method and device for measuring spinal mobility, a computer device, and a storage medium are provided to solve the problem of poor reliability in manually measuring spinal mobility in the related art.

[0006] In a first aspect, in this embodiment, a method for measuring spinal mobility is provided, including:

[0007] At least two detection devices are arranged on the vertebral bodies of the detection object, and the spine between the vertebral bodies corresponding to each two detection devices is the spinal segment to be measured;

[0008] The first measurement data of the detection object in the detection posture is obtained through the detection devices, and the calibration function corresponding to the detection object is obtained;

[0009] According to the first measurement data and the calibration function, the rotation angle between each vertebral body provided with the detection device is obtained;

[0010] Based on the rotation angle, the mobility of the spinal segment to be measured is determined.

[0011] In some of these embodiments, the step of obtaining the rotation angle between each vertebral body provided with the detection device according to the first measurement data and the calibration function includes:

[0012] According to the first measurement data, the orientation of the detection device in the detection posture is obtained;

[0013] According to the orientation of the detection device and in combination with the calibration function, obtain the orientations of the vertebral bodies in different detection postures respectively;

[0014] Based on the orientation, obtain the rotation angle between the vertebral bodies.

[0015] In some embodiments, the obtaining of the calibration function corresponding to the detection object includes:

[0016] Based on the calibration posture of the detection object, establish the relationship between the orientation of the detection device and the orientation of the corresponding vertebral body, and determine the calibration function.

[0017] In some embodiments, the establishing the relationship between the orientation of the detection device and the orientation of the corresponding vertebral body based on the calibration posture of the detection object and determining the calibration function includes:

[0018] Obtain the second measurement data of the detection object in the calibration posture through the detection device, and obtain the orientation of the detection device according to the second measurement data;

[0019] According to the orientation of the detection device and the second measurement data, obtain the orientation of the corresponding vertebral body;

[0020] Based on the orientation of the detection device and the orientation of the corresponding vertebral body, establish the calibration function.

[0021] In some embodiments, when there are at least three detection devices; the spine between the vertebral bodies corresponding to every two detection devices is the spine segment to be measured, including:

[0022] The spine between the vertebral bodies corresponding to any two detection devices is the spine segment to be measured.

[0023] In some embodiments, the above method further includes:

[0024] Simulate the spine 3D model according to the mobility of the spine segment to be measured, and generate a simulation animation;

[0025] The simulation animation shows the mobility through the rotation angle between the vertebral bodies.

[0026] In some embodiments, the above method further includes:

[0027] Establish a biomechanical model of the spine of the detection object, and obtain the relative displacement between the vertebral bodies based on the mobility;

[0028] Simulate the spine vertebrae in the biomechanical model according to the mobility and the relative displacement.

[0029] Second aspect, in this embodiment, a spinal mobility measurement device is provided, including: a setting module, a detection module, a calibration module, and a measurement module;

[0030] The setting module is configured to set at least two detection devices on the vertebral bodies of a detection object, and the spine between the vertebral bodies corresponding to every two of the detection devices is a spine segment to be measured;

[0031] The detection module is configured to obtain first measurement data of the detection object in a detection posture through the detection devices, and obtain a calibration function corresponding to the detection object;

[0032] The calibration module is configured to obtain the rotation angle between every two vertebral bodies provided with the detection devices according to the first measurement data and the calibration function;

[0033] The measurement module is configured to determine the mobility of the spine segment to be measured based on the rotation angle.

[0034] Third aspect, in this embodiment, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the spinal mobility measurement method described in the first aspect above is implemented.

[0035] Fourth aspect, in this embodiment, a storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the spinal mobility measurement method described in the first aspect above is implemented.

[0036] Compared with the related art, in the spinal mobility measurement method, device, computer device, and storage medium provided in this embodiment, by setting at least two detection devices on the vertebral bodies of a detection object, and the spine between the vertebral bodies corresponding to every two of the detection devices is a spine segment to be measured; obtaining first measurement data of the detection object in a detection posture through the detection devices, and obtaining a calibration function corresponding to the detection object; obtaining the rotation angle between every two vertebral bodies provided with the detection devices according to the first measurement data and the calibration function; determining the mobility of the spine segment to be measured based on the rotation angle, it is possible to automatically calculate the mobility of the spine segment to be measured between the vertebral bodies wearing the detection devices based on wearable detection devices, eliminating the interference of human errors and solving the problem of poor reliability of manual measurement of spinal mobility.

[0037] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more concise and understandable. Description of the Drawings

[0038] The accompanying drawings described herein are used to provide a further understanding of the present application, form a part of the present application, and the illustrative embodiments and descriptions thereof are used to explain the present application, and do not constitute an improper limitation of the present application. In the drawings:

[0039] Figure 1 is a hardware structure block diagram of a terminal for a spinal mobility measurement method in an embodiment;

[0040] Figure 2 is a flowchart of a spinal mobility measurement method in an embodiment;

[0041] Figure 3 is a schematic diagram of a detection device worn on the spine in an embodiment;

[0042] Figure 4 is a schematic diagram of a specified action posture in an embodiment;

[0043] Figure 5 is a schematic diagram of the vertebral inter-rotation angle calculation process in an embodiment;

[0044] Figure 6 is a schematic diagram of a thoracic and lumbar 3D model in an embodiment;

[0045] Figure 7 is a schematic diagram of a spinal biomechanical model in an embodiment;

[0046] Figure 8 is a flowchart of a spinal mobility measurement method in a preferred embodiment;

[0047] Figure 9 is a flowchart of a spinal mobility measurement method in another preferred embodiment;

[0048] Figure 10 is a flowchart of a spinal mobility measurement method in yet another preferred embodiment;

[0049] Figure 11 is a structure block diagram of a spinal mobility measurement device in an embodiment.

[0050] In the figure: 102, processor; 104, memory; 106, transmission device; 108, input / output device; 10, setting module; 20, detection module; 30, calibration module; 40, measurement module. Detailed implementation manners

[0051] To more clearly understand the purpose, technical solution, and advantages of the present application, the present application will be described and explained below in conjunction with the accompanying drawings and embodiments.

[0052] Unless otherwise defined, technical or scientific terms used in this application shall have the ordinary meanings as understood by those of ordinary skill in the technical field to which this application belongs. In this application, words such as "a", "an", "one kind", "the", "these", etc. do not indicate a limitation in quantity and can be singular or plural. The terms "including", "comprising", "having" and any variants thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent in these processes, methods, products or devices. The terms "connected", "coupled" and the like used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" used in this application means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, "A and / or B" may mean: A exists alone, A and B exist simultaneously, and B exists alone. Usually, the character " / " indicates that the objects associated before and after are in an "or" relationship. The terms "first", "second", "third", etc. used in this application only distinguish similar objects and do not represent a specific order for the objects.

[0053] The method embodiments provided in this embodiment can be executed on a terminal, a computer or a similar computing device. For example, when running on a terminal, Figure 1 is the hardware structure block diagram of the terminal of the spinal range of motion measurement method in this embodiment. As Figure 1 shown, the terminal may include one or more ( Figure 1 only one is shown in the figure) processors 102 and a memory 104 for storing data. Among them, the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those of ordinary skill in the art can understand that Figure 1 the structure shown is only schematic and does not limit the structure of the above terminal. For example, the terminal may further include more or fewer components than those shown in Figure 1 the figure, or have a different configuration from that shown in Figure 1 the figure.

[0054] The memory 104 can be used to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to the spinal mobility measurement method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above-mentioned method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor 102, and these remote memories can be connected to the terminal through a network. Examples of the above-mentioned network include but are not limited to the Internet, intranet, local area network, mobile communication network, and combinations thereof.

[0055] The transmission device 106 is used to receive or send data via a network. The above-mentioned network includes a wireless network provided by a communication provider of the terminal. In one instance, the transmission device 106 includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one instance, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0056] With the continuous development of medical technology, the detection of spinal mobility has received increasing attention in the diagnosis, treatment, and rehabilitation of spinal diseases.

[0057] The current methods for measuring spinal mobility are mainly manual measurements by doctors. The measurement methods include protractor measurement and tape measure measurement. Due to the inaccuracy of manual measurement, errors will occur when the same doctor measures the same measurement object each time. At the same time, different measurement techniques of the doctor or unstable postures of the measurement object will also cause human errors. Therefore, the method of manual measurement has the problem of poor reliability. In addition, doctors' manual measurements can only evaluate the overall mobility of the spine, and it is difficult to further make specific segmental analyses of spinal mobility.

[0058] To solve the problems in the above embodiments, in the following embodiments, a spinal mobility measurement method, device, computer device, and storage medium are provided, which can automatically calculate the mobility of the spinal segment to be measured between the vertebrae wearing the detection device based on a wearable detection device, excluding the interference of human errors.

[0059] In this embodiment, a spinal mobility measurement method is provided. Figure 2 It is a flowchart of the method in this embodiment, as Figure 2 shown. The method includes the following steps:

[0060] Step S210: Set at least two detection devices on the vertebral bodies of the detection object. The spine between the vertebral bodies corresponding to every two detection devices is the spine segment to be measured.

[0061] Specifically, wear the detection devices at any vertebral body position of the spine of the detection object. The number of detection devices needs to be set to at least two. The spine between the vertebral bodies corresponding to every two detection devices is used as the spine segment to be measured. Moreover, the detection devices can be flexibly worn on any vertebral body of the spine and can be worn repeatedly.

[0062] Furthermore, the detection devices include inertial sensors (Inertial Measurement Unit, IMU) and optical marking devices, etc. Among them, the optical marking devices need to be used in conjunction with multiple optical cameras, with high costs and restricted by the use environment. In this embodiment, inertial sensors are used as the detection devices. Compared with optical marking devices, inertial sensors only require corresponding wearing accessories, with lower costs and more convenient to use. Among them, the detection devices can be worn by means of adhesion.

[0063] Figure 3 is a schematic diagram of the detection device worn on the spine in this embodiment. As Figure 3 shown, in the figure, SK represents the occipital bone, T1 represents the first thoracic vertebra, T6 represents the sixth thoracic vertebra, L1 represents the first lumbar vertebra, S1 represents the first sacral vertebra. The wearing positions of the detection devices in the figure are only for illustration. The number of detection devices is not restricted and are respectively worn on any vertebral body of the spine. The spine between every two detection devices can be used as the spine segment to be measured for range of motion measurement.

[0064] Furthermore, the orientation of the measurement device can be set during wearing. For example, specify that the Z-axis direction of the inertial sensor faces the outside of the detection object's body to further improve the accuracy of the measurement results.

[0065] Step S220: Obtain the first measurement data of the detection object in the detection posture through the detection devices, and obtain the calibration function corresponding to the detection object.

[0066] Specifically, after wearing the detection devices, obtain the calibration function corresponding to the detection object in the calibration posture. Among them, the calibration posture includes a static upright posture or a specified action posture. The calibration function is a mapping relationship established when the detection object is in a static upright or specified action posture to represent the orientation between each detection device and the corresponding vertebral body orientation. Among them, the calibration function can eliminate the errors existing in the artificial wearing of the measurement device.

[0067] Step S230: Obtain the rotation angle between each vertebral body provided with a detection device according to the first measurement data and the calibration function.

[0068] Specifically, after obtaining the calibration function, the first measurement data of the detection object in different detection postures is acquired by the worn detection device, and the orientation of the detection device in the detection posture is calculated. The first measurement data is calibrated in combination with the calibration function to obtain the orientation of the vertebral body provided with the detection device in the detection posture, and then the rotation angle between the vertebral bodies is further calculated. Among them, the detection postures include forward and backward flexion, lateral flexion, and rotation.

[0069] Step S240: Determine the mobility of the spinal segment to be measured based on the rotation angle.

[0070] Specifically, based on the rotation angles between the vertebral bodies of the detection object in the detection posture, the mobility of the spinal segment to be measured in each direction is obtained synchronously. By synthesizing the forward and backward flexion movement angles, lateral flexion movement angles, and rotation movement angles in different detection postures, the mobility of the spinal segment to be measured is determined.

[0071] Among them, the mobility can be expressed as follows:

[0072]

[0073] Among them, ROM represents the mobility of the spinal segment to be measured, FE represents the forward and backward flexion movement angle, AA represents the lateral flexion movement angle, IER represents the rotation movement angle, f represents the mobility solving algorithm, B i and B j are two different vertebral bodies provided with detection devices respectively, and respectively represent the orientations of the vertebral body B i and B j in the reference coordinate system F.

[0074] The above steps set a detection device on the spine of the detection object, and automatically calculate the mobility of the spinal segment to be measured in different detection postures according to the measurement data obtained by the detection device and the calibration function. It can be not affected by the measurement method and the posture movement of the detection object during the measurement process, eliminate the interference of human errors, improve the consistency and accuracy of the measurement results, directly obtain the mobility in different detection postures and in each direction, and thus solve the problem of poor reliability of manually measuring the spinal mobility.

[0075] Furthermore, in this embodiment, the detection device is worn at any vertebral body position of the spine, and the number of detection devices worn is not limited. The spine can be divided into multiple spinal segments to be measured for simultaneous measurement. In practical applications, this helps medical staff quickly locate the position of the problematic spinal segment, and then analyze the specific spinal segment.

[0076] In some of the embodiments, obtaining the calibration function corresponding to the detection object in the above step S220 includes:

[0077] Based on the calibration posture of the detection object, establish the relationship between the orientation of the detection device and the orientation of the corresponding vertebral body, and determine the calibration function.

[0078] Specifically, when the detection object is in the calibration posture, establish the calibration function according to the mapping relationship between the orientation of the detection device and the orientation of the corresponding vertebral body.

[0079] Among them, the calibration posture includes a static upright posture or a specified action posture. The static upright posture refers to the posture in which the detection object stands still, and the specified action posture refers to the posture in which the detection object makes a specified action. The specified actions include forward flexion, backward flexion, and lateral flexion. Figure 4 is a schematic diagram of the specified action posture in this embodiment, as Figure 4 shown. From left to right are the specified action postures of forward flexion, backward flexion, and lateral flexion respectively.

[0080] Among them, the mapping relationship between the orientation of the detection device and the orientation of the corresponding vertebral body can be expressed as follows:

[0081]

[0082] Among them, T s represents the calibration function in the calibration posture of static upright, represents the orientation of vertebral body B in the reference coordinate system F, represents the orientation of the detection device S in the reference coordinate system F.

[0083] Furthermore, the following gives a specific determination process of the calibration function:

[0084] Obtain the second measurement data of the detection object in the calibration posture through the detection device, and obtain the orientation of the detection device according to the second measurement data; according to the orientation of the detection device and the second measurement data, obtain the orientation of the corresponding vertebral body; based on the orientation of the detection device and the orientation of the corresponding vertebral body, establish the calibration function.

[0085] Specifically, taking the detection device as an inertial sensor as an example, obtain the second measurement data in the calibration posture through the inertial sensor. Among them, the second measurement data includes acceleration signals, angular velocity signals, and magnetic field signals, and then obtain the orientation of the detection device.

[0086] According to the orientation of the detection device, the second measurement data, and the calibration posture, obtain the orientation of the vertebral body, and further establish the calibration function according to the mapping relationship between the orientation of the detection device and the orientation of the corresponding vertebral body.

[0087] The following gives a specific expression form of the calibration function:

[0088]

[0089] Among them, represents the orientation of the detection device S in a static upright posture under the reference coordinate system F; represents the orientation of the vertebral body B in a static upright posture under the reference coordinate system F; represents the quaternion multiplication operation.

[0090] In this embodiment, before measuring the spinal range of motion, the relationship between the orientation of the detection device and the orientation of the corresponding vertebral body is established in advance for the detection object in the calibration posture, and then the calibration function is determined, so as to calibrate the error between the orientation of the detection device and the orientation of the corresponding vertebral body when detecting the detection object through the calibration function later, further eliminating the wearing error of the detection device and obtaining a more accurate vertebral body orientation.

[0091] In some of these embodiments, obtaining the rotation angle between each vertebral body provided with a detection device according to the first measurement data and the calibration function in the above step S230 includes the following steps:

[0092] Step S231, obtaining the orientation of the detection device in the detection posture according to the first measurement data.

[0093] Specifically, through the detection device, the first measurement data of the detection object in different detection postures is obtained, and the orientations of the detection device in different detection postures are respectively obtained.

[0094] Taking the detection device as an inertial sensor as an example, the first measurement data in the detection posture is obtained through the inertial sensor, where the first measurement data includes an acceleration signal, an angular velocity signal, and a magnetic field signal, and then the orientation of the detection device is obtained.

[0095] Step S232, respectively obtaining the orientations of the vertebral bodies in different detection postures according to the orientation of the detection device and in combination with the calibration function.

[0096] Specifically, in the detection posture, the orientation of the detection device is calibrated according to the calibration function to obtain the orientations of the vertebral bodies in different detection postures.

[0097] Step S233, obtaining the rotation angle between the vertebral bodies based on the orientation.

[0098] Specifically, the rotation angles between the vertebral bodies in the detection postures of forward and backward flexion, lateral flexion, and rotation are respectively obtained based on the orientation.

[0099] By obtaining the orientations of the detection device in different detection postures in this embodiment and combining the pre-established calibration function to calibrate the orientation of the detection device, the orientations of the vertebral bodies corresponding to the detection device and the rotation angles between the vertebral bodies are obtained, where the wearing error of the detection device is further eliminated through the calibration function, improving the accuracy of the measurement result.

[0100] In some of these embodiments, in step S240 above, the mobility of the spinal segment to be measured is determined based on the rotation angle.

[0101] Specifically, according to the rotation angles between vertebral bodies in the detection postures of forward and backward flexion, lateral flexion, and rotation, the mobility of the spinal segment to be measured is determined.

[0102] The following takes the specific manifestation form of the calibration function in the above embodiments as an example to give a calculation method for the range of motion (ROM) in step S240:

[0103]

[0104]

[0105] Among them, and respectively represent the orientations of vertebral body B i and B j in the reference coordinate system F; and represent the quaternion of the orientation q, and i, j, k respectively represent the unit vectors of the coordinate system F on the X, Y, and Z axes.

[0106] In this embodiment, according to the rotation angles between vertebral bodies in different detection postures, the mobility corresponding to the spinal segment to be measured is comprehensively obtained, and the specific value of the mobility is obtained through the above calculation method, so as to be not affected by the measurement method and the posture movement of the detection object during the measurement process, eliminate the interference of human errors, and improve the consistency and accuracy of the measurement results.

[0107] Figure 5 is a schematic diagram of the calculation process of the rotation angle between vertebral bodies in an embodiment. As Figure 5 shown, Figure 5 in Figure A shows the process of calibrating the sensor coordinate system when the detection object is in the forward flexion posture. Among them, the sensor coordinate system includes the x, y, and z axes. During the forward flexion process, the z axis continuously rotates to obtain multiple z axes (such as the z2 axis, z -1 axis, and z -2 axis shown). The multiple z axes are averaged and the component along the vertical direction is removed to obtain the h axis (the h axis points in the directly backward direction of the detection object), and the x, y, and h axes are the calibrated sensor coordinate system.

[0108] Figure 5 In Figure B, it shows a schematic diagram of obtaining the rotation angle between vertebral bodies according to the calibrated coordinate system. Among them, F represents the calibrated coordinate system, G represents the coordinate system before calibration, and the on the right side of the figure represents the relative orientation between the coordinate systems F and G.

[0109] According to the relative orientation between coordinate systems Calibrate the orientation of the detection device S in the coordinate system G to obtain the orientation of the detection device S in the coordinate system F Obtain the orientations of multiple sensors worn by the detection object in the coordinate system F, and then obtain the relative orientation between two sensors (such as sensor 2 and sensor 1) In the figure represents the relative orientation between the detection device 2 and the corresponding vertebral body. Similarly, the relative orientation between the detection device 1 and the corresponding vertebral body can be obtained Combined with the relative orientation between sensors the rotation angle between vertebral bodies can be obtained. Among them, the relative orientation between the detection device and the corresponding vertebral body can be processed to obtain the calibration function in the above embodiments, and the orientation of the vertebral body wearing the detection device is calibrated through the calibration function

[0110] In some of these embodiments, when the calibration posture is a specified action posture, after establishing the calibration function, it is judged whether the calibration function meets the preset conditions; if the calibration function does not meet the preset conditions, the calibration function is re-established according to the specified action posture

[0111] Specifically, when calibrating by the detection object making a specified action posture, in order to ensure the accuracy of the calibration posture, it is necessary to judge whether the established calibration function meets the preset conditions, otherwise it is necessary to re-calibrate and establish the calibration function. Among them, the preset condition is to judge whether the residual of the calibration function is less than the preset threshold. If it is less than the preset threshold, the calibration function meets the preset conditions

[0112] In this embodiment, in the case where the calibration function does not meet the preset conditions due to inaccurate specified action postures during calibration, re-calibration is performed, so that the obtained calibration function has higher accuracy and further reduces human error

[0113] In some of these embodiments, when there are at least three detection devices; the spine between the vertebral bodies corresponding to each two detection devices is the spine segment to be measured, including: the spine between the vertebral bodies corresponding to any two detection devices is the spine segment to be measured

[0114] Specifically, when wearing the detection device, the number of detection devices is not limited, and they are respectively worn on any vertebral body of the spine. The spine between each two detection devices can be used as the spine segment to be measured for range of motion measurement at the same time. In this way, by wearing multiple detection devices at the same time and measuring multiple spine segments to be measured, it helps to quickly locate the position of the problematic spine segment, and then analyze the specific spine segment

[0115] In the following embodiments, after determining the mobility of the spinal segment to be measured, simulation or model establishment is performed according to the mobility to visualize the mobility of the spinal segment to be measured, and the visualization result is used as an auxiliary means for medical personnel to diagnose.

[0116] In some of these embodiments, the 3D model of the spine is simulated according to the mobility of the spinal segment to be measured to generate a simulation animation; the simulation animation shows the mobility through the rotation angle between vertebral bodies.

[0117] Specifically, the simulation animation obtained by simulating the mobility of the spinal segment to be measured can show the rotation angle between vertebral bodies to represent the mobility, and moreover, the data volume of the simulation animation is small and does not occupy too much storage space. Taking the synchronous measurement of the mobility of the thoracic vertebrae and lumbar vertebrae as an example, the measured mobility of the thoracic vertebrae and lumbar vertebrae is saved with 16-bit precision numbers, and the data volume required to generate one frame of the picture is 36 bytes, and the picture resolution does not affect the data volume required for a single frame of the picture. Therefore, when generating 60 frames of 4K pictures, only 2.1KB of storage space is occupied per second. Figure 6 is a schematic diagram of the 3D models of the thoracic vertebrae and lumbar vertebrae in this embodiment, as Figure 6 shown, the distance between vertebral bodies in the 3D model is fixed, and only the rotation angle between vertebral bodies is shown through the animation.

[0118] Especially when the detection object cannot be consulted in person, there is no need to use means such as shooting a video of the detection object for medical personnel to make a remote judgment. By wearing a detection device to generate a simulation animation, on the one hand, the accurate mobility of the spinal segment to be measured can be obtained, and on the other hand, the simulation animation does not require audio-visual data and the data volume is extremely small. Therefore, it can be used as a remote auxiliary medical means without privacy risks.

[0119] In some of these embodiments, a biomechanical model of the spine of the detection object is established, and the relative displacement between vertebral bodies is obtained based on the mobility; according to the mobility and the relative displacement, the spinal vertebrae in the biomechanical model are simulated.

[0120] Specifically, a biomechanical model of the spine is established, which includes two mobility modes: the rotation angle and displacement between vertebral bodies. When the detection object wears a detection device for real-time measurement, the relative displacement is calculated according to the rotation angle between vertebral bodies, and further the orientation of the vertebral bodies in the spinal segment to be measured where the detection device is not set is simulated, so that medical personnel can more intuitively judge whether there is an abnormality in the spine.

[0121] Figure 7 is a schematic diagram of the spinal biomechanical model in this embodiment, as Figure 7 shown, Figure 7On the left side, the vertebral bodies from the Thorax to the Pelvis of the detection object represent the vertebral bodies from the chest to the pelvis of the detection object. L1 to L5 respectively represent the lumbar vertebrae, and IMU represents the inertial sensor. Figure 7 It is shown that inertial sensors are respectively worn at the chest and pelvis. According to the rotations (3R) of the chest and the corresponding skin (TB1) in three axial directions (X-axis, Y-axis, Z-axis), combined with the displacement (Solid) of the rigid part of the skin, and the rotations (3R) of the skin (TB2) and the inertial sensor (IMU) in three axial directions, the rotations (3R) and displacements (3T) of the chest vertebral body in three axial directions are comprehensively obtained. Similarly, the rotations (3R) and displacements (3T) of the vertebral body at the pelvis where the sensor is worn in three axial directions can be obtained. According to the rotations (3R) and displacements (3T) of the detection object at the chest and pelvis in three axial directions, the spinal segment between the chest and the pelvis is simulated.

[0122] In the above embodiment, after determining the mobility of the spinal segment to be measured, simulation or model establishment is performed according to the mobility to visualize the mobility of the spinal segment to be measured, and the visualization result is used as an auxiliary means for medical personnel to diagnose.

[0123] The present embodiment will be described and illustrated below through preferred embodiments.

[0124] Figure 8 is the flowchart of the spinal mobility measurement method of this preferred embodiment, as Figure 8 shown, this method includes the following steps:

[0125] Step S810, at least two detection devices are set on the vertebral body of the detection object, and the spine between the vertebral bodies corresponding to each two detection devices is the spinal segment to be measured.

[0126] Step S820, the measurement data of the detection object in the calibration posture is obtained through the detection device, and the orientation of the detection device in the calibration posture is calculated.

[0127] Step S830, a calibration function is established based on the orientation of the detection device and the orientation of the corresponding vertebral body.

[0128] Step S840, through the detection device, the measurement data of the detection object in different detection postures is obtained, and the orientations of the detection devices in different detection postures are respectively obtained. The orientations of the vertebral bodies are respectively obtained by combining the orientations of the detection devices with the calibration function.

[0129] Step S850, the rotation angle between the vertebral bodies is obtained based on the orientation, and the mobility of the spinal segment to be measured is determined.

[0130] Step S860, according to the mobility of the spinal segment to be measured, the spine is simulated to obtain a visualization result.

[0131] It should be noted that the steps shown in the above process or the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here. For example, the process of establishing the calibration function in step S830 can be implemented before the measurement by the detection device.

[0132] In this preferred embodiment, by setting a detection device on the spine of the detection object, and automatically calculating the mobility of the spine segment to be measured in different detection postures according to the measurement data obtained by the detection device and the calibration function, it can be not affected by the measurement technique and the posture movement of the detection object during the measurement process, eliminate the interference of human errors, improve the consistency and accuracy of the measurement results, and directly obtain the mobility in different detection postures and in each direction.

[0133] Furthermore, in this embodiment, the detection device is worn at any vertebral position of the spine, and the number of detection devices worn is not limited. The spine can be divided into multiple spine segments to be measured simultaneously. In this way, in practical applications, combined with the visualization results, it helps medical personnel quickly locate the position of the problematic spine segment, and then analyze the specific spine segment.

[0134] By combining the above embodiments, the following gives two preferred embodiments of the spine mobility measurement method.

[0135] Figure 9 It is the flowchart of the spine mobility measurement method in this preferred embodiment. The method includes:

[0136] Step S910, set at least two detection devices on the vertebrae of the detection object, and the spine between the vertebrae corresponding to every two detection devices is the spine segment to be measured.

[0137] Step S920, obtain the calibration function of the detection object in the static upright posture.

[0138] Wherein, the calibration function is a mapping relationship established when the detection object is in the static upright posture, which is used to represent the orientation of each detection device and the orientation of the corresponding vertebra.

[0139] Step S930, according to the measurement data of the detection object in the detection posture, combined with the calibration function, measure the mobility of each spine segment to be measured in real time.

[0140] Step S940, simulate the spine 3D model according to the mobility of the spine segment to be measured, and generate a simulation animation; the simulation animation shows the mobility through the rotation angle between the vertebrae.

[0141] In this embodiment, a calibration function is constructed by the orientation of the detection device in a static upright posture and the corresponding vertebral orientation, and the measurement data of the detection object in the detection posture is calibrated, and the mobility of the spinal segment to be measured is further obtained. The accurate orientation of the vertebra in the detection posture can be obtained through the calibration function, thereby measuring the high-precision mobility, and visually displaying it through a 3D model of the spine, providing accurate medical assistance for medical personnel.

[0142] Figure 10 : is a flow chart of a method for measuring spinal mobility in this preferred embodiment, the method comprising:

[0143] Step S110: at least two detection devices are arranged on the vertebral bodies of the detection object, and the spinal column between the vertebral bodies corresponding to each two detection devices is the spinal column segment to be detected.

[0144] Step S120, obtaining a calibration function of the detection object in a specified action posture.

[0145] The calibration function is a mapping relationship established to represent the orientation of each detection device and the orientation of the corresponding vertebra when the detection object is in a specified action posture.

[0146] Step S130, determining whether the calibration function meets the preset conditions; if the calibration function does not meet the preset conditions, re-establishing the calibration function according to the specified action posture.

[0147] Step S140, based on the measurement data of the test subject in the test posture, combined with the calibration function, the activity of each spinal segment to be tested is measured in real time.

[0148] Step S150, establishing a biomechanical model of the spine of the test subject, and obtaining the relative displacement between vertebrae based on the range of motion; simulating the spinal vertebrae in the biomechanical model according to the range of motion and the relative displacement.

[0149] In this embodiment, a calibration function is constructed by the orientation of the detection device and the corresponding vertebral orientation in a specified action posture, and the calibration function is verified to see whether it meets the preset conditions. The measurement data of the detection object in the detection posture is calibrated to further obtain the range of motion of the spinal segment to be measured. The accurate orientation of the vertebra in the detection posture can be obtained through the calibration function, thereby measuring the range of motion with high precision, and visually displaying it through a spinal biomechanical model, providing accurate medical assistance to medical personnel.

[0150] In this embodiment, a spinal mobility measurement device is also provided. This device is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated here. The following terms such as "module", "unit", "sub-unit", etc. can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0151] Figure 11 is a structural block diagram of the spinal mobility measurement device of this embodiment. As Figure 11 shown, the device includes: a setting module 10, a detection module 20, a calibration module 30, and a measurement module 40.

[0152] The setting module 10 is used to set at least two detection devices on the vertebral bodies of the detection object, and the spine between the vertebral bodies corresponding to every two detection devices is the spinal segment to be measured.

[0153] The detection module 20 is used to obtain the first measurement data of the detection object in the detection posture through the detection devices, and obtain the calibration function corresponding to the detection object.

[0154] The calibration module 30 is used to obtain the rotation angle between each vertebral body provided with a detection device according to the first measurement data and the calibration function.

[0155] The measurement module 40 is used to determine the mobility of the spinal segment to be measured based on the rotation angle.

[0156] The device provided in this embodiment sets detection devices on the spine of the detection object, obtains measurement data and calibration functions, and automatically calculates the mobility of the spinal segment to be measured in different detection postures. It can be unaffected by the measurement method and the posture movement of the detection object during the measurement process, eliminate the interference of human errors, improve the consistency and accuracy of the measurement results, directly obtain the mobility in different detection postures and in each direction, and thus solve the problem of poor reliability of manual measurement of spinal mobility.

[0157] Furthermore, in this embodiment, detection devices are worn at any vertebral position of the spine, and the number of detection devices worn is not restricted. The spine can be divided into multiple spinal segments to be measured simultaneously. In practical applications, this helps medical personnel quickly locate the position of the problematic spinal segment, and then analyze the specific spinal segment.

[0158] It should be noted that each of the above modules can be a functional module or a program module, and can be implemented either by software or by hardware. For the modules implemented by hardware, each of the above modules can be located in the same processor; or each of the above modules can be located in different processors in any combined form.

[0159] In this embodiment, a computer device is further provided, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0160] Optionally, the above computer device may further include a transmission device and input / output devices. Among them, the transmission device is connected to the above processor, and the input / output devices are connected to the above processor.

[0161] It should be noted that the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and will not be elaborated in this embodiment.

[0162] In addition, in combination with the spinal range of motion measurement method provided in the above embodiments, a storage medium can also be provided to implement in this embodiment. A computer program is stored on the storage medium; when the computer program is executed by a processor, any one of the spinal range of motion measurement methods in the above embodiments is implemented.

[0163] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties.

[0164] It should be understood that the specific embodiments described here are only used to explain this application, rather than to limit it. According to the embodiments provided in this application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of this application.

[0165] Obviously, the drawings are only some examples or embodiments of this application. For those of ordinary skill in the art, this application can also be applied to other similar situations based on these drawings without creative work. In addition, it can be understood that although the work done during the development process here may be complex and time-consuming, for those of ordinary skill in the art, certain design, manufacturing, or production changes based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient disclosure of this application.

[0166] As used in this application, the term "embodiment" means that the specific features, structures, or characteristics described in connection with an embodiment may be included in at least one embodiment of this application. The phrase appears in various positions in the specification and does not necessarily mean the same embodiment, nor does it mean being independent or alternative to other embodiments and mutually exclusive. Those of ordinary skill in the art can clearly or implicitly understand that the embodiments described in this application can be combined with other embodiments without conflict.

[0167] The above-described embodiments merely represent several implementation manners of this application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of patent protection. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all fall within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the appended claims.

Claims

1. A method for measuring spinal mobility, characterized in that, Comprising: At least two detection devices are arranged on the vertebral bodies of the detection object, and the spine between the vertebral bodies corresponding to every two of the detection devices is the spine segment to be measured; The detection device is an inertial sensor; Obtaining first measurement data of the detection object in the detection posture through the detection device, and obtaining a calibration function corresponding to the detection object; wherein, the calibration function is established when the detection object is in the calibration posture and is used to represent the mapping relationship between the orientation of each detection device and the orientation of the corresponding vertebral body; According to the first measurement data and the calibration function, obtaining the rotation angle between each vertebral body provided with the detection device; Based on the rotation angle, determining the mobility of the spine segment to be measured; the mobility includes the anterior-posterior flexion and extension angle, the lateral flexion angle, and the rotation angle.

2. The spinal mobility measurement method according to claim 1, wherein The obtaining the rotation angle between each vertebral body provided with the detection device according to the first measurement data and the calibration function includes: According to the first measurement data, obtaining the orientation of the detection device in the detection posture; According to the orientation of the detection device and in combination with the calibration function, respectively obtaining the orientations of the vertebral bodies in different detection postures; Based on the orientation, obtaining the rotation angle between the vertebral bodies.

3. The spinal mobility measurement method according to claim 1, characterized in that, The obtaining the calibration function corresponding to the detection object includes: Based on the calibration posture of the detection object, establishing the relationship between the orientation of the detection device and the orientation of the corresponding vertebral body, and determining the calibration function.

4. The method for measuring spinal mobility according to claim 3, wherein The establishing the relationship between the orientation of the detection device and the orientation of the corresponding vertebral body based on the calibration posture of the detection object and determining the calibration function includes: Obtaining second measurement data of the detection object in the calibration posture through the detection device, and obtaining the orientation of the detection device according to the second measurement data; According to the orientation of the detection device and the second measurement data, obtaining the orientation of the corresponding vertebral body; Based on the orientation of the detection device and the orientation of the corresponding vertebral body, establishing the calibration function.

5. The spinal mobility measurement method according to claim 1, characterized in that, When there are at least three detection devices; the spine between the vertebral bodies corresponding to every two of the detection devices being the spine segment to be measured includes: The spine between the vertebral bodies corresponding to any two of the detection devices is the spine segment to be measured.

6. The method for measuring spinal range of motion according to claim 1, wherein Further comprising: Simulating the 3D spine model according to the mobility of the spine segment to be measured to generate a simulation animation; The simulation animation shows the mobility through the rotation angle between the vertebral bodies.

7. The method for measuring spinal range of motion according to claim 1, characterized in that, Further comprising: Establishing a biomechanical model of the spine of the detection object, and obtaining the relative displacement between the vertebral bodies based on the mobility; Simulating the spine vertebral bodies in the biomechanical model according to the mobility and the relative displacement.

8. A spinal mobility measurement device, characterized in that, Comprising: A setting module, a detection module, a calibration module, and a measurement module; The setting module is used to arrange at least two detection devices on the vertebral bodies of the detection object, and the spine between the vertebral bodies corresponding to every two of the detection devices is the spine segment to be measured; the detection device is an inertial sensor; The detection module is configured to obtain first measurement data of the detection object in a detection posture through the detection device, and obtain a calibration function corresponding to the detection object; wherein, the calibration function is established when the detection object is in a calibration posture, and is used to represent the mapping relationship between the orientation of each detection device and the corresponding vertebral body orientation; The calibration module is configured to obtain the rotation angle between each vertebral body provided with the detection device according to the first measurement data and the calibration function; The measurement module is configured to determine the mobility of the spine segment to be measured based on the rotation angle; the mobility includes the anterior-posterior flexion and extension angle, the lateral flexion angle, and the rotation angle.

9. A computer device, comprising a memory and a spinal mobility measurement processor, characterized in that, A computer program is stored in the memory, and the processor is configured to run the computer program to execute the spine mobility measurement method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the spine mobility measurement method according to any one of claims 1 to 7 are implemented.

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