Three-dimensional evaluation of motor function and gait correction platform

Abstract

This invention provides a three-dimensional assessment and gait correction platform for motor function. The platform comprises the following parts: First part: a split-type running platform, divided into left and right sections. The running platform allows independent adjustment of the height, slope, and inward and outward tilt angles of both sides. Foot pressure sensors are independently installed on both sides of the running platform panel. Second part: a gait and posture assessment system, incorporating adjustable motion capture cameras for tracking movement postures or trajectories at the front, back, left, right, and center positions of the running platform. Third part: a central control platform, responsible for collecting, organizing, and integrating the previously collected data and movement trajectories to generate a musculoskeletal structure and motor function analysis and assessment report. This platform has the advantages of simulating and assessing human body conditions, actively intervening to adapt to gait changes, and achieving gait correction.

Description

Technical Field

[0001] This invention relates to the technical field of three-dimensional motion function assessment and posture correction platform for human musculoskeletal structure, specifically, to a three-dimensional assessment and gait correction platform for musculoskeletal structure and motion function. Background Technology

[0002] There are many types of musculoskeletal disorders that can lead to abnormal posture, motor dysfunction, sports injuries, and various chronic pains. These include flat feet, high arches, asymmetrical feet (yin-yang feet), X and O-shaped legs, leg length discrepancy, equinus foot (inner and outer feet), scoliosis, kyphosis, anterior pelvic tilt, trauma, sports injuries, etc. Among these, the most common type of postural abnormality is caused by long-term lifestyle habits or congenital factors that lead to abnormalities in the bones or spine, resulting in a gait with one side higher than the other, accompanied by internal or external rotation.

[0003] Currently, it is difficult to correct conditions such as uneven gait between the left and right sides with a few corrections. The main approach is to rely on the patient's corrective interventions in daily life.

[0004] However, the human body needs to be active, and patients find it difficult to correct their gait actively. They can only achieve this with the help of assistive tools, but the application of most tools has limitations.

[0005] Large traction orthotic devices in hospitals have good corrective effects, but they require long-term use and are not suitable for patients who live far away.

[0006] Home furnishing products often have limited functionality and require a static posture, resulting in poor gait correction.

[0007] Currently, there are also some sports products for gait correction, such as the device developed by the China Rehabilitation Research Center with application number 202210585868.7 and invention title: A swing gait training device based on gait model. However, such devices do not simulate the state of human walking on the ground and also have certain defects.

[0008] In order to solve the above problems, people have been seeking an ideal technological solution. Summary of the Invention

[0009] The purpose of this invention is to address the shortcomings of existing technologies by providing a three-dimensional assessment and gait correction platform for motor function that simulates human walking, actively intervenes to adapt to gait changes, and has a wide range of applications.

[0010] To achieve the above objectives, the technical solution adopted by the present invention is: a three-dimensional assessment and gait correction platform for motor function, comprising a split running platform, a gait motion capture camera, and a central control system. The split running platform includes a treadmill frame, a first running component, and a second running component. The first and second running components are mounted side by side on the treadmill frame and are respectively used to support the left and right feet. The gait motion capture camera is set on the treadmill frame to collect gait images. The central control system is used to analyze the gait images and provide feedback to adjust the working status of the first and second running components.

[0011] The first running component and the second running component have the same structure and are arranged side by side or symmetrically.

[0012] Both the first running component and the second running component include a primary adjustment platform, a secondary adjustment platform, and a running platform; the primary adjustment platform is mounted on a treadmill frame, the secondary adjustment platform is mounted on the primary adjustment platform, and the running platform is mounted on the secondary adjustment platform.

[0013] One of the primary and secondary adjustment platforms is used for adjusting the forward and backward tilt angle and height, and the other is used for adjusting the left and right tilt angle and height; the running platform is a rotary motion platform; the central control system controls the tilt angle and height of the primary and secondary adjustment platforms, as well as the rotation speed of the running platform, based on feedback from the collected gait images.

[0014] Based on the above, the primary adjustment platform includes a primary support, a front lifting assembly, and a rear lifting assembly, with the primary support mounted on the treadmill support via the front and rear lifting assemblies; the secondary adjustment platform includes a secondary support, a left lifting assembly, and a right lifting assembly, with the secondary support mounted on the primary support via the left and right lifting assemblies, and the running platform mounted on the secondary support.

[0015] Based on the above, the gait motion capture camera is installed in front of and / or to the side and / or to the left and right sides and / or to the rear of the treadmill support. The central control system will fit and analyze the acquired images to form a simulated image with joint markers.

[0016] Based on the above, the running platform integrates a thin-film pressure sensor, which is installed below the rotating surface of the running platform at a distance so that the rotating surface can contact the thin-film pressure sensor and transmit pressure after the feet apply force. The thin-film pressure sensor is connected to the central control system.

[0017] Based on the above, the central control system generates at least two sets of gait simulation images using the installed gait motion capture camera. Then, using the joint markers in the at least two sets of gait simulation images as reference fitting points, the two sets of simulation images are fitted frame by frame to form a three-dimensional simulation image.

[0018] Based on the above, the running platforms in the first and second running components are driven to rotate by two sets of motors, respectively.

[0019] Based on the above, the front lifting assembly, rear lifting assembly, left lifting assembly, and right lifting assembly are all electrically driven lifting assemblies.

[0020] A method for using a three-dimensional motor function assessment and gait correction platform, comprising a three-dimensional motor function assessment and gait correction platform, and feedback adjustment through the following methods:

[0021] The central control system uses a gait motion capture camera to obtain simulated images of the human legs and capture the movement trajectory of the human joints.

[0022] The central control system or human intervention compares the real-time acquired joint motion trajectory with the preset standard joint motion trajectory. If there is a difference, the tilt angles of the primary and secondary adjustment platforms are adjusted accordingly, and the frequency of real-time acquisition of simulated images of the human leg is increased and fed back for comparison in real time until it matches the preset standard joint motion trajectory. If there is no difference, the acquisition and comparison are carried out at the original frequency for monitoring and real-time evaluation and analysis.

[0023] Based on the above, when the central control system integrates a thin-film pressure sensor, it incorporates a comparison of pressure distribution parameters when comparing the motion trajectories of the joints. After the motion trajectories match, the system makes fine adjustments to the fore-aft and lateral tilt angles based on the comparison of pressure distribution parameters.

[0024] Based on the above, the motion trajectory of the joint includes the motion trajectory of the knee joint and the ankle joint.

[0025] This invention has outstanding substantive features and significant progress compared to the prior art. Specifically, this invention has the following advantages:

[0026] 1. Based on the treadmill, a split-type running platform is designed, capable of being driven independently. Each platform provides support and rotation for each foot, and its height, incline, and tilt can be independently adjusted on both sides. Addressing gait issues such as uneven height and pronation / external rotation of the feet, the platform corrects gait problems by adjusting the forward / backward tilt, lateral tilt, and overall height of each running component. The treadmill itself supports walking, simulating real walking or running, providing patients with good dynamic support and adjustment. Furthermore, the overall cost of this equipment is lower than that of professional medical equipment, making it suitable for home use and meeting patients' needs.

[0027] 2. To enable monitoring, evaluation, and adaptive adjustment, a gait motion capture camera is installed to collect gait movements. It can assess posture and capture movement trajectories or record video in real time as needed while standing or walking, perform gait analysis, and compare it with normal standard gait. This feedback allows for adjustment of the tilt angle of the unilateral running component, achieving dynamic adjustment and reducing reliance on doctors.

[0028] 3. Add a thin-film pressure sensor to provide pressure distribution detection. It can detect the pressure value of the sole of the foot under static or dynamic conditions. It can be combined with a gait motion capture camera to make the adjustment of the running components more precise and accurate. Attached Figure Description

[0029] Figure 1 This is a top-view structural schematic diagram of the three-dimensional assessment and gait correction platform for motor function in this invention.

[0030] Figure 2 This is a side view structural schematic diagram of the three-dimensional assessment and gait correction platform for motor function in this invention.

[0031] Figure 3 This is a structural schematic diagram of the primary adjustment platform in this invention.

[0032] Figure 4 This is a schematic diagram of the structure of the secondary adjustment platform in this invention.

[0033] Figure 5 This is a schematic diagram of the structural principle of the running platform in this invention.

[0034] Figure 6 This is a schematic diagram of the height adjustment of the running platform in this invention.

[0035] Figure 7 This is a schematic diagram of the external outline of the running platform in this invention.

[0036] Figure 8 This is a schematic diagram illustrating the process of subject assessment and correction in this invention.

[0037] In the diagram: 1. Treadmill frame; 2. First running component; 3. Second running component; 4. Gait motion capture camera; 5. Central control system;

[0038] 21. Level 1 adjustment platform; 22. Level 2 adjustment platform; 23. Running platform;

[0039] 211. Primary support; 212. Front lifting assembly; 213. Rear lifting assembly; 221. Secondary support; 222. Left lifting assembly; 223. Right lifting assembly. Detailed Implementation

[0040] The technical solution of the present invention will be further described in detail below through specific embodiments.

[0041] like Figures 1-7 As shown, a three-dimensional assessment and gait correction platform for motor function includes a treadmill frame 1, a first running component 2, a second running component 3, a gait motion capture camera 4, and a central control system 5. The first running component 2 and the second running component 3 are mounted side by side on the treadmill frame 1 and are used to support the left and right feet, respectively. The gait motion capture camera 4 is set on the treadmill frame 1 to collect gait images. The central control system 5 is used to analyze the gait images and provide feedback to adjust the working status of the first running component 2 and the second running component 3.

[0042] Specifically, the first running component 2 and the second running component 3 have the same structure and are arranged side by side or symmetrically. Both the first running component 2 and the second running component 3 include a primary adjustment platform 21, a secondary adjustment platform 22 and a running platform 23. The primary adjustment platform 21 is installed on the treadmill frame 1, the secondary adjustment platform 22 is installed on the primary adjustment platform 21, and the running platform 23 is installed on the secondary adjustment platform 22. The primary adjustment platform 21 includes a primary support 211, a front lifting component 212 and a rear lifting component 213. The primary support 211 is installed on the treadmill frame 1 through the front lifting component 212 and the rear lifting component 213.

[0043] The secondary adjustment platform 22 includes a secondary support 221, a left lifting component 222 and a right lifting component 223. The secondary support 221 is installed on the primary support 211 through the left lifting component 222 and the right lifting component 223, and the running platform 23 is installed on the secondary support 221.

[0044] One of the primary adjustment platform 21 and the secondary adjustment platform 22 is used for adjusting the front and rear tilt angles, and the other is used for adjusting the left and right tilt angles; the running platform is a rotary motion platform, and the running platforms in the first running assembly and the second running assembly are driven to rotate by two sets of motors respectively.

[0045] The first-level adjustment platform 21 is used not only for tilt adjustment of the front and rear lifting angle, but also for overall platform lifting adjustment. Therefore, its adjustment range is relatively large. The second-level adjustment platform 22 is mainly used for left and right tilt adjustment to meet the inward and outward rotation deformation of the feet. Its degree is usually small, so the adjustment range is set smaller.

[0046] The central control system controls the tilt angle of the primary adjustment platform 21 and the secondary adjustment platform 22, as well as the rotation speed of the running platform. The front lifting assembly, rear lifting assembly, left lifting assembly, and right lifting assembly are all electrically driven lifting assemblies, such as electrically telescopic poles.

[0047] The gait motion capture camera 4 is installed in front of and / or to the side and / or behind the treadmill support 1 to capture the gait of the human body from different perspectives. The central control system analyzes and processes the captured images to form a simulated image with joint markers.

[0048] In this embodiment, the central control system uses four sets of gait motion capture cameras installed in front, side and rear to form four sets of gait simulation images. Then, based on the joint markers in the four sets of gait simulation images as reference fitting points, the two sets of simulation images are fitted frame by frame to form a three-dimensional simulation image, thereby improving the realism of the simulation. Figure 7 The diagram shows the positions of the four gait motion capture cameras and the overall shape of the device, but does not show the internal driving principle.

[0049] In a preferred embodiment, the running platform 23 integrates a thin-film pressure sensor. The thin-film pressure sensor is installed below the rotating surface of the running platform while maintaining a distance, so that when the feet exert force, the rotating surface contacts the thin-film pressure sensor and transmits pressure. The thin-film pressure sensor is connected to the central control system.

[0050] Specific application examples are as follows:

[0051] like Figure 8 As shown, a patient with leg length discrepancy due to trauma (abnormal walking posture, secondary motor dysfunction, and chronic musculoskeletal pain, etc.).

[0052] The subject stands on the motion assessment platform, where a static assessment is first conducted. Maintaining the required posture, the subject's center of gravity position and range, as well as the pressure values ​​and percentages for the left and right feet and fore and hind feet, are assessed using thin-film pressure sensors to make a preliminary judgment and determine the subject's joint condition.

[0053] Next comes the dynamic assessment. The device is activated, and the subject walks. Around the subject, motion capture cameras capture the subject's walking posture and foot movement trajectory, forming a gait simulation image that can reflect abnormal movement postures.

[0054] The hollow system analyzes the collected data, and the analysis process can be compared with standard numerical tables to draw preliminary conclusions.

[0055] The adjustment process is as follows: First, adjustments are made in a static state. Based on the aforementioned analysis, the height, lateral tilt, and forward / backward tilt of both sides are adjusted. Specifically, the patient, according to their own condition, initially sets the tilt angle and rotation speed of the first running component 2 and the second running component 3 on the platform. For example, if the patient's gait is higher on the left and lower on the right, accompanied by left-sided internal rotation (tilting inward), then it is necessary to primarily adjust the first-level adjustment platform 21 in the first running component 2 on the left side to raise the overall height, while simultaneously adjusting the second-level adjustment platform 22 to tilt outward, opposite to the normal tilt. This continues until the thin-film pressure sensor is in a balanced state in the subject's standing posture.

[0056] Secondly, adjustments are made in a dynamic state. The device is activated, and the patient places both feet on the running components 2 on either side to begin walking or running, initiating corrective movements. As the subject moves, individual differences inevitably exist between the dynamic and static states; therefore, further fine-tuning of the running components on both sides is necessary in a dynamic state. The central control system performs feedback adjustments, as follows:

[0057] The central control system uses a gait motion capture camera to obtain simulated images of the human legs and capture the movement trajectory of the human joints.

[0058] The comparison between the real-time acquisition of joint movement trajectories and preset standard joint movement trajectories is divided into two categories: one is the home environment, where the central control system actively intervenes, and the other is the hospital environment, where the doctor actively intervenes.

[0059] If discrepancies exist, the tilt angles of the primary and secondary adjustment platforms are adjusted accordingly. Simultaneously, the frequency of real-time acquisition of simulated images of the human leg is increased, and real-time feedback is provided for comparison until the gait matches the preset standard joint movement trajectory. The subject then maintains this state for a period of time. If no discrepancy exists, the acquisition and comparison are performed at the original frequency for monitoring. This continues until the subject's gait is adjusted to a stable and normal state under dynamic conditions.

[0060] When a thin-film pressure sensor is integrated, the central control system adds a comparison of pressure distribution parameters when comparing the motion trajectories of the joints. After the motion trajectories match, the system makes fine adjustments to the fore-aft and lateral tilt angles based on the comparison of pressure distribution parameters. The motion trajectories of the joints include the motion trajectories of the knee and ankle joints.

[0061] 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 preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A platform for three-dimensional evaluation of motor function and gait correction, characterized in that: The device includes a split-type running platform, a gait motion capture camera, and a central control system. The split-type running platform includes a treadmill frame, a first running component, and a second running component. The first and second running components are mounted side by side on the treadmill frame and are used to support the left and right feet, respectively. The gait motion capture camera is set on the treadmill frame to collect gait images. The central control system is used to analyze the gait images and provide feedback to adjust the working status of the first and second running components. The first running component and the second running component have the same structure and are arranged side by side or symmetrically. Both the first running component and the second running component include a primary adjustment platform, a secondary adjustment platform, and a running platform; the primary adjustment platform is mounted on a treadmill frame, the secondary adjustment platform is mounted on the primary adjustment platform, and the running platform is mounted on the secondary adjustment platform. One of the primary and secondary adjustment platforms is used for adjusting the forward and backward tilt angle and height, and the other is used for adjusting the left and right tilt angle and height; the running platform is a rotary motion platform; the central control system controls the tilt angle and height of the primary and secondary adjustment platforms, as well as the rotation speed of the running platform, based on feedback from the collected gait images; The running platform integrates a thin-film pressure sensor, which is installed below the rotating surface of the running platform at a distance so that the rotating surface can contact the thin-film pressure sensor and transmit pressure after the feet apply force. The thin-film pressure sensor is connected to the central control system. The subjects stand on the motion assessment platform. The first step is a static assessment: they stand and maintain the required posture. Through thin-film pressure sensors, the position and range of the center of gravity, as well as the pressure values ​​and percentages of the left and right feet and the fore and hind feet, are assessed to make a rough judgment and determine the condition of the subjects' joints. Then comes the dynamic assessment: the device is activated, the subject walks, and the motion capture cameras around the subject capture the subject's walking posture and foot movement trajectory to form a gait simulation image and obtain the movement trajectory of human joints, including the movement trajectory of the knee joint and ankle joint. The central control system analyzes the collected data. The analysis process can be compared with standard numerical tables to draw preliminary conclusions. The adjustment process is as follows: First, adjust in a static state, initially setting the tilt angle and rotation speed of the first and second running components on the platform until the thin-film pressure sensor is in a balanced state in the subject's standing posture. Secondly, adjustments are made in a dynamic state. The device is activated, and the subject places both feet on the running components on both sides to start walking or running. The central control system obtains simulated images of the human legs through the gait motion capture camera and obtains the movement trajectory of the human joints. The central control system intervenes or the human intervenes to compare the real-time movement trajectory of the joints with the preset standard joint movement trajectory. If there are discrepancies, the tilt angles of the primary and secondary adjustment platforms are adjusted accordingly. At the same time, the frequency of real-time acquisition of simulated images of the human leg is increased and real-time feedback is provided for comparison until it matches the preset standard joint movement trajectory. Then, the anterior and posterior tilt angles and lateral tilt angles are finely adjusted based on the comparison of pressure distribution parameters. The movement is then maintained in this state for a period of time. If there is no difference, then the data will be collected and compared at the original frequency for monitoring.

2. The three-dimensional assessment and gait correction platform for motor function according to claim 1, characterized in that: The primary adjustment platform includes a primary support, a front lifting assembly, and a rear lifting assembly. The primary support is mounted on the treadmill frame via the front lifting assembly and the rear lifting assembly. The secondary adjustment platform includes a secondary support, a left lifting assembly, and a right lifting assembly. The secondary support is mounted on the primary support via the left and right lifting assemblies, and the running platform is mounted on the secondary support.

3. The three-dimensional assessment and gait correction platform for motor function according to claim 2, characterized in that: The gait motion capture camera is installed in front of and / or to the side and / or to the left and right sides and / or to the rear of the treadmill frame. The central control system fits and analyzes the captured images to form a simulated image with joint markers.

4. The three-dimensional assessment and gait correction platform for motor function according to claim 3, characterized in that: The central control system generates at least two sets of gait simulation images using an installed gait motion capture camera. Then, based on the joint markers in the at least two sets of gait simulation images as reference fitting points, the two sets of simulation images are fitted frame by frame to form a three-dimensional simulation image.

5. The three-dimensional assessment and gait correction platform for motor function according to claim 4, characterized in that: The running platforms in the first and second running components are driven to rotate by two sets of motors, respectively.

6. The three-dimensional assessment and gait correction platform for motor function according to claim 4, characterized in that: The front lifting assembly, rear lifting assembly, left lifting assembly, and right lifting assembly are all electrically driven lifting assemblies.

7. A method for using a three-dimensional assessment platform for motor function and gait correction, characterized in that: The three-dimensional assessment and gait correction platform for motor function as described in any one of claims 1-6, wherein feedback adjustment is performed through the following methods: The subjects stand on the motion assessment platform. The first step is a static assessment: they stand and maintain the required posture. Through thin-film pressure sensors, the position and range of the center of gravity, as well as the pressure values ​​and percentages of the left and right feet and the fore and hind feet, are assessed to make a rough judgment and determine the condition of the subjects' joints. Then comes the dynamic assessment: the device is activated, the subject walks, and the motion capture cameras around the subject capture the subject's walking posture and foot movement trajectory to form a gait simulation image and obtain the movement trajectory of human joints, including the movement trajectory of the knee joint and ankle joint. The central control system analyzes the collected data. The analysis process can be compared with standard numerical tables to draw preliminary conclusions. The adjustment process is as follows: First, adjust in a static state, initially setting the tilt angle and rotation speed of the first and second running components on the platform until the thin-film pressure sensor is in a balanced state in the subject's standing posture. Secondly, adjustments are made in a dynamic state. The device is activated, and the subject places both feet on the running components on both sides to start walking or running. The central control system obtains simulated images of the human legs through the gait motion capture camera and obtains the movement trajectory of the human joints. The central control system intervenes or the human intervenes to compare the real-time movement trajectory of the joints with the preset standard joint movement trajectory. If there are discrepancies, the tilt angles of the primary and secondary adjustment platforms are adjusted accordingly. At the same time, the frequency of real-time acquisition of simulated images of the human leg is increased and real-time feedback is provided for comparison until it matches the preset standard joint movement trajectory. Then, the anterior and posterior tilt angles and lateral tilt angles are finely adjusted based on the comparison of pressure distribution parameters. The movement is then maintained in this state for a period of time. If there is no difference, then the data will be collected and compared at the original frequency for monitoring.

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