Force line inclination measurement method, device, equipment and medium based on double sensors

Abstract

The application provides a force line inclination angle measurement method and device based on double sensors, equipment and a medium, and the method comprises the following steps: S1, when a measuring tool is fixed to a target to be measured, a first sensor is loaded on a fixed rod of the measuring tool, and a second sensor is loaded on a rotating rod of the measuring tool, and when the rotating rod rotates, the first sensor and the second sensor are brought into a working state; S2, when the rotating rod rotates to a first target area, measurement data of the first sensor and the second sensor are collected; S3, when the rotating rod rotates to a second target area, measurement data of the first sensor and the second sensor are collected; S4, according to the measurement data collected in S2-S3, a stationary period and a motion period of the rotating rod are identified, and attitude angles of the first sensor and the second sensor at different positions are calculated; and S5, according to the attitude angles, a force line angle of the target to be measured is calculated. The method is used for improving the measurement accuracy of the tibial force line.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more particularly to a method, apparatus, device, and medium for measuring the tilt angle of a force line based on dual sensors. Background Technology

[0002] Currently, methods for measuring tibial force lines using single inertial sensor technology require an initial reference position before touching the left and right ankles. However, without a fixed tibial sensor, it cannot detect tibial movement or displacement during the measurement process, affecting measurement accuracy. Furthermore, existing solutions use acceleration values ​​to calculate angles; if tibial movement occurs during measurement, data distortion will result, further reducing calculation accuracy. Therefore, there is an urgent need for a novel method, device, equipment, and medium for measuring force line inclination angles based on dual sensors to address these issues. Summary of the Invention

[0003] The purpose of this invention is to provide a method, apparatus, device, and medium for measuring the inclination angle of the force line based on dual sensors, which improves the measurement accuracy of the tibial force line.

[0004] In a first aspect, the present invention provides a method for measuring the tilt angle of a force line based on dual sensors, comprising: S1, when a measuring tool is fixed to a target to be measured, a first sensor is mounted on a fixed rod of the measuring tool, and a second sensor is mounted on a rotating rod of the measuring tool; when the rotating rod rotates, the first and second sensors enter a working state; S2, when the rotating rod rotates to a first target area, measurement data from the first and second sensors are collected; S3, when the rotating rod rotates to a second target area, measurement data from the first and second sensors are collected; S4, based on the measurement data collected in S2-S3, identifying the stationary and moving periods of the rotating rod, and calculating the attitude angles of the first and second sensors at different positions; S5, calculating the force line angle of the target to be measured based on the attitude angles.

[0005] The beneficial effects of the method of the present invention are as follows: The present invention uses a first sensor and a second sensor, wherein the first sensor directly serves as a reference sensor to measure the tibial posture, and the second sensor follows the rotating rod to touch the ankle. Therefore, there is no need to set the initial position of the sensor to complete the measurement of the tibial force line angle, which is convenient to operate; The present invention uses a first sensor that is fixed relative to the tibia as a reference to calculate the movement of the tibia, thereby offsetting the swaying of the tibia in the calculation of the force line angle, thus ensuring the accuracy of the calculation of the force line angle; When calculating the force line angle, the present invention also uses acceleration value and angular velocity value in combination, thereby making full use of the sensor measurement data and improving the robustness of the calculation results.

[0006] Optionally, when the rotating rod rotates to the first target area and the second target area, it stays for a preset time; the measurement data includes acceleration value and angular velocity value.

[0007] Optionally, identifying the stationary and moving periods of the rotating rod includes: confirming that the rotating rod is currently in a stationary period when the resultant angular velocity value is less than a preset angular velocity threshold and the resultant acceleration value is less than a preset acceleration threshold; the resultant angular velocity value and the resultant acceleration value satisfy:

[0008]

[0009] in, Here, ωc represents the resultant angular velocity, ωc represents the resultant acceleration, and x, y, and z represent three different directions in space; the filter function for identifying stationary periods. satisfy:

[0010] in, Angular velocity threshold This is the acceleration threshold.

[0011] Optionally, before calculating the attitude angles of the first sensor and the second sensor at different positions, the method further includes: transforming the coordinate system of the first sensor to the coordinate system of the link based on the positional relationship between the first sensor and the link, and transforming the coordinate system of the second sensor to the coordinate system of the link based on the positional relationship between the second sensor and the link.

[0012] Optionally, during the coordinate system transformation, the following conditions must be met:

[0013]

[0014] in, Let be the acceleration of the first sensor in the coordinate system of the connecting rod. Let be the acceleration of the second sensor in the coordinate system of the connecting rod, and be the relative attitude of the first sensor and the fixed rod. The relative attitude between the second sensor and the rotating rod. The triaxial acceleration output by the first sensor. The triaxial acceleration is output by the second sensor.

[0015] Optionally, the attitude angle of the second sensor at different positions is calculated to satisfy:

[0016]

[0017] in, Let x be the angle of rotation of the second sensor around the x-axis. Let be the angle of rotation of the second sensor around the y-axis. This represents the gravitational acceleration component of the second sensor along the X-axis. This represents the gravitational acceleration component of the second sensor along the Y-axis. This represents the gravitational acceleration component of the second sensor along the Z-axis.

[0018] Optionally, the method for calculating the force line angle of the target under test satisfies:

[0019]

[0020] in, For inward and outward turning angles, Forward and backward tilt angle, The relative outward angle between the first and second sensors when the rotating rod touches the inner ankle. The relative outward angle between the first and second sensors when the rotating rod touches the outer ankle. The relative forward and backward tilt angle between the first and second sensors when the rotating rod touches the inner ankle. The relative forward and backward tilt angle between the first and second sensors when the rotating rod touches the outer ankle.

[0021] Optionally, when the measuring tool is set to a tibia tool and the target to be measured is set to the tibia, the tibial force line is calculated based on the acceleration and angular velocity data of the first and second sensors, including the following steps: S11, when the tibial tool is fixed to the tibia, the first sensor is fixed to the fixing rod of the tibial tool, and the second sensor is fixed to the rotating rod of the tibial tool; S12, align the rotating rod with the fixed rod and keep it stationary, then begin collecting data from the first and second sensors; S13, rotate the lever until its end touches the inner ankle and holds for a period of time; rotate the lever until it touches the outer ankle and holds for a preset time, then remain still and stop collecting data from the first and second sensors; S14 calculates the tibial force line angle using the collected sensor data.

[0022] Optionally, in S14, the method for calculating the tibial force line angle includes: S141, using the static data from the initial stage, estimate the attitudes of the first and second sensors, satisfying:

[0023]

[0024] in, Let x be the angle of rotation of the second sensor around the x-axis. Let be the angle of rotation of the second sensor around the y-axis. This represents the gravitational acceleration component of the second sensor along the X-axis. This represents the gravitational acceleration component of the second sensor along the Y-axis. This represents the gravitational acceleration component of the second sensor along the Z-axis. S142, the angle is obtained by integrating the angular velocity, and the attitude change of the two sensors during the process is calculated. The integration method satisfies:

[0025] Where angle is the change in angle, gyr is the angular velocity, and t is the time.

[0026] S143, use the Kalman filter algorithm to filter the data of the start and end positions of the rotating rod to remove the error accumulated by integration; S144, Based on the obtained attitude data from the first and second sensors, calculate the relative attitude between the first and second sensors, satisfying:

[0027] in, The relative posture of the first sensor and the fixed rod. The relative attitude between the second sensor and the rotating rod; S145, based on the fixed posture of the inner and outer ankles, connecting rod and tibial fixation point during the period when the rotating rod touches the inner and outer ankles, so as to keep the relative posture of the first sensor and the second sensor unchanged, the relative posture data of the two time periods are extracted. S146, based on the conversion relationship between Euler angles and rotation matrix, the relative attitude matrix is ​​converted into relative angles; S147, calculate the tibial alignment angle, satisfying:

[0028]

[0029] in, For inward and outward turning angles, Forward and backward tilt angle, The relative outward angle between the first and second sensors when the rotating rod touches the inner ankle. The relative outward angle between the first and second sensors when the rotating rod touches the outer ankle. The relative forward and backward tilt angle between the first and second sensors when the rotating rod touches the inner ankle. The relative forward and backward tilt angle between the first and second sensors when the rotating rod touches the outer ankle.

[0030] In a second aspect, the present invention provides a force line tilt angle measuring device based on dual sensors, used in the method described in any one of the first aspects, comprising: a first sensor and a second sensor; when the measuring tool is fixed to the target to be measured, the first sensor is mounted on a fixed rod of the measuring tool, and the second sensor is mounted on a rotating rod of the measuring tool; when the rotating rod rotates, the first sensor and the second sensor enter a working state; when the rotating rod rotates to a first target area or a second target area, both the first sensor and the second sensor output measurement data; a processing unit, configured to collect the measurement data, identify the stationary period and the moving period of the rotating rod, calculate the attitude angles of the first sensor and the second sensor at different positions; and calculate the force line angle of the target to be measured based on the attitude angles.

[0031] Optionally, the processing unit is further configured to set a preset time, during which the rotating rod remains in the first target area and the second target area for the preset time; the measurement data output by the first sensor and the second sensor includes acceleration values ​​and angular velocity values.

[0032] Thirdly, the present invention provides an electronic device including a memory and a processor, wherein the memory stores a program executable on the processor, and when the program is executed by the processor, the electronic device performs the method described in any one of the first aspects.

[0033] Fourthly, the present invention provides a readable storage medium storing a program, which, when executed, implements the method described in any one of the first aspects. Attached Figure Description

[0034] Figure 1 A schematic diagram of a force line tilt angle measuring device based on dual sensors provided by the present invention; Figure 2 A schematic diagram of a force line tilt angle measuring device provided by the present invention installed on the tibia; Figure 3 A flowchart illustrating a force line tilt angle measurement method based on dual sensors provided by the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device provided by the present invention.

[0035] Numbering on the map: 1. Rotating rod; 11. First target area; 12. Second target area; 13. Third target area; 2. Connecting rod; 3. Fixed rod; 4. Base; 51. First sensor; 52. Second sensor; 6. Processing unit; 61. Processor; 62. Memory. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments 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 inventive effort are within the scope of protection of this invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed following the word and its equivalents, but do not exclude other elements or objects.

[0037] In response to the problems existing in the current technology, such as Figure 1 As shown, the first embodiment provides a force line tilt angle measuring device based on dual sensors, used in the method described in any one of the first aspects, comprising: a first sensor 51 and a second sensor 52; when the measuring tool is fixed to the target to be measured, the first sensor 51 is mounted on the fixed rod 3 of the measuring tool, and the second sensor 52 is mounted on the rotating rod 1 of the measuring tool; when the rotating rod 1 rotates, the first sensor 51 and the second sensor 52 enter the working state; when the rotating rod 1 rotates to the first target area 11 or the second target area 12, both the first sensor 51 and the second sensor 52 are used to output measurement data; a processing unit 6 is used to collect the measurement data, identify the stationary period and the moving period of the rotating rod 1, calculate the attitude angle of the first sensor 51 and the second sensor 52 at different positions; and calculate the force line angle of the target to be measured based on the attitude angle.

[0038] like Figure 2As shown, in some embodiments, the fixed rod 3 is fixedly connected to the base 4, and the rotating rod 1 is rotatably connected to the fixed rod 3 via the connecting rod 2. The processing unit 6 is also used to set a preset time. When the rotating rod 1 rotates around the connecting rod 2 to the first target area 11 and the second target area 12, it stays for the preset time. In this embodiment, the first sensor 51 is used to provide reference data, and the second sensor 52 is used to provide data on the position of the inner and outer ankles. By touching the inner and outer ankles with the rotating rod 1, the tibial force line angle can be measured without the need to set the initial position of the sensor, which is convenient for operation. Since the first sensor 51 is relatively fixed to the tibia, the movement of the tibia can be eliminated when calculating the force line angle, thereby ensuring the accuracy of the force line angle calculation.

[0039] In some embodiments, the measurement data output by the first sensor 51 and the second sensor 52 includes acceleration and angular velocity values. This embodiment makes full use of the output data of the first sensor 51 and the second sensor 52 by comprehensively utilizing the angular velocity and acceleration values, which helps to improve the robustness of the calculation results.

[0040] For details, please refer to Figure 1 and Figure 2 The target to be measured is the tibia; the measuring tool is a tibia measuring tool used to measure the tibial force line inclination angle; the first target area 11 is the medial ankle area, and the second target area 12 is the lateral ankle area. In some other specific embodiments, the first target area 11 is the lateral ankle area, and the second target area 12 is the medial ankle area. The rotating rod 1 can be manually operated to rotate from the medial ankle area to the lateral ankle area.

[0041] In some other embodiments, the target to be measured is a knee joint; the measuring tool is a knee joint tool used to measure the knee joint axis tilt angle; the first target area 11 is the medial region of the knee joint, and the second target area 12 is the lateral region of the knee joint.

[0042] It is worth noting that the target to be measured can be any target joint of the object; the measuring tool is a corresponding tool for measuring the force line inclination angle of the target joint; the first target region 11 and the second target region 12 only need to be located at different positions on the target joint. In other embodiments, the force line angle can also be measured using only sensor angular velocity data.

[0043] like Figure 1 , Figure 2 and Figure 3As shown, the second embodiment provides a method for measuring the tilt angle of a force line based on dual sensors, including: S1, when the measuring tool is fixed to the target to be measured, a first sensor 51 is mounted on the fixed rod 3 of the measuring tool, and a second sensor 52 is mounted on the rotating rod 1 of the measuring tool; when the rotating rod 1 rotates, the first sensor 51 and the second sensor 52 enter the working state; S2, when the rotating rod 1 rotates to the first target area 11, the measurement data of the first sensor 51 and the second sensor 52 are collected; S3, when the rotating rod 1 rotates to the second target area 12, the measurement data of the first sensor 51 and the second sensor 52 are collected; S4, based on the measurement data collected in S2-S3, the stationary period and the moving period of the rotating rod 1 are identified, and the attitude angles of the first sensor 51 and the second sensor 52 at different positions are calculated; S5, based on the attitude angles, the force line angle of the target to be measured is calculated.

[0044] It is worth noting that this invention employs a first sensor 51 and a second sensor 52. The first sensor 51 directly serves as a reference sensor to measure the tibial posture, while the second sensor 52 follows the rotating rod 1 to touch the ankle. Therefore, there is no need to set the initial position of the sensors to complete the measurement of the tibial force line angle, making the operation convenient. This invention uses a first sensor 51 that is relatively fixed relative to the tibia as a reference to calculate the movement of the tibia. This can then counteract the swaying of the tibia in the calculation of the force line angle, thereby ensuring the accuracy of the force line angle calculation. When calculating the force line angle, this invention also comprehensively uses acceleration and angular velocity values, thereby making full use of the sensor measurement data and improving the robustness of the calculation results.

[0045] In some embodiments, when the rotating rod 1 rotates to the first target area 11 and the second target area 12, it stays there for a preset time; the measurement data includes acceleration values ​​and angular velocity values. Specifically, when the rotating rod 1 rotates, it is in a motion period; the second sensor 52 is used to measure the acceleration value and angular velocity value of the rotating rod 1 at different times during the motion period.

[0046] In some embodiments, identifying the stationary and moving periods of the rotating rod 1 includes: confirming that the rotating rod 1 is currently in a stationary period when the resultant angular velocity value is less than a preset angular velocity threshold and the resultant acceleration value is less than a preset acceleration threshold; the resultant angular velocity value and the resultant acceleration value satisfy:

[0047]

[0048] in, Here, ωc represents the resultant angular velocity, ωc represents the resultant acceleration, and x, y, and z represent three different directions in space; the filter function for identifying stationary periods. satisfy:

[0049] in, Angular velocity threshold This is the acceleration threshold.

[0050] In some embodiments, before calculating the attitude angles of the first sensor 51 and the second sensor 52 at different positions, the method further includes: transforming the coordinate system of the first sensor 51 to the coordinate system of the link 2 according to the positional relationship between the first sensor 51 and the link 2, and transforming the coordinate system of the second sensor 52 to the coordinate system of the link 2 according to the positional relationship between the second sensor 52 and the link 2.

[0051] In some embodiments, the coordinate system transformation satisfies the following:

[0052]

[0053] in, Let be the acceleration of the first sensor in the coordinate system of the connecting rod. Let be the acceleration of the second sensor in the coordinate system of the connecting rod. The relative posture of the first sensor 51 and the fixed rod 3. The relative attitude of the second sensor 52 and the rotating rod 1. The triaxial acceleration output by the first sensor 51 The triaxial acceleration is output by the second sensor 52.

[0054] In some embodiments, S2 and S3 include: placing the rotating rod 1 equipped with the second sensor 52 to an initial position, calculating a first angle α1, and satisfying:

[0055] Among them, g x1 Let g be the acceleration value of the rotating rod along the x-axis when it is in its initial position. z1 This represents the acceleration of the rotating rod along the z-axis when it is in its initial position. Then rotate rod 1 to the first target area 11, calculate the second angle α2, which satisfies:

[0056] Among them, g x2 Let g be the acceleration value along the x-axis of the rotating rod when it is in the first target region. z2 This represents the acceleration value of the rotating rod along the z-axis when it is in the first target region; Next, rotate rod 1 to the second target area 12, and calculate the third angle a3, which satisfies:

[0057] Among them, g x3 Let g be the acceleration value along the x-axis of the rotating rod when it is in the second target region. z3 This represents the acceleration value of the rotating rod along the z-axis when it is in the second target region; The inward / outward turning angle 'a' of the target under test satisfies:

[0058] Finally, rotate rod 1 to the third target area 13, calculate the front and rear tilt angle b of the target to be measured, and satisfy:

[0059] Among them, g y1 Let g be the acceleration value along the y-axis of the rotating rod at its initial position. z1 Let g be the acceleration value of the rotating rod along the z-axis when it is in its initial position. y4 Let g be the acceleration value along the z-axis of the rotating rod when it is in the third target region. z4 This is the acceleration value along the z-axis when the rotating rod is in the third target area. Specifically, the third target area 13 is located directly in front of or behind the inner and outer ankles.

[0060] In other embodiments, the method for calculating the attitude angle of the second sensor 52 satisfies:

[0061]

[0062] in, The angle of rotation of the second sensor 52 around the x-axis. The angle of rotation of the second sensor 52 around the y-axis. This represents the gravitational acceleration component of the second sensor 52 along the X-axis. This represents the gravitational acceleration component of the second sensor 52 along the Y-axis. This represents the gravitational acceleration component of the second sensor 52 along the Z-axis.

[0063] It is worth noting that when the first sensor 51 moves, the method for calculating the attitude angle of the first sensor 51 also satisfies the above-mentioned method for calculating the attitude angle of the second sensor 52.

[0064] Specifically, in step S5, the method for calculating the force line angle of the target to be measured satisfies:

[0065]

[0066] in, For inward and outward turning angles, Forward and backward tilt angle, The relative outward angle between the first sensor 51 and the second sensor 52 when the rotating rod touches the inner ankle. The relative outward angle between the first sensor 51 and the second sensor 52 when the rotating rod touches the outer ankle. The relative forward and backward tilt angle between the first sensor 51 and the second sensor 52 when the rotating rod touches the inner ankle. The relative forward and backward tilt angle between the first sensor 51 and the second sensor 52 when the rotating rod touches the outer ankle.

[0067] It is worth noting that the above scheme is a force line angle calculation method that relies solely on the acceleration data of the first sensor 51 and the second sensor 52, which helps to reduce hardware costs.

[0068] To better adapt to the dynamic process during operation, in some embodiments, the tibial force line can also be calculated based on the acceleration and angular velocity data of the first sensor 51 and the second sensor 52, including the following steps: S11, when the tibia tool is fixed to the tibia, the first sensor 51 is fixed to the fixing rod 3 of the tibia tool, and the second sensor 52 is fixed to the rotating rod 1 of the tibia tool; S12, align the rotating rod 1 with the fixed rod 3 and keep them stationary, then begin collecting data from the first sensor 51 and the second sensor 52; S13, rotate lever 1 so that its end touches the inner ankle and remains there for a period of time; rotate lever 1 so that it touches the outer ankle and remains there for a preset time, and stops collecting data from the first sensor 51 and the second sensor 52; specifically, the end of the rotating lever 1 is hammer-shaped and is used to contact the inner and outer ankles.

[0069] S14 calculates the tibial force line angle using the collected sensor data.

[0070] Specifically, in step S11, the fixing method between the first sensor 51 and the fixed rod 3 can be any known relative posture. Similarly, the fixing method between the second sensor 52 and the rotating rod 1 can be any known relative posture.

[0071] In other specific embodiments, in step S13, except for maintaining the tibia stationary for a preset time, the tibia can move during the rest of the process.

[0072] In some specific embodiments, the method for calculating the tibial force line angle in S14 includes: S141, using the static data from the initial stage, estimate the attitude of the first sensor 51 and the second sensor 52, satisfying:

[0073]

[0074] in, Let x be the angle of rotation of the second sensor around the x-axis. Let be the angle of rotation of the second sensor around the y-axis. This represents the gravitational acceleration component of the second sensor along the X-axis. This represents the gravitational acceleration component of the second sensor along the Y-axis. This represents the gravitational acceleration component of the second sensor along the Z-axis.

[0075] S142, the angle is obtained by integrating the angular velocity, and the attitude change of the two sensors during the process is calculated. The integration method satisfies:

[0076] Where angle is the change in angle, gyr is the angular velocity, and t is the time.

[0077] S143, use the Kalman filter algorithm to filter the data of the start and end positions of the rotating rod 1 to remove the error accumulated by integration.

[0078] S144, based on the obtained attitude data of the first sensor 51 and the second sensor 52, calculate the relative attitude between the first sensor 51 and the second sensor 52, satisfying:

[0079] in, The relative posture of the first sensor 51 and the fixed rod 3. The relative attitude of the second sensor 52 and the rotating rod 1; S145, based on the fact that the inner and outer ankles, connecting rod and tibial fixation point form a fixed posture during the period when the rotating rod 1 touches the inner and outer ankles, so that the relative posture of the first sensor 51 and the second sensor 52 remains unchanged, the relative posture data of the two time periods are extracted. S146, based on the conversion relationship between Euler angles and rotation matrix, the relative attitude matrix is ​​converted into relative angles; S147, calculate the tibial alignment angle, satisfying:

[0080]

[0081] in, For inward and outward turning angles, Forward and backward tilt angle, The relative outward angle between the first and second sensors when the rotating rod touches the inner ankle. The relative outward angle between the first and second sensors when the rotating rod touches the outer ankle. The relative forward and backward tilt angle between the first and second sensors when the rotating rod touches the inner ankle. The relative forward and backward tilt angle between the first and second sensors when the rotating rod touches the outer ankle.

[0082] like Figure 1 and Figure 4 As shown, the third embodiment provides an electronic device including a memory 62 and a processor 61. The memory 62 stores a program that can run on the processor 61. When the program is executed by the processor 61, the electronic device performs the method described in any of the above embodiments. Specifically, both the first sensor 51 and the second sensor 52 are connected to the processor 61.

[0083] It should be understood that the processor in this embodiment can be a Central Processing Unit (CPU) or a Graphics Processing Unit (GPU). The processor can also be other general-purpose processors, Digital Signal Processors (DSPs), Application-Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor.

[0084] It is understood that the memory in this embodiment can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DR RAM). It should be noted that the memory of the systems or methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0085] The fourth embodiment provides a readable storage medium storing a program, which, when executed, implements the method described in any one of the above embodiments.

[0086] It is worth noting that if the method is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause an electronic device to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0087] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the invention as set forth in the claims. Furthermore, the invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. A method for measuring the tilt angle of a force line based on dual sensors, characterized in that, include: S1, when the measuring tool is fixed to the target to be measured, the first sensor is mounted on the fixed rod of the measuring tool, and the second sensor is mounted on the rotating rod of the measuring tool; When the rotating rod rotates, the first and second sensors enter the working state; S2, when the rotating rod rotates to the first target area, it stays for a preset time and collects the measurement data of the first sensor and the second sensor; S3, when the rotating rod rotates to the second target area, it stays for a preset time and collects the measurement data of the first sensor and the second sensor; S4, based on the measurement data collected in S2-S3, the measurement data includes the resultant acceleration value and the resultant angular velocity value; Identify the stationary and moving periods of the rotating rod, and calculate the attitude angles of the first and second sensors at different positions; The identification of the stationary and moving periods of the rotating rod includes: confirming that the rotating rod is currently in a stationary period when the resultant angular velocity value is less than a preset angular velocity threshold and the resultant acceleration value is less than a preset acceleration threshold; the resultant angular velocity value and the resultant acceleration value satisfy: in, Here, ωc represents the resultant angular velocity, ωc represents the resultant acceleration, and x, y, and z represent three different directions in space; the filter function for identifying stationary periods. satisfy: in, Angular velocity threshold The acceleration threshold; S5. Calculate the force line angle of the target under test based on the stated attitude angle.

2. The method according to claim 1, characterized in that, Before calculating the attitude angles of the first and second sensors at different positions, the method further includes: Based on the positional relationship between the first sensor and the connecting rod, the coordinate system of the first sensor is transformed to the coordinate system of the connecting rod. Based on the positional relationship between the second sensor and the connecting rod, the coordinate system of the second sensor is transformed to the coordinate system of the connecting rod.

3. The method according to claim 2, characterized in that, During the coordinate system transformation, the following conditions must be met: in, Let be the acceleration of the first sensor in the coordinate system of the connecting rod. Let be the acceleration of the second sensor in the coordinate system of the connecting rod. The relative posture of the first sensor and the fixed rod. The relative attitude between the second sensor and the rotating rod. The triaxial acceleration output by the first sensor. The triaxial acceleration is output by the second sensor.

4. The method according to claim 1, characterized in that, Calculate the attitude angle of the second sensor at different positions, satisfying: in, Let x be the angle of rotation of the second sensor around the x-axis. Let be the angle of rotation of the second sensor around the y-axis. This represents the gravitational acceleration component of the second sensor along the X-axis. This represents the gravitational acceleration component of the second sensor along the Y-axis. This represents the gravitational acceleration component of the second sensor along the Z-axis.

5. The method according to claim 1, characterized in that, The method for calculating the force line angle of the target under test satisfies: in, For inward and outward turning angles, Forward and backward tilt angle, The relative outward angle between the first and second sensors when the rotating rod touches the inner ankle. The relative outward angle between the first and second sensors when the rotating rod touches the outer ankle. The relative forward and backward tilt angle between the first and second sensors when the rotating rod touches the inner ankle. The relative forward and backward tilt angle between the first and second sensors when the rotating rod touches the outer ankle.

6. The method according to claim 1, characterized in that, When the measuring tool is set to a tibia tool and the target to be measured is the tibia, the tibial force line is calculated based on the acceleration and angular velocity data from the first and second sensors, including the following steps: S11, when the tibial tool is fixed to the tibia, the first sensor is fixed to the fixing rod of the tibial tool, and the second sensor is fixed to the rotating rod of the tibial tool; S12, align the rotating rod with the fixed rod and keep it stationary, then begin collecting data from the first and second sensors; S13, rotate the lever until its end touches the inner ankle and holds for a period of time; rotate the lever until it touches the outer ankle and holds for a preset time, then remain still and stop collecting data from the first and second sensors; S14 calculates the tibial force line angle using the collected sensor data.

7. The method according to claim 6, characterized in that, In S14, the method for calculating the tibial force line angle includes: S141, using the static data from the initial stage, estimate the attitudes of the first and second sensors, satisfying: in, Let x be the angle of rotation of the second sensor around the x-axis. Let be the angle of rotation of the second sensor around the y-axis. This represents the gravitational acceleration component of the second sensor along the X-axis. This represents the gravitational acceleration component of the second sensor along the Y-axis. This represents the gravitational acceleration component of the second sensor along the Z-axis. S142, the angle is obtained by integrating the angular velocity, and the attitude change of the two sensors during the rotation process is calculated. The integration method satisfies: Where angle is the change in angle, gyr is the angular velocity, and t is the time. S143, use the Kalman filter algorithm to filter the data of the start and end positions of the rotating rod to remove the error accumulated by integration; S144, Based on the obtained attitude data from the first and second sensors, calculate the relative attitude between the first and second sensors, satisfying: in, The relative posture of the first sensor and the fixed rod. The relative attitude between the second sensor and the rotating rod; S145, based on the fixed posture of the inner and outer ankles, connecting rod and tibial fixation point during the period when the rotating rod touches the inner and outer ankles, so as to keep the relative posture of the first sensor and the second sensor unchanged, the relative posture data of the two time periods are extracted. S146, based on the conversion relationship between Euler angles and rotation matrix, the relative attitude matrix is ​​converted into relative angles; S147, calculate the tibial alignment angle, satisfying: in, For inward and outward turning angles, Forward and backward tilt angle, The relative outward angle between the first and second sensors when the rotating rod touches the inner ankle. The relative outward angle between the first and second sensors when the rotating rod touches the outer ankle. The relative forward and backward tilt angle between the first and second sensors when the rotating rod touches the inner ankle. The relative forward and backward tilt angle between the first and second sensors when the rotating rod touches the outer ankle.

8. A force line tilt angle measuring device based on dual sensors, used in the method according to any one of claims 1 to 7, characterized in that, include: When the measuring tool is fixed to the target, the first sensor is mounted on the fixed rod of the measuring tool, and the second sensor is mounted on the rotating rod of the measuring tool. When the rotating rod rotates, the first and second sensors enter the working state. When the rotating rod rotates to the first target area or the second target area, both the first and second sensors are used to output measurement data. The processing unit is used to collect the measurement data, identify the stationary and moving periods of the rotating rod, and calculate the attitude angles of the first and second sensors at different positions. Based on the stated attitude angle, the angle of the force line of the target under test is calculated.

9. The apparatus according to claim 8, characterized in that, The processing unit is also used to set a preset time, and when the rotating rod rotates to the first target area and the second target area, it stays for the preset time; the measurement data output by the first sensor and the second sensor include acceleration value and angular velocity value.

10. An electronic device, characterized in that, The device includes a memory and a processor, wherein the memory stores a program that can run on the processor, and when the program is executed by the processor, causes the electronic device to perform the method of any one of claims 1 to 7.

11. A readable storage medium storing a program, characterized in that, When the program is executed, it implements the method of any one of claims 1 to 7.

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