A lower limb rehabilitation training method and system based on a slope

Abstract

This invention relates to the field of lower limb training technology, and more specifically, to a method and system for lower limb rehabilitation training on a slope. The method includes: acquiring sling images at predetermined time intervals T over a period of time to obtain a sling image at the current moment; preprocessing the sling image at the current moment to calculate the angle between the current sling image and the sling when it is in a vertical position; and controlling the pulley to move in response to the angle reaching a preset condition. This invention calculates the number of pulley movements to assess the patient's lower limb training progress and then determines whether to improve patient protection. For example, a low number of pulley movements indicates poor lower limb mobility, thus requiring a shorter predetermined time interval T in the next period to increase the frequency of sling image acquisition, thereby improving patient protection and preventing falls.

Description

Technical Field

[0001] This invention relates to the field of lower limb training technology. More specifically, this invention relates to a method and system for lower limb rehabilitation training based on a slope. Background Technology

[0002] The weight-reduction balance training system uses a motor-driven lifting and safety harness to reduce the weight of the patient's lower limbs, allowing them to safely train their standing, walking, and sitting abilities. This gradually enhances the lower limbs' ability to support their own body weight. This training system helps patients correctly control muscle activity, facilitating optimal recovery of their limb functions. It is suitable for patients with lower limb weakness or paralysis.

[0003] However, during uphill training, if the sling does not apply a vertical upward pull but instead uses an inclined pull to assist the patient, it can easily cause the patient to tilt and fall. Summary of the Invention

[0004] This invention provides a lower limb rehabilitation training method and system based on a slope, aiming to solve the problem in related technologies where, if the sling does not use a vertical upward pulling force but uses an inclined pulling force to assist the patient when the patient needs to stand on a slope, it is easy to pull the patient's body tilt, causing the patient to fall.

[0005] In a first aspect, the present invention provides a method and system for lower limb rehabilitation training based on a slope, comprising a movable pulley, on which a sling is disposed, the sling being used to assist in human training, comprising: acquiring images of the sling at predetermined time intervals T over a period of time to obtain an image of the sling at the current moment; preprocessing the image of the sling at the current moment to calculate the angle between the image of the sling at the current moment and the image of the sling when the sling is in a vertical position. ; in response to the included angle If the preset conditions are met, the pulley is controlled to move; in response to the included angle... If the preset conditions are not met, the pulley is not controlled to move; the predetermined time interval T for acquiring the sling image in the next time period is adjusted according to the ratio between the number of times the pulley does not need to move and the number of times it needs to move within a certain period.

[0006] In one embodiment: adjusting the predetermined time interval T for acquiring sling images in the next time period according to the ratio between the number of times the pulley does not need to move and the number of times it needs to move within a period includes: adjusting the predetermined time interval T for acquiring sling images in the next time period in response to the ratio between the number of times the pulley does not need to move and the number of times it needs to move being greater than a preset ratio.

[0007] In one embodiment: it further includes an acceleration sensor worn on the lower limb; in response to the ratio between the number of times the pulley does not need to move and the number of times it needs to move being greater than a preset ratio, the predetermined time interval T in the next time period is reduced, including: determining the degree of lower limb shaking based on the information collected by the acceleration sensor; in response to the ratio between the number of times the pulley does not need to move and the number of times it needs to move being greater than a preset ratio, and the degree of lower limb shaking being greater than a preset degree, the predetermined time interval T in the next time period is reduced.

[0008] In one embodiment: in response to the included angle If a preset condition is met, the pulley is controlled to move, including: responding to the included angle. If the angle is greater than 3 degrees, the pulley will be moved.

[0009] In one embodiment: adjusting the predetermined time interval T for acquiring sling images in the next time period based on the ratio between the number of times the pulley does not need to move and the number of times it needs to move within a period includes: if the ratio between the number of times the pulley does not need to move and the number of times it needs to move is less than a preset ratio, then the predetermined time interval T for acquiring sling images in the next time period is not adjusted.

[0010] In one embodiment: the predetermined time interval T is 1 second.

[0011] In one embodiment: reducing the predetermined time interval T in the next time period, wherein the reduced predetermined time interval is T1, includes: calculating the reduced time interval T1, the calculation formula being:

[0012] T1=Tt

[0013] Where t represents the time that needs to be reduced.

[0014] In one embodiment: t equals 0.3s.

[0015] In one embodiment, controlling the pulley to move further includes: the sling being in a vertical state in response to the movement of the pulley.

[0016] In a second aspect, the present invention also provides a lower limb rehabilitation training system based on a slope, comprising a processor and a memory having a computer program stored thereon, characterized in that the computer program, when executed, implements the steps described in any one of claims 1 to 9.

[0017] The beneficial effects of this invention are as follows: By calculating the number of pulley movements, the training status of the patient's lower limbs can be assessed, and then it can be determined whether the protection of the patient can be improved. For example, if the number of sliding movements is relatively small, it indicates that the patient's lower limb mobility is poor. Therefore, it is necessary to shorten the predetermined time interval T in the next time period, increase the frequency of acquiring sling images, improve the protection of the patient, and prevent the patient from falling. Attached Figure Description

[0018] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0019] Figure 1 This is a schematic flowchart illustrating the adjustment rope according to an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram illustrating the adjustment of the preset time according to an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram illustrating the system structure according to an embodiment of the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of the present 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 the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0024] Figure 1 This schematically illustrates a lower limb rehabilitation training method based on a slope according to this embodiment, including a movable pulley with a sling mounted on the pulley that moves with it, the sling being used to assist in training, and further including:

[0025] Step S1: Acquire sling images at predetermined time intervals T over a period of time to obtain the sling image at the current moment.

[0026] Specifically, images of the sling can be obtained using various imaging devices, such as a CCD / CMOS camera, which can capture clear images of the sling.

[0027] In one embodiment, "time period" refers to 2 minutes. In other embodiments, the time period can be set to 3 minutes, 1 minute, or 4 minutes, etc. In this embodiment, the specific duration of the time period is not limited, and the time interval T for acquiring the sling image within this time period is 1 second. In other words, within the 2-minute time period, a sling image is acquired every 1 second to obtain the sling image at the current moment.

[0028] In one embodiment, the predetermined time interval T is equal to 1s. In another embodiment, the predetermined time interval T may be equal to 2s, 3s, or 1.5s, etc. In this embodiment, the predetermined time interval T is not limited.

[0029] Step S2: Preprocess the sling image at the current moment to calculate the angle between the sling image at the current moment and the image when the sling is in a vertical position. .

[0030] In one embodiment, preprocessing the suspender image may involve first performing noise removal and smoothing operations to improve image quality. Then, an edge detection algorithm is used to extract the suspenders. Next, a shape recognition algorithm is employed to analyze the distribution and direction of the suspender edges, as well as their connections, to determine the shape and orientation of the suspenders. Finally, an angle detection algorithm is used to detect the angle between the suspenders in the current image and the suspenders when they are in a vertical position. .

[0031] Step S3: In response to the included angle If the preset conditions are met, the pulley will be controlled to move.

[0032] In one embodiment, when the included angle When the angle is greater than 3 degrees, the included angle will be... The detection model outputs a distance X that the sliding mechanism needs to move, and then controls the pulley to move. When the pulley moves a distance X1, where distance X equals length X1, the sling is in a vertical position. In other embodiments, the preset condition can be set to an angle. In this embodiment, the preset conditions are not specifically limited to 4 degrees or greater than 2 degrees.

[0033] In one embodiment, building the detection model can begin by collecting historical data, including the included angle of the slings. According to the included angle The size is calculated to determine the length X1 that the sliding motion requires, and then a detection model is built to determine the included angle. The detection model will output a result, which indicates the distance X that the pulley needs to move.

[0034] Step S4: In response to the included angle If the preset conditions are not met, the pulley will not be controlled to move.

[0035] In one embodiment, when the included angle When the preset conditions are not met, that is, the included angle When the angle is less than or equal to 3 degrees, it is not necessary to adjust the included angle. If that happens, the pulley will not move.

[0036] It should be noted that keeping the harness vertical is to apply an upward vertical pull to the patient during uphill training, preventing the harness from tilting the body. If the body is supported by a tilted pull, it is easy to pull the body to the side, causing instability and making the patient prone to falling. Keeping the harness vertical and upward solves this problem.

[0037] When the included angle θ is less than or equal to 3 degrees, it is not necessary to input the included angle θ into the detection model. This indicates that the tilt angle of the sling is small and will not generate a large pulling force on the human body, meaning the human body is within a safe range. When the included angle θ of the sling is greater than 3 degrees, it indicates that there is a risk of the sling pulling the patient tilting. In this case, the angle of the sling needs to be adjusted to make the sling vertical.

[0038] Step S5: Adjust the predetermined time interval T for acquiring sling images in the next time period based on the ratio between the number of times the pulley does not need to move and the number of times it needs to move within a certain period.

[0039] Specifically, the number of times the pulley does not need to move and the number of times it needs to move are counted within 2 minutes. Then, the ratio of the number of times the pulley does not need to move to the number of times it needs to move is calculated. Based on whether the ratio is greater than a preset ratio, the predetermined time interval T for acquiring the sling image in the next time period is adjusted.

[0040] In one embodiment, the preset ratio is set to 3. For example, if the pulley needs to move 8 times in 2 minutes and does not need to move 2 times, the ratio of the number of times the pulley does not need to move to the number of times it needs to move is 8 / 2 = 4, which is greater than the preset ratio. In this case, the predetermined time interval T in the next time period needs to be reduced.

[0041] It is important to note that if the number of sliding movements is relatively low over a period of time, it indicates that the range of human movement is small (the change in the sling angle is less than or equal to 3 degrees) or that the human body is not moving at all. In this case, it indicates that the human body's lower limb mobility is poor, and therefore the predetermined time interval T in the next time period needs to be shortened to increase the frequency of sling image acquisition and improve patient protection. Conversely, if the number of sliding movements is relatively high, it indicates that the human body moves more frequently, suggesting that the patient's lower limb mobility is strong, and therefore the predetermined time interval T in the next time period does not need to be adjusted.

[0042] Specifically, assuming the reduced predetermined time interval is T1, the reduced time interval T1 is calculated using the formula: T1 = Tt. In one embodiment, t equals 0.3s, and the reduced time interval T1 is calculated to be 1 - 0.3 = 0.7s. Therefore, an image of the sling is acquired every 0.7s in the next time interval.

[0043] It should be noted that the next time period can be set to the same time period as the previous time period, for example, both the previous and next time periods are 2 minutes. In other embodiments, the next time period can be set to be different from the previous time period, for example, the previous time period is 2 minutes and the next time period is 3 minutes or 2 minutes.

[0044] In another embodiment, an accelerometer worn on the lower limbs is also included. Specifically, the accelerometer is a sensor capable of measuring acceleration. It typically consists of a mass block, a damper, an elastic element, a sensitive element, and an adaptation circuit. During acceleration, the sensor obtains the acceleration value by measuring the inertial force acting on the mass block and applying Newton's second law.

[0045] In one embodiment, such as Figure 2 As shown, it also includes step S6: determining the degree of lower limb tremor based on the information collected by the accelerometer;

[0046] By placing an accelerometer on the lower limbs, the frequency of tremors can be detected, and the degree of tremor can be calculated based on the tremor frequency.

[0047] Step S7: In response to the ratio between the number of times the pulley does not need to move and the number of times it needs to move being greater than a preset ratio, and the degree of lower limb shaking being greater than a preset degree, the predetermined time interval T in the next time period is reduced.

[0048] Specifically, an accelerometer is a sensor capable of measuring acceleration. It typically consists of a mass, a damper, an elastic element, a sensing element, and an adaptation circuit. During acceleration, the sensor measures the inertial force acting on the mass and uses Newton's second law to obtain the acceleration value. By placing an accelerometer on the lower limbs, the shaking frequency of the lower limbs can be detected, and the degree of shaking can be calculated based on the shaking frequency.

[0049] If the shaking frequency of the lower limbs is 2 times per second, the shaking level is considered normal; if the shaking frequency is 4 times per second, the shaking level is considered moderate; and if the shaking frequency is 8 times per second, the shaking level is considered high. A shaking level greater than a preset level means the shaking level is greater than normal. If the ratio between the number of times the pulley does not need to move and the number of times it needs to move is greater than 3, and the shaking level of the lower limbs is greater than normal, then the predetermined time interval T in the next time period is reduced.

[0050] By calculating the number of pulley movements through the above steps, the training status of the patient's lower limbs is determined, and then it is judged whether the protection ability for the patient needs to be improved. For example, if the number of sliding movements is relatively small, it indicates that the patient's lower limb mobility is poor. Therefore, it is necessary to shorten the predetermined time interval T in the next time period, increase the frequency of acquiring sling images, improve the protection ability for the patient, and prevent the patient from falling.

[0051] This invention also provides a method and system for lower limb rehabilitation training based on a slope. For example... Figure 3 As shown, the system includes a processor and a memory, the memory storing computer program instructions, which, when executed by the processor, implement a lower limb rehabilitation training method based on a slope according to the first aspect of the present invention.

[0052] In one embodiment, the present invention provides a computer device whose internal structure can be as shown in Figure X. The computer device includes a processor, memory, communication interface, display screen, and input device connected via a system bus. The processor provides computing and control capabilities and can be selected from various types such as CPU, microcontroller, DSP, or FPGA. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. When the computer program is executed, it can complete the steps described in the above method embodiments, such as steps S1-S5. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for wired or wireless communication with external terminals. Wireless communication can be achieved through WIFI, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a lower limb rehabilitation training method based on a slope. The display screen of the computer device can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs or touchpads set on the casing of the computer device, or external keyboards, touchpads or mice, etc.

[0053] Those skilled in the art will understand that Figure 3 The structures shown are merely block diagrams of some structures related to the present invention and do not constitute a limitation on the computer device of the present invention. Specific computer devices may include more or fewer components than those shown in the figures, or combine certain components, or have different component arrangements.

[0054] The system also includes other components well known to those skilled in the art, such as communication buses and communication interfaces, the settings and functions of which are known in the art and therefore will not be described in detail here.

[0055] In this invention, the aforementioned memory can be any tangible medium containing or storing a program that can be used or combined with an instruction execution system, apparatus, or device. For example, a computer-readable storage medium can be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc., or any other medium that can be used to store desired information and can be accessed by an application, module, or both. Any such computer storage medium can be part of a device or accessible to or connected to a device. Any application or module described in this invention can be implemented using computer-readable / executable instructions that can be stored or otherwise maintained by such a computer-readable medium.

[0056] In the description of this specification, "multiple" or "several" means at least two, such as two, three or more, unless otherwise explicitly specified.

[0057] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A lower limb rehabilitation training method based on a slope, comprising a movable pulley, on which a sling is mounted that moves with the pulley, the sling being used to assist in training, characterized in that, include: Images of the sling are acquired at predetermined time intervals T over a period of time to obtain the sling image at the current moment; The sling image at the current moment is preprocessed to calculate the angle between the current sling image and the image when the sling is in a vertical position. ; In response to the included angle If the preset conditions are met, the pulley is controlled to move. In response to the included angle If the preset conditions are not met, the pulley will not be controlled to move; The predetermined time interval T for acquiring sling images in the next time period is adjusted based on the ratio between the number of times the pulley does not need to move and the number of times it needs to move within a certain period. In response to the ratio between the number of times the pulley does not need to move and the number of times it needs to move being greater than a preset ratio, the predetermined time interval T for acquiring sling images in the next time period is adjusted; It also includes an accelerometer worn on the lower limbs, which determines the degree of lower limb tremor based on information collected by the accelerometer. If the ratio between the number of times the pulley does not need to move and the number of times it needs to move is greater than a preset ratio, and the degree of lower limb shaking is greater than a preset degree, the predetermined time interval T in the next time period is reduced.

2. The lower limb rehabilitation training method based on a slope according to claim 1, characterized in that: In response to the included angle When a preset condition is met, the pulley is controlled to move, including: In response to the included angle If the angle is greater than 3 degrees, the pulley will be moved.

3. The lower limb rehabilitation training method based on a slope according to claim 1, characterized in that: Based on the ratio between the number of times the pulley does not need to move and the number of times it needs to move within a certain period, the predetermined time interval T for acquiring sling images in the next time period is adjusted, including: If the ratio between the number of times the pulley does not need to move and the number of times it needs to move is less than a preset ratio, then the predetermined time interval T for acquiring the sling image in the next time period will not be adjusted.

4. The lower limb rehabilitation training method based on a slope according to claim 1, characterized in that: The predetermined time interval T is 1 second.

5. The lower limb rehabilitation training method based on a slope according to claim 1, characterized in that: Reducing the predetermined time interval T in the next time period, wherein the reduced predetermined time interval is T1, includes: The time interval T1 after reduction is calculated using the following formula: T1=Tt Where t represents the time that needs to be reduced.

6. The lower limb rehabilitation training method based on a slope according to claim 5, characterized in that: The value of t is 0.3s.

7. The lower limb rehabilitation training method based on a slope according to claim 1, characterized in that: Controlling the movement of the pulley further includes: In response to the movement of the pulley, the sling is in a vertical position.

8. A lower limb rehabilitation training system based on a slope, comprising a processor and a memory, wherein a computer program is stored thereon, characterized in that, When the computer program is executed, it performs the steps described in any one of claims 1 to 7.

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