Method, device and storage medium for controlling supine weight-bearing simulation system

Abstract

The present application discloses a method, device and storage medium for controlling a supine weight-bearing simulation system, and relates to the field of data processing technology. The method includes obtaining the user's initial supine plantar pressure profile through a supine weight-bearing simulation sensor in the process of instructing a weight-bearing mechanical device to apply a simulation force to the user; performing registration and consistency judgment on the initial supine plantar pressure profile based on a preset standing plantar pressure profile to obtain a judgment result; generating an adjustment instruction for the simulation force according to the judgment result; and in response to the adjustment instruction, stopping the adjustment of the simulation force, obtaining the user's standing simulated weight-bearing image from a supine CT machine. The solution of the present application obtains the user's supine plantar pressure information through a supine weight-bearing simulation system, and performs registration and consistency judgment with the standing plantar pressure information, thereby simulating the user's standing state to obtain a standing weight-bearing image, thereby improving the simulation effect of the standing weight-bearing CT image detection.

Description

Technical Field

[0001] The present application generally relates to the field of data processing technology. More specifically, the present application relates to a method, device, and storage medium for controlling a supine weight-bearing simulation system. Background Art

[0002] When performing image detection on the human skeleton, it is often necessary to detect the specific status of various parts of the body of the person to be tested under natural gravity. For example, standing weight-bearing CT images are one of the golden image annotations for orthopedic surgery to correct the spine, lower limb joints, and lower limb deformities. However, the price of standing weight-bearing CT systems is too high, so the existing alternative is to let the person to be tested lie on his back horizontally, and use a horizontally set pushing mechanism to push the person to be tested to simulate the physiological weight-bearing state when standing. However, the existing alternative only uses a simple pushing force for simulation, which is difficult to accurately simulate the natural physiological weight-bearing state of the human body, especially the human body of orthopedic patients. For example, it is difficult to avoid detection errors caused by the inconsistency in the position and direction of the foot in the standing position and the supine position.

[0003] In view of this, there is an urgent need to provide a method for controlling a supine weight-bearing simulation system so as to improve the simulation effect of standing weight-bearing position detection. Summary of the Invention

[0004] In order to at least solve one or more of the technical problems mentioned above, the present application proposes solutions for controlling a supine weight-bearing simulation system in multiple aspects.

[0005] In a first aspect, the present application provides a method for controlling a supine weight-bearing simulation system, wherein the supine weight-bearing simulation system is connected to a supine CT machine and includes a weight-bearing mechanism and a supine weight-bearing simulation sensor. The method includes obtaining an initial supine plantar pressure profile of the user through the supine weight-bearing simulation sensor while instructing the weight-bearing mechanism to apply a simulated force to the user; performing alignment and consistency judgment on the initial supine plantar pressure profile based on a preset standing plantar pressure profile to obtain a judgment result; generating an adjustment instruction for the simulated force according to the judgment result, wherein the adjustment instruction is used to apply an adjusted simulated force to the user; and obtaining a standing simulated weight-bearing image of the user from the supine CT machine in response to the adjustment instruction indicating to stop adjusting the simulated force.

[0006] In some embodiments, the initial supine plantar pressure profile is subjected to registration and consistency judgment, and the steps of obtaining the judgment result include: performing registration on the initial supine plantar pressure profile according to the standing plantar pressure profile to obtain the registered target supine plantar pressure profile; and performing consistency judgment on the target supine plantar pressure profile and the standing plantar pressure profile to obtain the judgment result.

[0007] In some embodiments, the step of aligning the initial supine plantar pressure contour according to the standing plantar pressure contour to obtain the aligned target supine plantar pressure contour includes: voxelizing the initial supine plantar pressure contour to obtain a first supine voxelized point set, and voxelizing the standing plantar pressure contour to obtain a first standing voxelized point set; for each coordinate point in the first standing voxelized point set, searching for the corresponding nearest point in the first supine voxelized point set to obtain a second standing voxelized point set and a second supine voxelized point set; iteratively updating the first supine voxelized point set based on the second standing voxelized point set and the second supine voxelized point set to obtain a target supine voxelized point set; and obtaining the target supine plantar pressure contour based on the target supine voxelized point set.

[0008] In some embodiments, the step of iteratively updating the first supine voxelized point set based on the second standing voxelized point set and the second supine voxelized point set to obtain the target supine voxelized point set includes: obtaining the rotation alignment matrix of the nearest point according to the second standing voxelized point set and the second supine voxelized point set; obtaining the updated first supine voxelized point set according to the rotation alignment matrix, and returning to the step of searching for the corresponding nearest point in the first supine voxelized point set for each coordinate point in the first standing voxelized point set to obtain the second standing voxelized point set and the second supine voxelized point set; and performing iterative updates in sequence until the first supine voxelized point set and the first standing voxelized point set meet a preset stop condition or the current number of cycles reaches a preset stop threshold, thereby obtaining the target supine voxelized point set.

[0009] In some embodiments, the step of obtaining the rotational registration matrix of the nearest point based on the second standing voxelized point set and the second supine voxelized point set includes: multiplying the second standing voxelized point set and the second supine voxelized point set to determine the first singular value decomposition vector and the second singular value decomposition vector, respectively; and obtaining the rotational registration matrix of the nearest point based on the first singular value decomposition vector and the second singular value decomposition vector.

[0010] In some embodiments, the step of obtaining the target supine plantar pressure profile based on the target supine voxelized point set includes: obtaining sensor data corresponding to the initial supine plantar pressure profile; and performing inverse voxelization on the target supine voxelized point set to obtain the inverse voxelized plantar pressure profile, and assigning a value to the inverse voxelized plantar pressure profile based on the sensor data to obtain the target supine plantar pressure profile.

[0011] In some embodiments, the supine weight-bearing simulation sensor includes a plantar pressure sensor and a weight sensor, and the step of obtaining the user's initial supine plantar pressure profile through the supine weight-bearing simulation sensor includes: obtaining the corresponding single-foot load resultant force for the user's feet through the weight sensor; obtaining the corresponding single-foot pressure distribution through the plantar pressure sensor; and obtaining the initial supine plantar pressure profile based on the single-foot load resultant force and the single-foot pressure distribution.

[0012] In some embodiments, the step of performing consistency judgment on the target supine plantar pressure profile and the standing plantar pressure profile to obtain the judgment result includes: obtaining the plantar pressure distribution difference of the target supine plantar pressure profile based on the single plantar pressure distribution; obtaining the weight load resultant force difference of the target supine plantar pressure profile based on the single foot load resultant force; detecting whether the plantar pressure distribution difference meets a preset plantar pressure distribution threshold and detecting whether the weight load resultant force difference meets a preset single foot load resultant force threshold; if so, obtaining the result of successful judgment of the initial supine plantar pressure profile and the standing plantar pressure profile; if not, obtaining the result of failed judgment of the initial supine plantar pressure profile and the standing plantar pressure profile.

[0013] In some embodiments, the weight-bearing mechanical device includes: a fixed frame; a first adjustment component, which includes an adjustment part arranged on the fixed frame, and a pushing part driven by the adjustment part to push the human body along the pushing direction; the supine weight-bearing simulation sensor includes: a first detection component, which is fixed to the fixed frame and is used to measure the thrust of the first part of the human body along the pushing direction; a second detection component, which is movably arranged on the fixed frame along the pushing direction, and is used to measure the thrust of the second part of the human body along the pushing direction.

[0014] In some embodiments, the pressing member includes a shoulder pressing block for pressing a shoulder of a human body.

[0015] In some embodiments, the first adjustment assembly includes a supporting member for supporting a human body, and the shoulder pressure block is fixed to the supporting member.

[0016] In some embodiments, the support member includes a bed board for a person to lie flat on.

[0017] In some embodiments, the first adjustment assembly includes a transverse adjustment portion, and the push member is mounted on the transverse adjustment portion so as to be adjustable along the transverse direction.

[0018] In some embodiments, a detection screw is also included, which is threadedly connected to the fixed frame, the second detection component is fixedly connected to the detection screw end seat, one end of the detection screw is axially limited to the detection screw end seat, and the detection screw is used to rotate and drive the detection screw end seat to move along the pressing direction.

[0019] In some embodiments, the fixing frame includes a frame body and a guide rail fixed to the frame body, and the push member is fixedly connected to at least one sliding block on the guide rail.

[0020] In some embodiments, a leg support plate is further included, a support rail is fixedly provided on the frame, and the leg support plate is fixedly connected to at least one support slider on the support rail.

[0021] In some embodiments, the adjustment component includes an adjustment screw threadedly connected to the fixed frame, one end of the adjustment screw is axially limited with at least one adjustment screw end seat, the push member is fixedly connected to the adjustment screw end seat, and the adjustment screw is used to rotate and drive the adjustment screw end seat to move along the push direction.

[0022] In a second aspect, the present application provides a terminal device, which includes a memory, a processor, and a program for controlling a supine weight-bearing simulation system stored in the memory and executable on the processor. When the program for controlling the supine weight-bearing simulation system is executed by the processor, the steps of the method for controlling a supine weight-bearing simulation system as described in any one of the above items are implemented.

[0023] In a third aspect, the present application provides a computer-readable storage medium, characterized in that a program for controlling a supine weight-bearing simulation system is stored on the computer-readable storage medium, and when the program for controlling the supine weight-bearing simulation system is executed by a processor, the steps of the method for controlling a supine weight-bearing simulation system as described in any one of the above items are implemented.

[0024] Through a method, device and storage medium for controlling a supine weight-bearing simulation system as provided above, in the process of instructing a weight-bearing mechanical device to apply a simulated force to a user, the user's initial supine plantar pressure profile is obtained through a supine weight-bearing simulation sensor; based on a preset standing plantar pressure profile, the initial supine plantar pressure profile is aligned and judged for consistency to obtain a judgment result; according to the judgment result, an adjustment instruction for the simulation force is generated, wherein the adjustment instruction is used to apply an adjusted simulated force to the user; and in response to the adjustment instruction indicating to stop adjusting the simulation force, a standing simulated weight-bearing image of the user is obtained from a supine CT machine. The solution of the present application obtains the user's supine plantar pressure information through a supine weight-bearing simulation system, and performs alignment and consistency judgment with the standing plantar pressure information, thereby simulating the user's standing state to obtain a standing weight-bearing image, which can effectively improve the simulation effect of standing weight-bearing CT image detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other objects, features and advantages of the exemplary embodiments of the present application will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0026] Figure 1 A schematic diagram showing an existing standing weight-bearing CT protocol is shown;

[0027] Figure 2 A structural diagram of a supine weight-bearing simulation system 100 according to some embodiments of the present application is shown;

[0028] Figure 3 An exemplary flow chart showing a method for controlling a supine weight-bearing simulation system according to some embodiments of the present application is shown;

[0029] Figure 4 An exemplary flow chart showing a method for controlling a supine weight-bearing simulation system according to other embodiments of the present application is shown;

[0030] Figure 5 Another exemplary flow chart showing a method for controlling a supine weight-bearing simulation system according to other embodiments of the present application;

[0031] Figure 6 An exemplary flow chart showing a process for controlling a supine weight-bearing simulation system according to some embodiments of the present application is provided;

[0032] Figure 7 This is an exemplary structural block diagram of a device for controlling a supine weight-bearing simulation system according to an embodiment of the present application.

[0033] In the figure, 100. Supine weight-bearing simulation system, 10. Fixed frame, 11. Push-press fixing part, 12. Longitudinal beam, 13. Load-bearing slide rail, 14. Support guide rail, 16. First support beam, 17. Second support beam, 18. Fixed beam, 20. First adjustment component, 21. Adjustment screw, 23. Pressure block, 231. Positioning groove, 25. Bearing part, 251. Long groove, 252. Lateral adjustment part, 30. Second detection component, 46. Leg support plate, 50. First detection component. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0035] It should be understood that the terms "include" and "comprising" used in the description and claims of this application indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0036] It should also be understood that the terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this specification and claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be further understood that the term "and / or" as used in this specification and claims refers to any and all possible combinations of one or more of the associated listed items, including and including these combinations.

[0037] As used in this specification and claims, the term “if” can be interpreted as “when” or “upon” or “in response to determining” or “in response to detecting,” depending on the context. Similarly, the phrase “if it is determined” or “if [described condition or event] is detected” can be interpreted as meaning “upon determination” or “in response to determining” or “upon detection of [described condition or event]” or “in response to detecting [described condition or event],” depending on the context.

[0038] The specific implementation of the present application will be described in detail below with reference to the accompanying drawings.

[0039] Example application scenarios

[0040] Figure 1 A schematic diagram of an existing standing weight-bearing CT solution is shown. Specifically, in addition to conventional X-rays and supine CT images, standing weight-bearing CT images need to be introduced during the diagnosis phase of orthopedic surgeries for the spine, lower limb joints, and lower limb deformity correction. The accuracy of weight-bearing CT images is one of the golden criteria for correcting orthopedic surgeries for the spine, lower limb joints, and lower limb deformity correction. Compared with weight-bearing CT machines, conventional supine CT machines cannot simulate the physiological weight-bearing state when standing, resulting in certain deviations in the diagnosis of the disease, especially in the position, geometric angulation, and force line state of the various bone tissues of the spine and lower limbs. This leads to significant deviations in the formulation of surgical plans, and even misdiagnosis or missed diagnosis.

[0041] The current conventional technical solution to this problem is a separately developed standing weight-bearing CT system that allows patients to take CT images of their lower limbs while standing. This standing weight-bearing CT system can scan weight-bearing CT scans and generate the image data required for clinical diagnosis.

[0042] However, the price of standing weight-bearing CT systems is too high, so the existing alternative is to have the person to be tested lie on his back horizontally, and use a horizontally set sliding mechanism to push the person to be tested to simulate the physiological weight-bearing condition when standing. The supine CT machine can use a weight scale or eight-point plantar pressure sensors to obtain the force conditions of the human foot or a weight scale. However, if a weight scale is used, the supine CT machine can only generally collect the resultant force of the load on a single foot, and can only observe whether the resultant force is consistent. In fact, when the resultant force is consistent, the force distribution of the entire sole of the foot may vary greatly. For example, the habitual shift of the center of gravity of the human body when standing will cause the forefoot or the backfoot or a certain area of ​​the sole to have a larger proportion of force. If the pressure distribution of the entire sole of the foot cannot be monitored, and only the resultant force is monitored, it cannot be ensured that the force state in the supine position is consistent with that in the standing position, which poses a huge risk.

[0043] If a single-model plantar pressure sensor with eight points is used, it still cannot cover the entire sole of the foot for collection; and the plantar pressure sensor is hard rather than flexible, that is, the principle of the plantar pressure sensor is to convert the pressure at each pressure point through the changes in the resistance and capacitance curves, and is affected by many factors such as the contact surface texture and contact area. Although it has obvious advantages in detecting relative values ​​such as the force distribution percentage, there is an obvious error in the actual resultant force. That is, assuming that only the average values ​​of the sensors before and after the eight points are observed to be consistent, and assuming that the judgment standard is less than or equal to 1%, the actual error in the resultant force of the entire sole of the foot may be as high as 10-30%, which makes it difficult to ensure the accurate collection of the actual force state of the entire sole of the foot; in addition, the eight-point sensor needs to be equipped with a variety of shoe sizes to accurately collect data from different patients, which significantly increases the cost of the equipment and the complexity of use.

[0044] Example of a system for controlling supine weight-bearing simulation

[0045] Figure 2 FIG. 1 shows a structural diagram of a supine weight-bearing simulation system 100 according to some embodiments of the present application. Figure 2 As shown, a first adjustment component 20 is provided at one end of the fixed frame 10, and a first detection component 50 and a second detection component 30 are provided at the other end. The first adjustment component 20 may include an adjustment component and a push component. The adjustment component is provided at one end of the fixed frame 10, and the push component is driven and connected to the adjustment component so as to be driven by the adjustment component to push the human body along a pushing direction. The first detection component 50 and the second detection component 30 may include measuring devices such as dynamometers, which are used to measure the thrust on the human body part relative to the pushing direction. The first detection component 50 can be fixed to the fixed frame 10, and the second detection component 30 can be moved relative to the fixed frame 10, so as to adaptively adjust the force conditions of the corresponding human body parts.

[0046] In this application, for the convenience of description and easy understanding, Figure 2 As shown in the figure, the overall definition is that the direction in which the load-bearing mechanical device presses, pushes or releases relative to the human body is the longitudinal direction, and the direction perpendicular to the longitudinal direction on the plane where the device contacts the human body is the lateral direction of the device.

[0047] Furthermore, in an embodiment of the present application, the fixed frame 10 may include a frame body formed into a generally rectangular frame shape, wherein the frame body includes a compression and push fixing portion 11 and a measurement fixing portion arranged in a transverse direction, and two longitudinal beams 12 extending in a longitudinal direction. The compression and push fixing portion 11 and the measurement fixing portion are longitudinally arranged at the first and second ends of the fixed frame 10. The adjustment component may include an adjustment screw 21 disposed on the compression and push fixing portion 11, threadedly connected to the compression and push fixing portion 11 and extending longitudinally through the compression and push fixing portion 11. The push member may include a support member 25 that is movable longitudinally relative to the two longitudinal beams 12, and a pressure block 23 fixed to the upper side of the support member 25 for direct contact with the human body. The support member 25 is provided with an adjustment screw end seat on the lower side, which is used to limit the axial position of the adjustment screw 21. Thus, by rotating the adjustment screw 21, the adjustment screw end seat can be used to drive the push member to reciprocate in the longitudinal direction, thereby using the pressure block 23 to push the human body in a pushing direction. A rotating handle may be fixedly provided on the adjusting screw rod 21 to facilitate the rotation of the adjusting screw rod 21 .

[0048] In this embodiment, the vertically upper portions of the two longitudinal beams 12 are fixedly provided with a bearing slide 13, and the bottom of the supporting member 25 is fixedly provided with a bearing slider that matches the shape of the bearing slide 13. As a result, the supporting member 25 can slide longitudinally relative to the fixed frame 10 by virtue of the cooperation between the bearing slider and the bearing slide 13. The two longitudinal beams 12 are respectively arranged on the lateral sides of the load-bearing simulation device, and each longitudinal beam 12 is provided with a bearing slide 13. Two groups of bearing sliders are provided on the supporting member 25 corresponding to the longitudinal beams 12 on the lateral sides, and the number of bearing sliders in each group can include two or more. The longitudinal beam 12 can be set to a columnar shape with a roughly square cross-section. In this embodiment, the longitudinal beam 12 is made of a square profile. The bearing slide 13 can be set to a long strip plate shape, which includes a plurality of mounting countersunk holes that penetrate the plate surface, so that the bearing slide 13 can be fixedly installed on the upper surface of the longitudinal beam 12 by means of bolts. In this embodiment, a total of four bearing rails 13 are provided, that is, one bearing rail 13 is provided for each bearing slider, so that the bearing slider can reciprocate along the bearing rails 13 within a predetermined travel range. Those skilled in the art will appreciate that a longer bearing rail can also be provided to guide multiple bearing sliders, or a guide portion can be formed on the longitudinal beam to directly match the shape of the bearing slider, or other guide devices can be provided, such as a guide column and guide sleeve combination, etc., and this application is not limited thereto.

[0049] The push-and-hold portion 11 of the fixed frame 10 can be configured as a roughly plate-shaped structure. The measurement-fixed portion of the fixed frame 10 includes a fixed beam 18 and an adjustment frame. The fixed beam 18 is arranged transversely, with one end fixedly connected to a longitudinal beam 12 of the fixed frame 10 and the other end fixedly connected to a connecting beam of the adjustment frame. The adjustment frame includes a longitudinally extending connecting beam and a first support beam 16 and a second support beam 17 extending transversely and fixedly connected to the connecting beam. The first support beam 16 and the second support beam 17 are spaced apart, with the first support beam 16 located closer to the first end of the fixed frame 10 and the second support beam 17 located closer to the second end of the fixed frame 10.

[0050] The support member 25 may include a bed board for supporting the back of a human body, for a human body to lie on its back. The bed board includes a plurality of long grooves 251 running through its board surface, and the long grooves 251 are used to reduce the overall weight of the support member 25 and improve the comfort of the user when lying on it. The pressure block 23 may include a main body, and a positioning groove 231 formed by the main body along the longitudinal depression, and the positioning groove 231 is used to position the shoulder of the human body. The pressure block 23 may also include a quick lock portion extending downward from the main body, and the quick lock portion includes a lock tongue and an elastic buckle formed by the lower end of the lock tongue extending obliquely upward. The bed board of the support member 25 may include a plurality of pressure block mounting openings, and the plurality of pressure block mounting openings together constitute a lateral adjustment portion 252. The lock tongue and elastic buckle of the pressure block 23 can extend into the pressure block mounting opening. During insertion, the elastic snap is elastically deformed by the pressure block mounting opening. Once fully inserted, the elastic snap returns to its original position, with its upper end abutting against the lower surface of the carrier 25, thereby locking the pressure block 23 into the pressure block mounting opening. For removal, the pressure block 23 can be removed by simply pressing the elastic snap. In this embodiment, each pressure block 23 is provided with two quick-locking portions, corresponding to the two pressure block mounting openings on the carrier 25. The springs of the two quick-locking portions spring out in opposite directions, ensuring that the quick-locking portions remain locked even in the event of wobbling. Multiple pressure block mounting openings are spaced laterally along the carrier 25, allowing users to adjust the position of the pressure block 23 based on shoulder width or replace pressure blocks 23 with different shapes to accommodate different body types. Those skilled in the art will appreciate that the number and shape of the quick-locking portions, as well as the number and shape of the pressure block mounting openings, can vary, and this application is not intended to limit this.

[0051] Furthermore, the first detection component 50 may include a dynamometer, which is fixedly mounted on the measurement fixing portion for measuring the thrust of the human body. In this embodiment, the first detection component 50 is fixed on the fixed beam 18 of the measurement fixing portion, and its force measuring surface for measuring the thrust is arranged toward the first end of the fixed frame 10, so as to measure the thrust of one of the two feet of the human body. The second detection component 30 may include a dynamometer, and a detection adjustment component is connected to the second detection component 30 to drive the second detection component 30 to move longitudinally. The detection adjustment component includes a detection screw and a detection slide driven by the detection screw. The detection slide includes a slide plate arranged parallel to the fixed frame 10 and two groups of sliders arranged on the vertical lower side of the slide plate, and the two groups of sliders are respectively matched with the shape of the detection guide rails fixedly arranged on the connecting beam and the longitudinal beam 12 of the fixed frame 10. A screw nut corresponding to the detection screw is fixedly mounted on the upper side of the second support beam 17. The detection screw is threadedly connected to the screw nut in the longitudinal direction and passes through the screw nut. The end of the detection screw and the detection screw end seat fixed on the detection slide are mutually limited in the longitudinal direction. The dynamometer is fixedly mounted on the detection slide, and its force measuring surface for measuring thrust is arranged toward the first end of the fixed frame 10, so as to be used for measuring thrust of the other foot. The end of the detection screw facing away from the fixed frame 10 in the longitudinal direction is provided with an operating handle to facilitate the rotation of the screw.

[0052] In this embodiment, the fixed frame 10 is also provided with a support portion for supporting the patient's legs. This support portion includes a leg support plate 46 arranged parallel to the fixed frame 10, with a support slider disposed vertically below the leg support plate 46. The support slider mates with the support rails 14 fixed to the longitudinal beams 12 on both sides of the fixed frame 10 to guide the leg support plate 46 longitudinally. The leg support plate 46 can be a generally rectangular flat plate and can be provided with a vertically extending escape groove to reduce the weight of the leg support plate 46 and enhance user comfort.

[0053] Those skilled in the art will appreciate that the above embodiment describes the use of two pressing blocks 23 to apply pressure to the shoulders of a person, and the use of a first detection assembly 50 and a second detection assembly 30 to measure pressure on the feet of a person. However, this application does not limit the arrangement of the pressing blocks and the first and second detection assemblies. For example, only one pressing block can be provided, and it can be formed into a pillow-shaped shape corresponding to the contour of the head and neck of the person, so that it can accommodate the head and neck of the person and provide pressure. Alternatively, a pressing block can be provided to apply pressure to other parts of the patient's body, such as the patient being tested being placed in a sitting position on the support member, and a pressing block can be placed at the patient's waist. Alternatively, the patient being tested can be placed with their legs bent, and a pressing block can be placed at the patient's hips and / or knees. For another example, an elastic band can be provided on the support member instead of the pressing block, and the elastic band can be placed on a position such as the shoulders of the person to transmit the pushing force through the elastic band. As for the first and second detection components, the dynamometers therein can be configured as mechanical weight scales or weight sensors. Multiple weight sensors can be arranged in a wearable measurement device with multiple optional models to measure the pressure distribution across the entire sole of the foot at the contact surface between the foot and the shoe sole. Alternatively, multiple weight sensors can be combined into a sensor array for accurate detection. The first and second detection components can be configured to rotate within a certain angle relative to the vertical direction to simulate the possibility of the center of gravity of the foot of the person being tested moving forward or backward, that is, to simulate the possibility of landing on tiptoe or heel.

[0054] The following describes the working process of performing medical examinations using some supine weight-bearing simulation systems according to the present application with reference to the accompanying drawings.

[0055] First, two horizontal dynamometers are set up, allowing the person to be tested to stand in a natural standing position, with their feet respectively stepping on the two dynamometers, and the pressure data displayed by the dynamometers at this time is recorded. Next, the person to be tested can be placed on the vertical upper side of the fixed frame 10 in a supine position. The person's back can be against the upper surface of the bedboard of the support member 25, and the person's shoulders can be aligned with the positioning grooves 231 on the pressure block 23 for positioning. The person's feet are aligned longitudinally with the dynamometers of the first detection assembly 50 and the second detection assembly 30, respectively, and their legs are supported in the vertical direction by the support parts. Adjusting the position of the support parts longitudinally can align the center of gravity of the person's legs with the support parts, allowing the person to easily maintain a natural supine position. After determining the person's posture according to the above steps, the adjustment screw 21 can be rotated to move the pressure block 23 toward the person to be tested, so that the person to be tested is subjected to pressure in the longitudinal direction, and their feet transmit pressure to the two dynamometers under their feet. The pressure data displayed by the two dynamometers is compared with the pressure data of the two feet of the person being tested in a natural standing state, and the adjustment screw 21 and the detection screw are rotated until the two sets of data correspond. After the adjustment is completed, the person being tested can simulate the physiological weight-bearing state of standing when lying on their back, and the corresponding medical test can be performed. By providing separately adjustable adjustment components and detection components, the force conditions of the spine, pelvis, lower limbs, and ankles of the person being tested can be simulated when lying down, ensuring accurate and reliable test results.

[0056] Figure 3 An exemplary flow chart of a method for controlling a supine weight-bearing simulation system according to some embodiments of the present application is shown.

[0057] Step S310, in the process of instructing the weight-bearing mechanical device to apply a simulated force to the user, obtaining the user's initial supine plantar pressure profile through the supine weight-bearing simulation sensor;

[0058] The executing entity of the embodiment of the present application can be a data processing module or a server. This embodiment takes the data processing module as an example, and the data processing module can be integrated into the supine weight-bearing simulation system.

[0059] Specifically, the supine weight-bearing simulation sensor can be connected to the data processing module and the data presentation module. Through the supine weight-bearing simulation sensor, the pressure distribution data and the plantar load resultant of the user's foot in the supine position can be measured, and then the initial plantar pressure contour data of the patient in the supine position can be collected.

[0060] Since the embodiments of the present application take into account that the user's weight distribution, posture changes, and the adaptability of the sensor to the user's contact surface will further affect the sensitivity of the sensor and the accuracy of the sampling frequency to the data, step S310 can be triggered based on multiple methods. Specifically, the supine weight-bearing simulation sensor may include a separate-foot weight sensor and a plantar pressure sensor, wherein, in one implementation, the plantar pressure sensor may be an array-type. In another implementation, the plantar pressure sensor may be a wearable multi-model 8-point plantar pressure flexible material sensor for different shoe sizes, or a separate-foot weight scale to ensure full-foot fit, adapt to all people, and collect the real distributed plantar pressure of the entire sole. Those skilled in the art will understand that the embodiments of the present application are not limited in this respect.

[0061] Step S320, performing registration and consistency determination on the initial supine plantar pressure profile based on the preset standing plantar pressure profile to obtain a determination result;

[0062] Specifically, the standing plantar pressure profile can serve as a baseline value for the user's current standing state. The standing plantar pressure profile can be based on health standards, individual physical characteristics, or medical reference values. The medical reference values ​​can be based on individual differences or medical needs. Those skilled in the art will understand that the embodiments of the present application are not limited in this respect.

[0063] By developing an intelligent plantar contour registration method, the plantar pressure distribution contour map in the supine position is automatically aligned with the contour map collected in the standing position, achieving a one-to-one correspondence between the various plantar regions. Simultaneously, based on the input values ​​of the single-foot load resultant and the multi-dimensional force distribution of each plantar pressure region (point), it is determined whether the force state in the supine position is consistent with that in the standing position. This allows for a multi-dimensional intelligent registration algorithm mechanism that combines the total force of the entire sole with the local force distribution of the entire sole, while maintaining low shoulder load.

[0064] Step S330: generating an adjustment instruction for the simulation force according to the determination result, wherein the adjustment instruction is used to apply the adjusted simulation force to the user;

[0065] Specifically, according to the results of the registration and consistency determination, corresponding adjustment instructions can be generated, and the adjustment instructions can be used to adjust the simulation force of the weight-bearing mechanical device on the user, so that the user's supine position is closer to a standing posture.

[0066] For example, the adjustment instruction can instruct the user to adjust the screw structure of the shoulder to apply bilateral force. When the force on the sole of one side of the user's shoulder is consistent with the standing position, but inconsistent with the force on the sole of the other side, the screw structure on the sole of the side inconsistent with the standing position can be adjusted to fine-tune the force on the sole of that side, thereby increasing or decreasing the force. Until the force on both sides of the sole is consistent with the standing position, the adjustment instruction at this point instructs to stop adjusting the simulation force, fix the current force state, and perform a CT scan on the user.

[0067] Step S340 : In response to the adjustment instruction indicating to stop adjusting the simulation force, a standing simulated weight-bearing image of the user is acquired from a supine CT machine.

[0068] Specifically, when the force conditions on the soles of the feet on both sides are consistent with those in the standing position, that is, the data processing module stops adjusting the simulation force in response to the adjustment instruction, the system stops adjusting the simulation force, and the user is sent into the supine CT machine through the overall weight-bearing mechanical device. The weight-bearing CT image of the user in the supine position simulating the standing position can be obtained from the supine CT machine.

[0069] The embodiment of the present application uses a supine weight-bearing simulation system to allow the user to obtain the supine plantar pressure information of the user in the supine state and align and determine the consistency with the standing plantar pressure information, so that the user's spine and lower limbs simulate the standing weight-bearing state, and then collect CT images through a conventional supine CT machine system. This CT image can be used as a simulation image of the standing weight-bearing CT, so that the hospital can continue to use the conventional supine CT machine imaging system that has been purchased, which can effectively improve the simulation effect of the standing weight-bearing CT image detection, while reducing the cost of obtaining weight-bearing standing CT images.

[0070] Figure 4 An exemplary flow chart of a method for controlling a supine weight-bearing simulation system according to some other embodiments of the present application is shown.

[0071] First, the initial supine plantar pressure profile is registered according to the standing plantar pressure profile to obtain a registered target supine plantar pressure profile;

[0072] The embodiment of the present application takes into account the errors caused by differences in user posture or position in actual situations, aligns data in different states through registration, and then performs effective comparison and analysis in the same coordinate system or spatial frame, so that the differences and similarities between the two can be compared more accurately. Specifically, when a simulated force is applied to the user in a supine position, based on the load force of the user's left and right feet and the pressure distribution of the user's left and right feet, the plantar pressure profile collected in the supine position is obtained, and the plantar pressure profile collected in the supine position is registered with the plantar pressure profile collected in the standing position to obtain the registered target supine plantar pressure profile.

[0073] Next, in step S401 , the target supine plantar pressure profile and the standing plantar pressure profile are subjected to consistency determination to obtain the determination result.

[0074] Specifically, in order to detect whether the target supine plantar pressure profile is within the standard range of the standing plantar pressure profile, the embodiment of the present application can obtain the plantar pressure distribution difference and the weight load resultant force difference of the user's left and right feet based on the target supine plantar pressure profile after obtaining the aligned target supine plantar pressure profile, and based on these two differences, obtain the adjustment strategy of the mechanical simulation structure for the simulation force, and then generate the simulation force adjustment instruction.

[0075] Furthermore, the initial supine plantar pressure profile is registered according to the standing plantar pressure profile to obtain a registered target supine plantar pressure profile, including:

[0076] Step S410, voxelizing the initial supine plantar pressure contour to obtain a first supine voxelized point set, and voxelizing the standing plantar pressure contour to obtain a first standing voxelized point set;

[0077] Specifically, voxelization can represent the plantar pressure contour in the form of 3D voxels, allowing for more accurate analysis of the shape and pressure distribution of the plantar foot. Therefore, by voxelizing the initial supine plantar pressure contour, a first supine voxelized point set represented by 3D pixels is obtained. Simultaneously, by voxelizing the standing plantar pressure contour, a first standing voxelized point set is obtained, also represented by 3D pixels.

[0078] Step S420: for each coordinate point in the first standing voxelized point set, search for the corresponding nearest point in the first supine voxelized point set to obtain a second standing voxelized point set and a second supine voxelized point set;

[0079] Specifically, by comparing the plantar pressure distribution when standing and lying on the back, we can reveal the influence of standing and lying on the back postures on the structure and mechanics of the foot. Then, by matching the nearest points between the standing voxelized point set and the supine voxelized point set, we can obtain the association between the two states, and obtain the second standing voxelized point set corresponding to the first standing voxelized point set, as well as the first supine voxelized point set corresponding to the first supine voxelized point set.

[0080] Further, based on the second standing voxelized point set and the second supine voxelized point set, the first supine voxelized point set is iteratively updated to obtain a target supine voxelized point set;

[0081] Specifically, the position of the supine voxelized point set may be adjusted according to the matching relationship between the second standing voxelized point set and the second supine voxelized point set, so that the user's supine position gradually approaches the standing position.

[0082] The iterative updating of the first supine voxelized point set based on the second standing voxelized point set and the second supine voxelized point set to obtain the target supine voxelized point set may include:

[0083] Step S431, obtaining a rotational registration matrix of the closest point according to the second standing voxelized point set and the second supine voxelized point set;

[0084] Specifically, for the voxelized point sets in the standing and supine states, the corresponding rotational registration matrices are calculated through the relationship between the nearest points. The rotational registration matrix can represent how to rotate and adjust the voxelized point set in the supine state to make it more consistent with the voxelized point set in the standing state.

[0085] Furthermore, step S431 may include:

[0086] The second standing voxelized point set and the second supine voxelized point set are multiplied to determine a first singular value decomposition vector and a second singular value decomposition vector, respectively; and a rotational registration matrix of the nearest point is obtained based on the first singular value decomposition vector and the second singular value decomposition vector.

[0087] Specifically, singular value decomposition (SVD) can be a matrix decomposition method that decomposes a matrix into the product of three matrices, one of which contains singular values. Here, the SVD vectors obtained by performing SVD on the second standing voxelized point set can be the singular values ​​and corresponding direction vectors associated with the matrix's principal directions. By combining the first and second SVD vectors, a rotation matrix describing the transformation relationship between the two voxelized point sets can be obtained. This rotation matrix can thus map a point from one state to another, thereby achieving registration of the two point sets.

[0088] Step S432: obtaining an updated first supine voxelized point set according to the rotational registration matrix, and returning to the step of searching for the corresponding nearest point in the first supine voxelized point set for each coordinate point in the first standing voxelized point set to obtain a second standing voxelized point set and a second supine voxelized point set;

[0089] Specifically, the obtained rotational registration matrix is ​​used to update the initial supine voxelized point set to make it more consistent with the voxelized point set in the standing state, and the first supine voxelized point set is updated. The corresponding rotational registration matrix and the nearest point search are then repeatedly calculated, gradually making the voxelized point sets in the standing and supine states more consistent.

[0090] Step S433 , performing iterative updates in sequence until the first supine voxelized point set and the first standing voxelized point set meet a preset stop condition or the current number of cycles reaches a preset stop threshold, thereby obtaining the target supine voxelized point set.

[0091] Specifically, the above steps S420 to S432 are iteratively performed, that is, the first supine voxelized point set is updated by rotating the registration matrix, and then the correspondence between the updated point sets is maintained by finding the nearest points until the stopping condition is met or the current number of cycles reaches the stopping threshold, thereby obtaining the registered target supine voxelized point set.

[0092] Step S440 : obtaining the target supine plantar pressure profile according to the target supine voxelized point set.

[0093] Furthermore, step S440 may include:

[0094] acquiring sensor data corresponding to the initial supine plantar pressure profile;

[0095] The target supine voxelized point set is inversely voxelized to obtain a plantar pressure contour after inverse voxelization, and the inverse voxelized plantar pressure contour is assigned a value according to the sensor data to obtain the target supine plantar pressure contour.

[0096] Specifically, the sensor data can be measurement data from different regions within the user's foot, for example, the load force and / or pressure distribution on the user's foot while in a supine position. The target supine voxelized point set is inversely voxelized, i.e., the discrete point set is restored to a continuous plantar surface shape. This allows for a more continuous and realistic plantar shape to be restored from the voxelized data, more accurately reflecting the plantar pressure distribution. This results in a continuous plantar surface that is then segmented into discrete regions to form a target supine plantar pressure profile after inverse voxelization.

[0097] The embodiment of the present application takes an array-type plantar pressure sensor with m rows and n columns as an example. For the array-type plantar pressure sensor, because the area where the patient's foot steps when standing is offset from the area where the patient steps when lying on the back, the plantar pressure data collected by the array cannot correspond one-to-one to each grid. Therefore, the plantar pressure contour alignment algorithm can be used to align the plantar pressure contour of the supine position with that of the standing position, so that the plantar pressure distribution contour after alignment has the meaning of calculating the norm difference grid by grid. A contour line alignment algorithm is performed within a finite number of equally divided areas on a two-dimensional plane, using a two-dimensional geometric contour adaptive nearest point search alignment algorithm.

[0098] First, each square of the array plantar pressure sensor is voxelized into a coordinate point, that is, the square in the mth row and nth column is a point on the coordinate (m, n). Thus, the plantar pressure contour in the supine state and the plantar pressure contour in the standing state are obtained as two point sets respectively. Among them, the plantar pressure voxel point set collected in the standing position is the first standing voxel point set , the voxel point set collected in the supine position is the first supine voxel point set Then, according to , find point by point or i points by i The nearest point in the middle, and record these nearest point pairs found point by point or point by point as the new second standing voxel point set and the second supine voxelized point set .

[0099] Then, calculate the rotational registration matrix of the closest point , calculated as , where the matrix is a matrix Update the singular value decomposition eigenvector of . . Repeat this method until the cycle reaches 70 times or When , the loop ends, and the target supine voxelized point set is obtained. The target supine voxelized point set is inversely voxelized, and the initial first supine voxelized point set is obtained. The sensor value is assigned point by point, and the plantar pressure contour at this time is compared with the assigned value. consistency determination.

[0100] The present embodiment iteratively adjusts the position of the supine voxelized point set to better match the standing point set in terms of rotation and correspondence. This iterative approach enables precise alignment of data from different postures or poses, allowing supine data to simulate the standing state, thereby enabling more accurate data analysis and research in medicine, kinematics, and other fields.

[0101] Furthermore, Figure 5 Another exemplary flow chart of a method for controlling a supine weight-bearing simulation system according to another embodiment of the present application is shown. Figure 5 The method shown is a specific implementation of the above steps S310 and S420, so the above is combined with Figure 3 and Figure 4 The features described can be applied analogously here.

[0102] As shown in the figure, the supine weight-bearing simulation sensor may include a plantar pressure sensor and a body weight sensor. Step S310 may include:

[0103] Step S510: For the two feet of the user, obtain the corresponding single-foot load force through the weight sensor; and obtain the corresponding single-foot pressure distribution through the plantar pressure sensor;

[0104] Specifically, the weight sensor can be used to obtain the load force of the user's left and right feet in real time while they are lying on their backs. Simultaneously, the plantar pressure sensor can monitor the pressure values ​​of each area within the sole of the user's foot in real time while they are lying on their backs. This allows the pressure distribution of different areas of the sole of the foot to be determined, and ultimately, the plantar pressure distribution profiles of the left and right feet to be determined.

[0105] Step S520 : obtaining the initial supine plantar pressure profile according to the single-foot load resultant force and the single-foot plantar pressure distribution.

[0106] Specifically, by combining the left foot load resultant force and the right foot load resultant force obtained by the body weight sensor, and the left foot pressure distribution and the right foot pressure distribution obtained by the plantar pressure sensor, an initial supine plantar pressure profile can be obtained. The initial supine plantar pressure profile reflects the weight load on the left and right soles of the user in the supine state and the pressure distribution in different areas of the left and right soles. The plantar pressure profiles in the supine state and the standing state can then be aligned and compared for consistency to obtain the impact of user posture changes on the plantar weight load and plantar pressure distribution.

[0107] For example, the right foot screw structure of the weight-bearing mechanism is loosened to the maximum, and a simulated force is applied through the shoulder screw structure of the weight-bearing mechanism to first detect whether the combined force of the left and right foot loads exceeds the judgment threshold; when the combined force of the loads on both sides is less than the judgment threshold, that is, ,in is the real-time load resultant of the left foot, is the real-time load resultant of the right foot, The load resultant force determination threshold is displayed by the data presentation module. In addition to the above data, the adjustment instruction indicates to continue to increase the shoulder force. When , the data presentation module displays the aforementioned data, and the adjustment instruction instructs to stop increasing the shoulder force and continue to increase the right foot force; when In addition to displaying the aforementioned data, the data presentation module can also additionally display plantar pressure distribution norm difference data.

[0108] Furthermore, step S420 may include:

[0109] Step S530, obtaining a plantar pressure distribution difference of the target supine plantar pressure profile based on the single plantar pressure distribution; obtaining a weight load resultant force difference of the target supine plantar pressure profile based on the single foot load resultant force;

[0110] Step S540, detecting whether the plantar pressure distribution difference satisfies a preset plantar pressure distribution threshold and detecting whether the weight load resultant force difference satisfies a preset foot load resultant force threshold;

[0111] Specifically, by analyzing the single-foot plantar pressure distribution and single-foot load resultant data, the plantar pressure distribution difference and load resultant difference of the target supine plantar pressure profile are calculated. The plantar pressure distribution threshold can be used to determine whether the plantar pressure distribution in the supine state is within a reasonable range, and the sub-foot load resultant threshold is used to assess the overall load condition and load distribution in different areas of the plantar in the supine state.

[0112] Step S551: If yes, then a result of success in determining the initial supine plantar pressure profile and the standing plantar pressure profile is obtained;

[0113] Specifically, if the plantar pressure distribution difference meets the plantar pressure distribution threshold and the weight load resultant force difference meets the weight load resultant force threshold, that is, if the data representing the plantar foot in the supine state and the data in the standing state are not significantly different, then the match is determined to be successful. At this point, the initial supine plantar pressure profile and the standing plantar pressure profile are successfully determined.

[0114] Step S552: If not, a result indicating that the initial supine plantar pressure profile and the standing plantar pressure profile fail to be determined is obtained.

[0115] Specifically, if the difference in plantar pressure distribution or the difference in the combined weight load exceeds a preset threshold, that is, if there is a significant difference between the plantar data in the supine state and the standing state, then the matching is determined to have failed. In this case, the result of the initial supine plantar pressure profile and the standing plantar pressure profile failure can be obtained.

[0116] For example, starting with plantar pressure determination, the plantar pressure distribution difference of the left foot is , the difference in plantar pressure distribution of the right foot is , the plantar pressure determination threshold is .when When the data presentation module displays the above data, the operation instruction is to continue to increase the shoulder force; when When the data display module displays the above data, the operation instruction is to stop increasing the shoulder force. Then, the patient in the stressed state can be pushed into the supine position CT system for CT scanning to obtain weight-bearing simulation CT images for diagnosis.

[0117] Among them, the combined force threshold of the load The classification setting method is adopted, and the details can be referred to Table 1 below:

[0118] Table 1

[0119]

[0120] Plantar pressure distribution judgment threshold The fusion calculation of the two norm differences can be used.

[0121] First, in order to ensure that the force ratio of each plantar area does not have too significant differences, the infinite norm is used for grid-by-grid comparison, and the infinite norm threshold is set to , the calculation method is, taking the left foot as an example , the value is Secondly, in order to achieve consistency in the plantar pressure of each area, the discrete second-order norm mean is used for one-by-one comparison , the calculation method takes the left foot as an example , the value is , where N is the number of pressure points on the sensor.

[0122] In addition, if it is an array sensor, it is the number of rows multiplied by the number of columns. If it is a wearable flexible eight-point sensor, then N=8.

[0123] Further, refer to Figure 6 , Figure 6 This flowchart illustrates an exemplary process for controlling a supine weight-bearing simulation system according to some embodiments of the present application. The flowchart illustrates that, first, a data processing module (active) 660 and a data presentation module (active) 670 are connected. Furthermore, via a cable 650, the data processing module (active) 660 is connected to a separate foot weight sensor (passive) 630 and a separate foot plantar pressure sensor (passive) 640 to collect plantar pressure profile data from a patient in the supine position.

[0124] Then, the separate-foot mechanics simulation mechanical structure 610 is adjusted to simulate the force state of the standing position until the data presentation module (active) 670 displays the force state consistent with the standing position; wherein, the separate-foot weight sensor (passive) 630 and the separate-foot plantar pressure sensor (passive) 640 are mounted on the surface of the plantar baffle 620, and the plantar baffle 620 is embedded in the separate-foot mechanics simulation mechanical structure 610;

[0125] Then, the supine plantar pressure contour data is registered, and the doctor is guided to fine-tune the force structure through the data presentation module (active) 670. The data presentation module (active) 670 displays the difference in key data, including the difference in plantar pressure distribution norms between the left and right feet, the difference in the combined force of the left and right feet, and instructions for adjusting the force of the mechanical structure.

[0126] Then, an intelligent consistency judgment algorithm is used to make real-time judgments on the difference in the plantar pressure distribution norms of the left and right feet, and the difference in the resultant loads of the left and right feet. When the force condition reaches the consistency judgment threshold, the judgment success is displayed on the data presentation module (active) 670, and the adjustment of the mechanical simulation structure is stopped.

[0127] Finally, the data processing module (active) 660 is unplugged from the cable 650, that is, all active components are unplugged, and the remaining passive components are sent to the supine CT system for scanning.

[0128] In summary, the embodiments of the present application quantify the changes in the sole of the foot in the supine state relative to the standing state by calculating the difference in plantar pressure distribution and the difference in load resultant force, and use the preset plantar pressure distribution threshold and the separate foot load resultant force threshold to perform qualitative and quantitative evaluation of the plantar state; in addition, an array-type or wearable multi-model 8-point plantar pressure flexible material sensor for different shoe sizes is used in conjunction with a separate foot weight scale to ensure full foot fit and adaptability to all people, and the separate foot weight scale is used to collect the single foot load resultant force, and the plantar pressure collects the force distribution, and the advantages of different sensors are used to accurately collect the force conditions of the sole of the foot, thereby improving the accuracy of obtaining standing weight-bearing CT images.

[0129] Figure 7 FIG. 7 is an exemplary structural block diagram of a device 700 for controlling a supine weight-bearing simulation system according to an embodiment of the present application. Figure 7As shown in , the device 700 of the present application may include a processor 701 and a memory 702, wherein the processor 701 and the memory 702 communicate with each other via a bus. The memory 702 stores program instructions for controlling a supine weight-bearing simulation system. When the program instructions are executed by the processor 701, the method steps described above in conjunction with the accompanying drawings are implemented: in the process of instructing the weight-bearing mechanical device to apply a simulated force to the user, the initial supine plantar pressure profile of the user is obtained through the supine weight-bearing simulation sensor; based on a preset standing plantar pressure profile, the initial supine plantar pressure profile is aligned and judged for consistency to obtain a judgment result; according to the judgment result, an adjustment instruction for the simulated force is generated, wherein the adjustment instruction is used to apply an adjusted simulated force to the user; and in response to the adjustment instruction indicating to stop adjusting the simulated force, a standing simulated weight-bearing image of the user is obtained from a supine CT machine.

[0130] According to the above description in combination with the accompanying drawings, those skilled in the art can also understand that the embodiments of the present application can also be implemented by software programs. Therefore, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores computer-readable instructions for controlling the supine weight-bearing simulation system. When the computer-readable instructions are executed by one or more processors, the present application in combination with the accompanying drawings can be implemented. Figure 3 A method for controlling a supine weight-bearing simulation system is described.

[0131] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0132] It should be noted that although the operations of the present method are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in that particular order, or that all of the operations shown must be performed to achieve the desired results. Rather, the steps depicted in the flowcharts may be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into a single step, and / or a single step may be broken down into multiple steps.

[0133] It should be understood that when the terms "first," "second," "third," and "fourth," etc., are used in the claims, specification, and drawings of this application, they are only used to distinguish different objects, rather than to describe a specific order. The terms "comprise" and "comprising" used in the specification and claims of this application indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0134] It should also be understood that the terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this specification and claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be further understood that the term "and / or" as used in this specification and claims refers to any and all possible combinations of one or more of the associated listed items, including and including these combinations.

[0135] Although multiple embodiments of the present application have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art can conceive of many changes, modifications, and alternatives without departing from the thought and spirit of the present application. It should be understood that in the process of practicing the present application, various alternatives to the embodiments of the present application described herein can be adopted. The accompanying claims are intended to define the scope of protection of the present application and therefore cover equivalents or alternatives within the scope of these claims.

Claims

1. A method for controlling a supine weight-bearing simulation system, characterized in that: The supine weight-bearing simulation system is connected to a supine CT machine and includes a weight-bearing mechanism and a supine weight-bearing simulation sensor. The method includes: In the process of instructing the weight-bearing mechanical device to apply a simulated force to the user, obtaining an initial supine plantar pressure profile of the user through the supine weight-bearing simulation sensor; performing registration and consistency determination on the initial supine plantar pressure profile based on a preset standing plantar pressure profile to obtain a determination result; generating an adjustment instruction for the simulation force according to the determination result, wherein the adjustment instruction is used to adjust the adjusted simulation force applied by the load-bearing mechanical device to the user; and In response to the adjustment instruction indicating to stop adjusting the simulation force, a standing simulated weight-bearing image of the user is acquired from a supine CT machine, The performing registration and consistency determination on the initial supine plantar pressure profile based on the preset standing plantar pressure profile, and obtaining the determination result includes: voxelize the preset standing plantar pressure profile and the initial supine plantar pressure profile, and register the initial supine plantar pressure profile according to the preset standing plantar pressure profile to obtain a registered target supine plantar pressure profile; Obtaining a plantar pressure distribution difference of the target supine plantar pressure profile according to the single plantar pressure distribution; Obtaining a weight load resultant force difference of the target supine plantar pressure profile according to the single-foot load resultant force; Detecting whether the plantar pressure distribution difference satisfies a preset plantar pressure distribution threshold and whether the weight load resultant force difference satisfies a preset weight load resultant force threshold; If so, a result of successful determination of the initial supine plantar pressure profile and the standing plantar pressure profile is obtained; If not, the result of the determination failure between the initial supine plantar pressure profile and the standing plantar pressure profile is obtained. The load-bearing mechanical device includes: Fixed frame; A first adjustment assembly includes an adjustment component provided on the fixing frame, and a pushing member driven by the adjustment component to push the human body along a pushing direction; The supine weight-bearing simulation sensor comprises: a first detection component fixed to the fixing frame, for measuring the thrust of the first part of the human body along the pressing direction; The second detection component is movably arranged on the fixed part along the pressing direction, and is used to measure the thrust of the second part of the human body along the pressing direction.

2. The method according to claim 1, wherein The preset standing plantar pressure profile and the initial supine plantar pressure profile are voxelized respectively, and the initial supine plantar pressure profile is registered according to the preset standing plantar pressure profile to obtain a registered target supine plantar pressure profile. voxelize the initial supine plantar pressure contour to obtain a first supine voxelized point set; voxelize the standing plantar pressure contour to obtain a first standing voxelized point set; For each coordinate point in the first standing voxelized point set, searching for a corresponding nearest point in the first supine voxelized point set to obtain a second standing voxelized point set and a second supine voxelized point set; Iteratively updating the first supine voxelized point set based on the second standing voxelized point set and the second supine voxelized point set to obtain a target supine voxelized point set; and The target supine plantar pressure contour is obtained according to the target supine voxelized point set.

3. The method according to claim 2, wherein The iteratively updating the first supine voxelized point set based on the second standing voxelized point set and the second supine voxelized point set to obtain a target supine voxelized point set includes: Obtaining a rotational registration matrix of the closest point based on the second standing voxelized point set and the second supine voxelized point set; According to the rotational registration matrix, an updated first supine voxelized point set is obtained, and for each coordinate point in the first standing voxelized point set, a corresponding nearest point is returned to obtain a second standing voxelized point set and a second supine voxelized point set; and The target supine voxelized point set is obtained by performing iterative updates in sequence until the first supine voxelized point set and the first standing voxelized point set meet a preset stop condition or the current number of cycles reaches a preset stop threshold.

4. The method according to claim 3, wherein The obtaining, according to the second standing voxelized point set and the second supine voxelized point set, of the rotational registration matrix of the closest point comprises: Multiplying the second standing voxelized point set and the second supine voxelized point set to determine a first singular value decomposition vector and a second singular value decomposition vector, respectively; and A rotational registration matrix of the nearest point is obtained according to the first singular value decomposition vector and the second singular value decomposition vector.

5. The method according to claim 2, wherein Obtaining the target supine plantar pressure profile according to the target supine voxelized point set includes: acquiring sensor data corresponding to the initial supine plantar pressure profile; and The target supine voxelized point set is inversely voxelized to obtain a plantar pressure contour after inverse voxelization, and the inverse voxelized plantar pressure contour is assigned a value according to the sensor data to obtain the target supine plantar pressure contour.

6. The method according to claim 2, wherein The supine weight-bearing simulation sensor includes a plantar pressure sensor and a body weight sensor, and the step of obtaining the user's initial supine plantar pressure profile through the supine weight-bearing simulation sensor includes: For the user's feet, obtaining a corresponding single-foot load resultant force through the body weight sensor, and obtaining a corresponding single-foot pressure distribution through the plantar pressure sensor; and The initial supine plantar pressure profile is obtained according to the single-foot load resultant force and the single-foot plantar pressure distribution.

7. The method according to claim 1, wherein The pressing and pushing member comprises a shoulder pressing block for pressing and pushing the shoulders of the human body.

8. The method according to claim 7, wherein The first adjustment assembly includes a bearing member for bearing a human body, and the shoulder pressing block is fixed to the bearing member.

9. The method according to claim 8, wherein The supporting component comprises a bed board for a human body to lie flat.

10. The method according to claim 1, wherein The first adjustment assembly includes a transverse adjustment portion, and the push member is mounted on the transverse adjustment portion so as to be adjustable along a transverse direction.

11. The method according to claim 1, wherein It also includes a detection screw, which is threadedly connected to the fixed frame, the second detection component is fixedly connected to the detection screw end seat, one end of the detection screw is axially limited with the detection screw end seat, and the detection screw is used to rotate and drive the detection screw end seat to move along the pushing direction.

12. The method according to claim 1, wherein The fixing frame includes a frame body and a guide rail fixed to the frame body, and the push member is fixedly connected to at least one sliding block on the guide rail.

13. The method according to claim 12, wherein: It also includes a leg support plate. A support guide rail is fixedly provided on the frame body. The leg support plate is fixedly connected to at least one support slider on the support guide rail.

14. The method according to any one of claims 6 to 13, wherein: The adjusting component includes an adjusting screw threadedly connected to the fixing frame, one end of the adjusting screw is axially limited with at least one adjusting screw end seat, the pushing member is fixedly connected to the adjusting screw end seat, and the adjusting screw is used to rotate and drive the adjusting screw end seat to move along the pushing direction.

15. A terminal device, characterized in that: The terminal device includes a memory, a processor, and a program for controlling a supine weight-bearing simulation system stored in the memory and executable on the processor. When the program for controlling a supine weight-bearing simulation system is executed by the processor, the steps of the method for controlling a supine weight-bearing simulation system as described in any one of claims 1 to 14 are implemented.

16. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a program for controlling a supine weight-bearing simulation system, and when the program for controlling a supine weight-bearing simulation system is executed by a processor, the steps of the method for controlling a supine weight-bearing simulation system as described in any one of claims 1-14 are implemented.

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