A bone joint motion rehabilitation training method and device based on virtual reality technology

Abstract

The application relates to the field of virtual reality technology, in particular to a bone joint movement rehabilitation training method and device based on virtual reality technology. A three-dimensional coordinate system is established through binocular vision cameras of a VR helmet, two circular arc movement trajectories of a calibration action are found, a corresponding shoulder position in a circle center coordinate and a radius corresponding to an arm length are found, the position of the circle center coordinate is adjusted according to the requirements of a preset action, the adjusted circle center coordinate is taken as the center to establish a first spherical coordinate range, the spherical surface coordinates of the first spherical coordinate range are taken as the center to establish a second spherical coordinate range, the second spherical coordinate range is displayed in the form of a fractional sphere in the VR helmet, the position of a handle in the three-dimensional coordinate system is monitored, and when the handle touches the fractional sphere, corresponding visual effects are realized in the VR helmet. The fractional sphere is established through cooperation of the VR helmet and the handle to guide a user to perform a preset rehabilitation training action, and the completion degree of the training action is verified and monitored through monitoring of the position of the handle.

Description

Technical Field

[0001] This invention relates to the field of virtual reality technology, specifically to a method and device for bone and joint rehabilitation training based on virtual reality technology. Background Technology

[0002] Joint rehabilitation requires continuous training with specific movements, but users often struggle to ensure accuracy during these exercises. Without sufficient incentives, users also lack the motivation to continue training. Furthermore, the effectiveness of the training cannot be promptly and accurately communicated to the monitoring staff, especially when the next phase of training is scheduled after a certain stage has been completed; neither the user nor the monitoring staff is informed in a timely manner. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides the following technical solution: a method for bone and joint rehabilitation training based on virtual reality technology, applied to a VR headset with a controller. The method includes the following steps: S1. Using the VR headset as the origin, establish a three-dimensional coordinate system through the VR headset's binocular vision camera, instruct the user to hold the controller and perform the set calibration action to draw two arcs and monitor the movement trajectory of the controller's monitoring point. Based on the coordinates of the movement trajectory of the two arcs, obtain the center coordinates of the two arcs and the radius of the two arcs. If the center coordinates of the two arcs are the same, proceed to the next step; otherwise, the VR headset instructs the user to re-execute the standard action.

[0004] The S2.VR headset receives signals of preset actions, adjusts the position of the center coordinates according to the requirements of the preset actions, adjusts the radius length according to the radius and preset ratio to obtain the first radius, takes the adjusted center coordinates as the center, and establishes the first spherical coordinate range in the three-dimensional coordinate system in combination with the first radius, and establishes the first spherical coordinate set based on all spherical coordinates of the first spherical coordinate range.

[0005] S3. According to the requirements of the preset action, take the coordinates in the first spherical coordinate set as the center and the set distance as the second radius, establish at least one second spherical coordinate range in the three-dimensional coordinate system, take all the coordinates in the second spherical coordinate range as the second spherical coordinate set, and display the second spherical coordinate range in the form of fractional spheres in the VR headset.

[0006] S4. Monitor the coordinates of the controller's monitoring point in the three-dimensional coordinate system using the VR headset's binocular camera. When the coordinates of the monitoring point coincide with the coordinates in the second spherical coordinate set, the VR headset determines that the fraction ball has been touched and displays a visual signal. When all fraction balls have been touched, proceed to the next step.

[0007] The S5.VR headset executes the set reward program and generates an evaluation report based on the result of the score ball being touched.

[0008] Preferably, the calibration action is to straighten the arm and raise it from a hanging position to a horizontal position to obtain the first arc motion trajectory, and then move the arm outward at a set angle while keeping it horizontal to obtain the second arc motion trajectory.

[0009] Preferably, the first spherical coordinate set consists of two parts.

[0010] Preferably, the handle monitoring point is the infrared light ring spot set on the handle.

[0011] Preferably, in step S2, the preset action includes a first type of action with the shoulder as the center, the first type of action adjusts the position of the center coordinate to position 0, and the preset ratio is 1.

[0012] Preferably, the preset action includes a second type of action centered on the elbow. The second type of action moves the center coordinates away from the origin by a distance equal to the radius multiplied by 0.65, with a preset ratio of 0.35.

[0013] A bone and joint rehabilitation device based on virtual reality technology performs the above-described method. It includes a VR headset, a signal receiving device, and at least one controller. The controller is equipped with an infrared light ring. The VR headset, controller, and signal receiving device are all electrically connected.

[0014] Compared with existing technologies, this invention has the following beneficial effects: A three-dimensional coordinate system is established using a VR headset, and the shoulder position is found through standard movements. Based on the requirements of preset movements, a spherical range of motion with the shoulder as the center and the arm as the radius, and a spherical range of motion with the elbow as the center and the forearm length as the radius are further determined. Within the found range of motion, fractional balls are placed on the surface of the spherical range of motion to guide the user to touch them. The effect of the user touching the fractional balls is judged by monitoring the position of the controller, thereby achieving guided training and effect verification for the user's musculoskeletal health.

[0015] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0016] Figure 1 This is a schematic flowchart of the method of the present invention; Figure 2 This is a functional structure diagram of the device of the present invention. Detailed Implementation

[0017] 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 embodiments of the present invention, and not all embodiments. 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.

[0018] Please see Figures 1-2 This invention provides a bone and joint movement rehabilitation device based on virtual reality technology. It includes a VR headset, a signal receiving device, and at least one controller. The controller has an infrared light ring. The VR headset, controller, and signal receiving device are all connected via electrical signals. The signal receiving device can be a PC, tablet, or mobile phone, etc., used to set preset movement requirements. The electrical signal connection between the controller and the VR headset is typically wireless, but can also be wired.

[0019] The control method for this device is as follows: S1. Using the VR headset as the origin, establish a three-dimensional coordinate system through the VR headset's binocular vision camera, with the direction the binocular vision camera faces as the X-axis in the three-dimensional coordinate system. The VR headset then instructs the user to perform a pre-defined calibration action using the controllers, drawing two arcs and monitoring the movement trajectory of the controller's monitoring points. Based on the coordinates of the two arcs' movement trajectories, obtain the center coordinates and radii of the two arcs. If the center coordinates of the two arcs are the same, proceed to the next step; otherwise, the VR headset instructs the user to re-perform the standard action. The standard action includes two steps: first, the auxiliary arm is extended from a hanging position and raised to a horizontal position to obtain the movement trajectory of the first arc; then, while keeping the arm horizontal, it is moved outwards at a set angle to obtain the movement trajectory of the second arc. Since the field of view of the VR headset's binocular vision camera does not exceed 180°, the angle at which the arm moves outwards while remaining horizontal should not exceed 90°; in this embodiment, the angle is set to 45°. Based on the coordinates obtained from the motion trajectories of two circular arcs, the coordinates of the center positions corresponding to the two circular arcs can be easily obtained using conventional calculation methods such as the perpendicular bisector method. When the center coordinates of the two circular arcs are the same, it indicates that the shoulder position coordinates corresponding to the center coordinates are confirmed; when the center coordinates of the two circular arcs are different, it indicates that the shoulder position coordinates corresponding to the center coordinates are not confirmed, and the standard movement needs to be performed again to find the corresponding shoulder position coordinates. Therefore, although the calibration movement requires the arm to remain horizontal and move 45° outward from the body, in practice, as long as the center coordinates of the two circular arcs coincide, it is considered that the standard movement has been completed and the shoulder position has been found. Therefore, 45° is only a reference value under normal circumstances and cannot be regarded as a requirement to move 45°. When the center coordinates corresponding to the shoulder position are confirmed, the radius of the circle corresponding to the two circular arcs is the arm length. Assuming that the binocular vision camera of the VR headset has a distance measurement function, the correspondence between the actual distance and the distance in the three-dimensional coordinate system can be directly obtained. The method for monitoring the position of the infrared light ring in the VR headset controller is described in the patent application document with application number "202211390797.1", and will not be repeated here.

[0020] The S2.VR headset receives signals from preset actions. Based on the requirements of these actions, it adjusts the position of the center coordinates and the radius length according to a preset ratio to obtain a first radius. Using the adjusted center coordinates as the center, and combining this with the first radius, it establishes a first spherical coordinate range in a three-dimensional coordinate system. Based on all the spherical coordinates within this range, it establishes a first spherical coordinate set. There are two first spherical coordinate ranges, corresponding to the shoulders on either side of the body. When the direction directly in front of the body is set as the X-axis and the directions on either side of the body as the Y-axis, the X-axis and Z-axis coordinates of the two center coordinates are the same, and the distance between the Y-axis coordinate and the Y-axis coordinate corresponding to the origin of the VR headset is equal. If there are two controllers, two center coordinates can be directly established through standard actions, thus obtaining two first spherical coordinate ranges.

[0021] The preset movements include the first type of movement centered on the shoulder, such as shoulder flexion and shoulder abduction. In this case, the position of the center coordinate is adjusted to 0, and the preset ratio is 1. That is, with the shoulder as the center and the arm length as the first radius, a first spherical coordinate range is established in the three-dimensional coordinate system. All coordinates in the first spherical coordinate set are the coordinate range that the handle can reach when rotating with the shoulder as the center with the arm extended.

[0022] The preset movements also include a second type of movement centered on the elbow, such as external rotation in the ABER position or lateral external rotation. This second type of movement moves the center coordinates away from the origin by a radius multiplied by 0.65, with a preset ratio of 0.35. In this embodiment, the hindarm length is 0.65 times the arm length, and the forearm length is 0.35 times the arm length. The arm length is the radius of the circle determined based on the arc motion trajectory in the calibration movement.

[0023] The ABER external rotation movement requires the elbows to be raised to a horizontal position and aligned with the body in the same plane. For example, if the X-axis of the 3D coordinate system is defined as the front of the body during calibration, then the sides of the body are the Y-axis. This movement requires moving the X-axis of the center coordinate away from the VR headset origin by a distance equal to the arm length multiplied by 0.65 to obtain the coordinates of the elbows raised to a horizontal position. Since both arms need to move outwards away from the origin, a positive X-axis coordinate is the X-axis coordinate plus the arm length multiplied by 0.65, and a negative X-axis coordinate is the X-axis coordinate minus the arm length multiplied by 0.65. This allows us to find the X-axis coordinates of both elbows raised to a horizontal position in the 3D coordinate system, while the Y-axis and Z-axis coordinates remain unchanged.

[0024] The external rotation movement requires the elbow to hang naturally and remain stationary. Therefore, the elbow position should be vertically below the shoulder. Normally, the Z-axis coordinate is used vertically in a 3D coordinate system. In this case, the Z-axis coordinate of the elbow position is shifted downwards by the arm's length. Since the VR headset, with its origin at the 3D coordinate system, is above the shoulder, the Z-axis coordinate of the shoulder is negative. Therefore, the elbow coordinate is the Z-axis coordinate of the center coordinate minus the arm's length multiplied by 0.65. The X and Y axes remain unchanged. Similarly, when a movement requires the arm to be extended straight overhead, the Z-axis coordinate of the elbow position is the Z-axis coordinate of the center coordinate plus the arm's length multiplied by 0.65. Based on this, the radius of the first spherical coordinate system is the forearm length, and the forearm length is the arm's length multiplied by 0.35, i.e., the preset ratio is 0.35.

[0025] Therefore, the range of the first spherical coordinates can be confirmed whether the center is the shoulder and the radius is the arm length or the center is the elbow and the radius is the forearm length. Thus, all coordinates within the range of the first spherical coordinates can be obtained, and the first spherical coordinate set can be established.

[0026] S3. According to the requirements of the preset action, take the coordinates in the first spherical coordinate set as the second center and the set distance as the second radius, establish at least one second spherical coordinate range in the three-dimensional coordinate system, take all the coordinates in the second spherical coordinate range as the second spherical coordinate set, and display the second spherical coordinate range in the form of fractional spheres in the VR headset to guide the user to hold the handle and touch it.

[0027] The fractional sphere is established based on the requirements of the preset movement. For example, in the first type of movement, a shoulder flexion movement is included, requiring the arm to draw a semi-circular arc perpendicular to the ground within a range of 0°-180° in front. The coordinates of the second center of the fractional sphere can then be directly obtained from the already established first spherical coordinate set. When the direction directly in front of the body is set as the X-axis, all coordinates in the first spherical coordinate set that are the same as the X-axis representing the shoulder center are the coordinates of the second center of the fractional sphere. Given the three-dimensional coordinates of all second centers and the three-dimensional coordinates of the shoulder center, the coordinates of the second center within the 0°-180° range relative to the shoulder center can be directly obtained using trigonometric functions. Similarly, for the second type of movement with the elbow as the center, the angle of a coordinate in the first spherical coordinate set relative to the center coordinate can also be calculated using the above method and a preset conventional trigonometric function algorithm.

[0028] Because the fractional sphere appears small when displayed as a coordinate point in a VR headset, making it difficult for users to observe, its range needs to be expanded. Using the coordinates of a second center as the center and a set distance as the radius, the range of the fractional sphere is expanded to an appropriate visible area. This facilitates observation and provides convenience and error tolerance for subsequent user interaction with the controller. Therefore, the method for expanding the fractional sphere's range is to establish a second spherical coordinate range using the second center coordinates as the center and a set distance as the radius. The radius of the set distance for establishing the second spherical coordinate range is typically 50mm, but this radius can be manually adjusted. For example, users with poor joint health should have a larger fractional sphere and a larger set distance radius for easier touch; conversely, users with better joint health can have a smaller fractional sphere and a smaller set distance radius. Therefore, the set distance radius is pre-set by the signal transceiver based on preset actions. A second spherical coordinate set is established based on the second spherical coordinate range representing the fractional sphere for subsequent coordinate comparisons.

[0029] Furthermore, at least one of the second spherical coordinate ranges must be used to establish the fractional spheres. The specific number of fractional spheres varies according to the preset action settings and is manually set by the signal transceiver device.

[0030] S4. The VR headset uses its binocular cameras to monitor the coordinates of the controller's monitoring points in a 3D coordinate system. When the controller's coordinates coincide with the coordinates in the second spherical coordinate set, the VR headset determines that the fraction ball has been touched and displays a visual signal, including various animation effects. The next step is executed when all fraction balls have been touched.

[0031] The S5.VR headset executes a pre-defined reward program, such as a congratulatory animation. It then generates an evaluation report based on the result of the score ball being touched, used for self-evaluation and to provide feedback on training results to the signal transceiver.

[0032] Based on the above implementation scheme, the processors, modules, corresponding control programs, algorithm programs and other supporting technologies mentioned in this invention can all be implemented in conjunction with existing electrical technology, information technology, software technology and general protocols, and are not within the scope of protection claimed by this invention. This application will not describe them in detail.

[0033] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and not restrictive.

Claims

1. A method for musculoskeletal rehabilitation training based on virtual reality technology, applied to a VR headset with controllers, characterized in that, Including the following steps: S1. Using the VR headset as the origin, establish a three-dimensional coordinate system through the VR headset's binocular vision camera, instruct the user to hold the handle and perform the set calibration action to draw two arcs and monitor the movement trajectory of the handle's monitoring point. Based on the coordinates of the movement trajectory of the two arcs, obtain the center coordinates of the two arcs and the radius of the two arcs. If the center coordinates of the two arcs are the same, proceed to the next step; otherwise, the VR headset instructs the user to re-perform the standard action. The S2.VR headset receives signals of preset actions, adjusts the position of the center coordinates of the circle according to the requirements of the preset actions, adjusts the radius length according to the radius of the circle and a preset ratio to obtain a first radius, takes the adjusted position of the center coordinates of the circle as the center, and establishes a first spherical coordinate range in a three-dimensional coordinate system in combination with the first radius, and establishes a first spherical coordinate set based on all spherical coordinates of the first spherical coordinate range. S3. According to the requirements of the preset action, with the coordinates in the first spherical coordinate set as the center and the set distance as the second radius, at least one second spherical coordinate range is established in the three-dimensional coordinate system. All coordinates within the second spherical coordinate range are used as the second spherical coordinate set, and the second spherical coordinate range is displayed in the VR headset in the form of fractional spheres. S4. Monitor the coordinates of the controller's monitoring point in the three-dimensional coordinate system using the VR headset's binocular camera. When the coordinates of the monitoring point coincide with the coordinates in the second spherical coordinate set, the VR headset determines that the fractional ball has been touched and displays a visual signal. When all the fractional balls have been touched, proceed to the next step. The S5.VR headset executes the set reward program and generates an evaluation report based on the result of the score ball being touched.

2. The bone and joint movement rehabilitation training method based on virtual reality technology according to claim 1, characterized in that, The calibration action involves raising the arm from a hanging position to a horizontal position to obtain the first arc motion trajectory, and then moving the arm outward at a set angle while keeping it horizontal to obtain the second arc motion trajectory.

3. The bone and joint movement rehabilitation training method based on virtual reality technology according to claim 1, characterized in that, The first spherical coordinate set consists of two parts.

4. The bone and joint movement rehabilitation training method based on virtual reality technology according to claim 1, characterized in that, The handle monitoring point is the infrared light spot of the handle's ring.

5. The bone and joint movement rehabilitation training method based on virtual reality technology according to claim 1, characterized in that, In step S2, the preset action includes a first type of action with the shoulder as the center, the first type of action adjusts the position of the center coordinate to position 0, and the preset ratio is 1.

6. The bone and joint movement rehabilitation training method based on virtual reality technology according to claim 1, characterized in that, In step S2, the preset action includes a second type of action centered on the elbow. The second type of action moves the center coordinates away from the origin by a distance equal to the radius multiplied by 0.

65. The preset ratio is 0.

35.

7. A bone and joint rehabilitation device based on virtual reality technology, performing the bone and joint rehabilitation training method based on virtual reality technology as described in claims 1-6, characterized in that, The device includes a VR headset, a signal receiving device, and at least one controller. The controller is equipped with an infrared light ring spot. The VR headset is connected to the controller and the signal receiving device via electrical signals.

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