A balance ability evaluation system and method based on sensory integration tests

Abstract

The present invention discloses a balance ability evaluation system and method based on sensory integration testing. The host computer controls the VR headset to display a fixation target with non-interfering stripes to give the patient visual input, controls the VR headset to display a fixation target with interfering stripes to give the patient interfering visual input, and controls the servo driver to drive a six-degree-of-freedom motion platform to simulate a motion state to give the patient interfering proprioceptive input; various input test modes are sequentially given to the patient, and the changes in the patient's eyes tracked by the camera within a set time under each input test mode are received, at the same time, the changes in the patient's body posture monitored by the attitude sensor are received, and at the same time, the center-of-gravity distribution and pressure changes of the patient when standing monitored by the pressure sensing plate are received. Based on the changes in the patient's eyes, body posture, center-of-gravity distribution and pressure changes, the balance abilities of the patient's vision, proprioception and vestibule are analyzed and evaluated, and the evaluation results are output.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation, and particularly to a balance ability evaluation system and method based on Sensory Integration Test (SOT). Background Art

[0002] In the field of medical rehabilitation, accurately evaluating the sensory integration ability of patients is crucial for formulating personalized rehabilitation plans and evaluating treatment effects. However, existing sensory integration test methods have many deficiencies, such as low test accuracy, complex operation, and inability to comprehensively reflect the sensory integration status of patients. Sensory integration test refers to examining the degree to which patients use information from the vestibular, visual, and proprioceptive systems to control balance. Based on this, the present invention designs an evaluation system and method based on sensory integration test with high test accuracy, convenient operation, and the ability to comprehensively reflect the sensory integration status of patients. Summary of the Invention

[0003] The present invention aims at the problems and deficiencies existing in the prior art, and provides a more accurate, convenient and comprehensive balance ability evaluation system and method based on sensory integration test.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] The present invention provides a balance ability evaluation system based on sensory integration test, which is characterized in that it includes a fixed base, a six-degree-of-freedom motion platform and a servo driver are fixed at the inner bottom of the fixed base, a perforation is formed at the top of the fixed base, a motion bearing platform covering the perforation is placed on the top surface of the fixed base, a pressure sensing flat plate with a plurality of pressure sensors is fixed on the top of the motion bearing platform, the top of the six-degree-of-freedom motion platform passes through the perforation and is fixed to the bottom of the motion bearing platform, and a protective wall is fixed along one circle of the motion bearing platform on the top surface of the fixed base;

[0006] The evaluation system further includes a VR headset, a camera and an attitude sensor are built in the VR headset, and the VR headset, the camera, the attitude sensor, the servo driver and the pressure sensor all perform information interaction with a host computer;

[0007] The host computer is used to control the VR headset to display a fixation target with non-interference stripes to give visual input to the patient wearing the VR headset and standing on the pressure sensing flat plate, control the VR headset to display a fixation target with interference stripes to give interference visual input to the patient, and control the servo driver to drive the six-degree-of-freedom motion platform to simulate a motion state to give interference proprioceptive input to the patient;

[0008] The host computer is further configured to sequentially provide the patient with various input test modes, receive the eye changes of the patient tracked by the camera within a set time under each input test mode, simultaneously receive the body posture changes of the patient monitored by the posture sensor, and simultaneously receive the center-of-gravity distribution and pressure changes of the patient when standing monitored by the pressure sensing plate. Based on the eye changes, body posture changes, center-of-gravity distribution, and pressure changes of the patient, the visual, proprioceptive, and vestibular balance abilities of the patient are analyzed and evaluated, and the evaluation results are output. Each input test mode is a combination of patient visual input or patient-interfered visual input and patient-interfered proprioceptive input.

[0009] The present invention also provides a method for evaluating balance ability based on sensory integration testing, which is characterized in that it is implemented by using the above-mentioned balance ability evaluation system. The method for evaluating balance ability includes the following steps:

[0010] Step 1: The host computer sequentially provides the patient with various input test modes, receives the eye changes of the patient tracked by the camera within a set time under each input test mode, simultaneously receives the body posture changes of the patient monitored by the posture sensor, and simultaneously receives the center-of-gravity distribution and pressure changes of the patient when standing monitored by the pressure sensing plate. Each input test mode is a combination of patient visual input or patient-interfered visual input and patient-interfered proprioceptive input;

[0011] Among them, the host computer controls the VR headset to display a fixation target without interference stripes to provide visual input to the patient wearing the VR headset and standing on the pressure sensing plate, controls the VR headset to display a fixation target with interference stripes to provide the patient with interfered visual input, and controls the servo drive to drive the six-degree-of-freedom motion platform to simulate a motion state to provide the patient with interfered proprioceptive input;

[0012] Step 2: The host computer analyzes and evaluates the visual, proprioceptive, and vestibular balance abilities of the patient based on the eye changes, body posture changes, center-of-gravity distribution, and pressure changes of the patient, and outputs the evaluation results.

[0013] The positive and progressive effects of the present invention are as follows:

[0014] Compared with traditional methods, the present invention can provide richer and more controllable sensory stimuli, and more comprehensively evaluate the balance ability of patients based on sensory integration.

[0015] The multi-dimensional data acquisition method of the present invention improves the accuracy and reliability of the evaluation.

[0016] The present invention helps to more accurately diagnose and treat diseases related to sensory integration disorders, and improve the medical effect. Brief Description of the Drawings

[0017] Figure 1Schematic diagram of the structural composition of the balance ability evaluation system according to a preferred embodiment of the present invention.

[0018] Figure 2 Schematic diagram of the principle of the balance ability evaluation system according to a preferred embodiment of the present invention.

[0019] Figure 3 Test schematic diagram of the balance ability evaluation system according to a preferred embodiment of the present invention.

[0020] Figure 4 Analysis schematic diagram of the balance ability evaluation system according to a preferred embodiment of the present invention. Detailed implementation manners

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] As Figures 1-4 shown, this embodiment provides a balance ability evaluation system based on sensory integration testing, which includes a fixed base 1. A six-degree-of-freedom motion platform 2 is fixedly installed at the inner bottom of the fixed base 1. A through hole is formed at the top of the fixed base 1. A motion bearing platform 3 covering the through hole is placed on the top surface of the fixed base 1. A pressure sensing flat plate 4 with a plurality of pressure sensors is fixedly installed on the top of the motion bearing platform 3. The pressure sensors on the pressure sensing flat plate 4 are arranged in a matrix. The top of the six-degree-of-freedom motion platform 2 passes through the through hole and is fixedly connected to the bottom of the motion bearing platform 3. A transparent protective wall 5 is fixedly installed along one circle of the motion bearing platform 3 on the top surface of the fixed base 1. Protective handrails 6 are fixedly installed on the opposite inner walls of the protective wall 5. The two protective handrails 6 are parallel and located on the same horizontal plane. A ladder 7 is fixedly installed along the height direction of the fixed base 1 outside the fixed base 1. Handrails 8 are respectively fixedly installed on both sides of the ladder 7. A protective door 9 is formed on the side of the protective wall 5 close to the ladder. The tops of the two handrails 8 are both fixedly installed on the protective wall 5 and are respectively located on both sides of the protective door 9. A servo driver 10 is also fixedly installed in the fixed base 1. Among them, the six-degree-of-freedom motion platform 2 adopts an existing structure.

[0023] The evaluation system further includes a VR headset 11. The VR headset 11 is built-in with an infrared camera and an attitude sensor (not shown in the figure). Among them, the attitude sensor adopts a 9-axis attitude sensor. The VR headset 11, the infrared camera, the attitude sensor, the servo driver 10, and the pressure sensors all perform information interaction with the upper computer 12.

[0024] The host computer 12 is used to control the VR headset 11 to display a fixation target with non-interference stripes to give visual input to the patient wearing the VR headset 11 and standing on the pressure sensing plate 4, control the VR headset 11 to display a fixation target with interference stripes to give the patient interference visual input, and control the servo driver 10 to drive the six-degree-of-freedom motion platform 2 to simulate a motion state to give the patient interference proprioceptive input.

[0025] The host computer 12 is also used to sequentially give the patient various input test modes, receive the eye changes of the patient tracked by the infrared camera within a set time in each input test mode, simultaneously receive the body posture changes of the patient monitored by the posture sensor, and simultaneously receive the center of gravity distribution and pressure changes of the patient when standing monitored by the pressure sensing plate 4. Based on the eye changes, body posture changes, center of gravity distribution and pressure changes of the patient, analyze and evaluate the balance ability of the patient's vision, proprioception and vestibule and output the evaluation results. Each input test mode is a combination of patient visual input or patient interference visual input and patient interference proprioceptive input.

[0026] Specifically, when the balance ability evaluation system is started, the system initializes the parameters, and the patient makes preparations. First, wear the VR headset 11, then step onto the ladder 7, open the protective door 9, stand on the pressure sensing plate 4, and close the protective door 9. The host computer 12 starts the detection and controls to implement six input test modes with a sequential execution order.

[0027] The input test modes include:

[0028] The first input test mode: a test mode of visual input and non-interference proprioceptive input.

[0029] The second input test mode: a test mode of closing visual input and non-interference proprioceptive input.

[0030] The third input test mode: a test mode of visual input and interference proprioceptive input.

[0031] The fourth input test mode: a test mode of no visual input and interference proprioceptive input.

[0032] The fifth input test mode: a test mode of interference visual input and non-interference proprioceptive input.

[0033] The sixth input test mode: a test mode of closing interference visual input and interference proprioceptive input.

[0034] First input test mode: Control the VR headset 11 to display a fixation target and prompt the patient to keep their eyes open continuously (providing visual input), and at the same time control the servo driver 10 to drive the six-degree-of-freedom motion platform 2 to be in a stationary and stable state (without interfering proprioceptive input). The patient stands for a set time (such as 1 minute). During the set time after the start, prompt the patient to maintain visual input and give non-interfering proprioceptive input. The patient uses proprioception and vision to adjust their own balance ability, and receive the changes in the patient's eye opening and closing tracked by the camera during this set time, and at the same time receive the changes in the patient's posture monitored by the attitude sensor, and at the same time receive the changes in the center of pressure COP of the patient during standing monitored by the pressure sensing plate 4.

[0035] Second input test mode: Control the VR headset 11 to display a fixation target and prompt the patient to keep their eyes closed continuously (closing visual input), and at the same time control the servo driver 10 to drive the six-degree-of-freedom motion platform 2 to be in a stationary and stable state (without interfering proprioceptive input). The patient stands for a set time (such as 1 minute). During the set time after the start, prompt the patient to close visual input and give interfering proprioceptive input. The patient uses proprioception and the vestibular system to adjust their own balance ability, and receive the changes in the patient's eye opening and closing tracked by the camera during this set time, and at the same time receive the changes in the patient's posture monitored by the attitude sensor, and at the same time receive the changes in the center of pressure COP of the patient during standing monitored by the pressure sensing plate 4.

[0036] Third input test mode: Control the VR headset 11 to display a fixation target and prompt the patient to keep their eyes open continuously (providing visual input), and at the same time control the servo driver 10 to drive the six-degree-of-freedom motion platform 2 to be in a vibrating state (providing interfering proprioceptive input). The patient stands for a set time (such as 1 minute). During the set time after the start, give the patient visual input and interfering proprioceptive input. The patient uses vision, the vestibular system and proprioception to adjust their own balance ability, with proprioception playing a dominant role, and receive the changes in the patient's eye opening and closing tracked by the camera during this set time, and at the same time receive the changes in the patient's posture monitored by the attitude sensor, and at the same time receive the changes in the center of pressure COP of the patient during standing monitored by the pressure sensing plate 4.

[0037] Fourth input test mode: Control the VR headset 11 to display a fixation target and prompt the patient to keep their eyes closed continuously (turn off visual input), and at the same time control the servo driver 10 to drive the six-degree-of-freedom motion platform 2 to vibrate (provide interfering proprioceptive input). The patient stands for a set time (such as 1 minute). During the set time after the start, vestibular input and interfering proprioceptive input are given to the patient. The patient uses vestibular and proprioceptive senses to adjust their own balance ability, where the vestibular sense plays a dominant role. Receive the changes in the patient's eye opening and closing tracked by the camera during this set time, and at the same time receive the changes in the patient's posture monitored by the attitude sensor, and at the same time receive the changes in the center of pressure COP of the patient when standing monitored by the pressure sensing plate 4.

[0038] Fifth input test mode: Control the VR headset 11 to display a fixation target and prompt the patient to keep their eyes open continuously (provide interfering visual input) with interfering stripes moving around the target, and at the same time control the servo driver 10 to drive the six-degree-of-freedom motion platform 2 to be in a stationary and stable state (no interfering proprioceptive input). The patient stands for a set time (such as 1 minute). During the set time after the start, interfering visual input and non-interfering proprioceptive input are given to the patient. The patient uses vision, proprioception, and vestibular sense to adjust their own balance ability, where vision plays a dominant role. Receive the changes in the patient's eye opening and closing tracked by the camera during this set time, and at the same time receive the changes in the patient's posture monitored by the attitude sensor, and at the same time receive the changes in the center of pressure COP of the patient when standing monitored by the pressure sensing plate 4.

[0039] Sixth input test mode: Control the VR headset 11 to display a fixation target and prompt the patient to keep their eyes closed continuously (turn off interfering visual input) with interfering stripes moving around the target, and at the same time control the servo driver 10 to drive the six-degree-of-freedom motion platform 2 to vibrate (provide interfering proprioceptive input). The patient stands for a set time (such as 1 minute). During the set time after the start, non-interfering visual input and interfering proprioceptive input are given to the patient. The patient uses proprioception and vestibular sense to adjust their own balance ability, where the vestibular sense plays a dominant role. Receive the changes in the patient's eye opening and closing tracked by the camera during this set time, and at the same time receive the changes in the patient's posture monitored by the attitude sensor, and at the same time receive the changes in the center of pressure COP of the patient when standing monitored by the pressure sensing plate 4.

[0040] The host computer 12 is also used to extract the center of pressure COP changes and postural changes corresponding to the patient's open-eye state in the first input test mode, the center of pressure COP changes and postural changes corresponding to the patient's closed-eye state in the second input test mode, the center of pressure COP changes and postural changes corresponding to the patient's open-eye state in the third input test mode, the center of pressure COP changes and postural changes corresponding to the patient's closed-eye state in the fourth input test mode, the center of pressure COP changes and postural changes corresponding to the patient's open-eye state in the fifth input test mode, and the center of pressure COP changes and postural changes corresponding to the patient's closed-eye state in the sixth input test mode.

[0041] The host computer 12 is also used to analyze the normal COP movement range and postural movement range of the patient based on the center of pressure COP changes and postural changes corresponding to the patient's open-eye state in the first input test mode. When the COP movement range is greater than the set pressure change value or the postural movement range is greater than the set displacement value, it is evaluated and output that there may be other non-sensory factors affecting the balance problem of the patient. Otherwise, this COP movement range is used as COP1, and this postural movement range is used as RPV1. The first input test mode is a baseline test, which is used to establish the balance ability standard under normal conditions. If a balance problem is shown under this condition, it indicates that there may be other non-sensory factors affecting the balance problem, such as muscle strength or coordination problems.

[0042] The host computer 12 is also used to analyze the patient's proprioception and vestibular sense to adjust their own balance ability based on the center of pressure COP changes and postural changes corresponding to the patient's closed-eye state in the second input test mode. When the COP movement range, i.e., COP2 > COP1 + pressure normal threshold 1, or the postural movement range, i.e., RPV2 > RPV1 + postural normal threshold 1, it is evaluated and output that there may be information indicating that the patient's proprioception or vestibular system balance function is impaired. Otherwise, it is evaluated and output that the patient's proprioception and vestibular system function maintain their own balance ability well. In the second input test mode, visual input is turned off to evaluate the contribution of proprioception and the vestibular system. If the balance ability is poor under this condition, it may mean that the proprioception or vestibular system balance function is impaired.

[0043] The host computer 12 is also used to analyze the patient's ability to regulate their own balance based on the changes in the center of pressure COP and postural changes corresponding to the patient's open-eye state in the third input test mode, and evaluate the patient's vision, vestibular sense, and proprioception. When the COP movement range, i.e., COP3 > COP1 + pressure normal threshold 2, or the postural movement range, i.e., RPV3 > RPV1 + postural normal threshold 2, it is evaluated and output that the patient may have impaired proprioceptive balance function information. Otherwise, it is evaluated and output that the patient has a good ability to maintain their own balance through proprioception. In the third input test mode, the proprioceptive input is disturbed to further evaluate the role of proprioception. If the balance ability is not good, it may indicate impaired proprioceptive balance function.

[0044] The host computer 12 is also used to analyze the patient's vestibular sense and proprioception to regulate their own balance ability based on the changes in the center of pressure COP and postural changes corresponding to the patient's closed-eye state in the fourth input test mode. When the COP movement range, i.e., COP4 > COP1 + pressure normal threshold 3, or the postural movement range, i.e., RPV4 > RPV1 + postural normal threshold 3, it is evaluated and output that the patient may have impaired vestibular system balance function information. Otherwise, it is evaluated and output that the patient has a good ability to maintain their own balance through the vestibular system. In the fourth input test mode, the visual input is excluded while the proprioceptive input is disturbed to check the function of the vestibular system. If the performance is not good under this condition, it may mean impaired vestibular function balance.

[0045] The host computer 12 is also used to analyze the patient's vision, proprioception, and vestibular sense to regulate their own balance ability based on the changes in the center of pressure COP and postural changes corresponding to the patient's open-eye state in the fifth input test mode. When the COP movement range, i.e., COP5 > COP1 + pressure normal threshold 4, or the postural movement range, i.e., RPV5 > RPV1 + postural normal threshold 4, it is evaluated and output that the patient may have excessive visual dependence or problems with the visual-vestibular system as a whole. Otherwise, it is evaluated and output that the patient has a good ability to maintain their own balance through vision. In the fifth input test mode, the visual input is disturbed to evaluate the importance of visual input for balance. If the performance is not good under this condition, it may indicate excessive visual dependence or problems with the visual-vestibular system as a whole.

[0046] The host computer 12 is also used to analyze the patient's proprioception and vestibule for their ability to maintain balance based on the changes in the center of pressure COP and postural changes corresponding to the patient's closed-eye state in the sixth input test mode. When the COP movement range, i.e., COP6 > COP1 + normal pressure threshold 5, or the postural movement range, i.e., RPV6 > RPV1 + normal postural threshold 5, the host computer evaluates and outputs information indicating that the patient may have impaired vestibular system balance function; otherwise, it evaluates and outputs information indicating that the patient has a relatively good ability to maintain balance through the vestibule. In the sixth input test mode, visual interference is turned off while proprioceptive input is provided to evaluate the ability of the vestibular system to maintain balance. If the performance is poor under this condition, it may indicate severe impairment of the vestibular system.

[0047] This embodiment also provides a balance ability evaluation method based on sensory integration testing, which is implemented using the above balance ability evaluation system. The balance ability evaluation method includes the following steps:

[0048] Step 1: The host computer sequentially gives the patient various input test modes, and receives the changes in the patient's eyes tracked by the camera within a set time under each input test mode, simultaneously receives the changes in the patient's body posture monitored by the posture sensor, and simultaneously receives the center of gravity distribution and pressure changes of the patient when standing monitored by the pressure sensing plate. Each input test mode is a combination of patient visual input, patient visual interference input, and patient proprioceptive interference input.

[0049] Among them, the host computer controls the VR headset to display a fixation target without interference stripes to give visual input to the patient wearing the VR headset and standing on the pressure sensing plate, controls the VR headset to display a fixation target with interference stripes to give visual interference input to the patient, and controls the servo driver to drive the six-degree-of-freedom motion platform to simulate a motion state to give proprioceptive interference input to the patient.

[0050] Step 2: The host computer analyzes and evaluates the balance abilities of the patient's vision, proprioception, and vestibule based on the changes in the patient's eyes, body posture, center of gravity distribution, and pressure changes, and outputs an evaluation result.

[0051] In the present invention, a controllable six-degree-of-freedom motion platform is introduced to provide visual interference input to the patient. The six-degree-of-freedom motion platform can simulate a vibration state and provide rich proprioceptive stimuli to the patient. At the same time, a wearable VR headset is combined to provide visual stimuli. Through virtual reality technology, various realistic visual scenes are created, such as fast-moving images, complex spatial environments, etc., to interfere with the patient's visual perception. The built-in camera, posture sensor, and pressure sensing plate at the standing position of the VR headset are used to collect the patient's body response data in real time and accurately under different sensory input conditions.

[0052] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these are only examples, and the protection scope of the present invention is defined by the appended claims. Without departing from the principle and essence of the present invention, those skilled in the art can make various changes or modifications to these embodiments, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A balance ability assessment system based on sensory integration test, characterized in that: It includes a fixed base, a six-degree-of-freedom motion platform and a servo driver are fixed to the bottom of the fixed base, a through hole is opened on the top of the fixed base, a motion bearing platform covering the through hole is placed on the top surface of the fixed base, a pressure sensing plate with multiple pressure sensors is fixed on the top of the motion bearing platform, the top of the six-degree-of-freedom motion platform is perforated with a through hole and fixed to the bottom of the motion bearing platform, and a protective wall is fixed on the top surface of the fixed base along a circle of the motion bearing platform; The evaluation system further includes a VR head display, wherein the VR head display has a built-in camera and a posture sensor, and the VR head display, the camera, the posture sensor, the servo driver and the pressure sensor all interact with the host computer; The host computer is used to control the VR head display to display a fixation target without interference stripes to give visual input to a patient wearing the VR head display and standing on the pressure sensing plate, control the VR head display to display a fixation target with interference stripes to give the patient interference visual input, and control the servo driver to drive the six-degree-of-freedom motion platform to simulate a motion state to give the patient interference proprioception input; The host computer is also used to sequentially give the patient various input test modes, receive the patient's eye changes tracked by the camera within a set time in each input test mode, receive the patient's body posture changes monitored by the posture sensor, and receive the patient's center of gravity distribution and pressure changes when standing monitored by the pressure sensing tablet, analyze and evaluate the patient's vision, proprioception and vestibular balance ability based on the patient's eye changes, body posture changes, center of gravity distribution and pressure changes, and output the evaluation result, which is information that the visual, vestibular and / or proprioception balance function is impaired or good; The input test modes include: a first input test mode: a test mode of visual input and non-interfering proprioceptive input, a second input test mode: a test mode of turning off visual input and non-interfering proprioceptive input, a third input test mode: a test mode of visual input and interfered proprioceptive input, a fourth input test mode: a test mode of no visual input and interfered proprioceptive input, a fifth input test mode: a test mode of interfered visual input and non-interfered proprioceptive input, and a sixth input test mode: a test mode of turning off interfered visual input and interfered proprioceptive input.

2. The balance ability assessment system based on sensory integration test according to claim 1, characterized in that: The host computer is also used to control and implement six input test modes with a sequential execution order: The first input test mode: control the VR head display to display the fixation target and prompt the patient to keep his eyes open, and at the same time control the servo driver to drive the six-degree-of-freedom motion platform to be in a static and stable state. Prompt the patient to maintain visual input within a set time after the start, and give non-interference proprioceptive input. The patient uses proprioception and vision to adjust his own balance ability, receives the changes in the patient's eye opening and closing tracked by the camera within the set time, receives the patient's posture changes monitored by the posture sensor, and receives the changes in the patient's center of pressure COP when standing monitored by the pressure sensor tablet; Second input test mode: control the VR headset to display the fixation target and prompt the patient to keep his eyes closed, and control the servo driver to drive the six-degree-of-freedom motion platform to be in a stationary and stable state. Prompt the patient to turn off the visual input within a set time after the start, and give interfering proprioceptive input. The patient uses proprioception and vestibular perception to adjust his own balance ability, receives the changes in the patient's eye opening and closing tracked by the camera within the set time, receives the changes in the patient's posture monitored by the posture sensor, and receives the changes in the patient's center of pressure COP when standing monitored by the pressure sensor tablet; The third input test mode: control the VR head display to display the fixation target and prompt the patient to keep his eyes open, and control the servo driver to drive the six-degree-of-freedom motion platform to be in a vibrating state. Give the patient visual input and interfere with proprioceptive input within a set time after the start. The patient uses vision, vestibular and proprioceptive senses to adjust his own balance ability, among which proprioception plays a leading role. Receive the changes in the patient's eye opening and closing tracked by the camera within the set time, receive the patient's posture changes monitored by the posture sensor, and receive the changes in the patient's center of pressure COP when standing monitored by the pressure sensor tablet; The fourth input test mode: control the VR head display to display the fixation target and prompt the patient to keep his eyes closed, and control the servo driver to drive the six-degree-of-freedom motion platform to be in a vibrating state. Give the patient vestibular input and interfere with proprioceptive input within a set time after the start. The patient uses vestibular and proprioceptive senses to adjust his own balance ability, among which the vestibular sense plays a leading role. Receive the changes in the patient's eye opening and closing tracked by the camera within the set time, receive the patient's posture changes monitored by the posture sensor, and receive the changes in the patient's center of pressure COP when standing monitored by the pressure sensor tablet; The fifth input test mode: control the VR head display to show the target to be fixed on and the interference stripes to move around the target and prompt the patient to keep his eyes open, and at the same time control the servo driver to drive the six-degree-of-freedom motion platform to be in a static and stable state, and give the patient interference visual input and non-interference proprioceptive input within a set time after the start. The patient uses vision, proprioception and vestibule to adjust his own balance ability, among which vision plays a leading role, and receives the changes of the patient's eye opening and closing tracked by the camera within the set time, the patient's posture changes monitored by the posture sensor, and the changes of the patient's center of pressure COP when standing monitored by the pressure sensor tablet; The sixth input test mode: control the VR headset to display the target with interference stripes moving around the target and prompt the patient to keep his eyes closed; at the same time, control the servo driver to drive the six-degree-of-freedom motion platform to be in a vibrating state; within the set time after the start, give the patient non-interference visual input and interference proprioceptive input; the patient uses proprioception and vestibular sense to adjust his own balance ability, among which the vestibular sense plays a leading role; receive the changes in the patient's eye opening and closing tracked by the camera within the set time, receive the patient's posture changes monitored by the posture sensor, and receive the changes in the patient's pressure center COP when standing monitored by the pressure sensor tablet.

3. The balance ability assessment system based on sensory integration test according to claim 2, characterized in that: The host computer is also used to extract the pressure center COP changes and posture changes corresponding to the patient's eyes-open state in the first input test mode, the pressure center COP changes and posture changes corresponding to the patient's eyes-closed state in the second input test mode, the pressure center COP changes and posture changes corresponding to the patient's eyes-open state in the third input test mode, the pressure center COP changes and posture changes corresponding to the patient's eyes-closed state in the fourth input test mode, the pressure center COP changes and posture changes corresponding to the patient's eyes-open state in the fifth input test mode, and the pressure center COP changes and posture changes corresponding to the patient's eyes-closed state in the sixth input test mode; The host computer is also used to analyze the COP movement range and posture movement range of the patient under normal conditions based on the pressure center COP change and posture change corresponding to the patient's open eyes state in the first input test mode, and when the COP movement range is greater than the set pressure change value or the posture movement range is greater than the set displacement value, the evaluation outputs information that the patient may have other non-sensory factors affecting the balance problem, otherwise the COP movement range is used as COP1, and the posture movement range is used as RPV1; The host computer is also used to analyze the patient's ability to adjust his own balance through proprioception and vestibular sense based on the pressure center COP changes and posture changes corresponding to the patient's closed eyes state in the second input test mode, and when the COP movement range, i.e., COP2>COP1+pressure normal threshold 1, or the posture movement range, i.e., RPV2>RPV1+posture normal threshold 1, evaluate and output information that the patient may have impaired proprioception or vestibular system balance function; otherwise, evaluate and output information that the patient's proprioception and vestibular system function have good ability to maintain their own balance; The host computer is also used to analyze the patient's ability to adjust his / her own balance through vision, vestibular sense and proprioception based on the pressure center COP changes and posture changes corresponding to the patient's open eyes state in the third input test mode, and when the COP movement range, i.e., COP3>COP1+pressure normal threshold 2 or the posture movement range, i.e., RPV3>RPV1+posture normal threshold 2, evaluate and output information that the patient may have impaired proprioception balance function, otherwise evaluate and output information that the patient has a good ability to maintain his / her own balance through proprioception; The host computer is also used to analyze the patient's vestibular sense and proprioception to adjust their own balance ability based on the pressure center COP changes and posture changes corresponding to the patient's closed eyes state in the fourth input test mode, and when the COP movement range, i.e., COP4>COP1+pressure normal threshold 3 or the posture movement range, i.e., RPV4>RPV1+posture normal threshold 3, evaluate and output information that the patient may have impaired vestibular system balance function, otherwise evaluate and output information that the patient's vestibular system is better at maintaining its own balance ability; The host computer is also used to analyze the patient's vision, proprioception and vestibular sense to adjust their own balance ability based on the pressure center COP changes and posture changes corresponding to the patient's open eyes state in the fifth input test mode, and when the COP movement range, i.e., COP5>COP1+normal pressure threshold 4, or the posture movement range, i.e., RPV5>RPV1+normal posture threshold 4, the evaluation outputs information that the patient may have excessive visual dependence or visual-vestibular overall problems, otherwise the evaluation outputs information that the patient's vision is good for maintaining his own balance ability; The host computer is also used to analyze the patient's proprioception and vestibule to adjust their own balance ability based on the pressure center COP changes and posture changes corresponding to the patient's eyes closed state in the sixth input test mode. When the COP movement range is COP6>COP1+normal pressure threshold 5 or the posture movement range is RPV6>RPV1+normal posture threshold 5, it evaluates and outputs information that the patient may have impaired vestibular system balance function. Otherwise, it evaluates and outputs information that the patient's vestibule is better at maintaining its own balance ability.

4. The balance ability assessment system based on sensory integration test according to claim 1, characterized in that: Protective handrails are fixed on opposite sides of the inner wall of the protective wall, and the two protective handrails are arranged in parallel and located on the same horizontal plane.

5. The balance ability assessment system based on sensory integration test according to claim 1, characterized in that: A step is fixed on the outer side of the fixed base along the height direction of the fixed base, handrails are fixed on both sides of the step, a protective door is opened on the protective wall close to the step, and the tops of the two handrails are fixed on the protective wall and are respectively located on both sides of the protective door.

6. The balance ability assessment system based on sensory integration test according to claim 1, characterized in that: The camera adopts an infrared camera, the attitude sensor adopts a 9-axis attitude sensor, and the pressure sensors on the pressure sensing plate are arranged in a matrix.

7. A method for evaluating balance ability based on sensory integration test, characterized in that: The method is implemented by using the balance ability assessment system according to any one of claims 1 to 6, and the balance ability assessment method comprises the following steps: Step 1, the host computer sequentially gives the patient various input test modes, receives the patient's eye changes tracked by the camera within a set time in each input test mode, receives the patient's body posture changes monitored by the posture sensor, and receives the center of gravity distribution and pressure changes of the patient when standing monitored by the pressure sensor tablet, each input test mode is a combination of the patient's visual input or the patient's interfering visual input and the patient's interfering proprioceptive input; The host computer controls the VR headset to display a fixation target without interference stripes to give visual input to the patient wearing the VR headset and standing on the pressure sensing plate, controls the VR headset to display a fixation target with interference stripes to give the patient interference visual input, and controls the servo driver to drive the six-degree-of-freedom motion platform to simulate a motion state to give the patient interference proprioception input; Step 2: The host computer analyzes and evaluates the patient's vision, proprioception and vestibular balance abilities based on the patient's eye changes, body posture changes, center of gravity distribution and pressure changes, and outputs the evaluation results.

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